Guide wire driving device of interventional surgery robot and interventional surgery robot

Abstract

The present invention belongs to the technical field of medical instruments. Provided are a guide wire driving device of an interventional surgery robot and an interventional surgery robot. Two ends of a driven friction roller fixing frame are provided with a fixed plate respectively, the fixed plates being provided with obround holes. Torsion springs are provided between two ends of driven friction roller shafts and the fixed plates, such that the elastic force of the torsion springs can enable the driven friction roller shafts to drive driven friction rollers to press a guide wire. In addition, a first pulley is provided in a lower housing; a second pulley and a constant-force spring are arranged in an upper housing; a pull rope is provided between the first pulley and the second pulley; and one end of the pull rope winds the first pulley and then is connected to a driving device, and the other end thereof winds the second pulley and then is connected to the constant-force spring. Thus, when the pull rope is pulled, driving friction rollers and the driven friction rollers can be driven to move reversely; and when the driving device loosens the pull rope, the constant-force spring pulls the pull rope to be reset, so as to reset the driving friction rollers and the driven friction rollers, thereby driving a guide wire to achieve a rotation action.

Description

Interventional surgical robot guide wire driving device and interventional surgical robot

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] The present invention claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on June 30, 2023, with application number 202310797891.7 and invention name “A guidewire driving device for an interventional surgical robot and an interventional surgical robot”, the entire contents of which are incorporated by reference into the present invention and constitute a part of the present invention for all purposes. Technical Field

[0003] The present invention belongs to the technical field of medical devices, and in particular relates to an interventional surgical robot guide wire driving device and an interventional surgical robot. Background Art

[0004] During interventional surgical robots, a slender guidewire is inserted into a human blood vessel and smoothly reaches the lesion within the vessel. Guided by the guidewire, balloons, catheters, and other instruments are positioned for the appropriate treatment. During use, the guidewire is advanced, retracted, and rotated to meet the surgical requirements. Therefore, interventional surgical robots require a guidewire drive device to drive the guidewire in linear, rotational, or combined motions.

[0005] The inventors found that the existing guide wire driving device mainly uses a friction wheel to drive the linear motion of the guide wire. The rotational motion mechanism of the guide wire needs to be set separately and must meet the combined linear and rotational motion of the guide wire. The structure is complex, the number of parts is large, and the coordination requirements are high. At the same time, when installing and placing the guide wire, the friction wheel needs to be separated first, and the guide wire needs to be placed in the designated groove. The operation is limited and the use is poor.

[0006] Summary of the Invention

[0007] In order to solve the above problems, the present invention proposes an interventional surgical robot guide wire driving device and an interventional surgical robot, wherein torsion springs are provided between both ends of the driven friction wheel shaft and the fixed plate, and the elastic force of the torsion spring can enable the driven friction wheel shaft to drive the driven friction wheel to press the guide wire, thereby ensuring the stability of the guide wire driving, and there is no need to place the guide wire in a designated groove; at the same time, a pull rope is provided through the pulley, one end of the pull rope is connected to the driving device after passing through the first pulley, and the other end is connected to the constant force spring after passing through the second pulley, and the pull rope is fixed to the active friction wheel fixing frame and the driven friction wheel fixing frame respectively. When the driving device pulls the pull rope, the pull rope can drive the active friction wheel fixing frame and the driven friction wheel fixing frame to move in opposite directions, thereby driving the active friction wheel and the driven friction wheel to move in opposite axial directions. When the driving device releases the pull rope, the constant force spring pulls the pull rope to reset, so that the active friction wheel and the driven friction wheel are reset, thereby driving the guide wire to realize rotation. The mechanism for driving the guide wire to realize rotation is simple, the number of parts is small, and the cost is reduced.

[0008] In order to achieve the above objectives, in a first aspect, the present invention provides a guidewire driving device for an interventional surgical robot, which adopts the following technical solutions:

[0009] A guidewire driving device for an interventional surgical robot comprises a lower housing and an upper housing arranged on the lower housing;

[0010] An active friction wheel fixing frame is provided in the lower housing, and an active friction wheel is provided on the active friction wheel fixing frame via an active friction wheel shaft; a driven friction wheel fixing frame is provided in the upper housing, and a driven friction wheel is provided on the driven friction wheel fixing frame via a driven friction wheel shaft;

[0011] The two ends of the driven friction wheel fixing frame are respectively provided with fixing plates, and the fixing plates are provided with long holes. The two ends of the driven friction wheel axle are respectively inserted into the long holes of the fixing plates at both ends of the driven friction wheel fixing frame. Torsion springs are provided between the two ends of the driven friction wheel axle and the fixing plates. The elastic force of the torsion springs can enable the driven friction wheel axle to drive the driven friction wheel to press the guide wire.

[0012] A first pulley is provided in the lower shell body, and a second pulley and a constant force spring are provided in the upper shell body; a pull rope is provided between the first pulley and the second pulley; one end of the pull rope is connected to the driving device after passing around the first pulley, and the other end is connected to the constant force spring after passing around the second pulley; the pull rope is fixed to the active friction wheel fixing frame and the driven friction wheel fixing frame respectively; when the driving device pulls the pull rope, the pull rope can drive the active friction wheel fixing frame and the driven friction wheel fixing frame to move in opposite directions, thereby driving the active friction wheel and the driven friction wheel to move in opposite axial directions, and when the driving device releases the pull rope, the constant force spring pulls the pull rope to reset, so that the active friction wheel and the driven friction wheel are reset, and the guide wire is driven to realize the rotation action.

[0013] Furthermore, the active friction wheel axle is rotatably connected in the lower housing; the active friction wheel is sleeved on the driven friction wheel axle through a spline.

[0014] Furthermore, one end of the active friction wheel shaft is connected to a first driven gear.

[0015] Furthermore, a first driving gear meshing with the first driven gear is provided in the lower shell.

[0016] Furthermore, the first driven gear and the first driving gear are both bevel gears.

[0017] Furthermore, the driving device includes a second driving gear provided on the lower shell, and a second driven gear meshing with the second driving gear; the pull rope is wound around the second driven gear.

[0018] Furthermore, the second driven gear and the second driving gear are both bevel gears.

[0019] Furthermore, the driven friction wheel is sleeved on the driven friction wheel axle.

[0020] Furthermore, the lower shell and the upper shell are hinged.

[0021] In order to achieve the above objectives, in a second aspect, the present invention further provides an interventional surgical robot, which adopts the following technical solutions:

[0022] An interventional surgical robot comprises the interventional surgical robot guidewire driving device as described in the first aspect.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The present invention is provided with fixing plates at both ends of the driven friction wheel fixing frame, and long holes are provided on the fixing plates. The two ends of the driven friction wheel axle are respectively inserted into the long holes of the fixing plates at both ends of the driven friction wheel fixing frame, and torsion springs are provided between the two ends of the driven friction wheel axle and the fixing plates. The elastic force of the torsion spring can enable the driven friction wheel axle to drive the driven friction wheel to press the guide wire, thereby ensuring the stability of the guide wire driving, and there is no need to place the guide wire in a designated groove; at the same time, a first pulley is provided in the lower shell, and a second pulley and a constant force spring are provided in the upper shell, and a pull rope is provided between the first pulley and the second pulley, and one end of the pull rope is wound around After passing through the first pulley, a driving device is connected, and the other end is connected to the constant force spring after passing around the second pulley; the pull rope is fixed to the active friction wheel fixing frame and the driven friction wheel fixing frame respectively; when the driving device pulls the pull rope, the pull rope can drive the active friction wheel fixing frame and the driven friction wheel fixing frame to move in opposite directions, thereby driving the active friction wheel and the driven friction wheel to move in opposite directions along the axial direction; when the driving device releases the pull rope, the constant force spring pulls the pull rope to reset, so that the active friction wheel and the driven friction wheel are reset, thereby driving the guide wire to realize the rotation movement. The mechanism for driving the guide wire to realize the rotation movement is simple, the number of parts is small, and the cost is reduced;

[0025] 2. The present invention achieves rotational movement of the guidewire by making the paired friction wheels move axially, resulting in a more compact structure and a reduced number of parts. Furthermore, the active friction wheel and the driven friction wheel are mounted on the upper and lower housings, respectively, thus avoiding limitations in guidewire installation compared to existing products and facilitating operation by medical personnel.

[0026] 3. In the present invention, the friction wheel rotates to realize the advance and retreat of the guide wire, while the active friction wheel and the driven friction wheel realize relative axial movement, driving the guide wire to rotate, and the structure is integrated and compact; a torsion spring mechanism is provided on the driven friction wheel to realize floating clamping of the active friction wheel and the driven friction wheel, which can adapt to guide wires of different specifications and reduce the influence of errors in the manufacturing and assembly of parts; the constant force spring and pull rope mechanism are used, which saves space compared to gears, connecting rods and belt drives, and is easier to ensure the reset accuracy of the friction wheel after the cover is opened midway. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings constituting a part of the description of this embodiment are used to provide a further understanding of this embodiment. The exemplary embodiments and descriptions of this embodiment are used to explain this embodiment and do not constitute improper limitations on this embodiment.

[0028] FIG1 is a schematic structural diagram of embodiment 1 of the present invention;

[0029] FIG2 is a schematic structural diagram of a friction wheel fixing frame according to Example 1 of the present invention;

[0030] FIG3 is a schematic structural diagram of a friction wheel according to Example 1 of the present invention;

[0031] FIG4 is a schematic diagram of the upper shell and the lower shell of Example 1 of the present invention after being combined;

[0032] FIG5 is a schematic diagram of the driving gear of Example 1 of the present invention.

[0033] Among them, 1. upper shell; 101. fixed plate; 102. long hole; 2. lower shell; 3. active friction wheel; 4. driven friction wheel; 5. torsion spring; 6. constant force spring; 7. pull rope; 701. first pulley; 702. second pulley; 8. guide wire; 9. active friction wheel fixing frame; 10. driven friction wheel fixing frame; 11. active friction wheel axle; 12. driven friction wheel axle; 13. first driving gear; 14. first driven gear; 15. second driving gear; 16. second driven gear. DETAILED DESCRIPTION

[0034] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0035] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0036] Example 1:

[0037] Vascular interventional surgery is a minimally invasive surgery for the purpose of treating vascular diseases or cancer. It is mainly based on X-ray fluoroscopy to insert a thin catheter (catheter) with a diameter of less than a few mm through the blood vessels from the skin to the lesion site, so that the above-mentioned catheter can reach the target organ and perform treatment. Traditional vascular interventional surgery requires doctors to manually operate catheters, guide wires and other instruments. With the development of robotic technology, surgical robot systems can replace medical staff in interventional surgery. The robot completes the operation of catheters, guide wires and other instruments, avoiding X-ray damage to medical staff. It can also greatly improve the accuracy and stability of surgical operations and reduce the probability of intraoperative accidents.

[0038] Existing guidewire drive devices mainly use friction wheels to drive the guidewire's linear motion. The guidewire's rotational motion mechanism must be set up separately and must meet the combined linear and rotational motion of the guidewire. The structure is complex, the number of parts is large, and the coordination requirements are high. At the same time, when installing and removing the guidewire, the friction wheel must be separated first, and the guidewire must be placed in a designated groove, which limits operation and poor performance. In response to the above problems, as shown in Figures 1 and 2, this embodiment provides an interventional surgical robot guidewire drive device, including a lower shell 2 and an upper shell 1 arranged on the lower shell 2;

[0039] The lower housing 2 is provided with an active friction wheel fixing frame 9, on which an active friction wheel 3 is provided via an active friction wheel axle 11; the upper housing 1 is provided with a driven friction wheel fixing frame 10, on which a driven friction wheel 4 is provided via a driven friction wheel axle 12;

[0040] A fixing plate 101 is provided at both ends of the driven friction wheel fixing frame 10, and a long hole 102 is provided on the fixing plate 101. The two ends of the driven friction wheel shaft 12 are respectively inserted into the long holes 102 of the fixing plates 101 at both ends of the driven friction wheel fixing frame 10. A torsion spring 5 is provided between the two ends of the driven friction wheel shaft 12 and the fixing plate 101. The elastic force of the torsion spring 5 can enable the driven friction wheel shaft 12 to drive the driven friction wheel 4 to press the guide wire;

[0041] A first pulley 701 is provided in the lower shell 2, and a second pulley 702 and a constant force spring 6 are provided in the upper shell 1; a pull rope 7 is provided between the first pulley 701 and the second pulley 702; one end of the pull rope 7 is connected to the driving device after passing around the first pulley 701, and the other end is connected to the constant force spring 6 after passing around the second pulley 702; the pull rope 7 is fixed to the active friction wheel fixing frame 9 and the driven friction wheel fixing frame 10 respectively; when the driving device pulls the pull rope 7, the pull rope 7 can drive the active friction wheel fixing frame 9 and the driven friction wheel fixing frame 10 to move in opposite directions, thereby driving the active friction wheel 3 and the driven friction wheel 4 to move in opposite axial directions, and when the driving device releases the pull rope 7, the constant force spring 6 pulls the pull rope 7 to reset, so that the active friction wheel 3 and the driven friction wheel 4 are reset, and the guide wire 8 is driven to realize the rotation action.

[0042] Specifically, with the help of the elastic force of the torsion spring 5, the driven friction wheel axle 12 can drive the driven friction wheel to press the guide wire, thereby ensuring the stability of the drive of the guide wire 8, and there is no need to place the guide wire in the specified groove; at the same time, when the driving device pulls the pull rope 7, the pull rope 7 can drive the active friction wheel fixing frame 9 and the driven friction wheel fixing frame 10 to move in opposite directions, thereby driving the active friction wheel 3 and the driven friction wheel 4 to move in opposite axial directions. When the driving device releases the pull rope 7, the constant force spring 6 pulls the pull rope 7 to reset, so that the active friction wheel 3 and the driven friction wheel 4 are reset, thereby driving the guide wire 8 to realize the rotation action. The mechanism for driving the guide wire 8 to realize the rotation action is simple, the number of parts is small, and the cost is reduced.

[0043] In existing products, the friction wheels for guidewire drives are typically placed vertically within the lower housing. In this embodiment, to facilitate guidewire removal and placement, the friction wheel assembly is placed within the upper and lower housings 1 and 2, respectively, with the friction wheels positioned horizontally. To place guidewire 8, the upper housing 1 is opened, the friction wheel assembly separated, and the guidewire 8 placed into the designated position. The upper housing 1 is then closed, and the friction wheel assembly reassembled. To ensure consistent fit between the guidewire 8 and the friction wheel, a torsion spring 5 is provided on the driven friction wheel 4 within the upper housing 1, and the driven friction wheel axle 12 is designed to float, ensuring that the guidewire 8 remains compressed after the upper housing 1 is closed. This prevents errors in component production and assembly from affecting the degree of guidewire compression and allows the device to accommodate guidewires of varying specifications, meeting the needs of a wide range of guidewire specifications.

[0044] In this embodiment, the active friction wheel shaft 11 is rotatably connected to the lower housing 2; the active friction wheel 3 can be splined on the driven friction wheel shaft 12. It can be understood that when the active friction wheel 3 rotates, the spline can drive the active friction wheel 3 to rotate; in order to achieve the drive of the active friction wheel shaft 11, a first driven gear 14 can be connected to one end of the active friction wheel shaft 11; a first driving gear 13 meshing with the first driven gear 14 is provided in the lower housing 2; the first driven gear 14 and the first driving gear 13 are both bevel gears, and the first driving gear 13 is connected to the output shaft of the motor, which can drive the first driving gear 13 to rotate, thereby driving the first driven gear 14 and the active friction wheel shaft 11 to rotate.

[0045] To achieve linear motion of the guidewire, a first driven gear 14 is mounted on one of the active friction wheel shafts 11 of the active friction wheel 3. A mating first driving gear 13 is located within the lower housing 2. A motor drives the shaft via bevel gears, driving the paired master and slave friction wheels to produce linear motion for the guidewire. Forward and reverse rotation of the motor achieves forward and reverse motion of the guidewire.

[0046] In order to achieve the driving of the pull rope 7, optionally, the driving device includes a second driving gear 15 arranged on the lower shell 2, and a second driven gear 16 meshing with the second driving gear 15; the pull rope 7 is wound around the second driven gear 16; the second driven gear 16 and the second driving gear 15 are both bevel gears; the second driving gear 15 is connected to the output shaft of the motor, and the motor can drive the second driving gear 15 to rotate, thereby driving the second driven gear 16 to rotate, and the rotation of the second driven gear 16 realizes the pulling and winding of the pull rope 7.

[0047] Specifically, in the initial state, the main friction wheel fixing frame 9 and the slave friction wheel fixing frame 10 are aligned and centered, and the constant force spring 6 is in a stretched state. When the second driven bevel gear 12 moves clockwise, the second driven bevel gear 12 drives the pull rope to wind the pull rope 7 around the second driven bevel gear 12 like a drum, and the constant force spring 6 continues to stretch. The pull rope 7 drives the friction wheel fixing frame to move linearly, and under the action of the pulley, the main friction wheel fixing frame 9 and the slave friction wheel fixing frame 10 move at the same speed and in opposite directions, thereby driving the active friction wheel 3 and the driven friction wheel 4 to move axially, realizing the clockwise rotation of the guide wire 8. When the second driven bevel gear 12 rotates counterclockwise, the constant force spring 6 contracts, and the pull rope 7 is released on the second driven bevel gear 12 under the action of the constant force spring force, realizing the counterclockwise rotation of the guide wire.

[0048] In other embodiments, during a surgical procedure, the guidewire drive device may be opened mid-operation during a pause. In such cases, it is necessary to ensure that the friction wheel holder remains in the same axial position after the drive device is closed again to ensure the consistency of the drive parameters recorded by the system. To this end, a rotating shaft for the pull cord is provided on the housing, concentric with the rotation axis of the upper and lower housings. This ensures that the friction wheel holder on the pull cord remains in the same position when the housing is closed.

[0049] It should be noted that the driven friction wheel 4 is directly sleeved on the driven friction wheel shaft 12 , and the driven friction wheel 4 can rotate under the friction force of the active friction wheel 3 and can move in the axial direction of the driven friction wheel shaft 12 .

[0050] The advance and retreat of the guide wire 8 is driven by the rotation of the two sets of friction wheels, which drives the guide wire 8 to move linearly between the two wheels. The rotation of the guide wire 8 is achieved through the axial relative displacement of the active friction wheel 3 and the driven friction wheel 4. These two motions can be coupled together to achieve simultaneous advance, retreat, and rotation of the guide wire 8. A through hole is provided in the center of each friction wheel for mounting the friction wheel axle. Optionally, the through hole in the center of the driven friction wheel 4 is a smooth hole. The driven friction wheel axle 12 passes through the openings in the driven friction wheel 4 and the driven friction wheel mounting bracket 10. The driven friction wheel axle 12 and the holes in the driven friction wheel 4 and the driven friction wheel mounting bracket 10 are all loosely fitted, allowing the driven friction wheel 4 and the driven friction wheel mounting bracket 10 to move freely in the axial direction of the driven friction wheel axle 12. On the side of the active friction wheel 3, the central through hole of the active friction wheel 3 is provided with a keyway in the form of a spline, and a corresponding key is provided on the active friction wheel axle 11. The active friction wheel axle 11 passes through the through holes of the active friction wheel 3 and the active wheel fixing frame 9. The active friction wheel 3 and the active wheel fixing frame 9 can also move freely on the active friction wheel axle 11.

[0051] The lower shell 2 and the upper shell 1 are hinged to achieve merging and opening between the lower shell 2 and the upper shell 1; the hinge between the lower shell 2 and the upper shell 1 can be achieved through a hinge axis.

[0052] Example 2:

[0053] This embodiment provides an interventional surgical robot, including the interventional surgical robot guidewire driving device as described in Example 1; it should be noted that the interventional surgical robot also includes a robot body, a robotic arm and other structures, and existing devices can be directly used, which will not be described in detail here.

[0054] The above description is merely a preferred embodiment of this embodiment and is not intended to limit this embodiment. Those skilled in the art will readily appreciate that this embodiment may be modified and varied in various ways. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this embodiment shall be within the scope of protection of this embodiment.

Claims

1. A guidewire driving device for an interventional surgery robot, characterized in that: It comprises a lower shell, and an upper shell arranged on the lower shell; An active friction wheel fixing frame is arranged in the lower housing, and an active friction wheel is arranged on the active friction wheel fixing frame via an active friction wheel axle; a driven friction wheel fixing frame is arranged in the upper housing, and a driven friction wheel is arranged on the driven friction wheel fixing frame via a driven friction wheel axle; The two ends of the driven friction wheel fixing frame are respectively provided with fixing plates, and the fixing plates are provided with long holes. The two ends of the driven friction wheel axle are respectively inserted into the long holes of the fixing plates at the two ends of the driven friction wheel fixing frame. Torsion springs are provided between the two ends of the driven friction wheel axle and the fixing plates, and the elastic force of the torsion springs can enable the driven friction wheel axle to drive the driven friction wheel to press the guide wire. A first pulley is arranged in the lower shell body, and a second pulley and a constant force spring are arranged in the upper shell body; a pull rope is arranged between the first pulley and the second pulley; one end of the pull rope is connected to the driving device after passing around the first pulley, and the other end is connected to the constant force spring after passing around the second pulley; the pull rope is respectively fixed to the active friction wheel fixing frame and the driven friction wheel fixing frame; when the driving device pulls the pull rope, the pull rope can drive the active friction wheel fixing frame and the driven friction wheel fixing frame to move in opposite directions, thereby driving the active friction wheel and the driven friction wheel to move in opposite directions along the axial direction, and when the driving device releases the pull rope, the constant force spring pulls the pull rope to reset, so that the active friction wheel and the driven friction wheel are reset, and the driving guide wire realizes the rotation action; The driving device comprises a second driving gear arranged on the lower shell, and a second driven gear meshed with the second driving gear; the pull rope is wound around the second driven gear.

2. The guidewire driving device for an interventional surgery robot according to claim 1, characterized in that: The active friction wheel axle is rotatably connected in the lower housing; the active friction wheel is sleeved on the active friction wheel axle through a spline.

3. The guidewire driving device for an interventional surgery robot according to claim 1, characterized in that: One end of the active friction wheel shaft is connected to a first driven gear.

4. The guidewire driving device for an interventional surgery robot according to claim 1, characterized in that: The lower housing is provided with a first driving gear meshing with the first driven gear.

5. The guidewire driving device for an interventional surgery robot according to claim 4, characterized in that: The first driven gear and the first driving gear are both bevel gears.

6. The guidewire driving device for an interventional surgery robot according to claim 1, characterized in that: The second driven gear and the second driving gear are both bevel gears.

7. The guidewire driving device for an interventional surgery robot according to claim 1, characterized in that: The driven friction wheel is sleeved on the driven friction wheel axle.

8. The guidewire driving device for an interventional surgery robot according to claim 1, characterized in that: The lower shell and the upper shell are hinged.

9. An interventional surgery robot, characterized in that: It comprises the guidewire driving device of an interventional surgery robot as described in any one of claims 1 to 8.

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