CN111329592B - Sterile isolation method and system for rotating and clamping hand in vascular intervention operation - Google Patents
Sterile isolation method and system for rotating and clamping hand in vascular intervention operation Download PDFInfo
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- CN111329592B CN111329592B CN202010188607.2A CN202010188607A CN111329592B CN 111329592 B CN111329592 B CN 111329592B CN 202010188607 A CN202010188607 A CN 202010188607A CN 111329592 B CN111329592 B CN 111329592B
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- 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
- A61B34/35—Surgical robots for telesurgery
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- 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
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
- A61B50/30—Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/40—Apparatus fixed or close to patients specially adapted for providing an aseptic surgical environment
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- 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
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- 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
Abstract
The invention provides a sterile isolation method and a system for a rotary clamping hand in a vascular intervention operation, which comprises the following steps: step M1: connecting the integral isolation membrane sleeve, the left rotary organ sheath, the right rotary organ sheath, the left manual clamping hand sheath, the right manual clamping hand sheath, the sealing membrane of the manual clamping hand, the left fixed clamping hand sheath, the right fixed clamping hand sheath and the sealing membrane of the fixed clamping hand to form a bag with the sealing degree larger than a set threshold value; m2, fixing the sleeve bag on the rotary clamping hand through a closing line; step M3: sleeving the sleeving bag on the rotary clamping hand, wherein the left sheath of the manual clamping hand and the right sheath of the manual clamping hand are respectively sleeved on the left finger and the right finger of the manual clamping hand correspondingly; step M4: respectively and correspondingly sleeving a left fixed clamping hand sheath and a right fixed clamping hand sheath into a left fixed clamping hand finger and a right fixed clamping hand finger of a rotating clamping hand; step M5: the left accordion sheath and the right accordion sheath are arranged on the palm. The invention has reasonable structure and convenient assembly and disassembly.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a sterile isolation method and system for a rotary clamping hand in a vascular intervention operation.
Background
The vascular interventional surgical robot generally adopts a master-slave teleoperation mode, a doctor operates a handle to transmit an operation command to a robot at a patient side through remote communication, and the robot operates interventional equipment to complete surgery. The end effector, of which the most important operation is the rotation gripper, typically performs two actions, i.e., gripping the catheter guidewire and then rotating. Since the catheter guidewire is a device that enters the body directly, it has very high requirements for sterility.
At present, the device operation method of a master-slave teleoperation surgical robot for vascular intervention generally adopts two rollers to press a catheter or a guide wire, then the two rollers roll oppositely, interventional devices advance by means of friction force, the rolling direction is reversed, and the catheter guide wire is withdrawn. The practitioners of this idea included the products of the cathter Robotics corporation, usa CorPath corporation, france. In aseptic designs, it is common to use a transmission system to transmit motion to the equipment box, with rollers inside the box, which is closed and disposable. The material consumption is large in volume, the assembly and disassembly are inconvenient, and the applicable catheter guide wire specification is limited. In China, the Chinese academy of sciences automatically adopts a roller-to-roller clamping and pushing mode, Beijing university of science and technology develops a gear-extrusion type clamping and pushing method for the guide wire of the catheter, and when aseptic design is carried out, the guide wire of the catheter is placed in a plastic film sleeve, and when the device is used, the guide wire of the catheter is penetrated into the film sleeve, so that the device is very inconvenient. The other way is to operate the guide wire of the catheter and turn the clamping hand. The technology integrates a rotating mechanism, a movable clamping mechanism and a fixed clamping mechanism on an end effector of the vascular intervention surgical robot, wherein the movable clamping mechanism is positioned on the rotating mechanism and can rotate, and the fixed clamping mechanism cannot rotate. When the device works, the movable clamping mechanism clamps the catheter guide wire to rotate under the driving of the rotating mechanism, after the catheter guide wire reaches the rotation extreme position, the fixed clamping mechanism clamps the catheter guide wire, the movable clamping mechanism loosens the catheter guide wire and rotates to the reverse extreme position, then the movable clamping mechanism clamps the catheter guide wire, the fixed clamping mechanism loosens the catheter guide wire, the movable clamping mechanism rotates the catheter guide wire, and the catheter guide wire can rotate without limit. The method for clamping by using the fingers is flexible, the guide wire of the catheter is very convenient to assemble and disassemble, but the difficulty lies in how to strictly isolate the rotating mechanism, the movable clamping mechanism and the fixed clamping mechanism from interventional consumables in a sterile manner, and the clinical requirement is met.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a sterile isolation method and a sterile isolation system for a rotating clamp hand in a vascular intervention operation.
The invention provides a sterile isolation method of a rotary clamping hand in a vascular intervention operation, which comprises the following steps: step M1: connecting the integral isolation membrane sleeve 6, the left rotary organ sheath 3, the right rotary organ sheath 8, the left manual clamping hand sheath 1, the right manual clamping hand sheath 9, the sealing membrane 2 of the manual clamping hand, the left fixed clamping hand sheath 4, the right fixed clamping hand sheath 7 and the sealing membrane 5 of the fixed clamping hand by adopting a heat sealing method to form a bag with the sealing degree larger than a set threshold value; the integral type isolation film sleeve 6, the manual clamping hand sealing film 2, the fixed clamping hand sealing film 5, the manual clamping hand left sheath 1, the manual clamping hand right sheath 9, the fixed clamping hand left sheath 4 and the fixed clamping hand right sheath 7 have elasticity, the integral type isolation film sleeve 6 has larger thickness by considering factors such as shape keeping, heat sealing performance, elastic deformation and the like, the manual clamping hand sealing film 2 and the fixed clamping hand sealing film 5 have smaller thickness and can generate larger deformability, and the manual clamping hand left sheath 1, the manual clamping hand right sheath 9, the fixed clamping hand left sheath 4 and the fixed clamping hand right sheath 7 are moderate in thickness.
Step M2, fixing the sleeve bag with the sealing degree larger than the set threshold value on the rotary clamping hand through the closing line 10;
step M3: sleeving a sleeve bag with the sealing degree larger than a set threshold on a rotary clamping hand, and respectively and correspondingly sleeving a left sleeve 1 and a right sleeve 9 of the movable clamping hand on a left finger and a right finger of the movable clamping hand;
step M4: the left sheath 4 and the right sheath 7 of the fixed clamping hand are sleeved on the left finger and the right finger of the fixed clamping hand of the rotary clamping hand respectively;
step M5: the levorotary organ sheath 3 and the dextrorotary organ sheath 8 are mounted on the palm. The device can be used as a disposable consumable and arranged on the rotary clamping hand for sterile isolation.
Preferably, the step M5 includes: step M5.1: when the palm rotates leftwards, the left rotary organ sheath 3 is extended and the right rotary organ sheath 8 is compressed; step M5.2: when the palm is turned to the right, the levorotary organ sheath 3 is compressed and the dextrorotary organ sheath 8 is extended, so that the overall shape can be maintained basically and the shape can be changed in a wide range.
Preferably, step M2 includes: step M2.1, the sealing membrane 2 of the manual clamping hand is an elastic membrane and has stronger deformability, when the left sheath 1 of the manual clamping hand and the right sheath 9 of the manual clamping hand move to the two sides and open, the membrane between the left sheath 1 of the manual clamping hand and the right sheath 9 of the manual clamping hand is stretched, and the membranes at the two sides of the left sheath 1 of the manual clamping hand and the right sheath 9 of the manual clamping hand are compressed; step M2.2: when the left sheath 1 and the right sheath 9 of the hand clamp move towards the middle and are closed, the film between the left sheath 1 and the right sheath 9 of the hand clamp is compressed, and the films at two sides of the left sheath 1 and the right sheath 9 of the hand clamp are stretched;
the step M1 includes: step M1.1: the sealing film 2 with the movable clamping handle is integrally and thermally sealed at the lower edges of the integral isolating film sleeve 6, the left rotary organ sheath 3 and the right rotary organ sheath 8; the manual clamping hand sealing membrane 2 deforms along with the integral isolation membrane sleeve 6; the fixed clamping hand sealing membrane 5 has the same elastic deformation capacity as the manual clamping hand sealing membrane 2, and the fixed clamping hand sealing membrane 5 is integrally thermally sealed on the integral isolation membrane sleeve 6.
Preferably, step M4 includes: step M4.1: when the left fixed clamping hand sheath 4 and the right fixed clamping hand sheath 7 move towards two sides and are opened, the films in the middle of the left fixed clamping hand sheath 4 and the right fixed clamping hand sheath 7 are stretched, and the films on two sides of the left fixed clamping hand sheath 4 and the right fixed clamping hand sheath 7 are compressed; step M4.2: when the left sheath 4 and the right sheath 7 of the fixed gripper move towards the middle and are closed, the film in the middle of the left sheath 4 and the right sheath 7 of the fixed gripper is compressed and stretched, and the films on two sides of the left sheath 4 and the right sheath 7 of the fixed gripper are stretched.
Preferably, the method further comprises the following steps: step 6: the sleeve bag is sleeved along the rotary tong, after the left sheath 1 of the movable tong, the right sheath 9 of the movable tong, the left sheath 4 of the fixed tong and the right sheath 7 of the fixed tong are all arranged on the corresponding finger frameworks, the sleeve bag closing-in line 10 is tightened, and then the fingers of the disposable consumables are clamped in.
According to the invention, the aseptic isolation system of the rotary clamping hand in the vascular intervention operation comprises: module M1: connecting the integral isolation membrane sleeve 6, the left rotary organ sheath 3, the right rotary organ sheath 8, the left manual clamping hand sheath 1, the right manual clamping hand sheath 9, the sealing membrane 2 of the manual clamping hand, the left fixed clamping hand sheath 4, the right fixed clamping hand sheath 7 and the sealing membrane 5 of the fixed clamping hand in a heat sealing manner to form a sleeve bag with the sealing degree greater than a set threshold value; the integral type isolation film sleeve 6, the manual clamping hand sealing film 2, the fixed clamping hand sealing film 5, the manual clamping hand left sheath 1, the manual clamping hand right sheath 9, the fixed clamping hand left sheath 4 and the fixed clamping hand right sheath 7 have elasticity, the integral type isolation film sleeve 6 has larger thickness by considering factors such as shape keeping, heat sealing performance, elastic deformation and the like, the manual clamping hand sealing film 2 and the fixed clamping hand sealing film 5 have smaller thickness and can generate larger deformability, and the manual clamping hand left sheath 1, the manual clamping hand right sheath 9, the fixed clamping hand left sheath 4 and the fixed clamping hand right sheath 7 are moderate in thickness.
A module M2, fixing the sleeve bag with the sealing degree larger than the set threshold on the rotary clamping hand through the closing line 10;
module M3: sleeving a sleeve bag with the sealing degree larger than a set threshold on a rotary clamping hand, and respectively and correspondingly sleeving a left sleeve 1 and a right sleeve 9 of the movable clamping hand on a left finger and a right finger of the movable clamping hand;
module M4: the left sheath 4 and the right sheath 7 of the fixed clamping hand are sleeved on the left finger and the right finger of the fixed clamping hand of the rotary clamping hand respectively;
module M5: the levorotary organ sheath 3 and the dextrorotary organ sheath 8 are mounted on the palm. The device can be used as a disposable consumable and arranged on the rotary clamping hand for sterile isolation.
Preferably, said module M5 comprises: module M5.1: when the palm rotates leftwards, the left rotary organ sheath 3 is extended and the right rotary organ sheath 8 is compressed; module M5.2: when the palm is turned to the right, the levorotary organ sheath 3 is compressed and the dextrorotary organ sheath 8 is extended, so that the overall shape can be maintained basically and the shape can be changed in a wide range.
Preferably, the module M2 includes: the module M2.1 is that the sealing film 2 of the manual clamping hand is an elastic film and has stronger deformability, when the left sheath 1 of the manual clamping hand and the right sheath 9 of the manual clamping hand move to the two sides and open, the film between the left sheath 1 of the manual clamping hand and the right sheath 9 of the manual clamping hand is stretched, and the films on the two sides of the left sheath 1 of the manual clamping hand and the right sheath 9 of the manual clamping hand are compressed; module M2.2: when the left sheath 1 and the right sheath 9 of the hand clamp move towards the middle and are closed, the film between the left sheath 1 and the right sheath 9 of the hand clamp is compressed, and the films at two sides of the left sheath 1 and the right sheath 9 of the hand clamp are stretched;
the module M1 includes: module M1.1: the sealing film 2 with the movable clamping handle is integrally and thermally sealed at the lower edges of the integral isolating film sleeve 6, the left rotary organ sheath 3 and the right rotary organ sheath 8; the manual clamping hand sealing membrane 2 deforms along with the integral isolation membrane sleeve 6; the fixed clamping hand sealing membrane 5 has the same elastic deformation capacity as the manual clamping hand sealing membrane 2, and the fixed clamping hand sealing membrane 5 is integrally thermally sealed on the integral isolation membrane sleeve 6.
Preferably, the module M4 includes: module M4.1: when the left fixed clamping hand sheath 4 and the right fixed clamping hand sheath 7 move towards two sides and are opened, the films in the middle of the left fixed clamping hand sheath 4 and the right fixed clamping hand sheath 7 are stretched, and the films on two sides of the left fixed clamping hand sheath 4 and the right fixed clamping hand sheath 7 are compressed; module M4.2: when the left sheath 4 and the right sheath 7 of the fixed gripper move towards the middle and are closed, the film in the middle of the left sheath 4 and the right sheath 7 of the fixed gripper is compressed and stretched, and the films on two sides of the left sheath 4 and the right sheath 7 of the fixed gripper are stretched.
Preferably, the method further comprises the following steps: and a module 6: the sleeve bag is sleeved along the rotary tong, after the left sheath 1 of the movable tong, the right sheath 9 of the movable tong, the left sheath 4 of the fixed tong and the right sheath 7 of the fixed tong are all arranged on the corresponding finger frameworks, the sleeve bag closing-in line 10 is tightened, and then the fingers of the disposable consumables are clamped in.
Compared with the prior art, the invention has the following beneficial effects:
1. based on the structural characteristics of the rotary clamping hand, the sealing and the isolation of one rotational degree of freedom and two finger opening and closing degrees of freedom are realized through the heat seal splicing of various elastic films or corrugated sheaths and other original pieces, the movement of the rotary clamping hand is not influenced, the characteristics of high flexibility, good sealing effect and the like are realized, and the clinical sterile isolation requirement can be met;
2. the aseptic method of the rotary gripper adopts an integral isolation sleeve bag and a clockwise rotary gripper sleeve, adopts a closing line for fixing, and has reasonable structure and convenient assembly and disassembly;
3. the sleeve bag designed by the rotary clamping hand sterile isolation method is a disposable consumable material, and can be contacted with blood of a patient in the operation process and discarded after the operation, so that the thorough sterilization is realized.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the principle of rotary sealing of the rotary clamping hand in the blood vessel interventional operation according to the aseptic method of the rotary clamping hand in the embodiment of the invention.
FIG. 3 is a schematic structural diagram of a sealing film of the manual gripper according to an embodiment of the present invention.
The figures show that:
1-hand-operated clamping left sheath 6-integral isolation membrane sleeve
2-sealing film of manual clamp and 7-right sheath of fixed clamp
3-levogyration organ sheath 8-dextrorotation organ sheath
4-fixed clamp left sheath 9-manual clamp right sheath
5-seal film with fixed gripper 10-closing line
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1-3, the aseptic isolation method for the rotating clamping hand in the vascular intervention operation provided by the invention comprises the following steps: step M1: connecting the integral isolation membrane sleeve 6, the left rotary organ sheath 3, the right rotary organ sheath 8, the left manual clamping hand sheath 1, the right manual clamping hand sheath 9, the sealing membrane 2 of the manual clamping hand, the left fixed clamping hand sheath 4, the right fixed clamping hand sheath 7 and the sealing membrane 5 of the fixed clamping hand by adopting a heat sealing method to form a bag with the sealing degree larger than a set threshold value; the integral type isolation film sleeve 6, the manual clamping hand sealing film 2, the fixed clamping hand sealing film 5, the manual clamping hand left sheath 1, the manual clamping hand right sheath 9, the fixed clamping hand left sheath 4 and the fixed clamping hand right sheath 7 have elasticity, the integral type isolation film sleeve 6 has larger thickness by considering factors such as shape keeping, heat sealing performance, elastic deformation and the like, the manual clamping hand sealing film 2 and the fixed clamping hand sealing film 5 have smaller thickness and can generate larger deformability, and the manual clamping hand left sheath 1, the manual clamping hand right sheath 9, the fixed clamping hand left sheath 4 and the fixed clamping hand right sheath 7 are moderate in thickness.
Step M2, fixing the sleeve bag with the sealing degree larger than the set threshold value on the rotary clamping hand through the closing line 10;
step M3: sleeving a sleeve bag with the sealing degree larger than a set threshold on a rotary clamping hand, and respectively and correspondingly sleeving a left sleeve 1 and a right sleeve 9 of the movable clamping hand on a left finger and a right finger of the movable clamping hand;
step M4: the left sheath 4 and the right sheath 7 of the fixed clamping hand are sleeved on the left finger and the right finger of the fixed clamping hand of the rotary clamping hand respectively;
step M5: the levorotary organ sheath 3 and the dextrorotary organ sheath 8 are mounted on the palm. The device can be used as a disposable consumable and arranged on the rotary clamping hand for sterile isolation.
The invention provides a semi-closed bagging method for a rotary gripper to carry out sterile isolation, and designs a corrugated pipe, an elastic membrane and other structures so as not to hinder rotary motion, dynamic clamping motion and fixed clamping motion, so that the motion requirements of a motion part are met, and a sealing effect is achieved.
Preferably, the step M5 includes: step M5.1: when the palm rotates leftwards, the left rotary organ sheath 3 is extended and the right rotary organ sheath 8 is compressed; step M5.2: when the palm is turned to the right, the levorotary organ sheath 3 is compressed and the dextrorotary organ sheath 8 is extended, so that the overall shape can be maintained basically and the shape can be changed in a wide range.
Preferably, step M2 includes: step M2.1, the sealing membrane 2 of the manual clamping hand is an elastic membrane and has stronger deformability, when the left sheath 1 of the manual clamping hand and the right sheath 9 of the manual clamping hand move to the two sides and open, the membrane between the left sheath 1 of the manual clamping hand and the right sheath 9 of the manual clamping hand is stretched, and the membranes at the two sides of the left sheath 1 of the manual clamping hand and the right sheath 9 of the manual clamping hand are compressed; step M2.2: when the left sheath 1 and the right sheath 9 of the hand clamp move towards the middle and are closed, the film between the left sheath 1 and the right sheath 9 of the hand clamp is compressed, and the films at two sides of the left sheath 1 and the right sheath 9 of the hand clamp are stretched;
the step M1 includes: step M1.1: the sealing film 2 with the movable clamping handle is integrally and thermally sealed at the lower edges of the integral isolating film sleeve 6, the left rotary organ sheath 3 and the right rotary organ sheath 8; the manual clamping hand sealing membrane 2 deforms along with the integral isolation membrane sleeve 6; the fixed clamping hand sealing membrane 5 has the same elastic deformation capacity as the manual clamping hand sealing membrane 2, and the fixed clamping hand sealing membrane 5 is integrally thermally sealed on the integral isolation membrane sleeve 6.
Preferably, step M4 includes: step M4.1: when the left fixed clamping hand sheath 4 and the right fixed clamping hand sheath 7 move towards two sides and are opened, the films in the middle of the left fixed clamping hand sheath 4 and the right fixed clamping hand sheath 7 are stretched, and the films on two sides of the left fixed clamping hand sheath 4 and the right fixed clamping hand sheath 7 are compressed; step M4.2: when the left sheath 4 and the right sheath 7 of the fixed gripper move towards the middle and are closed, the film in the middle of the left sheath 4 and the right sheath 7 of the fixed gripper is compressed and stretched, and the films on two sides of the left sheath 4 and the right sheath 7 of the fixed gripper are stretched.
Preferably, the method further comprises the following steps: step 6: the sleeve bag is sleeved along the rotary tong, after the left sheath 1 of the movable tong, the right sheath 9 of the movable tong, the left sheath 4 of the fixed tong and the right sheath 7 of the fixed tong are all arranged on the corresponding finger frameworks, the sleeve bag closing-in line 10 is tightened, and then the fingers of the disposable consumables are clamped in.
Specifically, in one embodiment, the aseptic method of the rotating gripper in the vascular intervention operation is structurally shown in fig. 1, and comprises an integral isolation membrane sleeve 6, a left rotary organ sheath 3, a right rotary organ sheath 8, a left movable gripper sheath 1, a right movable gripper sheath 9, a sealing membrane 2 of the movable gripper, a left fixed gripper sheath 4 and a right fixed gripper sheath 7, and a sealing membrane 5 of the fixed gripper, wherein the components are connected by adopting a heat sealing method to form a sealed and isolated sleeve bag, and the sealed and isolated sleeve bag is fixed on the rotating gripper through a closing line 10. When the device is used, the sleeve bag is sleeved on the rotary clamping hand, the left sheath 4 and the right sheath 9 of the movable clamping hand are respectively sleeved on the left finger and the right finger of the movable clamping hand, the left sheath 4 and the right sheath 7 of the fixed clamping hand are respectively sleeved on the left finger and the right finger of the fixed clamping hand, and the left rotary organ sheath 3 and the right rotary organ sheath 8 are arranged on the palm. The device can be used as a disposable consumable and arranged on the rotary clamping hand for sterile isolation.
A sterile method of a rotary clamping hand in a vascular intervention operation comprises the following steps that in the composition shown in figure 1, an integral isolation membrane sleeve 6, a sealing membrane 2 of a manual clamping hand, a sealing membrane 5 of a fixed clamping hand, a left sheath 1 of the manual clamping hand, a right sheath 9 of the manual clamping hand, a left sheath 4 of the fixed clamping hand and a right sheath 7 of the fixed clamping hand have elasticity, but the integral isolation membrane sleeve 6 has larger thickness in consideration of factors such as shape retention, heat sealing performance, elastic deformation and the like, the sealing membrane 2 of the manual clamping hand and the sealing membrane 5 of the fixed clamping hand have smaller thickness and can generate larger deformation capacity, and the left sheath 1 of the manual clamping hand, the right sheath 9 of the manual clamping hand, the left sheath 4 of the fixed clamping hand and the right sheath 7 of the fixed clamping hand have moderate thickness.
A rotating seal principle of the aseptic method of the rotating clamping hand in the blood vessel interventional operation is shown in figure 2, the rotating seal principle is used for the palm rotating seal in the rotating clamping hand, when the palm rotates leftwards, the levogyration organ sheath 3 is extended and the dextrogyration organ sheath 8 is compressed, on the contrary, when the palm rotates rightwards, the levogyration organ sheath 3 is compressed and the dextrogyration organ sheath 8 is extended, and the overall shape can be maintained to be basically unchanged and generate a larger range of shape change.
A sterile method of a rotating gripper in a vascular intervention operation is characterized in that a sealing film 2 of a movable gripper is structurally composed as shown in figure 3, a sealing film attaching surface 201 and a sealing frame 203 of the movable gripper are attached by a heating or bonding method, the sealing film 202 is an elastic film, and when a left sheath 1 of the movable gripper and a right sheath 9 of the movable gripper move towards two ends or move towards the middle, the sealing film 202 deforms synchronously. The fixed-gripper sealing film 5 has the same result and working principle as the manual-gripper sealing film 2.
According to the invention, the aseptic isolation system of the rotary clamping hand in the vascular intervention operation comprises: module M1: connecting the integral isolation membrane sleeve 6, the left rotary organ sheath 3, the right rotary organ sheath 8, the left manual clamping hand sheath 1, the right manual clamping hand sheath 9, the sealing membrane 2 of the manual clamping hand, the left fixed clamping hand sheath 4, the right fixed clamping hand sheath 7 and the sealing membrane 5 of the fixed clamping hand in a heat sealing manner to form a sleeve bag with the sealing degree greater than a set threshold value; the integral type isolation film sleeve 6, the manual clamping hand sealing film 2, the fixed clamping hand sealing film 5, the manual clamping hand left sheath 1, the manual clamping hand right sheath 9, the fixed clamping hand left sheath 4 and the fixed clamping hand right sheath 7 have elasticity, the integral type isolation film sleeve 6 has larger thickness by considering factors such as shape keeping, heat sealing performance, elastic deformation and the like, the manual clamping hand sealing film 2 and the fixed clamping hand sealing film 5 have smaller thickness and can generate larger deformability, and the manual clamping hand left sheath 1, the manual clamping hand right sheath 9, the fixed clamping hand left sheath 4 and the fixed clamping hand right sheath 7 are moderate in thickness.
A module M2, fixing the sleeve bag with the sealing degree larger than the set threshold on the rotary clamping hand through the closing line 10;
module M3: sleeving a sleeve bag with the sealing degree larger than a set threshold on a rotary clamping hand, and respectively and correspondingly sleeving a left sleeve 1 and a right sleeve 9 of the movable clamping hand on a left finger and a right finger of the movable clamping hand;
module M4: the left sheath 4 and the right sheath 7 of the fixed clamping hand are sleeved on the left finger and the right finger of the fixed clamping hand of the rotary clamping hand respectively;
module M5: the levorotary organ sheath 3 and the dextrorotary organ sheath 8 are mounted on the palm. The device can be used as a disposable consumable and arranged on the rotary clamping hand for sterile isolation.
Preferably, said module M5 comprises: module M5.1: when the palm rotates leftwards, the left rotary organ sheath 3 is extended and the right rotary organ sheath 8 is compressed; module M5.2: when the palm is turned to the right, the levorotary organ sheath 3 is compressed and the dextrorotary organ sheath 8 is extended, so that the overall shape can be maintained basically and the shape can be changed in a wide range.
Preferably, the module M2 includes: the module M2.1 is that the sealing film 2 of the manual clamping hand is an elastic film and has stronger deformability, when the left sheath 1 of the manual clamping hand and the right sheath 9 of the manual clamping hand move to the two sides and open, the film between the left sheath 1 of the manual clamping hand and the right sheath 9 of the manual clamping hand is stretched, and the films on the two sides of the left sheath 1 of the manual clamping hand and the right sheath 9 of the manual clamping hand are compressed; module M2.2: when the left sheath 1 and the right sheath 9 of the hand clamp move towards the middle and are closed, the film between the left sheath 1 and the right sheath 9 of the hand clamp is compressed, and the films at two sides of the left sheath 1 and the right sheath 9 of the hand clamp are stretched;
the module M1 includes: module M1.1: the sealing film 2 with the movable clamping handle is integrally and thermally sealed at the lower edges of the integral isolating film sleeve 6, the left rotary organ sheath 3 and the right rotary organ sheath 8; the manual clamping hand sealing membrane 2 deforms along with the integral isolation membrane sleeve 6; the fixed clamping hand sealing membrane 5 has the same elastic deformation capacity as the manual clamping hand sealing membrane 2, and the fixed clamping hand sealing membrane 5 is integrally thermally sealed on the integral isolation membrane sleeve 6.
Preferably, the module M4 includes: module M4.1: when the left fixed clamping hand sheath 4 and the right fixed clamping hand sheath 7 move towards two sides and are opened, the films in the middle of the left fixed clamping hand sheath 4 and the right fixed clamping hand sheath 7 are stretched, and the films on two sides of the left fixed clamping hand sheath 4 and the right fixed clamping hand sheath 7 are compressed; module M4.2: when the left sheath 4 and the right sheath 7 of the fixed gripper move towards the middle and are closed, the film in the middle of the left sheath 4 and the right sheath 7 of the fixed gripper is compressed and stretched, and the films on two sides of the left sheath 4 and the right sheath 7 of the fixed gripper are stretched.
Preferably, the method further comprises the following steps: and a module 6: the sleeve bag is sleeved along the rotary tong, after the left sheath 1 of the movable tong, the right sheath 9 of the movable tong, the left sheath 4 of the fixed tong and the right sheath 7 of the fixed tong are all arranged on the corresponding finger frameworks, the sleeve bag closing-in line 10 is tightened, and then the fingers of the disposable consumables are clamped in.
Based on the structural characteristics of the rotary clamping hand, the sealing and isolation of one degree of freedom of rotation and the degree of freedom of opening and closing of two fingers are realized through the heat seal splicing of various elastic films or corrugated sheaths and other original pieces, the movement of the rotary clamping hand is not influenced, the rotary clamping hand has the characteristics of high flexibility, good sealing effect and the like, and the requirements of clinical aseptic isolation can be met. The aseptic method of the rotary gripper adopts an integral isolation sleeve bag and a clockwise rotary gripper sleeve, adopts a closing line for fixing, and is convenient to assemble and disassemble. The sleeve bag designed by the rotary clamping hand sterile isolation method is a disposable consumable material, and can be contacted with blood of a patient in the operation process and discarded after the operation, so that the thorough sterilization is realized.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A sterile isolation method of a rotary clamping hand in a vascular intervention operation is characterized by comprising the following steps:
step M1: the method comprises the following steps that an integral isolation membrane sleeve (6), a left rotary organ sheath (3), a right rotary organ sheath (8), a left manual clamping hand sheath (1), a right manual clamping hand sheath (9), a sealing membrane (2) of the manual clamping hand, a left fixed clamping hand sheath (4), a right fixed clamping hand sheath (7) and a sealing membrane (5) of the fixed clamping hand are connected to form a bag with the sealing degree larger than a set threshold value;
m2, fixing the sleeve bag with the sealing degree larger than the set threshold value on the rotary clamping hand through a closing line (10);
step M3: sleeving a sleeve bag with the sealing degree larger than a set threshold on a rotary clamping hand, and respectively and correspondingly sleeving a left sleeve (1) and a right sleeve (9) of the movable clamping hand on a left finger and a right finger of the rotary clamping hand;
step M4: the left sheath (4) and the right sheath (7) of the fixed clamping hand are sleeved on the left finger and the right finger of the fixed clamping hand of the rotary clamping hand respectively;
step M5: a left rotary organ sheath (3) and a right rotary organ sheath (8) are arranged on the palm.
2. The method for aseptically isolating a rotating gripper in a vascular interventional procedure as defined in claim 1, wherein the step M5 comprises:
step M5.1: when the palm rotates leftwards, the left rotary organ sheath (3) is extended, and the right rotary organ sheath (8) is compressed;
step M5.2: when the palm rotates to the right, the left rotary organ sheath (3) is compressed and the right rotary organ sheath (8) is extended, so that the overall shape can be maintained basically and the shape can be changed in a wide range.
3. The method for aseptically isolating a rotating gripper in a vascular interventional procedure as defined in claim 2, wherein the step M2 comprises:
step M2.1: when the left sheath (1) and the right sheath (9) of the hand clamp move to the two sides and open, the film between the left sheath (1) and the right sheath (9) of the hand clamp is stretched, and the films on the two sides of the left sheath (1) and the right sheath (9) of the hand clamp are compressed;
step M2.2: when the left sheath (1) and the right sheath (9) of the hand gripper move towards the middle and are closed, the film between the left sheath (1) and the right sheath (9) of the hand gripper is compressed, and the films on the two sides of the left sheath (1) and the right sheath (9) of the hand gripper are stretched;
the step M1 includes:
step M1.1: the sealing membrane (2) with the movable clamping hand is integrally and thermally sealed at the lower edges of the integral isolating membrane sleeve (6), the left rotary organ sheath (3) and the right rotary organ sheath (8);
the sealing membrane (2) of the manual clamping hand deforms along with the integral isolation membrane sleeve (6);
the fixed clamping hand sealing film (5) is integrally thermally sealed on the integral isolation film sleeve (6).
4. The method for aseptically isolating a rotating gripper in a vascular interventional procedure as defined in claim 1, wherein the step M4 comprises:
step M4.1: when the left sheath (4) and the right sheath (7) of the fixed clamping hand move towards two sides and are opened, the films in the middle of the left sheath (4) and the right sheath (7) of the fixed clamping hand are stretched, and the films on two sides of the left sheath (4) and the right sheath (7) of the fixed clamping hand are compressed;
step M4.2: when the left sheath (4) and the right sheath (7) of the fixed clamping hand move towards the middle and are closed, the film in the middle of the left sheath (4) and the right sheath (7) of the fixed clamping hand is compressed and stretched, and the films on two sides of the left sheath (4) and the right sheath (7) of the fixed clamping hand are stretched.
5. The method for aseptically isolating a rotating gripper in a vascular interventional procedure as defined in claim 1, further comprising:
step 6: the sleeve bag is sleeved along a rotary tong, after a left protective sleeve (1) of a movable tong, a right protective sleeve (9) of a movable tong, a left protective sleeve (4) of a fixed tong and a right protective sleeve (7) of the fixed tong are all arranged on corresponding finger frameworks, a sleeve bag closing-in line (10) is tightened, and then fingers of disposable consumables are clamped in.
6. A sterile isolation system for rotating a clamping hand in a vascular interventional operation is characterized by comprising:
module M1: the method comprises the following steps that an integral isolation membrane sleeve (6), a left rotary organ sheath (3), a right rotary organ sheath (8), a left manual clamping hand sheath (1), a right manual clamping hand sheath (9), a sealing membrane (2) of the manual clamping hand, a left fixed clamping hand sheath (4), a right fixed clamping hand sheath (7) and a sealing membrane (5) of the fixed clamping hand are connected to form a bag with the sealing degree larger than a set threshold value;
a module M2, fixing the sleeve bag with the sealing degree larger than the set threshold value on the rotary clamping hand through a closing line (10);
module M3: sleeving a sleeve bag with the sealing degree larger than a set threshold on a rotary clamping hand, and respectively and correspondingly sleeving a left sleeve (1) and a right sleeve (9) of the movable clamping hand on a left finger and a right finger of the rotary clamping hand;
module M4: the left sheath (4) and the right sheath (7) of the fixed clamping hand are sleeved on the left finger and the right finger of the fixed clamping hand of the rotary clamping hand respectively;
module M5: a left rotary organ sheath (3) and a right rotary organ sheath (8) are arranged on the palm.
7. The sterile barrier system for clamping hands in vascular interventional procedures as set forth in claim 6, wherein the module M5 includes:
module M5.1: when the palm rotates leftwards, the left rotary organ sheath (3) is extended, and the right rotary organ sheath (8) is compressed;
module M5.2: when the palm rotates to the right, the left rotary organ sheath (3) is compressed and the right rotary organ sheath (8) is extended, so that the overall shape can be maintained basically and the shape can be changed in a wide range.
8. The sterile barrier system for clamping hands in vascular interventional procedures as defined in claim 7, wherein the module M2 comprises:
module M2.1: when the left sheath (1) and the right sheath (9) of the hand clamp move to the two sides and open, the film between the left sheath (1) and the right sheath (9) of the hand clamp is stretched, and the films on the two sides of the left sheath (1) and the right sheath (9) of the hand clamp are compressed;
module M2.2: when the left sheath (1) and the right sheath (9) of the hand gripper move towards the middle and are closed, the film between the left sheath (1) and the right sheath (9) of the hand gripper is compressed, and the films on the two sides of the left sheath (1) and the right sheath (9) of the hand gripper are stretched;
the module M1 includes:
module M1.1: the sealing membrane (2) with the movable clamping hand is integrally and thermally sealed at the lower edges of the integral isolating membrane sleeve (6), the left rotary organ sheath (3) and the right rotary organ sheath (8);
the sealing membrane (2) of the manual clamping hand deforms along with the integral isolation membrane sleeve (6);
the fixed clamping hand sealing film (5) is integrally thermally sealed on the integral isolation film sleeve (6).
9. The sterile barrier system for clamping hands in vascular interventional procedures as defined in claim 6, wherein the module M4 comprises:
module M4.1: when the left sheath (4) and the right sheath (7) of the fixed clamping hand move towards two sides and are opened, the films in the middle of the left sheath (4) and the right sheath (7) of the fixed clamping hand are stretched, and the films on two sides of the left sheath (4) and the right sheath (7) of the fixed clamping hand are compressed;
module M4.2: when the left sheath (4) and the right sheath (7) of the fixed clamping hand move towards the middle and are closed, the film in the middle of the left sheath (4) and the right sheath (7) of the fixed clamping hand is compressed and stretched, and the films on two sides of the left sheath (4) and the right sheath (7) of the fixed clamping hand are stretched.
10. The sterile barrier system for clamping hands in vascular interventional procedures as defined in claim 6, further comprising:
and a module 6: the sleeve bag is sleeved along a rotary tong, after a left protective sleeve (1) of a movable tong, a right protective sleeve (9) of a movable tong, a left protective sleeve (4) of a fixed tong and a right protective sleeve (7) of the fixed tong are all arranged on corresponding finger frameworks, a sleeve bag closing-in line (10) is tightened, and then fingers of disposable consumables are clamped in.
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| CN202010188607.2A CN111329592B (en) | 2020-03-17 | 2020-03-17 | Sterile isolation method and system for rotating and clamping hand in vascular intervention operation |
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