CN204708990U - A kind of interposing catheter conveying and recovery guidance robot - Google Patents
A kind of interposing catheter conveying and recovery guidance robot Download PDFInfo
- Publication number
- CN204708990U CN204708990U CN201520339478.7U CN201520339478U CN204708990U CN 204708990 U CN204708990 U CN 204708990U CN 201520339478 U CN201520339478 U CN 201520339478U CN 204708990 U CN204708990 U CN 204708990U
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- fairlead
- pedestal
- driving device
- conduit
- rotating driving
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Abstract
This utility model relates to technical field of medical instruments, especially a kind of interposing catheter conveying and recovery guidance robot.It comprises pedestal, rotating driving device and for clamping the traveling drive that conduit is advanced to control conduit, a fairlead is socketed with in the horizontal direction in pedestal, traveling drive is installed in fairlead, rotating driving device is installed in pedestal, and rotating driving device controls fairlead and rotates relative to pedestal.When performing the operation, the distribution path of the blood vessel of poling is needed by image documentation equipment Real Time Observation, traveling drive is utilized to carry out automatic transport to the clamping effect of conduit to conduit, when running into road trouble, then control fairlead by rotating driving device to rotate relative to pedestal, to realize turning to of the end of the conduit being positioned at fairlead; Medical personnel can carry out the operation of robot away from image documentation equipment, thus effectively prevent the radiation injury of medical personnel, and drastically increase the quality of operation, efficiency and safety.
Description
Technical field
This utility model relates to technical field of medical instruments, especially a kind of interposing catheter conveying and recovery guidance robot.
Background technology
Minimally Interventional Therapy is a kind of when not operating on exposure focus, skin, blood vessel are done diameter several millimeters minim channel or through the original pipeline of human body, and to the focus local Therapeutic Method for the treatment of under the guiding of image documentation equipment (such as angiography machine, fluoroscopic machine, CT, MR, B ultrasonic etc.); Its use by increasing clinician, be particularly widely used in the treatment of cardiovascular disease.
At present, when carrying out Minimally Interventional Therapy, generally utilize image documentation equipment to monitor the kinestate of conduit in human body, then adjusted direction and the control transporting velocity of conduit in real time according to image by doctor, so cause the following problem of existing Minimally Interventional Therapy ubiquity: 1, operative site environment is poor, medical personnel need to stand long-term radiation injury, and serious threat medical personnel's is healthy; 2, because employing is manual hand manipulation, not only make conduit insert and send time length, manipulation inconvenience, and the slotting Stability and veracity sent also can be subject to serious impact.
Utility model content
For above-mentioned the deficiencies in the prior art, the purpose of this utility model is to provide that a kind of structure is simple, easy to operate, conduit precise control flexible, medical personnel can be isolated from radiation source and ensure the interposing catheter conveying of therapeutic effect and reclaim guidance robot.
To achieve these goals, this utility model adopts following technical scheme:
A kind of interposing catheter conveying and recovery guidance robot, it comprises pedestal, rotating driving device and for clamping the traveling drive that conduit is advanced to control conduit, a fairlead is socketed with in the horizontal direction in described pedestal, described traveling drive is installed in fairlead, described rotating driving device is installed in pedestal, and described rotating driving device controls fairlead and rotates relative to pedestal.
Preferably, described traveling drive comprises driven pulley, drivewheel and travel motor, and the output shaft of described travel motor is connected with drivewheel, between described drivewheel and driven pulley relative to fairlead in symmetrical up and down.
Preferably, the rotation motor that described rotating driving device comprises driving gear, driven gear and is installed in pedestal, described driven gear is socketed and is fixed on fairlead, and the output shaft of described rotation motor is connected with driving gear, and described driven gear and driving gear are meshed.
Preferably, the output port of described fairlead is also formed with guiding mouth after stretching out.
Preferably, it also comprises a main controller, and described rotating driving device and traveling drive are electrically connected with main controller respectively and are controlled by main controller, and described main controller is also connected with a radio communication device.
Owing to have employed such scheme, this utility model with affect equipment with the use of, when performing the operation, medical personnel need the distribution path of the blood vessel of poling by image documentation equipment Real Time Observation, traveling drive is utilized to carry out automatic transport to the clamping effect of conduit to conduit, when running into road trouble, then control fairlead by rotating driving device and rotate relative to pedestal, to realize turning to of the end of the conduit being positioned at fairlead; Medical personnel can carry out the operation of robot away from image documentation equipment, thus effectively prevent the radiation injury of medical personnel, and drastically increase the quality of operation, efficiency and safety.
Accompanying drawing explanation
Fig. 1 is the main view plane structural representation of this utility model embodiment;
Fig. 2 is the side-looking planar structure schematic diagram of this utility model embodiment.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment of the present utility model is described in detail, but the multitude of different ways that this utility model can be defined by the claims and cover is implemented.
As illustrated in fig. 1 and 2, a kind of interposing catheter conveying that this utility model provides and recovery guidance robot, it comprises pedestal 1, for indirectly controlling the rotating driving device that conduit a carries out rotating and the traveling drive of advancing (action of namely carrying in such as human vas or being reclaimed by Ink vessel transfusing) for clamping conduit a to control conduit a, a fairlead 2 is socketed with in the horizontal direction in pedestal 1, traveling drive is installed in fairlead 2, and rotating driving device is installed in pedestal 1; The robot of the present embodiment can with image documentation equipment carry out with the use of, namely when carrying out Minimally Interventional Therapy or operation, the end of the conduit a through fairlead 2 is inserted in such as human vas, the distribution path needing the blood vessel of poling is observed by image documentation equipment, then traveling drive is utilized to carry out automatic transport to the clamping effect of conduit a to conduit, when running into road trouble, then control fairlead 2 by rotating driving device to rotate relative to pedestal 1, to realize being positioned at turning to of the end of the conduit a of fairlead 2, thus carry out next step and advance; The recovery of conduit a also adopts similar principles; Because whole robot all belongs to automatic control to the control of conduit a, medical personnel can carry out the operation of robot away from image documentation equipment, thus effectively prevent the radiation injury of medical personnel, and drastically increase the quality of operation, efficiency and safety.
For optimizing the structure of whole robot to greatest extent, and ensure conveying and the recovering effect of conduit a, the traveling drive of the present embodiment comprises driven pulley 3, drivewheel 4 and travel motor 5; Wherein, the output shaft of travel motor 5 is connected with drivewheel 1 (certainly, also can adopt the form that such as gear connects or worm and gear connects as the case may be), between drivewheel 4 and driven pulley 3 relative to fairlead 2 in symmetrical up and down; So, by the forward and reverse control to travel motor 5, drivewheel 4 and driven pulley 3 couples of guide pipe a are formed clamp and the effect advanced in front and back.
Further, the rotating driving device of the present embodiment rotation motor 8 that comprises driving gear 6, driven gear 7 and be installed in pedestal 1; Wherein, driven gear 7 is socketed and is fixed on fairlead 2, and the output shaft of rotation motor 8 is connected with driving gear 6, and driven gear 7 and driving gear 6 are meshed; So, both are made to form one by being socketed by driving gear 6 and being fixed on fairlead 2, the power utilizing rotation motor 8 to provide realizes fairlead 2 and is placed in the traveling drive of its inside and guide pipe a rotates simultaneously, ensures the turning efficiency of guide pipe a end.
For preventing the end of travel of guide pipe a from occurring skew, affecting the conveying of guide pipe a in human body or recovering effect, after the output port of fairlead 2 stretches out, being also formed with guiding mouth 9.
In addition, for convenience of the control to robot, it is (not shown that the robot of the present embodiment also comprises a main controller, it can be placed in pedestal 1, also pedestal 1 can be placed on), rotating driving device and traveling drive are electrically connected with main controller respectively and are controlled by main controller, and main controller is also connected with a radio communication device (as blue-tooth device, WIFI device or GPRS device etc.), with this, medical personnel set up control planning by radio communication device and robot; Certainly the mode of wired connection and control can also be adopted.
The foregoing is only preferred embodiment of the present utility model; not thereby the scope of the claims of the present utility model is limited; every utilize this utility model description and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present utility model.
Claims (5)
1. an interposing catheter conveying and recovery guidance robot, it is characterized in that: it comprises pedestal, rotating driving device and for clamping the traveling drive that conduit is advanced to control conduit, a fairlead is socketed with in the horizontal direction in described pedestal, described traveling drive is installed in fairlead, described rotating driving device is installed in pedestal, and described rotating driving device controls fairlead and rotates relative to pedestal.
2. a kind of interposing catheter conveying as claimed in claim 1 and recovery guidance robot, it is characterized in that: described traveling drive comprises driven pulley, drivewheel and travel motor, the output shaft of described travel motor is connected with drivewheel, between described drivewheel and driven pulley relative to fairlead in symmetrical up and down.
3. a kind of interposing catheter conveying as claimed in claim 2 and recovery guidance robot, it is characterized in that: the rotation motor that described rotating driving device comprises driving gear, driven gear and is installed in pedestal, described driven gear is socketed and is fixed on fairlead, the output shaft of described rotation motor is connected with driving gear, and described driven gear and driving gear are meshed.
4. a kind of interposing catheter conveying as claimed in claim 3 and reclaim guidance robot, is characterized in that: be also formed with guiding mouth after the output port of described fairlead stretches out.
5. a kind of interposing catheter conveying according to any one of claim 1-4 and recovery guidance robot, it is characterized in that: it also comprises a main controller, described rotating driving device and traveling drive are electrically connected with main controller respectively and are controlled by main controller, and described main controller is also connected with a radio communication device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520339478.7U CN204708990U (en) | 2015-05-22 | 2015-05-22 | A kind of interposing catheter conveying and recovery guidance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520339478.7U CN204708990U (en) | 2015-05-22 | 2015-05-22 | A kind of interposing catheter conveying and recovery guidance robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204708990U true CN204708990U (en) | 2015-10-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520339478.7U Withdrawn - After Issue CN204708990U (en) | 2015-05-22 | 2015-05-22 | A kind of interposing catheter conveying and recovery guidance robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204708990U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104840257A (en) * | 2015-05-22 | 2015-08-19 | 林健泽 | Guide robot for conveying and reclaiming intervention catheters |
| CN111904473A (en) * | 2020-08-12 | 2020-11-10 | 山东大学齐鲁医院(青岛) | Auxiliary device is intervene to transesophageal supersound |
| CN115054806A (en) * | 2022-06-10 | 2022-09-16 | 首都医科大学附属北京天坛医院 | Intelligent auxiliary device in cerebrovascular intervention operation |
-
2015
- 2015-05-22 CN CN201520339478.7U patent/CN204708990U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104840257A (en) * | 2015-05-22 | 2015-08-19 | 林健泽 | Guide robot for conveying and reclaiming intervention catheters |
| CN111904473A (en) * | 2020-08-12 | 2020-11-10 | 山东大学齐鲁医院(青岛) | Auxiliary device is intervene to transesophageal supersound |
| CN115054806A (en) * | 2022-06-10 | 2022-09-16 | 首都医科大学附属北京天坛医院 | Intelligent auxiliary device in cerebrovascular intervention operation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151021 Effective date of abandoning: 20180413 |