A kind of control device of slender bodies instrumentTechnical field
The present invention relates to intervention operation robot field, the control device of specifically a kind of slender bodies instrument.
Background technique
Blood vessel intervention operation refers to doctor under the guidance of digital outline angiography machine, and manipulation seal wire, conduit are in human bodyIntravascular movement, the Minimally Invasive Surgery that lesion blood vessel is treated.Traditional manual operation blood vessel intervention operation, needs doctor to wearHeavy protective lead clothes, be exposed in radiation environment work for a long time, there is a great harm for clinician body, first is that protective lead takes,The probability of the physical feeling that do not protect, lesion greatly increases, second is that heavy lead takes, the compressing to doctor's skeletal system is madeThe damage of Cheng doctor's skeletal system.And traditional blood vessel intervention operation, operation skill is strong, the technical level requirement to doctorHeight, training time are long.Manpower intervention surgical procedure is complicated, the factors meeting such as unstability of degree of fatigue and manpower operation of doctorIt is directly related to surgical quality.
Based on the above issues, the operating mode for using for reference surgical operation robot, by robot technology and blood vessel intervention operationIt combines, is the effective way to solve the above problems.Therefore, for the above status, there is an urgent need to developA kind of control device of slender bodies instrument, to overcome the shortcomings of in currently practical application.
Summary of the invention
The purpose of the present invention is to provide a kind of control devices of slender bodies instrument, to solve to propose in above-mentioned background techniqueThe problem of.
To achieve the above object, the invention provides the following technical scheme:
A kind of control device of slender bodies instrument, comprising:
Straight driven portions, for driving slender bodies instrument to move forward or back；
Rotation driving section, for driving slender bodies instrument axial-rotation；And
Bottom supporter, for stablizing support, and the bottom supporter to straight driven portions and rotation driving sectionInside is equipped with power supply and master control system module.
As a further solution of the present invention: the straight driven portions and rotation driving section are aligned with center axis thereofMode arranged in a straight line be installed on the supporter of bottom.
As a further solution of the present invention: the straight driven portions include a preceding upper cover plate, the preceding upper cover plateIncluding two integrally formed compact heaps, compact heap is used to cooperate the slender bodies instrument guide groove on procapsid, limits slender bodies deviceTool.
As a further solution of the present invention: four integrally formed magnet embed the back side that column is located at preceding upper cover plate, useThe magnet on procapsid is aligned in installation magnet, and when the preceding upper cover plate closing.
As a further solution of the present invention: the rotation driving section includes rotary drive motor, active conical tooth, bearingSeat and driven wheel of differential, the active conical tooth are installed in conelet tooth shaft, and the bearing block with flange mounting disc crosses plate installationIn on bottom plate, active conical tooth and conelet tooth shaft are socketed in as a whole in the bearing block with flange mounting disc.
As a further solution of the present invention: the rotary drive motor is installed in rectangular fixed plate, rear rotation drivingMotor and rectangular fixed plate are mounted on as a whole below bottom plate, and the Motor Shaft of the rotary drive motor is socketed inIn conelet tooth shaft.
As a further solution of the present invention: the driven wheel of differential with notch is socketed in the rotating box front end with notchOn shaft, driven wheel of differential and active conical tooth engage connection at an angle of 90, and rotating box rear end band notch shaft is mounted on rear baffleOn.
Compared with prior art, the beneficial effects of the present invention are:
The control device of the slender bodies instrument can substitute doctor under radiation environment, assist completing by doctor's remote controlBlood vessel intervention operation, avoids the injury of the long-term raying of doctor, and doctor does not have to wear heavy protective lead clothes for a long time again, subtractLack the injury to doctor's skeletal system, and ensure that the stability of blood vessel intervention operation.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram of rotation driving section in the present invention.
Fig. 3 is the structural schematic diagram that the rear upper cover plate of rotating box in the present invention is opened.
In figure: 1- straight driven portions, 2- rotation driving section, the bottom 3- supporter, 4- active conical tooth, 5- small bevel gearAxis, 6- bearing block, 7- rotary drive motor, the rectangular fixed plate of 8-, 9- driven wheel of differential, 10- band notch shaft, 11- rear baffle.
Specific embodiment
The technical solution of the patent is explained in further detail With reference to embodiment.
The embodiment of this patent is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to endSame or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attachedThe embodiment of figure description is exemplary, and is only used for explaining this patent, and cannot be understood as a limitation of this patent.
In the description of this patent, it is to be understood that term " center ", "upper", "lower", "front", "rear", " left side ",The orientation or positional relationship of the instructions such as " right side ", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on the figureOrientation or positional relationship, be merely for convenience of description this patent and simplify description, rather than the device of indication or suggestion meaning orElement must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as the limitation to this patent.
In the description of this patent, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phaseEven ", " connection ", " setting " shall be understood in a broad sense, for example, it may be being fixedly linked, being arranged, may be a detachable connection, setIt sets, or is integrally connected, is arranged.For the ordinary skill in the art, above-mentioned art can be understood as the case may beThe concrete meaning of language in this patent.
Embodiment 1
Please refer to Fig. 1-3, in the embodiment of the present invention, a kind of control device of slender bodies instrument, comprising:
Straight driven portions 1, for driving slender bodies instrument to move forward or back；
Rotation driving section 2, for driving slender bodies instrument axial-rotation；And
Bottom supporter 3, for stablizing support to straight driven portions 1 and rotation driving section 2, and the bottom supportsThe functional modules such as power supply, master control system are installed inside body 3.
Wherein, the straight driven portions 1 and rotation driving section 2 peace arranged in a straight line in such a way that center axis thereof is alignedLoaded on bottom supporter 3.
Embodiment 2
Please refer to Fig. 1-3, the present embodiment difference from example 1 is that:
In the present embodiment, the straight driven portions 1 include a preceding upper cover plate, and the preceding upper cover plate includes two oneMolding compact heap, compact heap are used to cooperate the slender bodies instrument guide groove on procapsid, limit slender bodies instrument；Four one atThe magnet of type embeds the back side that column be in preceding upper cover plate, and for installing magnet, when preceding upper cover plate closing aligns the magnetic on procapsidIron, the closed-lock of upper cover plate and procapsid before being realized in a manner of magnetic.
In the present embodiment, the rotation driving section 2 includes rotary drive motor 7, active conical tooth 4, bearing block 6 and drivenBevel gear 9, the active conical tooth 4 are installed in conelet tooth shaft 5, and the bearing block 6 with flange mounting disc crosses plate and is installed on bottomOn plate, active conical tooth 4 and conelet tooth shaft 5 are socketed in as a whole in the bearing block 6 with flange mounting disc, rotation driving electricityMachine 7 is first installed in rectangular fixed plate 8, is then mounted below bottom plate as a whole, is socketed in Motor Shaft justIn conelet tooth shaft 5；The driven wheel of differential 9 with notch is socketed on the rotating box front end shaft with notch, driven wheel of differential 9Mesh together at an angle of 90 with active conical tooth 4, rotating box rear end band notch shaft 10 is mounted on rear baffle 11；When rotation is drivenAfter dynamic motor 7 works, motor driving force passes through Motor Shaft, conelet tooth shaft 5, the biography of active conical tooth 4 and driven wheel of differential 9It is dynamic, the final purpose for realizing the driving rotation box body rotation of rotary drive motor 7.
Main application characteristic of the invention is as follows:
1) linear drives structure, the hinge structure implementation in rotary drive structure；
2) mode of clamping cap and the locking of upper cover shell magnetic, is not limited only to magnetic column size, number and arrangement；
3) it is elongated to be fitted close limit with the protrusion compact heap on procapsid for the slender bodies instrument guide groove on upper cover shellThe structural approach of body instrument, in structure tolerance interval, shape, size and the overlay length of unlimited guide groove and compact heap；
4) in linear drives module, rotated by cam, it is mobile that drive actively compresses shell, it is final realize action roller with admittedlyDetermine the structural implementations of roller compression；
5) in linear drives module, the opposite structural implementations for actively compressing shell sliding of action roller；
6) the positioning implementation in camshaft rotary course；
7) in linear drives structure, the structural implementations of shell clamping sliding are actively compressed, the case where structure allowsUnder, the arrangement position and number of unlimited fabrication mouth；
8) in linear drives structure, the implementation castor of pressing force is applied relative to fixation to castor using springThe adjustable spring structure implementation of the pressing force of wheel；
9) in linear drives structure, the adjustable structural implementations of pressing force of the spring；
10) in linear drives structure, between two movable clamping devices, master is realized using linkage sleeve and linkage loop barFrom the structural implementations of linkage, in the case where structure allows, the installation direction of unlimited sleeve, loop bar；
11) in linear drives structure, the adjustable implementation of two movable clamping device linkage parts is not limited to push upThe mode that wire is adjusted；
12) in linear drives structure, the implementation of motor driven drive mechanism；
13) in linear drives structure, the measurement of slender bodies instrument rectilinear path and the implementation mutually examined；
14) in rotary drive structure, the hinge structure reality of upper cover plate and rotation box body shell of top cover body folding after box body is rotatedExisting mode；
15) in rotary drive structure, for convenience of slender bodies instrument is placed, carrying out opening processing to passive angular wheel makesMode；
16) in rotary drive structure, for convenience of slender bodies instrument, rotating box front and rear ends shaft all band axial grooves is placedThe frame mode of mouth；
17) in rotary drive structure, the angular wheel group that 90 ° of engagements are driven by motor drives rotation box body integrally rotatedStructural implementations；
18) inside rotating box, the side that slender bodies instrument clamps is realized using spring, shaft and with bearing roller L-armFormula；
19) mounting structure of rotating box inside L-arm；
20) the linkage implementation of L-arm；
21) straight line of rear baffle positions implementation.
The control device of the slender bodies instrument can substitute doctor under radiation environment, assist completing by doctor's remote controlBlood vessel intervention operation, avoids the injury of the long-term raying of doctor, and doctor does not have to wear heavy protective lead clothes for a long time again, subtractLack the injury to doctor's skeletal system, and ensure that the stability of blood vessel intervention operation.
The above are merely the preferred embodiment of the present invention, it is noted that for those skilled in the art, notUnder the premise of being detached from present inventive concept, several modifications and improvements can also be made, these also should be considered as protection model of the inventionIt encloses, these all will not influence the effect and patent practicability that the present invention is implemented.