FIELD: medicine.
SUBSTANCE: group of inventions relates to medicine, namely to the driven thrusters for an interventional surgical robot. The driven mover contains a transfer part, a sliding part, a pushing part, a rubbing part, a clamping part, a rotating part of the catheter and a movable part of the stepper motor. The rubbing part, the clamping part, the rotating part of the catheter and the movable part of the stepper motor are installed and fixed to the housing. The transfer part is made with the possibility of transferring the torque of the movable part of the stepper motor to the sliding part and the pushing part. The sliding part is configured to bring the guide wire into reciprocating motion. The pushing part and the clamping part are designed to interact in such a way as to clamp and loosen the guide wire. The rubbing part is configured to bring the guide wire into rotation. The rotating part of the catheter is configured to clamp the catheter and insert the catheter into or remove the catheter from the blood vessel. The transfer part is made with the possibility of transmitting movement to the connecting rod of the crank mechanism and the linear connecting rod connected respectively to the distal connecting element and the proximal connecting element, made with the possibility of moving by means of sliders along the second linear guide fixed on the supporting surface of the housing.
EFFECT: easier control of the movement and rotation of the catheter and guide wire is achieved.
8 cl, 9 dwg
