CN107693122B - A guide wire clamping mechanism for minimally invasive interventional surgery robot - Google Patents

Abstract

The invention belongs to the field of medical equipment, and in particular relates to a guide wire clamping mechanism of a minimally invasive interventional operation robot, which comprises the following components: the device comprises a clamping motor, a bottom block, a top block, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein an output shaft of the clamping motor is hinged with one end of the first connecting rod, the other end of the first connecting rod is hinged with one end of the second connecting rod and one end of the third connecting rod respectively, the top block is hinged with the other end of the second connecting rod, the other end of the third connecting rod is hinged with one end of the fourth connecting rod, the other end of the fourth connecting rod is hinged with a fixed hinge support, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the top block and the bottom block form a plane six-connecting rod mechanism, a guide wire moves under the driving of the clamping motor, the guide wire passes through between the bottom block and the top block, and the guide wire is clamped when the top block is tightly propped against the bottom block. The clamping mechanism is simple in structure and reliable in clamping.

Description

A guide wire clamping mechanism for minimally invasive interventional surgery robot

technical field

The invention belongs to the technical field of medical equipment, and in particular relates to a guide wire clamping mechanism of a minimally invasive interventional surgery robot.

Background technique

Minimally invasive interventional surgery robots mainly include positioning devices, guide wire interventional devices, image navigation equipment, and monitoring equipment. The guide wire intervention device realizes the delivery, rotation and resistance measurement of the guide wire. During the guide wire intervention process, a guide wire clamping mechanism is required to hold the guide wire and deliver the guide wire through the intervention device. The guide wire used in interventional surgery is usually clamped by rollers or flat plates because of the small diameter of the guide wire during work; the roller clamp is a pair of rollers that are close to each other to clamp the guide wire, and the guide wire is in point contact, clamping Not reliable enough and easy to damage the surface material of the guide wire; the contact area of flat extrusion is larger than that of roller extrusion, but most of them are clamped by spring force, the reliability is poor, the spring force is difficult to control, and the spring needs to be adjusted or replaced frequently; The guide wire is clamped by two elastic surfaces such as a belt, which is not easy to control the clamping force, especially for thinner guide wires, because the elastic deformation of the belt and other elastic surfaces may already be larger than the diameter of the guide wire Lead to clamping failure; while the rigid plate clamps the guide wire, and has strict requirements on the positioning accuracy and clamping speed of the rigid clamping parts. Too loose positioning leads to unreliable clamping, and too fast clamping or too tight positioning leads to rigidity. Surface damage to guidewire surface material.

After the operation is completed, the guide wire clamping mechanism needs to be disinfected and cleaned, which is often troublesome or unclean due to the limitation of the installation method.

Contents of the invention

The invention overcomes the problem of poor guide wire clamping reliability in the prior art, and provides a guide wire clamping mechanism of a minimally invasive interventional surgery robot that can clamp the guide wire stably and reliably.

The technical solution adopted by the present invention to solve its technical problems is:

A guide wire clamping mechanism for a minimally invasive interventional surgery robot, characterized in that it includes: a clamping motor, a bottom block, a top block, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, The output shaft of the clamping motor is hinged to one end of the first connecting rod, the other end of the first connecting rod is hinged to one end of the second connecting rod and the third connecting rod respectively, and the second connecting rod The other end of the connecting rod is hinged with a top block, the other end of the third connecting rod is hinged with one end of the fourth connecting rod, the other end of the fourth connecting rod is hinged with a fixed hinge support, and the first connecting rod The rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the top block and the bottom block form a planar six-bar linkage mechanism, and the planar six-bar linkage mechanism moves under the drive of the clamping motor, and the guide The wire passes between the bottom block and the top block, and the guide wire is clamped when the top block is pressed against the bottom block.

Further, the bottom block includes two parallel first side plates and a second side plate, and there is a clamping plate between the first side plate and the second side plate; the two ends of the top block have protrusions , the first side plate and the second side plate have a first chute and a second chute corresponding to the protrusion, and the protrusion moves along the first chute and the second chute , loosen or clamp the guide wire through the separation and fit between the top block and the clamping plate.

Further, the first side plate and the second side plate are correspondingly provided with a first through hole and a second through hole through which the guide wire passes.

Further, the clamping mechanism is fixed on the movable finger base that can move back and forth through the clamping mechanism fixing plate.

Further, a motor fixing plate and a hinge fixing plate are fixed on the clamping mechanism fixing plate, the shell of the clamping motor is fixed on the motor fixing plate, and the fixed hinge support is fixed on the hinge fixing plate superior.

Further, a layer of medical rubber film is provided on the outer surface of the top block.

Furthermore, when the top block is pressed against the bottom block, the first connecting rod, the second connecting rod and the top block are in a straight line, and the third connecting rod and the fourth connecting rod The connecting rods are on a straight line, and the plane six-bar linkage mechanism is at the dead point.

The beneficial effect of the guide wire clamping mechanism of a minimally invasive interventional surgery robot of the present invention is:

1. The guide wire is clamped by the dead center position of the planar six-bar linkage mechanism. Compared with the roller and spring plate extrusion and clamping structure, the clamping structure is simpler, the manufacturing precision is low, and the clamping is reliable.

2. The outer surface of the top block is covered with a medical rubber film, which plays a certain buffering role when clamping the guide wire, reduces the damage to the guide wire caused by the impact during the clamping process, and can reduce the structural processing error to a certain extent. Influence of clamping effect.

3. The first side plate and the second side plate of the bottom block respectively have a first perforation and a second perforation. During operation, the guide wire passes through the hole to serve as an auxiliary support when the guide wire is loosened.

Description of drawings

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Fig. 1 is a structural diagram of a guide wire interventional device of a minimally invasive interventional surgery robot according to an embodiment of the present invention;

Fig. 2 is a partial enlarged view of part A in Fig. 1;

3 is a front perspective view of a guide wire clamping mechanism according to an embodiment of the present invention;

Fig. 4 is the rear perspective view of the front mobile finger assembly of the embodiment of the present invention;

Fig. 5 is a bottom block perspective view of an embodiment of the present invention;

Fig. 6 is a top block perspective view of an embodiment of the present invention;

Fig. 7 is a schematic diagram of the connecting rod structure when the top block of the clamping mechanism is farthest from the bottom block in the embodiment of the present invention;

Fig. 8 is a schematic diagram of the structure when the clamping mechanism clamps the guide wire according to the embodiment of the present invention.

Among the figure: 1, slide rail, 21, forward moving finger assembly, 22, rear moving finger assembly, 23, moving finger drive motor, 24, clamping mechanism, 241, clamping motor, 242, bottom block, 2421, the first Side plate, 2422, second side plate, 2423, first chute, 2424, second chute, 2425, first perforation, 2426, second perforation, 2427, clamping plate, 243, top block, 2431, convex Head, 244, the first connecting rod, 245, the second connecting rod, 246, the third connecting rod, 247, the fourth connecting rod, 248, the fixed hinge support, 25, the moving finger base, 251, the rack moving slider , 26, clamping mechanism fixing plate, 27, motor fixing plate, 28, hinge seat fixing plate, 3, rotating assembly, 31, rotating disk, 32, rotating disk motor, 33, fixed shell, 4, guide wire, 5, pulling Pressure Sensor.

Detailed ways

The present invention is described in further detail now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.

It should be declared that: in the description of the embodiment of the present invention, it is stipulated that the direction in which the guide wire intervenes into the blood vessel is "front".

The specific embodiment of the guide wire intervention device of the minimally invasive interventional surgery robot shown in Figures 1-8 includes: a slide rail 1, two moving finger assemblies and a rotating assembly 3 moving along the slide rail 1; The front moving finger assembly 21 and the rear moving finger assembly 22, the moving finger assembly includes: a moving finger drive motor 23 for driving the moving finger assembly to move along the slide rail 1, a clamping mechanism 24 for loosening or clamping the guide wire 4 And the moving finger base 25; the moving finger base 25 moves along the slide rail 1; the rotating assembly 3 includes a fixed housing 33, a rotating disk 31 and a rotating disk motor 32 that drives the rotating disk 31 to rotate, and the clamping of the rotating disk 31 and the front moving finger assembly 21 The mechanism 24 is fixedly connected, and the fixed shell 33 is fixed on the moving finger base 25; the guide wire 4 is inserted into the blood vessel after passing through the clamping mechanism 24 and the rotating disk 31 of the moving finger assembly, and the moving finger of the front moving finger assembly 21 drives the motor 23 It is different from the rotating speed of the driving motor 23 of the rear moving finger assembly.

In order to realize the fast delivery of the guide wire 4 in the aorta and the slow delivery of the branch blood vessels, at least the guide wire 4 needs to be delivered at two different speeds, that is, the moving finger assembly moves along the sliding rail 1 at two different speeds, in order to realize To meet the above requirements, and to simplify the structure as much as possible, the embodiment of the present invention adopts two moving finger assemblies, which are the front moving finger assembly 21 and the rear moving finger assembly 22 respectively. Of course, in order to achieve more speed delivery of the guide wire 4, more moving finger assemblies can be provided as required. In this embodiment, the moving finger driving motor 23 of the front moving finger assembly 21 rotates at a slow speed to realize slow adjustment; while the moving finger driving motor 23 of the rear moving finger assembly 22 rotates at a fast speed to realize fast delivery. During the delivery process of the front moving finger assembly 21, the clamping mechanism 24 of the front moving finger assembly 21 clamps the guide wire 4, and the clamping mechanism 24 of the rear moving finger assembly 22 is released, which is only used as a support in the delivery process; otherwise , during the delivery process of the rear moving finger assembly 22, the clamping mechanism 24 of the front moving finger assembly 21 is released, and only serves as a support during the delivery process. The two moving finger assemblies support each other without supporting fingers, which simplifies the structure to the greatest extent.

Adopt rack slide rail 1 in the present embodiment, as shown in Figure 1, the bottom of moving finger base 25 has rack moving slider 251, and moving finger driving motor 23 drives the rack moving slider 251 along the slide rail by driving the gear to rotate. 1 move.

As shown in Fig. 1, Fig. 2 and Fig. 4, in this embodiment, the rotating disk 31 is fixedly connected with the clamping mechanism 24 of the front moving finger assembly 21, and the rotating disk 31 assembly also includes a fixed shell 33 fixed on the base, and the rotating disk The motor 32 is installed on the fixed shell 33, and the rotating disk 31 is arranged at the center of the fixed casing 33. The rotating disk motor 32 drives the rotating disk 31 to rotate through deceleration and transmission mechanism, and the rotating disk 31 is fixedly connected with the clamping mechanism 24, so that the clamping mechanism 24 It rotates synchronously with the rotating disk 31, thereby realizing the rotation of the guide wire 4, retaining the reliability of clamping rotation, and only rotating the clamping mechanism 24, reducing the number of rotating parts and vibration during rotation. The clamping mechanism 24 of the rear moving finger assembly 22 is fixed on the moving finger base 25 through the clamping mechanism fixing plate 26 .

As shown in Figure 3, in order to measure the resistance received by the front end of the guide wire 4, a hollow tension pressure sensor 5 is also installed between the rotating disk 31 and the clamping mechanism 24, the guide wire 4 passes through the tension pressure sensor 5, and the guide wire 4 During the intervention process, when there is resistance at the front end, the forward moving finger assembly 21 will apply the resistance to the pressure surface of the tension pressure sensor 5, thereby realizing the measurement of the resistance at the front end of the guide wire 4 without adding other auxiliary devices. Change the principles of delivery and rotation.

2 and 3, the clamping mechanism 24 of this embodiment includes: a clamping motor 241, a bottom block 242, a top block 243, a first connecting rod 244, a second connecting rod 245, a third connecting rod 246 and a fourth connecting rod Connecting rod 247, the output shaft of clamping motor 241 is hinged with one end of the first connecting rod 244, and the other end of the first connecting rod 244 is respectively hinged with one end of the second connecting rod 245 and the third connecting rod 246, and the second connecting rod The other end of bar 245 is hinged with top block 243, and the other end of third connecting rod 246 is hinged with an end of fourth connecting rod 247, and the other end of fourth connecting rod 247 is hinged with a fixed hinge support 248, and the first connecting rod 244, the second connecting rod 245, the third connecting rod 246, the fourth connecting rod 247, the top block 243 and the bottom block 242 form a plane six-bar linkage mechanism, and the plane six-bar linkage mechanism moves under the drive of the clamping motor 241, and the guide The wire 4 passes between the bottom block 242 and the top block 243 , and the guide wire 4 is clamped when the top block 243 is pressed against the bottom block 242 .

The clamping mechanism is fixed on the moving finger base 25 of the rear mobile finger assembly through the clamping mechanism fixing plate 26, and the clamping mechanism fixing plate 26 is fixed with a motor fixing plate 27 and a hinge base fixing plate 28 for installing the clamping motor 241. The fixed hinge support 248 is fixed on the hinge base fixing plate 28 .

Referring to FIG. 5, the bottom block 242 includes two first side plates 2421 and a second side plate 2422 parallel to each other, with a clamping plate 2427 between the first side plate 2421 and the second side plate 2422; see FIG. 6 of the top block 243 There are protruding heads 2431 at both ends, the first side plate 2421 and the second side plate 2422 have first chute 2423 and second chute 2424 corresponding to the protruding head 2431, and the protruding head 2431 is along the first chute 2423 and the second chute. The chute 2424 moves to loosen or clamp the guide wire 4 through the separation and fit between the top block 243 and the clamping plate 2427 . The first side plate 2421 and the second side plate 2422 are respectively provided with a first through hole 2425 and a second through hole 2426 through which the guide wire 4 passes.

7 and 8, when the clamping mechanism 24 clamps the guide wire 4, in order to ensure the reliability of clamping, it is hoped that the contact line between the clamping piece top block 243 and the clamping plate 2427 and the guide wire 4 should be as long as possible to increase The contact size, combined with the size of the surgical robot, the delivery stroke of the guide wire 4 and other actual conditions in the operation, takes the length of the clamping section as 30 mm, that is, the contact length between the top block 243 and the clamping plate 2427 is 30 mm.

When the clamping mechanism is in the state of clamping and loosening, there are no strict requirements on the stroke of the jacking block 243, as long as it can be separated from the guide wire 4, in this embodiment, the jacking block 243 is artificially given to complete a clamping action. The stroke is about 15mm. The specific dimensions of the planar six-bar linkage mechanism are designed in view of the size of the top block 243 in this embodiment and the stroke of the top block 243 initially determined. The length of the first connecting rod 244 is selected to be 30mm, and the length of the second connecting rod 245 is selected to be 40mm. According to the graphic method, in order to limit the excessive displacement of the top block 243 when it is loosened, the top block 243 is separated from the slideway on the bottom block 242, and the length of the third connecting rod 246 and the fourth connecting rod 247 is used to realize, so that When the retraction stroke of the top block 243 is just 20mm, the third connecting rod 246 and the fourth connecting rod 247 are in a collinear limit position, when the top block 243 clamps the guide wire 4, that is, the first connecting rod 244 and the second connecting rod When the collinearity of 245 reaches the farthest displacement, the third connecting rod 246 and the fourth connecting rod 247 also just reach the farthest position of collinearity. Preliminarily determine that the hinge point of the fourth connecting rod 247 is 40mm farthest from the hinge point of the first connecting rod 244 and the second connecting rod 245, and the shortest distance is 30mm, so the length of the third connecting rod 246 is 10mm, and the length of the fourth connecting rod 247 The length is 30mm. At this time, one extreme position of the swing angle of the first connecting rod 244 corresponds to the clamping position supported by the dead point (see FIG. 7 ), and the other extreme position corresponds to the hinge of the two first connecting rods 244 and the third connecting rod 246. point and the line connecting the hinge points of the third link 246 and the fourth link 247 (see FIG. 8 ). The planar six-bar linkage mechanism designed according to the above dimensions can realize the clamping and releasing of the guide wire 4 .

The above design size is only a preferred mode. Of course, the present invention is also applicable to the clamping of the catheter during the operation. In order to adapt to guide wires or catheters of different diameters, the thickness and stroke size of the top block can be changed, or the top block can be replaced. It is constructed with adjustable thickness, and the guide wire or catheter with different diameters can be clamped by adjusting the thickness of the top block. Mechanisms for clamping catheters during interventional procedures similar to the design structure and principle of the present invention are also within the protection scope of the present invention.

Referring to Fig. 7, when the top block 243 is pressed against the bottom block 242, the first connecting rod 244, the second connecting rod 245 and the top block 243 are in a straight line, and the third connecting rod 246 and the fourth connecting rod 247 are in a straight line Above, the planar six-bar linkage mechanism is in the dead center position.

Referring to FIG. 8 , when the top block 243 is farthest away from the clamping plate 2427 , the first link 244 , the third link 246 and the fourth link 247 are on the same straight line.

The present invention realizes the clamping of the guide wire 4 through the dead center position of the planar six-bar linkage mechanism, so that the clamping is more reliable and the structure is simple.

In this embodiment, in order to facilitate disinfection and cleaning, the bottom block and the top block that directly contact the guide wire are designed as disposable disposable parts, which solves the problem of difficult disinfection of surgical instruments.

It should be understood that the specific embodiments described above are only used to explain the present invention, not to limit the present invention. Obvious changes or variations derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims (5)

1. A guide wire clamping mechanism of a minimally invasive interventional surgical robot, comprising: a clamping motor (241), a bottom block (242), a top block (243), a first connecting rod (244), a second connecting rod (245), a third connecting rod (246) and a fourth connecting rod (247), wherein an output shaft of the clamping motor (241) is hinged with one end of the first connecting rod (244), the other end of the first connecting rod (244) is hinged with one end of the second connecting rod (245) and one end of the third connecting rod (246), the other end of the second connecting rod (245) is hinged with the top block (243), the other end of the third connecting rod (246) is hinged with one end of the fourth connecting rod (247), the other end of the fourth connecting rod (247) is hinged with a fixed hinge support (248), the first connecting rod (244), the second connecting rod (245), the third connecting rod (246), the fourth connecting rod (247), the top block (243) and the bottom block (242) form a plane six-connecting rod mechanism, the plane six-connecting rod mechanism moves under the driving of the clamping motor (241), and a guide wire (4) passes through the top block (243) from between the bottom block (242) and the top block (243), and the guide wire (4) is tightly clamped on the top block (243); the bottom block (242) comprises a first side plate (2421) and a second side plate (2422) which are parallel to each other, and a clamping plate (2427) is arranged between the first side plate (2421) and the second side plate (2422); the two ends of the top block (243) are provided with raised heads (2431), the first side plate (2421) and the second side plate (2422) are provided with a first sliding groove (2423) and a second sliding groove (2424) which correspond to the raised heads (2431), the raised heads (2431) move along the first sliding groove (2423) and the second sliding groove (2424), and the guide wire (4) is loosened or clamped through separation and fitting between the top block (243) and the clamping plate (2427); when the top block (243) is tightly propped against the bottom block (242), the first connecting rod (244), the second connecting rod (245) and the top block (243) are positioned on a straight line, the third connecting rod (246) and the fourth connecting rod (247) are positioned on a straight line, and the plane six-connecting-rod mechanism is positioned at a dead point position.

2. The guide wire clamping mechanism of a minimally invasive interventional surgical robot according to claim 1, characterized in that a first perforation (2425) and a second perforation (2426) for passing the guide wire (4) are correspondingly arranged on the first side plate (2421) and the second side plate (2422).

3. A guide wire clamping mechanism of a minimally invasive interventional surgical robot according to claim 1, characterized in that the clamping mechanism is fixed on a movable finger mount (25) movable back and forth by means of a clamping mechanism fixing plate (26).

4. A guide wire clamping mechanism of a minimally invasive surgical robot according to claim 3, characterized in that a motor fixing plate (27) and a hinge seat fixing plate (28) are fixed on the clamping mechanism fixing plate (26), the housing of the clamping motor (241) is fixed on the motor fixing plate (27), and the fixed hinge support (248) is fixed on the hinge seat fixing plate (28).

5. The guide wire clamping mechanism of a minimally invasive interventional surgical robot of claim 1, wherein the outer surface of the top block (243) is provided with a layer of medical rubber film.

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