Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an XMR image-guided cardiovascular interventional operation robot.
The cardiovascular intervention operation robot guided by the XMR image comprises a guide wire conveying mechanism, a guide wire rotating mechanism, a guide pipe conveying mechanism and a supporting structure, wherein the guide wire conveying mechanism is rotatably arranged on the supporting structure and drives a guide wire to advance or retract, the guide wire rotating mechanism is positioned and installed on the supporting structure and drives the guide wire conveying device to rotate, and the guide pipe conveying mechanism is fixedly installed on the supporting structure and drives the guide pipe to advance or retract.
Preferably, the support structure allows both the guide wire delivery mechanism and the guide wire rotation mechanism to freely rotate, and both the guide wire delivery mechanism and the guide wire rotation mechanism are disposed in a linear fashion on the support structure.
The guide wire conveying mechanism comprises a guide wire conveying base, a driving wheel assembly and a driven wheel assembly, wherein the driving wheel assembly and the driven wheel assembly are both installed on the guide wire conveying base, a gap for a guide wire to pass through is formed between the driven wheel assembly and the driving wheel assembly, the guide wire is clamped by the driven wheel assembly and the driving wheel assembly, and the driven wheel assembly and the driving wheel assembly are both in running fit with the guide wire.
The driving wheel assembly comprises a driving wheel, a synchronous pulley, a connecting shaft, a synchronous belt and a first driving device, wherein the connecting shaft is rotatably installed on a guide wire conveying base, the driving wheel is fixedly installed on one side of the connecting shaft extending out of the guide wire conveying base, the synchronous pulley is fixedly installed on the other side of the connecting shaft extending out of the guide wire conveying base, and the synchronous belt is in transmission connection with an output shaft of the first driving device and the synchronous pulley.
Preferably, a driving wheel mounting base is arranged in the middle of the connecting shaft, the connecting shaft penetrates through the driving wheel mounting base, the connecting shaft is rotationally connected with the driving wheel mounting base through a ceramic bearing, and the driving wheel mounting base is fixedly connected with the guide wire conveying base.
Preferably, the driven wheel assembly comprises a driven wheel, the driven wheel and the driving wheel are positioned on the same side of the guide wire conveying base, and the distance between the driven wheel and the guide wire conveying base is equal to the distance between the driven wheel and the guide wire conveying base.
The guide wire rotating mechanism comprises a guide wire rotating output connecting plate, a rotating mechanism fixing shaft, a rotating output sleeve, a transmission gear pair and a second driving device, wherein a hole channel allowing a guide wire to pass through is formed in the rotating mechanism fixing shaft, the rotating mechanism fixing shaft is fixedly connected with a supporting structure, the rotating output sleeve is rotationally connected with the rotating mechanism fixing shaft, the guide wire rotating output connecting plate is fixedly connected with the rotating output sleeve and the guide wire conveying mechanism, the second driving device is fixedly connected with the supporting structure, and an output shaft of the second driving device is in transmission connection with the rotating output sleeve through the transmission gear pair.
The guide wire conveying mechanism and the guide pipe conveying mechanism are arranged on the same side of the supporting structure, one end, close to the guide wire conveying mechanism and the guide pipe conveying mechanism, of the supporting structure is detachably connected with a guide plate, a guide wire guide groove and a guide pipe guide groove are formed in the guide plate, and the guide wire guide groove and the guide pipe guide groove are parallel or intersected and combined into a guide groove.
Preferably, the interventional operation robot adopts materials meeting the magnetic resonance compatibility, and the materials adopted by the interventional operation robot comprise high polymer materials, copper alloys, ceramics and titanium alloys.
Preferably, a guide wire guide cylinder is arranged on a supporting structure of one end, far away from the guide wire conveying mechanism, of the guide wire rotating mechanism, and the central axis of the guide wire guide cylinder is collinear with the rotation axis of the guide wire conveying device.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the invention, the guide wire conveying mechanism is used for driving the guide wire to feed or withdraw the guide wire, and the guide wire rotating mechanism is used for driving the guide wire conveying mechanism to rotate by three hundred and sixty degrees, so that the composite of the feeding or withdrawing of the guide wire and the rotation of the guide wire is realized, the guide wire conveying mechanism is used for driving the guide wire to feed or withdraw the guide wire, and the synchronous composite motion of the guide wire conveying, the arbitrary angle rotation of the guide wire and the conveying of the guide tube is realized.
2. According to the invention, through installing the guide plate with different guide grooves and guide wire guide grooves, the adaptation and intervention operation of the coaxial guide wire guide tube and the Y-shaped guide wire guide tube can be completed.
3. The guide wire clamping device is driven by gas to push the driven wheel set to be close to or far from the driving wheel set, so that the guide wire is stably clamped, the guide wire clamping device is convenient to assemble and disassemble, and the pressure of a plurality of driven wheels moving to the guide wire or the guide pipe is consistent.
4. The invention solves the problem of rotating and winding of the connecting air pipe of the guide wire rotating mechanism by adopting the gas slip ring structure, and achieves the effect of rotating the guide wire by any angle.
5. The invention can make the robot system work under the guidance of XMR image, namely X-ray/angiography (DSA)/Computed Tomography (CT) or Magnetic Resonance (MR) image, and can normally complete operation. The material selection of the robot system reduces the interference of the robot system by an external magnetic field and reduces the influence on imaging quality such as magnetic resonance.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is an isometric view of an overall structure of a surgical interventional robot embodying the present invention;
FIG. 2 is a schematic view of the overall structure of a surgical interventional robot embodying the present invention;
FIG. 3 is a schematic view of the overall structure of a guidewire delivery mechanism embodying the present invention;
FIG. 4 is a schematic view of the back of the overall structure of a guidewire delivery device embodying the present invention;
FIG. 5 is a schematic view of the front of an overall structure of a guidewire delivery device embodying the present invention;
FIG. 6 is a schematic side view of the overall structure of a guidewire delivery device embodying the present invention;
FIG. 7 is a half cross-sectional view of an overall construction of a drive shaft embodying the present invention;
FIG. 8 is a half cross-sectional view of the overall structure of a primary drive means embodying the present invention;
FIG. 9 is a half cross-sectional view of an overall structure of a driven shaft embodying the present invention;
FIG. 10 is a schematic side view of the overall structure of a driven shaft embodying the present invention;
Fig. 11 is a schematic view showing the overall structure of a guide wire clamping device according to the present invention.
FIG. 12 is a schematic side view of the overall structure of a guidewire rotation mechanism embodying the present invention;
FIG. 13 is an isometric view of an overall structure of a guidewire rotation mechanism embodying the present invention;
FIG. 14 is a schematic representation in semi-section of a guidewire rotation mechanism embodying the present invention;
fig. 15 is a schematic view showing the overall structure of a catheter delivery mechanism according to the present invention.
The figure shows:
the first synchronization pulley 1163 of the guidewire delivery mechanism 100 mounts the bracket 1211
Guide wire conveying device 110, driving wheel mounting base 1165 and guide wire rotating mechanism 200
Synchronous belt 111 connecting shaft 1166 guide wire rotary output connecting plate 201
Ceramic bearing 1121 first coupling screw 1167 rotates output sleeve 2021
The first motor mount 1122 guides the wire delivery base 117 gas ring 2022
Drive shaft 1123 guide slot 1171 rotation mechanism fixed shaft 2024
Second pulley 1124 mounting screw 1172O shaped ring 2026
Air inlet 2027 of first air motor 1125 slide 1173
Guide boss 1126 guide wire guide post 118 bearing platen 2029
Tensioning screw 113 synchronous belt guide column 119 air inlet joint 203
Cover 114 first air motor inlet 1127 and second air motor inlet 204
Second pneumatic motor 205 of driven wheel assembly 115 guidewire clamping device 120
Driven wheel 1151 left air fitting 1201 second motor mount 206
Transmission gear pair 207 of left main air inlet duct 1202 of mounting shaft 1152
Left inlet 1203 outlet connector 208 of driven wheel mounting base 1153
Compression screw 1155 valve body 1204 catheter delivery mechanism 300
Guide mounting groove 1156 operates handle 1205 catheter delivery device 310
Conduit clamping device 320 of right tracheal tube joint 1206 of second connecting screw 1157
Connecting hole 1158 right main intake duct 1207 support structure 400
Drive wheel assembly 116 piston 1208 guidewire guide cylinder 403
Guide plate 501 of right air inlet hole 1209 of driving wheel 1161
Locking screw 1162 piston rod 1210 guide wire 601
Catheter 602
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
As shown in fig. 1, the XMR image-guided cardiovascular interventional surgical robot according to the present invention includes a guide wire delivery mechanism 100, a guide wire rotation mechanism 200, a catheter delivery mechanism 300, and a support structure 400.
As shown in fig. 1 and 2, the guide wire conveying mechanism 100 is rotatably disposed on the support structure 400, and the guide wire conveying mechanism 100 drives the guide wire 601 to advance or retract. The guide wire rotating mechanism 200 is positioned and installed on the supporting structure 400, and the guide wire rotating mechanism 200 drives the guide wire conveying mechanism 100 to rotate. The catheter delivery mechanism 300 is fixedly mounted on the support structure 400, and the catheter delivery mechanism 300 drives the catheter 602 into and out of the wire. It should be noted that the support structure 400 allows both the guidewire delivery mechanism 100 and the guidewire rotation mechanism 200 to freely rotate, and both the guidewire delivery mechanism 100 and the guidewire rotation mechanism 200 are disposed in a linear fashion on the support structure 400.
Catheter delivery mechanism 300 drives catheter 602 into and out of the wire. The guide wire 601 sequentially passes through the guide wire rotating mechanism 200 and the guide wire conveying mechanism 100, wherein the guide wire conveying mechanism 100 directly acts on the guide wire 601 to drive the guide wire 601 to feed or withdraw the guide wire, and the guide wire rotating mechanism 200 drives the guide wire conveying mechanism 100 to rotate, so that the guide wire 601 is driven to rotate. When the guide wire feeding mechanism 100 is operated alone, the feeding or the discharging of the guide wire 601 can be realized. When the guide wire rotating mechanism 200 is operated alone, the rotation of the guide wire 601 can be achieved. When the guide wire conveying mechanism 100 and the guide wire rotating mechanism 200 work together, synchronous compound motions of wire feeding or wire withdrawing of the guide wire 601, rotation of the guide wire 601 and conveying of the catheter 602 can be realized.
Specifically, the support structure 400, which is used as a mounting base of the guide wire conveying mechanism 100, the guide wire rotating mechanism 200 and the catheter conveying mechanism 300, has a certain structural strength, and the material and the strength of the support structure can be adapted to the requirements of the use environment of the interventional operation robot.
As shown in fig. 3, 4, 5, 6, 7, 8, 9, and 10, the guidewire delivery mechanism 100 includes a guidewire delivery base 117, a guidewire delivery device 110, and a guidewire clamping device 120, both the guidewire delivery device 110 and the guidewire clamping device 120 being mounted on the guidewire delivery base 117. The guide wire conveying device 110 comprises a driving wheel assembly 116 and a driven wheel assembly 115, wherein the driving wheel assembly 116 and the driven wheel assembly 115 are both installed on a guide wire conveying base 117, a gap for a guide wire 601 to pass through is formed between the driven wheel assembly 115 and the driving wheel assembly 116, the guide wire 601 is clamped by the driven wheel assembly 115 and the driving wheel assembly 116, and the driven wheel assembly 115 and the driving wheel assembly 116 are both in running fit with the guide wire 601.
A cover 114 is mounted on the guide wire feeding base 117, and the cover 114 is openably and closably mounted on a side of the guide wire feeding base 117 passing through the guide wire. When the cover 114 is closed, a space is formed between the cover 114 and the guide wire delivery base 117 for protecting the driven wheel assembly 115 and the drive wheel assembly 116.
A guide wire guide post 118 is fixedly arranged on the guide wire conveying base 117, the guide wire guide post 118 is positioned at a gap formed between the driven wheel assembly 115 and the driving wheel assembly 116 and used for the guide wire 601 to pass through, a guide wire guide groove is formed in one end, away from the guide wire conveying base 117, of the guide wire guide post 118, and the guide wire guide groove is opened in the direction away from the guide wire conveying base 117. When the cover 114 is closed, the cover 114 cooperates with the guide wire guide grooves on the guide wire guide posts 118 to form guide holes, which helps to improve the stability of the guide wire delivery.
More specifically, the drive wheel assembly 116 includes a drive wheel 1161, a first timing pulley 1163, a connecting shaft 1166, the timing belt 111, and a first drive device. The middle part of the connecting shaft 1166 is provided with a driving wheel mounting base 1165, the driving wheel mounting base 1165 is fixedly connected with the guide wire conveying base 117 through bolts, the connecting shaft 1166 coaxially penetrates through the driving wheel mounting base 1165, and the connecting shaft 1166 is rotatably connected with the driving wheel mounting base 1165 through a ceramic bearing 1121. The rotational connection of the connecting shaft 1166 with the wire feeding base 117 is achieved, and further the rotational mounting of the connecting shaft 1166 on the wire feeding base 117 is achieved.
The driving wheel 1161 is fastened and installed on one side of the connecting shaft 1166 extending out of the guide wire conveying base 117 through a first connecting screw 1167, the first synchronous pulley 1163 is fastened and installed on the other side of the connecting shaft 1166 extending out of the guide wire conveying base 117 through a locking screw 1162, and the synchronous belt 111 is in transmission connection with an output shaft of the first driving device and the first synchronous pulley 1163. The output shaft of the first driving device rotates, and the first synchronous pulley 1163 is driven to rotate by the synchronous belt 111, so that the connecting shaft 1166 is driven to rotate, and the driving wheel 1161 is driven to rotate.
The first driving device includes a first pneumatic motor 1125, a first motor mount 1122, a second synchronous pulley 1124, and a transmission shaft 1123, the first motor mount 1122 is fastened to the first pneumatic motor 1125 by a bolt, the first motor mount 1122 is a hollow structure with one side open, and an output shaft of the first pneumatic motor 1125 extends into the motor mount. Both the second synchronous pulley 1124 and the transmission shaft 1123 are installed in the hollow structure of the first motor mount 1122, one end of the transmission shaft 1123 is coaxially and fixedly connected with the output shaft of the first air motor 1125, and the other end of the transmission shaft 1123 is rotatably connected with the first motor mount 1122 through a ceramic bearing 1121. The second pulley 1124 is coaxially mounted to the drive shaft 1123 by screws.
The second pulley 1124 is located on the same side of the guidewire delivery base 117 as the first pulley 1163, and the second pulley 1124 is in driving connection with the first pulley 1163 via the timing belt 111. The first motor mount 1122 is screwed with a tension screw 113, and a screw end of the tension screw 113 extends into the first motor mount 1122 and abuts against the timing belt 111, whereby the tension screw 113 is rotated to adjust the tightness of the timing belt 111. The first motor mount 1122 has a guide boss 1126 formed at one end thereof facing away from the first air motor 1125, a guide slot 1171 formed in the wire feeding base 117, and the guide boss 1126 penetrating into the guide slot 1171 and being fastened to the wire feeding base 117 by a mounting screw 1172. Thereby achieving a secure mounting of the first drive means on the guidewire delivery base 117 and ensuring that the first drive means is mounted in a designated position.
One possible embodiment of the present application is that four first synchronous pulleys 1163 are installed on the guide wire conveying base 117 at intervals, and the second synchronous pulleys 1124 are in transmission connection with the four first synchronous pulleys 1163 through synchronous belts. The rotation of the second synchronous pulley 1124 can simultaneously drive the four first synchronous pulleys 1163 to rotate, and then simultaneously drive the four driving wheels to rotate.
The synchronous belt guide column 119 is fixedly arranged on the guide wire conveying base 117, the number of teeth of the synchronous belt 111 and the four first synchronous pulleys 1163 meshed with each other is increased through the synchronous belt guide column 119, and the reliability of transmission is guaranteed.
The driven wheel assembly 115 includes a driven wheel 1151, the driven wheel 1151 and the driving wheel 1161 are located on the same side of the guide wire conveying base 117, the driven wheel 1151 and the driving wheel 1161 are in one-to-one correspondence and are oppositely arranged, and the distance between the driven wheel 1151 and the guide wire conveying base 117 is equal to the distance between the driving wheel 1161 and the guide wire conveying base 117.
Driven wheel assembly 115 also includes a mounting shaft 1152 and a driven wheel mounting base 1153. The driven wheel 1151 is fixedly coupled to one end of a mounting shaft 1152 by a second coupling screw 1157, and the other end of the mounting shaft 1152 is rotatably coupled to a driven wheel mounting base 1153 by a ceramic bearing 1121. The driven wheel mounting base 1153 is provided with a guide mounting groove 1156, the guide wire conveying base 117 is provided with a slide rail 1173, the length direction of the slide rail 1173 is the same as the direction of the driven wheel 1151 approaching or separating from the driving wheel 1161, the slide rail 1173 is matched with the guide mounting groove 1156, and the slide rail 1173 allows the driven wheel mounting base 1153 to pass through.
As shown in fig. 11, a wire clamping device 120 is disposed on a side of the driven wheel assembly 115 remote from the drive wheel assembly 116, the wire clamping device 120 driving the driven wheel assembly 115 toward or away from the drive wheel assembly 116. The guidewire clamping device 120 includes a valve body 1204, a piston rod 1210, a piston 1208, a left inlet channel, and a right inlet channel. The valve body 1204 is an installation base of the guide wire clamping device 120, the valve body 1204 is approximately rectangular in shape, and the valve body 1204 has certain structural strength and sealing performance.
Both the left air intake duct 2027 and the right air intake duct 2027 are provided on both sides of the valve body 1204, respectively. The valve body 1204 is provided with a piston rod 1210, the piston rod 1210 penetrates from the left air inlet 2027 of the valve body 1204 and penetrates from the right air inlet 2027 of the valve body 1204, and both ends of the piston rod 1210 extend out of the valve body 1204. The piston rod 1210 passes through the left air inlet 2027 and the right air inlet 2027, respectively, and the piston rod 1210 is slidably engaged with the valve body 1204. There is a void between the hole in the valve body 1204 through which the piston rod 1210 passes and the piston rod 1210, so that the piston rod 1210 is used for sliding fit of the valve body 1204, and the void between the valve body 1204 and the piston rod 1210 is in communication with the left air inlet 2027 and the right air inlet 2027, respectively.
The piston 1208 is mounted in the middle of the piston rod 1210, the piston 1208 is located in the aperture between the valve body 1204 and the piston rod 1210, the piston 1208 is in sliding engagement with the aperture sidewall, and the piston 1208 closes the aperture from allowing gas to pass. Note that the piston 1208 is located between the communication of the aperture with the left air intake 2027 and the communication of the aperture with the right air intake 2027. When the left air inlet 2027 introduces high pressure air, the high pressure air enters the aperture and pushes the piston 1208 to move in the aperture in a direction approaching the right air inlet 2027, thereby driving the piston rod 1210 to move.
Further, a left air inlet 2027 is integrated on the valve body 1204, the left air inlet includes a left air pipe joint 1201, a left main air inlet 1202 and a left air inlet 1203, the left air pipe joint 1201, the left main air inlet 1202 and the left air inlet 1203 are sequentially communicated, the left air pipe joint 1201 is communicated with an external pipe, the left air inlet 1203 is communicated with a hole formed by the valve body 1204 and the piston rod 1210, thereby realizing the communication of the left air inlet 2027 with the hole formed by the valve body 1204 and the piston rod 1210,
The right air inlet is integrated on the valve body 1204, and the right air inlet comprises a right air pipe joint 1206, a right main air inlet 1207 and a right air inlet 1209, wherein the right air pipe joint 1206, the right main air inlet 1207 and the right air inlet 1209 are sequentially communicated, the right air pipe joint 1206 is communicated with an external pipeline, and the right air inlet 1209 is communicated with a hole formed by the valve body 1204 and the piston rod 1210, so that the hole formed by the right air inlet 2027, the valve body 1204 and the piston rod 1210 is communicated.
More specifically, the valve bodies 1204 at the two ends of the left air inlet channel and the right air inlet channel are respectively provided with a mounting bracket 1211 in a fastening manner, and the two mounting brackets are directly connected with the guide wire conveying base 117 in a fastening manner through screws, so that the number of the piston rods 1210 is equal to that of the driven wheels 1151 and corresponds to that of the driven wheels 1151 one by one. The length direction and the movement direction of the piston rod 1210 are the same direction as the direction in which the driven wheel 1151 approaches or separates from the driving wheel 1161. Any driven wheel 1151 is provided with a connecting hole 1158 on a driven wheel mounting base 1153, one side of the connecting hole 1158 is provided with an adjusting gap, one end, close to the corresponding driven wheel 1151, of a piston rod 1210 extends into the connecting hole 1158, the driven wheel mounting base 1153 is connected with a compression screw 1155 in a threaded manner, the compression screw 1155 penetrates through the adjusting gap in a threaded manner, the size of the adjusting gap is controlled by adjusting the tightness of the compression screw 1155, and therefore the fastening connection between the piston rod 1210 and the driven wheel mounting base 1153 is achieved.
In a preferred embodiment, an operating handle 1205 is connected to an end of any piston rod 1210 that passes out of the valve body 1204 away from the driven wheel assembly 115, and a worker can control the piston rod 1210 to move away from or close to the driven wheel assembly 115 through the operating handle 1205, which helps to improve the convenience of operation.
One possible embodiment is that the driven wheels 1151 are equally spaced four, and the piston rods 1210 are equally spaced four on the valve body 1204. When high-pressure gas is introduced into the left air pipe joint 1201, the high-pressure gas enters the holes of the piston rod 1210 and the valve body 1204 through the left main air inlet 1202 and the four left air inlet holes 1203 respectively, the piston 1208 is pushed to move rightward, so that the piston rod 1210 moves rightward, the driven wheel 1151 is pushed to move along the sliding rail 1173 towards the direction close to the driving wheel assembly 116 until the driven wheel 1151 and the driving wheel 1161 are matched to clamp the guide wire 601, the guide wire 601 is driven to advance or retract, and meanwhile, the gas on the right side of the hole is pushed by the piston 1208 to enter the right main air inlet 1207 through the right air inlet hole 1209, and enters the pipeline loop through the right air pipe joint 1206. Similarly, the introduction of high pressure gas from right tracheal joint 1206 can cause piston rod 1210 to move left, driving the driven wheel along slide track 1173 in a direction away from drive wheel assembly 116 for guidewire loading and unloading.
As shown in fig. 12, 13 and 14, the guide wire rotating mechanism 200 includes a guide wire rotating output connecting plate 201, a rotating mechanism fixing shaft 2024, a rotating output sleeve 2021, a transmission gear pair 207, and a second driving device. The rotating mechanism fixing shaft 2024 is internally provided with a hole for allowing a guide wire to pass through, the rotating mechanism fixing shaft 2024 is fixedly connected with the supporting structure 400 through a bolt, the rotating output sleeve 2021 is rotationally connected with the rotating structure fixing shaft, the guide wire rotating output connecting plate 201 is fixedly connected with the rotating output sleeve 2021 and the guide wire conveying base 117, and one end of the guide wire conveying base 117, which is far away from the guide wire rotating mechanism 200, is rotationally connected with the supporting structure 400. The second drive means is in a secure connection with the support structure 400, the output shaft of the second drive means being in a driving connection with the rotary output sleeve 2021 by means of a transmission gear pair 207.
Specifically, the rotary output sleeve 2021 is coaxially sleeved with the rotary mechanism fixing shaft 2024, and the rotary output sleeve 2021 is rotatably connected to the rotary mechanism fixing shaft 2024 by the front and rear ceramic bearings 1121 and is mounted and fixed by the bearing pressing plate 2029.
The second driving device comprises a second pneumatic motor 205, a second motor mounting seat 206 is arranged on the second pneumatic motor 205, and the second motor mounting seat 206 is fixedly connected with the supporting structure 400 through bolts, so that the second pneumatic motor 205 is stably mounted on the supporting structure 400. The second air motor 205 is located at one end of the rotating mechanism fixing shaft 2024 far away from the guide wire conveying base 117, an output shaft of the second air motor 205 is coaxially and fixedly connected with one gear of the transmission gear pair 207, and the other gear of the transmission gear pair 207 is fixedly connected with the rotary output sleeve 2021, so that the second air motor 205 rotates to drive the transmission gear pair 207, thereby driving the rotary output sleeve 2021 to rotate, further driving the guide wire conveying base 117 to rotate, and three hundred sixty degrees of rotation of the guide wire conveying mechanism 100 are realized.
The support structure 400 at the end of the guidewire rotation mechanism 200 remote from the guidewire delivery mechanism 100 is provided with a guidewire guide cylinder 403, the central axis of the guidewire guide cylinder 403 being collinear with the axis of rotation of the guidewire delivery device 110. The guide wire guide cylinder 403 communicates with a duct provided in the rotation mechanism fixing shaft 2024, which allows the guide wire to pass therethrough.
Further, a communication air passage is provided on the guide wire rotating mechanism 200, and the communication air passage includes an air inlet joint 203, an air outlet joint 208, an air inlet passage 2027, an air ring 2022, and an O-ring 2026. The air inlet 2027 is located inside the rotating structure fixing shaft, the air inlet connector 203 is mounted at one end of the rotating structure fixing shaft 2024 away from the guide wire conveying base 117, and the air inlet connector 203 is communicated with the air inlet 2027. Another possible embodiment of the application is an air inlet 2027 located between the rotating mechanism stationary shaft 2024 and the rotary output sleeve 2021.
The air outlet joint 208 is mounted on the rotary output sleeve 2021, the air outlet joint 208 is communicated with the air inlet 2027 through the air ring 2022, the air ring 2022 is arranged on the rotary output sleeve 2021, and the air ring 2022 can also be arranged on the rotary mechanism fixing shaft 2024 and the rotary output sleeve 2021. The air outlet joint 208 is provided with a plurality of air outlet sleeves 2021, and any two adjacent air rings 2022 are sealed by 0-shaped rings 2026, so that the sealing between each air channel is ensured. The left air pipe joint 1201, the right air pipe joint 1206 and the first air motor air inlet 1127 are respectively communicated with the corresponding air outlet joint 208 through air pipes, so that the air pipes for communication can rotate together with the guide wire conveying mechanism 100 by any angle. The second air motor air inlet hole 204 is communicated with an external air source through an air pipe.
As shown in fig. 1,2 and 15, the catheter delivery mechanism 300 includes a catheter delivery device 310 and a catheter clamping device 320, and specifically, the structure, the working principle and the installation manner of the catheter delivery mechanism 300 and the guide wire delivery mechanism 100 are the same, and are not described herein. It should be noted that because catheter delivery device 310 does not have an integrated rotational movement, the air lines on catheter delivery mechanism 300 may be in direct communication with an external air source.
It should be emphasized that both the guidewire delivery mechanism 100 and the catheter delivery mechanism 300 are located on the same side of the support structure 400. The support structure 400 is detachably connected to a guide plate 501 at one end near the guide wire conveying mechanism 100 and the guide pipe conveying mechanism 300, and the guide plate 501 is provided with a guide wire guiding groove and a guide pipe guiding groove which are parallel or intersected and combined into a guiding groove. Thereby achieving the fitting and interventional operation of the guide wire 601 catheter 602 of both the coaxial type and the Y type.
It is further clear that the interventional surgical robot adopts materials meeting the magnetic resonance compatibility, and the materials adopted by the interventional surgical robot include high polymer materials, copper alloys, ceramics and titanium alloys. So that the robot system can work under the guidance of XMR images, namely, the operation can be normally finished under the guidance of X-ray/angiography (DSA)/Computed Tomography (CT) or Magnetic Resonance (MR) images. The material selection of the robot system reduces the interference of the robot system by an external magnetic field and reduces the influence on imaging quality such as magnetic resonance.
In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.