CN113827342A - Guide wire delivery and twisting device of minimally invasive vascular interventional surgical robot - Google Patents
Guide wire delivery and twisting device of minimally invasive vascular interventional surgical robot Download PDFInfo
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- CN113827342A CN113827342A CN202111186204.5A CN202111186204A CN113827342A CN 113827342 A CN113827342 A CN 113827342A CN 202111186204 A CN202111186204 A CN 202111186204A CN 113827342 A CN113827342 A CN 113827342A
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- 230000002792 vascular Effects 0.000 title claims abstract description 26
- 210000000078 claw Anatomy 0.000 claims description 55
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 3
- 210000004204 blood vessel Anatomy 0.000 abstract description 19
- 230000033001 locomotion Effects 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 9
- 238000001356 surgical procedure Methods 0.000 abstract description 5
- 230000003902 lesion Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000004659 sterilization and disinfection Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 208000024172 Cardiovascular disease Diseases 0.000 description 2
- 208000026106 cerebrovascular disease Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000002526 effect on cardiovascular system Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000002583 angiography Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008713 feedback mechanism Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Heart & Thoracic Surgery (AREA)
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Abstract
The invention belongs to the technical field of medical equipment, and particularly relates to a guide wire delivery and twisting device of a minimally invasive vascular interventional surgery robot. The device comprises a bottom plate, a moving assembly, a twisting assembly, a clamping assembly, a fixing assembly and a Y valve fine-tuning assembly; the rotary twisting component comprises: the device comprises a rotating bracket, a rotary twisting motor, a driving friction wheel, a driven friction wheel and a rotary twisting spindle; the Y valve fine adjustment assembly comprises a fixed frame, a movable frame, a Y valve and a hand wheel. According to the guide wire delivery device, the guide wire is delivered, twisted, clamped, fixed and fine-tuned through the moving assembly, the twisting assembly, the clamping assembly, the fixing assembly and the Y valve fine-tuning assembly, multiple continuous delivery work of the guide wire can be realized, the guide wire can be simultaneously twisted according to actual conditions in the delivery process of the guide wire, the delivery movement and the twisting movement of the guide wire can be decoupled, a bifurcated blood vessel is accurately found, the correct lesion position is reached, and the guide wire delivery precision is improved.
Description
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to a guide wire delivery and twisting device of a minimally invasive vascular interventional surgery robot.
Background
According to the statistics of the world health organization, cardiovascular and cerebrovascular diseases become the first killer of human death causes, and seriously threaten the life health and living standard of people. With the increasing development of social science and technology and the increasing living standard of people, people pay more attention to cardiovascular and cerebrovascular diseases. The traditional vascular intervention operation is that a doctor observes a blood vessel of a patient through the navigation of an angiography machine, a guide wire is accurately controlled to move from a puncture part to a focus along the blood vessel of a human body, and a medicine is sent to the part through the guide wire to achieve the effect of minimally invasive treatment, but as the number of patients is increased dramatically, the medical resources of the vascular intervention operation can not reach the required number level, and obvious defects exist, such as: doctors work in the radiation environment, and the long-term operation has great harm to the bodies of the doctors; the existing operation method has strong skill, high risk and long operation training time of a specialist; due to the complex operation and long operation time, the operation quality can be directly influenced by factors such as doctor fatigue and unstable hand operation.
In recent years, the research and development of medical robots are increasing, and the number of medical robots for clinical application is also increasing. The minimally invasive vascular intervention operation robot mainly comprises an imaging module, an operation module, an execution module, a control system and the like. The main working process is as follows: the doctor controls the operation module with the help of the imaging module to enable the execution module to carry out the actions of delivering and twisting the guide wire according to the instructions of the doctor, and meanwhile, the control system collects and converts the signals of the modules and transmits the signals among the modules.
Guide wire among the little invasive blood vessel intervenes surgical robot system delivers and twists with fingers the device and generally need to possess the delivery, twist with the function of centre gripping guide wire soon, adopt the friction pulley or end the board centre gripping guide wire in the execution module of current blood vessel intervenes surgical robot mostly, can't accomplish the continuous delivery to the guide wire and can appear because the phenomenon of skidding that the guide wire diameter produced, produce the compel damage on guide wire surface even, and connect complicacy between the subassembly, the dismantlement of being not convenient for, it changes the guide wire to the seal wire disinfection and postoperative before the difficult operation. The existing interventional operation robot has imperfect feedback mechanism, can not detect the resistance of the guide wire in time, and has great influence on the safety problem in the operation process. Therefore, there is a need to design a minimally invasive vascular interventional surgical robotic guidewire delivery twist device that addresses the above-mentioned deficiencies of the prior art.
Disclosure of Invention
The invention aims to overcome the defects that the body of a doctor is greatly damaged, a guide wire cannot be continuously delivered, the guide wire is inconvenient to disinfect and replace, the resistance on the guide wire cannot be timely detected and the like in the prior art, and provides a guide wire delivery and twisting device of a minimally invasive vascular interventional surgery robot, which can continuously deliver the guide wire for many times, twist the guide wire while delivering, and can timely detect when the front end of the guide wire touches a vascular wall so as to timely adjust the guide wire.
The technical scheme adopted by the invention for solving the technical problems is as follows: a minimally invasive vascular intervention surgical robot guide wire delivery and twisting device is characterized in that: the device comprises a bottom plate, a moving assembly arranged on the bottom plate, a rotary twisting assembly arranged on the moving assembly, a clamping assembly arranged on the rotary twisting assembly, a fixing assembly arranged at the front end of the moving assembly and a Y valve fine-tuning assembly arranged on the fixing assembly; the twist assembly comprises: the front end and the rear end of the rotary bracket are respectively provided with a front mounting plate and a rear mounting plate which are parallel to each other, a rotary twisting motor fixed on the rear mounting plate, a driving friction wheel coaxially connected with an output shaft of the rotary twisting motor, a driven friction wheel in friction transmission connection with the driving friction wheel and a rotary twisting spindle coaxially and fixedly connected with the driven friction wheel; the rotating bracket is rotatably connected with the moving assembly through a pin shaft, two ends of the rotary twisting spindle are respectively rotatably connected with the front mounting plate and the rear mounting plate, and a yarn guide through hole is formed in the center of the rotary twisting spindle; the Y-valve trim assembly comprises: the device comprises a fixed frame fixed on the fixed assembly, a movable frame arranged opposite to the fixed frame through locking screws, a Y valve horizontally fixed at the top ends of the fixed frame and the movable frame, and a hand wheel locked and installed on the fixed frame; the fixed frame is rotationally connected with the locking screws, and the movable frame is fixedly connected with the locking screws.
Further, the clamping assembly includes: the device comprises a clamping motor fixed on a rotating support through a clamping motor support, a rotating wheel coaxially connected with an output shaft of the clamping motor, a pseudo-crank column fixedly connected with the rotating wheel, a rocker with one end mounted on the pseudo-crank column and a spring connecting piece coaxially and fixedly connected with the other end of the rocker.
Further, the clamping assembly further comprises: the clamping claw is coaxially and fixedly connected with the rotary twisting main shaft; the front end of each clamping claw is provided with a plurality of claw heads capable of being elastically opened and closed, clamping claw sleeves are sleeved outside the plurality of claw heads, and clamping springs are sleeved on the clamping claws; one end of the clamping spring is fixedly connected with the clamping claw sleeve, and the other end of the clamping spring is fixedly connected with the spring connecting piece; the guide wire passes through the center of the clamping claw, the clamping claw sleeve compresses the clamping spring to move backwards so that the plurality of claw heads are opened, and the guide wire is loosened.
Further, the fixing assembly includes: the pressing device comprises a fixed base fixed on the bottom plate through a support frame, a fixed guide rail fixed on the fixed base, a fixed sliding block sliding along the fixed guide rail, a sliding base and a pressing block both fixed on the fixed sliding block, a spring guide rod with one end fixedly connected with the fixed base and the other end fixedly connected with the pressing block, a pressing spring sleeved on the spring guide rod, a fixed motor fixedly installed on the support frame, a cam connected on an output shaft of the fixed motor and a U-shaped fixed block fixed on the fixed base and matched with the pressing block; the cam abuts against the sliding base; the cam drives the fixed slide block to drive the sliding base to move so that the pressing block and the U-shaped fixed block are clamped or separated; the moving assembly drives the twisting assembly and the clamping assembly to move close to or away from the fixing assembly.
Further, the moving assembly includes: the device comprises a moving guide rail arranged on a bottom plate, a moving sliding block moving along the moving guide rail, a moving base fixed on the moving sliding block, a moving motor arranged on the bottom plate, a lead screw coaxially connected with an output shaft of the moving motor, and a nut sleeved on the lead screw; the nut with remove base fixed connection, the one end of runing rest with remove the base through round pin hub connection.
Further, a first pressure sensor is arranged between the other end of the rotating support and the moving base, and the rotating support is in contact connection with the first pressure sensor.
Further, still include with the lead screw coaxial coupling encoder.
Furthermore, two ends of the rotary twisting spindle are respectively and rotatably connected with the front mounting plate and the rear mounting plate through bearing bushes.
The guide wire delivery and twisting device of the minimally invasive vascular interventional surgery robot has the beneficial effects that:
1. according to the guide wire delivery device, the guide wire is delivered, twisted, clamped, fixed and fine-tuned through the moving assembly, the twisting assembly, the clamping assembly, the fixing assembly and the Y valve fine-tuning assembly, multiple continuous delivery work of the guide wire can be realized, the guide wire can be simultaneously twisted according to actual conditions in the delivery process of the guide wire, the delivery movement and the twisting movement of the guide wire can be decoupled, a bifurcated blood vessel is accurately found, the correct lesion position is reached, and the guide wire delivery precision is improved.
2. The Y valve in the Y valve fine adjustment assembly is used for fixing the micro catheter penetrating into the blood vessel, so that the guide wire can be better inserted into the blood vessel, the direction angle of the fixing frame is adjusted by adjusting the hand wheel arranged on the fixing frame, a doctor can conveniently perform fine adjustment on the guide wire, some emergency situations met by the movement of the guide wire in the blood vessel can be adjusted in time, meanwhile, the movable frame is detachably arranged on the fixing frame, and after one insertion operation is completed, the Y valve can be taken out for replacement and disinfection.
3. In the guide wire delivery process, when the front end of the guide wire touches the vessel wall, the tiny touch resistance of the guide wire in the vessel is amplified in equal proportion by the lever principle, and then is measured by the first pressure sensor arranged between the rotating bracket and the moving base.
4. According to the invention, the clamping claw adopts disposable consumables, and after one intervention operation is finished, the clamping claw can be directly taken down and thrown away together with the guide wire as the intervention consumables, so that the clamping claw is convenient to disassemble and sterilize.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is an overall block diagram of an embodiment of the present invention;
FIG. 2 is a block diagram of a twist assembly according to an embodiment of the present invention;
FIG. 3 is a block diagram of a Y-valve trim assembly in accordance with an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a Y-valve trim assembly of an embodiment of the present invention;
FIG. 5 is a block diagram of a clamping assembly of an embodiment of the present invention;
FIG. 6 is a block diagram of a mobile assembly of an embodiment of the present invention;
FIG. 7 is a block diagram of a mounting assembly of an embodiment of the present invention;
FIG. 8 is a view of a gripper jaw configuration according to an embodiment of the present invention;
fig. 9 is a schematic diagram of the operation of a first pressure sensor in accordance with an embodiment of the present invention.
In the figure, the device comprises a base plate 1, a bottom plate 2, a moving assembly 21, a moving guide rail 22, a moving slide block 23, a moving base 24, a moving motor 25, a lead screw 26, a nut 3, a twisting assembly 30, a front mounting plate 31, a rear mounting plate 32, a rotating bracket 33, a twisting motor 34, a driving friction wheel 35, a driven friction wheel 36, a twisting spindle 37, a bearing bush 38, a protective shell 4, a clamping assembly 40, a clamping motor bracket 41, a clamping motor 42, a rotating wheel 43, a simulated crank column 44, a rocker 45, a spring connector 46, a guide rod 47, a clamping claw 48, a clamping spring 49, a claw head 410, a clamping claw sleeve 5, a fixing assembly 50, a supporting frame 51, a fixing base 52, a fixing guide rail 53, a fixing slide block 54, a sliding base 55, a pressing block 56, a U-shaped fixing block 57, a fixing block, the device comprises a spring guide rod 58, a pressing spring 59, a fixed motor 510, a cam 6, a Y valve fine adjustment assembly 61, a fixed frame 62, a locking screw 63, a movable frame 64, a Y valve 65, a hand wheel 7, a first pressure sensor 8, an encoder 9, a second pressure sensor 10 and a pin shaft.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
It should be noted that, in the embodiments of the present invention, horizontal and vertical refer to a direction in which a guide wire is delivered as a horizontal direction, and a direction perpendicular to the horizontal direction is a vertical direction, and in the embodiments of the present invention, the front and the back refer to a direction in which the guide wire moves when the guide wire is inserted into a blood vessel as a front direction, and a reverse direction in which the guide wire moves as a back direction.
The invention relates to a guide wire delivery and twisting device of a minimally invasive vascular interventional surgical robot, which is a slave end of a master-slave structure in the minimally invasive vascular interventional surgical robot. The slave end receives an operation instruction from a doctor at the master end, so that the guide wire is delivered, twisted and clamped according to the operation instruction, the resistance parameter of the slave end is amplified by a lever principle and then fed back to the control system, and meanwhile, the position parameter is also fed back to the control system by the encoder 8.
The specific embodiment of the guide wire delivery twisting device for the minimally invasive vascular interventional surgery robot of the invention as shown in fig. 1-9 comprises a base plate 1, a moving assembly 2 mounted on the base plate 1, a twisting assembly 3 mounted on the moving assembly 2, a clamping assembly 4 mounted on the twisting assembly 3, a fixing assembly 5 mounted at the front end of the moving assembly 2, and a Y valve fine-adjustment assembly 6 mounted on the fixing assembly 5.
Referring to fig. 2, the twist assembly 3 includes: the front end and the rear end of the rotary bracket 32 are respectively provided with a front mounting plate 30 and a rear mounting plate 31 which are parallel to each other, a rotary twisting motor 33 fixed on the rear mounting plate 31, a driving friction wheel 34 coaxially connected with an output shaft of the rotary twisting motor 33, a driven friction wheel 35 in friction transmission connection with the driving friction wheel 34 and a rotary twisting spindle 36 coaxially and fixedly connected with the driven friction wheel 35; the rotating bracket 32 is rotatably connected with the moving component 2 through a pin shaft 10, two ends of a twisting spindle 36 are respectively erected on the top ends of the front mounting plate 30 and the rear mounting plate 31 through bearing bushes 37, a thread guide through hole is arranged at the center of the twisting spindle 36, when the twisting action of the guide wire is needed, the fixing component 5 loosens the guide wire, the twisting motor 33 receives the instruction from the doctor at the main end to start rotating, thereby driving the driving friction wheel 34 to rotate, the driving friction wheel 34 contacts with the driven friction wheel 35 to carry out friction transmission, the driven friction wheel 35 is driven to rotate, the driven friction wheel 35 drives the rotary twisting spindle 36 to rotate, thereby drive the seal wire that centre gripping subassembly 4 centre gripping and rotate, make the seal wire can the circumferential direction in the blood vessel, remove subassembly 2 and can drive simultaneously and revolve and twist with fingers subassembly 3 and carry out the delivery action this moment, realize that the seal wire delivers and revolves with fingers the decoupling zero of action, make the seal wire get into the blood vessel more swiftly safely.
Referring to fig. 3 and 4, Y-valve trim assembly 6 includes: the guide wire guiding device comprises a fixed frame 61 fixed on a fixed assembly 5, a movable frame 63 arranged opposite to the fixed frame 61 through a locking screw 62, a Y valve 64 horizontally fixed at the top ends of the fixed frame 61 and the movable frame 63, and a hand wheel 65 locked and installed on the fixed frame 61, wherein the fixed frame 61 is rotatably connected with the locking screw 62 through a bearing sleeved on the locking screw 62, the movable frame 63 is fixedly connected with the locking screw 62, the guide wire further passes through the Y valve 64 after passing through the fixed assembly 5, the Y valve 64 is used for fixing a micro catheter penetrating into a blood vessel and facilitating better intervention of the guide wire into the blood vessel, the movable frame 63 is a detachable device so as to facilitate replacement of the Y valve 64, and the locking screw 62 is installed between the fixed frame 61 and the movable frame 63 so as to lock the hand wheel 65; the hand wheel 65 is used for adjusting the azimuth angle of the fixing frame 61, so that a doctor can conveniently finely adjust the Y valve 64 and conveniently adjust some emergency situations met by the movement of the guide wire in the blood vessel.
As shown in fig. 5, the clamping assembly 4 includes: a clamping motor 41 fixed on the rotating bracket 32 through a clamping motor 41 bracket 40, a rotating wheel 42 coaxially connected with an output shaft of the clamping motor 41, a quasi-crank column 43 fixedly connected with the rotating wheel 42, a rocker 44 with one end mounted on the quasi-crank column 43, and a spring connecting piece 45 coaxially and fixedly connected with the other end of the rocker 44; the clamping assembly 4 further comprises: a clamping claw 47 coaxially and fixedly connected with the rotary twisting spindle 36; the front end of the clamping claw 47 is provided with a plurality of claw heads 49 which can be elastically opened and closed, in the embodiment, the clamping claw heads 49 are provided with two claw heads 49, clamping claw sleeves 410 are sleeved outside the two claw heads 49, the positions of the clamping claw sleeves 410 on the clamping claw 47 are different, guide wires with different thicknesses can be clamped, and a clamping spring 48 is sleeved on the clamping claw 47; one end of the clamping spring 48 is fixedly connected with the clamping claw sleeve 410, and the other end is fixedly connected with the spring connecting piece 45; notches for fixing the clamping spring 48 are formed in the inner wall of the tail end of the spring connecting piece 45 and the inner wall of the clamping claw sleeve 410, one end of the clamping spring 48 is embedded into the notch of the spring connecting piece 45, and the other end of the clamping spring 48 is embedded into the notch of the clamping claw sleeve 410; the guide wire passes through the center of the clamping claw 47, the spring connecting piece 45 pulls the clamping spring 48 to move backwards to open the plurality of claw heads 49, the guide wire is released, and the clamping claw sleeve 410 can complete clamping/releasing of the guide wire under the stretching/contracting pulling of the clamping spring 48. When the guide wire needs to be clamped, the clamping motor 41 receives an instruction from a main doctor to start rotating, so that the rotating wheel 42 is driven to rotate, the quasi-crank column 43 rotates circumferentially in the plane of the rotating wheel 42, the rocker 44 is driven to swing, the rocker 44 drives the spring connecting piece 45 to move along the guide rod 46, and the clamping spring 48 and the clamping claw sleeve 410 are driven to move forwards, so that the guide wire is clamped; when it is desired to release the guide wire, spring connector 45 pulls clamp spring 48 and clamp jaw sleeve 410 rearwardly to open the upper and lower jaw heads 49 of clamp jaw 47, thereby releasing the guide wire.
Referring to fig. 5, due to the different diameters of the guide wires, in order to prevent the clamped guide wires from being too tight or too loose, a second pressure sensor 9 is arranged between two claw heads 49 of the clamping claw 47, when the clamping motor 41 rotates to enable the clamping claw 47 to clamp the guide wires, the second pressure sensor 9 can detect the clamping force of the clamping claw 47, and if the clamping force reaches a set pressure threshold value, the clamping motor 41 stops rotating, so that the clamping claw 47 cannot further clamp the guide wires.
In order to facilitate disassembly and disinfection maintenance, the clamping claw 47 is made of disposable consumables, and after one operation is completed, the clamping claw 47 can be taken down and thrown together with the guide wire for the operation as consumables, so that the disinfection is facilitated. Meanwhile, the movable frame 63 in the Y valve fine adjustment assembly 6 is detachably mounted on the fixed frame 61, and the Y valve 64 can be taken out for replacement and disinfection after one intervention operation is completed.
Referring to fig. 7, the fixing assembly 5 includes: a fixed base 51 fixed on the bottom plate 1 through a support frame 50, a fixed guide rail 52 fixed on the fixed base 51, a fixed slide block 53 sliding along the fixed guide rail 52, a sliding base 54 and a pressing block 55 both fixed on the fixed slide block 53, a spring guide rod 57 with one end fixedly connected with the fixed base 51 and the other end fixedly connected with the pressing block 55, a pressing spring 58 sleeved on the spring guide rod 57, a fixed motor 59 fixedly installed on the support frame 50, a cam 510 connected on an output shaft of the fixed motor 59, and a U-shaped fixed block 56 fixed on the fixed base 51 and matched with the pressing block 55; the cam 510 abuts against the slide base 54; the fixed sliding block 53 is driven by the cam 510 to drive the sliding base 54 to move, so that the pressing block 55 and the U-shaped fixed block 56 are clamped or separated; the moving assembly 2 drives the twisting assembly 3 and the clamping assembly 4 to move close to or far away from the fixing assembly 5, two open ends of the U-shaped fixing block 56 are respectively provided with a circular channel, the guide wire passes through the circular channels, and the pressing spring 58 can push the pressing block 55 to move towards the U-shaped fixing block 56 along the fixed guide rail 52 under the driving of the fixed sliding block 53 so as to clamp the guide wire; when the cam 510 rotates, the pressing block 55 is pushed to slide along the fixed rail 52 in a direction away from the U-shaped fixed block 56 under the driving of the fixed slider 53, so as to release the guide wire. When the guide wire needs to be fixed, the fixing motor 59 starts to rotate to drive the cam 510 to rotate, the sagittal diameter of the cam 510 is reduced, the pressing spring 58 pushes the pressing block 55 to move towards the direction close to the U-shaped fixing block 56 along the fixed guide rail 52 under the driving of the fixed sliding block 53, and the U-shaped fixing block 56 is pressed to fix the guide wire; when the guide wire needs to be loosened, the radial diameter of the cam 510 is increased in the process of rotating the fixing motor 59, so that the pressing block 55 is far away from the U-shaped fixing block 56, and the guide wire is loosened.
As shown in fig. 6, the moving assembly 2 includes: the device comprises a moving guide rail 21 arranged on a bottom plate 1, a moving slide block 22 moving along the moving guide rail 21, a moving base 23 fixed on the moving slide block 22, a moving motor 24 arranged on the bottom plate 1, a lead screw 25 coaxially connected with an output shaft of the moving motor 24, and a nut 26 sleeved on the lead screw 25; the nut 26 is fixedly connected with the movable base 23, one end of the rotating bracket 32 is connected with the movable base 23 through the pin shaft 10, and the first pressure sensor 7 is arranged between the other end of the rotating bracket 32 and the movable base 23. When the guide wire needs to be delivered forwards, the moving motor 24 receives an instruction from a main doctor to start rotating, the lead screw 25 is driven to rotate, the lead screw 25 converts the self rotary motion into the linear motion of the nut 26, and the nut 26 drives the moving base 23 fixedly connected with the nut 26 to move forwards to drive the twisting component 3 to move forwards, so that the forward delivery of the guide wire is completed. The part for bearing the rotary twisting component 3 is designed into a movable base 23 and a rotary support 32 which can rotate up and down relatively, one end of the rotary support 32 and the movable base 23 are installed through a pin shaft 10 and a shaft sleeve, and the friction force generated when the rotary support 32 rotates around the movable base 23 is greatly reduced.
Referring to fig. 1, a first pressure sensor 7 is arranged between the other end of the rotating support 32 and the moving base 23, the rotating support 32 is in contact connection with the first pressure sensor 7, the first pressure sensor 7 can be touched and pressed when the rotating support 32 rotates, when the guide wire is delivered axially, if the front end of the guide wire touches the vascular wall, the rotating support 32 rotates around the pin shaft 10 after a resistance signal is amplified, so that the rotating support 32 touches the first pressure sensor 7, the first pressure sensor 7 can receive the pressure applied to the rotating support 32 from the rotating support, and the first pressure sensor 7 detects the pressure to judge the resistance of the front end of the guide wire and feeds back the resistance value to the control system; in the process, the touch resistance of the guide wire is amplified in equal proportion by utilizing the lever principle and then converted into vertical pressure fed back to the first pressure sensor 7, so that the resistance detection process of the guide wire delivery and twisting device is completed, and the tiny resistance of the guide wire in a blood vessel is detected by the first pressure sensor 7.
During the interventional operation, the guide wire passes through the twisting component 3 and the fixing component 5 simultaneously, and as the total length of the guide wire delivered to the human body during the interventional operation is about 2000mm, one stroke of the movement of pushing the guide wire by a doctor is only 150mm, so that the guide wire can be completely sent to the appointed lesion position by multiple continuous pushing. When the guide wire needs to be delivered in the first stroke, the fixing component 5 releases the guide wire, the clamping component 4 clamps the guide wire, and the moving component 2 drives the twisting component 3 to move forwards so as to further insert the guide wire into the blood vessel. When the guide wire needs to be delivered in the next stroke, the guide wire is clamped by the fixing component 5, the guide wire is loosened by the clamping component 4, the rotary twisting component 3 is driven by the moving component 2 to move backwards, then the guide wire is delivered in the first stroke, the above movement operations are repeated, and the continuous and uninterrupted guide wire delivery work is realized.
As shown in fig. 1, in order to detect the position of the twisting component 3 during axial delivery of the guide wire, the other end of the lead screw 25 is also coaxially connected with an encoder 8 for acquiring the position information of axial delivery of the guide wire and feeding back the position information of the twisting component 3 to the control system in real time.
Referring to fig. 2, two ends of the rotary twisting spindle 36 are rotatably connected to the front mounting plate 30 and the rear mounting plate 31 through bearing bushes 37, so that friction generated when the rotary twisting spindle 36 rotates can be effectively reduced, and for better appearance, a protective cover is fixedly mounted at the top end of the rotary support 32 through a magnet.
The specific working process is as follows: the clamping motor 41 rotates forwards, the spring connecting piece 45 pulls the clamping spring 48 to move backwards, the upper claw head 49 is separated from the lower claw head 49, the guide wire is inserted into the clamping claw 47, the guide wire is clamped by moving the clamping claw sleeve 410, the fixing motor 59 works to enable the pressing block 55 to be far away from the U-shaped fixing block 56, and the guide wire penetrates through a circular channel of the U-shaped fixing block 56; the moving motor 24 moves forward, the screw 25 rotates, the screw 25 and the nut 26 structure drive the twisting component 3 and the clamping component 4 to move forward, and the guide wire is delivered forward; when the clamping jaw 47 moves to the vicinity of the fixing component 5, the moving motor 24 stops, the clamping jaw 47 releases the guide wire, and the fixing motor 59 moves reversely to enable the pressing block 55 to move close to the U-shaped fixing block 56 so as to press the guide wire; the moving motor 24 moves reversely to make the clamping component 4 and the twisting component 3 return to the rear end of the moving guide rail 21; the clamping motor 41 moves reversely to clamp the guide wire; the guide wire is sent into the human blood vessel repeatedly. When the guide wire meets a bifurcated blood vessel and needs to rotate, the clamping claw 47 clamps the guide wire, the rotary twisting motor 33 moves to drive the driving friction wheel 34 to rotate and drive the driven friction wheel 35 to rotate, the driven friction wheel 35 drives the rotary twisting spindle 36 to rotate, so that the guide wire clamped by the clamping assembly 4 is driven to rotate, and after the guide wire rotates to a preset angle, the rotary twisting motor 33 stops moving.
It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.
Claims (10)
1. A minimally invasive vascular intervention surgical robot guide wire delivery and twisting device is characterized in that: the device comprises a bottom plate (1), a moving assembly (2) arranged on the bottom plate (1), a rotary twisting assembly (3) arranged on the moving assembly (2), a clamping assembly (4) arranged on the rotary twisting assembly (3), a fixing assembly (5) arranged at the front end of the moving assembly (2) and a Y valve fine-tuning assembly (6) arranged on the fixing assembly (5); the rotary twisting component (3) comprises: the twisting machine comprises a rotating support (32), a twisting motor (33), a driving friction wheel (34), a driven friction wheel (35) and a twisting spindle (36), wherein the rotating support (32) is provided with a front mounting plate (30) and a rear mounting plate (31) which are parallel to each other at the front end and the rear end respectively, the twisting motor (33) is horizontally fixed on the rear mounting plate (31), the driving friction wheel (34) is coaxially connected with an output shaft of the twisting motor (33), the driven friction wheel (35) is in friction transmission connection with the driving friction wheel (34), and the twisting spindle (36) is coaxially and fixedly connected with the driven friction wheel (35); the rotating support (32) is rotatably connected with the moving assembly (2) through a pin shaft (10), two ends of the rotary twisting spindle (36) are respectively rotatably connected with the front mounting plate (30) and the rear mounting plate (31), and a yarn guide through hole is formed in the center of the rotary twisting spindle (36); the Y-valve trim assembly (6) comprises: the device comprises a fixed frame (61) fixed on the fixed assembly (5), a movable frame (63) arranged opposite to the fixed frame (61) through a locking screw (62), a Y valve (64) horizontally installed at the top ends of the fixed frame (61) and the movable frame (63), and a hand wheel (65) installed at the end part of the locking screw (62) and used for adjusting the azimuth angle of the fixed frame (61); the fixed frame (61) is rotationally connected with the locking screws (62), and the movable frame (63) is fixedly connected with the locking screws (62).
2. The minimally invasive vascular interventional surgical robotic guidewire delivery twist-on-turn device of claim 1, wherein: the clamping assembly (4) comprises: the clamping mechanism comprises a clamping motor (41) fixed on a rotating bracket (32) through a clamping motor (41) bracket (40), a rotating wheel (42) coaxially connected with an output shaft of the clamping motor (41), a pseudo-crank column (43) fixedly connected with the rotating wheel (42), a rocker (44) with one end mounted on the pseudo-crank column (43), a spring connecting piece (45) coaxially and fixedly connected with the other end of the rocker (44) and a guide rod (46) fixed on one side of the clamping motor (41) bracket (40); the spring connection (45) moves along the guide rod (46).
3. The minimally invasive vascular interventional surgical robotic guidewire delivery twist-on-turn device of claim 1, wherein: the clamping assembly (4) further comprises: the clamping claw (47) is coaxially and fixedly connected with the rotary twisting spindle (36), and the clamping spring (48) is sleeved on the clamping claw (47); the front end of the clamping claw (47) is provided with a plurality of claw heads (49) which can be elastically opened and closed, and clamping claw sleeves (410) are sleeved outside the plurality of claw heads (49); one end of the clamping spring (48) is fixedly connected with the clamping claw sleeve (410), and the other end of the clamping spring is fixedly connected with the spring connecting piece (45); the guide wire passes through the center of the clamping claw (47), the spring connecting piece (45) pulls the clamping spring (48) to move backwards to open the plurality of claw heads (49), and the guide wire is released.
4. The minimally invasive vascular interventional surgical robotic guidewire delivery twist-on-turn device of claim 1, wherein: the fixing assembly (5) comprises: the device comprises a fixed base (51) fixed on the bottom plate (1) through a support frame (50), a fixed guide rail (52) fixed on the fixed base (51), a fixed sliding block (53) sliding along the fixed guide rail (52), a sliding base (54) and a pressing block (55) fixed on the fixed sliding block (53), a U-shaped fixed block (56) fixed on the fixed base (51) and matched with the pressing block (55), a spring guide rod (57) with one end fixedly connected with the fixed base (51) and the other end fixedly connected with the pressing block (55), a pressing spring (58) sleeved on the spring guide rod (57), a fixed motor (59) fixedly installed on the support frame (50) and a cam (510) connected to an output shaft of the fixed motor (59); the cam (510) abuts against the sliding base (54); the cam (510) drives the fixed sliding block (53) to drive the sliding base (54) to move, so that the pressing block (55) and the U-shaped fixed block (56) are clamped or separated.
5. The minimally invasive vascular interventional surgical robotic guidewire delivery twist-on-turn device of claim 1, wherein: the moving assembly (2) comprises: the device comprises a moving guide rail (21) arranged on the bottom plate (1), a moving sliding block (22) sliding along the moving guide rail (21), a moving base (23) fixed on the moving sliding block (22), a moving motor (24) installed on the bottom plate (1), a lead screw (25) with one end coaxially connected with an output shaft of the moving motor (24), and a nut (26) sleeved on the lead screw (25); the nut (26) is fixedly connected with the movable base (23), and one end of the rotating support (32) is connected with the movable base (23) through a pin shaft (10).
6. The minimally invasive vascular interventional surgical robotic guidewire delivery twist-on-turn device of claim 1, wherein: a first pressure sensor (7) is arranged between the other end of the rotating support (32) and the moving base (23), and the rotating support (32) is in contact connection with the first pressure sensor (7).
7. The minimally invasive vascular interventional surgical robotic guidewire delivery twist-on-turn device of claim 1, wherein: the other end of the lead screw (25) is also coaxially connected with an encoder (8) used for acquiring axial delivery position information of the guide wire.
8. The minimally invasive vascular interventional surgical robotic guidewire delivery twist-on-turn device of claim 1, wherein: two ends of the rotary twisting spindle (36) are respectively and rotatably connected with the front mounting plate (30) and the rear mounting plate (31) through bearing bushes (37).
9. The minimally invasive vascular interventional surgical robotic guidewire delivery twist-on-turn device of claim 1, wherein: and a second pressure sensor (9) is arranged in the clamping claw (47).
10. The minimally invasive vascular interventional surgical robotic guidewire delivery twist-on-turn device of claim 1, wherein: and the top ends of the front mounting plate (30) and the rear mounting plate (31) are fixedly provided with protective casings (38).
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