Calibration fixture for guidewire delivery mechanism force sensor

Abstract

The utility model provides a kind of for calibration tool of guide wire delivery mechanism force sensor, including calibration module and inspection module;Force gage is installed on calibration module, linear module is installed on inspection module, first force sensor is slidably installed on linear module, second force sensor is installed in guide wire delivery mechanism, first force sensor is coaxially connected with force gage or second force sensor by guide wire;First force sensor is driven to slide by linear module, the reading of first force sensor is calibrated using the reading of force gage, or the reading of second force sensor is calibrated using the reading of first force sensor;The utility model first calibrates first force sensor on inspection module using force gage on calibration module, then calibrates second force sensor using calibrated first force sensor, to greatly improve the calibration accuracy of second force sensor in guide wire delivery mechanism.

Description

Technical Field

[0001] This utility model relates to the field of force sensor calibration technology, and in particular to a calibration fixture for a force sensor in a guide wire delivery mechanism. Background Technology

[0002] Vascular interventional surgical robots rely on guidewire delivery mechanisms to achieve minimally invasive procedures. Real-time force detection at the guidewire tip is crucial for surgical safety. The walls of nerves and blood vessels are only 0.1-0.3 mm thick; a guidewire contact force exceeding 0.5 N can cause perforation. In coronary artery calcification, a lateral friction force of 0.3 N can lead to plaque detachment and induce myocardial infarction. Clinically, the required force detection error is ≤ ±0.1 N (equivalent to the dragging force of a single human hair). However, the actual working environment of the guidewire is subject to interference such as changes in tilt angle. Uncalibrated sensors can achieve a measured error of up to 0.3 N, exceeding the safety threshold by 300%.

[0003] Currently, guidewire delivery mechanisms generally lack dedicated force sensor calibration schemes. Existing technologies directly use uncalibrated force sensors, whose output values ​​are affected by the superposition of interference from assembly stress, temperature drift, and posture changes. This results in a large error between the actual force on the guidewire and the force sensor reading during vascular interventional surgery, thereby increasing surgical risks.

[0004] Based on the above problems, there is an urgent need to propose a guidewire force calibration device for vascular interventional surgery. Summary of the Invention

[0005] This invention proposes a calibration fixture for the force sensor of a guidewire delivery mechanism, which solves the problems in the prior art where the lack of a dedicated force sensor calibration device for the guidewire delivery mechanism leads to large errors in the force sensor measurement of the guidewire delivery mechanism, which can easily cause surgical risks.

[0006] The technical solution of this utility model is implemented as follows:

[0007] The first aspect of this utility model provides a calibration fixture for a force sensor of a guidewire delivery mechanism, including a calibration module and an inspection module. The inspection module is detachably connected to the calibration module or the guidewire delivery mechanism. A force gauge is mounted on the calibration module, and a linear module is mounted on the inspection module. A first force sensor is slidably mounted on the linear module, and a second force sensor is installed inside the guidewire delivery mechanism. The first force sensor is coaxially connected to the force gauge or the second force sensor via the guidewire. The linear module drives the first force sensor to slide, and the reading of the first force sensor is calibrated using the reading of the force gauge, or the reading of the second force sensor is calibrated using the reading of the first force sensor.

[0008] Specifically, the linear module includes a U-shaped base, with a slide rail on the inner bottom surface of the U-shaped base, and a slider slidably mounted on the slide rail. The first force sensor is mounted on the slider. A lead screw is installed between the two side plates of the U-shaped base, and the lead screw is threadedly connected to the center hole of the slider. One end of the lead screw extends to the outside of the side plate and is fitted with a first knob.

[0009] Specifically, both the force gauge and the first force sensor are equipped with wire guide holders at their force-receiving ends. The first force sensor is equipped with a connector at its force-receiving end. The connector is connected to the wire guide holder via a first spring. The first spring has a guide rod inside. One end of the guide rod is fixedly connected to the connector, and the other end extends into the guide hole at the rear end of the wire guide holder.

[0010] Specifically, the calibration module includes a base plate, one end of which is hinged to an angle adjustment plate via a hinge. The force gauge is mounted on one end of the angle adjustment plate via a bracket, and the inspection module is mounted on the other end of the angle adjustment plate via a quick-release assembly. A support and locking assembly is installed on the base plate, which is connected to the angle adjustment plate and is used to support the angle adjustment plate and lock the adjustment angle.

[0011] Furthermore, the support locking assembly includes a support frame mounted on the base plate. The top surface of the support frame has a strip-shaped hole along the length of the base plate. A hinge support is slidably embedded in the strip-shaped hole. A strut is rotatably connected to the hinge support. The other end of the strut is hinged to the side of the angle adjustment plate. The hinge support is provided with a set screw for fixing the hinge support to the base plate.

[0012] Furthermore, an indicator plate is installed at one end of the base plate, and an arc-shaped groove is formed on the indicator plate, the center of which is collinear with the hinge pin. An indicator block is provided on the outer side of the indicator plate, and scale lines that cooperate with the indicator block are provided on the indicator plate. The indicator block is fixed on a pin, and the pin passes through the arc-shaped groove and is fixed to the side wall of the angle adjustment plate. A connecting rod is provided at the rear end of the indicator block, and a collar is provided at the rear end of the connecting rod, which is sleeved on the hinge pin.

[0013] Specifically, the scale line is a groove, and the radial cross-section of the groove is semi-circular; a blind hole is provided on the inner side of the front end of the indicator block, and a second spring and a limiting ball are provided in the blind hole. The second spring is used to force the limiting ball to move outward into the groove.

[0014] Specifically, the quick-release assembly includes a retainer mounted on an angle adjustment plate and a limiting cap mounted on a first extension plate at the bottom of the inspection module. A rod is movably mounted inside the limiting cap. The top of the rod has a second knob, and the lower end of the rod has a first limiting crossbar. The top surface of the retainer has a hole for inserting the rod, and both sides of the hole have clearance grooves that mate with the first limiting crossbar. A first limiting ring is located inside the cavity of the limiting cap, and a second limiting ring is located at the upper end of the rod. A third spring is located between the first and second limiting rings, forcing the rod to move away from the retainer. A second limiting crossbar is located in the middle of the rod, below the first limiting ring.

[0015] Specifically, the bracket is equipped with several counterweights, each counterweight having several positioning holes, and the bottom surface of the bracket has several positioning posts that match the positioning holes.

[0016] The second aspect of this utility model provides a calibration method for a force sensor in a guidewire delivery mechanism, comprising the following steps:

[0017] S1, the inspection module and the calibration module are fixedly connected, and the force gauge and the first force sensor are coaxially connected through the guide wire;

[0018] S2, the linear module drives the first force sensor to move closer to or further away from the force gauge to push or pull the guide wire, and reads the readings of multiple sets of the first force sensor and the force gauge;

[0019] S3, the first calibration coefficient between the reading of the first force sensor and the reading of the force gauge is obtained by least squares fitting calculation;

[0020] S4, remove the inspection module from the calibration module, fix the inspection module to the guide wire delivery mechanism, and connect the guide wire output by the guide wire delivery mechanism to the first force sensor coaxially;

[0021] S5, the linear module drives the first force sensor to move closer to or further away from the guide wire delivery mechanism to push or pull the guide wire, and reads the readings of multiple sets of first and second force sensors;

[0022] S6, calibrate the reading of the first force sensor based on the first calibration coefficient;

[0023] S7. The second calibration coefficient between the reading of the second force sensor and the calibrated reading of the first force sensor is calculated using the least squares method. The reading of the second force sensor is calibrated based on the second calibration coefficient.

[0024] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0025] (1) By designing a calibration module and an inspection module, this utility model first uses the force gauge on the calibration module to calibrate the first force sensor on the inspection module, and then uses the calibrated first force sensor on the inspection module to calibrate the second force sensor on the guide wire delivery mechanism, thereby greatly improving the calibration accuracy of the second force sensor in the guide wire delivery mechanism.

[0026] (2) By designing an angle adjustment plate on the calibration module, this utility model can simulate the force situation of the guide wire delivery mechanism under different tilt angles, thereby further improving the calibration accuracy of the first force sensor in the inspection module and further improving the calibration accuracy of the second force sensor in the guide wire delivery mechanism.

[0027] (3) By installing a spring between the first force sensor and the guidewire holder in the inspection module, the first force sensor is flexibly connected to the guidewire output by the force gauge or guidewire delivery mechanism, which can better simulate the scenario of guidewire delivery in blood vessels and further improve the calibration accuracy of the second force sensor in the guidewire delivery mechanism.

[0028] (4) This utility model connects the inspection module with the calibration module or the guide wire delivery mechanism by designing a quick-release component, which can realize the quick assembly and disassembly of the inspection module and greatly improve the hardware assembly efficiency of the calibration fixture. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the connection between the calibration module and the inspection module in an embodiment of this utility model;

[0031] Figure 2 This is a schematic diagram of the linear module in an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the connection structure between the guide wire holder and the connector in an embodiment of this utility model;

[0033] Figure 4 This is a schematic diagram showing the state of the calibration module after adjusting the tilt angle in this embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of the assembly structure of the indicator plate and the indicator block in an embodiment of the present utility model;

[0035] Figure 6 This is an exploded view of the indicator plate and indicator block in an embodiment of this utility model;

[0036] Figure 7 This is a cross-sectional view of the quick-release components after connection in an embodiment of the present invention.

[0037] Figure 8 This is a schematic diagram of the structure of the quick-release component after disassembly in an embodiment of this utility model;

[0038] Figure 9 This is a schematic diagram of the guidewire delivery mechanism in an embodiment of the present invention;

[0039] In the diagram: 1. Calibration module; 2. Inspection module; 3. Force gauge; 4. Linear module; 5. First force sensor; 6. U-shaped seat; 7. Slide rail; 8. Slider; 9. Lead screw; 10. First knob; 11. Guide wire holder; 12. Connector; 13. First spring; 14. Guide rod; 15. Base plate; 16. Hinge; 17. Angle adjustment plate; 18. Bracket; 19. Quick release assembly; 20. Support frame; 21. Strip hole; 22. Hinge support; 23. Support rod; 24. Set screw; 25. Indicator plate; 6. Arc groove; 27. Indicator block; 28. Scale line; 29. ​​Pin; 30. Connecting rod; 31. Limiting ball; 32. Card seat; 33. First extension plate; 34. Limiting cap; 35. Insert rod; 36. Second knob; 37. First limiting rod; 38. Insertion hole; 39. Clearance groove; 40. First limiting ring; 41. Second limiting ring; 42. Second limiting crossbar; 43. Counterweight; 44. Positioning protrusion; 45. Pad strip; 46. Linear sliding module; 47. Guide wire clamping rotation assembly; 48. Second extension plate. Detailed Implementation

[0040] The technical solution of this utility model will be clearly and completely described below with reference to its embodiments. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0041] Reference Figures 1 to 9The first aspect of this utility model provides a calibration fixture for a force sensor of a guidewire delivery mechanism, including a calibration module 1 and an inspection module 2. The inspection module 2 is detachably connected to the calibration module 1 or the guidewire delivery mechanism. A force gauge 3 is mounted on the calibration module 1, and a linear module 4 is mounted on the inspection module 2. A first force sensor 5 is slidably mounted on the linear module 4, and a second force sensor is installed inside the guidewire delivery mechanism. The first force sensor 5 is coaxially connected to the force gauge 3 or the second force sensor via the guidewire. The first force sensor 5 is driven to slide by the linear module 4, and the reading of the first force sensor 5 is calibrated using the reading of the force gauge 3, or the reading of the second force sensor is calibrated using the reading of the first force sensor 5.

[0042] This invention designs a calibration module 1 and an inspection module 2. First, the force gauge 3 on the calibration module 1 is used to calibrate the first force sensor 5 on the inspection module 2. Then, the calibrated first force sensor 5 on the inspection module 2 is used to calibrate the second force sensor on the guide wire delivery mechanism, thereby greatly improving the calibration accuracy of the second force sensor in the guide wire delivery mechanism.

[0043] Specifically, such as Figure 2 As shown, the linear module 4 includes a U-shaped base 6, with a slide rail 7 on the inner bottom surface of the U-shaped base 6. A slider 8 is slidably mounted on the slide rail 7, and the first force sensor 5 is mounted on the slider 8. A lead screw 9 is installed between the two side plates of the U-shaped base 6, and the lead screw 9 is threadedly connected to the center hole of the slider 8. One end of the lead screw 9 extends to the outside of the side plate and is fitted with a first knob 10. By rotating the first knob 10, the lead screw 9 is driven to rotate, and the slider 8 slides linearly along the slide rail 7 under the drive of the lead screw 9, thereby driving the first force sensor 5 to pull or push the guide wire. In this embodiment, both ends of the lead screw 9 are smooth rods, and both ends of the lead screw 9 are mounted on the side plates of the U-shaped base 6 by bearings.

[0044] Specifically, such as Figure 3 As shown, both the force gauge 3 and the first force sensor 5 have guidewire holders 11 installed at their force-receiving ends. The first force sensor 5 has a connector 12 installed at its force-receiving end. The connector 12 is connected to the guidewire holder 11 via a first spring 13. The first spring 13 has a guide rod 14 inside. One end of the guide rod 14 is fixedly connected to the connector 12, and the other end extends into the guide hole at the rear end of the guidewire holder 11. By installing the first spring 13 between the first force sensor 5 and the guidewire holder 11 in the inspection module 2, the first force sensor 5 is flexibly connected to the guidewire output by the force gauge 3 or the guidewire delivery mechanism. This better simulates the scenario of guidewire delivery within a blood vessel (the blood vessel wall is also elastic), further improving the calibration accuracy of the second force sensor within the guidewire delivery mechanism.

[0045] In this embodiment, the head of the guide wire holder 11 is a rotating clamping assembly. By rotating the head of the guide wire holder 11, the guide wire can be clamped or released (in specific implementation, other structures with guide wire clamping functions can also be used). The tail of the guide wire holder 11 is a bushing (the bushing has a guide hole inside). The bushing is slidably sleeved on the guide rod 14, so that the guide wire holder 11 and the guide wire can only be displaced linearly along the axial direction.

[0046] Specifically, such as Figure 1 , 4 As shown, the calibration module 1 includes a base plate 15, one end of which is hinged to an angle adjustment plate 17 via a hinge 16. The force gauge 3 is mounted on one end of the angle adjustment plate 17 via a bracket 18, and the inspection module 2 is mounted on the other end of the angle adjustment plate 17 via a quick-release assembly 19. A support and locking assembly is installed on the base plate 15, which is connected to the angle adjustment plate 17 and used to support the angle adjustment plate 17 and lock the adjustment angle. By designing the angle adjustment plate 17 on the calibration module 1, the force conditions of the guide wire delivery mechanism under different tilt angles can be simulated, thereby further improving the calibration accuracy of the first force sensor 5 in the inspection module 2 and also further improving the calibration accuracy of the second force sensor in the guide wire delivery mechanism. By designing the quick-release assembly 19 to connect the inspection module 2 to the calibration module 1 or the guide wire delivery mechanism, the inspection module 2 can be quickly disassembled and assembled, greatly improving the hardware assembly efficiency of the calibration fixture.

[0047] Furthermore, such as Figure 4 As shown, the support locking assembly includes a support frame 20 mounted on the base plate 15. The top surface of the support frame 20 has a strip-shaped hole 21 along the length of the base plate 15. A hinge support 22 is slidably embedded in the strip-shaped hole 21. A support rod 23 is rotatably connected to the hinge support 22. The other end of the support rod 23 is hinged to the side of the angle adjustment plate 17. The hinge support 22 is provided with a set screw 24 for fixing the hinge support 22 to the base plate 15. When the tilt angle of the angle adjustment plate 17 needs to be raised, the set screw 24 needs to be loosened first, and then the tilt angle of the angle adjustment plate 17 needs to be raised. At the same time, the hinge support 22 will slide to the left (near the hinge 16) along the strip hole 21, and the support rod 23 will support the angle adjustment plate 17. After it is raised to the target angle, the hinge support 22 is fixed to the base plate 15 by tightening the set screw 24 to prevent the hinge support 22 from sliding along the strip hole 21, thereby fixing the angle of the angle adjustment plate 17. The working principle of lowering the tilt angle of the angle adjustment plate 17 is the same.

[0048] In this embodiment, as Figure 4As shown, there are two support frames 20, which are respectively located on both sides of the angle adjustment plate 17. The corresponding two hinge supports 22 are connected by a connecting plate (not shown in the figure) to ensure that the two hinge supports 22 slide synchronously in the two strip holes 21, thereby improving the stability of the support locking assembly.

[0049] In this embodiment, as Figure 4 As shown, a pad strip 45 is provided at the right end of the base plate 15 (the end away from the hinge 16) to support the right end of the angle adjustment plate 17, so that the angle adjustment plate 17 can remain horizontal (parallel to the base plate 15) after it is lowered. Since the angle adjustment plate 17 and the left end of the base plate 15 are hinged by the hinge 16 and the pin, there will be a certain gap between the left end of the angle adjustment plate 17 and the base plate 15 after the angle adjustment plate 17 is lowered. Therefore, the pad strip 45 is provided at the right end of the base plate 15 to cooperate with the hinge 16 at the left end to keep the angle adjustment plate 17 parallel to the base plate 15.

[0050] Furthermore, such as Figure 4-6 As shown, an indicator plate 25 is installed at one end of the base plate 15. The indicator plate 25 has an arc-shaped groove 26, the center of which is collinear with the pin of the hinge 16. An indicator block 27 is provided on the outer side of the indicator plate 25, and a scale line 28 that cooperates with the indicator block 27 is provided on the indicator plate 25. The indicator block 27 is fixed on a pin 29, which passes through the arc-shaped groove 26 and is fixed to the side wall of the angle adjustment plate 17. A connecting rod 30 is provided at the rear end of the indicator block 27, and a collar is provided at the rear end of the connecting rod 30. The collar is fitted onto the pin of the hinge 16. By rotating the angle adjustment plate 17, the pin 29 can drive the indicator block 27 to slide along the arc-shaped groove 26 (and rotate around the pin), thereby accurately reading the angle between the angle adjustment plate 17 and the base plate 15 through the cooperation of the indicator block 27 and the scale line 28.

[0051] Specifically, such as Figure 6 As shown, the scale line 28 is a groove, and the radial cross-section of the groove is semi-circular. A blind hole (not shown in the figure) is provided on the inner side of the front end of the indicator block 27. A second spring and a limiting ball 31 are provided inside the blind hole. The second spring forces the limiting ball 31 to move outward into the groove. By setting the groove in conjunction with the second spring and the limiting ball 31, when the angle adjustment plate 17 is raised to the target angle, the limiting ball 31 is engaged in the groove under the action of the second spring, indicating that the angle adjustment is in place.

[0052] Specifically, such as Figure 1 , 4As shown in Figures 7 and 8, the quick-release assembly 19 includes a retainer 32 mounted on the angle adjustment plate 17 and a limiting cap 34 mounted on the first extension plate 33 at the bottom of the inspection module 2. A rod 35 is movably installed within the limiting cap 34. A second knob 36 is provided at the top of the rod 35, and a first limiting crossbar is provided at the lower end of the rod 35. The top surface of the retainer 32 has a socket 38 for inserting the rod 35, and the sides of the socket 38 have clearances that mate with the first limiting crossbar. The groove 39; the cavity of the limiting cap 34 is provided with a first limiting ring 40, the upper end of the insertion rod 35 is provided with a second limiting ring 41, a third spring is provided between the first limiting ring 40 and the second limiting ring 41, the third spring is used to force the insertion rod 35 to move away from the card seat 32; the middle part of the insertion rod 35 is provided with a second limiting crossbar 42, the second limiting crossbar 42 is located below the first limiting ring 40, to prevent the insertion rod 35 from coming out of the top outlet of the limiting cap 34.

[0053] In this embodiment, as Figure 4 As shown, the angle adjustment plate 17 is provided with a positioning protrusion 44, and the bottom surface of the first extension plate 33 is provided with a positioning recess that matches the positioning protrusion 44, which facilitates the quick positioning of the inspection module 2 and the angle adjustment plate 17. When the limit cap 34 and the insertion rod 35 on the first extension plate 33 are connected to the card seat 32 on the angle adjustment plate 17 and the positioning protrusion 44 and the positioning recess are engaged, the wire guide holder 11 at the end of the first force sensor 5 and the wire guide holder 11 at the end of the force gauge 3 are just in a coaxial state.

[0054] The working principle of the quick-release component 19 is as follows:

[0055] When it is necessary to fix the inspection module 2 on the angle adjustment plate 17, simply place the inspection module 2 on the angle adjustment plate 17 of the calibration module 1, align the insert 35 on the first extension plate 33 with the card seat 32 on the angle adjustment plate 17 and ensure that the positioning protrusion 44 engages with the positioning recess. Then, rotate the second knob 36 to make the first limiting crossbar parallel to the clearance groove 39, press down the second knob 36 to make the first crossbar pass through the clearance groove 39, and then rotate the second knob 36 to make the first limiting crossbar parallel to the clearance groove 39. Then, release the second knob 36. The third spring pushes the second limit ring 41 upward, causing the insertion rod 35 to move upward until the first crossbar abuts against the card seat 32. If it is necessary to remove the inspection module 2 from the angle adjustment plate 17, simply rotate the second knob 36 again so that the first limit crossbar is parallel to the clearance groove 39, and then release the second knob 36. The third spring will push the second limit ring 41 upward, causing the insertion rod 35 to retract from the card seat 32, thus completing the unlocking of the inspection module 2 from the angle adjustment plate 17.

[0056] In this embodiment, as Figure 9As shown, the connection between the inspection module 2 and the guide wire delivery mechanism is also the same as above. The guide wire delivery mechanism includes a linear sliding module 46 and a guide wire clamping rotation assembly 47. The guide wire clamping rotation assembly 47 is fixed on the sliding part of the linear sliding module 46 through a connecting plate. The linear sliding module 46 drives the guide wire clamping rotation assembly 47 to slide linearly along the guide wire delivery direction, thereby realizing the forward and backward movement of the guide wire. The front end of the linear sliding module 46 is provided with a second extension plate 48, and the second extension plate 48 is provided with the aforementioned card seat 32 and positioning protrusion 44.

[0057] Specifically, such as Figure 1 , 4 As shown, a number of counterweights 43 are installed inside the bracket 18. A number of positioning holes are opened on the counterweights 43. A number of positioning posts matching the positioning holes are provided on the bottom surface of the bracket 18. By installing a number of counterweights 43 inside the bracket 18, the center of gravity is balanced and the center of gravity is prevented from being offset.

[0058] The second aspect of this utility model provides a calibration method for a force sensor in a guidewire delivery mechanism, comprising the following steps:

[0059] S1, fix the inspection module 2 and the calibration module 1 in place, and connect the force gauge 3 and the first force sensor 5 coaxially through the guide wire;

[0060] S2, the first force sensor 5 is driven to move closer to or further away from the force gauge 3 through the linear module 4 to push or pull the guide wire, and the readings of multiple sets of the first force sensor 5 and the force gauge 3 are read;

[0061] S3, the first calibration coefficient between the reading of the first force sensor 5 and the reading of the force gauge 3 is obtained by least squares fitting calculation;

[0062] S4, remove the inspection module 2 from the calibration module 1, and fix the inspection module 2 to the guide wire delivery mechanism, and connect the guide wire output by the guide wire delivery mechanism to the first force sensor 5 coaxially;

[0063] S5, the linear module 4 drives the first force sensor 5 to approach or move away from the guide wire delivery mechanism to push or pull the guide wire, and reads the readings of multiple sets of the first force sensor 5 and the second force sensor;

[0064] S6, calibrate the reading of the first force sensor 5 based on the first calibration coefficient;

[0065] S7. The second calibration coefficient between the reading of the second force sensor and the calibrated reading of the first force sensor 5 is calculated using the least squares method. The reading of the second force sensor is calibrated based on the second calibration coefficient.

[0066] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A calibration fixture for a force sensor in a guidewire delivery mechanism, characterized in that, The system includes a calibration module (1) and an inspection module (2), wherein the inspection module (2) is detachably connected to the calibration module (1) or the guide wire delivery mechanism; a force gauge (3) is installed on the calibration module (1), a linear module (4) is installed on the inspection module (2), a first force sensor (5) is slidably installed on the linear module (4), and a second force sensor is installed in the guide wire delivery mechanism; the first force sensor (5) is coaxially connected to the force gauge (3) or the second force sensor through the guide wire; the first force sensor (5) is driven to slide by the linear module (4), and the reading of the first force sensor (5) is calibrated by the reading of the force gauge (3), or the reading of the second force sensor is calibrated by the reading of the first force sensor (5).

2. The calibration fixture for a force sensor in a guidewire delivery mechanism as described in claim 1, characterized in that, The linear module (4) includes a U-shaped base (6), with a slide rail (7) on the inner bottom surface of the U-shaped base (6), and a slider (8) slidably mounted on the slide rail (7). The first force sensor (5) is mounted on the slider (8). A lead screw (9) is installed between the two side plates of the U-shaped base (6), and the lead screw (9) is threadedly connected to the center hole of the slider (8). One end of the lead screw (9) extends to the outside of the side plate and is fitted with a first knob (10).

3. The calibration fixture for a force sensor in a guidewire delivery mechanism as described in claim 1, characterized in that, Both the force gauge (3) and the first force sensor (5) are equipped with wire guide holders (11) at their force-receiving ends. The first force sensor (5) is equipped with a connector (12) at its force-receiving end. The connector (12) is connected to the wire guide holder (11) via a first spring (13). The first spring (13) has a guide rod (14) inside. One end of the guide rod (14) is fixedly connected to the connector (12), and the other end extends into the guide hole at the rear end of the wire guide holder (11).

4. The calibration fixture for a force sensor in a guidewire delivery mechanism as described in claim 1, characterized in that, The calibration module (1) includes a base plate (15), one end of which is hinged to an angle adjustment plate (17) via a hinge (16). The force gauge (3) is mounted on one end of the angle adjustment plate (17) via a bracket (18). The inspection module (2) is mounted on the other end of the angle adjustment plate (17) via a quick-release assembly (19). A support locking assembly is installed on the base plate (15), which is connected to the angle adjustment plate (17) and is used to support the angle adjustment plate (17) and lock the adjustment angle.

5. The calibration fixture for a force sensor in a guidewire delivery mechanism as described in claim 4, characterized in that, The support locking assembly includes a support frame (20) mounted on the base plate (15). The top surface of the support frame (20) has a strip hole (21) along the length of the base plate (15). A hinge support (22) is slidably embedded in the strip hole (21). A support rod (23) is rotatably connected to the hinge support (22). The other end of the support rod (23) is hinged to the side of the angle adjustment plate (17). The hinge support (22) is provided with a set screw (24) for fixing the hinge support (22) to the base plate (15).

6. The calibration fixture for a force sensor in a guidewire delivery mechanism as described in claim 4, characterized in that, An indicator plate (25) is installed at one end of the base plate (15). An arc groove (26) is provided on the indicator plate (25), and the center of the arc groove (26) is collinear with the pin shaft of the hinge (16). An indicator block (27) is provided on the outer side of the indicator plate (25), and a scale line (28) is provided on the indicator plate (25) to cooperate with the indicator block (27). The indicator block (27) is fixed on the pin (29), and the pin (29) passes through the arc groove (26) and is fixed on the side wall of the angle adjustment plate (17). A connecting rod (30) is provided at the rear end of the indicator block (27), and a collar is provided at the rear end of the connecting rod (30), and the collar is sleeved on the pin shaft of the hinge (16).

7. A calibration fixture for a force sensor in a guidewire delivery mechanism as described in claim 6, characterized in that, The scale line (28) is a groove, and the radial cross section of the groove is semi-circular; the front end of the indicator block (27) is provided with a blind hole, and a second spring and a limiting ball (31) are provided in the blind hole. The second spring is used to force the limiting ball (31) to move outward into the groove.

8. The calibration fixture for a force sensor in a guidewire delivery mechanism as described in claim 4, characterized in that, The quick-release assembly (19) includes a retainer (32) mounted on the angle adjustment plate (17) and a limiting cap (34) mounted on the first extension plate (33) at the bottom of the inspection module (2). A rod (35) is movably installed inside the limiting cap (34). The top of the rod (35) is provided with a second knob (36), and the lower end of the rod (35) is provided with a first limiting crossbar. The top surface of the retainer (32) is provided with a socket (38) for inserting the rod (35). The sides of the socket (38) are provided with a first limiting crossbar. A clearance groove (39) matching the limiting crossbar; a first limiting ring (40) is provided in the cavity of the limiting cap (34), a second limiting ring (41) is provided at the upper end of the insertion rod (35), a third spring is provided between the first limiting ring (40) and the second limiting ring (41), the third spring is used to force the insertion rod (35) to move away from the card seat (32); a second limiting crossbar (42) is provided in the middle of the insertion rod (35), the second limiting crossbar (42) is located below the first limiting ring (40).

9. A calibration fixture for a force sensor in a guidewire delivery mechanism as described in claim 4, characterized in that, The bracket (18) is equipped with several counterweights (43), and several positioning holes are provided on the counterweights (43). The bottom surface of the bracket (18) is provided with several positioning posts that match the positioning holes.

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