CN101999941A - Tube and wire feeding device for intravascular intervention surgical robot - Google Patents
Tube and wire feeding device for intravascular intervention surgical robot Download PDFInfo
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- CN101999941A CN101999941A CN2010105734770A CN201010573477A CN101999941A CN 101999941 A CN101999941 A CN 101999941A CN 2010105734770 A CN2010105734770 A CN 2010105734770A CN 201010573477 A CN201010573477 A CN 201010573477A CN 101999941 A CN101999941 A CN 101999941A
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Abstract
The invention discloses a tube and wire feeding device for an intravascular intervention surgical robot, and belongs to the field of medical devices. The tube and wire feeding device belongs to an end effector of the intravascular intervention surgical robot, and mainly comprises an execution part and a driving part; the driving part and the execution part can be quickly connected and separated through a lock catch, so that the used execution part after an operation is completed is separated, cleaned and sterilized, and is replaced by the sterilized execution part for the next operation. The device also can be divided into three modules, namely a clamping finger, a moving finger and a rotating finger; each module comprises an execution part and a driving part; the clamping finger is arranged at the front end of the execution part and has the gripping and fixing function; the moving finger clamps a catheter (guide wire) to move forwards (backwards) in the process of the operation, so that the catheter (guide wire) moves forwards (backwards) in a blood vessel; and the rotating finger can clamp the catheter (guide wire) to rotate positively or reversely, so that the front end of the catheter (guide wire) changes the direction so as to enter a bifurcated blood vessel.
Description
Technical field
The invention discloses a kind of minimally-invasive vascular intervene operation robot and send the pipe wire feeder, belong to field of medical.
Background technology
Cardiovascular and cerebrovascular disease is first killer that current mankind is faced, serious threat people's life and health and living standard.Along with improving constantly of the growing and people's living standard of social science and technology, people have also given more concern to cardiovascular and cerebrovascular disease.At present, the treatment cardiovascular and cerebrovascular disease mainly relies on operation, and the minimally-invasive vascular intervene operation is compared with traditional operation on heart and had an enormous advantage.Human heart by around thorax protecting, traditional operation on heart needs the doctor to cut breastbone to undergo surgery, and cuts open nearly 20 centimetres of the wounds of breast; can cause extra injury to patient's health; and post-operative recovery is very slow, generally reaches some months, and risk is also big.The minimally-invasive vascular intervene operation only need bore the aperture of several diameters less than 1cm at body surface, and surgical instruments such as conduit, seal wire are got involved from blood vessel, through heart, and wound is very little, and postoperative just can be left hospital in several days.The minimally-invasive vascular intervene operation is little with its otch, wound is light, painful less, recover fast characteristics increasing patient accepted.
The minimally-invasive vascular intervene operation is meant earlier conduit is got involved from the blood vessel of human body, behind blood vessel arrival precalculated position, operational tool such as seal wire, micro-wire, air bag are penetrated conduit, deliver to diseased region far away along conduit, so that carry out various operations, for example varicosis, thrombosis, cerebroma and operation on heart etc.This operation can be cured cardiovascular and cerebrovascular disease effectively, shortens operating time greatly, and postoperative recovery gets faster.
Traditional minimally-invasive vascular operation method is under the monitoring of X ray image or other gray level images and guiding, by the manual insertion of directly finishing conduit or operational tool such as seal wire, micro-wire and air bag of the doctor who is skilled in technique.But because the bending radius of existing catheter proximal end is fixed and there are characteristics such as bending is long and narrow, irregular, branch is many in the blood in human body in pipe, make this method craftsmenship strong, the risk height, specialist's training time of performing the operation is long, simultaneously complicated operation, operating time are long, factors such as doctor's fatigue and staff fluctuation of service are influence operation quality directly, and then influences patient's life quality.
The object of the present invention is to provide a kind of device that can in the minimally-invasive vascular intervene operation, realize sending pipe (wire feed) and twisting pipe (silk).This device makes the doctor in a comfortable relatively environment, finishes the function that imports some operational tool such as conduit and seal wire in blood vessel by operating means.This device not only can make conduit (perhaps thing such as seal wire) be fed forward, and conduit (perhaps thing such as seal wire) is rotated in blood vessel, finds and enter the blood vessel of bifurcated accurately, arrives correct lesion locations.
Summary of the invention
Described device is that minimally-invasive vascular intervene operation robot send the pipe wire feeder, comprises two major parts of operating part and drive part, and can realize that the quick of drive part and operating part is connected and disengagement by snap close.After an operation is finished, can be easily used operating part be thrown off, and clean and sterilize, changing simultaneously, the disinfectant operating part begins next example operation.
Described device comprises that clamping finger, mobile finger, rotation refer to three modules, and each module all contains execution portion and drive division; Clamping finger plays one and grips effect at the front end of operating part; The effect that move to refer to be in operation process, clamp conduit (seal wire) forward (backward) move, make conduit (seal wire) in blood vessel, move ahead (afterwards moving); Rotation refers to clamp conduit (seal wire) rotates forward or backwards, it is turned to, so that enter correct branch vessel.
The drive part of described device is made up of motor, electric magnet and some mechanisms, and each module that is used for driving operating part is moved, to realize sending pipe (silk) and twisting pipe (silk) function.
Pipe (wire feed) device that send in the past needs the medical worker that the required conduit that send (seal wire) is penetrated from an end that send pipe (wire feed) device, and must take down after using once and send pipe (wire feed) device to carry out connecting the second time, and operating wastes time and energy; On the other hand, non-dismountable between drive part and the operation part, before the unfavorable Rhizoma Atractylodis Macrocephalae sterilization and repeatedly use after replacing.Described device is when installing conduit or filament, and operation is simple.When conduit is installed, only need put into clamping finger to catheter proximal end, then pipe shaft be put into to move and refer to and rotation refers to, stretching, clamp the installation that can finish conduit.When seal wire is installed, only need put into conduit to the seal wire front end, stretching seal wire then, refer to that with moving finger and rotation clamping gets final product.
Good effect of the present invention has provided a kind ofly has higher-security and maneuverable minimally-invasive vascular intervene operation robot send the pipe wire feeder, this device can be realized the rotation of advance (retreating) and the positive and negative both direction of filament, is fit to the practical application of minimally-invasive vascular intervene operation.
Description of drawings
Accompanying drawing 1 send the general illustration of pipe wire feeder for minimally-invasive vascular intervene operation robot
Accompanying drawing 2 send pipe wire feeder installation site figure for minimally-invasive vascular intervene operation robot
The specific embodiment
The present invention is as the terminal actuating unit of minimally-invasive vascular intervene operation robot, and wherein operating part 1 and drive part 2 link together by snap close 6.Send the pipe wire feeder can be divided into the intervention of operational tool such as the intervention of conduit and seal wire, micro-wire, air bag again.
The conduit blood vessel is got involved:
1, the front end of conduit is inserted in the blood vessel, successively manual unlocking move refer to 3, rotation refers to 4 and clamping finger 5, conduit is put into wherein clamp successively.
2, the switch of push handle makes clamping finger 5 and rotation refer to that 4 open, and moves to refer to that 3 clamp; Then, move forward operating grip mobile finger 3 is advanced, drive conduit and send into toward the blood vessel depths; When mobile finger 3 advanced to certain position, the switch of unclamp operation handle made clamping finger 5 and rotation refer to 4 closures, and conduit is clamped motionless, moved to refer to that 3 open, and the move operation handle retreats mobile finger 3 backward; When mobile finger 3 retreats into certain position, repeat one and send the pipe process.When mobile finger 3 runs into limit switch 7 or limit switch 8, stop automatically moving.
3, when conduit runs into bifurcated vessels and need rotate, the knob of rotating operation handle, at this moment clamping finger 5 and mobile finger 3 are opened, rotation refers to 4 closures, the clamping conduit rotates a certain angle, after turning over predetermined angular, the knob of the operating grip that stops operating, the conduit direction of rotation is determined by the direction of rotation of operating grip knob.
The intervention of seal wire:
Operation such as seal wire, micro-wire, air bag gets involved apparatus and the conduit intervention is basic identical, and difference is that seal wire, micro-wire, air bag etc. carry out after conduit is got involved, and at this moment, clamping finger 5 only is used for conduit to be fixed, and clamps conduit all the time.Specifically:
1, the front end of seal wire is inserted in the conduit, manual unlocking moves finger 3 successively, rotation refers to 4, seal wire is put into wherein and clamped successively.
2, the switch of push handle makes to rotate to refer to that 4 open, and moves to refer to that 3 clamp, and moves forward operating grip then mobile finger 3 is advanced, and drives conduit and sends into toward the blood vessel depths; When mobile finger 3 advanced to certain position, the switch of unclamp operation handle made rotation refer to 4 closures, and conduit is clamped motionless, moved to refer to that 3 open, and the move operation handle retreats mobile finger 3 backward; When mobile finger 3 retreats into certain position, repeat one and send the pipe process.
3, when seal wire runs into bifurcated vessels and need rotate, the knob of rotating operation handle, at this moment move and refer to that 3 open, rotation refers to 4 closures, the clamping seal wire rotates a certain angle, after turning over predetermined angular, the knob of the operating grip that stops operating, the seal wire direction of rotation is determined by the direction of rotation of operating grip knob.
Claims (7)
1. a minimally-invasive vascular intervene operation robot send the pipe wire feeder, it is characterized in that: mainly comprise operating part (1) and drive part (2), wherein can be divided into again and move refer to that (3), rotation refer to (4) and (5) three modules of clamping finger, its workflow comprises the installation of conduit and seal wire and the intervention of conduit and seal wire.
2. send the pipe wire feeder according to the intervene operation of minimally-invasive vascular described in the claim 1 robot, it is characterized in that: move to refer to that (3) and rotation refer to that (4) can manual unlocking, can realize fast quick-mounting silk like this, can when emergency, realize manual intervention again, guarantee operation safety.
3. send the pipe method that wire feeder is installed conduit and seal wire according to the intervene operation of minimally-invasive vascular described in the claim 1 robot, it is characterized in that: in the dress catheter procedure, manual unlocking clamping finger (5), mobile finger (3) and rotation refer to (4), conduit is put into the back successively clamp; In dress seal wire process, the front end of seal wire is put into conduit, manual unlocking moves finger (3) and rotation refers to (4), silk is put into the back successively clamp.
4. send the mounting means of pipe wire feeder operating part and drive part according to the intervene operation of minimally-invasive vascular described in the claim 1 robot, it is characterized in that: realize that by snap close (6) drive part (2) is connected and disengagement with the quick of operating part (1), after an operation is finished, can throw off used operating part (1) easily and clean and sterilize, changing simultaneously, the disinfectant operating part begins next example operation.
5. send the workflow of conduit in the pipe wire feeder according to the intervene operation of minimally-invasive vascular described in the claim 1 robot, it is characterized in that: the switch of push handle, make clamping finger (5) and rotation refer to that (4) open, move and refer to that (3) clamp, moving forward operating grip then advances mobile refer to (3), driving conduit sends into toward the blood vessel depths, refer to (3) when advancing to certain position when moving, the switch of unclamp operation handle makes clamping finger (5) and rotation refer to (4) closure, conduit is clamped motionless, move finger (3) and open, the move operation handle makes to move to refer to that (3) retreat backward, when moving finger (3) when retreating into certain position, repeat to send the pipe process; When mobile finger (3) runs into limit switch (7) or limit switch (8), stop automatically moving.
6. send the workflow of seal wire in the pipe wire feeder according to the intervene operation of minimally-invasive vascular described in the claim 1 robot, it is characterized in that: the switch of push handle, make rotation refer to that (4) open, move and refer to that (3) clamp, moving forward operating grip then advances mobile refer to (3), driving conduit sends into toward the blood vessel depths, refer to (3) when advancing to certain position when moving, the switch of unclamp operation handle makes rotation refer to (4) closure, conduit is clamped motionless, move finger (3) and open, the move operation handle makes to move to refer to that (3) retreat backward, when moving finger (3) when retreating into certain position, repeat one and send the pipe process.
7. send the work process of seal wire in the pipe wire feeder according to the intervene operation of minimally-invasive vascular described in the claim 1 robot, it is characterized in that: when seal wire runs into bifurcated vessels and need rotate, the knob of rotating operation handle, at this moment moving finger (3) opens, rotation refers to (4) closure, clamps seal wire and rotates a certain angle, turn over predetermined angular after, the stop operating knob of operating grip, the seal wire direction of rotation is determined by the direction of rotation of operating grip knob.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105734770A CN101999941A (en) | 2010-11-29 | 2010-11-29 | Tube and wire feeding device for intravascular intervention surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105734770A CN101999941A (en) | 2010-11-29 | 2010-11-29 | Tube and wire feeding device for intravascular intervention surgical robot |
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| Publication Number | Publication Date |
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| CN101999941A true CN101999941A (en) | 2011-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010105734770A Pending CN101999941A (en) | 2010-11-29 | 2010-11-29 | Tube and wire feeding device for intravascular intervention surgical robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104174109A (en) * | 2014-09-02 | 2014-12-03 | 中国科学院自动化研究所 | Guide wire supporting and clamping device of blood vessel interventional operation wire feeding device |
| JP2015198924A (en) * | 2014-03-31 | 2015-11-12 | パナソニックＩｐマネジメント株式会社 | Device of flexible elongate member, method of flexible elongate member, and control program |
| CN105686877A (en) * | 2014-11-26 | 2016-06-22 | 乐普（北京）医疗器械股份有限公司 | Supporting device for catheter-based renal sympathetic denervation robot pusher |
| CN103584918B (en) * | 2013-08-22 | 2016-07-27 | 中南大学湘雅三医院 | Remote control gets involved robot system |
| CN104771223B (en) * | 2014-01-10 | 2017-02-15 | 乐普（北京）医疗器械股份有限公司 | Renal artery ablation catheter robot pusher |
| CN107822711A (en) * | 2017-09-28 | 2018-03-23 | 济南大学 | A kind of seal wire intervention device of minimally invasive intervention operation robot |
| CN107847712A (en) * | 2015-06-16 | 2018-03-27 | 汉阳大学校Erica产学协力团 | vascular intervention operation robot and vascular intervention operation system |
| CN108704214A (en) * | 2018-04-28 | 2018-10-26 | 燕山大学 | Interventional surgery robotic catheter/seal wire rotating mechanism and propulsion device |
| CN110151310A (en) * | 2019-05-27 | 2019-08-23 | 燕山大学 | A kind of interventional surgery robotic catheter/seal wire rotary propelling device |
| CN111035453A (en) * | 2019-11-27 | 2020-04-21 | 北京理工大学 | Catheter external anti-bending device for vascular cavity interventional surgical robot |
| CN111588487A (en) * | 2020-04-29 | 2020-08-28 | 江西省人民医院 | Cardiovascular department intervention treatment auxiliary device |
| CN111672013A (en) * | 2020-06-17 | 2020-09-18 | 清华大学 | Multi-motion integrated end effector for interventional surgical wire feed system |
| CN112190335A (en) * | 2020-10-22 | 2021-01-08 | 北京唯迈医疗设备有限公司 | Intervene supplementary operation robot |
| CN112190334A (en) * | 2020-10-22 | 2021-01-08 | 北京唯迈医疗设备有限公司 | Convenient sterile intervention auxiliary operation robot |
| CN112315583A (en) * | 2020-10-29 | 2021-02-05 | 北京唯迈医疗设备有限公司 | Convenient sterile interventional radiography surgery bionic robot gripper |
| CN112336459A (en) * | 2020-10-29 | 2021-02-09 | 北京唯迈医疗设备有限公司 | Bionic robot for interventional radiography operation |
| CN113367843A (en) * | 2021-04-27 | 2021-09-10 | 杭州启明医疗器械股份有限公司 | Interventional instrument delivery system |
| CN113577508A (en) * | 2021-07-30 | 2021-11-02 | 天津大学 | Automatic control device for tumor interventional therapy operation |
| CN113729956A (en) * | 2021-07-05 | 2021-12-03 | 深圳市爱博医疗机器人有限公司 | Intervene operation robot from end device |
| WO2022156597A1 (en) * | 2021-01-19 | 2022-07-28 | 王利 | Novel interventional catheter and interventional surgical robot |
| CN114831739A (en) * | 2022-04-22 | 2022-08-02 | 燕山大学 | Master-slave minimally invasive vascular interventional surgical robot master-end multi-instrument operating device |
| WO2023280049A1 (en) * | 2021-07-05 | 2023-01-12 | 深圳市爱博医疗机器人有限公司 | Slave end device for interventional surgical robot |
| WO2023030255A1 (en) * | 2021-07-05 | 2023-03-09 | 深圳市爱博医疗机器人有限公司 | Interventional surgical robot slave end device |
| WO2023030323A1 (en) * | 2021-07-05 | 2023-03-09 | 深圳市爱博医疗机器人有限公司 | Slave device for interventional surgical robot |
| CN116617536A (en) * | 2023-06-02 | 2023-08-22 | 郑州大学 | Vascular intervention operation guide wire catheter operation device and operation method |
| RU2803871C1 (en) * | 2022-06-30 | 2023-09-21 | Шэньчжэнь Инститьют Оф Адвансд Байомедикал Робот Ко., Лтд. | Slave device for intervention robot |
| EP4137089A4 (en) * | 2021-07-05 | 2023-11-29 | Shenzhen Institute of Advanced Biomedical Robot Co., Ltd. | Slave end apparatus of interventional surgical robot |
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| CN103584918B (en) * | 2013-08-22 | 2016-07-27 | 中南大学湘雅三医院 | Remote control gets involved robot system |
| CN104771223B (en) * | 2014-01-10 | 2017-02-15 | 乐普（北京）医疗器械股份有限公司 | Renal artery ablation catheter robot pusher |
| JP2015198924A (en) * | 2014-03-31 | 2015-11-12 | パナソニックＩｐマネジメント株式会社 | Device of flexible elongate member, method of flexible elongate member, and control program |
| CN104174109A (en) * | 2014-09-02 | 2014-12-03 | 中国科学院自动化研究所 | Guide wire supporting and clamping device of blood vessel interventional operation wire feeding device |
| CN105686877A (en) * | 2014-11-26 | 2016-06-22 | 乐普（北京）医疗器械股份有限公司 | Supporting device for catheter-based renal sympathetic denervation robot pusher |
| CN107847712A (en) * | 2015-06-16 | 2018-03-27 | 汉阳大学校Erica产学协力团 | vascular intervention operation robot and vascular intervention operation system |
| CN107822711A (en) * | 2017-09-28 | 2018-03-23 | 济南大学 | A kind of seal wire intervention device of minimally invasive intervention operation robot |
| CN107822711B (en) * | 2017-09-28 | 2023-06-27 | 济南大学 | Guide wire intervention device of minimally invasive intervention surgical robot |
| CN108704214B (en) * | 2018-04-28 | 2021-11-30 | 燕山大学 | Catheter/guide wire rotating mechanism and propelling device of minimally invasive vascular interventional surgical robot |
| CN108704214A (en) * | 2018-04-28 | 2018-10-26 | 燕山大学 | Interventional surgery robotic catheter/seal wire rotating mechanism and propulsion device |
| CN110151310A (en) * | 2019-05-27 | 2019-08-23 | 燕山大学 | A kind of interventional surgery robotic catheter/seal wire rotary propelling device |
| CN110151310B (en) * | 2019-05-27 | 2020-08-25 | 燕山大学 | Catheter/guide wire rotary pushing device of minimally invasive vascular interventional surgical robot |
| CN111035453A (en) * | 2019-11-27 | 2020-04-21 | 北京理工大学 | Catheter external anti-bending device for vascular cavity interventional surgical robot |
| CN111588487A (en) * | 2020-04-29 | 2020-08-28 | 江西省人民医院 | Cardiovascular department intervention treatment auxiliary device |
| CN111672013A (en) * | 2020-06-17 | 2020-09-18 | 清华大学 | Multi-motion integrated end effector for interventional surgical wire feed system |
| CN112190334A (en) * | 2020-10-22 | 2021-01-08 | 北京唯迈医疗设备有限公司 | Convenient sterile intervention auxiliary operation robot |
| CN112190335A (en) * | 2020-10-22 | 2021-01-08 | 北京唯迈医疗设备有限公司 | Intervene supplementary operation robot |
| CN112190335B (en) * | 2020-10-22 | 2022-01-18 | 北京唯迈医疗设备有限公司 | Intervene supplementary operation robot |
| CN112190334B (en) * | 2020-10-22 | 2022-02-18 | 北京唯迈医疗设备有限公司 | Convenient sterile intervention auxiliary operation robot |
| CN112315583A (en) * | 2020-10-29 | 2021-02-05 | 北京唯迈医疗设备有限公司 | Convenient sterile interventional radiography surgery bionic robot gripper |
| CN112336459A (en) * | 2020-10-29 | 2021-02-09 | 北京唯迈医疗设备有限公司 | Bionic robot for interventional radiography operation |
| CN112315583B (en) * | 2020-10-29 | 2022-01-18 | 北京唯迈医疗设备有限公司 | Convenient sterile interventional radiography surgery bionic robot gripper |
| WO2022156597A1 (en) * | 2021-01-19 | 2022-07-28 | 王利 | Novel interventional catheter and interventional surgical robot |
| CN113367843A (en) * | 2021-04-27 | 2021-09-10 | 杭州启明医疗器械股份有限公司 | Interventional instrument delivery system |
| CN113367843B (en) * | 2021-04-27 | 2023-08-15 | 杭州启明医疗器械股份有限公司 | Delivery system for interventional instruments |
| WO2023030255A1 (en) * | 2021-07-05 | 2023-03-09 | 深圳市爱博医疗机器人有限公司 | Interventional surgical robot slave end device |
| WO2023280049A1 (en) * | 2021-07-05 | 2023-01-12 | 深圳市爱博医疗机器人有限公司 | Slave end device for interventional surgical robot |
| WO2023030323A1 (en) * | 2021-07-05 | 2023-03-09 | 深圳市爱博医疗机器人有限公司 | Slave device for interventional surgical robot |
| CN113729956A (en) * | 2021-07-05 | 2021-12-03 | 深圳市爱博医疗机器人有限公司 | Intervene operation robot from end device |
| JP2023531851A (en) * | 2021-07-05 | 2023-07-26 | 深▲せん▼市愛博医療機器人有限公司 | interventional surgery robot slave device |
| JP2023533097A (en) * | 2021-07-05 | 2023-08-02 | 深▲せん▼市愛博医療機器人有限公司 | interventional surgery robot slave device |
| EP4137089A4 (en) * | 2021-07-05 | 2023-11-29 | Shenzhen Institute of Advanced Biomedical Robot Co., Ltd. | Slave end apparatus of interventional surgical robot |
| US11998294B2 (en) | 2021-07-05 | 2024-06-04 | Shenzhen Institute Of Advanced Biomedical Robot Co., Ltd. | Slave-end apparatus for interventional robot |
| CN113577508A (en) * | 2021-07-30 | 2021-11-02 | 天津大学 | Automatic control device for tumor interventional therapy operation |
| CN114831739A (en) * | 2022-04-22 | 2022-08-02 | 燕山大学 | Master-slave minimally invasive vascular interventional surgical robot master-end multi-instrument operating device |
| RU2803871C1 (en) * | 2022-06-30 | 2023-09-21 | Шэньчжэнь Инститьют Оф Адвансд Байомедикал Робот Ко., Лтд. | Slave device for intervention robot |
| CN116617536A (en) * | 2023-06-02 | 2023-08-22 | 郑州大学 | Vascular intervention operation guide wire catheter operation device and operation method |
| CN116617536B (en) * | 2023-06-02 | 2023-11-03 | 郑州大学 | Vascular intervention operation guide wire catheter operation device and operation method |
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Application publication date: 20110406 |