CN115825470A - Device for sensing guidewire delivery speed and guidewire delivery resistance - Google Patents

Abstract

The invention discloses a device for sensing guide wire delivery speed and guide wire delivery resistance. The main part includes force sensor support and supporting seat, and force sensor installs on force sensor support. The speed-force transmission assembly is arranged on the supporting seat and comprises a roller and a roller shaft which are fixedly arranged, and the roller is contacted with the guide wire and driven by the guide wire to rotate; the rotation speed sensor detects a rotation speed of the rotation output member. The force transmission component is movably arranged on the main body and comprises a force bearing end and a force transmission end, the force bearing end comprises a force bearing surface, and the force transmission end is associated with the force sensor and transmits the force borne by the force bearing surface to the force sensor; in the assembled state, the roller is exposed and can be approached by the stress surface; during the use, gyro wheel and stress surface are located the both sides of seal wire, and the gyro wheel butt seal wire makes the seal wire produce local bending and keeps it to be in the bending state, and stress surface and seal wire contact.

Description

Device for sensing guidewire delivery speed and guidewire delivery resistance

technical field

The invention relates to the technical field of medical devices, in particular to a device for sensing the delivery speed and resistance of a guide wire.

Background technique

Minimally invasive vascular interventional surgery is the basic method for the diagnosis and treatment of cardiovascular and cerebrovascular diseases. Most of the current vascular disease diagnosis and vascular reconstruction operations require the help of this technology. The operation of guide wire-catheter is the core content of minimally invasive vascular interventional surgery, which determines the quality of surgery. Currently, interventional doctors use digital silhouette angiography (DSA) to manually position the wire-catheter within the patient's blood vessel. Conventional passive guide wires, guiding catheters, and balloon catheters are the basic instruments used in surgery.

During the procedure, the doctor punctures a blood vessel in the femoral or radial artery and places a vascular sheath as an entrance for the catheter to enter the blood vessel. The catheter is passed through the vascular sheath into the blood vessel in the patient's body, and the guide wire is passed into the blood vessel through the channel inside the catheter. Control of the catheter, guidewire delivery, retraction, and rotation is typically performed by the interventionalist and his associate four-handed. During the delivery of the guide wire, the doctor can feel the resistance of the guide wire through the hand, and then decide the withdrawal, delivery and rotation of the guide wire.

Nowadays, robotic devices have appeared on the market for guide wire (catheter or other devices, the same below) positioning operation, which is conducive to improving the accuracy and stability of positioning operations, liberating medical staff from radiation, and preventing medical staff from wearing heavy Additional damage caused by lead clothing. In order to realize the motion control of the guide wire, the robot device must first realize the non-destructive clamping of the guide wire, and it is difficult to compare with the human body in terms of sensing the motion state of the guide wire. Traditional guidewire delivery speed and guidewire delivery resistance sensing devices and guidewire delivery speed and guidewire delivery resistance sensing methods have the disadvantages of inaccurate sensing of guidewire delivery speed and guidewire delivery resistance, causing extrusion on the guidewire and damaging the guidewire problem, and the structure is complex and the cost is high.

Therefore, there is a need in the industry for a guidewire delivery speed and guidewire delivery resistance sensing device and a guidewire delivery speed and guidewire delivery resistance sensing method with further improved structure and sensing accuracy.

Contents of the invention

The present invention aims to overcome the defects of the traditional technology, and its purpose is to provide a method for sensing the delivery speed and resistance of the guide wire, which has a simple and compact structure and few influencing factors, thus improving the sensing accuracy of speed and force . .

In order to achieve the above object, the present invention provides a device for sensing the delivery speed of the guide wire and the delivery resistance of the guide wire, the device comprising:

main body;

speed-force transmission components;

speed sensor;

force sensors; and

force transmission parts;

The main body includes a force sensor bracket and a support base, the force sensor bracket is fixedly connected to the support base, and the force sensor is installed on the force sensor bracket;

The speed-force transmission assembly is installed on the support base and includes a roller and a roller shaft, the roller is fixedly mounted on the roller shaft, and the roller is used to contact the guide wire and rotate under the drive of the guide wire ;

The rotation speed sensor is used to detect the rotation speed of the rotating output element, and the rotating output element includes one of the following:

the roller shaft;

a rotating element mounted on the roller shaft and rotating synchronously with the roller shaft;

a rotating shaft connected to the roller shaft via a transmission mechanism;

a rotating element mounted on a rotating shaft connected to the roller shaft via a transmission mechanism and rotating synchronously with the rotating shaft;

The force transmitting part is movably installed on the main body and includes a force receiving end and a force transmitting end, the force receiving end includes a force receiving surface, and the force transmitting end is associated with the force sensor and used to connect the force sensor The force borne by the force-bearing surface is transmitted to the force sensor;

In the assembled state of the device for sensing guide wire delivery speed and guide wire delivery resistance, the rollers are exposed and can be approached by the force-bearing surface; During the use of the device, the roller and the force-bearing surface are located on opposite sides of the guide wire;

The speed-force transmission assembly is installed on the support seat in one of the following ways:

1) The speed-force transmission assembly is fixedly installed on the support seat,

2) The speed-force transmission assembly is fixedly installed on the support seat in a manner that its position can be adjusted toward and away from the force-bearing surface,

3) The speed-force transmission assembly is installed on the support seat linearly movable in the direction toward and away from the force-bearing surface through the guide device, and the support seat is provided with a biasing device for The direction of the force-bearing surface applies a bias to the speed-force transmission assembly;

During the use of the device for sensing the delivery speed of the guidewire and the delivery resistance of the guidewire, the rollers of the speed-force transmission assembly abut against the passing guidewire to locally bend the guidewire and keep the guidewire in a bent state, And the force receiving surface of the force transmission component is in contact with the guide wire.

Adopting the technical scheme of the present invention, the structure is simple and compact, the manufacturing cost is low, and there are few factors influencing the perception of guidewire delivery speed and guidewire delivery resistance, thus greatly improving the perception accuracy of guidewire delivery speed and guidewire delivery resistance. Moreover, according to the technical solution of the present invention, it is possible to provide real-time and accurate feedback on the delivery speed and the magnitude of the delivery resistance of the guide wire during the delivery process, thereby realizing precise control of guide wire delivery.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail, wherein

1 is a perspective view illustrating the overall structure of a speed-force sensing device according to a first embodiment of the present invention;

2 is a perspective view illustrating an actual use state of the speed-force sensing device according to the first embodiment of the present invention;

Fig. 3 is a perspective view of the speed-force transmission assembly and the speed detection assembly of the speed-force sensing device of the first embodiment;

Fig. 4 is an exploded perspective view of the speed-force transmission assembly and the speed detection assembly of the speed-force sensing device of the first embodiment;

5A is a cutaway perspective view of the speed-force sensing device of the first embodiment;

5B is a cutaway perspective view of the speed-force sensing device of the first embodiment, wherein the speed-force transmission assembly, the speed detection assembly, the force sensor bracket and the force sensor are removed;

Figure 6A is a perspective view of an upper endplate;

Figure 6B is a perspective view of the upper endplate seen from the other side;

Figure 7 is a perspective view of the lower end baffle;

Figure 8 is a perspective view of the bottom box;

9 is a partial cross-sectional view illustrating a structurally symmetrical guidewire support;

Figure 10 is a partial cross-sectional view illustrating a structurally asymmetric guidewire support;

Fig. 11 illustrates a kind of modification embodiment of roller;

Figure 12A illustrates a modified embodiment of a guidewire support;

Figure 12B illustrates another modified embodiment of a guidewire support;

13 is a perspective view of a speed-force sensing device according to a second embodiment of the present invention;

14 is a perspective view of a speed-force sensing device according to a second embodiment of the present invention, wherein the bottom box is removed;

Fig. 15 is an exploded perspective view of the speed-force transmission assembly, the speed detection assembly and the auxiliary speed transmission assembly of the speed-force sensing device of the second embodiment;

Fig. 16 is a perspective view of the speed-force transmission component, the speed detection component and the auxiliary speed transmission component of the speed-force sensing device of the second embodiment;

17 is a perspective view of a speed-force sensing device according to a third embodiment of the present invention;

18 is a cutaway perspective view of a speed-force sensing device according to a third embodiment of the present invention;

Fig. 19 is a perspective view of the force transmission part of the speed-force sensing device of the third embodiment;

Fig. 20 illustrates the use state of the speed-force sensing device of the third embodiment of the present invention;

Fig. 21 is a sectional perspective view of the speed-force sensing device according to the third embodiment of the present invention, illustrating another installation example of the speed-force transmission assembly on the support seat;

Fig. 22 is a sectional perspective view of the speed-force sensing device according to the third embodiment of the present invention, illustrating another installation example of the speed-force transmission assembly on the support seat;

23 is a perspective view illustrating a speed-force sensing device of a fourth embodiment of the present invention; and

Fig. 24 is a perspective view of the speed-force sensing device of the fourth embodiment, with the bottom case removed.

Detailed ways

The speed-force sensing device and speed-force sensing method of the present invention will be described in detail below. Here, it should be pointed out that the embodiments of the present invention are only illustrative, which are only used to explain the principle of the present invention rather than limit the present invention.

For ease of description, terms such as up, down, front, back, left, and right are used in the specification. These directional terms correspond to the orientations shown in the drawings, but not necessarily to the actual directions in use.

Referring first to Fig. 1 and Fig. 2, it illustrates the overall structure of the speed-force sensing device according to the first embodiment of the present invention in the form of perspective view, wherein Fig. 2 illustrates the actual use of the speed-force sensing device of the present invention state. As shown in FIGS. 1 and 2 , the speed-force sensing device 1 of the first embodiment includes a speed-force transmission component 2 , a speed detection component 3 (see FIG. 4 ), a force sensor 4 and a main structure 5 .

The main structure 5 includes a support base 6 and a force sensor bracket 7 , the force sensor 4 is fixedly mounted on the force sensor bracket 7 and supported by the force sensor bracket 7 , and the force sensor bracket 7 is installed on the support base 6 . The support base 6 includes an upper end baffle 8 , a lower end baffle 9 and a bottom box 10 , and the speed-force transmission assembly is linearly movably mounted on the support base 6 through a guide device.

The speed-force transmission assembly 2 includes a roller seat 11 , a roller 12 , a roller shaft 13 and a screw 14 , and the roller 12 is fixedly mounted on the roller shaft 13 . In the state of use, the roller 12 is in contact with the guide wire 15 to rotate under the drive of the guide wire and drive the roller shaft 13 as the rotation output element to rotate together, and the roller shaft 13 is connected to the speed sensor of the speed detection assembly 3 Associated settings, the rotational speed sensor is used to detect the rotational speed of the roller shaft 13 . When resistance is encountered during the delivery of the guide wire, the resistance received is transmitted to the roller 12 through the guide wire, and the roller 12 transmits the force it bears to the screw 14, and then to the force sensor 4 via the screw 14, and the force sensor 4 measures the magnitude of the force.

Next, refer to FIG. 3 and FIG. 4 , wherein FIG. 3 is a perspective view of the speed-force transmission assembly 2 and the speed detection assembly 3 , and FIG. 4 is an exploded perspective view of the speed-force transmission assembly 2 and the speed detection assembly 3 . As shown in Figure 3 and Figure 4, the speed-force transmission assembly 2 includes a roller seat 11, a roller 12, a roller shaft 13 and a screw 14, and the roller seat includes a roller seat main body 16, an inner end roller baffle 17 and an outer end roller Baffle 18. A threaded hole 19 is formed on the main body 16 of the roller seat, and the screw rod 14 is installed in the threaded hole in an assembled state. The opposite side surfaces of the main body 16 of the roller seat are provided with guide protrusions 20 extending in the up and down direction and used as sliders for use as guides for sliding rails provided on the support base described below. The slots cooperate to guide the linear movement of the speed-force transmission assembly.

The roller 12 is fixedly mounted on the roller shaft 13 so that the two can rotate together. The roller shaft 13 stretches out from both sides of the roller 12 , and the inner roller baffle 17 and the outer roller baffle 18 are mounted on the roller shaft 13 through bearings 21 respectively. Screw holes 21 are formed on the roller seat main body 16, and positioning rods 22 that are located on both sides of the screw holes 21 and extend from both sides of the roller seat main body respectively; The positioning hole 24 on the side; the outer end roller baffle 18 is formed with a screw hole 25 and positioning holes 26 on both sides of the screw hole.

The speed detection assembly 3 includes a rotational speed sensor, and the rotational speed sensor includes a magnetic encoder 27 and a magnet 28 ; The magnetic encoder 27 is provided with electric wires 31; the magnet 28 is fixedly installed in the installation hole 32 formed at the end of the roller shaft 13 (see FIG. 5A). The main body 29 of the magnetic encoder seat is L-shaped, and a mounting hole 33 for forming a part of the installation space of the magnetic encoder 27 is formed on the vertical plate portion, and threaded holes 34 are formed on both sides of the mounting hole 33; through holes are formed on the horizontal plate portion 35, the electric wire 31 of the magnetic encoder extends from the through hole; the end surface of the horizontal plate facing the speed-force transmission assembly 2 is formed with a threaded hole 36 and positioning holes 37 located on both sides of the threaded hole.

The magnetic encoder cover 30 is recessed toward the side of the magnetic encoder base main body 29 , thereby constituting the installation space of the magnetic encoder 27 together with the installation hole 33 of the magnetic encoder base main body 29 . A through hole 38 is formed on the magnetic encoder cover 30 through which the magnetic encoder 27 is exposed (see FIG. 5A ); screw holes 39 are formed on both sides of the through hole 38 on the magnetic encoder cover 30 .

Please refer to FIG. 3 , FIG. 4 and FIG. 5A , illustrating the assembly of the speed-force transmission assembly 2 and the speed detection assembly 3 . When the speed detection assembly 3 is assembled, the electric wire 31 of the magnetic encoder 27 is drawn out from the through hole 35 on the magnetic encoder seat main body 29, and the magnetic encoder 27 is placed on the magnetic encoder seat main body 29 and the magnetic encoder cover. 30, and use the screw passing through the screw hole 39 on the magnetic encoder cover to screw with the threaded hole 34 on the main body 29 of the magnetic encoder base, the magnetic encoder cover 30 and the magnetic encoder base The main bodies 29 are fixed to each other.

When the speed-force transmission assembly 1 is assembled, the magnet 28 is installed in the mounting hole 32 at the end of the roller shaft 13; At the same time, the positioning rods 22 located on both sides of the main body 16 of the roller seat are respectively inserted into the positioning holes 24 on the inner roller baffle 17 and the positioning holes 26 on the outer roller baffle 18 .

Then, insert the positioning rod 22 on the roller seat main body 16 on one side of the magnetic encoder 27 into the positioning hole 37 on the magnetic encoder seat main body 29; then, pass the screw 40 through the screw hole 25 and the screw hole respectively. 21. The screw hole 23 is screwed into the threaded hole 36 on the main body 29 of the magnetic encoder base, thereby completing the assembly of the speed-force transmission component 2 and the speed detection component 3 .

The screw rod 14 used as a dowel rod is fixedly installed on the top of the roller seat. In this embodiment, the function of the screw rod 14 is to transmit the force borne by the roller 12. Therefore, its specific structure and fixing method with the roller seat are not limited to The specific examples shown are not shown, but various forms known to those skilled in the art may be adopted.

As shown in FIG. 1 , the support base 6 includes an upper baffle 8 , a lower baffle 9 and a bottom box 10 , and the lower baffle 9 is disposed between the upper baffle 8 and the bottom box 10 . Please refer to FIG. 1 , FIG. 5A and FIG. 6A , the upper end baffle 8 includes an extension 41 extending to the right for mounting the force sensor bracket 7 . As shown in Figure 5A, the force sensor bracket 7 is an L-shaped plate, including a horizontally extending connecting plate portion 42 and a fixing plate portion 43 connected to the horizontal connecting plate portion and extending in a vertical direction, and the vertically fixing plate portion A mounting portion 44 extending in the front-rear direction is provided at the end away from the horizontal connecting plate portion, and a screw hole is formed on the mounting portion 44; correspondingly, a threaded hole is formed at the end of the force sensor 4 connected to the force sensor bracket 7, Thus, the force sensor 4 can be fixedly mounted on the force sensor bracket 7 by means of the screws 45 .

Continuing to refer to FIG. 5A , the horizontal connecting plate portion 42 of the force sensor bracket 7 is fixedly connected to the extension portion 41 of the upper end baffle 8 . As shown in Figure 6A, a threaded hole 46 is formed on the extension part 41 of the upper end baffle 8, and a screw hole 47 (see Figure 5A) is formed on the horizontal connecting plate part 42 of the force sensor bracket 7, so that the screw hole 47 can be passed through 48 fixes the force sensor support 7 and the upper end baffle 8 mutually. As a preferred solution, the fixed position of the force sensor bracket 7 on the upper end plate 8 can be adjusted along the direction (left and right direction in Fig. 5A) perpendicular to the linear movement direction of the speed-force transmission assembly; for this reason, the force The screw holes 47 on the horizontal connecting plate portion 42 of the sensor bracket 7 are formed as waist-shaped holes extending in a direction perpendicular to the linear movement direction of the speed-force transmission assembly. In addition, as a preferred solution, in order to facilitate the adjustment of the position of the force sensor bracket 7 after the screw 48 is loosened, as shown in FIG. A waist-shaped guide hole 49 extending in a direction perpendicular to the linear movement direction of the speed-force transmission assembly is formed; correspondingly, two guide rods 50 are provided at corresponding positions on the extension of the upper end baffle 8 . In the assembled state, the two guide rods 50 are respectively located in the waist-shaped guide holes 49 to support the force sensor bracket 7 and guide the left and right movement of the force sensor bracket 7 . Referring to FIG. 6A , an installation hole 51 is formed on the extension portion 41 of the upper end baffle 8 , and two guide rods 50 are respectively fixedly installed in the installation holes 51 .

The structure of the supporting base 6 is described below with reference to Fig. 1, Fig. 5A-Fig. 8, wherein Fig. 5A is a sectional perspective view of the speed-force sensing device of the first embodiment; Fig. 5B is a sectional perspective view of the speed-force sensing device , wherein the speed-force transmission assembly 2, the speed detection assembly 3, the force sensor and the force sensor bracket 7 are removed; Fig. 6A is a perspective view of the upper end baffle; Fig. 6B is a perspective view of the upper end baffle seen from the other side ; Figure 7 is a perspective view of the lower end baffle; and Figure 8 is a perspective view of the bottom box.

As shown in Figure 1, the support base 6 includes an upper end baffle 8, a lower end baffle 9 and a bottom box 10, and the lower end baffle 9 is installed between the upper end baffle 8 and the bottom box 10 to jointly define a speed-force transmission assembly 2 and the installation space of the speed detection assembly 3, the lower end baffle 9 is set so as to be able to produce relative displacement relative to the upper end baffle 8 and the bottom box 10 (see Fig. 5A and Fig. 5B).

As shown in Figures 6A and 6B, a through-hole 52 is formed in the middle of the upper end baffle 8, and the through-hole includes a rectangular hole 53 at the top and a slot-shaped hole 54 at the bottom. The upper and lower baffles are connected; the upper part of the upper baffle 8 is also formed with a round hole 55 extending in the up and down direction. The round hole 55 is connected with the rectangular hole and extends through the upper surface of the upper baffle 8. 14 extends through the circular hole 55 and is in clearance fit with the circular hole.

On each of the shown left and right sides of the through-hole 52 , the upper end fence 8 is respectively formed with a screw hole 56 formed through the upper end fence 8 . Preferably, the screw holes 56 are stepped screw holes. In the assembled state, as shown in FIG. 1 and FIG. 5A , the screw hole 56 is used for fitting a fixing screw 57 , and the screw head is accommodated in the large hole of the stepped screw hole 56 .

Continuing to refer to 6A and FIG. 6B, the right side wall of the shown rectangular hole 53 is formed with a stepped baffle 58 on the side facing the lower end baffle 9, including a first baffle part 59 and a second baffle part 60, A step 61 is formed between the two baffle parts, and a threaded hole 62 is formed on the second baffle part 60 . The left side wall of the shown rectangular hole is also provided with a baffle plate, the structure of which is symmetrical to that of the right side wall baffle plate, and its description is omitted here.

As shown in FIGS. 5A and 5B , the support base 6 also includes an assembly baffle 63 in the form of a rectangular block on which screws corresponding to the threaded holes 62 on the second baffle part 60 are formed. Apertures 64 , whereby the assembly baffle 63 can be secured to the upper end baffle 8 by means of screws 65 , spaced apart from the corresponding first baffle portion 59 . Thus, a guide groove 66 is defined between the component baffle plate 63 and the first baffle plate portion 59, and the component baffle plate 63 and the first baffle plate portion 59 form a slide rail for use with the left and right sides of the roller seat 11. The guide protrusion 20 of the slider cooperates (see FIG. 5A ), and guides the speed-force transmission assembly 2 and the speed detection assembly 3 to move linearly relative to the support base. In order to reduce the friction between the slider and the slide rail, the slider and the slide rail are preferably subjected to smooth treatment, such as mirror treatment for the slider and the slide rail.

FIG. 7 illustrates the lower end dam 9 in conjunction with the upper end dam 8 . As shown in Figure 7, a through-hole 67 is formed in the middle of the lower end baffle 9, and the through-hole includes a rectangular hole 68 at the top and a slot-shaped hole 69 at the bottom, and the rectangular hole 68 and the slot-shaped hole 69 pass through in the vertical direction. , the slotted hole 69 corresponds to the slotted hole 54 of the upper end baffle 8 . On each of the left and right sides of the through hole 67, the lower end plate 9 is respectively formed with two waist-shaped holes 70 and 71, the waist-shaped hole 70 is used to pass through the guide rod 72 (see Figure 8), and the waist-shaped hole The type hole 71 is used to pass the fixing screw 57 (see FIG. 1 and FIG. 5A ).

The lower end of the lower end baffle 9 is provided with a two-layer stepped portion 73, including a first stepped portion 74 on the outside and a second stepped portion 75 on the inner side. The first stepped portion 74 has a first mounting surface 76 and a first surface 77 , the second stepped portion 75 has a third mounting surface 78 and a third surface 79 . The inner side of the middle part of the first mounting surface 76 of the first step portion 74 is formed with a through hole 80 that penetrates up and down, or is formed with an arc-shaped concave portion. The concave part is used to accommodate the lower part of the roller 12 of the speed-force transmission assembly, and the guide wire is located under the roller 12, and the outer peripheral edge of the lower part of the roller 12 keeps in contact with the guide wire and makes the guide wire locally bend. As a preferred solution, as shown in FIG. 7 , the first installation surface 76 of the first step portion 74 is a concave curved surface in the middle, so that the guide wire transitions to the lower outer periphery of the roller 12 more smoothly. Preferably, the junction of the through hole 80 or the concave portion and the first mounting surface of the first stepped portion has a smooth transition, so that the guide wire can be deflected as smoothly as possible to avoid breakage of the guide wire.

As shown in FIG. 6B , the upper end baffle 8 is provided with a third step portion 81 corresponding to the second step portion 73 of the lower end baffle 9 , thereby forming a second installation surface 82 , a fourth installation surface 83 and a second surface. 84. Wherein, the second installation surface 82 of the third step portion 81 of the upper end baffle 8 is adapted to the first installation surface 76 of the first step portion 74 of the lower end baffle 9 in terms of shape and size in the front-rear direction; The fourth mounting surface 83 of the third stepped portion 81 of the baffle 8 is adapted to the third mounting surface 78 of the second stepped portion 75 of the lower end baffle 9 in terms of shape and size in the front-rear direction.

Thus, when the upper end dam 8 and the lower end dam 9 are assembled, the second installation surface 82 of the third step portion 81 of the upper end dam 8 and the first installation surface 76 of the first step portion 74 of the lower end dam 9 The fourth installation surface 83 of the third step portion 81 of the upper end baffle 8 is attached to the third installation surface 78 of the second step portion 75 of the lower end baffle 9; at the same time, the third installation surface 83 of the upper end baffle 8 The second surface 84 of the stepped portion 81 is attached to the third surface 79 of the second stepped portion 75 of the lower end baffle 9 , and the plate surface 85 of the upper end baffle 8 is attached to the plate surface 86 of the lower end baffle 9 .

As shown in FIGS. 6A and 6B , below the grooved hole 54 , a cutout 87 is formed on the upper end baffle 8 . The through holes 80 (see FIG. 7 ) on the first installation surface 76 of the stepped portion 74 are arranged symmetrically. The notch portion 87 communicates with the grooved hole 54. In the assembled state of the upper end baffle 8 and the lower end baffle 9, the notch 87 is also connected to the through hole on the first mounting surface 76 of the first step portion 74 of the lower end baffle 9. 80 communication; thus, the arrangement space of the roller 12 of the speed-force transmission assembly 1 is formed.

In order to form the guide wire channel through which the guide wire 15 passes, as shown in FIGS. The intersection of the mounting surface 82, and includes a stepped surface 89, the stepped surface 89 is adapted in shape to the first mounting surface 76 of the first stepped portion 74 of the lower end baffle 9, thereby connecting the upper end baffle 8 and the lower end baffle. After the plate 9 is assembled, a guide wire channel 90 with a substantially uniform cross-section is formed (see FIG. 1 ).

Referring to Fig. 1, Fig. 6A, Fig. 6B and Fig. 7, the bottom of the guide wire channel is formed by the first installation surface 76 of the lower end baffle, and the parts on both sides of the through hole 80 on the first installation surface 76 are used as Guide wire support. During the use of the speed-force sensing device, the guide wire passes through the guide wire channel, and the roller 12 abuts on the guide wire, causing local bending of the guide wire and supporting the part of the guide wire adjacent to the bending part of the guide wire on the guide wire support part up, and keep the guidewire in a bent state. In order to reduce the friction between the guide wire and the guide wire channel or the guide wire support part, the guide wire channel or the guide wire support part is preferably subjected to smooth treatment, such as mirror treatment for the guide wire channel or the guide wire support part.

Continuing to refer to FIG. 6B , on the outer side of the screw hole 56 of the upper end baffle 8 , the upper end baffle 8 is formed with a blind hole 91 , and the end of the guide rod 72 is fitted in the blind hole.

Please refer to FIG. 8 , which is a perspective view of the bottom box 8 . As shown in FIG. 8 , the bottom box 8 is box-shaped, including a rectangular main part 300 and an extension part 301 , and a notch 92 is formed on the side wall at one end, and the notch is used for passing the electric wire 31 of the magnetic encoder. Two bosses 93 are arranged on both sides of the bottom wall of the rectangular main part 300, and a threaded hole 94 positioned on the inside and a guide rod fixing hole 95 positioned on the outside are respectively formed on the bosses 93, and the threaded hole 94 is used for connecting with the screw. 57 (see FIG. 5A ) end connection, the guide rod fixing hole 95 is used for fixing and installing the guide rod 72 . In the assembled state, the through hole 52 of the upper end baffle 8 , the through hole 67 of the lower end baffle 9 and the inner space of the bottom box 8 define the installation space of the speed-force transmission assembly 2 .

Please refer to Fig. 5A and Fig. 5B. When assembling, firstly, the speed-force transmission assembly 2 with the screw 14 removed together with the speed detection assembly 3 is fitted from the through hole 52 of the upper end baffle 8 to the installation body of the speed-force transmission assembly 2. On the upper end baffle plate 8 of the upper end baffle plate 8, and make the guide protrusion 20 of the roller seat fit with the first baffle plate part 59 of the upper end baffle plate 8; then install the assembly baffle plate 63, and utilize the screw 65 to fix the assembly baffle plate 63 on the On the upper end baffle 8. Afterwards, the upper end baffle 8 equipped with the speed-force transmission assembly 2 and the speed detection assembly 3 is assembled with the lower end baffle 9 and the bottom box 8. When assembling, the third step portion 81 of the upper end baffle 8 is assembled. The second installation surface 82, the fourth installation surface 83, and the second surface 84 are respectively attached to the first installation surface 76, the third installation surface 78, and the third surface 79 of the second-layer step portion 73 of the lower end baffle 9, and the upper end baffle The plate surface 85 of the plate 8 is attached to the plate surface 86 of the lower end baffle 9 . Afterwards, the bottom box 10 with the guide rod 72 fixed thereto is assembled with the upper end baffle 8 and the lower end baffle 9, and the guide rod 72 is inserted into the waist-shaped hole 70 of the lower end baffle 9 and the upper end baffle 8 respectively during assembly. In the blind hole 91 of the bottom box 10, the screw 57 is passed through the screw hole 56 of the upper end baffle 8, the waist hole 71 of the lower end baffle and screwed in the threaded hole 94 of the bottom box 10, so that the upper end baffle 8, the lower end The baffle 9 is assembled with the bottom box 10 .

Next, as shown in FIG. 5A , the force sensor bracket 7 is fixed to the upper end plate 8 by screws 48 . As mentioned above, the screw hole 47 on the horizontal connecting plate part 42 of the force sensor bracket 7 is a waist-shaped hole, so after the screw 48 is loosened, the installation position of the force sensor bracket 7 on the upper end plate 8 can be adjusted in the left and right direction. .

Then, as shown in FIG. 5A , the force sensor 4 is fixedly installed on the force sensor bracket 7 through screws 45 . At the same time, the force sensor 4 and the speed-force transmission assembly 2 are connected by a screw 14 . The screw rod 14 extends through the hole 96 formed on the force sensor 4, and its lower end is screwed into the threaded hole 19 on the roller seat 11 of the speed-force transmission assembly 2 (see FIG. 4 ), thereby fixing relative to the roller seat 11, the screw rod 14 The assembly of the speed-force sensing device is completed by securing in place relative to the force sensor 4 with nuts 97 and 98 . When the speed-force sensing device is actually used, the axial position of the screw rod 14 can be adjusted through the nuts 97 and 98, so as to adjust the strength of the roller 12 of the speed-force transmission assembly 2 against the guide wire and/or the partial position of the guide wire. degree of curvature.

Continuing to refer to FIG. 1 and FIG. 5A , when the speed-force sensing device is actually used, in order to arrange the guide wire 15 in the guide wire channel, the screw 57 can be loosened, and then the waist-shaped hole 70 formed on the lower end baffle 9 can be used to and 71 make the lower end baffle 9 shift downward relative to the upper end baffle 8 and the bottom box 10, thus the second mounting surface 82 of the third step portion 81 of the upper end baffle 8 and the first step of the lower end baffle 9 A gap 99 is created between the first mounting surface 76 of the portion 74 (see FIGS. 5A and 5B ). In this case, the guide wire 15 can be mounted in place via the gap 99 . Afterwards, the lower end baffle 9 is moved upward relative to the upper end baffle 8 and the bottom box 10 until the second mounting surface 82 of the third step portion 81 of the upper end baffle 8 and the first step 74 of the lower end baffle 9 are connected. A mounting surface 76 is attached to each other, and then the lower end baffle 9 , the upper end baffle 8 and the bottom box 10 are fixed again with screws 57 .

In the above-described embodiment, as shown in FIG. 7 , the first mounting surface 76 of the first stepped portion 74 on the lower end baffle 9 is left-right symmetrical with respect to the through hole 80 , and accordingly, the formed guide The wire aisle is also bilaterally symmetrical, and the guide wire supporting parts located on both sides of the through hole 80 on the first installation surface are also bilaterally symmetrical. With such a structure, when the speed-force sensing device is actually used, the roller 12 is in symmetrical contact with the guide wire, as shown in FIG. 9 . However, other forms can also be used for the guide wire aisle, such as a left-right asymmetrical form as shown in Figure 10. In the case shown in Figure 10, the guide wire support parts on both sides of the through hole 80 are in a left-right asymmetrical form, and accordingly the rollers 12 is in asymmetrical contact with the guide wire left and right. The difference caused by different forms of the guide wire supporting part is that the stress points of the rollers 12 are different.

The operation of the speed-force sensing device of the first embodiment of the present invention will be described below.

Before the operation, the speed-force sensing device of the present invention is fixedly installed at a certain part of the guide wire walking path, and the guide wire is placed in the guide wire channel of the speed-force sensing device, so that the guide wire passes through the speed - Guidewire channel for force sensing device for delivery and withdrawal. Roller 12 resists guide wire and causes guide wire to produce partial bending, and makes the guide wire part adjacent to the guide wire bending part support on the guide wire supporting part, and keeps guide wire in a bent state; if necessary, nut 97 and 98 to adjust the axial position of the screw rod 14 fixedly connected to the roller base, so as to realize the adjustment of the strength of the roller 12 of the speed-force transmission assembly 2 against the guide wire and/or the local bending degree of the guide wire. During the forward delivery of the guide wire during surgery, the guide wire will drive the roller so that the roller shaft rotates, thereby rotating the magnet 28, and the magnetic encoder will detect/feedback the delivery speed of the guide wire. If the guide wire is blocked, on the one hand, the rotation speed of the roller 3 and the roller shaft 4 and the magnet 28 will slow down or even stop rotating, and the guide wire speed fed back by the magnetic encoder will also decrease; on the other hand, the resistance received The guide wire will be further bent or have a tendency to further bend at the local bending part, so that the resistance received will be transmitted through the guide wire to the roller 12 of the speed-force transmission assembly 2, and then to the screw 14, and then transmitted through the screw 14 Give force sensor 4, measure the magnitude of force by force sensor 4. Since the guide wire is partially bent at the roller 12, when the guide wire is hindered, the part of the guide wire in the bent state is most sensitive to the resistance received, so that the received resistance can be accurately transmitted to the speed-force transmission components and detected by force sensors. The delivery of the guidewire should be suspended when the feedback guidewire speed decreases to a predetermined threshold and/or the detected force is greater than a predetermined threshold.

In the described first embodiment of the speed-force sensing device, its essential feature is embodied in that, on the one hand, the speed-force transmission assembly is provided with a roller and a roller shaft that rotates with the roller, and the roller is in contact with the guide wire and is driven by the guide wire. The ribbon drives the rotation; a rotational speed sensor is associated with the roller shaft to detect the rotational speed of the roller shaft and obtain/feedback the delivery speed of the guide wire; on the other hand, the speed-force transmission assembly can move linearly relative to the support base 6, And be provided with the roller 12 that contacts with guide wire at its stressed end, be provided with guide wire supporting part (in the first embodiment, the specific form of guide wire supporting part is the one on the first step part of the lower end baffle plate) The mounting surface 76) on both sides of the through hole 80), the guide wire supporting part and the roller are located on the opposite sides of the guide wire in use, and the guide wire supporting part is arranged so that the guide wire can produce local bending under the action of the roller; - During the use of the force-sensing device, the rollers of the speed-force transmission assembly abut against the passing guide wire, causing local bending of the guide wire and supporting the part of the guide wire adjacent to the bending part of the guide wire on the support part, and maintaining The guide wire is in a bent state, so the force will act on the roller when the guide wire is delivered against resistance; at the same time, the speed-force transmission assembly also includes a force transmission end connected with the force sensor to act on the guide wire to the roller. The force is transmitted to the force sensor and the magnitude of the force is detected by the force sensor.

Therefore, the technical solutions of the present invention are not limited to the specific forms described.

In the above-mentioned first embodiment, in order to facilitate the installation of the guide wire on the speed-force sensing device, the upper end baffle 8 and the lower end baffle 9 are set so that they can be shifted relative to each other, but the two can also be set so that no relative misalignment can occur. In actual use, the end of the guide wire is passed through one end of the guide wire passage 90 of the speed sensing device; in addition, the guide wire can also be installed by disassembling the upper end baffle 8 and the lower end baffle 9 .

In the first embodiment described above, as shown in FIGS. 6B and 7 , the lower end baffle 9 is provided with the first stepped portion 74 and the second stepped portion 75 , while the upper end baffle 8 is provided with the third stepped portion 81 . As a modified embodiment, the lower end baffle 9 may omit the second step portion and only have the first step portion 74, and the first installation surface 76 of the first step portion extends to the plate surface 86 of the lower end baffle 9; However, the upper end baffle 8 is not provided with the third stepped portion 81 . In the assembled state, the second installation surface 82 of the upper end baffle 8 is attached to the first installation surface 76 of the lower end baffle 9 , and the plate surface 85 of the upper end baffle 8 is attached to the plate surface 86 of the lower end baffle 9 . With this structure, the guide wire channel located under and aligned with the roller of the speed-force transmission assembly is formed by one of the following methods:

1) The guide wire channel is enclosed by the groove formed on the second installation surface of the upper end baffle and the first installation surface of the lower end baffle, and the first installation surface is formed with a through hole or a gap or a gap at the position opposite to the roller. lower recess;

2) The guide wire channel is enclosed by the groove formed on the first installation surface of the lower end baffle and the second installation surface of the upper end baffle, and the bottom of the groove formed on the first installation surface is at the position opposite to the roller There is a through hole or a gap or a concave part formed at the place;

3) The guide wire channel is enclosed by the groove formed on the second installation surface of the upper end baffle and the groove formed on the first installation surface of the lower end baffle, and the bottom of the groove formed on the first installation surface is in line with the A through hole or a notch or a lower concave portion is formed at the position opposite to the roller.

Figure 11 illustrates a modified embodiment of the roller, the roller shown in Figure 11 is formed with flanges 100 on the opposite sides of the surface abutting against the guide wire to prevent the abutment surface of the guide wire and the roller break away.

Regarding the guide wire supporting part, in the above-described embodiment, the guide wire supporting part is in the form of a plane or a curved surface, and is arranged on both sides of the roller along the direction of the guide wire walking path, but as a modified embodiment, only A guide wire supporting part in the form of a plane or a curved surface is provided on one side of the roller along the direction of the guide wire running path. In addition, other forms of the guide wire support may be used instead of the guide wire support in the form of a plane or a curved surface. 12A and FIG. 12B illustrate other embodiments of the guide wire support part. The guide wire support part shown in FIG. a guide wire support roller or two guide wire support columns 111; the guide wire support part shown in FIG. Or a guide wire support column 112. It should be noted here that the guide wire support shown in FIG. 12A and FIG. 12B is not limited to support rollers, support rollers or support columns specially used to provide support. For example, the present invention can use two or three speed-force sensing devices. In the case of using two speed-force sensing devices, the two speed-force sensing devices are respectively located on opposite sides of the guide wire, and along the The direction of the guide wire walking path is set sequentially; in the case of using three speed-force sensing devices, the middle speed-force sensing device is located on one side of the guide wire, and the other two speed-force sensing devices are located on the other side of the guide wire. One side is arranged on the front and back sides of the speed-force sensing device in the middle along the direction of the guide wire walking path. In the case of two or three speed-force sensing devices, the rollers of the speed-force sensing device on one side serve as guide wire supports for the speed-force sensing device on the other side. Therefore, the guidewire supporting part illustrated in Fig. 12A and Fig. 12B also covers the above-mentioned situation.

The second embodiment of the speed-force sensing device of the present invention will be described below with reference to Figs. 13-16.

In the second embodiment, the same components as those of the first embodiment are denoted by the same reference numerals, and descriptions thereof are omitted.

Please refer to Fig. 13 and Fig. 14, wherein Fig. 13 is a perspective view of the speed-force sensing device of the second embodiment; Fig. 14 is a perspective view of the speed-force sensing device of the second embodiment, wherein the bottom box is removed, In order to display the structure of the speed detection component and the auxiliary speed transmission component. Similar to the first embodiment, the speed-force sensing device 201 of the second embodiment includes a speed-force transmission assembly 202, a speed detection assembly 203 (see FIG. 15 ), a force sensor 4, and a main structure 205, wherein the main structure 205 includes a support The seat 206 and the force sensor bracket 7 , the support seat 206 includes an upper end baffle 8 , a lower end baffle 9 and a bottom box 210 . In the speed-force sensing device of the second embodiment, the upper end baffle 8 and the lower end baffle 9, the force sensor 4, the force sensor bracket 7, etc. of the support base 206 are the same as the upper end baffle, the lower end baffle, The overall structures of the force sensor, the force sensor bracket, etc. are basically the same, and only the different structures will be described below.

As shown in FIG. 15 and FIG. 16 , the speed-force transmission assembly 202 includes a roller seat 211 , a roller 212 , a roller shaft 213 and a screw 214 , and the roller seat includes a roller seat main body 216 , a roller baffle 217 and a roller baffle 218 . A threaded hole (not shown in the figure) is formed on the main body 216 of the roller seat, and one end of the screw rod 214 is installed in the threaded hole in an assembled state. The opposite side surfaces of the main body 216 of the roller seat are provided with guide protrusions 220 used as sliders extending in the left and right directions in the figure to communicate with the guide grooves used as slide rails on the support base. Fitting, guides the linear movement of the velocity-force transmission assembly.

The roller 212 is fixedly mounted on the roller shaft 213 so that both can rotate together. The roller shaft 213 protrudes from both sides of the roller 212 , and the roller baffle 217 and the roller baffle 218 are respectively installed on the roller shaft 213 through the bearing 221 . The main body 216 of the roller seat is formed with a screw hole (not shown) extending in the vertical direction, the roller baffle 217 is formed with a threaded hole 223 , and the roller baffle 218 is formed with a screw hole 225 .

When the speed-force transmission assembly 202 is assembled, the roller baffle 217 and the roller baffle 218 are respectively installed on the roller shaft 213 through the bearing 221, and the screws 240 are respectively passed through the screw holes 225 on the roller baffle 218 and the main body of the roller seat. 216, and threaded into the threaded hole 223 on the roller baffle 217, thus completing the assembly of the speed-force transmission assembly.

The speed-force sensing device of the second embodiment further includes an auxiliary speed transmission component 250 disposed between the speed-force transmission component 202 and the speed detection component 203 .

15 and 16 , the auxiliary speed transmission assembly 250 includes a driving bevel gear 251 fixedly connected to the roller shaft 213 , a sliding bevel gear 252 drivingly engaged with the driving bevel gear 251 , a transmission shaft 253 and a coil spring 254 . The transmission shaft 253 is a stepped shaft, including a solid shaft 255 on one side of the sliding bevel gear 252, and a hollow shaft 256 on the side away from the sliding bevel gear 252. The outer diameter of the hollow shaft 256 is greater than that of the solid shaft 255, so that steps between. A hole is formed on the solid shaft 255 for installing the pin shaft 257 ; the sliding bevel gear 252 includes an integrally formed sleeve 258 , and an elongated hole 259 is formed on the sleeve 258 .

In the assembled state of the transmission shaft 253 and the sliding bevel gear 252, the sleeve 258 of the sliding bevel gear 252 is sleeved on the solid shaft 255 of the transmission shaft, and the pin shaft 257 is installed on the solid shaft 255 and is located in the elongated hole of the sleeve 258 259, and the coil spring 254 is located between the step and the end of the sleeve 258, see FIG. 16 . Thus, the movement of the sliding bevel gear 252 towards the driving bevel gear 251 is restricted by means of the pin 257, but the sliding bevel gear 252 is allowed to move away from the driving bevel gear 251, while the coil spring 254 biases the sliding bevel gear 252 to ensure sliding The bevel gear 252 is reliably meshed with the driving bevel gear 251 .

Continuing to refer to Fig. 15 and Fig. 16, the speed detection assembly 203 is fixedly mounted on and supported by the support 260, the speed detection assembly 203 includes a rotating shaft 261, a magnet mounted on the rotating shaft, and a magnetic encoder (not shown in the figure) As well as the housing 262 for installing the aforementioned components, the speed detection assembly 203 is also called a rotary shaft magnetic encoder. The rotating shaft 261 is fixedly connected with the hollow shaft 256 of the transmission shaft 253 and rotates under the driving of the transmission shaft 253 .

As shown in Figures 13 and 14, the bottom box 210 of the support seat 206 is a box body, which is used to install the auxiliary speed transmission assembly 250, the speed detection assembly 203, and the support 260, etc. through the hole. In the assembled state of the speed-force sensing device, the upper end baffle 8 and the lower end baffle 9 can be fixed on the bottom box 210 by screws 263 .

The operation of the speed-force sensing device according to the second embodiment of the present invention will be described below.

Before the operation, the speed-force sensing device of the present invention is fixedly installed at a certain part of the guide wire walking path, and the guide wire is placed in the guide wire channel of the speed-force sensing device, so that the guide wire passes through the speed - Guidewire channel for force sensing device for delivery and withdrawal. The roller 212 is against the guide wire and causes the guide wire to locally bend, and supports the guide wire part adjacent to the guide wire bending part on the guide wire support part, and keeps the guide wire in a bent state; nuts 97 and 98 can be used if necessary (See FIG. 5A ) Adjust the axial position of the roller seat, so as to adjust the strength of the roller 212 against the guide wire and/or the local bending degree of the guide wire. During the operation to deliver the guide wire forward, the guide wire will drive the roller so that the roller shaft rotates, and the roller shaft drives the rotation shaft 261 of the speed detection assembly 203 to rotate through the auxiliary speed transmission assembly 250, thus the magnetic encoder will feedback the guide wire If the guide wire is blocked, on the one hand, the rotation speed of the roller 212 and the roller shaft 213 and thus the rotation shaft 261 will slow down or even stop rotating, and the guide wire speed fed back by the magnetic encoder will also decrease; on the other hand On the one hand, the received resistance will cause the guide wire to further bend or have a tendency to further bend at the local bending position, thus the received resistance will be transmitted to the roller 212 of the guide wire speed-force transmission assembly 202, and then to the screw 214, and The force is transmitted to the force sensor 4 via the screw 214, and the force sensor 4 measures the magnitude of the force. Since the guide wire is partially bent at the roller 212, when the guide wire is hindered, the part of the guide wire in the bent state is most sensitive to the resistance received, so that the resistance received can be accurately transmitted to the speed-force transmission components and detected by force sensors. The delivery of the guidewire should be suspended when the feedback guidewire speed decreases to a predetermined threshold value and/or the detected force is greater than a predetermined threshold value.

During the operation of the speed-force sensing device of the second embodiment, when the delivery of the guide wire is blocked, the force will be transmitted to the roller, which may cause the speed-force transmission assembly to move, thereby driving the driving bevel gear 251 to move; The bevel gear 252 and the helical spring 254 apply bias to the sliding bevel gear 252 , which can adapt to the speed transmission assembly so that the linear movement of the driving bevel gear 252 makes the driving bevel gear 251 mesh with the sliding bevel gear 252 reliably.

In the described second embodiment of the speed-force sensing device, its essential feature is embodied in that, on the one hand, the speed-force transmission assembly is provided with a roller and a roller shaft that rotates with the roller, and the roller is in contact with the guide wire and is driven by the guide wire. The wire drives the rotation, and the rotation of the roller shaft is output to the rotating shaft through the transmission mechanism (that is, the auxiliary speed transmission component), and the rotational speed of the rotating shaft is detected by the associated rotational speed sensor to obtain/feedback the delivery speed of the guide wire; on the other hand, the speed - The force transmission assembly can move linearly relative to the support base 206, and a roller 212 in contact with the guide wire is provided at its force-bearing end, and a guide wire support part is provided on the support base, and the guide wire support part and the roller are in use Located on the opposite sides of the guide wire, the guide wire support part is set so that the guide wire can be partially bent under the action of the roller; during the use of the speed-force sensing device, the roller of the speed-force transmission assembly abuts against the passing guide wire, so that The wire locally bends and supports the portion of the wire adjacent to the wire bend on said support and holds the wire in a bent state whereby forces are applied to the rollers when resistance to wire delivery is encountered ; At the same time, the speed-force transmission assembly also includes a force transmission end connected with the force sensor, which is used to transmit the force of the guide wire acting on the roller to the force sensor and the force sensor detects the magnitude of the force.

Therefore, the technical solutions of the present invention are not limited to the specific forms described.

For example, the transmission mechanism (ie, the auxiliary speed transmission assembly) is not limited to the specific structural form described, but other various forms of transmission mechanisms may be used.

In the above-mentioned first and second embodiments, the rotational speed sensor includes a magnetic encoder and a magnet for detecting the rotational speed of the roller shaft or the rotating shaft. Use any form of sensor that can be used to detect the rotational speed of the rotating shaft/rotary shaft, such as a photoelectric rotational speed sensor, a Hall rotational speed sensor, a variable reluctance rotational speed sensor, etc.; in addition, the rotational output element as the detected object is not limited to the described roller shaft or rotating shaft, but depending on the specific speed sensor used, other rotating elements adapted to the speed sensor used can be used as rotating output elements, which are connected to the roller shaft or output shaft and synchronous rotation.

With regard to the rollers, the upper end baffle, the lower end baffle and the guide wire supporting part, the various implementations described in conjunction with the first embodiment are also applicable to the second embodiment, and the description thereof is omitted for the sake of brevity.

In the above-mentioned second embodiment, the assembled upper end baffle 8, lower end baffle 9, speed-force transmission assembly 202 (with or without screw 214) and component baffle 63 constitute a speed-force transmission device, which can Configured as an independent component, it can be used in the technical solution of the second embodiment, and can also be used in cooperation with other speed detection components/rotational speed sensors, including the speed detection component described in conjunction with the first embodiment. In the case of being an independent component, some structures can be appropriately modified, such as the waist-shaped hole 70 of the lower end plate 9 is formed as a fixed round hole for fixing the guide rod 72, and the waist-shaped hole 71 is formed as a threaded hole Correspondingly, the blind hole 91 of the upper baffle 8 can be formed as a waist-shaped blind hole or a waist-shaped hole passing through the upper baffle 8, and the screw hole 56 is formed as a waist-shaped screw hole. In this way, after the screw 57 is loosened, the lower end baffle 9 is allowed to be displaced relative to the upper end baffle 8 under the condition that the upper end baffle 8 and the lower end baffle 9 are not detached from each other.

The third embodiment of the speed-force sensing device of the present invention will be described below with reference to FIGS. 17-22 .

In the third embodiment, the same components as those of the first embodiment are denoted by the same reference numerals, and descriptions thereof are omitted.

Please refer to FIG. 17 and FIG. 18 , similar to the first embodiment, the speed-force sensing device 301 of the third embodiment includes a speed-force transmission component 302 , a speed detection component, a force sensor 4 and a main structure 305 . In the speed-force sensing device of the third embodiment, the speed detection assembly and the force sensor are the same as the degree detection assembly 3 and the force sensor 4 of the first embodiment, and their description is omitted here; the speed-force transmission assembly 302 and the main structure The overall structures of 305 are basically the same, and only the different structures will be described below.

As shown in FIGS. 17 and 18 , instead of the screw rod 14 in the first embodiment, the speed-force transmission assembly 302 of the third embodiment is provided with a shaft 314 fixedly installed in the hole 355 of the upper end baffle 8 Among them, a coil spring 380 is set on it, and a round hole 381 is formed on the roller seat 311 of the speed-force transmission assembly. In the assembled state, the shaft 314 is inserted into the round hole 381, and the shaft 314 and the round hole 381 are clearance fit, thereby allowing the roller seat 311 of the speed-force transmission assembly 302 to move relative to the shaft 314; and one end of the coil spring 380 It abuts against the stop surface 382 of the upper end baffle 8 , and the other end abuts against the lower surface of the main body 311 of the roller seat, thereby exerting a bias on the roller seat 311 and thus the speed-force transmission assembly 302 .

The speed-force sensing device of the third embodiment adopts a force detection method different from that of the first embodiment, and a specific description is given below.

Please refer to Fig. 17, Fig. 18 and Fig. 20, in the third embodiment, the force sensor bracket 307 is fixedly installed on the lower end baffle 9, and the end of the force sensor bracket 307 away from the lower end baffle 9 is provided with a mounting part 344, Screw holes are formed on the mounting portion 344 , and correspondingly, one end of the force sensor 4 connected to the force sensor bracket 307 is formed with a screw hole, so that the force sensor 4 can be fixedly mounted on the force sensor bracket 307 by screws 345 .

In order to detect the delivery force of the guide wire, a force transmission component 568 is provided. As shown in FIG. 17 , the force transmission component 568 is pivotally mounted on the force sensor bracket 307 through a pivot 567 fixed on the force sensor bracket 307 . Please refer to Fig. 19, which illustrates the specific structure of the force transmission component. As shown in Figure 19, the force transmitting member 568 is formed with a mounting hole 569 fitted with the pivot 567, and includes a first arm 570 and a second arm 571 arranged at a certain angle apart from each other, the two arms They are connected to each other by reinforcing rods 572 . The end of the first arm bar 570 is a force receiving end 573, and a force receiving surface 575 is formed on the force receiving end 573. The shape and size of the force receiving end 573 are configured to be able to be inserted into the through hole formed on the lower end baffle 9. 80 (see FIG. 18 , please also refer to FIG. 2 , FIG. 5A and FIG. 7 ), so as to be able to approach the roller and make contact with the guide wire 15 exposed through the through hole 80 .

One end of the second arm bar 571 away from the mounting hole 569 is provided with a cylindrical screw mounting portion 576, and a threaded hole 577 is formed on the screw mounting portion 576, and a force transmission screw 578 is installed in the threaded hole 577 (see FIG. 17 and FIG. 18), the end of the force transmission screw 578 located at the sensor is the force transmission end. As shown in FIG. 17 and FIG. 18 , in the assembled state of the speed-force sensing device, the force transmission end of the force transmission screw 578 is in contact with the force bearing surface of the free end of the force sensor 4 . As an optional solution, a blind hole 579 can be formed at the free end of the force sensor 4, and the bottom of the blind hole 579 is used as a force receiving surface and is in contact with the force transmission end of the force transmission screw 578, see FIG. 18 .

The operation of the speed-force sensing device according to the third embodiment of the present invention will be described below.

Please refer to FIG. 20 , which illustrates the use status of the speed-force sensing device according to the third embodiment of the present invention. As shown in Figure 18, in the assembled state of the speed-force sensing device of the third embodiment, the force-bearing end 573 of the force-transmitting member 568 is inserted into the through hole 80, and is connected with the guide wire 15 exposed through the through hole 80. contact; the roller 12 of the speed-force transmission assembly 302 is in contact with the guide wire 15 from the other side of the guide wire 15, and due to the biasing effect of the coil spring 380, the roller 12 presses the guide wire 15 against the force transmission The force receiving surface 575 of the force receiving end 573 of the component 568 ;

Before the operation, the speed-force sensing device of the present invention is fixedly installed at a certain part of the guide wire walking path, and the guide wire is placed in the guide wire channel of the speed-force sensing device, so that the guide wire passes through the speed - Guidewire channel for force sensing device for delivery and withdrawal. The roller 12 is in conflict with the passing guide wire, so that the guide wire is partially bent and the guide wire part adjacent to the guide wire bending part is supported on the guide wire support part, and the guide wire is kept in a bent state; at the same time, the force transmission part 568 The force-receiving surface 575 at the end of the first arm 570 touches the guide wire from the other side, so that the force-transmitting end at the end of the second arm 571 contacts the sensor. Under the biasing force of the coil spring 380 , the roller 12 of the speed-force transmission assembly 302 presses the guide wire against the force-receiving surface 575 with an appropriate force.

During surgery to deliver the guide wire, the guide wire will drive the roller so that the roller shaft rotates, thereby rotating the magnet 28, and the magnetic encoder detects/feeds back the delivery speed of the guide wire. If the guide wire is blocked, on the one hand, the rotation speed of the roller 12 and the roller shaft 13 and thus the magnet 28 will slow down or even stop rotating, and the guide wire speed fed back by the magnetic encoder will also decrease; on the other hand, the resistance received The guide wire will be further bent or have a tendency to further bend at the local bending position, thereby generating a force acting on the force-receiving surface 575 of the force-receiving end 573 of the force-transmitting member 568, and the force is transmitted through the force-transmitting member 568 Give force sensor 4, measure the magnitude of force by force sensor 4. Since the guide wire is partially bent at the roller 12, when the guide wire is hindered, the part of the guide wire in the bent state is most sensitive to the resistance received, so that the received resistance can be accurately transmitted to the speed-force transmission components and detected by force sensors. The delivery of the guidewire should be suspended when the feedback guidewire speed decreases to a predetermined threshold and/or the detected force is greater than a predetermined threshold.

In the described third embodiment of the speed-force sensing device, its essential feature is embodied in that, on the one hand, the speed-force transmission assembly is provided with a roller and a roller shaft that rotates with the roller, and the roller is in contact with the guide wire and is driven by the guide wire. The wire drives the rotation; a rotational speed sensor is associated with the roller shaft to detect the rotational speed of the roller shaft to obtain/feedback the delivery speed of the guide wire. On the other hand, the speed-force transmission assembly is installed on the support base and includes a roller abutting against the guide wire; The force surface, the force transmission end is associated with the force sensor and used to transmit the force borne by the force surface to the force sensor; in the assembled state of the speed-force sensing device, the rollers are exposed Or protrude outward from the support base to be accessible by the force-bearing surface; during the use of the speed-force sensing device, the roller and the force-bearing surface are located on opposite sides of the guide wire, and the speed-force The rollers of the transmission assembly abut against the passing guide wire, causing local bending of the guide wire and keeping the guide wire in a bent state, while the force-bearing surface of the force transmission component is in contact with the guide wire. Therefore, when the guide wire delivery encounters resistance, the guide wire will act on the force-bearing surface (or force-bearing part) of the force-transmitting component, and the force-transmitting component will transfer the force that the guide wire acts on the force-bearing surface to the force-bearing surface. The sensor detects the magnitude of the force by the force sensor.

Therefore, the technical solution of the third embodiment of the present invention is not limited to the described specific forms.

With regard to the rollers, the upper end baffle, the lower end baffle, and the guide wire supporting part, the modified embodiment described in conjunction with the first embodiment is also applicable to the third embodiment, and the description thereof is omitted for brevity.

In addition, in the speed-force sensing device of the third embodiment, since the force-bearing surface 575 of the force-transmitting member 568 collides with the guide wire at the other end of the guide wire to limit the movement of the guide wire, therefore, in the speed of the third embodiment - The guide wire supporting part in the force sensing device can also be omitted.

In the third embodiment, please refer to FIG. 18 , the shaft 314 of the speed-force transmission assembly 302 is fixedly installed in the circular hole 355 of the upper end baffle 8, and a coil spring 380 is set thereon, and the coil spring 380 is used for It is used to adjust the friction force between the roller 12 and the guide wire. However, the speed-force transmission assembly 302 can also be installed on the support base in other ways. FIG. 21 shows another installation example of the speed-force transmission assembly 302 on the support base. As shown in FIG. 21 , the speed-force transmission assembly 302 is provided with a screw 414 , a through hole 455 is formed on the upper end baffle 8 , and a threaded hole 419 is formed on the roller seat 411 . In the assembled state, one end of the screw 414 is fixedly installed in the threaded hole 419 of the roller seat 411, and the other end of the screw 414 extends through the through-hole 455 of the upper end baffle 8, and the screw 414 is located on both sides of the through-hole 455. The nuts 456 and 457 are fixed, so that the speed-force transmission assembly and thus the installation position of the roller relative to the support seat can be adjusted through the adjustment of the nuts 456 and 457.

Fig. 22 illustrates yet another installation example of the speed-force transmission assembly 302 on the support seat. As shown in FIG. 22 , the speed-force transmission assembly 302 is provided with a screw rod 514 , a coil spring 580 is set on the screw rod 514 , a through hole 555 is formed on the upper end baffle plate 8 , and a threaded hole 519 is formed on the roller seat 511 . When assembling, first insert the screw rod 514 through the through hole 555 formed on the upper end baffle and set the coil spring 580 on the screw rod 514, and then screw the end of the screw rod 514 in the threaded hole 519 of the roller seat 511, so as to relatively Fix it on the roller seat; install the nut 588 on the other end of the screw rod 514 afterwards. Wherein, the screw rod 514 is clearance fit with the through hole 555 on the upper end baffle, so that when the speed-force sensing device is actually used, the speed-force transmission assembly is allowed to move linearly relative to the support seat under the action of the force generated by the guide wire , and use the coil spring 580 to bias the speed-force transmission assembly toward the guide wire side. In addition, the axial position of the screw rod 514 can be adjusted through the nut 588, so as to adjust the strength of the roller 12 against the guide wire and/or the local bending degree of the guide wire; meanwhile, the nut 588 is also used as a limiting device to limit The speed-force transmission assembly and thus the roller base move linearly towards the guide wire under the action of the coil spring 85 to a maximum amount of movement.

In addition, as an optional solution, the speed-force transmission assembly can also be fixedly installed on the support seat. In this case, some components including the screw 314 need not be provided.

In the third embodiment described above, as shown in FIG. 17 , the force transmitting member 568 is pivotally mounted on the force sensor bracket 307 . However, the force transmission component can also adopt other structural forms. For example, the force transmission component can be in the form of a linear shaft, which is arranged between the roller and the force sensor, and one end of the force transmission component in contact with the guide wire forms a The force-receiving surface, and the force-transmitting component is installed on the main body so that it can move linearly along the direction toward and away from the guide wire through the guide device.

As a modification of the above-mentioned third embodiment, the dowel rod of the force transmission component (in the embodiment, the rod portion of the force transmission screw 578) can be fixed with the force sensor by a nut as described in conjunction with the first embodiment. connect. In addition, the dowel rod can be fixedly connected to the force sensor in an adjustable position along the axial direction of the dowel rod, so as to adjust the relative position of the roller of the speed-force transmission assembly and the force bearing surface of the force transmission component. To this end, the end of the dowel rod connected to the force sensor is formed with an external thread, and a through hole is formed on the force sensor, and the dowel rod is adjustable in position with the force sensor by means of nuts located on both sides of the through hole. connect.

Next refer to Fig. 23 and Fig. 24, wherein Fig. 23 is a perspective view illustrating the fourth embodiment of the speed-force sensing device of the present invention; Fig. 24 is a perspective view of the speed-force sensing device of the fourth embodiment, wherein the bottom The box is removed to reveal the structure of the speed detection assembly as well as the auxiliary speed transfer assembly. Differences between the speed-force sensing device of the fourth embodiment and the speed-force sensing device of the second embodiment, and differences between the speed-force sensing device of the third embodiment and the speed-force sensing device of the first embodiment , exactly the same. Therefore, all technical contents described in conjunction with the third embodiment are applicable to the speed-force sensing device of the fourth embodiment, and the description thereof is omitted for the sake of brevity.

In addition, as a modification of the fourth embodiment of the speed-force sensing device, the sliding bevel gear 252 can be fixedly installed on the transmission shaft 253 or integrally formed with the transmission shaft 253 , in this case, the coil spring 254 can be omitted.

The speed-force sensing method of the present invention will be described below in combination with the speed-force sensing device described above.

According to the present invention, the method for detecting guidewire delivery speed and guidewire delivery resistance comprises the steps of:

(1) A roller with a roller shaft is arranged at a certain part of the guidewire walking path, so that the roller is in contact with the guidewire, and the guidewire is partially bent by using the roller and kept in this bent state, so that the roller can be moved by The delivered guidewire is rotated, wherein the roller shaft rotates synchronously with the roller;

(2) A rotation speed sensor for detecting the rotation speed of the rotary output member and a force sensor for detecting the force transmitted by the force transmission member are provided, wherein,

The rotary output element includes one of the following:

the roller shaft,

a rotating element mounted on said roller shaft and rotating synchronously with said roller shaft,

a rotating shaft connected to the roller shaft via a transmission mechanism,

a rotating element mounted on a rotating shaft connected to the roller shaft via a transmission mechanism and rotating synchronously with the rotating shaft;

The force transmission part is arranged at a local bending position of the guide wire and contacts the guide wire to bear and transmit the force transmitted to the bending position during the delivery of the guide wire;

(3) When the guide wire is delivered forward, the guide wire drives the roller to rotate, and the roller drives the rotating output element to rotate synchronously;

(4) Use the rotation speed sensor to detect the rotation speed of the rotating output element, and then obtain the delivery speed of the guide wire; meanwhile, use the force sensor to detect the force transmitted by the force transmission component.

Above, the speed sensing device and the speed sensing method are described by taking the guide wire as an example. What needs to be particularly noted here is that the speed sensing device and the speed sensing method of the present invention are not limited to guide wires, but can be used in any elastically bendable Similar components, including but not limited to wire ropes, cables, optical fibers, and colonoscopes, gastroscopes, etc.

The present invention has been described above in conjunction with specific embodiments with reference to the accompanying drawings, but this is for illustrative purposes only, and the present invention is not limited thereto. Therefore, it is obvious to those skilled in the art that various changes and modifications can be made within the technical spirit and scope of the present invention, and these changes and modifications should also be understood as belonging to the category of the present invention, and the scope of the present invention is defined by the requirements The protected technical solutions and their equivalents are limited.

Claims (36)

1. A device for sensing guidewire delivery speed and guidewire delivery resistance comprising: main body; speed-force transmission components; speed sensor; force sensors; and force transmission parts; The main body includes a force sensor bracket and a support base, the force sensor bracket is fixedly connected to the support base, and the force sensor is installed on the force sensor bracket; The speed-force transmission assembly is installed on the support base and includes a roller and a roller shaft, the roller is fixedly mounted on the roller shaft, and the roller is used to contact the guide wire and rotate under the drive of the guide wire ; The rotation speed sensor is used to detect the rotation speed of the rotating output element, and the rotating output element includes one of the following: the roller shaft; a rotating element mounted on the roller shaft and rotating synchronously with the roller shaft; a rotating shaft connected to the roller shaft via a transmission mechanism; a rotating element mounted on a rotating shaft connected to the roller shaft via a transmission mechanism and rotating synchronously with the rotating shaft; The force transmitting part is movably installed on the main body and includes a force receiving end and a force transmitting end, the force receiving end includes a force receiving surface, and the force transmitting end is associated with the force sensor and used to connect the force sensor The force borne by the force-bearing surface is transmitted to the force sensor; In the assembled state of the device for sensing guide wire delivery speed and guide wire delivery resistance, the rollers are exposed and can be approached by the force-bearing surface; During the use of the device, the roller and the force-bearing surface are located on opposite sides of the guide wire; The speed-force transmission assembly is installed on the support base in one of the following ways: 1) The speed-force transmission assembly is fixedly installed on the support seat, 2) The speed-force transmission assembly is fixedly installed on the support seat in a manner that its position can be adjusted toward and away from the force-bearing surface, 3) The speed-force transmission assembly is installed on the support seat linearly movable in the direction toward and away from the force-bearing surface through the guide device, and the support seat is provided with a biasing device for The direction of the force-bearing surface applies a bias to the speed-force transmission assembly; During the use of the device for sensing the delivery speed of the guidewire and the delivery resistance of the guidewire, the rollers of the speed-force transmission assembly abut against the passing guidewire to locally bend the guidewire and keep the guidewire in a bent state, And the force receiving surface of the force transmission component is in contact with the guide wire. 2. The device for sensing the speed of guide wire delivery and the resistance of guide wire delivery according to claim 1, wherein a guide wire channel passing through the support base is formed in the support base, and the guide wire channel is provided with a guide wire support part, the guide wire support part and the roller are located on opposite sides of the guide wire passing through the guide wire channel in use, and the guide wire support part is arranged so that the guide wire can be positioned on the side of the roller Under the action, the force-bearing surface facing the force-transmitting component is partially bent; During use of the device for sensing guidewire delivery speed and guidewire delivery resistance, the guidewire passes through the guidewire channel and is locally bent under the action of the rollers of the speed-force transmission assembly, On the other hand, the part of the guide wire which is adjacent to the bending point of the guide wire is supported on the guide wire support. 3. The device for sensing the speed of guidewire delivery and the resistance to guidewire delivery according to claim 2, wherein the guidewire support part supports the guidewire on both sides of the roller along the guidewire walking path direction. The guide wire is formed with a through hole or a gap at the position opposite to the roller, so as to allow the guide wire to be partially bent and allow the force-bearing surface of the force transmission component to contact the guide wire . 4 . The device for sensing the speed of guidewire delivery and the resistance to guidewire delivery according to claim 3 , wherein the guidewire supporting portion is arranged symmetrically with respect to the roller in the direction of the guidewire walking path. 5. The device for sensing the speed of guidewire delivery and the resistance to guidewire delivery according to claim 4, wherein the guidewire supporting part comprises rollers arranged symmetrically with respect to the rollers in the direction of the guidewire walking path. Two guidewire bearing surfaces. 6. The device for sensing the guide wire delivery speed and guide wire delivery resistance according to claim 4, characterized in that, the guide wire supporting part includes rollers arranged symmetrically with respect to the rollers in the direction of the guide wire walking path. Two wire support rollers or two wire support rollers or two wire support columns. 7. The device for sensing guidewire delivery speed and guidewire delivery resistance according to claim 3, characterized in that, the speed-force transmission assembly passes through a guiding device in a direction toward and away from the force-bearing surface Linearly movable on the force support seat, the speed-force transmission assembly includes a roller seat, the roller is rotatably mounted on one end of the roller seat through the roller shaft, and the other end of the roller seat One end is abutted against the biasing device, and the guiding device includes sliders arranged on opposite sides of the roller base and slide rails arranged on the supporting base and matched with the sliders. 8. The device for sensing guidewire delivery speed and guidewire delivery resistance according to claim 7, characterized in that, the other end of the roller base is formed with a belt extending along the linear movement direction of the speed-force transmission assembly. guide hole, the support seat is provided with a guide rod extending parallel to the guide hole, the guide rod is inserted into the guide hole, and the guide rod and the guide hole form A clearance fit, a biasing spring serving as the biasing means is sleeved on the guide rod. 9. The device for sensing guidewire delivery speed and guidewire delivery resistance as claimed in claim 7, wherein the other end of the roller base comprises a shaft, and the end of the shaft away from the roller base forms a There is an external thread, the support base is provided with a through hole, the shaft extends through the through hole, a nut is installed on the end of the shaft protruding from the through hole, the shaft and the The through hole is in clearance fit, the biasing spring used as the biasing device is sleeved on the guide rod, and the nut abuts against the stop surface of the supporting seat under the action of the biasing device. 10. The device for sensing guidewire delivery speed and guidewire delivery resistance according to claim 1, wherein the speed-force transmission assembly is adjustable in position along the direction toward and away from the force-bearing surface fixedly installed on the support seat, the speed-force transmission assembly includes a roller seat, the roller is rotatably mounted on one end of the roller seat through the roller shaft, and the other end of the roller seat includes a shaft , the end of the shaft is formed with an external thread, the support base is provided with a through hole, and the shaft is fixed in an adjustable position relative to the support base by nuts located on both sides of the through hole. 11. The device for sensing guidewire delivery speed and guidewire delivery resistance according to claim 10, wherein the speed-force transmission assembly moves linearly relative to the support base through a guide device, and the The guiding device includes sliding blocks arranged on opposite sides of the roller base and slide rails arranged on the supporting base and matched with the sliding blocks. 12. The device for sensing guidewire delivery speed and guidewire delivery resistance according to claim 1, characterized in that, the force transmission member is linearly movable and arranged on the roller of the speed-force transmission assembly and the force sensor. 13. The device for sensing the speed of guidewire delivery and the resistance to guidewire delivery according to claim 1, wherein the force transmission member is pivotally arranged between the roller of the speed-force transmission assembly and between the force sensors. 14. The device for sensing guidewire delivery speed and guidewire delivery resistance according to claim 12 or 13, characterized in that the force transmission component is mounted on the force sensor bracket. 15. The device for sensing the speed of guidewire delivery and the resistance to guidewire delivery according to claim 12 or 13, characterized in that, the force transmitting end of the force transmitting component is fixedly connected to the force sensor. 16. The device for sensing the speed of guidewire delivery and the resistance to guidewire delivery according to claim 12 or 13, wherein the force transmitting end of the force transmitting component abuts against the force sensor. 17. The device for sensing guidewire delivery speed and guidewire delivery resistance according to claim 15, characterized in that, the force transmission end of the force transmission component comprises a dowel rod, and the dowel rod is arranged along the The axial position of the force rod is fixedly connected to the force sensor in an adjustable manner, so as to adjust the position of the force bearing surface of the force transmission component. 18. The device for sensing guidewire delivery speed and guidewire delivery resistance according to claim 17, wherein the end of the dowel rod connected with the force sensor is formed with an external thread, and the A through hole is formed on the force sensor, and the force transmission rod is connected to the force sensor in an adjustable position using nuts located on both sides of the through hole. 19. The device for sensing guidewire delivery speed and guidewire delivery resistance according to claim 1, wherein the rotating output element is the roller shaft, and the rotational speed sensor comprises a motor mounted on the roller shaft The magnet at the axial end of the magnet and the magnetic encoder arranged axially opposite to the magnet. 20. The device for sensing guidewire delivery speed and guidewire delivery resistance according to claim 7, wherein the rotating output element is the roller shaft, and the rotational speed sensor comprises a motor mounted on the roller shaft The magnet at the axial end of the magnet, and the magnetic encoder arranged axially opposite to the magnet; the magnetic encoder is installed on the magnetic encoder seat, and the magnetic encoder seat is fixedly connected with the roller seat, and the The magnetic encoder seat, the magnetic encoder and the magnet form a speed detection assembly. 21. The device for sensing guide wire delivery speed and guide wire delivery resistance according to claim 20, characterized in that, the support seat comprises an upper end baffle, a lower end baffle and a bottom box, and the lower end baffle is set Between the upper end baffle and the bottom box; the speed-force transmission assembly is installed linearly movable on the upper end baffle through a guide device, and the speed-force transmission assembly and the speed detection assembly are located on the upper end baffle, In the installation space formed after the lower end baffle is assembled with the bottom box. 22. The device for sensing guidewire delivery speed and guidewire delivery resistance according to claim 1, wherein the rotating output element is a rotating shaft connected to the roller shaft via a transmission mechanism, and the rotating speed The sensor includes a magnet installed at the axial end of the rotating shaft, and a magnetic encoder arranged axially opposite to the magnet. 23. The device for sensing guidewire delivery speed and guidewire delivery resistance according to claim 7, wherein the rotating output element is a rotating shaft connected to the roller shaft via a transmission mechanism, and the rotating speed The sensor includes a magnet installed on the axial end of the rotating shaft, and a magnetic encoder arranged axially opposite to the magnet; the magnetic encoder, magnet and rotating shaft are installed in a housing, and the rotating shaft Protruding from the casing and connected with the transmission mechanism, the magnetic encoder, magnet, rotating shaft and casing form a speed detection assembly, and the speed detection assembly and the transmission mechanism are arranged in a bottom box. 24. The device for sensing guide wire delivery speed and guide wire delivery resistance according to claim 23, characterized in that, the transmission mechanism comprises a first bevel gear installed on the shaft end of the roller shaft, a transmission shaft and a a second bevel gear meshed with the first bevel gear at one end of the transmission shaft, and the other end of the transmission shaft is connected with the rotation shaft and drives the rotation shaft to rotate; The second bevel gear is arranged to move axially along the transmission shaft, the second bevel gear has a sleeve, and an elongated hole extending axially is formed on the sleeve, and a pin is arranged on the transmission shaft Shaft; in an assembled state, the bushing is sleeved on the transmission shaft, and the pin shaft extends through the elongated hole and abuts against an end of the elongated hole away from the second bevel gear; the A biasing spring is provided on a side of the bushing away from the second bevel gear to bias the bushing in a direction toward the roller shaft. 25. The device for sensing guide wire delivery speed and guide wire delivery resistance according to claim 23, characterized in that, the support base includes an upper end baffle and a lower end baffle, and the speed-force transmission assembly passes through the guide wire The guiding device is installed on the upper end baffle in a linearly movable manner, and the speed-force transmission assembly is located in the installation space formed after the upper end baffle and the lower end baffle are assembled; In the assembled state of the resistance device, the support seat is installed on the bottom box, the lower end baffle is located between the upper end baffle and the bottom box, and the bottom box is formed with a wheel that allows the The hole through which the shaft passes. 26. The device for sensing guide wire delivery speed and guide wire delivery resistance as claimed in claim 21 or 25, characterized in that, the upper end baffle and the lower end baffle are fixed to each other in a detachable manner. The passage of the guide wire is exposed to facilitate the installation of the guide wire. 27. The device for sensing the speed of guidewire delivery and the resistance to guidewire delivery according to claim 21 or 25, wherein the end of the lower end stop adjacent to the guide wire channel has a lower end stop A first stepped portion protruding from the plate towards the side of the upper end baffle, the first stepped portion includes a first installation surface; the end surface of the end of the upper end baffle adjacent to the guide wire channel forms a The second installation surface adapted to the first installation surface, in the assembled state of the support seat, the first installation surface and the second installation surface are attached to each other; Wherein, the guide wire channel is formed by one of the following methods: 1) The guide wire channel is surrounded by the groove formed on the second installation surface and the first installation surface, and the first installation surface is used as the guide wire support part and is connected with the first installation surface Through holes or gaps are formed at the opposite parts of the rollers; 2) The guide wire channel is surrounded by the groove formed on the first installation surface and the second installation surface, and the bottom of the groove formed on the first installation surface is used as the guide wire The supporting part is formed with a through hole or a notch or a lower concave part at a position opposite to the roller; 3) The guide wire channel is enclosed by the groove formed on the second mounting surface and the groove formed on the first mounting surface, and the bottom of the groove formed on the first mounting surface is used As the guide wire supporting part, a through hole or a notch or a concave part is formed at a position opposite to the roller. 28. The device for sensing guidewire delivery speed and guidewire delivery resistance according to claim 21 or 25, wherein the end of the end of the lower end baffle adjacent to the guidewire channel is formed There is a two-layer stepped portion protruding from the lower end baffle toward the side of the upper end baffle, the two-layer stepped portion includes a first stepped portion on the outside and a second stepped portion on the inner side, the first stepped portion There is a first installation surface, the second step part has a third installation surface, and there is a fifth surface facing the upper end baffle between the first installation surface and the third installation surface; The end of the end of the upper end baffle adjacent to the guide wire passage is formed with a third stepped portion that is concave relative to the lower end baffle, so that the upper end baffle and the guide wire passage Adjacent end portions are formed with a second mounting surface adapted to the first mounting surface, a fourth mounting surface adapted to the third mounting surface, and a lower end plate located between the second mounting surface and the fourth mounting surface the sixth surface of the support seat; in the assembled state of the support seat, the first installation surface and the second installation surface are attached to each other, the third installation surface and the fourth installation surface are attached to each other, and the fifth surface and the sixth surface are attached to each other; At the intersection of the second installation surface and the sixth surface of the upper end baffle, the upper end baffle is partially cut off, so that the guide wire channel is formed in the assembled state of the upper end baffle and the lower end baffle; wherein, the lower end baffle The first mounting surface is used as the guide wire supporting part, and a through hole or a notch is formed at a position opposite to the roller. 29. The device for sensing the speed of guidewire delivery and the resistance to guidewire delivery according to claim 28, characterized in that, the section of the cut-off portion of the upper end baffle is rectangular. 30. The device for sensing guide wire delivery speed and guide wire delivery resistance according to claim 27, characterized in that, the upper end baffle is fixedly connected with the lower end baffle in a relatively movable manner, thereby allowing the The upper end baffle and the lower end baffle are displaced relative to each other in a direction substantially perpendicular to the guide wire passage, so that the first installation surface is separated from the second installation surface to form a guide wire installation gap leading to the guide wire passage, A guide wire can be installed in the guide wire channel through the installation gap. 31. The device for sensing guide wire delivery speed and guide wire delivery resistance according to claim 28, characterized in that, the upper end baffle is fixedly connected with the lower end baffle in a relatively movable manner, thereby allowing the The upper end baffle and the lower end baffle are displaced relative to each other in a direction substantially perpendicular to the guide wire passage, so that the first installation surface is separated from the second installation surface to form a guide wire installation gap leading to the guide wire passage, A guide wire can be installed in the guide wire channel through the installation gap. 32. The device for sensing guidewire delivery speed and guidewire delivery resistance according to claim 30, characterized in that, in the assembled state of the upper end baffle, the lower end baffle and the bottom box, the upper end baffle, the lower end baffle and the bottom box are assembled. The lower baffle and the bottom box are fixed by screws, the upper baffle is formed with a screw hole, and the lower baffle is formed with a waist-shaped hole extending along the relative displacement direction of the upper baffle and the lower baffle, and A threaded hole is formed on the bottom box. 33. The device for sensing guide wire delivery speed and guide wire delivery resistance according to claim 31, characterized in that, in the assembled state of the upper end baffle, the lower end baffle and the bottom box, the upper end baffle, the lower end baffle and the bottom box are assembled. The lower baffle and the bottom box are fixed by screws, the upper baffle is formed with a screw hole, and the lower baffle is formed with a waist-shaped hole extending along the relative displacement direction of the upper baffle and the lower baffle, and A threaded hole is formed on the bottom box. 34. The device for sensing the speed of guidewire delivery and the resistance to guidewire delivery according to claim 21 or 25, wherein the upper end baffle is formed with a through-hole constituting a part of the installation space, the through-hole Stepped baffles are formed on the side walls of the through hole opposite to each other along the direction of the guide wire channel, and the baffle is located on the side of the through hole facing the lower end baffle and includes a wall away from the side wall. The first baffle part and the second baffle part adjacent to the side wall, a step is formed between the two baffle parts, and a threaded hole is formed on the surface of the second baffle part facing away from the lower end baffle ; The support base also includes a component baffle in the form of a rectangular block, the component baffle is formed with screw holes corresponding to the threaded holes on the second baffle part, and the component baffle is fixed to the second baffle by screws On the baffle part, the slide rail is formed together with the first baffle part. 35. The device for sensing the speed of guidewire delivery and the resistance to guidewire delivery according to claim 21 or 25, wherein the force sensor bracket is fixedly connected to the lower end baffle. 36. The device for sensing guidewire delivery speed and guidewire delivery resistance of claim 1, wherein flanges are formed on opposite sides of the surface of the roller abutting against the guidewire, It is used to prevent the guide wire from detaching from the abutting surface of the roller; the height of the flange is smaller than the diameter of the guide wire.

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