Guide wire driving device and surgical robot

Abstract

The utility model relates to a guide wire driving device and a surgical robot, and the guide wire driving device comprises a power mechanism which is used for outputting torque; the transmission assembly is connected with the output end of the power mechanism and used for converting the rotary motion of the power mechanism into linear motion; the clamping assembly is connected with the transmission assembly, the clamping assembly comprises a clamping shell and a clamping part, a through hole is formed in the clamping shell, and the guide wire penetrates through the through hole; and the clamping component is arranged on the clamping shell and extends into the through hole, and the clamping component is configured to continuously provide pre-tightening force into the through hole so as to fix the guide wire on the clamping shell. According to the invention, an operator can remotely control the guide wire without direct manual operation in an operating room, so that the operation steps are reduced, and the operation time is shortened. Besides, a clamping part of the clamping assembly continuously provides pre-tightening force into the penetrating hole, the guide wire is fixed to the clamping shell, the guide wire is kept stable in the pushing and withdrawing process, loosening or displacement of the guide wire is avoided, and the accuracy of surgical operation is guaranteed.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a guidewire driving device and a surgical robot. Background Technology

[0002] Traditional vascular interventional surgery requires surgeons to operate instruments in the operating room for extended periods to perform the procedure, resulting in prolonged exposure to radiation and potential harm to their health. Furthermore, vascular interventional surgery heavily relies on the surgeon's experience, typically involving a long learning curve and requiring frequent, repetitive instrument delivery and adjustments to achieve optimal therapeutic results. This frequent and repetitive instrument delivery and adjustment leads to significant surgeon fatigue, and the precision of the procedure often fluctuates considerably. The procedures are also typically lengthy, which is detrimental to both the surgeon and the patient, and in severe cases, can cause numerous adverse events related to instrument operation. Therefore, there is an urgent need for a vascular interventional robot based on remote control or even AI (artificial intelligence) assistance to address these issues.

[0003] A typical vascular interventional robot consists of a remote control console, a robotic arm, an active power transmission chamber, and several passive adapters that work in conjunction with the instruments to remotely control their operation. In routine vascular interventional procedures, the guidewire is a crucial instrument delivery aid, helping to deliver instruments (catheters, etc.) to the target blood vessel. Most instruments are over-the-wire (OTW), therefore, the vascular interventional robot's ability to hold and manipulate the guidewire is essential. The operator needs to remotely control the guidewire delivery, retraction, and even rotation via the vascular interventional robot to assist in delivering the instruments to the target blood vessel, thereby enabling the patient's surgical treatment. Utility Model Content

[0004] Based on this, embodiments of this application provide a guidewire driving device and a surgical robot, enabling surgeons to remotely control the guidewire without having to manually operate it in the operating room, greatly reducing surgical procedures and shortening surgical time.

[0005] This application first provides a guide wire driving device for clamping a guide wire to drive the guide wire to move; the guide wire driving device includes:

[0006] The power mechanism is used to output torque;

[0007] A transmission component, connected to the output end of the power mechanism, is used to convert the rotational motion of the power mechanism into linear motion;

[0008] A clamping assembly is connected to the transmission assembly. The clamping assembly includes a clamping housing and a clamping member. The clamping housing has a through hole for inserting the guide wire. The clamping member is disposed in the clamping housing and extends into the through hole. The clamping member is configured to continuously provide a preload force into the through hole to fix the guide wire on the clamping housing.

[0009] In one embodiment, the clamping member includes at least one spring plunger that is movably disposed within the clamping housing;

[0010] The spring plunger is used to switch between a released position and a pre-tightened position. In the released position, the spring plunger moves away from the perforation to release the guide wire within the perforation. In the pre-tightened position, the spring plunger moves towards the perforation to bring the guide wire into contact with the inner wall of the clamping housing.

[0011] In one embodiment, the clamping housing includes a clamping block, the clamping block having the through hole, and the side wall of the clamping block having at least one mounting hole communicating with the through hole;

[0012] The mounting hole is used to install the spring plunger.

[0013] In one embodiment, along the axial direction of the perforation, the sidewall of the clamping block is provided with two mounting holes spaced apart.

[0014] In one embodiment, the spring plunger includes:

[0015] The body has a receiving groove and is detachably disposed within the mounting hole;

[0016] A preload spring is disposed in the receiving groove, and one end of the preload spring is connected to the body;

[0017] A tensioning ball is located at the other end of the pre-tensioning spring. The tensioning ball is used to extend into the perforation and contact the guide wire.

[0018] In one embodiment, the transmission assembly includes a driving gear and a driven rack, the driving gear being fixedly connected to the output end of the power mechanism, and the driven rack meshing with the driving gear.

[0019] In one embodiment, the transmission assembly further includes a docking plate, a guide shaft, and a guide block, the docking plate being disposed on one side of the driven rack;

[0020] The guide shaft extends along the moving direction of the guide wire, the guide block is fixedly connected to the docking plate, and the guide block is adapted to be fitted onto the guide shaft;

[0021] The clamping assembly is connected to the docking plate.

[0022] In one embodiment, the guide wire drive device further includes a connecting assembly connected between the transmission assembly and the clamping assembly;

[0023] The connecting component is provided with a portion for avoiding the missing parts of the functional components.

[0024] In one embodiment, the connecting assembly includes a connecting plate and a rotating support plate. One end of the connecting plate is fixed to the mating plate, and the other end is fastened to the rotating support plate. The rotating support plate is rotatable relative to the connecting plate.

[0025] In one embodiment, the clamping assembly further includes a fixing plate, which is fixedly connected to the clamping housing and the rotating support plate, respectively.

[0026] This application also provides a surgical robot, including:

[0027] A catheter support having an interconnected receiving groove and a delivery groove, the receiving groove for receiving a control handle, and the delivery groove for receiving a guidewire connected to the control handle; and,

[0028] The guidewire driving device described in the above embodiments is used to be movably connected to the catheter support to drive the clamping assembly to move relative to the catheter support, thereby realizing the movement of the guidewire in the delivery groove.

[0029] In one embodiment, the surgical robot further includes a guide support disposed at one end of the delivery channel near the receiving channel, the guide support being used for the guide wire to pass through.

[0030] The aforementioned guidewire drive device and surgical robot output torque through a power mechanism, converting rotational motion into linear motion via a transmission component. The clamping component then fixes and drives the guidewire. This series of structural designs allows the surgeon to remotely control the guidewire, eliminating the need for manual operation in the operating room. This significantly reduces surgical steps and shortens operation time. Furthermore, the clamping component continuously provides pre-tensioning force into the perforation, securing the guidewire to the clamping housing. This design ensures the guidewire remains stable during pushing and retraction, preventing loosening or displacement and guaranteeing surgical precision. Compared to traditional manual operation, it effectively reduces surgical errors caused by guidewire instability. In this example, remote guidewire control eliminates the need for prolonged, repetitive, and tedious guidewire manipulation at the operating table, greatly reducing surgeon fatigue and improving surgical quality and safety. Furthermore, in vascular interventional procedures, guidewires need to be delivered to different pulmonary veins for manipulation. The guidewire drive device in this example can flexibly control the movement of the guidewire to adapt to the needs of different vascular locations and orientations. Whether it is necessary to precisely push the guidewire to a specific pulmonary vein or to operate in different pulmonary vein vestibules, the device can achieve precise control of the guidewire through the coordinated work of its power mechanism, transmission components, and clamping components, providing reliable support for complex vascular interventional procedures. Attached Figure Description

[0031] Figure 1 This is a partial structural schematic diagram of a surgical robot provided according to some embodiments of this application.

[0032] Figure 2 This is a schematic diagram of the overall structure of a guidewire drive device (including a catheter support) provided according to some embodiments of this application.

[0033] Figure 3 This is a schematic diagram of the overall structure of a guide wire driving device provided according to some embodiments of this application.

[0034] Figure 4 This is a schematic diagram of the structure of a clamping assembly provided according to some embodiments of this application.

[0035] Figure 5 This is a structural schematic diagram of a clamping assembly (including a fixing plate) provided according to some embodiments of this application.

[0036] Figure 6 This is a cross-sectional structural diagram of a clamping assembly provided according to some embodiments of this application.

[0037] Figure 7 This is a schematic diagram of the structure of a spring plunger provided according to some embodiments of this application.

[0038] Figure 8This is a schematic diagram of the structure of a docking plate provided according to some embodiments of this application.

[0039] Icon labels:

[0040] 10. Control handle; 13. Guide wire;

[0041] 20. Catheter support device;

[0042] 30. Guide support components;

[0043] 410. Power mechanism;

[0044] 420. Transmission assembly; 421. Driving gear; 422. Driven rack; 426. Connecting plate; 424. Guide shaft; 425. Guide block;

[0045] 430. Clamping assembly; 431. Clamping housing; 4311. Clamping block; 43111. Through hole; 43112. Mounting hole; 4312. L-shaped mounting shaft; 432. Clamping component; 4321. Spring plunger; 43211. Body; 43212. Preload spring; 43213. Top ball; 433. Fixing plate;

[0046] 440. Connecting component; 441. Connecting plate; 442. Rotating support plate. Detailed Implementation

[0047] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0048] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0049] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0050] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0051] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0052] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0053] As described in the background section, traditional vascular interventional procedures include pulsed field ablation (PFA), which is a procedure based on mapping cardiac electrophysiology to locate lesions, and then using a pulsed ablation catheter to deliver high-frequency discharges to the lesions, causing irreversible perforation of the lesion cells, thereby causing the lesion cells to die and restoring the patient's electrocardiographic characteristics to normal.

[0054] Currently, PFA ablation typically requires the operator to perform the procedure in the operating room. Based on real-time DSA (digital subtraction angiography) images, the PFA ablation catheter is advanced along an adjustable catheter to the lesion location measured by the mapping catheter. Simultaneously, the diameter of the electrode loops on the PFA ablation catheter is adjusted in real-time according to the diameter of the pulmonary veins. Then, the ablation energy platform is activated to perform pulsed electric field ablation on the lesion. To ensure complete ablation, PFA is performed on each pulmonary vein, twice at the pulmonary vein orifice and three times at the vestibule. After ablation, PVI (Pulmonary Vein Isolation) verification is performed to ensure that the potential signal at the lesion disappears and the patient's ECG returns to normal. It can be seen that during the procedure, the operator needs to advance the guidewire to different pulmonary veins to allow the catheter to be inserted along the guidewire for PFA pulmonary vein ablation.

[0055] In conventional vascular interventional procedures, the guidewire serves as a crucial instrument delivery aid (catheter, etc.) to the target vessel. Most instruments are advanced along the guidewire, making the guidewire clamping operation by the interventional robot essential. The surgeon needs to remotely control the guidewire's advancement, retraction, and even rotation via the robot to facilitate instrument delivery to the target vessel and achieve the patient's surgical treatment. This repetitive pushing and retraction of the guidewire not only prolongs the procedure but also increases surgeon fatigue. Therefore, there is an urgent need for a remotely controllable drive device for pushing, retracting, or rotating the guidewire.

[0056] Based on the aforementioned technical problems, the inventors discovered that by rationally designing the structure of the guidewire driving device to clamp the guidewire, and by cooperating with the vascular interventional robot, the guidewire can be remotely driven to push or retract, thereby enabling the vascular interventional robot to remotely and precisely control the guidewire, ensuring the accuracy and stability of the surgical operation.

[0057] By adopting the above technical solutions, the required experience of medical staff in operating surgical instruments can be reduced, physical exertion on medical staff can be decreased, and the impact of radiation from on-site operations on medical staff can be mitigated, which helps to realize intelligent operation of minimally invasive surgical diagnosis and treatment. Medical staff using the above-mentioned guidewire driving device to complete the surgery can also ensure the stability and precision of the surgery, improve surgical efficiency, and shorten the operation time.

[0058] The above is the core idea of ​​this application. The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0059] See Figures 1 to 3 As shown, Figure 1 This is a partial structural schematic diagram of a surgical robot provided according to some embodiments of this application. Figure 2 This is a schematic diagram of the overall structure of a guidewire drive device (including a catheter support) provided according to some embodiments of this application. Figure 3 This is a schematic diagram of the overall structure of a guide wire driving device according to some embodiments of this application. One embodiment of this application provides a guide wire driving device for clamping a guide wire 13 to drive the guide wire 13 to move, including driving the guide wire 13 to perform pushing, retracting, or rotating actions. The guide wire driving device provided in this example may include a power mechanism 410, a transmission assembly 420, and a clamping assembly 430.

[0060] The power mechanism 410 is used to output torque; the transmission assembly 420 is connected to the output end of the power mechanism 410 and is used to convert the rotational motion of the power mechanism 410 into linear motion; the clamping assembly 430 is connected to the transmission assembly 420, and the clamping assembly 430 includes a clamping housing 431 and a clamping member 432. The clamping housing 431 is constructed with a through hole 43111 for inserting the guide wire 13; the clamping member 432 is disposed in the clamping housing 431 and extends into the through hole 43111. The clamping member 432 is configured to continuously provide a preload force into the through hole 43111 to fix the guide wire 13 on the clamping housing 431.

[0061] Understandably, to clearly describe the structure of the guidewire drive device in this example, the usage scenario of the guidewire drive device is first introduced. Before using the guidewire drive device, the doctor needs to hold the control handle 10 to deliver the guidewire 13, catheter, and other instruments to the vicinity of the lesion (e.g., the heart or pulmonary vein) in the human body. Then, the control handle 10 is placed on the operating table (which can be the catheter support 20 described below) near the human body, and the guidewire 13, located on the proximal side of the control handle 10, is clamped onto the guidewire drive device. Finally, the guidewire drive device is remotely controlled by the surgical robot, thereby achieving remote control of the guidewire 13.

[0062] More specifically, the guide wire drive device can be mounted on a transmission compartment supported by a robotic arm. A power compartment can be located at one end of the transmission compartment, primarily providing power to the guide wire drive device to indirectly drive the connected guide wire 13 to move (push, retract, or rotate). The power mechanism 410 for outputting torque can be mounted on the transmission compartment. For example, the power mechanism 410 can function as a power input coupling, receiving power from the power compartment through a transmission mechanism within the transmission compartment (e.g., gear structure, synchronous belt, lead screw nut and slide rail, gear rack, etc.), thereby providing rotational power to the power mechanism 410.

[0063] Since the overall setup of the guidewire drive device needs to consider the location of the transmission chamber (power output port) and the guide tube support (for accommodating the control handle 10), this example provides a transmission assembly 420 and a clamping assembly 430 to reduce the difficulty of adjusting the positions of various components such as the transmission chamber and control handle 10, and to minimize the probability of positional conflicts between components. This not only ensures effective power transmission to the guidewire 13, but also allows for a more rational layout of the entire guidewire drive device, saving space.

[0064] The aforementioned transmission assembly 420 can be located on one side of the conduit support. Its main function is to convert the torque transmitted from the power chamber to the transmission assembly 420 into linear motion, which is then used to move the clamping assembly 430. Specifically, the process of driving the guide wire 13 can be as follows: the guide wire 13 is inserted into the through hole 43111 of the clamping housing 431, and a preload is applied to the guide wire 13 by the clamping component 432, so that the conductor is relatively fixed to the clamping housing 431. Then, the transmission assembly 420 converts the torque of the power mechanism 410 into linear motion, driving the clamping assembly 430 to move linearly, thereby achieving the purpose of moving the guide wire 13 through the clamping assembly 430 and realizing the purpose of remotely controlling the guide wire 13.

[0065] The specific structure of the aforementioned transmission component 420 can be, that is, a structure capable of converting torque into linear motion, such as a ball screw mechanism, a conventional ball screw mechanism, a gear and rack mechanism, a synchronous belt mechanism, a crank-slider mechanism, etc. Taking a ball screw mechanism as an example, a ball screw mainly includes a screw (lead rod), a nut, and balls. When the screw rotates, the balls roll in the raceway between the screw and the nut, causing the nut to move linearly along the axis of the screw. In this example, the output torque of the power mechanism 410 can be transmitted to the screw shaft of the ball screw. The rotation of the screw shaft causes the nut to produce a linear displacement, thereby precisely controlling the linear reciprocating movement of the transmission component 420. Of course, to ensure the nut moves linearly, a guide rod can be provided on one side of the nut, and the nut can be threaded onto the guide rod to restrict the nut's degree of freedom, allowing it to move only in a linear direction.

[0066] It should be noted that the aforementioned power mechanism 410 can also be used directly as a power source. For example, a high-precision brushless DC motor with stable speed and accurate torque output can be selected. This motor can quickly and accurately adjust the output speed according to external commands, thereby precisely controlling the torque to meet the different operating requirements of the guide wire 13.

[0067] The clamping housing 431 in the clamping assembly 430 is connected to the transmission assembly 420, so that the clamping housing 431 can be driven to move linearly through the transmission assembly 420. In this example, the through hole 43111 of the clamping housing 431 can be precisely machined according to the diameter of the guide wire 13, so that the guide wire 13 can pass through smoothly while also having a certain gap to prevent the guide wire 13 from being subjected to excessive frictional resistance during the insertion process.

[0068] The clamping component 432 is mounted on the clamping housing 431 and can be a pneumatic clamping structure, an electromagnetic clamping structure, a hydraulic clamping mechanism, or the spring plunger 4321 described below. Taking a pneumatic clamping structure as an example, the pneumatic clamping structure can include components such as a cylinder, a piston, and a clamping arm. Compressed air enters the cylinder through an air pipe, driving the piston to move. The piston drives the clamping arm, the end of which can be designed to fit the perforation 43111, such as a semi-circle or a V-shape. When the piston moves, the clamping arm retracts inward, clamping the guide wire 13 in the perforation 43111. Of course, the clamping force can be controlled by adjusting the air intake pressure and flow rate.

[0069] The clamping component 432 provided in this example can provide a stable preload force to the guidewire 13 inserted in the perforation 43111, so that the guidewire 13 is relatively fixed to the clamping housing 431, so that the guidewire 13 can maintain a stable position when it is pushed or retracted, without slipping or deviating, thereby ensuring the positional accuracy of the guidewire 13 in vascular interventional procedures.

[0070] In this application, the power mechanism 410 outputs torque, the transmission component 420 converts the rotational motion into linear motion, and the clamping component 430 fixes and drives the guidewire 13. This series of structural designs allows the surgeon to remotely control the guidewire 13 without having to manually operate it in the operating room. This setup greatly reduces the number of surgical steps and shortens the operation time. Furthermore, the clamping component 432 of the clamping component 430 continuously provides pre-tightening force into the perforation 43111, fixing the guidewire 13 to the clamping housing 431. This setup ensures the stability of the guidewire 13 during pushing and retraction, preventing loosening or displacement of the guidewire 13 and guaranteeing the accuracy of the surgical operation. Compared with traditional manual operation, it effectively reduces surgical errors caused by the instability of the guidewire 13. In this example, by remotely controlling the guidewire 13, the surgeon is no longer required to perform repetitive and tedious guidewire 13 operations at the operating table for extended periods, greatly reducing surgical fatigue and improving the quality and safety of the surgery.

[0071] In addition, during vascular interventional surgery, guidewire 13 needs to be delivered to different pulmonary veins for operation. The guidewire drive device in this example can flexibly control the movement of guidewire 13 to adapt to the needs of different vascular locations and directions. Whether it is necessary to precisely push guidewire 13 to a specific pulmonary vein or to operate in different pulmonary vein vestibules, the device can achieve precise control of guidewire 13 through the coordinated work of its power mechanism 410, transmission component 420 and clamping component 430, providing reliable support for complex vascular interventional surgery.

[0072] Below, we will combine the appendix Figure 1 -Appendix Figure 8 The specific structure of the guide wire driving device provided in the embodiments of this application will be described.

[0073] like Figure 4 and Figure 5 As shown, Figure 4 This is a schematic diagram of the structure of a clamping assembly provided according to some embodiments of this application. Figure 5 This is a schematic diagram of a clamping assembly (including a fixing plate) provided according to some embodiments of this application. In some embodiments, the clamping member 432 includes at least one spring plunger 4321, which is movably disposed in the clamping housing 431; the spring plunger 4321 is used to switch between a released position and a pre-tightened position. In the released position, the spring plunger 4321 moves away from the through hole 43111 to release the guide wire 13 in the through hole 43111; in the pre-tightened position, the spring plunger 4321 moves towards the through hole 43111 so that the guide wire 13 abuts against the inner wall of the clamping housing 431.

[0074] Specifically, in this example, the spring plunger 4321 can be threadedly connected to the clamping housing 431. When switching from the pre-tightened position to the loosened position, the spring plunger 4321 can be rotated outward relative to the clamping housing 431 by external force (such as a screwdriver), that is, moved away from the through hole 43111, so that the guide wire 13 can slide freely within the through hole 43111, facilitating the initial installation and adjustment of the guide wire 13. When switching from the loosened position to the pre-tightened position, the spring plunger 4321 can be rotated outward relative to the clamping housing 431 by external force, that is, moved closer to the through hole 43111 to press the guide wire 13. Of course, in this example, the spring plunger 4321 can also be mounted on the clamping housing 431 by a snap-fit ​​or other structure, which is not limited here.

[0075] like Figure 4As shown, in some embodiments, the clamping housing 431 includes a clamping block 4311, the clamping block 4311 having a through hole 43111, and the side wall of the clamping block 4311 having at least one mounting hole 43112 communicating with the through hole 43111; the mounting hole 43112 is used to mount the spring plunger 4321.

[0076] Specifically, in this example, the clamping block 4311 can be designed as a cylindrical structure, with the through hole 43111 penetrating through the two opposing planes of the cylindrical clamping block 4311. The mounting hole 43112 is formed on the arc-shaped sidewall of the cylindrical clamping block 4311, penetrating the arc surface and the through hole 43111. The axis of the mounting hole 43112 can be perpendicular to the axis of the through hole 43111, thereby ensuring that the preload applied by the spring plunger 4321 is evenly applied to the guide wire 13.

[0077] It should be noted that the mounting hole 43112 can be designed as a threaded hole to facilitate the threaded installation of the spring plunger 4321.

[0078] The above-mentioned reasonable design of mounting hole 43112 and through hole 43111 ensures the correct installation of spring plunger 4321 and the force transmission path, so that spring plunger 4321 can effectively transmit preload to guide wire 13, improve the stability and reliability of guide wire 13 clamping, and thus ensure the accuracy of guide wire 13 operation.

[0079] like Figure 4 As shown, in some embodiments, along the axial direction of the perforation 43111, the sidewall of the clamping block 4311 is provided with two mounting holes 43112 at intervals.

[0080] Specifically, the positions of the two mounting holes 43112 on the clamping block 4311 can be set according to the length of the clamping block 4311, and are usually evenly distributed on the clamping block 4311 to achieve the best clamping effect. In this example, a dual-spring plunger 4321 is used to apply preload to the guidewire 13, which can clamp the guidewire 13 more evenly, improve the stability of the guidewire 13 during clamping and operation, and make the pushing or retraction of the guidewire 13 in the blood vessel smoother.

[0081] like Figure 6 and Figure 7 As shown, Figure 6 This is a cross-sectional structural diagram of a clamping assembly provided according to some embodiments of this application. Figure 7This is a schematic diagram of the structure of a spring plunger according to some embodiments of this application. In some embodiments, the spring plunger 4321 may include a body 43211, a preload spring 43212, and a clamping ball 43213. The body 43211 is configured with a receiving groove and is detachably disposed within the mounting hole 43112; the preload spring 43212 is disposed within the receiving groove, and one end of the preload spring 43212 is connected to the body 43211; the clamping ball 43213 is disposed at the other end of the preload spring 43212 and is used to extend into the through hole 43111 to contact the guide wire 13.

[0082] Understandably, the body 43211 can be cylindrical, with a receiving groove machined into its center. The size of the receiving groove can be designed according to the size of the preload spring 43212, ensuring that the preload spring 43212 has suitable expansion and contraction space within the receiving groove. Additionally, the body 43211 is provided with external threads to mate with the internal threads of the mounting hole 43112, achieving a tight connection between the two. Alternatively, a handle or locking groove can be provided at the end of the body 43211 opposite to the preload spring 43212, that is, at the end of the body 43211 exposed above the clamping housing 431, to facilitate adjustment of the spring plunger 4321 by medical personnel using external tools.

[0083] In this example, the preload spring 43212 is selected based on the required clamping force and the elastic deformation range of the guide wire 13. For example, for a thinner guide wire 13, a spring with a smaller elastic coefficient can be selected to avoid excessive clamping and deformation of the guide wire 13; while for a thicker guide wire 13 or one requiring a larger clamping force, a spring with a larger elastic coefficient is selected. The preload spring 43212 is installed in the receiving groove, with one end fixed to the bottom of the body 43211. The spring can be prevented from popping out by welding or by setting a limiting protrusion. The other end of the preload spring 43212 is fixedly connected to the top ball 43213 to ensure that the elastic force of the preload spring 43212 can be stably transmitted to the top ball 43213. The diameter of the top ball 43213 can be the same as or slightly smaller than the inner diameter of the receiving groove. In addition, it needs to be able to make close contact with the guide wire 13. The specific diameter of the top ball 43213 is not specifically limited here.

[0084] like Figure 2 and Figure 3 As shown, in some embodiments, the transmission assembly 420 includes a driving gear 421 and a driven rack 422. The driving gear 421 is fixedly connected to the output end of the power mechanism 410, and the driven rack 422 meshes with the driving gear 421.

[0085] Specifically, the drive gear 421 can be secured to the output shaft of the power mechanism 410 by key connection, interference fit or shaft end retaining ring, but no specific restrictions are imposed.

[0086] This example uses a gear and rack transmission method, which has high transmission efficiency and precision. It can stably convert the rotational power of the power mechanism 410 into linear motion, driving the guide wire 13 to accurately perform pushing or retracting operations.

[0087] like Figure 2 , Figure 3 and Figure 8 As shown, in some embodiments, the transmission assembly 420 further includes a docking plate 426, a guide shaft 424, and a guide block 425. The docking plate 426 is disposed on one side of the driven rack 422; the guide shaft 424 extends along the moving direction of the guide wire 13; the guide block 425 is fixedly connected to the docking plate 426 and is adapted to be fitted onto the guide shaft 424; and the clamping assembly 430 is connected to the docking plate 426.

[0088] Specifically, the mating plate 426 can be fixed to one side of the driven rack 422 by bolts or welding, thereby providing a stable mounting base for the connection of subsequent components. The mating plate 426 can be a metal plate or a plastic plate, and its shape and size can be designed according to the layout of the mounted components, for example, it can be L-shaped, but there are no specific limitations.

[0089] The guide shaft 424 can be fixed on a mounting base with a fixed relative position, such as a mounting base for mounting the power mechanism 410, to ensure its straightness along the direction of movement of the guide wire 13. The guide block 425, as a sliding block with a low coefficient of friction, forms a sliding fit with the guide shaft 424. The guide block 425 is fixed to the mating plate 426 by bolts, welding, or other means, so that the mating plate 426 can slide smoothly on the guide shaft 424.

[0090] In this example, the arrangement of the guide shaft 424 and the guide block 425 ensures the accuracy and stability of the linear motion of the driven rack 422 during movement, avoids the offset caused by lateral force, thereby ensuring the accuracy of the linear motion of the entire transmission assembly 420 driving the guide wire 13, and improving the stability and accuracy of the operation of the guide wire 13.

[0091] like Figure 2 As shown, in some embodiments, the guide wire drive device further includes a connecting assembly 440, which is connected between the transmission assembly 420 and the clamping assembly 430; the connecting assembly 440 is provided with a missing portion for avoiding the functional component.

[0092] Specifically, the structure of the connecting component 440 can be U-shaped or C-shaped, and its missing part, i.e., notch, facilitates the accommodation of the following conduit support 20. In this example, the connecting component 440 can ensure the synchronicity and continuity of the clamping component 430 and the transmission component 420 during the movement process.

[0093] To clearly understand the specific structure of the connecting assembly 440 and its other auxiliary functions, the function of the catheter support 20 is first introduced. The catheter support 20 can support the control handle 10 and the catheters and instruments inside it, and the catheter support 20 can rotate under the drive of other devices, thereby achieving the purpose of driving the control handle 10 to rotate. In the guidewire drive device provided in this example, the power mechanism 410 and the transmission assembly 420 are stationary relative to the transmission chamber (specifically, they do not rotate), while the clamping assembly 430 can rotate synchronously with the control handle 10. Therefore, the connecting assembly 440, which connects the clamping assembly 430 and the transmission assembly 420, not only provides the synchronization of their movements, but also ensures that the clamping assembly 430 can rotate together with the catheter support 20.

[0094] Based on this, in some embodiments, the connecting assembly 440 includes a connecting plate 441 and a rotating support plate 442. One end of the connecting plate 441 is fixed to the docking plate 426, and the other end is fastened to the rotating support plate 442. The rotating support plate 442 can rotate relative to the connecting plate 441.

[0095] Specifically, one end of the connecting plate 441 is fixed to the docking plate 426. The end of the connecting plate 441 connected to the docking plate 426 may also have a through hole to allow the connecting plate 441 to pass through the guide shaft 424. The end of the connecting plate 441 away from the transmission assembly 420 may be C-shaped, and the rotating support plate 442 may be a C-shaped plate that engages with the C-shaped portion of the connecting plate 441. Both the connecting plate 441 and the rotating support plate 442 have engaging grooves. Alternatively, a matching cover plate can be used to ensure the stability of the engagement between the connecting plate 441 and the rotating support plate 442. The inner arc surface of the rotating support plate 442 also has a protrusion for abutting against the outer surface of the guide tube support 20, so that the rotating support plate 442 rotates when the guide tube support 20 rotates, thereby driving the clamping assembly 430 to rotate.

[0096] like Figure 5 As shown, in some embodiments, the clamping assembly 430 further includes a fixing plate 433, which is fixedly connected to the clamping housing 431 and the rotating support plate 442 respectively.

[0097] Specifically, the fixing plate 433 can be connected to the clamping housing 431 and the rotating support plate 442 respectively by screws or other means. For example, in this example, the fixing plate 433 can be constructed with a positioning groove to facilitate the insertion of a portion of the clamping block 4311 into the positioning groove. Of course, the positioning groove can be rectangular, and the clamping block 4311 can be designed as a clamping block 4311 with an L-shaped mounting shaft 4312. Specifically, one end of the L-shaped mounting shaft 4312 is inserted into the positioning groove to be fixedly connected to the fixing plate 433. The above configuration can strengthen the connection between the clamping housing 431 and the rotating support plate 442, improve the structural stability of the entire clamping assembly 430, avoid loosening or deformation of components due to force during the operation of the guide wire 13, and ensure the accuracy and safety of the operation of the guide wire 13.

[0098] Based on the same inventive concept, embodiments of this application also provide a surgical robot, such as... Figure 1 As shown, the surgical robot may include a catheter support 20 and a guidewire drive device as described in the above embodiment. The catheter support 20 has a receiving groove and a delivery groove that are interconnected. The receiving groove is used to receive a control handle 10, and the delivery groove is used to receive a guidewire 13 connected to the control handle 10. The guidewire drive device is used to be movably connected to the catheter support 20 to drive the clamping assembly 430 to move relative to the catheter support 20, thereby enabling the guidewire 13 to move within the delivery groove.

[0099] Understandably, the surgical robot also has a support shell on the outside of the transmission cabin, and the catheter support 20 is movably mounted on the support shell. Of course, some components of the aforementioned guidewire drive device can also be mounted on this support shell. The catheter support 20 has a long strip structure, and the receiving groove is usually located in the middle of the long strip catheter support 20. Delivery grooves are provided on opposite sides of the receiving groove. The delivery groove located at the distal end of the receiving groove (closer to the patient) is used as the catheter delivery groove, while the delivery groove located at the proximal end of the receiving groove (away from the patient) is used as the guidewire 13 delivery groove.

[0100] The aforementioned guidewire drive device can move along the length of the catheter support 20. Specifically, this can be achieved by the rotating support plate 442 in the connecting assembly 440 contacting the outer wall of the catheter support 20, thereby enabling the clamping assembly 430 to move along the length of the catheter support 20 via the transmission assembly 420. In this example, the catheter support 20 and the guidewire drive device ensure the integration and reliability of the surgical robot, providing a good operating platform for vascular interventional surgery.

[0101] like Figure 2 and Figure 3As shown, in some embodiments, the surgical robot further includes a guide support 30, which is disposed at one end of the delivery channel near the receiving channel, and the guide support 30 is used for the guide wire 13 to pass through. In some embodiments,

[0102] Specifically, the guide support 30 in this example can be understood as a guide sleeve. This guide sleeve can be installed near the receiving groove in the delivery groove via bolts, adhesive, or welding. The guide sleeve has a through hole to ensure that the guide wire 13 can smoothly enter the control handle 10 in the receiving groove from the delivery groove. Of course, the through hole of the guide sleeve can be modified to reduce friction between the guide wire 13 and the guide sleeve. The guide support 30 in this example provides better guidance and transition for the pushing or retraction of the guide wire 13, reducing bending and jamming of the guide wire 13 at the point of entry into the control handle 10, ensuring smooth operation of the guide wire 13 and improving the success rate and safety of the surgery.

[0103] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0104] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A guidewire drive device, characterized by, Used to clamp the guide wire in order to drive the guide wire to move; The guidewire driving device includes: The power mechanism is used to output torque; A transmission component, connected to the output end of the power mechanism, is used to convert the rotational motion of the power mechanism into linear motion; A clamping assembly is connected to the transmission assembly. The clamping assembly includes a clamping housing and a clamping member. The clamping housing has a through hole for inserting the guide wire. The clamping member is disposed in the clamping housing and extends into the through hole. The clamping member is configured to continuously provide a preload force into the through hole to fix the guide wire on the clamping housing.

2. The guidewire drive device of claim 1, wherein, The clamping component includes at least one spring plunger, which is movably disposed within the clamping housing; The spring plunger is used to switch between a released position and a pre-tightened position. In the released position, the spring plunger moves away from the perforation to release the guide wire within the perforation. In the pre-tightened position, the spring plunger moves towards the perforation to bring the guide wire into contact with the inner wall of the clamping housing.

3. The guidewire drive device of claim 2, wherein, The clamping housing includes a clamping block, the clamping block having a through hole, and the side wall of the clamping block having at least one mounting hole communicating with the through hole; The mounting hole is used to install the spring plunger.

4. The guidewire drive device of claim 3, wherein, Along the axial direction of the perforation, the sidewall of the clamping block is provided with two mounting holes spaced apart.

5. The guidewire drive device of claim 3 or 4, wherein, The spring plunger includes: The body has a receiving groove and is detachably disposed within the mounting hole; A preload spring is disposed in the receiving groove, and one end of the preload spring is connected to the body; A tensioning ball is located at the other end of the pre-tensioning spring. The tensioning ball is used to extend into the perforation and contact the guide wire.

6. The guidewire drive device of any of claims 1-4, wherein, The transmission assembly includes a driving gear and a driven rack. The driving gear is fixedly connected to the output end of the power mechanism, and the driven rack meshes with the driving gear.

7. The guidewire drive device of claim 6, wherein, The transmission assembly further includes a docking plate, a guide shaft, and a guide block, wherein the docking plate is disposed on one side of the driven rack; The guide shaft extends along the moving direction of the guide wire, the guide block is fixedly connected to the docking plate, and the guide block is adapted to be fitted onto the guide shaft; The clamping assembly is connected to the docking plate.

8. The guidewire drive device of claim 7, wherein, The guide wire driving device further includes a connecting component, which is connected between the transmission component and the clamping component; The connecting component is provided with a portion for avoiding the missing parts of the functional components.

9. The guidewire drive device of claim 8, wherein, The connecting assembly includes a connecting plate and a rotating support plate. One end of the connecting plate is fixed to the docking plate, and the other end is fastened to the rotating support plate. The rotating support plate is capable of rotating relative to the connecting plate.

10. The guidewire drive device of claim 9, wherein, The clamping assembly further includes a fixing plate, which is fixedly connected to the clamping housing and the rotating support plate respectively.

11. A surgical robot, characterized by include: A catheter support having an interconnected receiving groove and a delivery groove, the receiving groove for receiving a control handle and the delivery groove for receiving a guidewire connected to the control handle; as well as, The guidewire driving device according to any one of claims 1-10, wherein the guidewire driving device is movably connected to the catheter support to drive the clamping assembly to move relative to the catheter support, thereby realizing the movement of the guidewire within the delivery groove.

12. The surgical robot of claim 11, wherein, The surgical robot also includes a guide support, which is disposed at one end of the delivery channel near the receiving channel, and is used for the guide wire to pass through.

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