CN113082463A - Rotary pushing device and interventional operation robot - Google Patents
Rotary pushing device and interventional operation robot Download PDFInfo
- Publication number
- CN113082463A CN113082463A CN202110401096.2A CN202110401096A CN113082463A CN 113082463 A CN113082463 A CN 113082463A CN 202110401096 A CN202110401096 A CN 202110401096A CN 113082463 A CN113082463 A CN 113082463A
- Authority
- CN
- China
- Prior art keywords
- sliding table
- pushing
- rotary
- catheter
- base
- 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
- 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
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
-
- 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
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
-
- 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
- A61M25/09041—Mechanisms for insertion of guide wires
-
- 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
- A61M2025/0177—Introducing, guiding, advancing, emplacing or holding catheters having external means for receiving guide wires, wires or stiffening members, e.g. loops, clamps or lateral tubes
Abstract
The invention belongs to the technical field of medical equipment. The rotary pushing device comprises a base, a rotary table, a pushing unit and a pushing driving part, wherein the rotary table is arranged on the base through two hollow pivot shafts, and the base is provided with the rotary driving part for driving the rotary table to rotate; the pushing unit is arranged on the rotary table and comprises an upper pushing roller and a lower pushing roller which are arranged up and down correspondingly, and at least part of the upper pushing roller and the lower pushing roller are arranged in a vertically staggered manner; the pushing driving part drives the pushing unit to act. An interventional surgical robot is also disclosed. This application can effectual improvement seal wire or the stable propelling movement of pipe, simplifies the product structure, realizes rotatory pusher's modularization, is more convenient for assemble, and this application can also realize the tensioning to each seal wire or pipe through new transmission, ensures the accuracy nature of operation action, and the practicality is stronger.
Description
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to a rotary pushing device 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.
The applicant previously applied for 2021100696802, and the systematic design is carried out to the vascular intervention operation of surgical robot, and it can realize a complete operation, more helps whole operation to realize remote control, and automatic control, effectual reduction operation time improves the effect of operation, reduces the error. During the working process, the advancing in the blood vessel is mainly completed through the actions of advancing, retreating, rotating and the like of the guide wire or the catheter, and during the operation process, the replacement of different infusion catheters or guide wires is not needed frequently any more, so that the automation degree of the surgical robot is greatly improved. Further optimization and improvement of the overall structure thereof are required for realizing a new action system and a new action mode.
Disclosure of Invention
The invention aims to solve the problems and the defects, and provides a rotary pushing device and an interventional operation robot, which are reasonable in structural design, can effectively improve the stable pushing of guide wires or guide pipes, simplify the product structure, realize the modularization of the rotary pushing device, and are more convenient to assemble.
In order to realize the purpose, the adopted technical scheme is as follows:
a rotational pusher device for manipulation of a catheter or guidewire, comprising:
a base;
the rotary table is arranged on the base through two hollow pivot shafts, and a rotary driving part for driving the rotary table to rotate is arranged on the base;
the pushing unit is arranged on the rotary table and comprises an upper pushing roller and a lower pushing roller which are arranged correspondingly up and down, and at least part of the upper pushing roller and the lower pushing roller are arranged in a vertically staggered manner; and
the pushing driving part drives the pushing unit to act;
the rotary table is arranged on the base through two pivoting shafts, a hollow conduit channel is arranged in the middle of each pivoting shaft, a pushing gap is formed between the upper pushing roller and the lower pushing roller, and the pushing gap and the two conduit channels are coaxially arranged.
According to the rotary pushing apparatus of the present invention, preferably, the turntable includes:
a turntable body;
the upper sliding table and the lower sliding table are arranged correspondingly up and down, the upper sliding table and the lower sliding table are arranged on the rotary table body in a matched sliding mode, the upper pushing roller is arranged on the upper sliding table, and the lower pushing roller is arranged on the lower sliding table; and
and the adjusting unit adjusts the distance between the upper sliding table and the lower sliding table.
According to the rotary pushing device, preferably, the adjusting unit comprises an adjusting screw, the middle part of the adjusting screw is pivotally connected and fixed with the turntable body, a forward-rotation thread section and a backward-rotation thread section which are respectively matched with the upper sliding table and the lower sliding table are arranged at two ends of the adjusting screw, the adjusting screw is connected with an adjusting motor through a transmission mechanism, and the adjusting motor drives the adjusting screw to rotate and controls the upper sliding table and the lower sliding table to synchronously open and close.
According to the rotary pushing device of the invention, preferably, the number of the lower pushing rollers is at least two, and an upper pushing roller is arranged at the upper part between two adjacent lower pushing rollers.
An interventional surgical robot comprising:
a base;
the interventional catheter is supported and arranged on the base through a first rotary pushing part, and the first rotary pushing part drives the interventional catheter to move back and forth and rotate; and
the second rotary pushing part is arranged on the base and is used for driving the corresponding guide wire or catheter to move back and forth and rotate;
the first rotary pushing part and the second rotary pushing part are the same in structure as the rotary pushing device.
According to the interventional operation robot, preferably, a first sliding table and a second sliding table are arranged on the base in a matched sliding mode, a first driving part and a second driving part are respectively arranged between the first sliding table and the base and between the second sliding table and the base, the first sliding table is located at the rear part of the second sliding table, the second rotary pushing part is arranged on the second sliding table, and rear traction and rotation units are arranged on the first sliding table and the second sliding table; the rear traction rotation unit is used for enabling a guide wire or a guide pipe in front of the corresponding sliding table to rotate relative to the sliding table without axial displacement.
According to the interventional surgical robot of the invention, preferably, the interventional surgical robot further comprises a third sliding table slidably disposed on the base, a tubule disposed on the third sliding table through a third rotary pushing part, and a rear traction revolving unit disposed in front of the third sliding table, wherein the third sliding table is disposed in front of the second sliding table, and the third rotary pushing part has the same structure as the first rotary pushing part and the second rotary pushing part.
According to the interventional operation robot, preferably, a first sliding table and a second sliding table are arranged on the base in a matching sliding manner, a first driving part and a second driving part are respectively arranged between the first sliding table and the base and between the second sliding table and the base, the first sliding table is positioned at the rear part of the second sliding table, the second rotary pushing part is arranged on the second sliding table, a rear traction revolving unit is arranged on the first sliding table, and the rear traction revolving unit is used for enabling a guide wire or a guide pipe driven by the second rotary pushing part to perform revolving motion relative to the first sliding table without axial displacement; the interventional catheter comprises a first fixed catheter and a first rotating catheter, the first fixed catheter and the first rotating catheter are connected in a rotating and sealing mode, a first rotating pushing portion corresponds to the first rotating catheter in a matching mode, the first fixed catheter is fixedly connected with a second sliding table, a plurality of first branch catheters are arranged on the first fixed catheter, control valves are arranged on the first branch catheters, at least one first side support is arranged on the side portion of the base in parallel, and a rotating pushing device and a rear traction revolving unit which are used for driving guide wires or catheters in the corresponding first branch catheters are arranged on the first side support.
According to the interventional operation robot, preferably, the interventional operation robot further comprises a third sliding table arranged on the base in a sliding manner and a thin tube arranged on the third sliding table through a third rotary pushing part, wherein the third sliding table is arranged in front of the second sliding table, and the structure of the third rotary pushing part is the same as that of the first rotary pushing part and that of the second rotary pushing part; the thin tube comprises a second fixed guide tube and a second rotary guide tube, the second fixed guide tube is connected with the second rotary guide tube in a rotating and sealing mode, a third rotary pushing portion corresponds to the second rotary guide tube in a matching mode, the second fixed guide tube is fixedly connected with a second sliding table, a plurality of second branch guide tubes are arranged on the second fixed guide tube, control valves are arranged on the second branch guide tubes, at least one second side support is arranged on the side portion of the base in parallel, and a rotary pushing device and a rear traction rotary unit are arranged on the second side support and used for driving guide wires or guide tubes in the corresponding second branch guide tubes.
According to the interventional surgical robot of the present invention, preferably, the rear traction swiveling unit includes:
a supporting seat; and
the fixing part is pivoted on the top of the supporting seat, and the corresponding guide wire or the corresponding catheter is fixedly connected with the fixing part;
the fixing part is a clamping head, or the fixing part is fixed with a corresponding guide wire or a corresponding catheter through bonding.
By adopting the technical scheme, the beneficial effects are as follows:
this application structural design is reasonable, can effectual improvement seal wire or the stable propelling movement of pipe, simplifies the product structure, realizes rotatory pusher's modularization, is more convenient for assemble, and this application can also realize the tensioning to each seal wire or pipe through new transmission, ensures the accuracy nature of operation action, and the practicality is stronger.
The utility model provides a setting of going up pushing roll and lower propelling movement roller, dislocation setting from top to bottom realizes adding of seal wire or pipe and holds, and then avoids warping seal wire or pipe centre gripping, and can ensure sufficient propelling movement effort, simultaneously to the setting of the platform that slides on with the platform that slides down, can make the distance between pushing roll and the lower propelling movement roller adjust, thereby more help the centre gripping operation, not only improve the convenience in the assembling process, and can more help realizing front and back and gyration action, make overall structure's modularization degree higher.
The utility model provides a surgical robot's structural design, can realize interveneeing the pipe, the seal wire, the front and back and reciprocating motion of pipe, can help realizing pulling with the help of the platform that slides and rise tightly, guarantee overall structure's action harmony and validity from the at utmost, setting through the branch pipe, the operation of many pipes can be carried out to this application, the convenience of operation has been improved greatly, reduce operation operating time, reduce the operation risk, help controlling to the action precision of whole action process, each pipe or the seal wire tensioning of guarantee entire system.
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 front view schematically illustrating an interventional surgical robot according to an embodiment of the present invention.
Fig. 2 is a schematic bottom view of fig. 1.
Fig. 3 is a schematic perspective view of an interventional surgical robot according to an embodiment of the present invention.
Fig. 4 is a schematic perspective view of a rotary pushing device according to an embodiment of the present invention.
Fig. 5 is a schematic front view of a rotary pushing device according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a rear traction slewing unit according to an embodiment of the present invention.
Fig. 7 is a second schematic structural diagram of the rear traction slewing unit according to the embodiment of the present invention.
Fig. 8 is a schematic diagram of the disassembled structure of fig. 7.
Fig. 9 is a schematic structural view of an auxiliary support seat according to an embodiment of the invention.
Fig. 10 is one of schematic structural diagrams of corresponding sliding tables of guide wires or catheters in a first branch catheter and a second branch catheter of an interventional surgical robot according to an embodiment of the present invention.
Fig. 11 is a second schematic structural diagram of the sliding tables corresponding to the guide wires or catheters in the first branch catheter and the second branch catheter of the interventional surgical robot according to the embodiment of the invention.
Number in the figure:
100 is a rotary pushing device, 101 is a base, 102 is a turntable, 103 is a pivot shaft, 104 is a rotary driving part, 105 is an upper sliding table, 106 is a lower sliding table, 107 is an upper pushing roller, 108 is a lower pushing roller, 109 is an adjusting screw rod, and 110 is an adjusting unit;
200 is a base, 210 is a first sliding table, 220 is a second sliding table, 230 is a third sliding table, 240 is a first rotary pushing part, 250 is a second rotary pushing part, and 260 is a third rotary pushing part;
300 is an interventional catheter, 301 is a first fixed catheter, 302 is a first rotating catheter, 303 is a first branch catheter, 304 is a control valve;
400 is a thin tube, 401 is a second fixed conduit, 402 is a second rotating conduit;
500 is a rear traction rotation unit, 501 is a support base, 502 is a first clamping head, 503 is a bearing, 504 is a bearing seat, 505 is a positioning groove, 506 is a guide sleeve and 507 is a fastening nut;
600 is an auxiliary supporting seat, 601 is a seat stand, 602 is a fastening bolt, and 603 is a second clamping head;
700 is a guide wire or catheter;
800 is a sheath.
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. 4 and 5, the present application discloses a rotary pushing device for manipulating a catheter or a guide wire, comprising a base 101, a turntable 102, a pushing unit and a pushing driving part 109, wherein the turntable 102 is disposed on the base 101 through two hollow pivot shafts 103, and the base 101 is provided with a rotary driving part 104 for driving the turntable 102 to rotate; the pushing unit is arranged on the rotary table 102 and comprises an upper pushing roller 107 and a lower pushing roller 108 which are arranged correspondingly up and down, and at least part of the upper pushing roller 107 and the lower pushing roller 108 are arranged in a vertically staggered manner; the pushing driving part drives the pushing unit to act, the pushing driving part can adopt a servo motor, and all pushing rollers can be in meshing transmission through gears or synchronous transmission through chains; the turntable 102 is arranged on the base 101 through two pivot shafts 103, a hollow conduit channel is arranged in the middle of the pivot shaft 103, a pushing gap is formed between the upper pushing roller 107 and the lower pushing roller 108, and the pushing gap and the two conduit channels are coaxially arranged.
Further, the turntable 102 in this embodiment includes a turntable body, an upper sliding table 105 and a lower sliding table 106 which are correspondingly arranged up and down, and an adjusting unit 110, where the upper sliding table 105 and the lower sliding table 106 are slidably arranged on the turntable body in a matching manner, the upper pushing roller 107 is arranged on the upper sliding table 105, and the lower pushing roller 108 is arranged on the lower sliding table 106; the adjusting unit adjusts the distance between the upper slide table 105 and the lower slide table 106.
The structure of the adjusting unit can adopt various forms, such as a power push rod driving action, a gear and rack transmission action, a transmission mode of a threaded screw rod and the like, and the transmission mode of the threaded screw rod is preferably adopted in the embodiment. The adjusting unit 110 comprises an adjusting screw 109, the middle of the adjusting screw is fixed with the turntable body in a pivoted mode, a forward-rotation thread section and a backward-rotation thread section which are matched with the upper sliding table 105 and the lower sliding table 106 respectively are arranged at two ends of the adjusting screw, the adjusting screw is connected with an adjusting motor through a transmission mechanism, the adjusting motor drives the adjusting screw to rotate, and controls the upper sliding table and the lower sliding table to synchronously open and close.
Further, the number of the lower pushing rollers 108 is at least two, preferably 3-7, the upper pushing rollers 107 are arranged on the upper portions of the middles of the two adjacent lower pushing rollers 108, or the lower pushing rollers and the upper pushing rollers positioned at the two ends can be arranged up and down correspondingly, the circumferential direction of the guide wire or the guide pipe can be limited to a certain extent in sequence, and bending fluctuation during action is avoided.
Referring to fig. 1-9, the present application further discloses an interventional surgical robot, which includes a base 200, an interventional catheter 300 and a second rotary pushing part 250, wherein the interventional catheter 300 is supported and disposed on the base 200 through a first rotary pushing part 240, and the first rotary pushing part 240 drives the interventional catheter 300 to move back and forth and to rotate around; the second rotary pushing part 250 is arranged on the base 200, and the second rotary pushing part 250 is used for driving the corresponding guide wire or catheter to move back and forth and rotate; the first rotary pushing unit 240 and the second rotary pushing unit 250 are both configured in the same manner as the rotary pushing apparatus 100 described above.
Further, as one of the embodiments (i): a first sliding table 210 and a second sliding table 220 are arranged on the base 200 in a sliding manner in a matching manner, a first driving part and a second driving part are respectively arranged between the first sliding table 210 and the base 200 and between the second sliding table 220 and the base 200, the first sliding table 210 is positioned at the rear part of the second sliding table 220, the second rotary pushing part 250 is arranged on the second sliding table 220, and rear traction and rotation units are respectively arranged on the first sliding table 210 and the second sliding table 220; the rear traction rotation unit 500 is used to enable a guide wire or a catheter in front of the corresponding sliding table to rotate relative to the sliding table without axial displacement. In the structure, when the interventional catheter needs to move forwards, the interventional catheter is driven to move forwards through the first rotating and pushing part, and at the moment, the rear end of the interventional catheter is connected with the second sliding table, so that the second sliding table needs to move forwards synchronously under the action of the second driving part, the whole interventional catheter is guaranteed to move forwards, and the tensioning effect is achieved; due to the forward movement of the second sliding table, the second rotary pushing part and the corresponding guide wire or catheter also move forward, and therefore, the first sliding table also needs to move forward along with the guide wire or catheter as the rear end of the guide wire or catheter is connected with the first sliding table; from the above action relationship, it can be derived:
the operation mode a: when the interventional catheter 300 moves forward and the guide wire or catheter 700 does not move forward, the first rotary pushing part 240 drives the interventional catheter to move, the second sliding table moves forward synchronously, the second rotary pushing part moves backward and the moving speed is the same as that of the second sliding table, and at this time, the first sliding table does not need to move.
Operation mode b: when the guide wire or the guide tube 700 moves forward and the interventional catheter 300 does not move, the first rotary pushing part and the second sliding table do not need to move, the second rotary pushing part drives the guide wire or the guide tube 700 to move forward, and the first sliding table moves forward at the same speed. When moving backward, the reverse operation is sufficient.
As one of the embodiments: the present invention is mainly based on the embodiment (i) and is further optimized, specifically, a third sliding table 230 slidably disposed on the base 200, a tubule 400 disposed on the third sliding table 230 through a third rotary pushing unit 260, and a rear traction rotation unit 500 disposed in front of the third sliding table 230 are added, the third sliding table 230 is disposed in front of the second sliding table 220, and the third rotary pushing unit 260 has the same structure as the first rotary pushing unit 240 and the second rotary pushing unit 250.
The design of the structure adds a thin tube, during operation, the thin tube can be guided by the thin tube 400, when the thin tube can not be further moved forwards, a thinner guide wire or a guide pipe 700 can be used for further extending forwards until reaching the position of a patient; after the third sliding table and the tubule are added, the whole action relation is further developed, and the specific action mode is explained in detail:
operation mode c: when the interventional catheter moves forwards and the tubule 400, the guide wire or the catheter 700 is not moved, the first rotary pushing part drives the interventional catheter to move forwards; the second sliding table and the third sliding table move forwards synchronously, and meanwhile, the second rotary pushing part and the third rotary pushing part synchronously drive the tubule, the corresponding guide wire or the corresponding catheter to move backwards at the same speed, so that the tubule, the corresponding guide wire or the corresponding catheter are kept immovable relative to the base, and the first sliding table does not need to move.
Operation mode d: when the intervention catheter is immobile, the tubule moves forwards, and when the guide wire or the catheter is immobile, the first rotary pushing part does not move, the intervention catheter keeps still, the third rotary pushing part moves to drive the tubule to move forwards, the third sliding table is immobile, the second sliding table moves forwards at the same speed along with the tubule synchronously, at the moment, the second rotary pushing part on the second sliding table moves backwards, the guide wire or the catheter is driven to offset the displacement of the second sliding table moving forwards, the guide wire or the catheter is kept different, and the first sliding table does not need to move.
The operation mode e: intervene pipe and tubule equipartition and remove, when seal wire or pipe move forward, the second platform that slides is static, and the rotatory propelling movement portion of second moves forward, and first platform that slides moves forward with the speed in step, and other parts need not the action.
Embodiment (c) is as follows: a first sliding table 210 and a second sliding table 220 are arranged on the base in a matching sliding manner, a first driving part and a second driving part are respectively arranged between the first sliding table 210 and the base 200 and between the second sliding table 220 and the base, the first sliding table 210 is positioned at the rear part of the second sliding table 220, a second rotary pushing part 250 is arranged on the second sliding table 220, a rear traction revolving unit 500 is arranged on the first sliding table 210, and the rear traction revolving unit 500 is used for enabling a guide wire or a guide pipe 700 driven by the second rotary pushing part 250 to perform revolving motion relative to the first sliding table 210 and not to be displaced axially; the interventional catheter 300 comprises a first fixed catheter 301 and a first rotating catheter 302, the first fixed catheter 301 is connected with the first rotating catheter 302 in a rotating and sealing manner, the first rotating pushing part 240 is matched and corresponding to the first rotating catheter 302, the first fixed catheter 301 is fixedly connected with the second sliding table 220, a plurality of first branch catheters 303 are arranged on the first fixed catheter 301, control valves 304 are arranged on the first branch catheters 303, at least one first side support is arranged on the side part of the base 200 in parallel, a rotary pushing device and a rear traction rotary unit for driving the guide wire or the guide pipe in the corresponding first branch guide pipe are arranged on the first side support, for example, a group of first sliding table and second sliding table are additionally arranged on the first side support, the rotary pushing device and the rear traction revolving unit arranged on the group of the first sliding table and the second sliding table are the same as those of the first sliding table and the second sliding table on the base.
The operation of this embodiment is basically the same as that of the first embodiment, but the difference is that the interventional catheter of this embodiment is configured in a segmented manner, so that the first rotating catheter can rotate around the first fixed catheter, and the first fixed catheter can be fixedly connected to the second sliding table, and the rear traction swivel unit is not needed, and a branching design is performed, so that a plurality of inlets for introducing guide wires or catheters can be provided in the first fixed catheter at the same time, and the operation of the guide wires or catheters introduced in the branching catheter is the same as that of the catheter or guide wires in the fixed catheter.
(iv) as one of the embodiments: specifically, the third sliding table 230 is slidably disposed on the base, and the tubule 400 is disposed on the third sliding table 230 through a third rotary pushing unit 260, the third sliding table 230 is disposed in front of the second sliding table 220, and the third rotary pushing unit 260 has the same structure as the first rotary pushing unit 240 and the second rotary pushing unit 250; the tubule 400 comprises a second fixed catheter 401 and a second rotary catheter 402, the second fixed catheter 401 is connected with the second rotary catheter 402 in a rotating and sealing mode, a third rotary pushing part 260 is matched with and corresponds to the second rotary catheter 402, the second fixed catheter 401 is fixedly connected with the second sliding table 230, a plurality of second branch catheters are arranged on the second fixed catheter 401, control valves are arranged on the second branch catheters, at least one second side support is arranged on the side portion of the base in parallel, and a rotary pushing device and a rear traction rotary unit for driving guide wires or catheters in the corresponding second branch catheters are arranged on the second side support.
In the structure, the thin tube is also designed in a sectional mode so that the thin tube, the guide wire or the catheter can be arranged in the interventional catheter, and a different guide wire or catheter is arranged in a second branch catheter of the thin tube; the sectional type design does not affect the action mode, the specific action mode is the same as that in the embodiment II, and the difference is only different in the specific structural design, namely, the rear traction rotary unit is replaced by the auxiliary supporting seat, so that the rear traction effect can be achieved, and the problem caused by the rotation of the tubule or the interventional catheter is solved by the sectional type structure.
Besides the combined structure, the combined application of the intervention conduit with non-sectional design and the tubule with sectional structure design can be carried out, and the difference is the adaptability selection of arranging a rear traction rotation unit or an auxiliary supporting seat on the third sliding platform. When the intervention conduit or the tubule is designed to be of a sectional type structure, the rear sliding platform only needs to be provided with an auxiliary supporting seat, and when the intervention conduit or the tubule is designed to be of an integral structure, the rear traction rotation unit needs to be arranged on the rear sliding platform.
To the structure of auxiliary stay seat, it can adopt multiple mode, can directly bond fixedly, need not to carry out axial gyration, so need not to set up revolution mechanic such as bearing, can also set up seat 601, sets up the location passageway on seat 601, with second clamping head 603 match setting in the location passageway to accomplish through fastening bolt 602 and connect fixedly, concrete structure is as shown in fig. 9.
According to the method and the system, the corresponding control system is arranged to control the action relation of each part, and the coordination action modes of each platform are classified, distributed and designed according to different action conditions. The included angle between the first branch catheter and the second branch catheter in the structure and the corresponding fixed catheter is generally set to be 5-30 degrees, so that the included angle is reduced, and pushing and rotating actions of the guide wire or the guide catheter at the rear part are facilitated. The fixed catheter is relatively fixed and is used for guiding the guide wire or the catheter in the working process, the rotary catheter and the fixed catheter are coaxially arranged, the guide wire or the catheter is more favorably guided, in order to ensure the convenience of operation, ensure that the whole operation process is not interrupted, improve the efficiency and the quality of operation and reduce the duration of the operation, the fixed catheter is provided with the branch catheter which can be used for arranging other guide wires or catheters, when one guide wire or catheter is operated, the other guide wires or catheters exit the fixed catheter and the rotating catheter so as not to interfere, and as shown in the figure, the branch catheter in this embodiment is arranged at an angle to the fixed catheter, and the included angle between the axis direction of the branch catheter and the axis direction of the fixed catheter is smaller, so that the guide wire or the catheter is prevented from having an overlarge turning angle, and the sensitivity and the accuracy of the reflection of the guide wire or the catheter are improved. The branch conduit is provided with a control valve which can block the internal liquid, is more beneficial to cleaning the liquid in the branch conduit and keeps the liquid in the branch tubule flowing.
Further, the rear traction rotation unit in this embodiment includes a support base 501 and a fixing portion pivotally connected to the top of the support base 501, a bearing 503 is disposed between the support base 501 and the fixing portion to realize rotation, and a corresponding guide wire or guide tube 700 is fixedly connected to the fixing portion; the fixing portion is a first clamping head 502, and the first clamping head 502 is fixed with the inner ring of the bearing 503, or the fixing portion is directly replaced by the inner ring, and the inner ring and the corresponding guide wire or catheter are fixed by bonding. Specifically, the top of supporting seat 501 sets up bearing frame 504, the bearing frame is split type structure, the split can be from top to bottom, and pass through bolted connection, so that carry out the assembly of structure, bearing inner race and supporting seat fixed connection, the bearing inner race bonds with the seal wire or the pipe that correspond and fixes, also can be at the fixed first clamping head 502 of bearing inner race, it is fixed to carry out holding with of seal wire or pipe through opening and shutting of first clamping head 502, for convenient assembling, be provided with guide sleeve 506 on the first clamping head, be provided with constant head tank 505 in the inner circle, be provided with the location strip on the guide sleeve outer wall, guide sleeve 506 matches and wears to establish in the inner circle, set up fastening nut 507 at guide sleeve's tip, thereby realize the fixed of inner circle and first clamping head.
As shown in fig. 10 and 11, when the guide wire or catheter is disposed in the first branch catheter or/and the second branch catheter, a corresponding sliding table is disposed at a side portion of the original base for rotation, forward movement and backward movement of the corresponding guide wire or catheter, and a specific movement manner is the same as a movement manner of the sliding table at the rear portion of the corresponding first fixed catheter or second fixed catheter. The sliding platform arranged on the side part can be arranged in parallel with the original sliding platform or in an inclined way.
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 rotational pusher device for manipulation of a catheter or guidewire, comprising:
a base;
the rotary table is arranged on the base through two hollow pivot shafts, and a rotary driving part for driving the rotary table to rotate is arranged on the base;
the pushing unit is arranged on the rotary table and comprises an upper pushing roller and a lower pushing roller which are arranged correspondingly up and down, and at least part of the upper pushing roller and the lower pushing roller are arranged in a vertically staggered manner; and
the pushing driving part drives the pushing unit to act;
the rotary table is arranged on the base through two pivoting shafts, a hollow conduit channel is arranged in the middle of each pivoting shaft, a pushing gap is formed between the upper pushing roller and the lower pushing roller, and the pushing gap and the two conduit channels are coaxially arranged.
2. The rotary pusher apparatus of claim 1, wherein the turntable comprises:
a turntable body;
the upper sliding table and the lower sliding table are arranged correspondingly up and down, the upper sliding table and the lower sliding table are arranged on the rotary table body in a matched sliding mode, the upper pushing roller is arranged on the upper sliding table, and the lower pushing roller is arranged on the lower sliding table; and
and the adjusting unit adjusts the distance between the upper sliding table and the lower sliding table.
3. The rotary pushing device according to claim 2, wherein the adjusting unit comprises an adjusting screw, the middle of the adjusting screw is pivotally connected and fixed with the turntable body, a forward-rotation thread section and a backward-rotation thread section which are respectively matched with the upper sliding table and the lower sliding table are arranged at two ends of the adjusting screw, the adjusting screw is connected with an adjusting motor through a transmission mechanism, and the adjusting motor drives the adjusting screw to rotate and controls the upper sliding table and the lower sliding table to synchronously open and close.
4. The rotary pushing apparatus as claimed in claim 1, wherein the number of the lower pushing rollers is at least two, and an upper pushing roller is provided at an upper portion between two adjacent lower pushing rollers.
5. An interventional surgical robot, comprising:
a base;
the interventional catheter is supported and arranged on the base through a first rotary pushing part, and the first rotary pushing part drives the interventional catheter to move back and forth and rotate; and
the second rotary pushing part is arranged on the base and is used for driving the corresponding guide wire or catheter to move back and forth and rotate;
the first rotary pushing part and the second rotary pushing part are both identical in structure to the rotary pushing device of any one of claims 1-4.
6. The interventional operation robot as claimed in claim 5, wherein a first sliding table and a second sliding table are slidably and fittingly arranged on the base, a first driving part and a second driving part are respectively arranged between the first sliding table and the base and between the second sliding table and the base, the first sliding table is located at the rear part of the second sliding table, the second rotary pushing part is arranged on the second sliding table, and a rear traction and rotation unit is arranged on each of the first sliding table and the second sliding table; the rear traction rotation unit is used for enabling a guide wire or a guide pipe in front of the corresponding sliding table to rotate relative to the sliding table without axial displacement.
7. The interventional surgical robot of claim 6, further comprising a third sliding table slidably disposed on the base, a tubule disposed on the third sliding table through a third rotary pushing part, and a rear traction revolving unit disposed at the front of the third sliding table, wherein the third sliding table is disposed at the front of the second sliding table, and the third rotary pushing part has the same structure as the first rotary pushing part and the second rotary pushing part.
8. The interventional surgical robot as claimed in claim 5, wherein a first sliding table and a second sliding table are slidably and fittingly arranged on the base, a first driving part and a second driving part are respectively arranged between the first sliding table and the base and between the second sliding table and the base, the first sliding table is located at the rear part of the second sliding table, the second rotary pushing part is arranged on the second sliding table, a rear traction revolving unit is arranged on the first sliding table, and the rear traction revolving unit is used for enabling a guide wire or a guide pipe driven by the second rotary pushing part to revolve relative to the first sliding table without axial displacement; the interventional catheter comprises a first fixed catheter and a first rotating catheter, the first fixed catheter and the first rotating catheter are connected in a rotating and sealing mode, a first rotating pushing portion corresponds to the first rotating catheter in a matching mode, the first fixed catheter is fixedly connected with a second sliding table, a plurality of first branch catheters are arranged on the first fixed catheter, control valves are arranged on the first branch catheters, at least one first side support is arranged on the side portion of the base in parallel, and a rotating pushing device and a rear traction revolving unit which are used for driving guide wires or catheters in the corresponding first branch catheters are arranged on the first side support.
9. The interventional surgical robot of claim 8, further comprising a third sliding table slidably disposed on the base and a tubule disposed on the third sliding table through a third rotary pushing part, wherein the third sliding table is disposed in front of the second sliding table, and the third rotary pushing part has the same structure as the first rotary pushing part and the second rotary pushing part; the thin tube comprises a second fixed guide tube and a second rotary guide tube, the second fixed guide tube is connected with the second rotary guide tube in a rotating and sealing mode, a third rotary pushing portion corresponds to the second rotary guide tube in a matching mode, the second fixed guide tube is fixedly connected with a second sliding table, a plurality of second branch guide tubes are arranged on the second fixed guide tube, control valves are arranged on the second branch guide tubes, at least one second side support is arranged on the side portion of the base in parallel, and a rotary pushing device and a rear traction rotary unit are arranged on the second side support and used for driving guide wires or guide tubes in the corresponding second branch guide tubes.
10. An interventional surgical robot according to claim 6 or 8, wherein the rear traction swivel unit comprises:
a supporting seat; and
the fixing part is pivoted on the top of the supporting seat, and the corresponding guide wire or the corresponding catheter is fixedly connected with the fixing part;
the fixing part is a clamping head, or the fixing part is fixed with a corresponding guide wire or a corresponding catheter through bonding.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110401096.2A CN113082463A (en) | 2021-04-14 | 2021-04-14 | Rotary pushing device and interventional operation robot |
| PCT/CN2022/071944 WO2022217996A1 (en) | 2021-04-14 | 2022-01-14 | Rotary pushing device and interventional surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110401096.2A CN113082463A (en) | 2021-04-14 | 2021-04-14 | Rotary pushing device and interventional operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113082463A true CN113082463A (en) | 2021-07-09 |
Family
ID=76677702
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110401096.2A Pending CN113082463A (en) | 2021-04-14 | 2021-04-14 | Rotary pushing device and interventional operation robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113082463A (en) |
| WO (1) | WO2022217996A1 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113694347A (en) * | 2021-09-08 | 2021-11-26 | 胡曰波 | Cardiovascular operation intubate propeller of clinical heart surgery |
| CN113769240A (en) * | 2021-10-18 | 2021-12-10 | 中国人民解放军总医院第一医学中心 | Peripheral blood vessel interventional therapy guide wire |
| CN113827342A (en) * | 2021-10-12 | 2021-12-24 | 复旦大学 | Guide wire delivery and twisting device of minimally invasive vascular interventional surgical robot |
| CN114366995A (en) * | 2022-02-22 | 2022-04-19 | 厦门大学 | Guide wire driving mechanism of interventional operation catheter |
| WO2022217996A1 (en) * | 2021-04-14 | 2022-10-20 | 王利 | Rotary pushing device and interventional surgical robot |
| WO2023093579A1 (en) * | 2021-11-23 | 2023-06-01 | 生一科技(北京)有限公司 | Transluminal intervention system |
| WO2023093155A1 (en) * | 2021-11-23 | 2023-06-01 | 深圳市爱博医疗机器人有限公司 | Synchronous interventional surgical robot |
| WO2023109191A1 (en) * | 2021-12-14 | 2023-06-22 | 深圳市爱博医疗机器人有限公司 | Simple slave-side operating device for interventional surgery robot |
| CN116672578A (en) * | 2023-06-05 | 2023-09-01 | 广东省精格医疗技术有限公司 | Vascular intervention operation wire feeding device and equipment |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116139390A (en) * | 2022-12-09 | 2023-05-23 | 山东大学 | Active guide wire operating device and method for vascular intervention operation |
| CN116058974B (en) * | 2023-02-23 | 2023-07-14 | 之江实验室 | Surgical robot and surgical system |
| CN116421322B (en) * | 2023-03-06 | 2023-12-05 | 极限人工智能有限公司 | Surgical robot platform and surgical robot |
| CN117504094A (en) * | 2023-03-13 | 2024-02-06 | 珠海市人民医院 | Guide wire pushing device and method of vascular interventional surgical instrument |
| 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 (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL162318A (en) * | 2004-06-03 | 2011-07-31 | Tal Wenderow | Transmission for a remote catheterization system |
| CN105709325B (en) * | 2014-11-30 | 2021-10-29 | 中国科学院沈阳自动化研究所 | Interventional catheter conveying operation device |
| JP6308287B2 (en) * | 2015-12-28 | 2018-04-11 | Ｊｆｅスチール株式会社 | Rapid quenching apparatus and quench quenching method |
| KR102184889B1 (en) * | 2018-04-19 | 2020-12-01 | (주)엘엔로보틱스 | Roller module for medical robot, driving apparatus for medical robot and medical robot |
| CN109821138B (en) * | 2019-01-29 | 2020-07-03 | 燕山大学 | Minimally invasive vascular intervention surgical robot catheter and guide wire propulsion mechanism |
| CN113082463A (en) * | 2021-04-14 | 2021-07-09 | 王利 | Rotary pushing device and interventional operation robot |
-
2021
- 2021-04-14 CN CN202110401096.2A patent/CN113082463A/en active Pending
-
2022
- 2022-01-14 WO PCT/CN2022/071944 patent/WO2022217996A1/en active Application Filing
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022217996A1 (en) * | 2021-04-14 | 2022-10-20 | 王利 | Rotary pushing device and interventional surgical robot |
| CN113694347A (en) * | 2021-09-08 | 2021-11-26 | 胡曰波 | Cardiovascular operation intubate propeller of clinical heart surgery |
| CN113827342A (en) * | 2021-10-12 | 2021-12-24 | 复旦大学 | Guide wire delivery and twisting device of minimally invasive vascular interventional surgical robot |
| CN113769240A (en) * | 2021-10-18 | 2021-12-10 | 中国人民解放军总医院第一医学中心 | Peripheral blood vessel interventional therapy guide wire |
| WO2023093579A1 (en) * | 2021-11-23 | 2023-06-01 | 生一科技(北京)有限公司 | Transluminal intervention system |
| WO2023093155A1 (en) * | 2021-11-23 | 2023-06-01 | 深圳市爱博医疗机器人有限公司 | Synchronous interventional surgical robot |
| WO2023109191A1 (en) * | 2021-12-14 | 2023-06-22 | 深圳市爱博医疗机器人有限公司 | Simple slave-side operating device for interventional surgery robot |
| CN114366995A (en) * | 2022-02-22 | 2022-04-19 | 厦门大学 | Guide wire driving mechanism of interventional operation catheter |
| CN116672578A (en) * | 2023-06-05 | 2023-09-01 | 广东省精格医疗技术有限公司 | Vascular intervention operation wire feeding device and equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022217996A1 (en) | 2022-10-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113082463A (en) | Rotary pushing device and interventional operation robot | |
| CN112674877A (en) | Novel interventional catheter and interventional surgical robot | |
| US11154689B2 (en) | Vascular interventional instrument control device with double guide wires or balloons | |
| CN109821137B (en) | Catheter and guide wire twisting and propelling mechanism of minimally invasive vascular interventional surgical robot | |
| CN109821138B (en) | Minimally invasive vascular intervention surgical robot catheter and guide wire propulsion mechanism | |
| CN113729966B (en) | Parallel progressive replaceable cardiovascular interventional operation robot and control method | |
| CN108354668B (en) | Auxiliary robot system for digestive tract operation | |
| CN113133833A (en) | Blood vessel intervention robot operating handle with guide wire catheter propulsion resistance feedback | |
| CN111068164B (en) | Vascular intervention operation guide wire rotating device | |
| CN105662586A (en) | Interventional operation robot where catheter and guide wire are cooperatively pushed and control method thereof | |
| CN110801571A (en) | Guide wire catheter operating device for interventional embolism operation | |
| CN211024680U (en) | Guide wire catheter operating device for interventional embolism operation | |
| CN216496974U (en) | Rotary pushing device and interventional operation robot | |
| CN113303914A (en) | Minimally invasive surgery robot for performing skull base tumor resection through nasal cavity | |
| CN110664489A (en) | Intervene blood vessel micro-operation robot | |
| CN113712638A (en) | Flexible needle puncture device capable of automatically and continuously replacing needles | |
| CN215384608U (en) | Novel interventional catheter and interventional surgical robot | |
| CN113598952A (en) | Catheter conveying device, interventional operation robot and catheter driving method | |
| CN208083777U (en) | A kind of pipe fitting welding auxiliary device | |
| CN111035455B (en) | Venipuncture robot with decoupled position and posture | |
| CN106041320B (en) | A kind of elbow cutter device | |
| CN116211470A (en) | Vascular intervention operation robot based on clamping vector drive | |
| CN115607191A (en) | Color Doppler ultrasound scanning auxiliary device for nephrology department | |
| CN110116288A (en) | A kind of pipe fitting welding auxiliary device | |
| CN216496962U (en) | Rear traction slewing gear |
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 |