CN104771223A - Renal artery ablation catheter robot pusher - Google Patents
Renal artery ablation catheter robot pusher Download PDFInfo
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- CN104771223A CN104771223A CN201410013654.8A CN201410013654A CN104771223A CN 104771223 A CN104771223 A CN 104771223A CN 201410013654 A CN201410013654 A CN 201410013654A CN 104771223 A CN104771223 A CN 104771223A
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Abstract
The invention discloses a renal artery ablation catheter robot pusher. The renal artery ablation catheter robot pusher comprises a catheter mounting module, a catheter power module, a force detection module and a linear propulsion module, wherein an ablation catheter is mounted on the catheter mounting module; the catheter power module is connected with the catheter mounting module, so that the guide rail mounting module can drive the ablation catheter to move; the catheter power module is mounted on the force detection module, so that the stress of the ablation catheter mounted on the catheter mounting module can be detected; and the force detection module is mounted on the linear propulsion module, so that linear guiding of movement of the ablation catheter can be realized. The renal artery ablation catheter robot pusher can be supported by a special manipulator to be hung above an operating bed, facilitates insertion of the catheter and operation of doctors, and does not disturb patients; the renal artery ablation catheter robot pusher has the advantages of being high in precision and stability, simple to operate, capable of being remotely operated and the like and overcomes the shortcomings of traditional interventional operation intubation action.
Description
Technical field
The present invention relates to medical instruments field, particularly relate to a kind of renal artery ablation catheter robot pusher.
Background technology
Hypertension has become the major issue affecting Global Health.At present, the primary therapeutic modality medicine of hyperpietic, but effect is still undesirable, although some patients applies 5 kinds of antihypertensives, blood pressure is still not up to standard, derives intractable hypertension symptom thus.Intractable hypertension refers on the basis of the mode of making the life better, and rule is enough takes more than 3 kinds or the 3 kinds Altace Ramiprils comprising a kind of diuretic, but blood pressure still can not person up to standard.Hypertension is the modal cardiovascular diseasess of person in middle and old age, is also the important risk factor causing coronary heart disease, congestive heart failure, renal failure, aortic aneurysm, is the first cause that middle-aged and elderly people is lethal, disable.
Medical research shows, sympathetic nervous system is the important step of hypertension incidence.Especially renal sympathetic nerve discharge (renal sympathetic nerve activity, RSNA) can cause renal tubules sodium fluid reabsorption to increase, cause renin release and renal vascular resistance to change, thus blood pressure is raised.Although the sympathectomy in past its antihypertensive effect verified, exists multiple severe complication, and there is case fatality rate occurred frequently and disability rate in operation, therefore this therapeutic strategy is replaced by the method for Drug therapy gradually.Until 2009, Krum teaches reported first and uses the percutaneous catheter of interventional technique to melt renal artery to remove sympathetic nerve art (catheter-based renal sympathetic denervation, RDN), the research (i.e. sympathetic HTN-1) of intractable hypertension is treated.Along with carrying out of research, its result shows safety and the effectiveness that renal artery ablation (RND) treats intractable hypertension, achieves challenging antihypertensive effect.Renal artery radiofrequency ablation art is carried out to obstinate hypertension, for hyperpietic brings a kind of new hope, also be a kind of new method of non-hypertension therapy simultaneously, and show that the method safely and effectively according to the clinical trial in external early stage, can be widely used.Simultaneously along with the development of radio-frequency ablation procedure can also make the method be not limited only to treat intractable hypertension, but also may be used for general hypertensive non-drug therapy, hyperpietic can be made to break away from the puzzlement of drug administration every day.
In renal artery ablative surgery, traditional manual intubation existing defects: conduit can handling poor, maloperation and trial frequently, make the effect of intubate and success rate low, and easily damage is caused to blood vessel; Long-term work under X-ray environment is large to clinician body injury; Manual mode requires high to doctor's operation skill, complicated operation, fatiguability, and unstable, cannot ensure the accuracy of intubation intervention, affect surgical quality, and then affect life in patients.In ablation procedure, determine the position of ablation points and the bending degree of conduit by the handle of doctor's manual operation ablation catheter, its performance accuracy is low, and head end reclines instability, causes ablation effect poor, occurs the complication such as edema.These defects have impact on the hypertensive Rapid Popularization of renal artery ablation greatly.Robotics is incorporated in renal artery radiofrequency ablation art, utilizes the high accuracy of robot system, high stability, simple operation, can the advantage such as remote operating can well overcome the above problems.For Intubaction device research both at home and abroad a lot, great majority research be pusher to guiding catheter or angiography catheter, enter major blood vessel, blood vessel is comparatively thick, and simply, processing ease, the time is short, and is all in laboratory stage for pipeline.External existing Intubaction device product, but put support for arteria coronaria, heart atrial fibrillation ablation, its special conduit need be coordinated to use.Up to the present, market is not also directed to conduit robot and the pusher listing of renal artery ablation catheter.
Summary of the invention
(1) technical problem that will solve
The technical problem to be solved in the present invention is the defect overcoming renal artery ablative surgery manual cannulation and ablation procedure, provides a kind of structure simple, practical conduit robot pusher.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of renal artery ablation catheter robot pusher, it comprises: conduit installation module, and it installs ablation catheter; Conduit power plant module, with described guide rails assembling model calling, to drive described ablation catheter to move by guide rails assembling module; Power detection module, it installs described conduit power plant module, to detect the stressed size of the ablation catheter be arranged on conduit installation module; Linear advancement module, it installs described power detection module, to carry out straight-line guidance to the motion of ablation catheter.
Wherein, described conduit installation module comprises the grip support frame be arranged on conduit power plant module, handle rear support, handle head end mate gear and handle and to pull back counterpart; Described grip support frame is arranged the guide pipe front support and guide pipe rear support that support ablation catheter guiding bending, described handle rear support supports ablation catheter handle, described handle head end mate gear rotates head end with ablation catheter handle and is fixedly connected with, and described handle counterpart of pulling back connects the handle of ablation catheter and to pull back part.
Wherein, described conduit installation module also comprises gear installation base, and gear installation base is provided with gear wheel and the pinion of coaxial connection, and described gear wheel engages with described handle head end mate gear, and described pinion connects described conduit power plant module.
Wherein, described conduit power plant module comprises pullback motion motor, rotary motion motor, pullback motion master gear, pullback motion tooth bar, rotary motion master gear, headstock base and headstock upper cover; Described pullback motion master gear and rotary motion master gear are arranged on the output shaft of pullback motion motor and rotary motion motor respectively, described pullback motion motor and rotary motion motor are arranged on headstock base respectively by pullback motion motor cabinet and rotary motion motor cabinet, and described pullback motion tooth bar is arranged on headstock by tooth bar mounting limit block and covers.
Wherein, on described headstock, tops is provided with mounting groove, and described handle rear support and gear installation base are arranged in mounting groove pluggablely, and described pullback motion tooth bar is provided with locating hole, and described handle counterpart of pulling back removably is connected with locating hole; When described handle rear support and gear installation base insert headstock upper cover, handle is pulled back in the locating hole of counterpart insertion pullback motion tooth bar, and pinion engages with rotary motion master gear.
Wherein, described conduit power plant module also comprises conduit power plant module installing plate, and itself and headstock base are connected.
Wherein, described power detection module comprises mounting base, is provided with straight optical axis side by side, and straight optical axis is installed on mounting base by straight optical axis front support, straight optical axis rear support, straight optical axis is provided with linear bearing, and conduit power plant module installing plate is connected with linear bearing; Described mounting base is provided with and is fixed on front spring mount pad bottom conduit power plant module installing plate and rear spring mount pad, the hole of described front spring mount pad and rear spring mount pad is built with spring, and spring is also connected with front spring baffle plate and rear spring baffle plate respectively; The bottom of conduit power plant module installing plate is provided with encoder seat, and encoder seat installs displacement detecting encoder, and displacement detecting gear is arranged on displacement detecting encoder, described displacement detecting tooth bar to be fixed on mounting base and with displacement detecting gears meshing.
Wherein, described front spring baffle plate or rear spring baffle plate are provided with pre-loading screw, pre-loading screw is connected with spring through front spring baffle plate or rear spring baffle plate.
Wherein, described Linear Moving Module comprises rectilinear motion motor, guide rail, mobile platform, screw mandrel, feed screw nut and guide rail upper cover; Described screw mandrel is fixedly connected with by the output shaft of shaft coupling with rectilinear motion motor, described mobile platform is by guide supporting, and described leading screw is through feed screw nut, and feed screw nut is fixed on bottom mobile platform, described guide rail covers and has gathering sill, guiding bending moves in gathering sill.
Wherein, the front end of described gathering sill is also provided with threeway erecting bed, threeway, alligator clamp and guiding catheter, threeway is arranged on threeway erecting bed, alligator clamp is arranged on threeway erecting bed with card end finger guiding tube, described conduit bending stretches out from gathering sill front end, enter in threeway and guiding catheter, final intravasation.
(3) beneficial effect
The renal artery ablation catheter robot pusher that technique scheme provides, can, by the support of special mechanical arm, be suspended on above operation table, facilitate the insertion of conduit and the operation of doctor, and do not interfere with patient; The pusher of described conduit robot have high accuracy, high stability, simple operation, can the advantage such as remote operating, solve the drawback of traditional intervene operation intubate action.
Accompanying drawing explanation
Fig. 1 is the structural representation of renal artery ablation catheter;
Fig. 2 is overall structure schematic diagram of the present invention;
Fig. 3 is conduit installation module and conduit power plant module schematic diagram;
Fig. 4 is the structural representation of power detection module;
Fig. 5 is the structural representation of Linear Moving Module;
Fig. 6 is the partial schematic diagram of Linear Moving Module
Be labeled as in figure: 1-renal artery ablation catheter, 2-conduit bending, 3-rotatable handle head end, 4-handle is pulled back part, 5-hands handle, 6-conduit installation module, 7-conduit power plant module, 8-power detection module, 9-Linear Moving Module, 10-guide rail upper cover, 11-rectilinear motion motor, 12-guide rail, 13-mobile platform, 14-threeway erecting bed, 15-gathering sill, 16-handle head end mate gear, 17-handle is pulled back counterpart, 18-tooth bar mounting limit block, 19-handle rear support, 20-headstock upper cover, 21-pullback motion motor cabinet, 22-pullback motion motor, 23-pullback motion master gear, 24-headstock base, 25-pullback motion tooth bar, 26-rotary motion motor, 27-rotary motion motor cabinet, 28-gear wheel, 29-rotary motion master gear, 30-pinion, 31-gear installation base, 32-guide pipe front support, 33-guide pipe, 34-grip support frame, 35-handle rear support, 36-pre-loading screw, 37-spring backboard, 38-straight optical axis rear support, 39-conduit power plant module installing plate, 40-straight optical axis, 41-straight optical axis front support, 42-spring front baffle board, 43-spring, 44-front spring mount pad, 45-displacement detecting gear, 46-displacement detecting tooth bar, 47-displacement detecting encoder, 48-encoder mount pad, 49-mounting base, 50-rear spring mount pad, 51-linear bearing, 52-feed screw nut, 53-screw mandrel, 54-alligator clamp, 55-threeway, 56-threeway erecting bed.
Detailed description of the invention
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.
In order to solve the problems of the technologies described above, the invention provides a kind of renal artery ablation catheter robot pusher, realizing the automatic control of renal artery ablation catheter.Described catheter propelling device is the end effector of conduit robot, for holding renal artery ablation catheter, complete conduit forward/backward, rotate, head end bending three motion, smoothly conduit is delivered to specify position enforcement melt.
Figure 1 shows that the external structure of renal artery ablation catheter 1, described renal artery ablation catheter 1 comprises conduit bending 2 and handle 5, rotatable handle head end 3 can thorny handle 5 central rotation, and part 4 of pulling back can move linearly along handle orientations, realize respectively conduit bending 2 rotate in a circumferential direction and head end bends.
Fig. 2 is the overall structure schematic diagram of catheter propelling device, includes conduit installation module 6, conduit power plant module 7, power detection module 8 and linear advancement module 9; Conduit installation module 6 is installed ablation catheter 1, conduit power plant module 7 is connected with guide rails assembling module 6, to drive ablation catheter 1 to move by guide rails assembling module 6; Power detection module 8 is installed conduit power plant module 7, to detect the stressed size of the ablation catheter 1 be arranged on conduit installation module 6; Installing force detection module 8 in linear advancement module 9, to carry out straight-line guidance to the motion of ablation catheter 1.
As shown in Figure 3, conduit installation module 6 includes grip support frame 34, handle rear support 19, handle head end mate gear 16, handle pull back counterpart 17, guide pipe 33, guide pipe front support 32, guide pipe rear support 35, gear wheel 28, pinion 30 and gear installation base 31.Grip support frame 34 is arranged the guide pipe front support 32 and guide pipe rear support 35 that support ablation catheter guiding bending 2, handle 5 is fixed in handle rear support 19, handle counterpart 17 and handle part 4 of pulling back of pulling back is connected, handle head end mate gear 16 and rotatable handle head end 3 are connected, gear wheel 28 and pinion 30 are coaxially arranged on gear installation base 31, finally with the encapsulation of gear cap (not shown).
Described conduit power plant module is made up of pullback motion motor 22, rotary motion motor 26, pullback motion master gear 23, pullback motion tooth bar 25, rotary motion master gear 29, headstock base 24, headstock upper cover 20 etc.Pullback motion master gear 23 and rotary motion master gear 29 are arranged on the axle of pullback motion motor 22 and rotary motion motor 26 respectively, and pullback motion motor 22 and rotary motion motor 26 are arranged on headstock base 24 respectively by pullback motion motor cabinet 21 and rotary motion motor cabinet 27.Pullback motion tooth bar 25 is arranged on headstock upper cover 20 by tooth bar mounting limit block 18.
Described headstock upper cover 20 top design mounting groove structure, handle rear support 19 and bracing frame gear installation base 31 can insert and extract smoothly.When described handle rear support 19 and bracing frame gear installation base 31 insert headstock upper cover 20, handle counterpart 17 of pulling back inserts in the locating hole of pullback motion tooth bar 25, pinion 30 and rotary motion master gear 29 also correct engagement.When described pullback motion motor 22 rotates, to be pulled back the Motion Transmission of part 4 by pull back counterpart 17, handle of pullback motion master gear 23, pullback motion tooth bar 25, handle, realize the bending of conduit head end 2; When described rotary motion motor 26 rotates, by the Motion Transmission of rotary motion master gear 29, pinion 30, gear wheel 28, handle head end mate gear 16, rotatable handle head end 3, realize the rotation of conduit bending, i.e. the bending of different angles.Described rotary motion motor 26 and pullback motion motor 22 itself contain encoder, can bending degree, the anglec of rotation of detected catheter, feed back to control end, the motor of other types also can be adopted to add encoder assembles and detected, realize above-mentioned functions.Described conduit installation module 6 is disposable aseptic module.
As shown in Figure 4 and Figure 5, described power detection module 8 for detected catheter at the stressing conditions of Ink vessel transfusing along vessel directions, when stressed excessive time to operator with prompting, or directly by force feedback to operator.Described conduit power plant module installing plate 39 is connected with headstock base 24, and is installed on mounting base 49 by symmetrical linear bearing 51, straight optical axis 40, straight optical axis front support 41, straight optical axis rear support.Described conduit power plant module installing plate 39 achieves whole conduit installation module 6, conduit power plant module 7 can linearly move by optical axis direction, and all the other five degree of freedom are limited.Friction is reduced to negligible by described straight optical axis 40 and linear bearing 51.Described front spring mount pad 44 and rear spring mount pad 50 are fixed on the bottom of conduit power plant module installing plate 39, described spring 43 has two, be arranged on front spring mount pad 44 respectively with in the hole of rear spring mount pad 50, spacing and the pretension by front spring baffle plate 42, rear spring baffle plate 37, pre-loading screw 36, pre-loading screw 36 is connected with spring 43 through front spring baffle plate 42 or rear spring baffle plate 37.Described displacement detecting encoder 47 is arranged on the bottom of conduit power plant module installing plate 39 by encoder seat 48, described displacement detecting gear 45 is arranged on displacement detecting encoder 47, and described displacement detecting tooth bar 46 to be fixed on mounting base 49 and to engage with displacement detecting gear 45.When conduit is subject to the resistance along vessel directions in motor process, by conduit, conduit installation module 6, conduit power plant module 7 and power detection module 8, power is delivered on the spring 43 of front and back, spring 43 stress deformation, there is deformation, conduit power plant module installing plate 39 also linearly optical axis 40 has identical displacement, and this displacement can be detected by displacement detecting encoder 47, displacement detecting gear 45 and displacement detecting tooth bar 46.Stressed along vessel directions of conduit can be calculated according to Hooke's law.
As shown in Figure 2, Figure 5 and Figure 6, described Linear Moving Module 9 comprises rectilinear motion motor 11, guide rail 12, mobile platform 13, screw mandrel 53, feed screw nut 52, guide rail upper cover 10 etc.Described screw mandrel 53 is fixed by the axle of shaft coupling and rectilinear motion motor 11, and described mobile platform 13 is supported by guide rail 12.Described guide rail upper cover 10 has gathering sill 15, and conduit is mobile in gathering sill 15, plays a supportive role together with guide pipe 33 to conduit, improves the axial stiffness of conduit, ensures that conduit is subject to below safe resistance and can both pushes youngster smoothly and do not bend.The front end of gathering sill 15 is connected to threeway erecting bed 14, threeway 55, alligator clamp 54 and guiding catheter (not shown).Conduit from gathering sill 15 front end out, enters in threeway 55 and guiding catheter, final intravasation.The axle of described rectilinear motion motor 11 rotarily drives screw mandrel 53 and rotates, realize feed screw nut 52 rectilinear motion, feed screw nut 52 is connected on mobile platform 13, thus the power detection module 9 be connected on mobile platform 13, conduit power plant module 8 and conduit installation module 6 are moved together, conduit is namely forward/backward along vessel directions.Described catheter propelling device achieve conduit forward/backward, rotate, head end bending function, by control by above motion combine, conduit can be delivered to renal artery, and realize the automatization of ablation procedure.
Operation principle of the present invention is as follows:
Be arranged on by modular catheter on conduit installation module, the rotation head end of handle is connected with the driving gear pair of conduit installation module, counterpart of pulling back respectively with part of pulling back; The power of handle rotation movement and pullback motion transmits from the drive motors of two conduit power plant module respectively by gear pair, rack-and-pinion, thus realizing rotation and the bending of conduit, motor coaxle is installed encoder or motor and is inherently carried encoder for the anglec of rotation of detected catheter and head end bending degree.Headstock is connected by linear bearing with mounting platform, its linear movement direction is free state, pass through spring pre-tightening between the two, when conduit rectilinear motion, conduit head end impact force, conduit are delivered to catheter tip making a concerted effort along the friction of blood vessel wall and conduit along the resistance on vessel anatomy direction, finally make there is small displacement between conduit power plant module and mobile platform, this displacement will produce two effects: the compress variation of spring changes, and spring force changes.Displacement detecting rack-and-pinion relative motion, encoder detects the variable quantity of the anglec of rotation, learns spring displacement, finally calculates the increments of change of spring stress.The increments of change of described spring force and the stressed of conduit axis.
Whole conduit installation module, conduit power plant module, power detection module are arranged in Linear Moving Module by guide rail mobile platform, and are driven by screw pair.Motor drives screw mandrel to rotate, and realizes the rectilinear motion of nut, and then realizes mobile platform straight ahead/retrogressing of being connected with it, and being finally reflected on conduit is forward/backward along blood vessel of conduit.
During operation, described Linear Moving Module drives conduit along blood vessel rectilinear motion, and when arrival vascular bifurcation position, conduit power plant module controls conduit head end and bends, then sends into bifurcated vessels after rotary guide pipe to correct direction and move on.After arriving predetermined ablation locations, what control conduit head end safety and stability abuts in blood vessel, and motor self-locking, completes and melt.
Beneficial effect of the present invention is embodied in the following aspects:
1, adopt high-resolution motor and encoder, realize the precise controlling of conduit, ensure that conduit can settle at one go, and do not need the reciprocating operation of repetition, avoid, to the injury of blood vessel, also improving procedure efficiency simultaneously;
2, doctor away from X-ray district, can carry out operated from a distance, reduces the X-ray radiation quantity X of self;
3, adopt spring encoder assembles form to carry out power detection, both can play crusherbull zone effect, the slight resistance of encoder reduces the impact of mechanical resistance simultaneously, enough accurately;
4, utilize the high pulling torque of motor to control to play auto-lock function to conduit, ensure that operation process does not affect by external force;
5, utilize guide pipe and gathering sill and incline structure to ensure that the rigidity of conduit axial advance, avoid curved greatly by resistance and cannot advance, when resistance is too large, detecting by power detection module, by the stop motion of program Long-distance Control, and propose instruction;
6, the control become more meticulous, improves the positioning precision of ablation points, provides reliable and stable head end to recline, and improves the quality of ablative surgery, reduces the probability of the postoperative complications such as edema.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvement and replacement, these improve and replace and also should be considered as protection scope of the present invention.
Claims (10)
1. a renal artery ablation catheter robot pusher, is characterized in that, comprising: conduit installation module, it installs ablation catheter; Conduit power plant module, with described guide rails assembling model calling, to drive described ablation catheter to move by guide rails assembling module; Power detection module, it installs described conduit power plant module, to detect the stressed size of the ablation catheter be arranged on conduit installation module; Linear advancement module, it installs described power detection module, to carry out straight-line guidance to the motion of ablation catheter.
2. renal artery ablation catheter robot as claimed in claim 1 pusher, is characterized in that, described conduit installation module comprises the grip support frame be arranged on conduit power plant module, handle rear support, handle head end mate gear and handle and to pull back counterpart; Described grip support frame is arranged the guide pipe front support and guide pipe rear support that support ablation catheter guiding bending, described handle rear support supports ablation catheter handle, described handle head end mate gear rotates head end with ablation catheter handle and is fixedly connected with, and described handle counterpart of pulling back connects the handle of ablation catheter and to pull back part.
3. renal artery ablation catheter robot as claimed in claim 2 pusher, it is characterized in that, described conduit installation module also comprises gear installation base, gear installation base is provided with gear wheel and the pinion of coaxial connection, described gear wheel engages with described handle head end mate gear, and described pinion connects described conduit power plant module.
4. renal artery ablation catheter robot as claimed in claim 3 pusher, it is characterized in that, described conduit power plant module comprises pullback motion motor, rotary motion motor, pullback motion master gear, pullback motion tooth bar, rotary motion master gear, headstock base and headstock upper cover; Described pullback motion master gear and rotary motion master gear are arranged on the output shaft of pullback motion motor and rotary motion motor respectively, described pullback motion motor and rotary motion motor are arranged on headstock base respectively by pullback motion motor cabinet and rotary motion motor cabinet, and described pullback motion tooth bar is arranged on headstock by tooth bar mounting limit block and covers.
5. renal artery ablation catheter robot as claimed in claim 4 pusher, it is characterized in that, on described headstock, tops is provided with mounting groove, described handle rear support and gear installation base are arranged in mounting groove pluggablely, described pullback motion tooth bar is provided with locating hole, and described handle counterpart of pulling back removably is connected with locating hole; When described handle rear support and gear installation base insert headstock upper cover, handle is pulled back in the locating hole of counterpart insertion pullback motion tooth bar, and pinion engages with rotary motion master gear.
6. renal artery ablation catheter robot as claimed in claim 5 pusher, it is characterized in that, described conduit power plant module also comprises conduit power plant module installing plate, and itself and headstock base are connected.
7. renal artery ablation catheter robot as claimed in claim 6 pusher, it is characterized in that, described power detection module comprises mounting base, be provided with straight optical axis side by side, straight optical axis is installed on mounting base by straight optical axis front support, straight optical axis rear support, straight optical axis is provided with linear bearing, and conduit power plant module installing plate is connected with linear bearing; Described mounting base is provided with and is fixed on front spring mount pad bottom conduit power plant module installing plate and rear spring mount pad, the hole of described front spring mount pad and rear spring mount pad is built with spring, and spring is also connected with front spring baffle plate and rear spring baffle plate respectively; The bottom of conduit power plant module installing plate is provided with encoder seat, and encoder seat installs displacement detecting encoder, and displacement detecting gear is arranged on displacement detecting encoder, described displacement detecting tooth bar to be fixed on mounting base and with displacement detecting gears meshing.
8. renal artery ablation catheter robot as claimed in claim 7 pusher, is characterized in that, described front spring baffle plate or rear spring baffle plate are provided with pre-loading screw, and pre-loading screw is connected with spring through front spring baffle plate or rear spring baffle plate.
9. renal artery ablation catheter robot as claimed in claim 8 pusher, it is characterized in that, described Linear Moving Module comprises rectilinear motion motor, guide rail, mobile platform, screw mandrel, feed screw nut and guide rail upper cover; Described screw mandrel is fixedly connected with by the output shaft of shaft coupling with rectilinear motion motor, described mobile platform is by guide supporting, and described leading screw is through feed screw nut, and feed screw nut is fixed on bottom mobile platform, described guide rail covers and has gathering sill, guiding bending moves in gathering sill.
10. renal artery ablation catheter robot as claimed in claim 9 pusher, it is characterized in that, the front end of described gathering sill is also provided with threeway erecting bed, threeway, alligator clamp and guiding catheter, threeway is arranged on threeway erecting bed, alligator clamp is arranged on threeway erecting bed with card end finger guiding tube, described conduit bending stretches out from gathering sill front end, enters in threeway and guiding catheter, final intravasation.
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| CN201410013654.8A CN104771223B (en) | 2014-01-10 | 2014-01-10 | Renal artery ablation catheter robot pusher |
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| CN201410013654.8A CN104771223B (en) | 2014-01-10 | 2014-01-10 | Renal artery ablation catheter robot pusher |
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| CN104771223B CN104771223B (en) | 2017-02-15 |
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| CN105193508A (en) * | 2015-10-23 | 2015-12-30 | 哈尔滨工程大学 | Experiment table for three-dimensional force calibration of surgical micro instrument |
| CN105596080A (en) * | 2016-02-25 | 2016-05-25 | 鑫麦源创时代医疗科技(苏州)有限公司 | Disposable composite ablation needle |
| CN107616817A (en) * | 2017-09-14 | 2018-01-23 | 郑州大学第附属医院 | A kind of safety-type scale guides percutaneous liver renal fibroblast external member |
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| CN105193508A (en) * | 2015-10-23 | 2015-12-30 | 哈尔滨工程大学 | Experiment table for three-dimensional force calibration of surgical micro instrument |
| CN105596080A (en) * | 2016-02-25 | 2016-05-25 | 鑫麦源创时代医疗科技(苏州)有限公司 | Disposable composite ablation needle |
| CN107616817A (en) * | 2017-09-14 | 2018-01-23 | 郑州大学第附属医院 | A kind of safety-type scale guides percutaneous liver renal fibroblast external member |
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| CN104771223B (en) | 2017-02-15 |
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Effective date of registration: 20231220 Address after: Room 605 and 607, Building 7, No. 37 Chaoqian Road, Science and Technology Park, Changping District, Beijing, 102200 Patentee after: Lepu Xintai (Beijing) Medical Technology Co.,Ltd. Address before: 102200, Beijing Changping District science and Technology Park, super Road, No. 3, building 37 Patentee before: LEPU MEDICAL TECHNOLOGY (BEIJING) Co.,Ltd. |