CN115702828B - Interventional operation robot catheter rotating device - Google Patents
Interventional operation robot catheter rotating deviceInfo
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- CN115702828B CN115702828B CN202110944280.1A CN202110944280A CN115702828B CN 115702828 B CN115702828 B CN 115702828B CN 202110944280 A CN202110944280 A CN 202110944280A CN 115702828 B CN115702828 B CN 115702828B
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Abstract
本发明涉及一种介入手术机器人导管旋转装置，包括：盒体，其顶部安装有无菌盒底壳；Y阀支架组件设置于无菌盒底壳上；摩擦轮组件中的压轮与Y阀支架组件中的Y阀可抵接转动；转动电机固定在盒体前侧壁一端，其通过传动副带动压轮转动，压轮带动Y阀转动，压轮为一次性耗材；驱动器设置于盒体前侧壁另一端，其与转动电机电性连接，驱动器与外部控制器通信连接。本发明Y阀通过压轮带动转动，压轮则通过转动电机、传动副带动转动，该旋转是医生在手术室外通过控制器进行人工操作，由此导管旋转控制精准，不易打滑，同时压轮为一次性耗材，每次手术更换一个新的，解决了对控制部件消毒不方便的问题。
The present invention relates to a catheter rotation device for an interventional surgical robot, comprising: a box body, a sterile box bottom shell mounted on its top; a Y-valve bracket assembly disposed on the sterile box bottom shell; a pressure wheel in a friction wheel assembly that can abut and rotate with a Y-valve in the Y-valve bracket assembly; a rotary motor fixed to one end of the front side wall of the box body, which drives the pressure wheel to rotate via a transmission pair, thereby driving the Y-valve to rotate; and a driver disposed at the other end of the front side wall of the box body, which is electrically connected to the rotary motor, and the driver is communicatively connected to an external controller. The Y-valve of the present invention is driven to rotate by the pressure wheel, which in turn is driven to rotate by the rotary motor and the transmission pair. The rotation is manually controlled by a doctor using a controller outside the operating room, thereby achieving precise catheter rotation control and preventing slippage. Furthermore, the pressure wheel is a disposable consumable and can be replaced with a new one for each surgery, thereby resolving the problem of inconvenient disinfection of control components.
Description
Technical Field
The invention relates to the technical field of microvascular intervention operation, in particular to a catheter rotating device of an intervention operation robot.
Background
The cardiovascular and cerebrovascular minimally invasive interventional therapy is a main treatment means for cardiovascular and cerebrovascular diseases. Compared with the traditional surgery, the method has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular intervention operation is a treatment process by a doctor manually sending the catheter, the guide wire, the bracket and other instruments into a patient.
The intervention operation generally has the following two problems, firstly, in the operation process, as the DSA can emit X rays, the physical strength of doctors is reduced rapidly, the attention and the stability are also reduced, the operation precision is reduced, and accidents such as vascular intima injury, vascular perforation fracture and the like caused by improper pushing force are easy to occur, so that the life of patients is dangerous. Second, long-term ionizing radiation accumulation injuries can greatly increase the chances of a doctor suffering from leukemia, cancer, and acute cataracts. The phenomenon that doctors continuously accumulate rays due to interventional operations has become a non-negligible problem for damaging the professional lives of doctors and restricting the development of interventional operations. The problem can be effectively solved by means of the robot technology, the accuracy and stability of operation can be greatly improved, meanwhile, the damage of radioactive rays to interventional doctors can be effectively reduced, and the occurrence probability of accidents in operation is reduced. Rotation control of the catheter is one of the important steps in interventional procedures.
The rotation control of the catheter of the interventional operation robot in China has the following problems that (1) the catheter clamping part is inconvenient to fix, (2) the sterilization of the control part is inconvenient, (3) the rotation control of the catheter is only applicable to a specific Y valve, and (4) the rotation control of the catheter is inaccurate and easy to slip.
Therefore, how to provide a catheter rotation device of an interventional operation robot is a problem to be solved by those skilled in the art.
Disclosure of Invention
The present invention aims to solve, at least to some extent, one of the above technical problems in the prior art.
To this end, an object of the present invention is to propose a catheter rotation device for an interventional procedure robot,
The invention provides a catheter rotating device of an interventional operation robot, which comprises the following components:
the top of the box body is provided with a sterile box bottom shell;
The Y valve bracket component is arranged on the sterile box bottom shell;
The pinch roller in the pinch roller assembly and the Y valve in the Y valve bracket assembly can be abutted to rotate;
the rotary motor is fixed at one end of the front side wall of the box body and drives the pressing wheel to rotate through the transmission pair, the pressing wheel drives the Y valve to rotate, and the pressing wheel is disposable material and
The driver is arranged at the other end of the front side wall of the box body, is electrically connected with the rotating motor, and is in communication connection with an external controller.
Compared with the prior art, the invention discloses the catheter rotating device of the interventional operation robot, the Y valve is driven to rotate by the pinch roller, the pinch roller is driven to rotate by the rotating motor and the transmission pair, and the rotation is performed by a doctor outside an operating room through a controller in a manual operation mode, so that the catheter is accurately controlled in rotation and is not easy to slip, meanwhile, the pinch roller is a disposable consumable, a new pinch roller is replaced every time of operation, and the problem that the control part is inconvenient to disinfect is solved.
The friction wheel assembly comprises a friction output shaft, a pressing wheel shaft, a ring magnet and a synchronous belt pulley, wherein the friction output shaft is a stepped shaft, the synchronous belt pulley and the ring magnet are sleeved on the stepped shaft from one end to the other end in sequence, the pressing wheel shaft is fixed on the pressing wheel shaft.
The invention further provides a pressing arm, which comprises a pressing arm front arm, a force sensor and a pressing arm rear arm, wherein one end of the pressing arm front arm is a circular sleeve, the synchronous belt wheel is matched with the output shaft in a flat wire mode, a large bearing is sleeved outside a connecting shaft sleeve of the synchronous belt wheel, the circular sleeve is fixed on the large bearing outer ring, one side of the force sensor is fixed at the other end of the pressing arm front arm, the other side of the force sensor is fixed at one end of the pressing arm rear arm, and the other end of the pressing arm rear arm is connected with a first gear.
Further, the output end of the rotating motor is connected with a second gear, the second gear is meshed with a third gear, the third gear, a belt pulley and the first gear are coaxially arranged, the belt pulley is connected with the synchronous belt pulley through a belt, a fourth gear is meshed below the first gear, the middle part of the fourth gear is connected to a positioning shaft through a bearing, the positioning shaft is fixed on a mounting main board, and the mounting main board is fixed on the front wall of the box body through a supporting frame and is positioned in front of the rotating motor.
According to the scheme, the rotary motor controls the supporting arm to press the Y valve, so that the problem that the catheter clamping part is inconvenient to fix is solved.
The mounting main board comprises a base board, a motor fixing plate, a connecting plate and a positioning shaft support are fixed on the base board, the positioning shaft penetrates into the positioning shaft support, a screw rod stepping motor is fixed on the motor fixing plate, a track is fixed at the front part of the top end of the base board, a sliding block is slid on the track, a rack plate is fixed at the top of the sliding block and is positioned below the fourth gear and is meshed with the fourth gear for transmission, a screw nut of the screw rod stepping motor is mounted at the end part of the rack plate, the screw rod stepping motor controls the rack plate to move forwards and backwards through rotation, and further drives a pressing arm rear arm to rotate, and the screw rod stepping motor is electrically connected with a driver.
Further, the pinch roller is made of silica gel.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a catheter rotating device of an interventional operation robot provided by the invention;
FIG. 2 is an exploded view of a catheter rotation device of an interventional surgical robot according to the present invention;
FIG. 3 is a schematic diagram showing the construction of a friction wheel;
In the figure, 101-box body, 102-rotating motor, 103-Y valve bracket, 104-sterile box bottom shell, 105-synchronous pulley, 106-Y valve bracket component, 107-Y valve, 108-big bearing, 109-driver, 110-ring magnet, 111-friction output shaft, 112-press arm front arm, 113-press wheel shaft, 114-press wheel, 115-screw stepping motor, 116-force sensor, 117-mounting main board, 118-sliding block, 119-rack board, 120-fourth gear, 121-positioning shaft, 122-press arm rear arm, 123-pulley, 124-shaft, 125-small bearing, 126-second gear, 127-motor bracket and 128-bracket.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements or in an interaction relationship between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Referring to fig. 1-3, in one embodiment of the present invention, there is provided a catheter rotating device of an interventional robot, comprising a case 101, a Y valve support assembly 106 mounted on top of the case 101, a friction wheel assembly, a pinch roller 114 in the friction wheel assembly and a Y valve 107 in the Y valve support assembly 106 can rotate in an abutting manner, the Y valve support assembly 106 is connected with the sterilization case 104, the Y valve 107 is connected with the Y valve support assembly 106, the Y valve bracket 103 is connected with the case 101 for supporting the sterilization case 104, a motor fixing frame 127 is connected with the case 101, and simultaneously the motor fixing frame 127 is fixed with a rotating motor 102, the rotating motor 102 is fixed on one end of a front side wall of the case 101, and drives the pinch roller 114 to rotate through a transmission pair, the pinch roller 114 is disposable consumable, and a driver 109 is arranged on the other end of the case 109 and is electrically connected with the driver 109, and is electrically connected with the driver 109. Rotation motor 102 may transmit an output force to puck 114 when rotated. After the pinch roller 114 is pressed, the pinch roller 114 can be attached to the front end rotating part of the Y valve, and after the pinch roller 114 is rotated, the front end rotating part of the Y valve can rotate along with the rotation, so that the guiding catheter is driven to rotate along with the rotation, and the rotation control of the guiding catheter is achieved. The rotation operation of the catheter is controlled by a doctor outside an operating room through a controller or a control box, and the operation is convenient. The guiding catheter can be rotated clockwise and anticlockwise at any time, so that the operation requirement of the operation on the guiding catheter is met.
The friction wheel assembly comprises a friction output shaft 111, a pinch roller shaft 113, a ring magnet 110 and a synchronous pulley 105, wherein the friction output shaft 111 is a stepped shaft, the synchronous pulley 105 and the ring magnet 110 are sleeved on the stepped shaft in sequence from one end to the other end, the pinch roller shaft 113 is provided, and the pinch roller 114 is fixed on the pinch roller shaft 113. The friction wheel can be assembled and disassembled without tools. The installation mode is plug-in type. The pinch roller is connected with the friction output shaft 111, and the annular magnet 110 is installed on the friction output shaft 111, so that the pinch roller can be tightly attracted with the device.
The invention further comprises a pressing arm, wherein the pressing arm comprises a pressing arm front arm 112, a force sensor 116 and a pressing arm rear arm 122, one end of the pressing arm front arm 112 is a circular sleeve, the synchronous pulley 105 is matched with the output shaft 111 through a flat wire, a large bearing 108 is sleeved outside a connecting shaft sleeve of the synchronous pulley 105, the circular sleeve is fixed on the outer ring of the large bearing 108, the other end of the pressing arm front arm 112 is fixed on one side of the force sensor 116, the other side of the force sensor 116 is fixed on one end of the pressing arm rear arm 122, and the other end of the pressing arm rear arm 122 is connected with a first gear.
Specifically, the output end of the rotating motor 102 is connected with a second gear 126, the second gear 126 is meshed with a third gear, the third gear, a belt pulley 123 and a first gear are coaxially arranged, the belt pulley 123 is connected with the synchronous belt pulley 105 through a belt, a fourth gear 120 is meshed below the first gear, the middle part of the fourth gear 120 is connected to a positioning shaft 121 through a small bearing 125, the positioning shaft 121 is fixed on a mounting main board 117, and the mounting main board 117 is fixed on the front wall of the box body 101 through a supporting frame 128 and is positioned in front of the rotating motor 102. The motor mount 127 is connected to the mounting board 117.
Referring to fig. 2, the mounting main board 117 includes a base board, a motor fixing plate, a connecting plate and a positioning shaft support, the positioning shaft 121 penetrates into the positioning shaft support, a screw rod stepping motor 115 is fixed on the motor fixing plate, a track is fixed at the front of the top end of the base board, a sliding block 118 slides on the track, a rack plate 119 is fixed at the top of the sliding block 118, the rack plate 119 is located below the fourth gear 120 and is meshed with the fourth gear 120, a nut of the screw rod stepping motor 115 is mounted at the end of the rack plate 119, the screw rod stepping motor 115 controls the rack plate 119 to move back and forth through rotation, and further drives a pressing arm rear arm 122 to rotate, and the screw rod stepping motor 115 is electrically connected with the driver 109. Because the trailing arm 122 and the leading arm 112 are connected by the force sensor 116. After the pinch roller compresses the Y valve, the force sensor 116 has a numerical change, and after a specified force is reached, the screw stepper motor 115 stops moving. When the screw rod stepping motor rotates reversely, the pressing arm can be lifted, and the purpose of loosening the Y valve can be achieved.
In the above embodiment, the pressing wheel 114 is made of silica gel.
When the device is used, the device adopts an automatic initialization mode, so that the device is convenient for doctors to use. At the beginning of the procedure, first, the Y valve is placed in the mounting assembly of the Y valve, and the knob is tightened. The press arm of the device returns to a nearly vertical position. The doctor then places a new puck on the friction output shaft. The lid of the sterilization case is then closed, and the system automatically completes the clamping of the puck Y valve after the system receives the sterilization case closing signal. The physician then controls the rotation of the guide catheter, via a controller or control box outside the operating room, to allow both clockwise and counterclockwise rotation. After the operation is completed, the system will automatically raise the friction wheel to a near vertical position after opening the sterilization case lid. Finally, the doctor takes down the pinch roller and carries out unified recovery.
In the prior art, a rotating part with a specific structure for controlling the front end of the Y valve is adopted, and the diameter and the size of the rotating part at the front end of the Y valve are different because of different shapes of the Y valves. The fixed Y valve is selected to facilitate the structural design, but is greatly limited to practical clinical use. There are tens of types of Y valves on the market, and the choice of different Y valves is likely to not allow rotational control of the conduit for other devices.
The invention adopts the cooperation of the pressing arm and the friction wheel to press the front end of the Y valve from top to bottom. The pressure sensor on the pressing arm can detect the pressure of the pressing wheel on the front end of the Y valve in real time, and the motor is controlled to ensure that the pressing arm always presses the front end of the Y valve. The mode is not limited to a specific Y valve, namely the device can compress the front end of the Y valve no matter the diameter and the shape of the rotating part at the front end of the Y valve, ensures that the pressing rod does not have the influence of slipping and the like on the rotation of the front end of the Y valve, and is applicable to all Y valves.
Referring specifically to FIG. 1, pressure arm rear arm 122, force sensor 116, pressure arm front arm 112, and mating pressure wheel 114, pressure wheel 114 and the front end of Y-valve 107 are shown mated. When the pinch roller touches the Y valve downward, the force sensor 116 (using a pressure sensor) detects the force change, and when the pinch force reaches a certain value, the pinch arm stops continuing to finish the pinching action downward.
The invention solves the problems that the prior art is not suitable for a rotation control device of an interventional operation robot for guiding a catheter, the sterilization of the rotation control device is complicated, the rotation control device of the catheter is not suitable for a universal Y valve, and the rotation control of the catheter is not accurate. The device disclosed by the invention is specially suitable for controlling the rotation of the catheter of the interventional operation robot, can be suitable for most common Y valves on the market, and has a wide application range. The invention adopts a disposable consumable material mode which is convenient to install and remove to control the rotation of the catheter, and effectively solves the problem of complex disinfection of the device in actual clinic. The whole structure is simple, the stability is good, and the assembly and the debugging are convenient by adopting a modularized mode. The Y valve is automatically clamped, and the Y valve is automatically loosened after the use is finished, so that the Y valve is simple and convenient to use, simple to operate and high in practicability.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Further, one skilled in the art can engage and combine the different embodiments or examples described in this specification.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (6)
1. An interventional procedure robotic catheter rotation device, comprising:
the sterile box comprises a box body (101), wherein a sterile box bottom shell (104) is arranged at the top of the box body (101);
A Y valve bracket assembly (106), the Y valve bracket assembly (106) being disposed on the sterile cassette bottom shell (104);
the pinch roller (114) in the pinch roller assembly and the Y valve (107) in the Y valve bracket assembly (106) can be abutted and rotated;
a rotating motor (102), wherein the rotating motor (102) is fixed at one end of the front side wall of the box body (101) and drives the pressing wheel (114) to rotate through a transmission pair, the pressing wheel (114) drives the Y valve (107) to rotate, the pressing wheel (114) is disposable material, and
The driver (109) is arranged at the other end of the front side wall of the box body (101) and is electrically connected with the rotating motor (102), and the driver (109) is in communication connection with an external controller;
The friction wheel assembly comprises a friction output shaft (111), a pinch roller shaft (113), a ring magnet (110) and a synchronous pulley (105);
The device comprises an output shaft (111), a synchronous pulley (105), a large bearing (108) and a first gear, wherein the synchronous pulley is connected with the output shaft (111) through a flat wire, the large bearing (108) is sleeved outside a connecting shaft sleeve of the synchronous pulley (105), and the circular sleeve is fixed on the outer ring of the large bearing (108);
The output end of the rotating motor (102) is connected with a second gear (126), the second gear (126) is meshed with a third gear, the third gear, a belt pulley (123) and the first gear are arranged coaxially (124), the belt pulley (123) is connected with the synchronous belt pulley (105) through a belt, and a fourth gear (120) is meshed below the first gear.
2. The interventional operation robot catheter rotating device according to claim 1, wherein the friction output shaft (111) is a stepped shaft, the synchronous pulley (105) and the ring magnet (110) are sleeved on the stepped shaft in sequence from one end to the other end, the pinch roller shaft (113) is provided, and the pinch roller (114) is fixed on the pinch roller shaft (113).
3. The interventional operation robot catheter rotating device according to claim 2, wherein the pressure arm further comprises a force sensor (116), one end of the pressure arm front arm (112) is a circular sleeve, the synchronous pulley (105) is matched with the output shaft (111) in a flat wire mode, a large bearing (108) is sleeved outside a connecting shaft sleeve of the synchronous pulley (105), the circular sleeve is fixed on the outer ring of the large bearing (108), one side of the force sensor (116) is fixed on the other end of the pressure arm front arm (112), and the other side of the force sensor (116) is fixed on one end of the pressure arm rear arm (122).
4. An interventional procedure robot catheter rotation device according to claim 3, characterized in that the fourth gear (120) is connected in its middle part to a positioning shaft (121) by means of a bearing, the positioning shaft (121) is fixed to a mounting main plate (117), the mounting main plate (117) is fixed to the front wall of the box body (101) by means of a supporting frame (128) and is located in front of the rotating motor (102).
5. The interventional operation robot catheter rotating device according to claim 4, wherein the installation main board (117) comprises a bottom board, a motor fixing plate, a connecting plate and a positioning shaft support are fixed on the bottom board, the positioning shaft (121) penetrates into the positioning shaft support, a screw rod stepping motor (115) is fixed on the motor fixing plate, a track is fixed at the front part of the top end of the bottom board, a sliding block (118) is sliding on the track, a rack plate (119) is fixed on the top of the sliding block (118), the rack plate (119) is located below the fourth gear (120) and is in meshed transmission with the fourth gear (120), a screw nut of the screw rod stepping motor (115) is installed at the end part of the rack plate (119), the screw rod stepping motor (115) moves forwards and backwards through rotation control of the rack plate (119) so as to drive a pressing arm rear arm (122) to rotate, and the screw rod stepping motor (115) is electrically connected with the driver (109).
6. An interventional procedure robot catheter rotation device according to any of claims 1-5, characterized in that the pinch roller (114) is made of silicone.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110944280.1A CN115702828B (en) | 2021-08-17 | 2021-08-17 | Interventional operation robot catheter rotating device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110944280.1A CN115702828B (en) | 2021-08-17 | 2021-08-17 | Interventional operation robot catheter rotating device |
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| CN115702828A CN115702828A (en) | 2023-02-17 |
| CN115702828B true CN115702828B (en) | 2025-08-15 |
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| CN107582109B (en) * | 2017-10-09 | 2023-07-21 | 西安交通大学医学院第二附属医院 | Catheter connection device for highly tortuous endovascular intervention |
| EP3700454A1 (en) * | 2017-10-26 | 2020-09-02 | Guido Danieli | Robotic system for angioplasty and endoluminar surgery |
| CN111973277A (en) * | 2019-05-21 | 2020-11-24 | 复旦大学 | Slave hand end guide wire operating device of master-slave operation vascular interventional surgical robot |
| US12303223B2 (en) * | 2019-07-10 | 2025-05-20 | Beijing Wemed Medical Equipment Co., Ltd | Slave-side propelling device and controlling method for interventional surgical robot |
| CN212699107U (en) * | 2020-06-23 | 2021-03-16 | 四川大学 | Robot for vascular intervention operation |
| CN112656512B (en) * | 2020-12-31 | 2024-11-01 | 北京唯迈医疗设备有限公司 | Disinfection box suitable for double-guide-wire interventional surgical robot |
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| CN110840566A (en) * | 2019-11-07 | 2020-02-28 | 北京唯迈医疗设备有限公司 | Guide wire clamping and twisting device of interventional operation robot |
| CN112353491A (en) * | 2020-10-29 | 2021-02-12 | 北京唯迈医疗设备有限公司 | Universal robot for interventional radiography and therapeutic surgery |
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