CN115645718A - Clamping unit and vascular intervention operation system - Google Patents
Clamping unit and vascular intervention operation systemDownload PDFInfo
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及医疗器械技术领域，特别涉及夹持单元及血管介入手术系统。The invention relates to the technical field of medical instruments, in particular to a clamping unit and a blood vessel intervention operation system.
背景技术Background technique
在血管介入手术领域，介入治疗是指在影像导引下，以最小的创伤，使用介入器械经血管通道或非血管通道进入病患处，进行诊断和治疗的临床治疗方法。与传统开颅、开胸等手术相比，血管介入手术创口小、术后恢复时间短，逐渐被越来越多的病人所接受。In the field of vascular interventional surgery, interventional therapy refers to a clinical treatment method that uses interventional instruments to enter the patient's site through vascular or non-vascular channels with minimal trauma under image guidance for diagnosis and treatment. Compared with traditional craniotomy and thoracotomy, vascular interventional surgery has a small wound and short postoperative recovery time, and is gradually accepted by more and more patients.
但是，传统的血管介入治疗存在局限性。血管介入治疗过程中，医生一般需要借助X射线成像设备或数字减影血管造影(Digital Subtraction Angiography，DSA)设备的影像引导，手持导管、导丝以及各种介入器械，来完成在病人体内的介入手术操作。手术过程中，医生持续暴露在放射环境中，需要穿着沉重的含铅防护服。一方面，沉重的含铅防护服会导致医生体力消耗较快，注意力与稳定性随之下降，容易影响手术操作精度，增大手术风险，长时间的负重也容易造成医生腰椎、膝关节等损伤；另一方面，医生未防护的部位或者防护较薄弱的部位，加上长时间积累的辐射剂量，会大幅增加医生罹患癌症、白血病和极性白内障的概率。However, traditional vascular interventional therapy has limitations. In the process of vascular interventional treatment, doctors generally need to use X-ray imaging equipment or digital subtraction angiography (Digital Subtraction Angiography, DSA) equipment image guidance, hand-held catheters, guide wires and various interventional instruments to complete the intervention in the patient's body Surgical operation. During the operation, doctors are continuously exposed to radiation and need to wear heavy lead-containing protective clothing. On the one hand, the heavy lead-containing protective clothing will cause the doctor's physical strength to be exhausted quickly, and the concentration and stability will decrease accordingly, which will easily affect the accuracy of the operation and increase the risk of the operation. On the other hand, the unprotected or weakly protected parts of doctors, together with the long-term accumulated radiation dose, will greatly increase the probability of doctors suffering from cancer, leukemia and polar cataracts.
目前，借助手术机器人系统，对导管/导丝进行远程操控的手术方法，可以有效地改善以上问题。机器人系统利用图像导航和精密机械辅助操作，可以精准定位病变位置，优化器械输送，提高手术精度，缩短手术时间，减小并发症。机器人系统允许医生在辐射屏蔽的空间执行远程操作，无需穿着铅衣，可以降低辐射剂量，减少疲劳与骨科疾病风险。At present, with the help of a surgical robot system, the surgical method of remotely controlling the catheter/guide wire can effectively improve the above problems. The robot system uses image navigation and precision mechanical assistance to accurately locate the lesion, optimize instrument delivery, improve surgical accuracy, shorten surgical time, and reduce complications. The robotic system allows doctors to perform remote operations in a radiation-shielded space without wearing lead suits, reducing radiation dose, fatigue and the risk of orthopedic disease.
但是，现有的血管介入手术机器人，在导管/导丝的控制上，至少还存在如下几个方面的问题：第一，夹持导管/导丝的装置结构相对复杂，导管/导丝放置与安装不够灵活方便，操作流程繁琐；第二，现有的输送模块对导管/导丝的夹持稳定性不足，容易出现打滑的情况；第三，现有的输送模块难以夹持导管/导丝的同时带动导管/导丝进行精确地旋转；第四，现有的输送模块不能适用多种导管/导丝的尺寸，对其使用场景存在局限性。因此，如何改进机器人的输送模块的结构，以实现对常用导管/导丝的稳定夹持，是本领域技术人员的一个重要研究方向。However, existing vascular interventional surgery robots have at least the following problems in the control of catheters/guide wires: first, the structure of the device for clamping catheters/guide wires is relatively complicated, and the placement of catheters/guide wires is related to The installation is not flexible and convenient, and the operation process is cumbersome; second, the existing delivery module has insufficient clamping stability for the catheter/guide wire, and is prone to slipping; third, the existing delivery module is difficult to clamp the catheter/guide wire At the same time, it drives the catheter/guide wire to rotate precisely; fourthly, the existing delivery module cannot be applied to a variety of catheter/guide wire sizes, which has limitations in its use scenarios. Therefore, it is an important research direction for those skilled in the art how to improve the structure of the delivery module of the robot so as to achieve stable clamping of commonly used catheters/guide wires.
发明内容Contents of the invention
本发明的目的在于提供一种夹持单元及血管介入手术系统，以解决现有技术中用于夹持控制导管/导丝的相关装置存在结构复杂、操作流程繁琐、夹持稳定性不足、旋转控制精度不足以及不能适用不同尺寸的导管/导丝等问题。The object of the present invention is to provide a clamping unit and a vascular interventional operation system to solve the problems of complex structure, cumbersome operation process, insufficient clamping stability, rotation Insufficient control accuracy and inability to adapt to catheters/guide wires of different sizes.
为解决上述技术问题，基于本发明的一个方面，本发明提供一种夹持单元，该夹持单元具有第一轴线；所述夹持单元包括基座以及与基座连接的至少三个夹持部，且至少三个所述夹持部围绕所述第一轴线周向分布，以限定形成一夹持空间，所述夹持空间用于容置介入器械；In order to solve the above technical problems, based on one aspect of the present invention, the present invention provides a clamping unit, the clamping unit has a first axis; the clamping unit includes a base and at least three clamping units connected to the base parts, and at least three of the clamping parts are distributed circumferentially around the first axis to define a clamping space for accommodating interventional instruments;
所述夹持部具有第二轴线，第二轴线与第一轴线不垂直，至少一个所述夹持部围绕自身的第二轴线与基座转动连接，以扩大或缩小所述夹持空间。The clamping parts have a second axis, the second axis is not perpendicular to the first axis, and at least one of the clamping parts is rotatably connected to the base around its second axis, so as to expand or reduce the clamping space.
可选的，至少一个夹持部围绕自身的第二轴线与基座转动连接，以沿垂直于第一轴线的方向扩大或缩小夹持空间。Optionally, at least one clamping portion is rotatably connected to the base around its second axis, so as to expand or reduce the clamping space along a direction perpendicular to the first axis.
可选的，至少两个所述夹持部用于围绕各自的第二轴线同步和/或同向转动，以扩大或缩小所述夹持空间。Optionally, at least two of the clamping parts are used to rotate synchronously and/or in the same direction around their respective second axes, so as to expand or reduce the clamping space.
可选的，所述夹持部围绕所述第二轴线的外轮廓面包括外接面以及与所述外接面连接的夹持面，所述夹持面与所述外接面的延伸方向呈角度布置，并且所述夹持面位于所述外接面的延伸方向之靠近第二轴线的一侧，至少三个所述夹持部用于通过各自的夹持面形成所述夹持空间。Optionally, the outer contour surface of the clamping portion around the second axis includes an outer surface and a clamping surface connected to the outer surface, and the clamping surface is arranged at an angle to the extension direction of the outer surface , and the clamping surface is located on a side of the extending direction of the circumscribed surface close to the second axis, and at least three clamping portions are used to form the clamping space through the respective clamping surfaces.
可选的，所述夹持部沿所述第二轴线延伸呈柱状。Optionally, the clamping portion extends along the second axis in a column shape.
可选的，所述夹持部包括至少两块夹持基板，至少两块所述夹持基板沿平行所述第二轴线的方向间隔地排布；所述夹持基板具有夹持侧面，所述夹持部的至少两个夹持侧面沿平行所述第二轴线的方向共面排布以形成所述夹持面。Optionally, the clamping part includes at least two clamping substrates, at least two clamping substrates are arranged at intervals along a direction parallel to the second axis; the clamping substrates have clamping sides, and At least two clamping side surfaces of the clamping portion are coplanarly arranged along a direction parallel to the second axis to form the clamping surface.
可选的，围绕所述第一轴线周向相邻的两个所述夹持部中，其中一个所述夹持部的至少两块夹持基板和另一个所述夹持部的至少两块夹持基板在所述第一轴线的方向上交替排布，用于实现相邻的两个所述夹持咬合连接。Optionally, among the two clamping parts circumferentially adjacent to the first axis, at least two clamping substrates of one clamping part and at least two clamping substrates of the other clamping part The base plates are alternately arranged in the direction of the first axis, so as to realize the clamping and snapping connection of two adjacent ones.
可选的，所述第一轴线平行所述第二轴线，且各个所述夹持部的第二轴线围绕所述第一轴线周向分布；至少三个所述夹持部用于围绕各自的第二轴线同步且同向转动，以扩大或缩小所述夹持空间。Optionally, the first axis is parallel to the second axis, and the second axes of each clamping portion are distributed circumferentially around the first axis; at least three clamping portions are used to surround the respective The second axis rotates synchronously and in the same direction to expand or reduce the clamping space.
可选的，所述夹持单元包括夹持环，所述夹持环的中心轴线与所述第一轴线共线，所述夹持环围绕所述第一轴线可转动地布置，所述夹持部与所述夹持环的内周啮合。Optionally, the clamping unit includes a clamping ring, the central axis of the clamping ring is collinear with the first axis, the clamping ring is rotatably arranged around the first axis, and the clamping ring The holding portion is engaged with the inner periphery of the clamping ring.
可选的，所述夹持单元包括与基座连接的连接轴，所述连接轴的中心轴线与所述第二轴线共线，所述夹持部通过所述连接轴与基座转动连接。Optionally, the clamping unit includes a connecting shaft connected to the base, the central axis of the connecting shaft is collinear with the second axis, and the clamping part is rotatably connected to the base through the connecting shaft.
可选的，所述基座被配置为可围绕所述第一轴线转动。Optionally, the base is configured to be rotatable around the first axis.
可选的，所述夹持环具有第一开口通道，所述第一开口通道贯穿所述夹持环的内周和外周，且所述第一开口通道贯穿所述夹持环的轴向两端；Optionally, the clamping ring has a first opening channel, the first opening channel runs through the inner and outer circumferences of the clamping ring, and the first opening channel runs through both axial sides of the clamping ring. end;
所述基座具有穿孔以及与所述穿孔连通的第二开口通道，所述穿孔沿所述第一轴线贯穿所述基座，所述第二开口通道沿所述穿孔的径向向外贯穿所述基座，且所述第二开口通道贯穿所述基座沿所述第一轴线的两端；所述第一开口通道和所述第二开口通道可被配置为沿贯穿所述夹持空间的直线方向相对齐。The base has a perforation and a second opening passage communicating with the perforation, the perforation passes through the base along the first axis, and the second opening passage passes through the base outwardly along the radial direction of the perforation. the base, and the second opening passage runs through both ends of the base along the first axis; the first opening passage and the second opening passage can be configured to pass through the clamping space The straight line direction is aligned.
基于本发明的另一个方面，本发明还提供一种血管介入手术系统，其包括介入器械以及如上所述的夹持单元，所述介入器械沿所述第一轴线容置在所述夹持空间中。Based on another aspect of the present invention, the present invention also provides a vascular interventional surgery system, which includes an interventional instrument and the clamping unit as described above, the interventional instrument is accommodated in the clamping space along the first axis middle.
可选的，所述介入器械包括导管、导丝、球囊、支架、穿刺针、导管鞘、静脉滤器、栓塞及封堵器械。Optionally, the interventional devices include catheters, guide wires, balloons, stents, puncture needles, catheter sheaths, venous filters, embolization and occlusion devices.
综上所述，在本发明提供的夹持单元及血管介入手术系统中，该夹持单元具有第一轴线；所述夹持单元包括基座以及与基座连接的至少三个夹持部，且至少三个所述夹持部围绕所述第一轴线周向分布，以限定形成一夹持空间；所述夹持部具有第二轴线，至少一个所述夹持部围绕自身的第二轴线与基座转动连接，以扩大或缩小所述夹持空间；第一轴线和第二轴线不垂直。In summary, in the clamping unit and the vascular interventional surgery system provided by the present invention, the clamping unit has a first axis; the clamping unit includes a base and at least three clamping parts connected to the base, And at least three clamping parts are distributed circumferentially around the first axis to define a clamping space; the clamping parts have a second axis, and at least one clamping part surrounds its own second axis It is rotatably connected with the base to expand or reduce the clamping space; the first axis and the second axis are not perpendicular.
如此配置，第一方面，夹持单元通过至少三个夹持部围绕第一轴线周向排布而形成夹持空间，介入器械容置在此夹持空间中，通过至少一个夹持部围绕自身的第二轴线转动而缩小夹持空间，使得各个夹持部与介入器械抵靠并向介入器械施加压力，从而将介入器械夹持固定在此夹持空间中，提高夹持稳定性，避免打滑；第二方面，至少一个夹持部围绕自身的第二轴线转动以改变夹持空间的大小，可以使得装置应用于多种不同尺寸的介入器械，体现出装置具有较好的通用性和兼容性，夹持部旋转改变夹持空间大小的方式，也体现出本装置夹持固定介入器械的操作流程的简单性。So configured, in the first aspect, the clamping unit forms a clamping space by arranging at least three clamping parts circumferentially around the first axis, the interventional instrument is accommodated in this clamping space, and surrounds itself by at least one clamping part The second axis rotates to reduce the clamping space, so that each clamping part abuts against the interventional instrument and exerts pressure on the interventional instrument, thereby clamping and fixing the interventional instrument in this clamping space, improving the clamping stability and avoiding slippage In the second aspect, at least one clamping part rotates around its second axis to change the size of the clamping space, which can make the device applicable to a variety of interventional instruments of different sizes, reflecting that the device has better versatility and compatibility , the manner in which the clamping part rotates to change the size of the clamping space also reflects the simplicity of the operation process of the device clamping and fixing the interventional instrument.
需说明的是，血管介入手术系统包括所述的夹持单元，故具有所述夹持单元带来的有益技术效果，这里不再重复说明。It should be noted that the vascular interventional operation system includes the clamping unit, so it has the beneficial technical effects brought by the clamping unit, which will not be repeated here.
附图说明Description of drawings
本领域的普通技术人员应当理解，提供的附图用于更好地理解本发明，而不对本发明的范围构成任何限定。其中：Those skilled in the art should understand that the accompanying drawings are provided for better understanding of the present invention, and do not constitute any limitation to the scope of the present invention. in:
图1是本发明一实施例的夹持单元的示意图；1 is a schematic diagram of a clamping unit according to an embodiment of the present invention;
图2是本发明一实施例的夹持单元的另一示意图；Fig. 2 is another schematic diagram of a clamping unit according to an embodiment of the present invention;
图3是图2的正视图；Fig. 3 is the front view of Fig. 2;
图4是本发明一实施例的夹持部的示意图；Fig. 4 is a schematic diagram of a clamping part according to an embodiment of the present invention;
图5是本发明一实施例的夹持单元中体现夹持部的另一示意图；Fig. 5 is another schematic diagram of the clamping part embodied in the clamping unit according to an embodiment of the present invention;
图6是本发明一实施例的夹持部的再一示意图；Fig. 6 is another schematic diagram of the clamping part of an embodiment of the present invention;
图7是本发明一实施例的各个夹持部彼此配合的示意图；Fig. 7 is a schematic diagram of cooperation of various clamping parts according to an embodiment of the present invention;
图8是本发明一实施例的夹持环的示意图；Fig. 8 is a schematic diagram of a clamping ring according to an embodiment of the present invention;
图9是本发明一实施例的基座的示意图；Fig. 9 is a schematic diagram of a base according to an embodiment of the present invention;
图10是本发明一实施例的夹持单元的侧视图；Fig. 10 is a side view of a clamping unit according to an embodiment of the present invention;
图11是本发明一实施例的基座的另一示意图；Fig. 11 is another schematic diagram of a base according to an embodiment of the present invention;
图12是本发明一实施例的血管介入手术系统的示意图；Fig. 12 is a schematic diagram of a vascular interventional surgery system according to an embodiment of the present invention;
图13是本发明一实施例的血管介入手术系统中夹持输送模块的示意图；Fig. 13 is a schematic diagram of the clamping delivery module in the vascular interventional surgery system according to an embodiment of the present invention;
图14是本发明一实施例的血管介入手术系统中夹持输送模块的另一示意图；Fig. 14 is another schematic diagram of the clamping delivery module in the vascular interventional surgery system according to an embodiment of the present invention;
图15是本发明一实施例的血管介入手术系统的另一示意图。Fig. 15 is another schematic diagram of a vascular interventional surgery system according to an embodiment of the present invention.
附图中：In the attached picture:
1-夹持输送模块；2-夹持单元；10-夹持部；11-外接面；12-夹持面；13-夹持基板；1301-夹持侧面；1302-过渡侧面；1-clamping and conveying module; 2-clamping unit; 10-clamping part; 11-external surface; 12-clamping surface; 13-clamping substrate; 1301-clamping side; 1302-transitional side;
20-夹持环；21-第一开口通道；20-clamping ring; 21-first opening channel;
30-连接轴；30 - connecting shaft;
40-基座；41-穿孔；42-第二开口通道；43-定位孔；40-base; 41-perforation; 42-second opening channel; 43-positioning hole;
51-第一齿轮；52-第二齿轮51-first gear; 52-second gear
61-第一旋转电机；62-第二旋转电机61-the first rotating electrical machine; 62-the second rotating electrical machine
70-滚轴；70 - roller;
80-第一环形轴承；80-the first ring bearing;
90-第二环形轴承；90-the second annular bearing;
100-壳体；101-上壳组；1011-第一上壳；1012-第二上壳；102-下壳组；1021-第一下壳；1022-第二下壳；103-第三开口通道；100-shell; 101-upper shell group; 1011-first upper shell; 1012-second upper shell; 102-lower shell group; 1021-first lower shell; 1022-second lower shell; 103-third opening aisle;
110-介入器械；110 - interventional devices;
120-连接滑台；120-connect slide table;
130-导向结构；131-第一导轨；132-第二导轨；133-滑台组件；1331-第一滑台；1332-第二滑台；130-guide structure; 131-first guide rail; 132-second guide rail; 133-slider assembly; 1331-first slide; 1332-second slide;
140-驱动结构；141-自转件；142-第三旋转电机；140-drive structure; 141-autorotation part; 142-the third rotating motor;
150-底座；151-凹槽；150-base; 151-groove;
160-力传感器；160 - force sensor;
A-第一轴线；B第二轴线；C-夹持空间；D-容置空间。A-first axis; B-second axis; C-clamping space; D-accommodating space.
具体实施方式Detailed ways
为使本发明的目的、优点和特征更加清楚，以下结合附图和具体实施例对本发明作进一步详细说明。需说明的是，附图均采用非常简化的形式且未按比例绘制，仅用以方便、明晰地辅助说明本发明实施例的目的。此外，附图所展示的结构往往是实际结构的一部分。特别的，各附图需要展示的侧重点不同，有时会采用不同的比例。In order to make the purpose, advantages and features of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in very simplified form and not drawn to scale, and are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention. In addition, the structures shown in the drawings are often a part of the actual structure. In particular, each drawing needs to display different emphases, and sometimes uses different scales.
如在本发明中所使用的，单数形式“一”、“一个”以及“该”包括复数对象，术语“或”通常是以包括“和/或”的含义而进行使用的，术语“若干”通常是以包括“至少一个”的含义而进行使用的，术语“至少两个”通常是以包括“两个或两个以上”的含义而进行使用的，此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”的特征可以明示或者隐含地包括一个或者至少两个该特征，“一端”与“另一端”以及“近端”与“远端”通常是指相对应的两部分，其不仅包括端点，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。此外，如在本发明中所使用的，一元件设置于另一元件，通常仅表示两元件之间存在连接、耦合、配合或传动关系，且两元件之间可以是直接的或通过中间元件间接的连接、耦合、配合或传动，而不能理解为指示或暗示两元件之间的空间位置关系，即一元件可以在另一元件的内部、外部、上方、下方或一侧等任意方位，除非内容另外明确指出外。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。As used in the present invention, the singular forms "a", "an" and "the" include plural objects, the term "or" is usually used in the sense of including "and/or", and the term "several" Usually, the term "at least one" is used in the meaning of "at least one", and the term "at least two" is usually used in the meaning of "two or more". In addition, the terms "first", "second "Two" and "third" are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined as "first", "second", and "third" may expressly or implicitly include one or at least two of these features, "one end" and "another end" and "near end" and "near end" "Remote" usually refers to the corresponding two parts, which not only includes the terminal, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, or Integrate; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediary, can be the internal communication of two components or the interaction relationship between two components. In addition, as used in the present invention, an element is arranged on another element, usually only means that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the relationship between the two elements can be direct or indirect through an intermediate element. connection, coupling, fit or transmission, but should not be understood as indicating or implying the spatial positional relationship between two elements, that is, one element can be in any orientation such as inside, outside, above, below or on one side of another element, unless the content Also clearly point out. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
本发明一实施例提供一种夹持单元及血管介入手术系统，以解决现有技术中用于夹持控制导管/导丝的相关装置存在结构复杂、操作流程繁琐、夹持稳定性不足、旋转控制精度不足以及不能适用不同尺寸的导管/导丝等问题。An embodiment of the present invention provides a clamping unit and a vascular interventional surgery system to solve the complex structure, cumbersome operation process, insufficient clamping stability, rotation Insufficient control accuracy and inability to adapt to catheters/guide wires of different sizes.
以下请参考附图对本实施例的夹持单元和血管介入手术系统进行详细地描述。The clamping unit and the vascular interventional operation system of this embodiment will be described in detail below with reference to the accompanying drawings.
本实施例提供一种应用于血管介入手术系统的夹持单元，夹持单元用于夹持介入器械，介入器械通常是医疗领域常用于介入手术操作的导管或导丝，以及各种功能性器械，还可以是球囊、支架、穿刺针、栓塞器械(例如弹簧圈)等。血管介入手术系统具体而言是应用于血管介入手术领域的血管介入手术机器人系统，配合X射线成像设备或者数字减影血管造影设备的影像指导，在手术机器人系统的作用下完成介入器械在患者的体内的介入手术操作。本实施例对于X射线成像设备以及数字减影血管造影设备的工作原理及相关部件不在展开说明，本领域技术人员可根据现有技术获悉。基于此，本实施例提出一种血管介入手术系统，该血管介入手术系统至少包括夹持单元和介入器械，进一步地，该系统还包括X射线成像设备或数字减影血管造影设备。This embodiment provides a clamping unit applied to a vascular interventional surgery system. The clamping unit is used to clamp an interventional device. The interventional device is usually a catheter or guide wire commonly used in interventional operations in the medical field, as well as various functional devices. , can also be a balloon, a stent, a puncture needle, an embolization device (such as a coil) and the like. Specifically, the vascular interventional surgery system is a vascular interventional surgery robot system used in the field of vascular interventional surgery. With the image guidance of X-ray imaging equipment or digital subtraction angiography equipment, the interventional device is completed under the action of the surgical robot system. In vivo interventional procedures. In this embodiment, the working principles and related components of the X-ray imaging device and the digital subtraction angiography device will not be described in detail, and those skilled in the art can learn from the prior art. Based on this, this embodiment proposes a vascular interventional surgery system, which at least includes a clamping unit and an interventional instrument, and further, the system further includes an X-ray imaging device or a digital subtraction angiography device.
图1是本发明一实施例的夹持单元的示意图，图2是本发明一实施例的夹持单元的另一示意图，图3是图2的正视图。如图1至图3所示，本实施例提供一种应用于血管介入手术系统的夹持单元2，该夹持单元2具有第一轴线A，该夹持单元2包括围绕第一轴线A周向(间隔地)排布的至少三个夹持部10，优选地，至少三个夹持部10围绕第一轴线A周向间隔均匀地排布，且至少三个夹持部10围绕第一轴线A周向排布以限定一夹持空间C，该夹持空间C用于容置介入器械110。比如夹持单元2还包括基座40，至少三个夹持部10与基座40连接。应理解的，至少三个夹持部10周向围绕后所限定的空间范围即是所述的夹持空间C，并且该夹持空间C沿第一轴线A的方向延伸，该夹持空间C用于容置介入器械。进一步地，夹持部10具有第二轴线B，夹持部10在垂直第二轴线B的平面上具有一定的面积，第二轴线B与第一轴线A空间位置关系为二者不垂直，至少一个夹持部10可以围绕自身的第二轴线B与基座40转动连接，至少一个夹持部10用于围绕自身的第二轴线B转动，以扩大或者缩小夹持空间C，比如沿垂直于第一轴线A的方向扩大或者缩小所述夹持空间C。比如可以是其中一个夹持部10转动后改变夹持空间C的大小，也可以是其中两个夹持部10转动后改变夹持空间C的大小。对于需要转动的夹持部10为至少两个时，至少两个夹持部10可以同向但不同步，比如均沿顺时针旋转但是转动过程不同步；至少两个夹持部10可以同步但不同向转动，比如至少两个夹持部10转动过程相同，但是转动方向相反，比如一个夹持部10顺时针转动，另一个夹持部10逆时针转动；还可以至少两个夹持部10同步且同向转动。示例性而言，以参阅图2和图3示范出的三个夹持部10进行说明，三个夹持部10同步转动，且转动方向均是顺时针，此时夹持空间C将缩小，从而夹持固定介入器械；相应地，三个夹持部10同步进行逆时针方向的转动，此时夹持空间C将扩大，从而松开介入器械。FIG. 1 is a schematic diagram of a clamping unit according to an embodiment of the present invention, FIG. 2 is another schematic diagram of a clamping unit according to an embodiment of the present invention, and FIG. 3 is a front view of FIG. 2 . As shown in Figures 1 to 3, this embodiment provides a
可理解的，当介入器械110被夹持固定在所述夹持空间C后，介入器械110与第一轴线A大致共线，介入器械110通常是导管或者导丝，也即导管的轴线与第一轴线A基本共线，或者导丝与第一轴线A共线。根据不同的手术场景，第一轴线A的位置关系也会出现不同，比如在一些手术场景中，需要控制介入器械110水平或者竖直输送至患者体内时，则需要控制夹持单元2的摆位以使第一轴线A平行水平面或者平行重力方向；在另外一些手术场景中，需要控制介入器械110倾斜输送至患者体内时，则需要控制夹持单元2的摆位以使第一轴线A相对水平面倾斜。优选地，关于夹持单元2的摆位或者通过夹持单元2来夹持介入器械110的操作可以通过机器人的机械臂来控制，提高手术精确度。另外，医生通过机器人来远程控制血管介入手术操作，不需要医生进入手术室，减少辐射剂量。It can be understood that after the
上述的夹持单元2，第一方面，夹持单元2通过至少三个夹持部10围绕第一轴线A周向排布而形成夹持空间C，介入器械110容置在此夹持空间C中，通过至少一个夹持部10围绕自身的第二轴线B转动而缩小夹持空间C，使得各个夹持部10与介入器械110抵靠并向介入器械110施加压力，进行多点夹持，从而将介入器械110夹持固定在此夹持空间C中，提高夹持稳定性，避免打滑，而各个夹持部10从不同的方向向介入器械110施加压力从而夹持固定介入器械110，可以减少在夹持过程中介入器械110的形变量，避免介入器械110损坏；第二方面，至少一个夹持部10围绕自身的第二轴线B转动以改变夹持空间C的大小，可以使得装置应用于多种不同尺寸的介入器械110，体现出装置具有较好的通用性和兼容性，夹持部10旋转改变夹持空间C大小的方式，也体现出本装置夹持固定介入器械110的操作流程的简单性；第三方面，夹持部10可以采用一次性材料制成，与介入器械110一起作为耗材处理，便于消毒，提高医疗安全性。The above-mentioned
在一些实施例中，至少三个夹持部10转动后且围绕第一轴线A周向相邻的两个夹持部10依次抵接，此时夹持空间C呈孔状(图2所示)。优选地，第一轴线A和第二轴线B相互平行，且各个夹持部10的第二轴线B围绕第一轴线A周向分布，此时形成的夹持空间C大致呈柱状孔。在其他一些实施例中，第二轴线B与第一轴线A共面且呈夹角布置，此时形成的夹持空间C大致呈现台状孔。在另外一些实施例中，当至少三个夹持部10转动后且围绕第一轴线A周向相邻的两个夹持部10通过另外设计的构造(即后文所言的夹持基板13)依次可以彼此嵌入咬合在一起，此时至少三个夹持部10周向围绕后所限定的区域没有空间显示，此时可定义夹持空间C的大小为“0”，无法容置介入器械110。In some embodiments, after at least three clamping
本实施例比如可以根据凸轮的工作原理来配置夹持部10的机械构造。具体而言，参阅图4，图4是本发明一实施例的夹持部的示意图，夹持部10围绕第二轴线B的外轮廓面包括外接面11和夹持面12，夹持面12与外接面11的延伸方向呈角度地布置，以使夹持面12不是沿着外接面11进行延伸的，并且夹持面12位于外接面11的延伸方向之靠近所述第二轴线(B)的一侧，换言之也即是夹持面12和第二轴线B位于外接面11的延伸方向的同一侧。至少三个夹持部10通过各自的夹持面12形成所述夹持空间C，具体而言，各个夹持部10通过各自的夹持面12远离外接面11的一端形成夹持空间C，如此，第二轴线B相当于凸轮的偏心轴线，在夹持部10的转动过程中，夹持面12的位置也相应改变，从而改变夹持空间C的大小。需说明的是，这里对外接面11的形状不做限制，外接面11呈平面状时，外接面11的延伸方向也即是平面方向，外接面11呈弧面状(或曲面状)时，外接面11的延伸方向为弧形方向，也可以理解为外接面11与夹持面12的连接处的切向。优选地，夹持面12远离外接面11的一端沿第二轴线B的视角方向呈弧形，且朝靠近第二轴线B弯曲。进一步地，外接面11沿第二轴线B的视角方向呈圆弧状，且第二轴线B为外接面11所在圆的中心线，则夹持面12的延伸方向与外接面11的切向呈角度地布置。In this embodiment, for example, the mechanical structure of the clamping
图5是本发明一实施例的夹持单元中体现夹持部的另一示意图。优选地，参阅图5，夹持部10沿第二轴线B延伸呈柱状。相较于图4示范出的板状的夹持部10，柱状的夹持部10沿第二轴线B的方向具有更大面积的夹持面12，介入器械110被夹持固定在夹持空间C之后，柱状的夹持部10与介入器械110之间具有更大的接触面积，提升夹持稳定性。可理解的，这里的接触面积具体指的是夹持面12沿第二轴线B的方向介入器械110的接触面积。FIG. 5 is another schematic diagram of the clamping part embodied in the clamping unit according to an embodiment of the present invention. Preferably, referring to FIG. 5 , the clamping
图6是本发明一实施例的夹持部的再一示意图。参阅图6，所述夹持部10呈柱状，且夹持部10包括至少两块夹持基板13(比如图6中示范出的单个夹持部10具有三块夹持基板13)，至少两块所述夹持基板13沿第二轴线B的方向依次间隔地排布，优选地，夹持基板13垂直第二轴线B，当然，也可优选为垂直于第一轴线A；进一步地，所述夹持基板13的外轮廓面包括夹持侧面1301，则至少两块夹持基板13的夹持侧面1301也是依次间隔排布的，所述夹持部10的至少两个夹持侧面1301沿平行所述第二轴线B的方向共面排布以形成所述夹持面12，夹持侧面1301可以是平行于第二轴线B的平面，也可以是曲面(比如半圆面，半圆的中心线方向垂直第二轴线B)。需说明的是，图5示范出的夹持面12与外接面11可理解为二者直接连接，图7示范出的外接面11和夹持面12可理解为二者通过过渡侧面1302间接连接，过渡侧面1302优选为呈弧面，具体而言，夹持基板13的外轮廓面还包括过渡侧面1302，过渡侧面1302分别连接夹持侧面1301和外接面11。Fig. 6 is another schematic diagram of the clamping part according to an embodiment of the present invention. Referring to FIG. 6, the clamping
图7是本发明一实施例的各个夹持部彼此配合的示意图。参阅图7，围绕所述第一轴线A周向相邻的两个所述夹持部10中，其中一个所述夹持部10的至少两块夹持基板13和另一个所述夹持部10的至少两块夹持基板13在所述第一轴线A的方向上交替排布，用于实现相邻的两个所述夹持咬合连接。具体而言，对于相邻的两个夹持部10，其中一个夹持部10对应的夹持基板13和另一个夹持部10对应的夹持基板13在第一轴线A的方向上一一错开排布，当夹持部10转动使得夹持空间C向缩小的趋势进行时，其中一个夹持部10的一块夹持基板13可以位于另一个夹持部10的两块夹持基板13之间，从而实现相邻两个夹持部10的咬合连接。可理解的，参阅图6和图7，对于周向相邻的三个夹持10，位于中间的夹持部10的两个夹持基板13之间的间隙空间沿夹持单元2的周向深度的一部分与一侧相邻的夹持部10的夹持基板13配合实现咬合连接，而该位于中间的夹持部10的两个夹持基板13之间的间隙空间沿夹持单元2的周向深度的另一部分与另一侧相邻的夹持部10的夹持基板13配合实现咬合连接。如此配置，周向相邻的两个夹持部10通过各自的夹持基板13实现彼此的咬合连接，在逐渐加大咬合程度的过程中，夹持空间C也进一步缩小，最终至少三个夹持部10周向围绕后所限定的区域没有空间呈现，可理解为夹持空间C为“0”，这样咬合连接的设置方式可以任意改变夹持空间C的大小，适用于各种尺寸的导管或导丝，尤其能够适用于比常规导管或导丝直径更小的微导管或微导丝，进一步地提升夹持单元2的兼容性和通用性。Fig. 7 is a schematic diagram of cooperation of various clamping parts according to an embodiment of the present invention. Referring to FIG. 7 , among the two clamping
关于驱使至少三个夹持部10同步且同向转动的方式，本实施配置有相应的驱动组件，该驱动组件用于驱使至少三个夹持部10同步且同向转动。在一些实施例中，驱动组件包括与夹持部10数量相对应的至少三个驱动件(比如可以是驱动电机)，驱动件与夹持部10一一对应连接，每个驱动件驱动对应的夹持部10转动，如此可以通过至少三个驱动件的同步工作而使得相对应的至少三个夹持部10同步且同向转动。需说明的是，通过配置多个驱动件的驱动方式，本实施例并不限制第一轴线A和第二轴线B的关系，二者可以平行也可以呈角度。作为优选的实施例，至少三个夹持部10与同一个驱动组件连接，以通过单个驱动组件来驱使所有的夹持部10转动以及控制转动方向。Regarding the manner of driving the at least three clamping
具体而言，参阅图8，图8是本发明一实施例的夹持环的示意图，本实施例的驱动组件被配置为呈圆筒状的夹持环20，夹持环20的中心轴线与第一轴线A共线，夹持环20可以围绕第一轴线A转动，夹持环20的内周布设有一圈的轮齿。夹持部10的第二轴线B与第一轴线A平行，且各个夹持部10的第二轴线B围绕第一轴线A周向分布，夹持部10的外接面11呈圆弧状，且第二轴线B为外接面11所在圆的中心线，外接面11上布设有轮齿。如此，可通过外接面11上的轮齿和夹持环20的内周上的轮齿实现夹持部10和夹持环20之间的啮合连接，当夹持环20围绕第一轴线A转动时，通过啮合传动驱使各个夹持部10同步且同向转动。本实施例对于驱使夹持环20围绕第一轴线A转动的方式不做具体限定，继续参阅图8，在一示例性的实施例中，夹持环20的外周也布设有一圈的轮齿，夹持单元2还包括第一旋转电机61和第一齿轮51，第一齿轮51与夹持环20的外周啮合，第一旋转电机61的旋转轴与第一齿轮51连接，如此，通过第一旋转电机61以及第一齿轮51的啮合传动实现夹持环20的转动。在一可替代性的实施例中，第一齿轮51可用具有啮合传动关系的多个齿轮或齿件与第一旋转电机61连接。Specifically, referring to FIG. 8 , FIG. 8 is a schematic diagram of a clamping ring according to an embodiment of the present invention. The driving assembly of this embodiment is configured as a
进一步地，参阅图4、图5、图9和图10，图9是本发明一实施例的基座的示意图，图10是本发明一实施例的夹持单元的侧视图，夹持单元2包括基座40和连接轴30，连接轴30的中心轴线与第二轴线B共线，连接轴30的一端连接夹持部10，连接轴30的另一端连接在基座40上，连接轴30具体转动容置在基座40的定位孔43中，基座40以及连接轴30的配置对夹持部10起到支撑定位作用。可理解的，基座40上对应至少三个夹持部10的至少三个定位孔43也是围绕第一轴线A周向排布的。优选地，参阅图11，图11是本发明一实施例的基座的另一示意图，定位孔43中布置第一环形轴承80，可以减小连接轴30在定位孔43中的转动摩擦。Further, referring to FIG. 4, FIG. 5, FIG. 9 and FIG. 10, FIG. 9 is a schematic diagram of a base according to an embodiment of the present invention, and FIG. 10 is a side view of a clamping unit according to an embodiment of the present invention. The
优选地，基座40被配置为可围绕第一轴线A转动。如此配置，基座40保持固定不转时，夹持环20转动驱使夹持部10将介入器械110夹持固定，随后，夹持环20继续转动，基座40同步也进行转动运动，可以使得介入器械110作旋转运动，适用更多的血管介入手术场景。此外，基座40和夹持环20的同步转动也可以提升旋转控制的精度。Preferably, the
本实施例对于驱使基座40旋转的方式不做具体限制。比如基座40可配置为呈圆形，基座40的外周布设一圈的轮齿，基座40的外周通过第二齿轮52与第二旋转电机62连接(图14所示)，这里的配合方式与夹持环20、第一齿轮51和第一旋转电机61三者之间的配合方式相似，不再展开说明。In this embodiment, there is no specific limitation on the manner of driving the
进一步地，参阅图8，所述夹持环20具有第一开口通道21，所述第一开口通道21贯穿所述夹持环20的内周和外周，优选地，第一开口通道21沿夹持环20的径向贯穿夹持环20；所述第一开口通道21贯穿所述夹持环20的轴向两端，优选地，第一开口通道21沿夹持环20的轴向贯穿夹持环20，在其他一些实施例中，第一开口通道21的延伸方向也可以是与夹持环20的轴向呈夹角，第一开口通道21不仅可以是直线形，还可以是曲线形、波浪线形。参阅图5、图9和图11，所述基座40具有穿孔41以及与所述穿孔41连通的第二开口通道42，所述穿孔41沿所述第一轴线A贯穿所述基座40，穿孔41用于容置介入器械110，所述第二开口通道42沿所述穿孔41的径向向外贯穿所述基座40，且所述第二开口通道42贯穿所述基座40沿所述第一轴线A的两端，第二开口通道42优选为沿平行第一轴线A的方向贯穿基座40的两端，在其他一些实施例中，第二开口通道42的延伸方向也可以是与夹持环20的轴向呈夹角，第二开口通道42不仅可以是直线形，还可以是曲线形、波浪线形。此外，所述第一开口通道21和所述第二开口通道42可被配置为沿贯穿所述夹持空间C的直线方向相对齐，沿穿孔41的径向大致共线，以供介入器械110进入到夹持空间C中。在一实施例中，可至少通过夹持环20的转动运动让第一开口通道21和第二开口通道42大致上共线，从而让介入器械110通过第一开口通道21和第二开口通道42进入到夹持空间C和穿孔41中。Further, referring to FIG. 8, the clamping
参阅图1和图3，本实施例的夹持单元2还包括壳体100，壳体100具有一容置空间D，容置空间D大致呈圆孔状，在其他一些实施例中，也可以呈正多边形状，夹持环20和基座40均容置在该容置空间D中，且夹持环20和基座40与容置空间D适形配合。壳体100可以是一体构造成型，也可以是多个基壳相互装配成型(装配方式比如可以是螺钉连接)，并在装配后形成该容置空间D。示例性而言，参阅图1，壳体100包括上壳组101和下壳组102，上壳组101和下壳组102可分离地连接，二者装配形容置空间D。参阅图2和图3，此外，壳体100还具有第三开口通道103，第三开口通道103贯穿壳体100沿第一轴线A的方向的两端，优选为沿平行第一轴线A的方向贯穿壳体100，第三开口通道103还与容置空间D连通，并沿容置空间D的径向向外贯穿壳体100，如此可以使得介入器械110通过第三通道进入到壳体100内，随后通过第一通道和第二开口通道42进入到夹持空间C和穿孔41中。1 and 3, the
参阅图1，作为进一步地实施例的细节，容置空间D包括沿第一轴线A排布的第一容置部分和第二容置部分，上壳组101包括第一上壳1011和第二上壳1012，下壳组102包括第二下壳1022和第二下壳1022，第一上壳1011和第一下壳1021相互装配形成容置夹持环20的呈圆孔形的第一容置部分，第二上壳1012和第二下壳1022相互装配形成容置基座40的呈圆孔形的第二容置部分。Referring to FIG. 1 , as a further embodiment details, the accommodation space D includes a first accommodation portion and a second accommodation portion arranged along the first axis A, and the
此外，作用于夹持环20的第一齿轮51和第一旋转电机61以及作用于基座40的齿轮和电机均可设置在壳体100上，比如作用于夹持环20的第一齿轮51和第一旋转电机61设置于第一下壳1021，作用于基座40的齿轮和电机设置于第二下壳1022。In addition, the
优选地，夹持单元2包括多个滚轴70(图1所示)，且多个滚轴70沿容置空间D的周向依次布置在容置空间D中，且第一容置部分和第二容置部分分别周向布置多个滚轴70，滚轴70的轴向平行于第一轴线A，滚轴70可围绕自身的中心轴线自转，第一容置部分的滚轴70与夹持环20接触，第二容置部分的滚轴70与基座40接触。滚轴70的设置，使得夹持环20和基座40在容置空间D中的转动摩擦减小。Preferably, the
在一可替代性的实施例中，多个滚轴70的方案可用第二环形轴承90(图2和图3所示)替代，第一容置部分设置一个第二环形轴承90，第二容置部分设置另一个第二环形轴承90，第一容置部分的第二环形轴承90与夹持环20接触，第二容置部分的第二环形轴承90与基座40接触。In an alternative embodiment, the solution of a plurality of
基于上述的夹持单元2，本实施例还提供一种血管介入手术系统(具体可以是血管介入机器人系统)，其包括如上所述的夹持单元2以及介入器械110，介入器械110包括导管/导丝；所述介入器械110沿所述第一轴线A容置在所述夹持空间C中，以通过至少三个夹持部10围绕各自的第二轴线B同步且同向转动从而缩小或扩大所述夹持空间C，进而夹持限定介入器械110或者解除对介入器械110的夹持限定，也即夹紧或者松开介入器械110。Based on the above-mentioned
图12是本发明一实施例的血管介入手术系统的示意图。优选地，参阅图12，血管介入手术系统包括至少两个夹持输送模块1，比如图12示范出间隔排布的两个夹持输送模块1。图13是本发明一实施例的血管介入手术系统中夹持输送模块1的示意图，参阅图12和图13，每个夹持输送模块1均包括前文所述的夹持单元2，至少两个所述夹持输送模块1的夹持单元2沿所述第一轴线A依次(间隔地)排布，所述夹持单元2沿所述第一轴线A在一预设的行程范围内可移动地设置。如此，当夹持单元2通过至少三个夹持部10将介入器械110夹持固定时，可以基于夹持单元2在自身对应的行程范围内的移动从而带动介入器械110同步移动，实现介入器械110的前进或者回退，从而实现介入器械110向患者的体内输送或者从患者的体内回撤。可理解的，夹持单元2在预设行程范围内可移动，也即夹持单元2在沿第一轴线A的一定长度范围内可以移动(前进或者后退)，比如夹持单元2在沿第一轴线A的20cm的行程范围内可往返移动。需说明的是，本实施例的至少两个夹持输送模块1的夹持单元2沿所述第一轴线A依次排布，相邻两个夹持单元2各自对应的行程范围可以是沿第一轴线A间隔排布的，无重合部分，也可以是相邻的两个夹持单元2各自对应的行程范围有一部分重合。此外，各个夹持单元2对应的行程范围大小可以相等，也可以不等。Fig. 12 is a schematic diagram of a vascular interventional surgery system according to an embodiment of the present invention. Preferably, referring to FIG. 12 , the vascular interventional surgery system includes at least two clamping delivery modules 1 , for example, FIG. 12 demonstrates two clamping delivery modules 1 arranged at intervals. Fig. 13 is a schematic diagram of the clipping and delivery module 1 in the vascular interventional surgery system according to an embodiment of the present invention. Referring to Fig. 12 and Fig. 13, each clipping and delivery module 1 includes the
进一步地，至少一个所述夹持输送模块1的夹持单元2夹持限定所述介入器械110时，其余的所述夹持输送模块1的夹持单元2解除对所述介入器械110的夹持限定。Further, when at least one
如上的血管介入手术系统，夹持单元2夹持介入器械110时可以基于夹持单元2在对应的行程范围内的移动来带动介入器械110前进或者后退，从而通过至少一个夹持输送模块1的夹持单元2夹持限定介入器械110时，其余的夹持输送模块1的夹持单元2松开介入器械110，可以使得至少两个夹持输送模块1的夹持单元2交替夹持介入器械110来交替驱使介入器械110前进或者后退。并且，在这种交替夹持介入器械110来交替驱使介入器械110前进或者后退的工作模式中，当夹持单元2对介入器械110的动作由夹持变成松开后，夹持单元2将沿第一轴线A移动而复位至之前对应于夹持介入器械110的位置，参阅图13说明，比如夹持单元2位于图2中的右上侧时将介入器械110夹持，随后夹持单元2从右上侧运动到图13中的左下侧，从而带动介入器械110移动相应的距离(在这个移动过程中，夹持单元2可以遍历整个行程范围，也可只遍历一部分行程范围)，当夹持单元2运动到左下侧时，夹持单元2将松开介入器械110，并从图13中左下侧移动复位至右上侧。一方面，这种交替夹持带动介入器械110移动的工作模式可以实现介入器械110的输送动作或者回撤动作的连贯性；另一方面，这种交替夹持带动介入器械110移动的工作模式对介入器械110的输送或回撤距离不会有限制，无需借助长导轨便可实现介入器械110进行长距离的进退运动，整体装置结构紧凑小巧，可以节省手术室空间。As in the above vascular interventional surgery system, when the
示例而言，以图12示范出的两个夹持输送模块1进行说明，且手术场景是需要将介入器械110输送至患者的体内，并定义输送方向大致为图12中右上指向左下的方向，则回撤方向相应大致为图12中左下指向右上的方向。第一阶段：左下的夹持单元2夹持介入器械110，右上的夹持单元2松开介入器械110，左下的夹持单元2沿输送方向移动一段距离，从而带动介入器械110输送相应的距离，随后左下的夹持单元2松开介入器械110，并沿回撤方向移动复位；第二阶段：右上的夹持单元2夹持介入器械110，左下的夹持单元2松开介入器械110，右上的夹持单元2沿输送方向移动一段距离，从而带动介入器械110移动相应的距离，随后右上的夹持单元2松开介入器械110，并沿回撤方向移动复位；第三阶段：重复第一阶段和第二阶段，直至介入器械110的输送长度符合手术要求。As an example, two clamping delivery modules 1 illustrated in FIG. 12 are used for illustration, and the surgical scenario is that the
在一手术场景中，介入器械110包括导丝和导管中的一者，手术机器人系统的器械夹持输送模块1配置至少两个夹持输送模块1，从而实现对介入器械110输送和回撤的控制。In a surgical scenario, the
在另一手术场景中，介入器械110包括导丝和导管，导丝穿设在导管中，手术机器人系统的器械夹持输送模块1包括至少四个夹持输送模块1，至少四个夹持输送模块1的夹持单元2沿第一轴线A依次排布，其中的至少两个夹持输送模块1的夹持单元2用于实现对导管输送及回撤的控制，另外的至少两个夹持输送模块1的夹持单元2用于实现对导丝输送及回撤的控制。In another surgical scenario, the
进一步地，参阅13，关于夹持单元2可移动布置的形式，夹持输送模块1包括导向结构130，夹持单元2可移动地与夹持输送模块1的导向结构130连接，导向结构130的延伸方向平行第一轴线A，所述导向结构130被配置为限制所述夹持单元2的移动线路为所述第一轴线A，也即夹持单元2于导向结构130上可以移动，并且导向结构130将夹持单元2的移动线路规划为沿第一轴线A。关于行程范围的具体配置形式，比如本实施的夹持单元2对应的行程范围被配置为所述导向结构130沿所述第一轴线A的方向上的尺寸的至少一部分。Further, referring to 13, regarding the movably arranged form of the
可理解的，导向结构130沿平行于第一轴线A的方向的尺寸(长度)将限制夹持单元2的移动范围，夹持单元2可移动地安装在导向结构130上，则夹持单元2的移动范围不会超出导向结构130沿平行于第一轴线A的方向的最大尺寸，也即夹持单元2对应配置的行程范围不会超过导向结构130沿第一轴线A的方向的最大尺寸。实际地，考虑到导向结构130还会与其他结构进行配合，或者考虑到夹持输送模块1中各个结构的装配方式，夹持单元2的移动范围通常都会小于导向结构130沿第一轴线A的方向的最大尺寸，比如夹持单元2对应的行程范围最大值可配置为导向结构130沿平行于第一轴线A的方向的最大尺寸的3/4。需说明的是，各个夹持输送模块1的导向结构130沿平行于第一轴线A的方向的长度可以相等，也可不等，各个夹持输送模块1中的夹持单元2被对应的导向结构130配置的行程范围可相等，也可不等，本实施例对此不限制。It can be understood that the size (length) of the
关于导向结构130的具体构造，比如导向结构130包括第一导轨131和滑台组件133，所述第一导轨131平行所述第一轴线A且沿第一轴线A的位置固定，所述滑台组件133可移动地安装在所述第一导轨131上，所述滑台组件133与所述夹持单元2连接。如此，滑台组件133在第一导轨131上移动时，可以带动夹持单元2同步移动。滑台组件133与第一导轨131的配合方式包括但不限于是滑套与导向的配合方式、滑轮与滑轨的配合方式、滑块与导向凹槽151的配合方式。对应的，夹持单元2对应的行程范围可理解为第一导轨131的长度尺寸的至少一部分。Regarding the specific structure of the
进一步地，导向结构130还包括与第一导轨131平行的第二导轨132，滑台组件133通过第二导轨132与夹持单元2连接。具体而言，第二导轨132固定在滑台组件133上，第二导轨132可移动地穿设夹持单元2；滑台组件133沿第二导轨132的方向的两侧(也即滑台组件133沿第一轴线A方向的两侧，进一步是沿第一轴线A的方向的两个内侧)用于与夹持单元2抵接。如此，当滑台组件133沿第一导轨131移动时，第二导轨132会在夹持单元2中穿设移动，并且当滑台组件133在第二导轨132的导航作用下使得滑台组件133的其中一侧与夹持单元2抵接时，滑台组件133的继续移动的过程中，将推动夹持单元2一起移动。需说明的是，本实施例对于第一导轨131和第二导轨132各自的数量不作限制，优选地，第一导轨131为至少两个，且相互平行，第二导轨132为至少两个，且相互平行。Further, the
优选地，参阅图14，图14是本发明一实施例的夹持输送模块的另一示意图，滑台组件133和夹持单元2之间设置力传感器160，力传感器160设置可以在滑台组件133上，也可以设置在夹持单元2上(比如力传感器160可以设置在夹持单元2的壳体100上，壳体100用于与滑台组件133抵接)。当滑台组件133与夹持单元2抵接时，滑台组件133驱使夹持单元2移动，力传感器160可以实时检测滑台组件133施加给夹持单元2的推送力的大小，并将推送力的值反馈给医生，使得医生可以控制手术操作中的施力大小，避免施力过大导致介入器械对血管壁造成较大的伤害，从而保证手术安全。可理解的，第二滑轨132正是为了配合力传感器160而设计。Preferably, referring to FIG. 14 , FIG. 14 is another schematic diagram of the clamping and conveying module according to an embodiment of the present invention. A
作为进一步实施的细节，夹持输送模块1还包括底座150，底座150的延伸方向比如可以平行于第一轴线A。导向结构130安装在底座150上，例如，底座150具有凹槽151，第一导轨131可固定在凹槽151中。滑台组件133包括彼此固定连接的第一滑台1331和第二滑台1332，第一滑台1331可移动地安装在第一导轨131上，第二导轨132固定在第二滑台1332上，且第二导轨132可移动地穿设在夹持单元2的连接滑台120中，第二滑台1332沿第二导轨132的方向的两侧用于与夹持单元2抵接，使得第二滑台1332的其中一侧与夹持单元2抵接，推动夹持单元2移动。第二滑台1332沿第二导轨132的方向的两侧均设有力传感器160，或者夹持单元2沿第一轴线A的两侧均设有力传感器160(也可以理解为壳体100沿第一轴线A的两侧均设有力传感器160)。As a further implementation detail, the clamping and conveying module 1 further includes a
图15是本发明一实施例的血管介入系统的另一示意图。参阅图15，各个夹持输送模块1的底座150之间的位置关系包括如下两种情况中的至少一者：(1)参阅图12，至少两个所述夹持输送模块1的底座150沿平行于所述第一轴线A的方向共线排布；(2)参阅图15，图3是本发明一实施例的器械输送装置的另一示意图，至少两个所述夹持输送模块1的底座150沿所述第一轴线A的方向并排设置。进一步地，使得至少两个底座150并排布置且仍需满足至少两个夹持单元2沿第一轴线A共线排布，则可以将滑台组件133(比如可以是滑台组件133中的第一滑台1331)沿垂直第一轴线A的方向延伸一定宽度后位于相邻两个底座150之间。相应地，当相邻的两个底座150共线排布时，对应安装的两个导向结构130也可配置为共线排布；当相邻的两个底座150并排设置时，对应安装的两个导向结构130也可配置为并行排布置。可选地，至少两个夹持输送模块1的底座150还可以一体成型，可理解为至少两个夹持单元2随同对应导向结构130安装在同一个尺寸较大的底座150上。Fig. 15 is another schematic diagram of the vascular intervention system according to an embodiment of the present invention. Referring to FIG. 15 , the positional relationship between the
对应于前文所言，相邻的两个夹持单元2各自对应的行程范围包括无重合情况和部分重合情况，参阅图1，相邻的两个底座150共线布置或者共线间隔布置时，对应的两个夹持单元2各自对应的行程范围可无重合部分，相邻两个底座150并行排布时，对应的两个夹持单元2各自对应的行程范围有一部分是重合的。Corresponding to what has been said above, the travel ranges corresponding to the two
进一步地，本实施例配置有与夹持单元2连接的驱动结构140，该驱动结构140用于驱使夹持单元2沿第一轴线A移动。驱动结构140可以是直接与夹持单元2连接，也可以是通过一些中间部件与夹持单元2连接，比如驱动结构140可以通过滑台组件133与夹持单元2连接。本实施例中，驱动结构可以是基于旋转运动转换为线性运动的原理配置的，具体而言，驱动结构140包括沿平行所述第一轴线A的方向延伸的自转件141，所述夹持单元2与所述自转件141可转动地连接，所述驱动结构140被配置为将所述自转件141的旋转运动转换为所述夹持单元2沿所述第一轴线A的线性运动。在其他一些实施例中，驱动结构也可以是直线电机等相关部件。需说明的是，本实施例的驱动结构140可以配合导向结构130一起使用从而驱使夹持单元2移动，也可只配置驱动结构140来驱使夹持单元2移动。Further, this embodiment is configured with a driving
参阅图13和图14，本实施例的驱动结构140与滑台组件133连接，驱动结构140用于驱动滑台组件133沿第一导轨131移动，从而带动夹持单元2移动。更进一步地，所述驱动结构140包括沿平行所述第一轴线A的方向延伸的自转件141，所述滑台组件133与所述自转件141可转动地连接，所述驱动结构140被配置为将所述自转件141的旋转运动转换为所述滑台组件133沿所述第一导轨131的线性运动，从而在自转件141的旋转作用下驱使滑台组件133沿第一导轨131移动。优选地，驱动结构140还包括与自转件141连接的第三旋转电机142，第三旋转电机142驱动自转件141转动。第三旋转电机142比如可以安装在底座150沿第一轴线A的方向的一侧端面上，自转件141比如可以安装在底座150的凹槽151中。Referring to FIG. 13 and FIG. 14 , the driving
在一示范性的实施例中，可基于滚珠丝杠的工作原理来配置驱动结构140，具体而言，自转件141的至少一部分具有丝杠的特征，第一滑台1331具有螺纹孔的特征，且螺纹孔特征和丝杠的特征实现自转件141与第一滑台1331的螺纹连接。在一可替代的实施例中，可基于涡轮蜗杆的工作原理来配置驱动结构140，具体而言，自转件141的至少一部分具有蜗杆特征，第一滑台1331具有涡轮的特征，通过涡轮的特征和蜗杆的特征实现自转件141与第一滑台1331的啮合连接。在其他一些实施例中，驱动结构140可直接采用直线驱动电机。In an exemplary embodiment, the driving
综上所述，在本发明提供的夹持单元及血管介入手术系统中，该夹持单元具有第一轴线；夹持单元包括基座以及与基座连接的至少三个夹持部，且至少三个所述夹持部围绕所述第一轴线周向分布，以限定形成一夹持空间；所述夹持部具有第二轴线，至少一个所述夹持部围绕自身的第二轴线与基座转动连接，以沿扩大或缩小所述夹持空间；第一轴线与第二轴线不垂直。如此配置，第一方面，夹持单元通过至少三个夹持部围绕第一轴线周向排布而形成夹持空间，介入器械容置在此夹持空间中，通过至少一个夹持部围绕自身的第二轴线转动而缩小夹持空间，使得各个夹持部与介入器械抵靠并向介入器械施加压力，从而将介入器械夹持固定在此夹持空间中，提高夹持稳定性，避免打滑；第二方面，至少一个夹持部围绕自身的第二轴线转动以改变夹持空间的大小，可以使得装置应用于多种不同尺寸的介入器械，体现出装置具有较好的通用性和兼容性，夹持部旋转改变夹持空间大小的方式，也体现出本装置夹持固定介入器械的操作流程的简单性。In summary, in the clamping unit and the vascular interventional operation system provided by the present invention, the clamping unit has a first axis; the clamping unit includes a base and at least three clamping parts connected to the base, and at least The three clamping parts are distributed circumferentially around the first axis to define and form a clamping space; the clamping parts have a second axis, and at least one clamping part surrounds itself with the second axis and the base The seat is rotatably connected to expand or reduce the clamping space; the first axis is not perpendicular to the second axis. So configured, in the first aspect, the clamping unit forms a clamping space by arranging at least three clamping parts circumferentially around the first axis, the interventional instrument is accommodated in this clamping space, and surrounds itself by at least one clamping part The second axis rotates to reduce the clamping space, so that each clamping part abuts against the interventional instrument and exerts pressure on the interventional instrument, thereby clamping and fixing the interventional instrument in this clamping space, improving the clamping stability and avoiding slippage In the second aspect, at least one clamping part rotates around its second axis to change the size of the clamping space, which can make the device applicable to a variety of interventional instruments of different sizes, reflecting that the device has better versatility and compatibility , the manner in which the clamping part rotates to change the size of the clamping space also reflects the simplicity of the operation process of the device clamping and fixing the interventional instrument.
上述描述仅是对本发明较佳实施例的描述，并非对本发明范围的任何限定，本发明领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于本发明技术方案的保护范围。The above description is only a description of the preferred embodiments of the present invention, and does not limit the scope of the present invention. Any changes and modifications made by those of ordinary skill in the field of the present invention based on the above disclosures belong to the protection scope of the technical solution of the present invention.
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