CN110236679A - A kind of intervention operation robot disinfection box - Google Patents
A kind of intervention operation robot disinfection box Download PDFInfo
- Publication number
- CN110236679A CN110236679A CN201910620803.XA CN201910620803A CN110236679A CN 110236679 A CN110236679 A CN 110236679A CN 201910620803 A CN201910620803 A CN 201910620803A CN 110236679 A CN110236679 A CN 110236679A
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- China
- Prior art keywords
- disinfection box
- intervention operation
- conduit
- connection
- seal wire
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- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 83
- 238000000605 extraction Methods 0.000 claims abstract description 4
- 230000001737 promoting effect Effects 0.000 claims abstract description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 229910052742 iron Inorganic materials 0.000 claims description 4
- 230000000903 blocking effect Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 210000004204 blood vessel Anatomy 0.000 abstract description 12
- 230000009471 action Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 9
- 230000002526 effect on cardiovascular system Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000001356 surgical procedure Methods 0.000 description 5
- 208000024172 Cardiovascular disease Diseases 0.000 description 4
- 208000026106 cerebrovascular disease Diseases 0.000 description 4
- 230000006378 damage Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 230000001141 propulsive effect Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- XEBWQGVWTUSTLN-UHFFFAOYSA-M phenylmercury acetate Chemical compound CC(=O)O[Hg]C1=CC=CC=C1 XEBWQGVWTUSTLN-UHFFFAOYSA-M 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000002792 vascular Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 208000002177 Cataract Diseases 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 208000032839 leukemia Diseases 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000001568 sexual effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/20—Targets to be treated
- A61L2202/24—Medical instruments, e.g. endoscopes, catheters, sharps
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Epidemiology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of intervention operation robot disinfection box, comprising: disinfection box body, and it is mounted on push part, pushing part, conduit rotation section, clamping section and the rubbing portion of disinfection tray interior；Push part, pushing part and clamping section cooperation for clamping and unclamping seal wire, and then drive seal wire mobile；Conduit rotation section is for clamping conduit and promoting conduit intravascular or from intravascular extraction；Rubbing portion is for driving seal wire to rotate.The present invention provides a kind of intervention operation robot disinfection box, it may be implemented in blood vessel intervention operation to the propulsion of conduit and seal wire and recall, and rotate seal wire simultaneously, and can realize continuous action by the structure moved back and forth；Easy to operate, control is accurate；Doctor be can satisfy in blood vessel intervention operation to the operation of catheter guide wire, reach remote control robot and complete operation, greatly reduce the risk received compared with multi x-ray, protect the body of doctor.
Description
Technical field
The present invention relates to interventional surgery technical field, more particularly in intervention operation robot from
The control technology of catheter guide wire, i.e., a kind of intervention operation robot disinfection box in the propulsion of end.
Background technique
The whole world has nearly 30,000,000 people to die of cardiovascular and cerebrovascular disease every year, and 30% or so of Zhan Suoyou mortality, wherein
China suffers from cardiovascular and cerebrovascular disease number nearly 300,000,000.Cardiovascular and cerebrovascular disease has become one of the three big reasons of human diseases death,
Drastically influence national health and the normal life of people.
The minimally invasive interventional therapy of cardiovascular and cerebrovascular is the essential therapeutic arsenals for cardiovascular and cerebrovascular disease.With traditional surgery phase
Than there is the clear superiorities such as notch is small, post-operative recovery time is short.Cardiovascular and cerebrovascular intervention operation be by doctor manually by conduit, lead
The instruments such as silk and bracket are sent into patient the process for completing treatment.
Intervention, which is performed the operation, has following two points, first, in the course of surgery, since DSA can issue X-ray, Yi Shengti
Power decline is very fast, and attention and stability can also decline, and will lead to operation precision decline, it is improper caused that Yi Fashengyin pushes power
The accidents such as blood vessel internal membrane damage, vascular puncture rupture, cause patients ' lives dangerous.Secondly, the accumulation injury of long-term ionising radiation
The probability of doctor's cases with leukemia, cancer and acute cataract can significantly be increased.Doctor is constantly long-pending because intervention operation is done
The phenomenon that tired ray, has become damage Doctors ' Occupational life, restricts intervention and perform the operation and develop very important problem.
By carrying out conduit by robot technology, the operation method of seal wire remote operating can successfully manage this problem,
The precision and stability of surgical procedure can also be greatly improved, while can be effectively reduced injury of the radioactive ray to intervention doctor,
Reduce the occurrence probability of accident in art.Therefore, cardiovascular and cerebrovascular intervention operation auxiliary robot is more and more of interest by people,
It is increasingly becoming emphasis of the current each science and technology power in medical robot field and researches and develops object.
External blood vessel intervention operation robot research relatively early, but not yet fully achieves clinical application.Domestic correlation is ground
Study carefully and start late, mainly there is Beijing Institute of Technology, Institutes Of Technology Of Tianjin, BJ University of Aeronautics & Astronautics and Harbin Institute of Technology
Deng.
Blood vessel intervention operation robot mainly uses principal and subordinate end to operate structure at present, by doctor and radiation sexual isolation, such as
Institutes Of Technology Of Tianjin application No. is: 201410206956.7, publication date are as follows: the patent of invention on the 17th of September in 2014 discloses
From operating device, it includes that axial push unit, rotary unit, clamping are single for a kind of principal and subordinate's interventional surgery auxiliary system
Member, surgical catheters, operating force detection unit and tilt adjustable pedestal, working method include signal detection, transmitting, processing, move
Make.Superiority is that can imitate the interventional procedure movement of doctor, and operation precision is high, effectively improves operation safety, intervention position
It can adjust the angle, using aluminum alloy materials, size is small, light weight.The invention can be good at completing the push of seal wire, and
Force feedback is realized using magnetorheological fluid.For another example, BJ University of Aeronautics & Astronautics application application No. is: 201210510169.2,
Publication date are as follows: the patent document on the 17th of September in 2014 discloses a kind of Master-slave teleoperation vascular intervention surgical robot, packet
Include main side operating-controlling mechanism, from end propulsive mechanism, PMAC controller；Main side operating-controlling mechanism is the operating side of doctor；From end pusher
Executing agency of the structure as robot, completes the motor function of conduit；PMAC control cabinet be used to realize main side operating-controlling mechanism with from
The information transmitting between propulsive mechanism is held, uses principal and subordinate's remote operating mode that doctor is assisted to implement operation, propulsive mechanism is realized from end
The axial feed of conduit and the movement that rotates in a circumferential direction.
But above scheme still has problem following aspects: (1) it is to the disinfection of robot relatively complicated, no
Meet actual operation demand；(2) the relatively too fat to move complexity of structure, volume is big, and installation is inconvenient, inflexible convenience；(3) conduit
The dismounting of seal wire is inconvenient, is not easy to replace catheter guide wire in operation；(4) can not accomplish to promote and rotate seal wire simultaneously, this
It operates very useful in actual operation；(5) device influences surgical effect to slipping phenomenon is easy to appear in the propulsion of seal wire.
Therefore, how the intervention operation robot disinfection of a kind of movement convenient for conduit and seal wire and rotation control is provided
The problem of box is those skilled in the art's urgent need to resolve.
Summary of the invention
In view of this, the present invention provides a kind of intervention operation robot disinfection box, convenient for the movement to conduit and seal wire
It is controlled with rotation.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of intervention operation robot disinfection box, comprising: disinfection box body, and it is mounted on pushing away for the disinfection tray interior
Send portion, pushing part, conduit rotation section, clamping section and rubbing portion；
The push part, the pushing part and clamping section cooperation, for clamping and unclamping seal wire, and then drive seal wire
It is mobile；
The conduit rotation section is for clamping conduit and promoting conduit intravascular or from intravascular extraction；
The rubbing portion is for driving seal wire to rotate.
Through the above technical solutions, blood vessel Jie may be implemented the present invention provides a kind of intervention operation robot disinfection box
Enter in operation to the propulsion of conduit and seal wire and recall, and rotate seal wire simultaneously, and the structure that moves back and forth, realization can be passed through
Continuous action.Easy to operate, control is accurate.Doctor be can satisfy in blood vessel intervention operation to the operation of seal wire, reach long-range
Remote-controlled robot completes operation, greatly reduces the risk received compared with multi x-ray, protects the body of doctor.
Preferably, the disinfection box body includes bottom surface and upper cover；Cover opening handle is installed on the cover；The upper cover tail
End is connected by flip lid shaft and flip lid；Magnet is fixed on the flip lid interior angle, and iron plate is fixed on another side；Boss installation
Cooperate on the flip lid, and with seal wire groove and catheter groove, forms conduit and silk guide passage；Baffle is for blocking inside zero
Part.Boss is installed on flip lid, and after flip lid closure, boss can cooperate with seal wire groove and catheter groove, is formed conduit and is led
The channel of silk.Baffle is for wrapping up and protecting inner body.
Preferably, in a kind of above-mentioned intervention operation robot disinfection box, the push part includes for conveying power
Transmission component and for drive displacement slide assemblies.
Preferably, in a kind of above-mentioned intervention operation robot disinfection box, the specific structure of the transmission component are as follows: umbrella
Gear and the assembling of long handle spur gear are fixed, and are fixedly connected on piece by bearing；The umbrella gear and cam umbrella gear are nibbled
It closes；Spur gear is mounted in the connection sheet by bearing；The boss of long handle spur gear and the spur gear connects with crank respectively
Bar is connected with straight line connecting rod；The cam umbrella gear is connect with the pushing part；Through-hole umbrella gear is mounted on right angle connection
On plate, and its connecting rod is fixed on the disinfection box body by first bearing by first flap；The through-hole umbrella gear and
The cam umbrella gear engagement.After stepper motor is powered and receives turn signal, gear synchronous at different levels will be driven to rotate,
Rotatory force can be transmitted to the place of needs.
Preferably, in a kind of above-mentioned intervention operation robot disinfection box, the specific structure of the slide assemblies are as follows: crank
Connecting rod, straight line connecting rod and two groups of connectors are connected；Miniature straight line long guideway is fixed on first right-angle connecting plate；Second
Sliding block is separately fixed at the both ends of first right-angle connecting plate；And it is sliding with the first straight line guide rail on the disinfection inboard wall of cartridge
Dynamic connection；Miniature sliding block is mounted on the second straight line guide rail, and is connected with the connector；Third linear guide is fixed on
On the connector；Small slide block connector is fixedly connected with the small slide block in the third linear guide, and upper end and narrow sliding block
Connection；Push rod penetrates in the narrow sliding block；The groove part of the push rod and pushing part clamping；The connection sheet and medical
Rubber block fitting is fixed, and is connect with the narrow sliding block.Medical grade rubber block can be contacted with seal wire, for completing the behaviour to seal wire
Make.
Preferably, in a kind of above-mentioned intervention operation robot disinfection box, the specific structure of the pushing part are as follows: left end branch
Frame and right end bracket are fixed on bottom surface jointly；Miniature bearing and small bearing are each passed through cam set, and are fixed on the left side
It holds on bracket and the right end bracket.For reducing friction when rotation；Cam set can rotate and push rod is used cooperatively, and use
In clamping and open seal wire.
Preferably, in a kind of above-mentioned intervention operation robot disinfection box, the specific structure of the conduit rotation section are as follows: turn
Axis is connected with 3rd bearing, and upper end is connected with friction pulley, and the friction pulley is equipped with second bearing, and lower end is fixedly connected on
On the disinfection box body；Push rod is penetrated in the disinfection box body by the first spring；The upper end is connected with fixing piece, middle part and
Connecting rod contact；One end of the connecting rod has rack gear, and is fixed with third sliding block；The third sliding block and the disinfection box
The 4th fixed linear guide cooperation on body；Fixing piece clamps the friction pulley.It is rotated forward by control stepper motor, band turn
Axis turns clockwise, clamps conduit by a friction pulley, can be by catheter propelling into intravascular.Pass through control stepper motor reversion, energy
Catheter propelling is gone out into blood vessel.
Preferably, in a kind of above-mentioned intervention operation robot disinfection box, the specific structure of the clamping section are as follows: right angle bottom
Plate and the connection of the 5th sliding block, the 5th sliding block and the intracorporal 6th linear guide cooperation of the disinfection box；The right angle bottom plate
Upper end is connected with the 7th linear guide；6th sliding block and the second right-angle connecting plate are connected, and cooperate with the 7th linear guide；
Pillar is mounted on the right angle bottom plate, and the pillar is provided with third spring, and the third spring and second right angle connect
Fishplate bar connection；5th linear guide is mounted on second right-angle connecting plate, and is matched with the Four-slider, connection sheet
It is connected with the Four-slider, and medical grade rubber block is housed；Right angle connecting rod is connected with second right-angle connecting plate.Pass through control
Stepper motor reversion, can make device clamp catheter guide wire.
Preferably, in a kind of above-mentioned intervention operation robot disinfection box, connecting rod and second spring are matched, for incuding
Whether the flip lid of the disinfection box body fastens.Otherwise, which will be jacked up in the effect of spring.
Preferably, in a kind of above-mentioned intervention operation robot disinfection box, pinion gear and two gears are mutually twisted, and logical
It crosses fourth bearing and third baffle is fixedly connected on the disinfection box body；Left side lead screw push rod and right side lead screw push rod are worn respectively
The screw in the gear is crossed, the upper end is connect with right-angle connecting plate and right angle bottom plate respectively.It is rotated forward by control stepper motor,
It drives pinion gear to rotate forward, so that two gears be driven to do opposite direction rotation, is acted on by lead screw, two plate faces may be implemented and exist
Relative motion in vertical direction cooperates other component, the clockwise rotation to seal wire may be implemented；By controlling stepping
The counter-clockwise rotary motion to seal wire then may be implemented in motor reversal, to meet the rotation demand in operation to seal wire.
It can be seen via above technical scheme that compared with prior art, the present disclosure provides a kind of intervention surgical engines
Device people's disinfection box, has the advantages that
1, the present invention provides a kind of intervention operation robot disinfection box, may be implemented in blood vessel intervention operation to conduit and
It the propulsion of seal wire and recalls, and rotates seal wire simultaneously, and can realize continuous action by the structure moved back and forth.Operation letter
Single, control is accurate.Doctor be can satisfy in blood vessel intervention operation to the operation of seal wire, reach remote control robot and complete hand
Art greatly reduces the risk received compared with multi x-ray, protects the body of doctor.
2, intervention operation robot disinfection box of the present invention can be dismantled using the mounting means of plug-in with Fast Installation.
Operation need to only use new disinfection box, the difficult problem of effective solution robot disinfection every time.
3, intervention operation robot disinfection box of the present invention, innovative uses the Design of Mechanical Structure moved back and forth, greatly
The volume and weight of device is shortened greatly.It can be good at adapting to true surgical environments demand.
4, intervention operation robot disinfection box of the present invention can realize the clamping of seal wire by operating the device, loosen, push
And recession, it can operate continuously, it is simple and convenient without operations such as midway switchings, it can satisfy blood vessel intervention operation to leading
All demands of silk.
5, the bionics thread rolling structure that the present invention uses meets doctor's practical operation habit, while also may be implemented to promote
Seal wire and rotation seal wire are completed at the same time, and meet the operational requirements in actual operation.
6, seal wire can be controlled simultaneously and conduit is acted, precisely, the function of mounting bracket may be implemented in movement, meets
Operational requirements in actual operation.
7, the structure type of whole box, is easy to use, easy to operate.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 attached drawing is the entirety perspective view of intervention operation robot disinfection box provided by the invention；
Fig. 2 attached drawing is partial structural diagram of uncapping in intervention operation robot disinfection box provided by the invention；
Fig. 3 attached drawing is whole interior structural schematic diagram in intervention operation robot disinfection box provided by the invention；
Fig. 4 attached drawing is push part structural schematic diagram in intervention operation robot disinfection box provided by the invention；
Fig. 5 attached drawing is cam pushing part explosive view in intervention operation robot disinfection box provided by the invention；
Fig. 6 attached drawing is clamping section and the signal of conduit turning portion structure in intervention operation robot disinfection box provided by the invention
Figure；
Fig. 7 attached drawing is rubbing portion structural schematic diagram in intervention operation robot disinfection box provided by the invention.
Wherein:
1- sterilizes box body；
101- cover opening handle；102- renovates shaft；103- circular magnet；104- boss；105- seal wire groove；106- iron
Piece；107- catheter groove；108- baffle；
2- push part；
201- first straight line guide rail；202- first bearing；203- first flap；The first right-angle connecting plate of 204-；205- is bent
Handle connecting rod；206- straight line connecting rod；207- second straight line guide rail；The first sliding block of 208-；209- connector；210- third straight line is led
Rail；211- small slide block connector；212- through-hole umbrella gear；213- umbrella gear；214- cam umbrella gear；215- straight-tooth
Wheel；216- long handle spur gear；The second sliding block of 217-；218- push rod；The narrow sliding block of 219-；220- connection sheet；221- medical grade rubber block；
The pushing part 3-；
The left end 301- bracket；302- miniature bearing；303- cam set；The miniature small bearing of 304-；305- right end bracket；
4- conduit rotation section；
The first spring of 401-；402- push rod；403- connector；The 4th linear guide of 404-；405- third sliding block；406- prolongs
Long axis；407- pinion gear；The right angle 408- connecting rod；409- second flap；410- connecting rod；411- second spring；412- fixing piece；
413- second bearing；414- friction pulley；415- shaft；416- 3rd bearing；
The clamping section 5-；
501- connection sheet；502- Four-slider；The 5th linear guide of 503-；The second right-angle connecting plate of 504-；505- column；
506- third spring；The 5th sliding block of 507-；The 6th linear guide of 508-；The right angle 509- bottom plate；The 6th sliding block of 510-；511- the 7th
Linear guide；
6- rubbing portion；
601- pinion gear；602 fourth bearings；603- third baffle；604- gear；Lead screw push plate on the left of 605-；606- is right
Lateral filament thick stick push plate；
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to attached drawing 1 to attached drawing 7, the embodiment of the invention discloses a kind of intervention operation robot disinfection box, comprising: disinfection
Box body 1, and it is mounted on push part 2, pushing part 3, conduit rotation section 4, clamping section 5 and rubbing portion 6 inside disinfection box body 1；
Push part 2, pushing part 3 and clamping section 5 cooperate, and for clamping and unclamping seal wire, and then drive seal wire mobile；
Conduit rotation section 4 is for clamping conduit and promoting conduit intravascular or from intravascular extraction；
Rubbing portion 6 is for driving seal wire to rotate.
In order to further optimize the above technical scheme, disinfection box body 1 includes bottom surface and upper cover；Cover opening handle 101 is mounted on
On upper lid；Upper cover tail end is connected by flip lid shaft 102 and flip lid；Magnet 103 is fixed on flip lid interior angle, and iron plate 106 is fixed
On another side；Boss 104 is mounted on flip lid, and is cooperated with seal wire groove 105 and catheter groove 107, form conduit and led
Silk channel；Baffle 108 is for blocking inner body.
In order to further optimize the above technical scheme, push part 2 includes transmission component for conveying power and for band
The slide assemblies of dynamic displacement.
In order to further optimize the above technical scheme, the specific structure of transmission component are as follows: umbrella gear 213 and long handle straight-tooth
216 assembling of wheel is fixed, and is fixedly connected on piece 220 by bearing；Umbrella gear 213 and cam umbrella gear 214 engage；Straight-tooth
Wheel 215 is mounted in connection sheet 220 by bearing；The boss of long handle spur gear 216 and spur gear 215 is respectively and crank connecting link
206 are connected with straight line connecting rod 205；Cam umbrella gear 214 is connect with pushing part 3；Through-hole umbrella gear 212 is mounted on right angle company
On fishplate bar 204, and its connecting rod is fixed on disinfection box body 1 by first bearing 202 by first flap 203；Through-hole umbrella tooth
Wheel 212 and cam umbrella gear 214 engage.
In order to further optimize the above technical scheme, the specific structure of slide assemblies are as follows: crank connecting link 205, straight line connecting rod
206 are connected with two groups of connectors 209；Miniature straight line long guideway 207 is fixed on the first right-angle connecting plate 204；Second sliding block
217 are separately fixed at the both ends of the first right-angle connecting plate 204；And it is slided with the first straight line guide rail 201 on disinfection 1 inner wall of box body
Connection；Miniature sliding block 208 is mounted on second straight line guide rail 207, and is connected with connector 209；Third linear guide 210 is fixed
On connector 209；Small slide block connector 211 is fixedly connected with the small slide block in third linear guide 210, and upper end and narrow cunning
Block 219 connects；Push rod 218 penetrates in narrow sliding block 219；The groove part of push rod 218 and pushing part 3 are clamped；Connection sheet 220 and doctor
It is bonded and is fixed with rubber block 221, and connect with narrow sliding block 219.
In order to further optimize the above technical scheme, the specific structure of pushing part 3 are as follows: left end bracket 301 and right end bracket
305 are fixed on bottom surface jointly；Miniature bearing 302 and small bearing 304 are each passed through cam set 303, and are fixed on left end branch
On frame 301 and right end bracket 305.
In order to further optimize the above technical scheme, the specific structure of conduit rotation section 4 are as follows: shaft 415 and 3rd bearing
416 connections, and upper end and friction pulley 414 connect, friction pulley 414 is equipped with second bearing 413, and lower end is fixedly connected on disinfection
On box body 1；Push rod 402 is penetrated in disinfection box body 1 by the first spring 401；The upper end and fixing piece 412 connect, middle part and
Connecting rod 403 contacts；One end of connecting rod 403 has rack gear, and is fixed with third sliding block 405；Third sliding block 405 and disinfection box
The 4th fixed linear guide 404 cooperation on body 1；Fixing piece 412 clamps friction pulley 414.
In order to further optimize the above technical scheme, the specific structure of clamping section 5 are as follows: right angle bottom plate 509 and the 5th sliding block
507 connections, the 5th sliding block 507 and the 6th linear guide 508 sterilized in box body 1 cooperate；509 upper end of right angle bottom plate and the 7th is directly
Line guide rail 511 connects；6th sliding block 510 is connected with the second right-angle connecting plate 504, and cooperates with the 7th linear guide 511；Pillar
It is mounted on right angle bottom plate 509, pillar is provided with third spring 506, third spring 506 and the connection of the second right-angle connecting plate 504；
5th linear guide 503 is mounted on the second right-angle connecting plate 504, and matches with Four-slider 502, connection sheet 501 and
Four-slider 502 connects, and medical grade rubber block is housed；Right angle connecting rod 408 and the connection of the second right-angle connecting plate 504.
In order to further optimize the above technical scheme, connecting rod 410 and second spring 411 match, for incuding disinfection box
Whether the flip lid 1 of body 1 fastens.
In order to further optimize the above technical scheme, pinion gear 601 and two gears 604 are mutually twisted, and pass through the 4th
Bearing 602 and third baffle 603 are fixedly connected on disinfection box body 1；Left side lead screw push rod 605 and right side lead screw push rod 606 divide
Not Chuan Guo screw in gear 604, the upper end is connect with right-angle connecting plate 204 and right angle bottom plate 509 respectively.
The operation principle of the present invention is that:
When carrying out blood vessel intervention operation, this disinfection box body 1 is first installed to robot, passes through multiple step motor controls
The driving portion of each component.After disinfection box body 1 is installed, the box cover of disinfection box body 1 is opened, according to intervention operation needs, is put into
Seal wire is put into conduit at catheter groove 107, after placing, covers box cover to seal wire groove 105；Robot and disinfection box body 1
It is attached, i.e., stepper motor drives, and push part 2 moves, and under the drive of pushing part 3, moves back and forth, similarly, clamping section 5 is matched
The medical grade rubber block for closing push part 2 clamps seal wire, drives seal wire mobile in the front-rear reciprocation movement for clamping and unclamping repeatedly, rubs with the hands
Dynamic portion 6 drives medical grade rubber block to pump, and realizes that the rubbing to seal wire rotates.Friction pulley 414 in conduit rotation section 4
Under the action of, drive catheter movement.After operation, the box cover of disinfection box body 1 is opened, catheter guide wire is taken out, covers box cover,
Disinfection box is extracted, and is put into recycling bins, as hospital refuse, is uniformly processed.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of intervention operation robot disinfection box characterized by comprising disinfection box body (1), and it is mounted on the disinfection
The internal push part (2) of box body (1), pushing part (3), conduit rotation section (4), clamping section (5) and rubbing portion (6)；
The push part (2), the pushing part (3) and the clamping section (5) cooperation, for clamping and unclamping seal wire, and then band
Dynamic seal wire is mobile；
The conduit rotation section (4) is for clamping conduit and promoting conduit intravascular or from intravascular extraction；
The rubbing portion (6) is for driving seal wire to rotate.
2. a kind of intervention operation robot disinfection box according to claim 1, which is characterized in that the disinfection box body (1)
Including bottom surface and upper cover；Cover opening handle (101) is installed on the cover；The upper cover tail end by flip lid shaft (102) with
Flip lid connection；Magnet (103) is fixed on the flip lid interior angle, and iron plate (106) is fixed on another side；Boss (104) installation
Cooperate on the flip lid, and with seal wire groove (105) and catheter groove (107), forms conduit and silk guide passage；Baffle
(108) for blocking inner body.
3. a kind of intervention operation robot disinfection box according to claim 1, which is characterized in that push part (2) packet
Include the transmission component for conveying power and the slide assemblies for driving displacement.
4. a kind of intervention operation robot disinfection box according to claim 3, which is characterized in that the tool of the transmission component
Body structure are as follows: umbrella gear (213) and long handle spur gear (216) assembling are fixed, and are fixedly connected on piece (220) by bearing；
The umbrella gear (213) and cam umbrella gear (214) engagement；Spur gear (215) is mounted on the connection sheet by bearing
(220) on；The boss of long handle spur gear (216) and the spur gear (215) respectively with crank connecting link (206) and straight line connecting rod
(205) it is connected；The cam umbrella gear (214) connect with the pushing part (3)；Through-hole umbrella gear (212) is mounted on directly
On angle connecting plate (204), and its connecting rod is fixed on the disinfection box body by first flap (203) by first bearing (202)
(1) on；The through-hole umbrella gear (212) and the cam umbrella gear (214) engagement.
5. a kind of intervention operation robot disinfection box according to claim 4, which is characterized in that the tool of the slide assemblies
Body structure are as follows: crank connecting link (205), straight line connecting rod (206) are connected with two groups of connectors (209)；Miniature straight line long guideway
(207) it is fixed on first right-angle connecting plate (204)；Second sliding block (217) is separately fixed at the first right angle connection
The both ends of plate (204)；And it is slidably connected with the first straight line guide rail (201) on described disinfection box body (1) inner wall；Miniature sliding block
(208) it is mounted on the second straight line guide rail (207), and be connected with the connector (209)；Third linear guide (210)
It is fixed on the connector (209)；Small slide block on small slide block connector (211) and the third linear guide (210) is solid
Fixed connection, and upper end and narrow sliding block (219) connection；Push rod (218) penetrates in the narrow sliding block (219)；The push rod (218)
Groove part and the pushing part (3) clamping；The connection sheet (220) and medical grade rubber block (221) fitting fix, and with it is described
Narrow sliding block (219) connection.
6. a kind of intervention operation robot disinfection box according to claim 1, which is characterized in that the pushing part (3)
Specific structure are as follows: left end bracket (301) and right end bracket (305) are fixed on bottom surface jointly；Miniature bearing (302) and small bearing
(304) cam set (303) are each passed through, and are fixed on the left end bracket (301) and the right end bracket (305).
7. a kind of intervention operation robot disinfection box according to claim 1, which is characterized in that the conduit rotation section
(4) specific structure are as follows: shaft (415) and 3rd bearing (416) connection, and upper end and friction pulley (414) connection, the friction
Wheel (414) is equipped with second bearing (413), and lower end is fixedly connected on the disinfection box body (1)；Push rod (402) passes through the
One spring (401) penetrates in the disinfection box body (1)；The upper end and fixing piece (412) connect, middle part and connecting rod (403)
Contact；One end of the connecting rod (403) has rack gear, and is fixed with third sliding block (405)；The third sliding block (405) with
Fixed the 4th linear guide (404) cooperation on disinfection box body (1)；Fixing piece (412) clamps the friction pulley
(414)。
8. a kind of intervention operation robot disinfection box according to claim 1, which is characterized in that the clamping section (5)
Specific structure are as follows: right angle bottom plate (509) and the connection of the 5th sliding block (507), the 5th sliding block (507) and the disinfection box body
(1) the 6th linear guide (508) cooperation in；Right angle bottom plate (509) upper end and the connection of the 7th linear guide (511)；The
Six sliding blocks (510) are connected with the second right-angle connecting plate (504), and cooperate with the 7th linear guide (511)；Pillar is mounted on
On the right angle bottom plate (509), the pillar is provided with third spring (506), and the third spring (506) and described second is directly
Angle connecting plate (504) connection；5th linear guide (503) is mounted on second right-angle connecting plate (504), and with described
Four-slider (502) matches, connection sheet (501) and the Four-slider (502) connection, and medical grade rubber block is housed；Right angle connects
Bar (408) and second right-angle connecting plate (504) connection.
9. a kind of intervention operation robot disinfection box according to claim 1, which is characterized in that connecting rod (410) and second
Spring (411) matches, and whether the flip lid (1) for incuding disinfection box body (1) fastens.
10. a kind of intervention operation robot disinfection box according to claim 1, which is characterized in that pinion gear (601) and two
A gear (604) is mutually twisted, and is fixedly connected on the disinfection box body by fourth bearing (602) and third baffle (603)
(1) on；Left side lead screw push rod (605) and right side lead screw push rod (606) are each passed through the screw in the gear (604), thereon
End is connect with right-angle connecting plate (204) and right angle bottom plate (509) respectively.
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| CN201910620803.XA CN110236679B (en) | 2019-07-10 | 2019-07-10 | Disinfection box of interventional operation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910620803.XA CN110236679B (en) | 2019-07-10 | 2019-07-10 | Disinfection box of interventional operation robot |
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| CN110236679A true CN110236679A (en) | 2019-09-17 |
| CN110236679B CN110236679B (en) | 2020-07-21 |
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| CN201910620803.XA Active CN110236679B (en) | 2019-07-10 | 2019-07-10 | Disinfection box of interventional operation robot |
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| CN110840565A (en) * | 2019-11-07 | 2020-02-28 | 北京唯迈医疗设备有限公司 | Automatic clamping and opening device for catheter of interventional operation robot |
| CN113633389A (en) * | 2021-06-10 | 2021-11-12 | 深圳市爱博医疗机器人有限公司 | Auxiliary end guide wire/catheter twisting device of interventional operation robot |
| CN113749782A (en) * | 2021-08-10 | 2021-12-07 | 深圳市爱博医疗机器人有限公司 | Intervene operation robot from end drive arrangement with protection isolation function |
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| FR3115698A1 (en) * | 2020-10-29 | 2022-05-06 | BEIJING WEMED MEDICAL EQUIPMENT Co.,Ltd. | A universal waterproof disinfection box for interventional robots |
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| US12447317B2 (en) | 2022-08-01 | 2025-10-21 | Imperative Care, Inc. | Method of priming concentrically stacked interventional devices |
| US12329397B2 (en) | 2022-08-02 | 2025-06-17 | Imperative Care, Inc. | Fluidics management system |
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| CN118203422A (en) * | 2022-12-16 | 2024-06-18 | 上海奥朋医疗科技有限公司 | A clamp capable of holding and continuously rotating a catheter guidewire |
| US12377206B2 (en) | 2023-05-17 | 2025-08-05 | Imperative Care, Inc. | Fluidics control system for multi catheter stack |
| CN117045940B (en) * | 2023-08-08 | 2024-05-03 | 上海神玑医疗科技有限公司 | Guide wire motion control unit and device |
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| USD1102447S1 (en) | 2023-11-30 | 2025-11-18 | Imperative Care, Inc. | Display screen or portion thereof with graphical user interface |
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