Interventional embolic operation guide wire catheter operating deviceTechnical Field
The invention relates to a medical apparatus, in particular to a guide wire catheter operating device for interventional embolic operation.
Background
The embolism operation refers to that a stopper is controllably injected into a supply vessel of a diseased organ through surgical intervention operation in an arterial or venous vessel to cause occlusion, so that the blood supply at the rear end is interrupted, and the purposes of controlling bleeding, treating tumors and vascular lesions and eliminating the functions of the diseased organ are achieved.
Interventional embolization generally requires that a surgeon firstly builds a tiny wound on the surface of a human body by using a puncture needle, a catheter, a guide wire and the like under the guidance and monitoring of a digital angiography machine, magnetic resonance and X-ray imaging equipment, sends the guide wire into the radiography catheter from the wound to build a basic channel, then penetrates the guide wire into the catheter and ensures that the guide wire extends out of the front end of the catheter, then a practitioner penetrates the guide wire into the wound along the radiography catheter to enter a blood vessel under the guidance of medical images, when reaching a vascular bifurcation, one hand needs to fix the catheter to prevent the catheter from moving, then the other hand controls the tail end of a twisting guide wire to push the guide wire to displace, the twisting guide wire rotates at an angle to send the guide wire to a certain position, then the other hand holds the guide wire to prevent the guide wire from moving, and the guide wire guides the guide wire to generate corresponding movement. The practitioner alternately maneuvers the guidewire and catheter such that the guidewire is always in front of the catheter, guiding the catheter forward until the catheter reaches the target vessel location. After reaching the target vascular position, the operator needs to hold the catheter, slowly withdraw the guide wire, and then drive the required dose of embolic agent from the rear end of the catheter, thereby achieving the operation requirement.
The prior interventional embolic operation requires an operator to directly operate a guide wire and a catheter on an operation site, and has the following defects: 1) The environment of the operation site is poor, medical staff needs to be subjected to long-term radiation injury, an operator needs to wear thick lead clothes for a long time to work under the environment of X radiation, the lead clothes cannot shield all X rays, particularly, the neck part and the body burden 2) that the perennial accumulated radiation can cause great injury to the body of the operator are long in general, the vascular part needing embolism is different from person to person at one time, the feeding operation and the drug administration operation of a wire guide pipe are needed to be manually carried out for a plurality of times, the accuracy of the manual operation is poor, the clinical experience requirement on the operator is high, and the insertion accuracy and the stability of the wire guide pipe are greatly influenced by the operation level of the operator;
Based on the analysis of the interventional embolic operation process, the interventional embolic operation robot system with high-precision speed displacement control and force feedback and good man-machine interaction performance is developed, and has very important social value and wide application prospect. Further through the search of the prior art, as disclosed in chinese patent CN201711336307.9, a vascular interventional operation robot guide wire and catheter control device is disclosed, which comprises: the device comprises a pushing mechanism, a twisting mechanism and a control system, wherein the pushing mechanism comprises a fine adjustment mechanism and a coarse adjustment mechanism. However, the mechanism has a complex mechanical structure in the aspect of the feeding rotation control of the guide wire catheter, the motor adopts a gear transmission mechanism, the equipment vibrates greatly under the conditions of low-speed control and motor start-stop, and meanwhile, the equipment is inconvenient to clean due to the fact that blood overflows in the operation process.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the interventional embolic operation guide wire catheter operating device which can realize high-precision speed displacement control through remote control, has a force feedback function, is stable in integral operation, has a simple structure, and is easy for medical staff to realize cleaning and replacing accessories.
The invention comprises a guide wire catheter propulsion module, a guide wire catheter rotation module, a telescopic catheter mechanism, a movable radiography catheter locking mechanism, a guide wire force feedback module and a control system;
The guide wire and guide tube propulsion module comprises two groups of miniature precise screw rod modules, wherein the two groups of miniature precise screw rod modules are respectively a guide wire feeding end miniature precise screw rod module and a guide tube feeding end miniature precise screw rod module, the two groups of miniature precise screw rod modules have the same structure, and comprise two parallel optical axes and a threaded shaft which are symmetrically arranged, and the threaded shaft is arranged between the two parallel optical axes; the guide wire feeding end miniature precise screw module and the guide pipe feeding end miniature precise screw module are respectively provided with a pressing moving slide block;
The guide wire and catheter rotating module consists of a hollow rotating index plate and a guide wire and catheter locking device, wherein the hollow rotating index plate is arranged on the pressing moving slide block, a rotor on the hollow rotating index plate is fastened with the guide wire and catheter locking mechanism, and the hollow rotating index plate rotor drives the guide wire and catheter locking mechanism to rotate so as to form the guide wire and catheter rotating module;
The telescopic catheter mechanism comprises three groups of telescopic catheters, and the telescopic catheters are used for realizing the supporting effect on the guide wire catheter in the feeding process and preventing warping and bending deformation; the rear end of the telescopic guide tube is provided with a square block which is fixed with a corresponding locking mechanism and can realize the rotation linkage with a corresponding hollow rotary index plate rotor;
The guide wire and guide pipe locking mechanisms are fixedly connected with the respective telescopic guide pipes, and the hollow rotary index plate rotor rotates to drive the corresponding guide wire and guide pipe locking mechanism and the telescopic guide pipe mechanism to rotate respectively, so that the distal ends of the guide wires and the guide pipes are rotated; the guide wire force feedback module comprises a film pressure sensor and a pressure acquisition card; the film pressure sensor is arranged in the telescopic catheter mechanism corresponding to the guide wire and is used for measuring the resistance of touching the blood vessel in the advancing process of the guide wire in real time; the movable radiography catheter locking mechanism is arranged at the front section of the miniature precise screw module at the catheter feeding end and is used for fastening the radiography catheter and simultaneously slides on the optical axis of the miniature precise screw module at the corresponding catheter feeding end to realize the requirements of different operation distances; the pressure acquisition card acquires the stress condition of the film pressure sensor in real time and then transmits signals to the control system, and the control system drives the motor through the motor driver so as to control the coordination operation of the guide wire catheter propulsion module and the guide wire catheter rotation module.
The three groups of telescopic guide pipes comprise guide wire telescopic support guide pipes, guide pipe telescopic support guide pipes and bridging transition telescopic support guide pipes, each group of telescopic support guide pipes are formed by sleeving a plurality of sections of telescopic sleeve rods with different thicknesses, the front section of telescopic sleeve rod is thin, the rear end of telescopic sleeve rod is thicker, and the telescopic sleeve rods can slide smoothly after being combined; the guide wire telescopic support catheter and the rear telescopic sleeve rod of the guide wire telescopic support catheter are designed with square structures which can be fixedly connected with corresponding locking mechanisms to realize real-time rotation with the hollow rotary index disc rotor, and the front telescopic sleeve rod is designed with a shaft shoulder which can be fixedly connected with the corresponding locking mechanisms but is not influenced by the movement of the corresponding locking mechanisms; the bridging transition telescopic support catheter is designed to have the same structure, namely the front telescopic sleeve rod is designed with a shaft shoulder, and the rear telescopic sleeve rod is designed with a square structure for motion transmission.
The upper rotor of the hollow rotary index plate can be fastened with the locking mechanism of the guide wire guide pipe through magnetic attraction, and the guide wire and the guide pipe are positioned in the locking mechanism respectively through the telescopic support guide pipe of the guide wire and the telescopic support guide pipe of the guide pipe and are coaxial with the rotation center of the rotor of the hollow rotary index plate. The hollow rotary indexing disc consists of a gear reduction mechanism, and the gear reduction mechanism is matched with a driving servo motor with a rotary encoder for sensing and reading the rotation angle of the guide wire guide tube locking mechanism; the miniature precise screw module at the linear feeding end of the guide wire is provided with a linear grating ruler for sensing and determining the linear displacement of the guide wire.
The two groups of miniature precise lead screws are internally provided with harmonic speed reducing motors, the harmonic speed reducing motors drive the threaded shafts to rotate, so that the movable slide block can be pressed to feed and drive the hollow rotary index plate arranged above to move, the linear feeding of the guide wire guide tube is realized, and meanwhile, the start-stop fluctuation is small, and the low-speed operation is stable and free from vibration.
The pressing moving slide block is internally provided with an opening and closing nut and a spring which are matched with the threaded shaft, the pressing moving slide block can axially move on the screw shaft through the pressing knob and is used for matching and separating the pressing moving slide block and the screw, and preliminary judgment of the distance required by feeding of the micro-guide wire microcatheter before the operation is performed by a doctor. The harmonic speed reducing motor drives the threaded shaft to rotate and can drive the two pressing moving sliding blocks to realize precise axial displacement at the same time so as to realize feeding motion.
The control system is used for controlling the propulsion module and the rotation module to work in a coordinated mode, and comprises an upper computer interface and a lower computer which is controlled by an upper computer through a network cable to realize decoupling motion control of a motor and signal acquisition design of a film pressure sensor.
The guide wire catheter locking mechanism is designed into an opening and closing clamp mode, the outline of the internal clamp is adapted to the specification of the guide wire catheter, and different locking devices are used for different specifications so as to adapt to different surgical requirements; the locking device is used for fixedly connecting the guide wire guide pipe and the corresponding telescopic pipe; the guide wire conduit locking mechanism is provided with a magnet connecting column which is used for being fixedly connected with a rotor of a corresponding hollow rotary index plate.
The guide wire or the guide pipe is not supported in the corresponding telescopic support guide pipes respectively at the fastening parts of the locking mechanisms, the inner wall of the telescopic support guide pipe plays a supporting role on the guide pipe and the guide wire, the guide wire and the guide pipe are prevented from bending in the feeding process, meanwhile, the inside of the telescopic support guide pipe is smooth enough, the guide wire guide pipe cannot be fed with resistance, and the inner diameter of the front end of the telescopic support guide pipe is small enough to always keep the supporting role on the guide wire guide pipe. The linear feeding or rotation of the guide wire and the catheter is completely independent, but linkage can also be realized.
The movable radiography catheter locking mechanism is fixed on the middle hollow pressing movable sliding block through screws, the middle hollow pressing movable sliding block is hollow in the middle, transmission is not realized by matching with a threaded shaft, and medical staff needs to adjust before operation according to different operation feeding distances. A spring pressing structure is arranged in the movable radiography catheter locking mechanism and is fixedly connected with the optical axis, and the axial movement can be realized by pressing to realize the fixed connection and the opening and closing; the locking mechanism of the movable contrast catheter locking mechanism is designed into an opening and closing clamp form, is suitable for the corresponding contrast catheter, and can ensure that the end part of the contrast catheter is fixed during closing.
The film pressure sensor is arranged on the inner wall of the front end of the telescopic support catheter corresponding to the guide wire, when the guide wire touches the wall of a blood vessel, the rear end of the guide wire can extrude the wall surface in the telescopic catheter mechanism to generate certain pressure, and the film pressure sensor is used for measuring the force of touching the blood vessel in the advancing process of the guide wire in real time and providing a basis for further operation judgment of doctors.
The beneficial effects of the invention are as follows:
The invention adopts the structure form of the intermediate rotary index plate and the driving mode of the harmonic reducer drive, so that the guide wire catheter control device of the whole interventional embolic robot has simple structure, the use of the harmonic reducer not only avoids the problems of gear clearance and large vibration in the original related gear drive system, but also improves the accuracy of the guide wire and catheter in feeding, and has small start-stop fluctuation and stable low-speed running without vibration. The device has simple design, can realize independent motion control of the guide wire and the guide tube, can sense the resistance of the guide wire during feeding by the pressure sensitive material, has a real-time force feedback function, and has a quick replacement structure for the telescopic guide tube mechanism and the guide wire guide tube locking mechanism, thereby facilitating cleaning and disinfection of subsequent equipment and being beneficial to improving the operation efficiency.
Drawings
Fig. 1 is a schematic view of an apparatus according to an embodiment of the present invention.
FIG. 2 is a second overall view of a device according to an embodiment of the present invention.
Fig. 3 is a schematic view of a locking rack for a magnetic adsorption catheter according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of an internal structure of a hollow rotary index plate according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a bridging locking frame according to an embodiment of the present invention.
Fig. 6 is a diagram showing an internal structure of a pressing moving slider according to an embodiment of the present invention.
Fig. 7 is a diagram showing an internal structure of a pressing moving slider according to an embodiment of the present invention.
Fig. 8 is a schematic view of a guidewire catheter and a contrast catheter used in an embodiment of the present invention.
Fig. 9 is a schematic view of a structure of a guide wire telescopic support catheter according to an embodiment of the present invention.
Fig. 10 is a schematic diagram of a control system according to an embodiment of the present invention.
Each marked in the figure is: 1. the middle hollow pressing moving slide block, 2, a radiography conduit locking frame, 3, a magnetic adsorption conduit locking frame, 3-1, a magnet column, 3-2, a locking frame, 4, a second hollow rotating index plate, 4-1, a transmission driven gear, 4-2, a transmission driving gear, 4-3, a coupler, 5, a bridging locking frame, 6, a magnetic adsorption conduit locking frame, 7, a first hollow rotating index plate, 8, a guide wire feeding end miniature precision screw module, 9, a first screw optical axis, 10, a first pressing moving slide block, 10-1, a spring, 10-2, a floating button, 10-3, a split nut, 11, a second pressing moving slide block, 12, a second screw optical axis, 13, a guide wire telescopic support conduit, 13-1, a telescopic conduit annular fixed end, 13-2, a film pressure sensor, 13-3, a telescopic conduit square fixed end, 14, a bridging telescopic support conduit, 15, a conduit telescopic support conduit, 16, a radiography conduit, 17, a conduit, 18, a guide wire, 19, a linear grating ruler, 20, a fixed bottom plate, 21 and a conduit feeding miniature screw end precision module.
Detailed Description
The invention will be further illustrated by the following examples in conjunction with the accompanying drawings.
Referring to fig. 1 to 9, an embodiment of the present invention includes: the device comprises a guide wire pushing and rotating module, a guide wire force feedback module, a telescopic guide tube mechanism, a guide wire guide tube locking mechanism, a movable radiography guide tube locking mechanism and a control system for controlling the pushing module and the rotating module to work in a coordinated manner.
According to the interventional embolic operation robot guide wire catheter operating device disclosed by the embodiment of the invention, the device is integrally arranged on the fixed bottom plate 20, and a through hole is reserved on the bottom surface of the fixed bottom plate 20 and can be connected with a subsequent mechanical arm flange for adjusting the position of an actual operation operating device. The upper part of the fixed bottom plate 20 is provided with two groups of miniature precise screw modules, including a guide wire feeding end miniature precise screw module 8 and a guide pipe feeding end miniature precise screw module 21, the two groups of screw modules are fixedly connected and placed in parallel through a bridging locking frame 5, a harmonic speed reducing motor is arranged inside the guide wire feeding end miniature precise screw module 8 and the guide pipe feeding end miniature precise screw module 21, and the used harmonic speed reducing motor can drive a corresponding screw shaft to rotate and ensure stable transmission, no impact and no noise in the linear feeding process.
The guide wire pushing and rotating module comprises a guide wire feeding end miniature precise screw module 8, a first pressing and moving slide block 10 is arranged on the guide wire feeding end miniature precise screw module 8, the first pressing and moving slide block 10 (see fig. 6 and 7) comprises a spring 10-1, a floating button 10-2, an opening and closing nut 10-3 and an external shell, a doctor can separate the opening and closing nut 10-3 from a threaded shaft by pressing the floating button 10-2 before operation, and the slide block can be easily pushed by external force to adjust the position, and the opening and closing nut and the screw shaft are matched with each other to drive the first pressing and moving slide block 10 by a harmonic speed reducing motor to realize linear motion in operation. The first pressing moving slide block 10 is provided with a first hollow rotating index plate 7, a rotor of the first hollow rotating index plate 7 is made of iron, the first hollow rotating index plate 7 is fixedly connected with a magnetic adsorption guide wire locking frame 6 through magnetic adsorption, and one side of the first pressing moving slide block 10 is provided with a linear grating ruler 19 for sensing the linear displacement of the first pressing moving slide block 10 so as to indirectly determine the linear displacement of the guide wire; the motor used by the first hollow rotary index plate 7 is a harmonic speed reduction motor, and a gear transmission speed reduction mechanism is arranged in the motor, as shown in fig. 4, the harmonic speed reduction motor can be integrated with an encoder, and 360-degree unlimited angle rotation is realized. Before operation, the guide wire 18 is arranged in the magnetic adsorption guide wire locking frame 6 by a doctor, and the guide wire feeding end miniature precision screw module 8 and the rotary dividing plate drive the magnetic adsorption guide wire locking frame 6 to realize linear feeding and free angle rotation.
The catheter pushing and rotating module comprises a set of catheter feeding end miniature precise screw module 21, a second pressing and moving slide block 11 is arranged on the catheter feeding end miniature precise screw module 21, the structure of the second pressing and moving slide block 11 is the same as that of the first pressing and moving slide block 10, and the functions of the second pressing and moving slide block 11 are the same as those of the guide wire pushing module. The second pressing moving slide block 11 is provided with a first hollow rotating index plate 4, the first hollow rotating index plate 4 and the second hollow rotating index plate 7 are identical in structure, and the rotor is locked on the frame 3 through a magnetic adsorption guide pipe. The catheter 17 is arranged in the magnetic adsorption catheter locking frame 3 by a doctor before operation and is locked, and the screw and the rotary dividing disc drive the magnetic adsorption catheter locking frame 3 to realize linear feeding and free angle rotation. The two sides of the screw of the two groups of miniature precise screw modules are respectively provided with a first screw optical axis 9 and a second screw optical axis 12 through pressing the movable slide blocks, so that the linear feeding reliability is further ensured.
The internal structure of the first hollow rotary index plate 4 is shown in fig. 4, and comprises a transmission driven gear 4-1 and a transmission driving gear 4-2 to construct a basic harmonic reduction system, and a coupler 4-3 is used for connecting a motor. The second hollow rotary index plate 7 has the same internal structure as the first hollow rotary index plate 4.
The magnetic adsorption catheter locking frame 3 and the magnetic adsorption guide wire locking frame 6 are the same as other structural machines except the outline of the internal fastening cavity, and the schematic diagram of the magnetic adsorption catheter locking frame provided by the embodiment of the invention is described with reference to fig. 3, and the magnetic adsorption catheter locking frame comprises a magnet column 3-1 and a locking frame 3-2. The internal cavity of the locking frame 3-2 is in injection molding of different structures according to different guide wire catheter structures, and can be designed into a disposable surgical article in practical application, and can be detached after the surgery is completed.
In the embodiment of the invention, the telescopic catheter mechanism is a ring which is very important for ensuring that no warp and bending occurs in the processes of linear feeding of a guide wire and linear feeding of a catheter, three groups of telescopic catheters (a guide wire telescopic supporting catheter 13, a catheter telescopic supporting catheter 15 and a bridging transitional telescopic supporting catheter 14) are formed by sleeving a plurality of telescopic sleeve rods with different thicknesses, a front-section telescopic sleeve rod is thin, a rear-end telescopic sleeve rod is thicker, the telescopic sleeve rods can smoothly slide after combination, each section of telescopic sleeve rod moves independently, the three groups of telescopic supporting catheters have the same structure and only are different in the number of the constituting sections, the guide wire telescopic supporting catheter 13 mainly comprises a telescopic catheter annular fixed end 13-1, a film pressure sensor 13-2 and a telescopic catheter square fixed end 13-3 (the structural design is shown in figure 9), and a film pressure sensor 13-2 is arranged on the front-end head joint catheter wall of the guide wire telescopic supporting catheter 13 and is represented by a dotted outline; in the actual operation process, the annular fixed end 13-1 of the guide wire telescopic support guide tube is fixed in the magnetic adsorption guide wire locking frame 6 and fixedly connected, the annular fixed end 13-1 of the telescopic guide tube is fixed on one side of the bridging locking frame 5, as shown in fig. 1, the telescopic guide tube is integrally paved between the locking frames at two ends, and the center of the support guide tube is ensured to be coaxial with the rotation center of the front and rear hollow rotation index plates (the first hollow rotation index plate 4 and the second hollow rotation index plate 7). The bridging transition telescopic support catheter 14, the catheter telescopic support catheter 15 and the guide wire telescopic support catheter 13 are designed to have the same direction and annular fixed end structure, the square fixed end of the bridging transition telescopic support catheter 14 is fixed on one side of the bridging locking frame 5, and the other side of the bridging transition telescopic support catheter 14 is fixed in the magnetic adsorption catheter locking frame 3; the square fixed end of the catheter telescopic supporting catheter 15 is fixed on the magnetic adsorption catheter locking frame 3, and the annular fixed end is fixed in the radiography catheter locking frame 2. The guide wire 18 or the guide tube 17 is not supported in the telescopic support tube at the part of the locking mechanism, the inner wall of the telescopic support tube plays a role in supporting and preventing deformation in the feeding process of the guide wire and the guide tube, and the inner wall of the telescopic guide tube is smooth enough not to generate resistance to the feeding and rotation of the guide wire or the guide tube.
It should be noted that, only the inner wall of the front end of the telescopic supporting catheter corresponding to the guide wire is stuck with the film pressure sensor 13-2, when the guide wire touches the vessel wall, the middle section of the guide wire can squeeze the wall surface in the telescopic catheter mechanism to generate a certain pressure, and the force feedback information is adopted by the technical acquisition means to measure the force received by touching the vessel in the advancing process of the guide wire in real time, so that the basis is provided for the doctor to further judge the operation.
Further, the movable radiography conduit locking mechanism comprises a middle hollowed-out pressing moving slide block 1 and a radiography conduit locking frame 2 which are positioned at the front end of a conduit feeding end miniature precise screw module 21. The middle hollow pressing movable slide block 1 is fixedly connected to the miniature precise lead screw module 21 at the feeding end of the catheter through the second lead screw optical axis 12, and a radiography catheter locking frame 2 is arranged on the upper portion of the middle hollow pressing movable slide block 1. The middle hollow-out pressing moving slide block 1 is hollow-out in the middle, does not match with a threaded shaft, does not realize transmission, and is adjusted before operation according to different operation feeding distances by medical staff. A spring pressing structure is arranged in the movable radiography catheter locking mechanism and is fixedly connected with the optical axis, and the axial movement can be realized by pressing to realize the fixed connection and the opening and closing; the locking mechanism of the movable contrast catheter locking mechanism is designed into an opening and closing clamp form, is suitable for the corresponding contrast catheter, and can ensure that the end part of the contrast catheter is fixed during closing. The contrast catheter locking frame 2 and the bridging locking frame 5 should ensure that the rotation centers are coaxial after locking the telescopic supporting catheter.
FIG. 10 shows a schematic diagram of a control system provided by an embodiment of the present invention, where the whole set of apparatus is controlled based on an upper computer and a motion controller, where the motion controller communicates with the upper computer via a network cable, the upper computer builds a medical image interface and communicates with the motion controller, and the motion controller is capable of driving 4 sets of motor drivers to perform complete decoupling motion from a motion library function, where the 4 sets of motor drivers respectively drive 2 motors for the hollow rotary index plates 4 and 7 and 2 harmonic speed reducing motors for the feed-end micro precision screw modules 8 and 21; meanwhile, the stress condition of the film pressure sensor is acquired in real time through the pressure acquisition card, so that a real-time force feedback function is constructed, and a basis is provided for further operation judgment of doctors. The control system is used for controlling the propulsion module and the rotation module to work in a coordinated mode, and comprises an upper computer interface, a lower computer and a network cable, wherein the upper computer controls the lower computer to realize decoupling motion control of the 4 groups of motors and signal acquisition design of the film pressure sensor.
The basic working principle of the embodiment of the invention is as follows: the embodiment of the invention mainly comprises two hollow rotary index plates, namely a first hollow rotary index plate 4 and a second hollow rotary index plate 7, a guide wire feeding end miniature precision screw module 8 and a guide pipe feeding end miniature precision screw module 21. In the operation process, the magnetic adsorption guide wire locking frame 6 is adsorbed on the second hollow rotary index plate 7 through magnetic force, and the magnetic adsorption guide wire locking frame 6 is designed to be in an openable clamp form and used for clamping a guide wire; the magnetic adsorption guide pipe locking frame 3 is adsorbed on the first hollow rotary index plate 4 through magnetic force, and the magnetic adsorption guide pipe locking frame 3 is designed to be in the same openable clamp form as the magnetic adsorption guide wire locking frame 6 and is used for clamping a guide pipe; the guide wire 18 and the guide tube 17 are respectively fixedly connected in the respective magnetic adsorption guide wire locking frame 6 and the magnetic adsorption guide tube locking frame 3, so that when the locking frames 6 and 3 correspondingly drive the guide wire 18 and the guide tube 17 to rotate, the rotation centers of the clamped positions of the guide wire 18 and the guide tube 17 are concentric with the centers of the corresponding hollow rotary index plates, and the guide wire 18 and the guide tube 17 can rotate along with the rotation of the hollow ultrasonic motor so as to realize the effect that the front ends of the guide wire 18 and the guide tube 17 rotate by means of torque transmission, thereby simulating the effect that a doctor twists the guide wire guide tube to align the blood vessel position in the embolic operation. A bridging locking frame 5 is arranged between the guide wire feeding end miniature precise screw rod module 8 and the guide pipe feeding end miniature precise screw rod module 21, two groups of modules are arranged on the fixed bottom plate 20 in series and parallel, a harmonic speed reducing motor is arranged inside the guide wire feeding end miniature precise screw rod module 8 and the guide pipe feeding end miniature precise screw rod module 21, and can drive the middle screw rod to rotate so as to realize the linear movement of the first pressing moving slide block 10 and the second pressing moving slide block 11, and two hollow rotary index plates can realize the linear direction feeding of the guide wire 18 and the guide pipe 17 which are mutually independent under the traction of the first pressing moving slide block 10 and the second pressing moving slide block 11 which are respectively fixedly connected. The guide tube 17 and the guide wire 18 can realize completely mutually independent twisting and feeding actions under the drive of the hollow rotary dividing disc and the miniature precise screw rod module, so that the motion process of manually feeding the guide wire and the guide tube by a doctor in the actual operation process is simulated. Meanwhile, in the feeding process, the guide wire telescopic support catheter 13 and the guide wire telescopic support catheter 15 always play a role in restraining and supporting the guide wire and the guide wire, and the guide wire 17 and the guide wire 18 are prevented from being bent in the feeding process to influence the operation delivery effect.
The invention provides a medical auxiliary device for realizing remote control on a guide wire catheter in interventional embolic operation, which mainly comprises a guide wire pushing and rotating module and a catheter pushing and rotating module, wherein the guide wire catheter rotating module consists of a hollow rotating index plate and a guide wire catheter locking device, and a rotating index plate rotor and a locking mechanism are fastened through magnetic force adsorption and are rotated by the rotor; the guide wire catheter pushing module consists of a miniature precise screw rod and a hollow telescopic tube supporting frame and is used for realizing linear pushing of a guide wire catheter in an embolism operation; meanwhile, the movable radiography conduit locking mechanism arranged at the front part of the conduit propulsion module is suitable for different feeding distance requirements, and motors used by the device are all harmonic speed reducing motors, so that the operation is stable and reliable. The invention has simple structure and convenient operation, can realize independent motion control of the guide wire and the catheter, is convenient for medical cleaning and accessory replacement, improves the operation efficiency, and simultaneously realizes the real-time force feedback function of the contact of the micro-guide wire and the vessel wall by arranging the pressure sensitive device in the telescopic tube, thereby providing basis for further operation judgment of doctors. The invention is not related in part to the same as or can be practiced with the prior art.