CN113598947A

CN113598947A - Vessel intervention navigation operation system

Info

Publication number: CN113598947A
Application number: CN202110921449.1A
Authority: CN
Inventors: 沈碧峰; 洪炯
Original assignee: Jieruo Medical Technology Shanghai Co ltd
Current assignee: Jieruo Medical Technology Shanghai Co ltd
Priority date: 2021-08-11
Filing date: 2021-08-11
Publication date: 2021-11-05
Anticipated expiration: 2041-08-11
Also published as: CN113598947B; WO2023015657A1

Abstract

The invention discloses a vessel intervention navigation operation system, which comprises a terminal execution system, wherein the terminal execution system comprises a guide wire control module, a balloon/stent control module and a guide catheter control module. The guide wire control module comprises a rotating assembly, a planet wheel and a sun wheel, wherein the rotating assembly comprises a rotating wheel set, a rotating shaft concentrically connected with the rotating wheel set, the planet wheel is sleeved on the rotating shaft and can slide relative to the rotating shaft, the sun wheel is meshed with the planet wheel, and a wire groove used for embedding a guide wire is formed in the sun wheel; and the travelling assembly comprises a travelling wheel set, a transmission screw rod concentrically connected with a bevel gear of the travelling wheel set, and a fixed disc for supporting the sun gear. The invention is used for remotely controlling the rotation, the advance and the retreat of the guide wire in the operation, can also simultaneously control the advance or the retreat of the balloon catheter or the bracket catheter and the guide catheter, combines various intervention operation consumables in one system, is compatible with the intervention operation consumables of various manufacturers, and has simple operation and high precision.

Description

Vessel intervention navigation operation system

Technical Field

The invention relates to the field of medical instruments, in particular to a vessel intervention navigation surgery system.

Background

The vascular interventional operation is based on imaging, and under the guidance of X-ray, ultrasonic or CT equipment, the diagnosis and treatment of diseases are performed by using guide wires, catheters or stents and other medical instruments, so that the vascular interventional operation is an advanced minimally invasive technique. Manual insertion of a catheter or introducer device into a patient is a relatively routine surgical procedure. Attempts are currently being made to robotize such insertions. Such robotics is complicated by the difficulty in grasping the catheter, the smoothness of the catheter, and the sterility that must be maintained during the procedure, all of which contribute to the difficulty of robotics. Despite these difficulties, the reliability and accuracy of such robotic systems remains a determining factor accepted by the medical community.

Therefore, a vessel intervention navigation surgery system with simpler operation and higher reliability is not yet available in the field.

Disclosure of Invention

Based on the market demand in the field, the invention develops a vessel intervention navigation operation system, which can remotely control the rotation, the advance and the retreat of a guide wire control module, a saccule/bracket control module and a guide catheter control module through a remote microcomputer control end. The mechanical braking in the invention is mainly realized by the meshing between the gears and the transmission effect of the transmission rod. The invention has convenient operation and accurate adjustment.

The invention provides a vessel intervention navigation operation system, which comprises a remote microcomputer control end, an operation positioning mechanical arm and a terminal execution system. Wherein the terminal execution system comprises

A guide wire control module for controlling advancement, retreat and rotation of a guide wire, the guide wire control module comprising:

the rotating assembly is used for controlling the rotation of the guide wire and comprises a rotating wheel set, a rotating shaft concentrically connected with the rotating wheel set, a planet wheel sleeved on the rotating shaft and capable of sliding relative to the rotating shaft, and a sun wheel meshed with the planet wheel, wherein a wire slot is formed in the sun wheel, the wire slot is opened to the center of the sun wheel from the valley bottom between the teeth of the sun wheel, and the wire slot is used for embedding the guide wire and ensuring the coaxiality of the guide wire in rotation; and

the advancing assembly is used for controlling the advancing or retreating of the guide wire and comprises an advancing wheel set, a transmission screw rod concentrically connected with a bevel gear of the advancing wheel set and a fixed disc used for supporting the sun gear;

the balloon/stent control module is used for controlling the balloon catheter or the stent catheter to move forward or backward, and comprises a transmission wheel assembly, the transmission wheel assembly comprises a friction wheel set, gears of the friction wheel set are meshed and connected with each other below the friction wheel set, and the friction wheel set clamps the balloon catheter or the stent catheter to move forward or backward; and

the guiding catheter control module is used for controlling the advancing or retreating of a guiding catheter, the guiding catheter control module comprises a Y-shaped table assembly, the Y-shaped table assembly comprises an upper Y-shaped valve and a lower gear rack set, the distal end port of the Y-shaped valve is connected with the guiding catheter, the proximal end port of the Y-shaped valve penetrates into the guide wire, the guide wire enters the guiding catheter through the Y-shaped valve and reaches a surgical site along the inner cavity of the guiding catheter, and the gear rack set drives the Y-shaped table assembly to advance or retreat so as to drive the guiding catheter to advance or retreat;

the rotating wheel set, the advancing wheel set, the friction wheel set and the Y-shaped table component are all driven by a motor and connected with a remote microcomputer.

In another preferred example, the rotation of the rotating wheel set in the guide wire control module drives the rotating shafts which are concentrically connected to rotate together, the rotating shafts drive the planet wheels to rotate, and the planet wheels drive the sun wheel to rotate through meshing action, so that the guide wire is driven to rotate.

The bevel gear of the advancing wheel set drives the transmission screw rod to rotate, the fixed disc is in threaded engagement with the transmission screw rod and moves forward or backward along with the rotation of the transmission screw rod, and the guide wire is driven to move forward or backward by the forward or backward movement of the fixed disc.

In another preferred example, the friction wheel set of the transmission wheel assembly in the balloon/stent control module rotates to drive the upper friction wheel to rotate, and the rotation of the friction wheel drives the balloon catheter or stent catheter clamped by the friction wheel to move forward or backward.

In another preferred example, the gear in the gear rack group of the Y-shaped table component in the guiding catheter module drives the rack meshed with the gear rack to move, so that the Y-shaped table and the connected guiding catheter advance or retreat.

In another preferred embodiment, a plurality of wire grooves for directly placing the guide wire from top to bottom are arranged from the near end to the far end in the longitudinal direction of the whole system, and the wire grooves comprise an outer box, a wheel disc group, a pulley and a fixing plate, so that the guide wire is conveniently placed before an operation, taken out and exchanged during the operation, and the guide wire is conveniently matched with a balloon catheter or a stent catheter.

In another preferred embodiment, at least two fixed gears are arranged on the fixed disk, and the fixed gears are in meshed connection with the sun gear and used for fixing the sun gear.

In another preferred example, the guide wire control module comprises a locking device for locking the guide wire, and the locking device is fixed on the sun gear.

In another preferred embodiment, the locking device includes a locking control assembly, an active component, and a fixing component, wherein the fixing component is fixed on the sun gear and aligned with one side of the slot, the active component is disposed opposite to the fixing component and aligned with the other side of the slot, and the locking control assembly is connected with the active component and used for controlling the position relation of the active component relative to the fixing component.

In another preferred embodiment, the locking control assembly includes a key, a linkage rod, a spring and a limiting block, wherein the spring and the limiting block are disposed in the inner cavity of the active component, the limiting block is fixed, the spring is located between the limiting block and the side wall of the active component, one end of the linkage rod is connected with the key, and the other end of the linkage rod is connected with the active component.

In another preferred embodiment, the guide wire control module includes a slide bar, and the slide bar is disposed between the wheel disc set and the fixing plate.

In another preferred example, the operator uses the remote microcomputer control end to remotely control the movement of the guide wire control module, the saccule/bracket control module and the guide catheter control module by signal transmission.

The invention also provides a vessel intervention navigation operation system, which is used for controlling the guide wire, the saccule or the stent in the operation, can control the advancing, the retreating and the rotation of the guide wire, and can also control the advancing or the retreating of the saccule catheter or the stent catheter and the guide catheter, and the system comprises a remote microcomputer control end, an operation positioning mechanical arm and a terminal execution system. Wherein the terminal execution system comprises

A guide wire control module for controlling advancement, retreat and rotation of a guide wire, the guide wire control module comprising: the rotating assembly is used for controlling the rotation of the guide wire and comprises a rotating bevel gear, a rotating shaft concentrically connected with the rotating bevel gear, a planet wheel sleeved on the rotating shaft and capable of sliding relative to the rotating shaft, and a sun wheel meshed with the planet wheel, wherein a wire groove is formed in the sun wheel and used for embedding the guide wire; the conveying assembly is used for controlling the guide wire to advance and retreat and comprises a power wheel set, a transmission screw rod concentrically connected with a gear of the power wheel set and a fixed disc used for supporting the sun wheel; the rotating bevel gear and the power wheel set are driven by a motor, the rotating bevel gear rotates to drive the rotating shafts which are concentrically connected to rotate together, the rotating shafts drive the planet gears to rotate, and the planet gears drive the sun gear to rotate through meshing; the rotation of the gear of the power wheel set drives the transmission screw rod to rotate, and the fixed disc is in threaded engagement with the transmission screw rod and moves forward or backward along with the rotation of the transmission screw rod.

In another preferred example, the rotating shaft is a hexagonal shaft.

In another preferred example, the rotation shaft is a polygonal shaft.

In another preferred example, the sun wheel and the planet wheels are both arranged in the inner cavity of the fixed disk and move along with the back-and-forth movement of the fixed disk.

In another preferred example, the near end of the transmission screw rod is fixedly connected with the bevel gear of the traveling wheel set, the near end of the rotating shaft is fixedly connected with the rotating wheel set, and the far end of the transmission screw rod and the far end of the rotating shaft are both fixed on a fixing plate at the far end through bearings.

In another preferred example, a similar raceway to the raceway on the sun gear is provided on the fixing plate to allow insertion of the guide wire.

In another preferred embodiment, the initial positions of the rotating wheel set and the traveling wheel set are both located at the proximal end of the system.

In another preferred embodiment, the rotating wheel set and the traveling wheel set are located on the same cross section.

In another embodiment, the length of the transmission screw rod is 100-400 mm; preferably 150 and 250 mm.

In another embodiment, the length of the rotating shaft is 100-400 mm; preferably 150 and 250 mm.

In another embodiment, the travel wheel set includes at least one pair of bevel gears; preferably, the traveling wheel set is composed of two pairs of bevel gear sets.

In another embodiment, the traveling wheel set composed of more than two pairs of bevel gear sets comprises a linkage belt for connecting the bevel gears, and the linkage between the bevel gears of the traveling wheel set is realized through the linkage belt.

In another embodiment, the slot opening is provided at the valley bottom between the teeth of the sun gear without affecting the mesh between the sun gear and other gears.

In another embodiment, the line groove is opened from the bottom of the valley between the teeth of the sun wheel to the center of the sun wheel.

In another preferred embodiment, the wire grooves on the sun wheel are tapered in the direction of the radius from the outside to the inside for embedding guide wires of different diameters.

In another preferred embodiment, at least two fixed gears are arranged on the fixed disk, and the fixed gears are in meshed connection with the sun gear and used for fixing the sun gear. The fixed gear can be two or more.

In another preferred embodiment, the fixed disk is the cavity dish, the sun gear the planet wheel with the fixed wheel is arranged in the cavity inner chamber of fixed disk, the fixed disk still is equipped with radial opening, be used for the embedding of seal wire.

In another preferred embodiment, the sun gear and the fixed disk are concentrically aligned.

In another preferred embodiment, the system comprises a locking device for locking the guide wire, said locking device being fixed to the sun wheel.

In another preferred example, the locking control assembly controls the active component to be far away from the fixing component, namely the wire groove forms a passage which can be embedded into the guide wire.

In another preferred example, the locking control assembly controls the active component to abut against the fixed component to clamp the guide wire embedded in the wire groove.

In another preferred embodiment, the locking device may be a power clamp structure, which is driven by a power.

In another preferred embodiment, the locking device may be a pneumatic clamp structure, which is pneumatically actuated.

When the locking device is in a loosening state, the linkage rod is driven to move outwards by pressing the key, so that the driving part is driven to move outwards in the radial direction, the driving part is far away from the fixed part, and at the moment, the spring is in a compression state. When the locking device is in a locking state, the press control on the key is released, the driving part moves inwards in the radial direction and abuts against the fixed part under the action of the elastic force of the spring, and the key returns to the initial position.

In another preferred example, the contact surface between the active part and the fixed part is a toothed clamping surface to provide a greater clamping force to the guide wire.

In another preferred embodiment, the system comprises a sliding bar, which is arranged between the sun wheel and the fixed plate.

In another preferred example, the slide bar is slidable in an axial direction along the guide wire.

In another preferred embodiment, the sliding rod includes a supporting frame and two side pulleys, wherein the supporting frame is provided with a wire groove corresponding to the wire grooves on the sun gear and the fixing plate, in a use state, the guide wire is embedded in the wire groove, and the pulleys on the two sides can respectively move in the sliding grooves on the two side wall surfaces corresponding to the guide wire.

In another preferred example, the sliding groove starts from two side wall surfaces corresponding to the middle sections of the sun gear and the fixing plate and ends from two side wall surfaces corresponding to the fixing plate.

In another preferred example, the sliding groove starts from two side wall surfaces corresponding to the sun gear and ends at two side wall surfaces corresponding to the fixed plate, wherein a stop member is arranged on a sliding groove section corresponding to the middle section of the sun gear and the fixed plate, and the stop member is used for stopping the sliding rod from continuously sliding towards the sun gear.

In another preferred embodiment, a first magnet is arranged on the sliding rod, a second magnet is correspondingly arranged on the fixed disc, and the first magnet and the second magnet attract each other.

In the operation of delivering the guide wire, the intermediate support is initially positioned in the middle section of the sun wheel and the fixing plate, the guide wire is placed in the groove, the second magnet and the first magnet generate an attraction effect as the fixing disc moves towards the far end along the transmission screw rod, and the intermediate support and the fixing disc continue to move towards the far end; in the operation of withdrawing the guide wire, the intermediate support member and the fixed disk are withdrawn towards the near end together, when the intermediate support member is withdrawn to the middle position of the sun wheel and the fixed disk, the intermediate support member is not withdrawn any more and is fixed under the blocking action of the stop member or the chute wall, and the fixed disk can be withdrawn continuously. The above-described configuration of the present disclosure allows the guidewire to not sag significantly over long spans.

In another preferred example, all the wire grooves form a passage from the proximal end to the circle center of the Y-shaped valve, so that the guide wire can be easily inserted and taken out, and the rapid exchange of the guide wire and the balloon or the stent in the operation is convenient.

In another preferred embodiment, the system includes at least one pair of guide wire drive wheels for supporting and delivering the guide wire at the distal end.

In another preferred example, the guide wire driving wheel is arranged on the far end side of the fixing plate and is 5-15mm away from the fixing plate (center distance).

In another preferred example, the joint of the guide wire driving wheel corresponds to the wire groove on the fixing plate.

In another preferred embodiment, the guide wire is placed between at least one pair of the guide wire driving wheels, and the guide wire is conveyed by friction between at least one pair of the guide wire driving wheels.

In another preferred embodiment, at least one pair of the guide wire driving wheels is provided with at least one pair of locking switches, and the locking switches are used for controlling the distance between the pair of guide wire driving wheels and further controlling the locking condition of at least one pair of the guide wire driving wheels.

In another preferred example, the system comprises at least one group of driving wheel sets, and the driving wheel sets are used for supporting and conveying the balloon catheter or the stent catheter.

In another preferred example, the balloon catheter or stent is placed between at least one set of transmission wheels, and the balloon catheter or stent catheter is conveyed through friction between at least one set of transmission wheels.

In another preferred embodiment, at least one set of driving wheels is provided with at least one pair of locking switches, and the locking switches are used for controlling the distance between one set of driving wheels and further controlling the locking condition of at least one set of driving wheels.

In another preferred embodiment, the system comprises a Y-shaped assembly, the Y-shaped assembly is used for Y-shaped rapid combination of the guide wire and the guide catheter, the Y-shaped assembly is movable, and the movement of the Y-shaped assembly controls the back-and-forth movement of the guide catheter.

It should be noted that the movement of the Y-shaped assembly can deliver or withdraw the guide catheter, thereby providing the guide catheter with a suitable recoil for advancing the guide wire within the guide catheter.

In another embodiment, the Y-shaped assembly is arranged at the far end of the system and is 10-200mm away from the fixing plate (center-to-center distance); preferably, 80-120 mm.

In another preferred example, the Y-shaped assembly moves back and forth by meshing of a gear and a rack.

In another embodiment, the Y-shaped combination is fixedly connected to the rack, the gear is connected to the motor, and the gear and the rack are engaged with each other.

When the Y-shaped assembly is used, the motor drives the gear to rotate, and under the meshing action, the rack moves forwards or backwards, so that the Y-shaped assembly is driven to move forwards or backwards.

In another embodiment, the number of the gears is two, and the two gears are respectively a driving gear and a driven gear, the driving gear and the driven gear are meshed with each other, two racks are correspondingly arranged, and the driving gear and the driven gear are meshed with the two racks respectively.

In another embodiment, the number of the gears is one, the number of the racks is one, and the gears are meshed with the racks.

In another embodiment, the Y-shaped assembly is openable and closable, and in the open state, rapid exchange of the guidewire and the balloon catheter or stent catheter can be performed.

In another embodiment, the Y-shaped assembly is foldable, and the folding angle of the Y-shaped assembly is 0-60 degrees, so that the exchange between the guide wire and the balloon catheter or the stent catheter is more convenient.

In another preferred example, the operator uses the signal transmission to remotely control the motion of the guide wire control module, the saccule/bracket control module and the guide catheter module through the remote microcomputer control end.

The front end of the Y-shaped table (Y-shaped assembly) is connected with the guide catheter, and the front and back movement of the guide catheter is controlled by controlling the front and back movement of the Y-shaped table; the transmission wheel group clamps the balloon catheter or the stent catheter to advance or retreat; the rotating wheel set and the advancing wheel set control the wheel set for clamping the guide wire to rotate, advance or retreat; and the rotation, the advance or the retreat of all the components can be completed by the operator operating the terminal controller outside the operating room.

In another embodiment, the system communicates with the terminal controller via wire, wireless (WiFi, bluetooth, etc.) or the internet.

In another embodiment, the operation terminal is a computer.

In another embodiment, the operation terminal comprises a tablet computer and a joystick, the operator adjusts the guide wire advancing or retreating distance and the guide wire rotation angle by adjusting the parameters displayed on the tablet computer, adjusts the guide catheter advancing or retreating distance, and adjusts the advancing or retreating distance of the balloon catheter or the stent catheter, then operates the joystick to control the guide wire to rotate, advance or retreat, operates the joystick to control the balloon catheter or the stent catheter to advance or retreat, and operates the joystick to control the guide catheter to advance or retreat.

In another embodiment, the system is disposed in the outer box, wherein the length of the outer box is 400-600mm, the width is 150-250mm, and the height is 100-150 mm.

In another embodiment, the sun gear has a diameter of 40-70 mm.

In another embodiment, the planetary gear and at least two of the fixed gears are of the same size and have diameters of 15-30 mm.

In another embodiment, the planetary gear has a size that is different from a size of at least two of the fixed gears.

In another embodiment, the diameter of the gears of the running wheel set is 15-30 mm.

In another embodiment, the diameter of the guide wire driving wheel is 5-20 mm.

In another embodiment, the sleeve has a diameter of 80-150mm and a length of 250-500 mm.

In another embodiment, the Y-shaped assembly has a length of 50-90mm, a width of 30-60mm and a height of 10-40 mm.

In another embodiment, the diameters of the driving gear and the linkage gear of the Y-shaped table assembly are both 5-20 mm.

In another embodiment, the number of the integral components of the rotating assembly, the delivery assembly and the accessories thereof, namely the guide wire control modules, can be overlapped so as to deliver a plurality of different guide wires and realize guide wire exchange in the operation. In another embodiment, the fixing plate is provided with more than two wire grooves, and the wire grooves are respectively embedded into the guide wires when 2-3 guide wires are used in the operation.

In another embodiment, the system is made of plastic materials such as PC and nylon or metal materials such as 304 and 316 stainless steel, so that the system is harmless to human bodies, can be used for disinfection and sterilization, is low in price and is suitable for disposable use.

The main advantages of the invention include:

(a) the robot operation can enable an operator to remotely control the instrument outside the operation room, so that the injury of rays to the operator is avoided;

(b) compared with manual operation, the robot operation improves the operation precision;

(c) the robot cannot be operated like manual operation, fatigue or other reasons are caused to have errors due to long-time attention concentration, and the stability is better;

(d) the remote robot operation realizes the separation of doctors and patients, and reduces the risk of infection of operators and patients.

It is to be understood that within the scope of the present invention, the above-described features of the present invention and those specifically described below (e.g., in the examples) may be combined with each other to form new or preferred embodiments. Not to be reiterated herein, but to the extent of space.

Drawings

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

FIG. 1a is a schematic view of an operating room layout with a vessel intervention navigation surgical system in one example of the present invention;

FIG. 1b is a flow chart of the operation of a surgical system with vessel intervention navigation in one example of the present invention;

FIG. 2 is a perspective view of a vessel intervention navigation surgical system in accordance with an embodiment of the present invention;

FIG. 3 is a top view of the system of FIG. 2;

FIG. 4 is a cross-sectional view taken along section A-A of FIG. 3;

FIG. 5 is a cross-sectional view taken along section B-B of FIG. 3;

FIG. 6 is a perspective view of a sun gear with a locking device according to one embodiment of the present invention;

FIG. 7 is a cross-sectional view of a locking device according to an embodiment of the present invention, wherein the locking device is in a locked state;

FIG. 8 is a cross-sectional view of a locking device according to an embodiment of the present invention, wherein the locking device is in an unlocked state;

FIG. 9 is a top view of the drive wheel in a locked condition according to one embodiment of the present invention;

FIG. 10 is a top plan view of the drive wheel of FIG. 9 in a released condition;

FIG. 11 is a top view of a Y-shaped assembly of one embodiment of the present invention in an advanced state;

FIG. 12 is a top view of the Y-shaped assembly of FIG. 11 in a retracted state;

FIG. 13 is a schematic diagram of the motion mechanism of a Y-shaped assembly according to an embodiment of the present invention;

FIG. 14 is a perspective view of a Y-shaped assembly of one embodiment of the present invention;

FIG. 15 is a perspective view of the Y-shaped assembly of FIG. 14 in a raised condition;

fig. 16 is a perspective view of the Y-shaped assembled body of fig. 14 in an opened state.

In the drawings, each symbol is as follows:

1-a guide wire transmission wheel; 2-a transmission screw rod; 3-a wheel disc set; 4-guide wire transmission wheel lock; 5-a running wheel set; 6-Y type assembly; 7-a transmission wheel set; 8-a rotating shaft; 9-a pulley; 10-fixing the disc; 11-a travel bevel gear; 12-a linkage belt; 13-fixed gear; 14-a wire groove; 15-sun gear; 16-a planet wheel; 17-a key; 18-a linkage; 19-a spring; 20-a limiting block; 21-an active component; 22-a stationary part; 23-a transmission wheel set locking switch; 24-a fixing plate; 25-a support frame; 26-a drive gear; 27-a rack; 28-linkage gear.

Detailed Description

The inventor of the invention has extensively and deeply studied, through screening in a large number, have developed a kind of vessel and intervene the navigation operation system for the first time, compared with prior art, the system of the application carries on the vessel and intervenes the navigation operation through the remote operation robot, in order to realize the advance, retreat and rotate of the remote control guide wire in the operation, can also control the sacculus pipe or support conduit at the same time, and guide the advance or retreat of the conduit, combine multiple intervention operation consumptive material in a system, wherein the mechanical brake is mainly engaged with or carried on the transmission through the drive link by the gear among the gears to realize, the invention has realized the robotization of the vessel and intervene the navigation operation, has prevented the operator from receiving a large number of ray injuries in the operation, meanwhile, the robotization of the vessel and intervene the navigation operation, has improved stability and accuracy of the operation, further, the operator reduces the risk of cross infection of doctor through remote control, the present invention has been completed based on this finding.

The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, the drawings are schematic and, thus, the apparatus and devices of the present invention are not limited by the size or scale of the schematic.

It is to be noted that in the claims and the description of the present patent, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the use of the verb "comprise a" to define an element does not exclude the presence of another, same element in a process, method, article, or apparatus that comprises the element.

Examples

The vessel intervention navigation surgery system of the present embodiment is shown in fig. 1 a-16. The remote microcomputer control end of the vessel intervention navigation operation system, an operation positioning mechanical arm and a terminal execution system. The terminal execution system comprises a guide wire control module, a balloon/stent control module and a guide catheter control module, and can control the advance, retreat and rotation of the guide wire, and also can control the advance or retreat of the balloon catheter or the stent catheter and the guide catheter.

Wherein, the guide wire control module comprises a rotating component and a advancing component.

The rotating assembly is used for controlling the rotation of the guide wire, and comprises a rotating wheel set, a rotating shaft 8 concentrically connected with the advancing wheel set 5, a planet wheel 16 which is sleeved on the rotating shaft 8 and can slide relative to the rotating shaft, and a sun wheel 15 meshed with the planet wheel 16, wherein a wire groove 14 is formed in the sun wheel 15 and used for being embedded into the guide wire groove, and the wire groove is gradually reduced along the direction of the radius from outside to inside so as to be used for embedding guide wires with different diameters. The slot 14 is opened at the bottom of the valley between the teeth of the sun gear 15, and does not affect the engagement between the sun gear 15 and other gears. The wire casing 14 is opened to the 15 centre of a circle of sun gear from the valley bottom between 15 teeth of sun gear and the tooth, wire casing 14 is used for imbedding the seal wire and guarantees the seal wire pivoted axiality. The rotating shaft 8 is a hexagonal shaft.

The advancing assembly is used for controlling the advancing or retreating of the guide wire, and comprises an advancing wheel set 5, a transmission screw rod 2 concentrically connected with a gear of the advancing wheel set 5, and a fixed disc 10 used for supporting a sun wheel 15. The sun gear 15 and the planet gears 16 are placed in the inner cavity of the fixed disk 10 and move with the back and forth movement of the fixed disk 10. The near end of the transmission screw rod 2 is fixedly connected with a traveling bevel gear 11 of a traveling wheel set 5, the near end of the rotating shaft 8 is fixedly connected with a rotating wheel set, and the far end of the transmission screw rod 2 and the far end of the rotating shaft are fixed on a fixing plate 24 at the far end through bearings. A wire chase 14 is provided on the fixation plate 24 to allow insertion of a guide wire. The travel wheel set 5 is composed of two travel bevel gear 11 sets. The traveling wheel set 5 further includes an interlocking belt 12 for connecting the traveling bevel gears 11, and interlocking between the traveling bevel gears 11 of the traveling wheel set 5 is achieved by the interlocking belt 12. The fixed disk 10 is a hollow disk, the sun wheel 15 is arranged in a hollow inner cavity of the fixed disk 10, and the fixed disk 10 is also provided with a radial opening for embedding a guide wire. Sun gear 15 and stationary disk 10 are concentrically aligned.

The rotating wheel set and the advancing wheel set 5 are both positioned on the same cross section. The rotating wheel set and the advancing wheel set 5 are both driven by a motor, the rotating wheel set rotates to drive the rotating shafts 8 which are concentrically connected to rotate together, the rotating shafts 8 drive the planet wheels 16 to rotate, and the planet wheels 16 drive the sun wheel 15 to rotate through meshing action.

The rotation of the gear of the advancing wheel set 5 drives the transmission screw rod 2 to rotate, and the fixed disc 10 is in threaded engagement with the transmission screw rod 2 and moves forward or backward along with the rotation of the transmission screw rod 2.

At least two fixed gears 13 are arranged on the fixed disk 10, and the fixed gears 13 are meshed with the sun gear 15 and used for fixing the sun gear 15. The fixed gear 13 is symmetrically disposed on the upper portion of the fixed disk 10 to provide a symmetrical supporting force to the sun gear 15 and a clamping force corresponding to the rotation shaft 8.

The combination of the sun gear 15, the fixed gear 13, the planet gears 16 and the fixed disk 10 is referred to as a disk set 3.

The guide wire control module comprises a locking device for locking the guide wire, and the locking device is fixed on the sun gear 15. The locking device comprises a locking control assembly, an active component 21 and a fixed component 22, wherein the fixed component 22 is fixed on the sun wheel 15 and aligned with one side of the wire casing 14, the active component 21 is arranged relative to the fixed component 22 and aligned with the other side of the wire casing 14, and the locking control assembly is connected with the active component 21 and used for controlling the position relation of the active component 21 relative to the fixed component 22. The locking control assembly controls the active part 21 away from the fixed part 22, i.e. the wireway 14 forms a passage into which a guide wire can be inserted. The locking control assembly controls the active member 21 against the stationary member 22 to clamp a guidewire inserted into the wireway 14. The locking means may be electrically or pneumatically actuated.

The locking control assembly comprises a key 17, a linkage rod 18, a spring 19 and a limiting block 20, wherein the spring 19 and the limiting block 20 are arranged in an inner cavity of the active part 21, the limiting block 20 is fixed, the spring 19 is positioned between the limiting block 20 and the side wall of the active part 21, one end of the linkage rod 18 is connected with the key 17, and the other end of the linkage rod is connected with the active part 21. When the locking device is in a released state, the linkage rod 18 is driven to move outwards by pressing the key 17, so that the driving part 21 is driven to move radially outwards, the driving part 21 is far away from the fixed part 22, and at the moment, the spring 19 is in a compressed state. When the locking device is in a locked state, the pressing control on the key 17 is released, and under the action of the elastic force of the spring 19, the active part 21 moves radially inwards and abuts against the fixed part 22, and the key 17 returns to the initial position.

The contact surface between the active part 21 and the fixed part 22 is a toothed clamping surface to provide a greater clamping force to the guide wire.

The guide wire control module comprises a slide bar which is arranged between the sun gear 15 and the fixing plate 24. The slide bar is slidable in an axial direction along the guide wire.

The sliding rod comprises a supporting frame 25 and pulleys 9 at two sides, wherein the supporting frame 25 is provided with a wire groove corresponding to the wire grooves on the sun gear 15 and the fixing plate 24, in a use state, a guide wire is embedded in the wire groove, and the pulleys 9 at two sides can respectively move in the sliding grooves on the two side wall surfaces corresponding to the guide wire.

The chute starts at both side wall surfaces corresponding to the middle sections of the sun gear 15 and the fixed plate 24 and ends at both side wall surfaces corresponding to the fixed plate 24.

The sliding grooves start from both side wall surfaces corresponding to the sun gear 15 and end at both side wall surfaces corresponding to the fixing plate 24, wherein a stopper for stopping the sliding of the intermediate support is provided on a sliding groove section corresponding to the middle section of the sun gear 15 and the fixing plate 24.

The slide bar is provided with a magnet, the wheel disc cover is provided with another magnet corresponding to the magnet, and the two magnets are mutually attracted. In the operation of delivering the guide wire, the slide bar is initially positioned at the middle section of the sun gear 15 and the fixing plate 24, the guide wire is placed in the wire groove, the two magnets generate attraction effect along with the far-end movement of the fixing plate 10 along the transmission screw rod 2, and the slide bar and the fixing plate 10 continuously move to the far-end; in the operation of withdrawing the guide wire, the sliding rod is withdrawn proximally together with the fixed disk 10, when the sliding rod is withdrawn to the middle position of the sun gear 15 and the fixed disk 24, the sliding rod is fixed without being withdrawn under the blocking action of the stop piece or the wall of the sliding groove, and the fixed disk 10 can be withdrawn continuously. The above configuration allows the guidewire to not sag significantly due to the overlength of the span.

On the distal side of the fixed plate 24 and 5-15mm away from the fixed plate 24 (center-to-center distance), a pair of guide wire driving wheels 1 are provided for supporting and conveying the guide wire at the distal end. The joint of the guide wire driving wheel 1 corresponds to the wire groove 14 on the fixing plate 24. The guide wires are arranged between the guide wire driving wheels 1 and are conveyed through friction between the guide wire driving wheels 1. The pair of guide wire driving wheels 1 is provided with a pair of guide wire driving wheel locks 4 for controlling the distance between the guide wire driving wheels 1 and further controlling the locking condition of the guide wire driving wheels 1.

The balloon/stent control module comprises a transmission wheel set 7, and the transmission wheel set 7 is used for controlling the advance or retreat of the balloon catheter or the stent catheter. The transmission wheel set 7 comprises two pairs of friction wheel sets and a gear set connected below, and the gear is connected with the motor. When the balloon catheter or stent catheter clamping device is used, the motor drives the gear to rotate, the gear drives the friction wheel group above the friction wheel group to rotate, and the balloon catheter or stent catheter clamped by the friction wheel group moves forwards or backwards along with the friction wheel group. The driving wheel set 7 is also provided with a pair of driving wheel set locking switches 23, and the driving wheel set locking switches 23 are used for controlling the distance between a group of driving wheel sets 7 and further controlling the locking condition of the driving wheel sets 7.

The guiding catheter control module comprises a Y-shaped assembly 6, the Y-shaped assembly 6 is used for Y-shaped assembly of a guiding wire (not shown) and a guiding catheter (not shown), the Y-shaped assembly 6 is movable, and the movement of the Y-shaped assembly 6 can convey or retract the guiding catheter, so that proper recoil is provided for the guiding catheter, and the guiding wire is convenient to advance in the guiding catheter. The Y-shaped arrangement 6 is arranged at the distal end of the system and is moved back and forth by the engagement of the gear wheels (26, 28) and the rack 27. Wherein, Y type assembly 6 and rack 27 fixed connection, driving gear 26 is connected with the motor, and driving gear 26 drives interlock gear 28 through intermeshing 26 between the gear and rotates, and gear (26, 28) and rack 27 intermeshing again. When in use, the motor drives the driving gear 26 to rotate, and under the meshing action, the rack 27 moves forwards or backwards, so as to drive the Y-shaped assembly 6 to move forwards or backwards.

The operator uses the signal transmission to remotely control the movement of the guide wire control module, the saccule/bracket control module and the guide catheter module through the remote microcomputer control end. The front end of the Y-shaped table (Y-shaped assembly 6) is connected with a guide catheter, and the front and back movement of the guide catheter is controlled by controlling the front and back movement of the Y-shaped table; the driving wheel group 7 clamps the balloon catheter or the stent balloon catheter to move forward or backward; the rotating wheel set and the advancing wheel set 5 control the guide wire to rotate, advance or retreat; and the rotation, the advance or the retreat of all the components can be completed by the operator operating the terminal controller outside the operating room. The system and the operation terminal communicate through wire, wireless (WiFi, Bluetooth and the like) or the internet. The operating terminal is a computer and comprises an operating lever and a tablet personal computer, an operator adjusts the advancing or retreating distance and the rotating angle of the guide wire by adjusting the parameters displayed on the tablet personal computer, adjusts the advancing or retreating distance of the guide catheter and the advancing or retreating distance of the balloon catheter or the stent catheter, then operates the operating lever to control the guide wire to advance, retreat or rotate, operates the operating lever to control the balloon catheter or the stent catheter to advance or retreat, and operates the operating lever to control the guide catheter to advance or retreat.

It should be noted that there are more than two wire slots 14 on the fixing plate 24, and when 2-3 guide wires are used in the operation, the wire slots 14 are respectively embedded in the guide wires.

The system is made of plastic materials such as PC and nylon or metal materials such as 304 and 316 stainless steel, is harmless to human bodies, can be used for disinfection and sterilization, is low in price and is suitable for disposable use.

All documents referred to herein are incorporated by reference into this application as if each were individually incorporated by reference. Furthermore, it should be understood that various changes and modifications of the present invention can be made by those skilled in the art after reading the above teachings of the present invention, and these equivalents also fall within the scope of the present invention as defined by the appended claims.

Claims

1. A vessel intervention navigation operation system is characterized by comprising a remote microcomputer control end, an operation positioning mechanical arm and a terminal execution system. Wherein the terminal execution system comprises

2. The system of claim 1, wherein rotation of the rotating wheel set in the guide wire control module rotates the rotating shafts which are concentrically connected, the rotating shafts in turn rotate the planet wheels, and the planet wheels rotate the sun wheel through meshing action, so that the guide wire is rotated;

3. The system of claim 1, wherein the friction wheel set of the driving wheel assembly in the balloon/stent control module is geared to rotate to drive the upper friction wheel to rotate, and the rotation of the friction wheel drives the balloon catheter or stent catheter clamped by the friction wheel to move forward or backward.

4. The system of claim 1, wherein a gear in a rack and pinion set of a Y-stage assembly in the guiding catheter module moves a rack engaged therewith to advance or retract the Y-stage and attached guiding catheter.

5. The system of claim 1, wherein a plurality of wire grooves are arranged from the proximal end to the distal end in the longitudinal direction of the whole system, and the wire grooves can be directly used for placing the guide wire from top to bottom, and comprise an outer box, a pulley set, a pulley and a fixing plate, so that the guide wire can be conveniently placed before an operation, taken out and exchanged during the operation, and the guide wire can be conveniently matched with a balloon catheter or a stent catheter.

6. The system of claim 1, wherein at least two fixed gears are provided on the fixed disk, the fixed gears being in meshing engagement with the sun gear for fixing the sun gear.

7. The system of claim 1, wherein the guidewire control module includes a locking device for locking the guidewire, the locking device being secured to the sun.

8. The system of claim 7, wherein the locking device includes a locking control assembly, an active member, and a stationary member, wherein the stationary member is secured to the sun gear and aligned with one side of the raceway, the active member is disposed relative to the stationary member and aligned with the other side of the raceway, and the locking control assembly is coupled to the active member for controlling the positional relationship of the active member relative to the stationary member;

the locking control assembly comprises a key, a linkage rod, a spring and a limiting block, wherein the spring and the limiting block are arranged in an inner cavity of the active part, the limiting block is fixed, the spring is located between the limiting block and the side wall of the active part, one end of the linkage rod is connected with the key, and the other end of the linkage rod is connected with the active part.

9. The system of claim 1, wherein the guidewire control module comprises a sliding bar disposed between a pulley set and the fixed plate.

10. The system of claim 1, wherein the operator remotely controls the movement of the guidewire control module, the balloon/stent control module and the guiding catheter control module by signal transmission through a remote microcomputer manipulation terminal.