A guide wire driving device of an interventional surgical robot

Abstract

The utility model provides an interventional operating robot's guide wire drive arrangement belongs to interventional operating robot technical field. For solving the whole structure complex of existing guide wire drive arrangement, the quantity of spare parts is more, and the cooperation requirement is high, simultaneously, when installing taking and putting of guide wire, needs first to separate driving friction wheel and driven friction wheel etc.

Description

Technical Field

[0001] This utility model relates to the field of interventional surgical robot technology, and in particular to a guidewire driving device for an interventional surgical robot. Background Technology

[0002] Interventional vascular surgery is a surgical procedure guided by medical imaging equipment. An interventional physician uses instruments such as needles, catheters, guidewires, balloons, and stents to deliver these instruments percutaneously along the blood vessels to the corresponding lesion site for treatment. As a minimally invasive treatment, interventional vascular surgery has been widely used in the interventional treatment of cardiovascular diseases, cerebrovascular diseases, peripheral vascular diseases, and tumors.

[0003] Interventional surgical robots can remotely control the movement of guidewires and catheters. Therefore, interventional surgical robots need to be equipped with guidewire drive devices to drive the guidewire in linear, rotational and combined movements to meet the requirements of surgical treatment.

[0004] Existing guidewire drive devices have complex structures. For example, the "control device for guidewire catheter from the end of interventional surgery robot" disclosed in CN113633388B mainly uses active friction wheels and driven friction wheels to drive the linear motion of the guidewire. The rotational motion of the guidewire is achieved through other control components. The overall structure is complex, with a large number of parts and high requirements for fit. At the same time, when installing and removing the guidewire, the active friction wheels and driven friction wheels must be separated first, which makes the installation and removal of the guidewire inconvenient. Utility Model Content

[0005] In view of this, the present invention provides a guidewire driving device for an interventional surgical robot, which uses two hyperbolic guide wheels to realize the linear and rotational motion of the guidewire. The overall structure is simple and easy to operate.

[0006] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows:

[0007] A guidewire driving device for an interventional surgical robot includes at least one set of hyperbolic guide wheels. Each set of hyperbolic guide wheels includes an upper hyperbolic guide wheel and a lower hyperbolic guide wheel. The generatrices of the working sections of the upper and lower hyperbolic guide wheels are both hyperbolic. The upper and lower hyperbolic guide wheels are arranged vertically and intersectingly to clamp the guidewire, so as to drive the guidewire to move forward, backward and rotate when the upper and lower hyperbolic guide wheels rotate.

[0008] Based on technical solution 1, the guide wire is set on the line of symmetry between the upper hyperbolic guide wheel and the lower hyperbolic guide wheel.

[0009] Based on technical solution 1, it also includes an upper housing and a lower housing, which are detachably connected. The upper hyperbolic guide wheel is installed inside the upper housing, and the lower hyperbolic guide wheel is installed inside the lower housing. The upper housing and the lower housing are fastened together so that the upper hyperbolic guide wheel and the lower hyperbolic guide wheel clamp the guide wire. The upper housing and the lower housing are disassembled so that the upper hyperbolic guide wheel and the lower hyperbolic guide wheel are separated.

[0010] Based on technical solution 3, the lower housing is provided with a guide groove for positioning the guide wire.

[0011] Based on technical solution 3, the upper housing is provided with a guide wheel mounting seat and guide posts. The upper hyperbolic guide wheel is mounted on the guide wheel mounting seat. There are at least four guide posts, which are evenly installed between the guide wheel mounting seat and the upper housing. One end of the guide post is slidably connected to the guide wheel mounting seat, and the other end of the guide post is fixedly connected to the upper housing. Each guide post is fitted with a compression spring so that when the upper housing and the lower housing are fastened together, the upper hyperbolic guide wheel can contact and squeeze the guide wire.

[0012] Based on technical solution 1, the hyperbolic guide wheel is provided in two sets, and the two sets of hyperbolic guide wheels are arranged side by side along the axis of the guide wire.

[0013] Based on technical solution 1, the upper hyperbolic guide wheel and the lower hyperbolic guide wheel are rubber wheels.

[0014] Based on technical solution 1, it also includes a force feedback mechanism for measuring the force on the guide wire. The force feedback mechanism includes an industrial control computer, a base, and force feedback sensors. The base is provided with a receiving groove for the guide wire to pass through. At least two force feedback sensors are provided. The two force feedback sensors are respectively located on the two side walls of the receiving groove and in contact with the guide wire. The force feedback sensors are used to collect the contact force information generated when the guide wire contacts them. The industrial control computer is connected to the force feedback sensors.

[0015] The beneficial effects of this utility model compared with the prior art are:

[0016] 1. This utility model can realize the linear and rotational motion of the guide wire using only the upper and lower hyperbolic guide wheels. At the same time, the separation and approach of the upper and lower hyperbolic guide wheels can be realized by opening and closing the upper and lower housings, which facilitates the assembly and disassembly of the guide wire. The overall structure is simple and easy to operate.

[0017] 2. This invention also includes a force feedback sensor. When the tip of the guidewire touches the blood vessel wall or other tissue, the blood vessel wall will generate resistance to the guidewire, causing a slight deformation of the guidewire and a change in the contact force with the force feedback sensor, thereby determining that the guidewire delivery is encountering resistance. The operator can adjust the rotation speed of the upper and lower hyperbolic guide wheels according to the force on the guidewire to prevent the guidewire from scratching the blood vessel wall or causing discomfort to the patient. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are provided to further illustrate the present invention.

[0019] Figure 1 This is a schematic diagram of the guidewire driving device of an interventional surgical robot according to the present invention.

[0020] Figure 2 This is a schematic diagram showing the working state of the upper hyperbolic guide wheel and the lower hyperbolic guide wheel.

[0021] Figure 3 This is a schematic diagram of the structure of the hyperbolic guide wheel installed in the guide wheel mounting base.

[0022] Figure 4 This is a schematic diagram of the structure of two sets of hyperbolic guide wheels in combination.

[0023] Figure 5 This is a schematic diagram showing the decomposition of the driving force of the upper and lower hyperbolic guide wheels on the guide wire.

[0024] Explanation of reference numerals in the attached drawings: 1-Upper hyperbolic guide wheel, 2-Lower hyperbolic guide wheel, 3-Guide wire, 4-Upper housing, 5-Lower housing, 5-1-Guide groove, 6-Guide wheel mounting base, 7-Guide column, 8-Compression spring; 9-Force feedback mechanism; 9-1-Base; 9-2-Force feedback sensor. Detailed Implementation

[0025] The present invention will be described in detail below with reference to specific embodiments.

[0026] Figure 1 A schematic diagram of a guidewire drive device for an interventional surgical robot according to this embodiment is shown. It is mounted on the slave end of the interventional surgical robot and is used to clamp, rotate, and deliver the guidewire or catheter. Figure 1 As shown, the guidewire driving device of an interventional surgical robot in this embodiment includes an upper housing 4, a lower housing 5, and at least one set of hyperbolic guide wheels. The upper housing 4 and the lower housing 5 are detachably connected. Specifically, one end of the upper housing 4 and the lower housing 5 are connected by a hinge, and the other end is connected by a latch. The upper housing 4 is flipped to open and close the upper housing 4 and the lower housing 5, and the latch locks them in place when they are closed. Figure 4 Two sets of hyperbolic guide wheels are provided, arranged side by side along the axis of guide wire 3. Each set of hyperbolic guide wheels includes two hyperbolic guide wheels with identical structures, designated as upper hyperbolic guide wheel 1 and lower hyperbolic guide wheel 2. The generatrix of the working sections of both upper hyperbolic guide wheel 1 and lower hyperbolic guide wheel 2 is hyperbolic. Figure 1As shown, the upper hyperbolic guide wheel 1 is obliquely installed inside the upper housing 4, and the lower hyperbolic guide wheel 2 is obliquely installed inside the lower housing 5. Figure 2 It can be seen that when the upper housing 4 and the lower housing 5 are fastened together, the upper hyperbolic guide wheel 1 and the lower hyperbolic guide wheel 2 are arranged vertically and interlock to clamp the guide wire 3. Figure 4 It can be seen that the guide wire 3 is positioned on the line of symmetry between the upper hyperbolic guide wheel 1 and the lower hyperbolic guide wheel 2. Thus, when the upper hyperbolic guide wheel 1 and the lower hyperbolic guide wheel 2 are driven by the motor and rotate (their rotation directions are the same when viewed from the same direction), the driving force generated by the two hyperbolic guide wheels on the guide wire 3 is the same in magnitude and symmetrical in direction. The driving force of each hyperbolic guide wheel on the guide wire 3 is an eccentric force, which can be decomposed into a force along the axis and a force perpendicular to the axis. Figure 5 It can be seen that the forces along the axis of guidewire 3 under the two eccentric forces are in the same direction, and the two forces perpendicular to the axis are equal in magnitude and opposite in direction. However, since the two forces perpendicular to the axis act on the upper and lower sides of guidewire 3 respectively, the resultant force of the two forces perpendicular to the axis is a rotational force. It can be seen that when the upper hyperbolic guide wheel 1 and the lower hyperbolic guide wheel 2 rotate, the forces actually acting on guidewire 3 are the forces along the axis and the rotational force respectively. Under these two forces, guidewire 3 can simultaneously perform linear and rotational movements, thereby realizing the forward / backward movement and rotation of guidewire 3, which meets the requirements of interventional surgery.

[0027] When installing and removing the guide wire 3, it can be achieved by opening and closing the upper housing 4 and the lower housing 5. That is, when the latch is opened and the upper housing 4 is flipped, the upper hyperbolic guide wheel 1 flips together with the upper housing 4. At this time, the upper hyperbolic guide wheel 1 and the lower hyperbolic guide wheel 2 separate. Figure 1 (As shown in the diagram), the guide wire 3 can be placed on and in contact with the lower hyperbolic guide wheel 2. The upper housing 4 is then flipped in the opposite direction, and the upper hyperbolic guide wheel 1 flips and resets along with the upper housing 4. At this time, the upper hyperbolic guide wheel 1 and the lower hyperbolic guide wheel 2 clamp the guide wire 3. Figure 2 (As shown in the diagram), guidewire 3 is now installed. The removal of guidewire 3 follows the same process as described above; the entire process of installing and removing guidewire 3 is convenient and quick.

[0028] During installation, the guide wire 3 may be misaligned, meaning it may not be positioned on the line of symmetry between the upper hyperbolic guide wheel 1 and the lower hyperbolic guide wheel 2. This results in asymmetrical driving forces on the guide wire 3, causing lateral movement. To address this issue, this embodiment includes a guide groove 5-1 on the lower housing for positioning the guide wire 3. Figure 1 and Figure 2As shown, a guide groove 5-1 is opened on each of the two opposite side walls of the lower housing 5. The two guide grooves 5-1 are opposite to each other, and the line connecting the two guide grooves 5-1 coincides with the line of symmetry between the upper hyperbolic guide wheel 1 and the lower hyperbolic guide wheel 2. The wire is inserted into the two guide grooves 5-1, so that the wire is located on the line of symmetry between the upper hyperbolic guide wheel 1 and the lower hyperbolic guide wheel 2, ensuring the symmetry of the force on the guide wire 3.

[0029] Furthermore, after a period of use, the upper hyperbolic guide wheel 1 may fail to adhere to the guide wire 3, resulting in reduced force on the guide wire 3 and affecting its forward / backward speed or rotational speed. Therefore, this embodiment also includes an automatic pressure adjustment mechanism within the upper housing 4 to ensure that the upper hyperbolic guide wheel 1 can always adhere to and compress the guide wire 3. Specifically, as follows... Figure 3 As shown, the upper housing 4 is provided with a guide wheel mounting seat 6 and a guide post 7. The shafts at both ends of the upper hyperbolic guide wheel 1 are mounted in the guide wheel mounting seat 6 via bearings. There are at least four guide posts 7, which are evenly installed between the guide wheel mounting seat 6 and the upper housing 4. The guide posts 7 are "T" shaped. The upper end of the guide post 7 is slidably connected to the guide wheel mounting seat 6, and the bottom end of the guide post 7 is fixedly connected to the upper housing 4. Each guide post 7 is fitted with a compression spring 8. When the upper hyperbolic guide wheel 1 is tilted down with the upper housing 4, the upper hyperbolic guide wheel 1 contacts the guide wire 3. As the upper housing 4 continues to tilt down, the upper hyperbolic guide wheel 1 squeezes the guide wire 3 and moves towards the upper housing 4 along the axis of the guide post 7. The compression spring 8 is compressed and also squeezes the upper hyperbolic guide wheel 1. When the upper housing 4 and the lower housing 5 are fully engaged, the upper hyperbolic guide wheel 1 always contacts and squeezes the guide wire 3 under the squeezing force of the compression spring 8, ensuring that the guide wire 3 is under sufficient force.

[0030] To maintain the stability of the guide wire in both linear and rotational motion, the upper hyperbolic guide wheel 1 and the lower hyperbolic guide wheel 2 in this embodiment are rubber wheels. By increasing the coefficient of friction of the upper hyperbolic guide wheel 1 and the lower hyperbolic guide wheel 2, the driving force between the upper hyperbolic guide wheel 1 and the lower hyperbolic guide wheel 2 and the guide wire 3 is increased, thereby avoiding slippage between the upper hyperbolic guide wheel 1 and / or the lower hyperbolic guide wheel 2 and the guide wire 3.

[0031] During guidewire delivery, it may encounter tissue structures such as blood vessel walls. If the force applied during guidewire advancement is too great, it may scratch the blood vessel wall or cause discomfort to the patient. Therefore, this embodiment also includes a force feedback mechanism 9 for measuring the force applied to the guidewire. The force feedback mechanism 9 is located at the front end of the lower housing 5 of the guidewire. Figure 1As can be seen from the description of the force feedback mechanism, the force feedback mechanism 9 includes an industrial control computer, a base 9-1, and several force feedback sensors 9-2. The base 9-1 has a receiving groove for accommodating the guide wire 3, with openings at both ends of the receiving groove along the axial direction of the guide wire 3 for the guide wire 3 to pass through. Several force feedback sensors 9-2 are respectively disposed on the sidewalls of the receiving groove, and are used to collect contact force information generated when the guide wire 3 contacts it. The industrial control computer is signal-connected to the force feedback sensors 9-2, and is used to receive and process the contact force information to obtain the force condition of the guide wire 3. The force feedback sensors 9-2 can be pressure sensors.

[0032] Under normal driving conditions, guidewire 3 contacts force feedback sensor 9-2, generating a contact force that remains relatively stable. When the tip of guidewire 3 touches tissues such as the blood vessel wall, the vessel wall generates resistance, causing guidewire 3 to deform slightly and changing the contact force with force feedback sensor 9-2, thus indicating resistance to guidewire delivery. The operator can adjust the rotation speed of the upper hyperbolic guide roller 1 and lower hyperbolic guide roller 2 based on the force applied to guidewire 3 to prevent guidewire 3 from scratching the blood vessel wall or causing patient discomfort.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit the scope of protection of this utility model. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the essence and scope of the technical solutions of this utility model.

Claims

1. An interventional operating robot guide wire drive device characterized by comprising: It includes at least one set of hyperbolic guide wheels, each set of hyperbolic guide wheels including an upper hyperbolic guide wheel and a lower hyperbolic guide wheel. The generatrices of the working sections of the upper and lower hyperbolic guide wheels are both hyperbolic. The upper and lower hyperbolic guide wheels are arranged vertically and intersectingly to clamp the guide wire, so as to drive the guide wire to move forward, backward and rotate when the upper and lower hyperbolic guide wheels rotate.

2. The guidewire drive device of an interventional surgical robot according to claim 1, characterized in that The guide wire is positioned on the line of symmetry between the upper hyperbolic guide wheel and the lower hyperbolic guide wheel.

3. The guidewire drive device of an interventional surgical robot according to claim 1, characterized in that, It also includes an upper housing and a lower housing, which are detachably connected. The upper hyperbolic guide wheel is installed inside the upper housing, and the lower hyperbolic guide wheel is installed inside the lower housing. The upper housing and the lower housing are fastened together so that the upper hyperbolic guide wheel and the lower hyperbolic guide wheel clamp the guide wire. The upper housing and the lower housing are disassembled so that the upper hyperbolic guide wheel and the lower hyperbolic guide wheel are separated.

4. The guidewire drive device of an interventional surgical robot according to claim 3, characterized in that The lower housing is provided with a guide groove for positioning the guide wire.

5. The guidewire drive device of an interventional surgical robot according to claim 3, characterized in that, The upper housing is provided with a guide wheel mounting seat and guide posts. The upper hyperbolic guide wheel is mounted on the guide wheel mounting seat. There are at least four guide posts. The four guide posts are evenly installed between the guide wheel mounting seat and the upper housing. One end of the guide post is slidably connected to the guide wheel mounting seat, and the other end of the guide post is fixedly connected to the upper housing. Each guide post is fitted with a compression spring so that when the upper housing and the lower housing are fastened together, the upper hyperbolic guide wheel can contact and squeeze the guide wire.

6. The guidewire drive device of an interventional surgical robot according to claim 1, characterized by The hyperbolic guide wheel is provided in two sets, and the two sets of hyperbolic guide wheels are arranged side by side along the axis of the guide wire.

7. The guidewire drive device of an interventional surgical robot according to claim 1, characterized by The upper and lower hyperbolic guide wheels are made of rubber.

8. The guidewire drive device of claim 1, wherein, It also includes a force feedback mechanism for measuring the force on the guide wire. The force feedback mechanism includes an industrial control computer, a base, and force feedback sensors. The base is provided with a receiving groove for the guide wire to pass through. There are at least two force feedback sensors. The two force feedback sensors are respectively located on the two side walls of the receiving groove and are in contact with the guide wire. The force feedback sensors are used to collect the contact force information generated when the guide wire contacts them. The industrial control computer is connected to the force feedback sensors.

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