CN110236678B

CN110236678B - Disinfection box for propulsion device of interventional operation robot

Info

Publication number: CN110236678B
Application number: CN201910620479.1A
Authority: CN
Inventors: 黄韬
Original assignee: Beijing Wemed Medical Equipment Co Ltd
Current assignee: Beijing Wemed Medical Equipment Co Ltd
Priority date: 2019-07-10
Filing date: 2019-07-10
Publication date: 2020-06-30
Anticipated expiration: 2039-07-10
Also published as: CN110236678A

Abstract

The invention discloses a disinfection box for a propulsion device of an interventional operation robot, which comprises: the disinfection box body is used for limiting a guide wire groove and a guide pipe groove which are communicated; the guide wire is arranged in the guide wire groove, and the catheter is arranged in the catheter groove; a guidewire moving device and a catheter moving device; the product is arranged in interveneeing the mobile control to pipe and seal wire in the operation, and the doctor is through the intervention operation robot controlgear outside the operation room, and the electro-magnet that can control the robot controls in the disinfection box pipe and seal wire get into the patient internal to realize the purpose of interveneeing the operation treatment, the disinfection box is disposable, is aseptic after handling, has guaranteed the aseptic environment of operation. Has the advantages of simple structure, small volume, light weight, convenient assembly and disassembly, low cost and the like.

Description

Disinfection box for propulsion device of interventional operation robot

Technical Field

The invention belongs to the field of minimally invasive vascular interventional operation equipment, and relates to a disinfection box of a propulsion device of an interventional operation robot and a structure of the disinfection box.

Background

The minimally invasive interventional therapy of the cardiovascular and cerebrovascular diseases is a main treatment means aiming at the cardiovascular and cerebrovascular diseases. Compared with the traditional surgical operation, has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular interventional operation is a process in which a doctor manually sends a catheter, a guide wire, a stent and other instruments into a patient to finish treatment.

The interventional operation has the following 2 problems, firstly, in the operation process, because DSA can emit X-rays, the physical strength of a doctor is reduced quickly, the attention and the stability are also reduced, the operation precision is reduced, accidents such as endangium injury, perforation and rupture of blood vessels and the like caused by improper pushing force are easy to happen, and the life risk of a patient is caused. Second, the cumulative damage of long-term ionizing radiation can greatly increase the probability of doctors suffering from leukemia, cancer and acute cataract. The phenomenon that doctors accumulate rays continuously because of interventional operation becomes a problem that the occupational lives of the doctors are damaged and the development of the interventional operation is restricted to be neglected.

The problem can be effectively solved by the operation method of teleoperation of the catheter and the guide wire by means of the robot technology, the precision and the stability of the operation can be greatly improved, meanwhile, the injury of radiation to an interventional doctor can be effectively reduced, and the occurrence probability of accidents in the operation is reduced. Therefore, the assisted robot for cardiovascular and cerebrovascular interventional surgery is more and more concerned by people and gradually becomes a key research and development object in the field of medical robots in all the science and technology strong countries at present.

At present, a vascular intervention surgical robot mainly adopts a master-slave end operation structure to isolate a doctor from radioactivity, and the application number is as follows: 201410206956.7 discloses a slave operation device of a master-slave minimally invasive vascular interventional operation auxiliary system, which comprises an axial pushing unit, a rotating unit, a clamping unit, an operation catheter, an operation force detection unit and an inclination angle adjustable base, wherein the working method comprises signal detection, transmission, processing and action. The device has the advantages that the device can simulate the intervention operation action of a doctor, is high in operation precision, effectively improves the operation safety, can adjust the angle of the intervention position, adopts aluminum alloy materials, and is small in size and light in weight. The invention can well complete the pushing of the guide wire, and force feedback is realized by adopting magnetorheological fluid.

As another example, application numbers are: 201210510169.2, discloses a master-slave teleoperation vascular interventional surgical robot, which comprises a master end control mechanism, a slave end propulsion mechanism and a PMAC controller; the main end control mechanism is an operation end of a doctor; the slave end propelling mechanism is used as an actuating mechanism of the robot to complete the motion function of the catheter; the PMAC control box is used for realizing information transmission between the master end control mechanism and the slave end propelling mechanism, the master end control mechanism and the slave end propelling mechanism adopt a master-slave teleoperation mode to assist a doctor to carry out an operation, and the slave end propelling mechanism realizes axial feeding and circumferential rotating motion of a catheter.

The above schemes are all advanced researches on vascular interventional surgical robots in China, but they all have the following problems: (1) the robot is complicated to disinfect, does not meet the actual operation requirement (2), is relatively overstaffed and complex in structure, large in size, inconvenient to install and not flexible and convenient; (3) the guide wire of the catheter is inconvenient to install by using the robot in an operation, the guide wire (4) of the catheter cannot be pushed and rotated simultaneously when the guide wire is not easy to replace in the operation, and the operation is very practical in the actual operation. (5) The device easily appears skidding phenomenon in advancing to the seal wire, influences the operation effect. (6) The material cost in the operation is high, which is not beneficial to popularization and promotion.

Disclosure of Invention

In view of the above, the present invention provides a disinfection box for an interventional surgical robot propulsion device, which is used in cooperation with an interventional surgical robot, a catheter and a guide wire, and comprises:

the disinfection box body is used for limiting a guide wire groove and a guide pipe groove which are communicated; the guide wire is arranged in the guide wire groove, and the catheter is arranged in the catheter groove;

the guide wire moving device is arranged in the guide wire groove and corresponds to the position of an electromagnet of the interventional operation robot; the electromagnet can drive the guide wire to move;

the guide pipe moving device is arranged in the guide pipe groove and can drive the guide pipe to move.

The invention has the beneficial effects that: the product is arranged in interveneeing the mobile control to pipe and seal wire in the operation, and the doctor is through the intervention operation robot controlgear outside the operation room, and the electro-magnet that can control the robot controls in the disinfection box pipe and seal wire get into the patient internal to realize the purpose of interveneeing the operation treatment, the disinfection box is disposable, is aseptic after handling, has guaranteed the aseptic environment of operation. By using the disinfection box, the operation action of the actual operation of a doctor can be simulated, the guide wire can be moved to a designated position, the catheter can be pushed to the designated position, the actions of installing a vascular stent and the like can be completed, the catheter and the guide wire can be withdrawn from the blood vessel at any time according to the requirements, the new disinfection box is replaced in each operation, the use is convenient, and the disinfection box conforms to the actual operation environment. The disinfection box adopts plug-in installation and has the advantages of simple structure, small volume, light weight, convenient assembly and disassembly, low cost and the like.

Further, still include the lid, the lid between primary importance and second place with the disinfection box body is articulated, when the lid is located the second place with disinfection box body magnetism laminating. The box cover can protect various structures on the disinfection box body.

Preferably, the box cover further comprises a handle, and the handle and the box cover are integrally arranged and extend in the direction far away from the box cover.

Preferably, the lower surface of the box cover is provided with a plurality of bosses, and the shapes and the positions of the bosses correspond to the positions of the thread guide grooves or the conduit grooves. Semicircular structures are arranged below the lug boss and above the guide wire groove, a circular guide wire moving channel can be formed after the box cover is buckled, the guide wire moving channel can play a role of supporting the guide wire of the catheter, and the channel is slightly wider than the guide wire and the catheter in diameter and cannot block the guide wire from moving; one side of the moving channel is provided with a moving operation space; likewise, the duct groove and the boss can form a duct moving passage.

Further, the guide wire moving device includes:

the clamping plate is arranged in the yarn guide groove and can move up and down along the direction vertical to the yarn guide groove; the clamping plate is provided with a clamping piece;

the outer side wall of the micro guide rail is connected with the clamping plate;

the sliding groove is arranged in the wire guide groove;

the magnetic connecting pieces are connected with the sliding grooves in a sliding mode, and the magnetic connecting pieces are multiple and arranged along the length direction of the sliding grooves; the electromagnet can drive the magnetic connecting piece to move along the sliding groove.

Further, the magnetic coupling includes:

the sliding block is connected with the micro guide rail in a sliding manner;

the connecting piece is arranged on one side of the U-shaped piece, one side of the connecting piece is connected with the sliding block, and the other side of the connecting piece is connected with the medical rubber block;

the iron sheet is arranged on the other side of the U-shaped piece;

and the positioning magnet is arranged in the wire guide groove and is positioned below the U-shaped piece.

The device disclosed by the invention needs to be used in cooperation with an interventional operation robot, and the robot is provided with an electromagnet. When the machine is started the robot moves the electromagnet to the position of the iron plate and then the electromagnet is energized, so that the iron plate and the electromagnet are attracted together and can now be seen as one whole with the iron plate 309. Because the iron sheet is connected with the medical rubber block, the medical rubber block is directly contacted with the guide wire, so that the medical rubber block can be moved by moving the electromagnet, and the guide wire can be further understood as being controlled.

The robot can be connected with the clamping plate through the clamping piece, and the clamping plate can vertically move up and down. The clamping plate is provided with a sliding block, and the sliding block is provided with a medical rubber block. The medical rubber block is in direct contact with the guide wire, and the guide wire can be clamped by the 2 medical rubber blocks by matching with the medical rubber block connected with the iron sheet, just like two fingers of a doctor. When the robot controls the electromagnet to move upwards and controls the clamping plate to move downwards, as a result, the connected 2 rubber blocks move up and down, so that the thread rolling effect can be achieved, and the guide wire can rotate clockwise. On the contrary, when the robot controls the electromagnet to move downwards and controls the clamping plate to move upwards, the guide wire can be rotated anticlockwise. When the robot controls the electromagnet to clamp the guide wire, and then controls the electromagnet to move to the right, the effect is that the doctor holds the guide wire to move to the right like the hand, and the guide wire is connected with the blood vessel, so that the guide wire is controlled to enter the blood vessel. That is, just like the hand of a person continuously pushing a wire forward, the 2 rubber blocks, under the control of the robot, only one is clamping the guide wire and the other is loosening the guide wire at the same time. They do reciprocating motion, namely, do the tight, push, loosen, move back and forth repeatedly, realize that the continuous propelling movement seal wire gets into or leaves the blood vessel. The medical rubber block is arranged in the box, and the action can be realized under the driving of the robot. At the same time, the guidewire may also be rotated and advanced simultaneously. Because of the existence of the U-shaped piece, the sliding block on the clamping piece can synchronously move in the horizontal direction along with the medical rubber block on the iron sheet. I.e. the U-shaped element can bring the slider back. The centre gripping of seal wire is by the removal of electro-magnet, and the robot circular telegram behind the electro-magnet, promotes the electro-magnet and is close to the holder, reaches certain distance after, can reach the clamp tight to the seal wire, lets the electro-magnet keep away from the holder when the robot, then drives 2 medical rubber pieces and unclamps the seal wire, accomplishes unclamping to the seal wire.

Further, the catheter moving device includes: the driving friction wheel is arranged at a port of the guide pipe groove, the driven friction wheel is arranged in the guide pipe groove, the driving friction wheel is in transmission connection with the driven friction wheel, and the micro driving motor is in transmission connection with the driving friction wheel.

The driving friction wheel is used with the following robot. The robot is provided with a device which can enable the driving friction wheel to move, after the catheter is placed, the robot is controlled to enable the driving friction wheel to move close to the driven friction wheel, and after a certain distance is reached, the catheter can be clamped. Also, the release of the catheter can be achieved away from the passive friction wheel.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of the present invention after the lid is opened;

FIG. 3 is a schematic view of the overall internal structure of the present invention;

FIG. 4 is a schematic view of a guidewire holding device according to the present invention;

FIG. 5 is a bottom view of the present invention;

the reference numbers of the figures denote:

1. a sterilizing box; 101. a rotating shaft; 102. a handle; 103. a box cover; 104. a sterilization box body; 105. a conduit groove; 106. a thread guide groove; 107. a round iron sheet; 108. a magnet; 109. a fitting region; 110. a boss; 111. a pillar;

2. a catheter movement device; 201. a driven friction wheel; 202. a driving friction wheel;

3. a guidewire moving device; 301. a clamping plate; 302. a groove; 303. a micro linear guide rail; 304. a slider; 305. connecting sheets; 306. a chute; 307. a U-shaped member; 308. positioning a magnet; 309. iron sheets; 310. a medical rubber block.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1-3, the present invention discloses a disinfection box 1 for a propulsion device of an interventional surgical robot, which is used in cooperation with the interventional surgical robot, a catheter and a guide wire, and comprises: a disinfection box body 104, wherein the disinfection box body 104 defines a guide wire groove 106 and a guide pipe groove 105 which are communicated; the guide wire is arranged in the guide wire groove 106, and the catheter is arranged in the catheter groove 105; the guide wire moving device 3 is arranged in the guide wire groove 106, and the guide wire moving device 3 corresponds to the position of an electromagnet of the interventional operation robot; the electromagnet can drive the guide wire to move; the catheter moving device 2 is arranged in the catheter groove 105, and the catheter moving device 2 can drive the catheter to move; the box cover 103 is hinged with the disinfection box body 104 between a first position and a second position, and the box cover 103 is magnetically attached to the disinfection box body 104 when located at the second position. The box cover 103 can protect various structures on the disinfection box body 104.

As shown in fig. 2-3, the box cover 103 is hinged to the disinfection box body 104 by a rotating shaft 101, the rotating shaft 101 is arranged on the box cover 103, and the disinfection box body 104 is provided with a support 111 which is hinged to the rotating shaft 101 in a matching manner; the outer edge of the box cover 103 is provided with two magnets 108, the disinfection box body 104 is provided with a joint area 109, a round iron sheet 107 is arranged on the joint area 109, and the position of the iron sheet 309 corresponds to that of the magnets; fig. 1 shows a second position of the box cover 103, fig. 2 shows a first position of the box cover 103, and the box cover 103 is magnetically attached to the attaching area 109 of the sterilizing box body 104 after being buckled; the outer side of the box cover 103 is provided with a handle 102, the handle 102 and the box cover 103 are integrally arranged and extend along the direction far away from the box cover 103, and the box cover 103 can be conveniently opened through the handle 102 to separate the box cover 103 from the disinfection box body 104; the lower surface of the box cover 103 is provided with a plurality of bosses 110, and the shape and position of the bosses 110 correspond to the positions of the guide wire grooves 106 or the guide pipe grooves 105.

As shown in fig. 4 to 5, the guide wire moving device 3 includes: the clamping plate 301 is mounted in the wire guide groove 106 and can move up and down along the direction vertical to the wire guide groove 106; the clamping plate 301 has a clamp 302; the outer side wall of the miniature linear guide rail 303 is connected with the clamping plate 301; the sliding chute 306, the sliding chute 306 is arranged in the guide wire groove 106; the magnetic connectors are connected with the sliding grooves 306 in a sliding mode, and the magnetic connectors are multiple and arranged along the length direction of the sliding grooves 306; the electromagnet can drive the magnetic coupling to move along the chute 306.

In some embodiments, the magnetic coupling comprises: the sliding block 304 is connected with the micro linear guide rail 303 in a sliding manner; the connecting piece 305 is arranged on one side of the U-shaped piece 307, one side of the connecting piece 305 is connected with the sliding block 304, and the other side of the connecting piece 305 is connected with the medical rubber block 310; iron sheets 309, wherein the iron sheets 309 are installed on the other side of the U-shaped member 307; and a positioning magnet 308, wherein the positioning magnet 308 is arranged in the wire guide groove and is positioned below the U-shaped piece 307.

As shown in fig. 3, the catheter moving device includes: the driving friction wheel 202 is arranged at the port of the guide pipe groove, the driven friction wheel 201 is arranged in the guide pipe groove, the driving friction wheel 202 is in transmission connection with the driven friction wheel 201, and the micro driving motor is in transmission connection with the driving friction wheel 202.

The specific working process is as follows:

when the vascular interventional operation is carried out, the disinfection box is firstly installed on a robot, and a vertical plugging mode is adopted. After the disinfection box is installed. Opening the box cover of the disinfection box, putting a guide wire into the guide wire groove 106 and a catheter into the catheter groove 105 according to the requirement of an interventional operation, and covering the box cover after putting; the robot is connected with the disinfection box, i.e. the robot controls the electromagnet to suck the iron sheet 309, and the robot controls the clamping mechanism to clamp the clamping plate 302, after the connection is completed. Then the doctor controls the robot to perform the operation, and the robot can be controlled to push forwards the evacuation catheter guide wire, control the guide wire to rotate and the like. After the operation is finished, the box cover of the disinfection box is opened, the guide wire of the catheter is taken out, the box cover is covered, the disinfection box is pulled out and put into a recycling box to be used as medical garbage for unified treatment.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides an intervene surgical robot advancing device disinfection box, uses with intervene surgical robot, pipe and seal wire cooperation, its characterized in that includes:

a sterilization case body (104), wherein the sterilization case body (104) defines a guide wire groove (106) and a guide pipe groove (105) which are communicated with each other; the guide wire is arranged in the guide wire groove (106), and the catheter is arranged in the catheter groove (105);

the guide wire moving device (3) is arranged in the guide wire groove (106), and the guide wire moving device (3) corresponds to the position of an electromagnet of the interventional operation robot; the electromagnet can drive the guide wire to move;

the catheter moving device (2), the catheter moving device (2) is arranged in the catheter groove (105), and the catheter moving device (2) can drive the catheter to move; the guide wire moving device (3) includes:

the clamping plate (301) is mounted in the wire guide groove (106) and can move up and down along the direction vertical to the wire guide groove (106); the clamping plate (301) has a clamp (302);

the outer side wall of the micro linear guide rail (303) is connected with the clamping plate (301);

a chute (306), the chute (306) being disposed within the guidewire channel (106);

the magnetic connectors are connected with the sliding grooves (306) in a sliding mode, and the magnetic connectors are multiple and arranged along the length direction of the sliding grooves (306); the electromagnet can drive the magnetic connecting piece to move along the sliding groove (306).

2. The interventional surgical robot propulsion device disinfection box according to claim 1, further comprising a box cover (103), wherein the box cover (103) is hinged to the disinfection box body (104) between a first position and a second position, and wherein the box cover (103) is magnetically attached to the disinfection box body (104) when in the second position.

3. The interventional surgical robot propulsion device disinfection box according to claim 2, further comprising a handle (102), the handle (102) being integral with the cassette cover (103) and extending in a direction away from the cassette cover (103).

4. The interventional surgical robot propulsion device sterilization case according to claim 2, wherein a lower surface of the case cover (103) is provided with a plurality of bosses (110), and the bosses (110) correspond in position to the guide wire groove (106) or the guide tube groove (105).

5. An interventional surgical robot advancing device disinfecting cartridge of claim 4, characterized in that the magnetic connector comprises:

the sliding block (304), the sliding block (304) is connected with the micro linear guide rail (303) in a sliding mode;

the connecting piece (305) is installed on one side of a U-shaped piece (307), one side of the connecting piece (305) is connected with the sliding block (304), and the other side of the connecting piece (305) is connected with the medical rubber block (310);

the iron sheet (309), the said iron sheet (309) is installed on the other side of the U-shaped part (307);

the positioning magnet (308) is arranged in the wire guide groove (106) and is positioned below the U-shaped piece (307).

6. An interventional surgical robot propulsion device disinfection box according to any of the claims 1-4, characterized in that the catheter moving device (2) comprises: the guide pipe friction wheel structure comprises a driving friction wheel (202), a driven friction wheel (201) and a micro driving motor, wherein the driving friction wheel (202) is arranged at the port of the guide pipe groove (105), the driven friction wheel (201) is arranged in the guide pipe groove (105), the driving friction wheel (202) is in transmission connection with the driven friction wheel (201), and the micro driving motor is in transmission connection with the driving friction wheel (202).