CN112674877A - Novel interventional catheter and interventional surgical robot - Google Patents
Novel interventional catheter and interventional surgical robot Download PDFInfo
- Publication number
- CN112674877A CN112674877A CN202110069680.2A CN202110069680A CN112674877A CN 112674877 A CN112674877 A CN 112674877A CN 202110069680 A CN202110069680 A CN 202110069680A CN 112674877 A CN112674877 A CN 112674877A
- Authority
- CN
- China
- Prior art keywords
- base
- catheter
- disposed
- workbench
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Hematology (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
- Biophysics (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of medical equipment. A novel interventional catheter comprises a fixed catheter, a rotary catheter, a guide part and a branch catheter, wherein the rotary catheter and the fixed catheter are coaxially arranged, and the rotary catheter is hermetically and rotatably arranged at the front end part of the fixed catheter; the guide part is arranged at the front end of the rotating catheter, and a channel of the guide part is arc-shaped; at least one of the branch conduits is disposed on a sidewall of the fixed conduit. An interventional surgical robot is also disclosed. The invention has reasonable structural design, can effectively realize the ordered arrangement and the ordered control of different catheters or guide wires, thereby realizing one complete surgical operation through the surgical robot and providing technical support for the further development of the surgical robot in the medical field.
Description
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to a novel interventional catheter and an interventional operation robot.
Background
With the continuous progress of medical science, the research on treatment and diagnosis equipment of diseases is more and more concerned, the surgical robot can complete the operation through accurate control and stable operation, the current situation that a doctor performs the operation through experience is replaced, not only can the regional limitation be solved, but also the errors of manual operation can be effectively reduced. The existing doctor operation depends on the working experience and the on-site judgment of the doctor, and operation misoperation can be caused by the weak energy of the doctor, and the surgical robot can provide a new research direction for medical diagnosis and treatment equipment by virtue of the characteristics of visualization and controllability, so that new breakthrough can be made in medical science by virtue of the development of scientific technology.
Aiming at the vascular interventional operation, the advancing in the blood vessel is mainly completed through the actions of advancing, retreating, rotating and the like of a guide wire or a catheter, in the operation process, different infusion catheters or guide wires need to be frequently replaced according to a specific operation process, the prior art cannot realize the sequential operation of different infusion catheters or guide wires, cannot realize the systematic operation and control of the whole operation process, and only can control one or two operation sections in the whole operation link through an operation robot. Therefore, the defects of the prior art have great restrictions on systematic operation of the surgical robot, and how to complete a complete surgical operation by the surgical robot is a technical problem to be overcome at the present stage.
Disclosure of Invention
The invention aims to solve the problems and the defects, and provides a novel interventional catheter and an interventional surgical robot, which are reasonable in structural design and can effectively realize the ordered arrangement and the ordered control of different catheters or guide wires, so that a complete surgical operation is realized through the surgical robot, and technical support is provided for the further development of the surgical robot in the medical field.
In order to realize the purpose, the adopted technical scheme is as follows:
a novel interventional catheter, comprising:
fixing the catheter;
a rotating duct which is provided coaxially with the fixed duct and is provided at a tip end portion of the fixed duct in a sealed and rotatable manner;
the guide part is arranged at the front end of the rotating guide pipe, and a channel of the guide part is arc-shaped; and
a branch conduit, at least one of the branch conduits being disposed on a sidewall of the fixed conduit.
According to the novel interventional catheter, preferably, the branch catheter is provided with a control valve, the branch catheter is provided with one control valve, or the branch catheter is provided with two control valves at intervals.
An interventional operation robot comprises a base, the novel interventional catheter, a pushing unit and a control system, wherein a fixed catheter is fixedly arranged on the base, and a rotary driving part for driving a rotary catheter is arranged on the base; at least one group of pushing units is arranged on the base, and the pushing units are arranged corresponding to the fixed guide pipes or the branch guide pipes;
the pushing unit includes:
a first swing driving part disposed on the base;
the first clamping part is driven by the first rotary driving part to rotate;
the first workbench is arranged on the base in a sliding mode, and a first sliding driving part for driving the first workbench to move is arranged on the base;
a second clamping portion disposed on the first table; and
and the third clamping part is arranged on the base, and the first clamping part, the second clamping part and the third clamping part are sequentially and correspondingly arranged from front to back.
According to the interventional surgical robot of the present invention, preferably, the first rotary driving part is disposed on the base through a second table, the second table is slidably disposed on the base, and a second sliding driving part for driving the second table is disposed on the base.
According to the interventional operation robot, the interventional operation robot further comprises a thin tube, a third workbench is arranged on the base, a third sliding driving part for driving the third workbench is arranged on the base, a fourth clamping part corresponding to the thin tube is arranged on the third workbench, a first end part of the thin tube is supported and arranged on the first workbench, a second end part of the thin tube is arranged in the fixed guide tube in a matching and penetrating mode, a second rotary driving part is arranged on the third workbench, and the second rotary driving part drives the fourth clamping part to rotate.
According to the interventional surgical robot of the invention, preferably, the tubule comprises a fixed tubule and a rotating tubule which is rotatably arranged at one end of the fixed tubule; the fixed thin tube is fixedly supported on the first workbench; at least one branch tubule is arranged on the side wall of the fixed tubule.
According to the interventional surgical robot, preferably, the branched thin tubes are provided with control valves, one control valve is arranged on the branched thin tube, or two control valves are arranged on the branched thin tube at intervals.
According to the interventional surgical robot of the present invention, preferably, the branched tubules are correspondingly provided with auxiliary guiding units, and the auxiliary guiding units include:
a third swing driving part disposed on the base;
the third rotary driving part drives the first auxiliary clamping part to rotate;
the auxiliary workbench is arranged on the base in a sliding mode, and a sixth sliding driving part for driving the auxiliary workbench to move is arranged on the base;
a second auxiliary clamping part arranged on the auxiliary worktable; and
and the third auxiliary clamping part is arranged on the base, and the first auxiliary clamping part, the second auxiliary clamping part and the third auxiliary clamping part are sequentially and correspondingly arranged from front to back.
According to the interventional surgical robot, preferably, a fourth worktable is arranged on the first worktable in a sliding manner, a fourth sliding driving part for driving the fourth worktable is arranged on the first worktable, and the second clamping part is arranged on the fourth worktable;
the third workbench is provided with a fifth workbench, the third workbench is provided with a fifth sliding driving part for driving the fifth workbench, the second rotary driving part is arranged on the fifth workbench, and the fixed guide pipe is fixedly arranged on the third workbench.
According to the interventional operation robot, the interventional operation robot preferably further comprises an auxiliary guide supporting part, the auxiliary guide supporting part is arranged on the base or/and each workbench, and the auxiliary guide supporting part comprises a base, two side limiting plates arranged on the base and an opening and closing driving part for driving the two side limiting plates to open and close.
By adopting the technical scheme, the beneficial effects are as follows:
this application overall structure reasonable in design can set up through the counterpoint of each workstation and each clamping part to effectual different pipes of realization or the orderly arrangement of seal wire with control in order, and then realize a complete operation through the operation robot, provide technical support for the further development of operation robot in medical field. According to the positioning arrangement of the first workbench and the second workbench, the guide wire or the guide pipe can move back and forth and rotate by being matched with the first clamping part, the second clamping part and the first rotary driving part, so that the basic action requirements of the guide wire and the guide pipe are met; this application still can carry out the diversion to seal wire or pipe behind the entering sheath pipe through the setting of novel pipe of interveneeing to more effectual simulation doctor's operation gimmick, the passive and active regulation of seal wire or pipe can be realized to the novel pipe of interveneeing of this application and propelling movement unit, more helps realizing the action of robot, has improved the accuracy and the controllability of operation.
The utility model provides a be provided with branch pipe on the fixed pipe, be provided with branch tubule on the tubule, the design of above-mentioned structure can make the seal wire of a plurality of different functions or pipe can realize controlling that does not disturb in succession in proper order to realize whole complete operation, more help whole operation to realize remote control, automatic control, effectual reduction operation time improves the effect of operation, reduces the error.
This application can effectually avoid putting medical personnel into having under the radioactive harmful environment, avoids the personnel's health that engages in relevant medical work for a long time to receive comparatively serious damage such as radiation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments of the present invention will be briefly described below. Wherein the drawings are only for purposes of illustrating some embodiments of the invention and are not to be construed as limiting the invention to all embodiments thereof.
Fig. 1 is a schematic structural diagram of a novel interventional catheter in accordance with an embodiment of the invention.
Fig. 2 is a schematic structural diagram of an interventional surgical robot according to an embodiment of the invention.
Fig. 3 is a schematic cross-sectional view of an interventional surgical robot in accordance with an embodiment of the present invention.
Fig. 4 is an enlarged structural view of a section a in fig. 3.
Fig. 5 is an enlarged structural view of a section B in fig. 3.
Fig. 6 is an enlarged structural view of a section C in fig. 3.
Number in the figure:
100 is a novel interventional catheter, 110 is a fixed catheter, 111 is a branch catheter, 112 is a control valve, 120 is a rotary catheter, and 121 is a guide part;
200 is a base, 210 is a sheath;
310 is a first worktable, 320 is a second worktable, 330 is a third worktable, 340 is a fourth worktable, 350 is a fifth worktable;
a rotation driving unit 410, a first rotation driving motor 411, a first gear 412, and a second gear 413; a first rotation driving part 420 and a second rotation driving part 430;
510 is a first clamping portion, 520 is a second clamping portion, 530 is a third clamping portion, 540 is an auxiliary guide supporting portion, 541 is a base, 542 is a side limiting plate, 550 is a fourth clamping portion;
600 is a thin tube, 610 is a fixed thin tube, 611 is a branch thin tube, 620 is a rotary thin tube;
700 is a guide wire or catheter.
Detailed Description
Illustrative aspects of embodiments of the invention are described more fully hereinafter with reference to the accompanying drawings, in which specific embodiments of the invention are shown. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art.
In the description of the present invention, it should be understood that the terms "first" and "second" are used to describe various elements of the invention, and are not intended to limit any order, quantity, or importance, but rather are used to distinguish one element from another.
It should be noted that when an element is referred to as being "connected," "coupled," or "connected" to another element, it can be directly connected, coupled, or connected, but it is understood that intervening elements may be present therebetween; i.e., positional relationships encompassing both direct and indirect connections.
It should be noted that the use of the terms "a" or "an" and the like do not necessarily denote a limitation of quantity. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items.
It should be noted that terms indicating orientation or positional relationship such as "upper", "lower", "left", "right", and the like, are used only for indicating relative positional relationship, which is for convenience in describing the present invention, and do not indicate that the device or element must have a specific orientation, be constructed and operated in a specific orientation; when the absolute position of the object to be described is changed, the relative positional relationship may also be changed accordingly.
Referring to fig. 1, the present application discloses a novel interventional catheter, which comprises a fixed catheter 110, a rotating catheter 120, a guide part 121 and a branch catheter 111, wherein the rotating catheter 120 is coaxially arranged with the fixed catheter 110, and the rotating catheter is hermetically and rotatably arranged at the front end part of the fixed catheter; the guide part is arranged at the front end of the rotating catheter, and the channel of the guide part 121 is arc-shaped, so that after the guide wire or the catheter extends out of the rotating catheter, the extending direction can be laterally deviated, and further the direction is changed by rotating the rotating catheter 120, and the guide wire or the catheter 700 is guided; at least one of the branch ducts 111 is disposed on a sidewall of the fixed duct 110. The fixed catheter is relatively fixed and immovable in the working process and used for guiding the guide wire or the catheter, the rotary catheter and the fixed catheter are coaxially arranged, the guide wire or the catheter is more favorably guided, when the guide wire or the catheter is required to change the direction at a certain angle, the rotary catheter is rotated, manual rotation of a doctor in the operation process is realized, the guide wire and the catheter are indirectly changed in direction by the aid of the manual rotation action, the guide wire or the catheter cannot be directly rotated, the guide wire or the catheter cannot be interfered when the guide wire or the catheter is rotated, and the guide wire or the catheter can work relatively independently. For the convenience of operation, guarantee that whole operation process can not be interrupted, improve the efficiency and the quality of operation, reduce the operation duration, the application has set up the branch pipe on fixed pipe, the branch pipe can be used for arranging other seal wires or pipe, when one of them seal wire or pipe is operating, other seal wires or pipe withdraw from fixed pipe and rotatory pipe, thereby can not take place the interference, as shown in the figure, branch pipe and fixed pipe in this embodiment are the contained angle and arrange, and the axis direction of branch pipe is less with the axis direction contained angle of fixed pipe, avoid seal wire or pipe to have too big turn angle, help improving the sensitivity and the precision of its reflection more.
Furthermore, a control valve 112 is disposed on the branch conduit, one control valve 112 is disposed on the branch conduit 111, or two control valves 112 are disposed on the branch conduit 111 at intervals, and the control valve 112 can block the liquid in the fixed conduit 110, and can help to clean the liquid in the branch conduit 111 and maintain the flow of the liquid in the branch conduit 111.
Referring to fig. 1-6, the present embodiment further discloses an interventional surgical robot, which includes a base 200, a novel interventional catheter 100 as described above, a pushing unit and a control system, wherein the fixed catheter 110 is fixedly disposed on the base through a supporting seat, a rotary driving part for driving the rotary catheter is disposed on the base 200, the rotary driving part 410 in the present embodiment includes a first gear 412 disposed on the rotary catheter, a first rotary driving motor 411 disposed on the base, and a second gear 413 disposed at an output end of the first rotary driving motor, the first gear and the second gear are bevel gears which are matched and meshed with each other, so that the driving action of the rotating guide pipe is realized, or the rotary driving part can adopt a hollow shaft motor, the rotary guide pipe is arranged in the hollow shaft motor in a penetrating way, and the hollow shaft motor and the rotary shaft are fixedly connected or clamped and fixed with the rotary guide pipe; at least one group of pushing units is arranged on the base, the pushing units are arranged corresponding to the fixed catheters or the branch catheters, and the pushing units are arranged on the corresponding fixed catheters and the corresponding branch catheters according to the operation requirement, so that the pushing and rotating actions of the corresponding guide wires or catheters are realized; specifically, the pushing unit in the present embodiment includes a first rotary driving part 420, a first clamping part 510, a first table 310, a second clamping part 520, and a third clamping part 530, wherein the first rotary driving part 420 is disposed on the base 200; the first rotary driving part 420 drives the first clamping part 510 to rotate, wherein the first rotary driving part 420 can adopt a hollow shaft motor or a bevel gear transmission structure, the embodiment preferably adopts a hollow shaft motor, a guide wire or a guide pipe penetrates through the middle part of a rotating shaft of the hollow shaft motor, the end part of the rotating shaft is provided with the first clamping part 510, the first clamping part can be supported on the base through a bearing seat, the first clamping part can freely rotate in the bearing seat, and the first clamping part is connected with the output end of the hollow shaft motor through a coupler; when the guide wire or the guide pipe needs to be rotated, the first clamping part clamps the guide wire or the guide pipe, the first rotary driving part drives the first clamping part to rotate and drives the guide wire or the guide pipe to rotate, and at the moment, the second clamping part 520 and the third clamping part 530 play a role in guiding and supporting and cannot generate clamping force on the guide wire or the guide pipe; the first worktable 310 in this embodiment is slidably disposed on the base 200, and the base is provided with a first sliding driving part for driving the first worktable 310 to move; the second clamping part 510 is disposed on the first table 310; the third clamping part 530 is arranged on the base 200, the first clamping part 510, the second clamping part 520 and the third clamping part 530 are correspondingly arranged in sequence, and the third clamping part 530 mainly has the function of avoiding the guide wire or the guide pipe from being influenced by factors such as friction force and the like to move along with the second clamping part in the step changing process; when the guide wire or the guide pipe needs to move forwards and backwards, the first clamping part and the third clamping part are loosened, the second clamping part is clamped, the first sliding driving part drives the first workbench to slide forwards, so that the guide wire or the guide pipe is pushed forwards, after a certain distance is pushed, the second clamping part is loosened, the third clamping part is clamped, the first sliding driving part pulls back the first workbench and the second clamping part to reset, and the pushing action is continuously carried out by repeating the actions again according to the set pushing length; the pulling-back operation may be the reverse of the above-described operation. In the drawings of the embodiment, since the fourth worktable is additionally arranged in the first worktable and the second clamping part is arranged on the fourth worktable, the third clamping part can be correspondingly arranged on the first worktable, and the operation action is not influenced.
Because seal wire or pipe are thin and longer, if the span is too big, cause the tenesmus very easily, consequently this application still is provided with supplementary direction supporting part 540, lays on base or each workstation to the supplementary direction supporting part of group, supplementary direction supporting part includes base 541, sets up the both sides limiting plate 542 and the drive both sides limiting plate on the base drive division that opens and shuts that the action, supplementary direction supporting part 540 can also adopt the slotted guide way of U type can, need not to open and shut the action, the setting of the drive division that opens and shuts in this embodiment is in order to cooperate corresponding clamping part to use when propelling movement or pullback, improves the centre gripping effect and the stability of seal wire or pipe in some action processes, more helps the accurate propelling movement action of guarantee seal wire or pipe. The auxiliary guide support part with a clamping function in the above structure may replace the third clamping part, the position structure diagram of the third clamping part arranged on the base is not shown in the drawings of the present application, only the position structure diagram of the third clamping part is shown in the case that the fourth worktable is arranged on the first worktable, and the auxiliary guide support part may replace the position structure diagram of the third clamping part.
In order to improve the overall flexibility and practicability, the first rotary driving part in this embodiment is disposed on the base 200 through the second workbench 320, the second workbench 320 is slidably disposed on the base 200, and the base 200 is provided with a second sliding driving part for driving the second workbench 320, so that whether the first rotary driving part 420 and the first clamping part 510 need to slide back and forth can be determined as required, which is more beneficial to the coordination of the whole system, ensures the stability of the whole operation process, and avoids the suspension of guide wires or guide tubes in certain sections at different stages of the operation.
Further, the novel interventional catheter is further provided with a tubule 600, a third workbench 330 is arranged on the base, a third sliding driving part for driving the third workbench 330 is arranged on the base 200, a fourth clamping part 550 corresponding to the tubule is arranged on the third workbench 330, a first end part of the tubule 600 is supported and arranged on the first workbench 310, a second end part of the tubule 600 is arranged in the novel interventional catheter in a penetrating mode in a matching mode, a second rotary driving part 430 is arranged on the third workbench 330 and drives the fourth clamping part 550 to rotate, and the specific structure of the second rotary driving part 430 can be the same as that of the first rotary driving part or the structure of the rotary driving part; when the operation is carried out, when the novel interventional catheter can not pass through a blood vessel with a thinner inner diameter, the novel interventional catheter can further advance in the blood vessel by pushing the tubule, when the inner diameter of the blood vessel is further reduced, and the tubule can not be continuously advanced, the novel interventional catheter can be advanced through the guide wire or the thinner catheter, so that the operation operations such as radiography, medicine injection and the like can be completed.
Meanwhile, the tubule can be structurally refined, specifically, the tubule 600 comprises a fixed tubule 610 and a rotary tubule 620 which is hermetically and rotatably arranged at one end of the fixed tubule; the fixed thin tube is fixedly supported on the first workbench; at least one branch tubule 611 is arranged on the side wall of the fixed tubule. The second rotary driving part 430 is mainly arranged to realize synchronous rotation of the first rotary driving part and the second rotary driving part, so that the situation that the operation precision is reduced due to the fact that the tubules are twisted when the rotary guide pipe rotates is avoided.
The branch tubule 611 is provided with a control valve, and the branch tubule is provided with one control valve or two control valves at intervals. The control valve at this position has substantially the same function as the control valve on the branch conduit, and can block the internal liquid, thereby further contributing to the cleaning of the liquid in the branch conduit and maintaining the flow of the liquid in the branch tubule.
The branch tubule of the embodiment is correspondingly connected with an auxiliary guide unit, the auxiliary guide unit comprises a third rotary driving part, a first auxiliary clamping part, an auxiliary workbench, a second auxiliary clamping part and a third auxiliary clamping part, and the third rotary driving part is arranged on the base; the third rotation driving part drives the first auxiliary clamping part to rotate, and the structure of the third rotation driving part can be the same as that of the first rotation driving part; the auxiliary workbench is arranged on the base in a sliding manner, and a sixth sliding driving part for driving the auxiliary workbench to act is arranged on the base; the second auxiliary clamping part is arranged on the auxiliary workbench; the third auxiliary clamping part is arranged on the base, and the first auxiliary clamping part, the second auxiliary clamping part and the third auxiliary clamping part are sequentially and correspondingly arranged from front to back. The above arrangement is mainly used for the rotation and forward and backward pushing and pulling of the guide wire or catheter in the branch tubule. In this embodiment, the arrangement of the third rotary driving portion, the first auxiliary clamping portion, the auxiliary worktable, the second auxiliary clamping portion, and the third auxiliary clamping portion is the same as the arrangement of the first rotary driving portion, the first clamping portion, the first worktable, the second clamping portion, and the third clamping portion of the pushing unit, and therefore, the detailed structure will not be described again with reference to the drawings.
Furthermore, in order to facilitate the pushing action of the tubules, guide wires and catheters with different outer diameters and avoid mutual interference on the basis of the structure, the fourth worktable 340 is arranged on the first worktable in a sliding manner, the fourth sliding driving part for driving the fourth worktable 340 is arranged on the first worktable 310, and the second clamping part 520 is arranged on the fourth worktable 340, as described above, the third clamping part can be arranged on the first worktable; a fifth workbench 350 is arranged on the third workbench 330, a fifth sliding driving part for driving the fifth workbench is arranged on the third workbench 330, the second rotary driving part is arranged on the fifth workbench 350, and the fixed conduit 110 is fixedly arranged on the third workbench 330. The arrangement of the above structure can realize the composite action, that is, the composite action of the first workbench 310 and the fourth workbench 340, and the composite action of the third workbench 330 and the fifth workbench 350, so that the actions of the multiple workbenches in different combinations can be adopted to complete the operation according to different operation sections, and the mutual interference of the front workbench and the rear workbench can be avoided. When the operation of the guide wire or the catheter is carried out, the forward and backward movement and the rotation can be completed through the matching action of the fourth workbench 340; for example, when the capillary 600 is operated, the first table 310 and the fifth table 350 may be operated; when the process is carried out to different stages, the relative position of each workbench on the base can be changed according to the length of the guide wire after being pushed, the length change of the tubule and the like, and the stability of the guide wire, the catheter and the tubule is further favorably ensured.
In the embodiment, the first sliding driving part, the second sliding driving part, the third sliding driving part, the fourth sliding driving part, the fifth sliding driving part and the sixth sliding driving part can all adopt any one of air cylinders, hydraulic cylinders, electric push rods, screw nuts or gear and rack structures, the sliding connection between each workbench and the base and the sliding connection between the workbench and the workbench can adopt a sliding rail type structure or a sliding groove type structure, and when the sliding rail type structure is adopted, a sliding block is arranged at the bottom of the workbench; when a sliding groove type structure is adopted, a dovetail groove structure may be adopted. The first clamping part, the second clamping part, the third clamping part and the fourth clamping part of the embodiment can adopt the structural forms of two clamping plates which are arranged oppositely and a power push rod for driving the two clamping plates, and can also adopt a jaw type clamping fixture to clamp or realize no axial obstruction, and the clamping structure can be completed through radial clamping action. The control valve in this embodiment is a disposable medical three-way valve.
The term "and/or" herein means that three relationships may exist. For example, a and/or B may represent: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.
While the preferred embodiments for carrying out the invention have been described in detail, it should be understood that they have been presented by way of example only, and not limitation as to the scope, applicability, or configuration of the invention in any way. The scope of the invention is defined by the appended claims and equivalents thereof. Many modifications may be made to the foregoing embodiments by those skilled in the art, which modifications are within the scope of the present invention.
Claims (10)
1. A novel interventional catheter, comprising:
fixing the catheter;
a rotating duct which is provided coaxially with the fixed duct and is provided at a tip end portion of the fixed duct in a sealed and rotatable manner;
the guide part is arranged at the front end of the rotating guide pipe, and a channel of the guide part is arc-shaped; and
a branch conduit, at least one of the branch conduits being disposed on a sidewall of the fixed conduit.
2. The novel interventional catheter of claim 1, wherein the branch catheter is provided with a control valve, and wherein the branch catheter is provided with one control valve or two control valves spaced apart from each other.
3. An interventional surgical robot, which is characterized by comprising a base, a novel interventional catheter as claimed in claim 1 or 2, a pushing unit and a control system, wherein the fixed catheter is fixedly arranged on the base, and a rotary driving part for driving the rotary catheter is arranged on the base; at least one group of pushing units is arranged on the base, and the pushing units are arranged corresponding to the fixed guide pipes or the branch guide pipes;
the pushing unit includes:
a first swing driving part disposed on the base;
the first clamping part is driven by the first rotary driving part to rotate;
the first workbench is arranged on the base in a sliding mode, and a first sliding driving part for driving the first workbench to move is arranged on the base;
a second clamping portion disposed on the first table; and
and the third clamping part is arranged on the base, and the first clamping part, the second clamping part and the third clamping part are sequentially and correspondingly arranged from front to back.
4. The interventional surgical robot of claim 3, wherein the first rotary drive unit is disposed on the base via a second table slidably disposed on the base, and a second sliding drive unit for driving the second table is disposed on the base.
5. The intervention surgical robot of claim 3, further comprising a tubule, wherein a third table is disposed on the base, a third sliding driving portion for driving the third table is disposed on the base, a fourth clamping portion corresponding to the tubule is disposed on the third table, a first end of the tubule is supported and disposed on the first table, a second end of the tubule is disposed in the fixed conduit in a matching manner, a second rotation driving portion is disposed on the third table, and the second rotation driving portion drives the fourth clamping portion to rotate.
6. The interventional surgical robot of claim 5, wherein the tubule comprises a fixed tubule and a rotating tubule rotatably disposed at one end of the fixed tubule; the fixed tubule is fixedly supported on the first workbench, and at least one branch tubule is arranged on the side wall of the fixed tubule.
7. The interventional surgical robot of claim 6, wherein the branched tubules are provided with control valves, one control valve is provided on the branched tubule, or two control valves are provided on the branched tubule at an interval.
8. The interventional surgical robot of claim 6, wherein the branched tubules are correspondingly provided with auxiliary guiding units, and the auxiliary guiding units comprise:
a third swing driving part disposed on the base;
the third rotary driving part drives the first auxiliary clamping part to rotate;
the auxiliary workbench is arranged on the base in a sliding mode, and a sixth sliding driving part for driving the auxiliary workbench to move is arranged on the base;
a second auxiliary clamping part arranged on the auxiliary worktable; and
and the third auxiliary clamping part is arranged on the base, and the first auxiliary clamping part, the second auxiliary clamping part and the third auxiliary clamping part are sequentially and correspondingly arranged from front to back.
9. The interventional surgical robot of claim 6, wherein a fourth table is slidably disposed on the first table, a fourth slidably driving portion for driving the fourth table is disposed on the first table, and the second clamping portion is disposed on the fourth table;
the third workbench is provided with a fifth workbench, the third workbench is provided with a fifth sliding driving part for driving the fifth workbench, the second rotary driving part is arranged on the fifth workbench, and the fixed guide pipe is fixedly arranged on the third workbench.
10. The interventional operation robot according to any one of claims 3 to 9, further comprising an auxiliary guide support part disposed on the base or/and each of the tables, wherein the auxiliary guide support part comprises a base, two side limiting plates disposed on the base, and an opening and closing driving part for driving the two side limiting plates to open and close.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110069680.2A CN112674877A (en) | 2021-01-19 | 2021-01-19 | Novel interventional catheter and interventional surgical robot |
| PCT/CN2022/071945 WO2022156597A1 (en) | 2021-01-19 | 2022-01-14 | Novel interventional catheter and interventional surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110069680.2A CN112674877A (en) | 2021-01-19 | 2021-01-19 | Novel interventional catheter and interventional surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112674877A true CN112674877A (en) | 2021-04-20 |
Family
ID=75458543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110069680.2A Pending CN112674877A (en) | 2021-01-19 | 2021-01-19 | Novel interventional catheter and interventional surgical robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112674877A (en) |
| WO (1) | WO2022156597A1 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113545852A (en) * | 2021-07-20 | 2021-10-26 | 深圳睿心智能医疗科技有限公司 | Instrument delivery module and interventional surgical robot |
| CN113693733A (en) * | 2021-07-05 | 2021-11-26 | 深圳市爱博医疗机器人有限公司 | Intervene operation robot from end device |
| CN113729957A (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 |
| CN114191095A (en) * | 2021-11-23 | 2022-03-18 | 深圳市爱博医疗机器人有限公司 | Synchronous intervention operation robot |
| CN114391961A (en) * | 2021-12-14 | 2022-04-26 | 深圳市爱博医疗机器人有限公司 | Simple and convenient type intervenes operation robot from end operating means |
| WO2022156597A1 (en) * | 2021-01-19 | 2022-07-28 | 王利 | Novel interventional catheter and interventional surgical robot |
| WO2023280031A1 (en) * | 2021-07-05 | 2023-01-12 | 深圳市爱博医疗机器人有限公司 | Slave end apparatus for interventional surgical robot |
| WO2023280048A1 (en) * | 2021-07-05 | 2023-01-12 | 深圳市爱博医疗机器人有限公司 | Slave end apparatus of interventional surgical robot |
| 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 |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116421322B (en) * | 2023-03-06 | 2023-12-05 | 极限人工智能有限公司 | Surgical robot platform and surgical robot |
| CN117045936B (en) * | 2023-07-06 | 2024-02-09 | 上海神玑医疗科技有限公司 | Opening and closing supporting device for catheter and catheter operation robot |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6706018B2 (en) * | 2001-12-04 | 2004-03-16 | Cardiac Pacemakers, Inc. | Adjustable length catheter assembly |
| CN101999941A (en) * | 2010-11-29 | 2011-04-06 | 燕山大学 | Tube and wire feeding device for intravascular intervention surgical robot |
| FR3022788B1 (en) * | 2014-06-27 | 2022-04-08 | Robocath | ROBOTIZED SYSTEM FOR ARTERIOGRAPHY, ROBOT AND ELONGATED FLEXIBLE ORGAN FOR SUCH A SYSTEM |
| KR101712733B1 (en) * | 2015-06-23 | 2017-03-06 | 한양대학교 에리카산학협력단 | Robot for Vascular Intervention and System thereof |
| CN107374738B (en) * | 2017-07-06 | 2023-05-05 | 北京理工大学 | Interventional operation robot slave end and mobile platform thereof |
| CN108309370B (en) * | 2018-02-02 | 2019-10-29 | 上海交通大学 | A kind of gradual cardiovascular and cerebrovascular intervention operation robot |
| CN110327116B (en) * | 2019-07-09 | 2020-06-30 | 中国科学院自动化研究所 | Catheter delivery device of vascular intervention surgical robot |
| CN112674877A (en) * | 2021-01-19 | 2021-04-20 | 王利 | Novel interventional catheter and interventional surgical robot |
| CN215384608U (en) * | 2021-01-19 | 2022-01-04 | 王利 | Novel interventional catheter and interventional surgical robot |
-
2021
- 2021-01-19 CN CN202110069680.2A patent/CN112674877A/en active Pending
-
2022
- 2022-01-14 WO PCT/CN2022/071945 patent/WO2022156597A1/en active Application Filing
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022156597A1 (en) * | 2021-01-19 | 2022-07-28 | 王利 | Novel interventional catheter and interventional surgical robot |
| CN113729957B (en) * | 2021-07-05 | 2023-12-01 | 深圳市爱博医疗机器人有限公司 | From end device of intervention operation robot |
| JP2023531852A (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 |
| US11998294B2 (en) | 2021-07-05 | 2024-06-04 | Shenzhen Institute Of Advanced Biomedical Robot Co., Ltd. | Slave-end apparatus for interventional robot |
| 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 |
| CN113693733A (en) * | 2021-07-05 | 2021-11-26 | 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 |
| CN113729957A (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 |
| WO2023280048A1 (en) * | 2021-07-05 | 2023-01-12 | 深圳市爱博医疗机器人有限公司 | Slave end apparatus of interventional surgical robot |
| WO2023280031A1 (en) * | 2021-07-05 | 2023-01-12 | 深圳市爱博医疗机器人有限公司 | Slave end apparatus for interventional surgical robot |
| CN113545852B (en) * | 2021-07-20 | 2022-11-29 | 深圳睿心智能医疗科技有限公司 | Instrument delivery module and interventional surgical robot |
| CN113545852A (en) * | 2021-07-20 | 2021-10-26 | 深圳睿心智能医疗科技有限公司 | Instrument delivery module and interventional surgical robot |
| CN114191095B (en) * | 2021-11-23 | 2024-03-01 | 深圳爱博合创医疗机器人有限公司 | Synchronous interventional operation robot |
| CN114191095A (en) * | 2021-11-23 | 2022-03-18 | 深圳市爱博医疗机器人有限公司 | Synchronous intervention operation robot |
| CN114391961A (en) * | 2021-12-14 | 2022-04-26 | 深圳市爱博医疗机器人有限公司 | Simple and convenient type intervenes operation robot from end operating means |
| CN114391961B (en) * | 2021-12-14 | 2023-12-22 | 深圳市爱博医疗机器人有限公司 | Slave end operating device of simple interventional operation robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022156597A1 (en) | 2022-07-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112674877A (en) | Novel interventional catheter and interventional surgical robot | |
| CN113082463A (en) | Rotary pushing device and interventional operation robot | |
| CN108309370B (en) | A kind of gradual cardiovascular and cerebrovascular intervention operation robot | |
| CN108514448B (en) | Guide wire and catheter control device of vascular intervention surgical robot | |
| US11154689B2 (en) | Vascular interventional instrument control device with double guide wires or balloons | |
| CN215384608U (en) | Novel interventional catheter and interventional surgical robot | |
| CN105596084B (en) | Cardiovascular interventional operation robot | |
| CN211024680U (en) | Guide wire catheter operating device for interventional embolism operation | |
| CN102210610B (en) | Pushing mechanism for minimally invasive surgical robot | |
| CN110801571A (en) | Guide wire catheter operating device for interventional embolism operation | |
| CN113133833A (en) | Blood vessel intervention robot operating handle with guide wire catheter propulsion resistance feedback | |
| CN105662586A (en) | Interventional operation robot where catheter and guide wire are cooperatively pushed and control method thereof | |
| CN107307909A (en) | One kind intervention robot remote operating system and its control method | |
| CN107320181A (en) | The folder that wire catheter is operated in blood vessel intervention operation transfers manipulator | |
| WO2023015657A1 (en) | Vascular intervention navigation surgical system | |
| CN113289201A (en) | Auxiliary execution device for vascular intervention operation | |
| JP7360778B2 (en) | Dual plane robotic arm device suitable for vascular intervention surgery | |
| CN103584918A (en) | Remote-control interventional robot system | |
| CN108555927B (en) | Continuously operating separating module and transmission device for columnar wires, pipes or lines | |
| CN109199590B (en) | Channel-changing and cis-positioning operation manipulator for vascular intervention and surgical robot | |
| CN101785705B (en) | Operation device of radio frequency electrode ablation catheter handle | |
| CN114699172A (en) | Tube and wire driving device of vascular intervention surgical robot | |
| CN217286062U (en) | Tube and wire driving device of vascular intervention surgical robot | |
| CN113855110A (en) | Surgical tool drive system and surgical robot | |
| CN216496974U (en) | Rotary pushing device and interventional operation robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |