CN113598947B

CN113598947B - Vascular intervention navigation operation system

Info

Publication number: CN113598947B
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: 2023-05-26
Anticipated expiration: 2041-08-11
Also published as: CN113598947A; WO2023015657A1

Abstract

The invention discloses a vascular intervention navigation surgery system, which comprises a terminal execution system, wherein the terminal execution system comprises a guide wire control module, a balloon/bracket control module and a guide catheter control module. The guide wire control module comprises a rotating assembly, a planetary gear and a sun gear, wherein the rotating assembly comprises a rotating wheel group, a rotating shaft concentrically connected with the rotating wheel group, the planetary gear is sleeved on the rotating shaft and can slide relative to the rotating shaft, and the sun gear is meshed with the planetary gear, and a wire slot for embedding a guide wire is formed in the sun gear; 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 a sun wheel. The invention is used for remotely controlling the rotation, the forward and the backward of the guide wire in the operation, can simultaneously control the forward or the backward of the balloon catheter or the bracket catheter and the guide catheter, combines various interventional operation consumables into one system, is compatible with the interventional operation consumables of various manufacturers, and has simple operation and high accuracy.

Description

Vascular intervention navigation operation system

Technical Field

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

Background

The vascular intervention operation is based on imaging, and is a relatively advanced minimally invasive technique for diagnosing and treating diseases by using guide wires, catheters or stents and other medical instruments under the guidance of X-ray, ultrasonic or CT equipment. Manual insertion of a catheter or guide device into a patient is a relatively conventional surgical procedure. Attempts are currently being made to robotically implement such insertion. Such robotics are complex because of the difficulty in grasping the catheter, the smoothness of the catheter and the sterility that must be maintained during the procedure, which all increase 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 vascular intervention navigation surgery system with simpler operation and higher reliability is not available in the field.

Disclosure of Invention

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

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

The seal wire control module for control the forward, backward and rotatory of seal wire, seal wire control module includes:

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 groove is arranged on the sun wheel, the wire groove is opened from a valley between teeth of the sun wheel to the center of the circle of the sun wheel, and the wire groove is used for embedding the guide wire and guaranteeing the coaxiality of the rotation of the guide wire; 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 wheel;

the balloon/stent control module is used for controlling the forward or backward movement of the balloon catheter or the stent catheter and comprises a driving wheel assembly, wherein the driving wheel assembly comprises a friction wheel set, a friction wheel set gear is arranged below the friction wheel set and is in meshed connection with the friction wheel set gear, and the friction wheel set clamps the balloon catheter or the stent catheter to forward or backward movement; and

the guide catheter control module is used for controlling the forward or backward movement of the guide catheter and comprises a Y-shaped table assembly, the Y-shaped table assembly comprises a Y-shaped valve above and a gear rack group below, the far end port of the Y-shaped valve is connected with the guide catheter, the near end port penetrates into the guide wire, the guide wire enters the guide catheter through the Y-shaped valve and reaches an operation position along the inner cavity of the guide catheter, and the gear rack group drives the Y-shaped table assembly to forward or backward move, so that the guide catheter is driven to forward or backward move;

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

In another preferred embodiment, the rotation of the rotating wheel set in the guide wire control module drives the concentric rotating shafts to rotate together, the rotating shafts drive the planet gears to rotate, and the planet gears drive the sun gear to rotate through the meshing effect, so that the guide wire is driven to rotate.

The bevel gear of the advancing wheel group rotates to drive the transmission screw rod to rotate, the fixed disc is in threaded engagement with the transmission screw rod and advances or retreats along with the rotation of the transmission screw rod, and the fixed disc advances or retreats to drive the guide wire to advance or retreat.

In another preferred embodiment, the friction wheel set gear of the driving wheel assembly in the balloon/stent control module rotates to drive the friction wheel above to rotate, and the rotation of the friction wheel drives the balloon catheter or stent catheter clamped by the friction wheel to advance or retreat.

In another preferred embodiment, 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 capable of directly placing the guide wire from top to bottom are arranged from the proximal end to the distal end in the longitudinal direction of the whole system, and the wire grooves comprise an outer box, a wheel disc set, pulleys and a fixing plate, so that the guide wire can be placed before an operation, taken out and exchanged during the operation, and the guide wire and a balloon catheter or a stent catheter can be matched for use.

In another preferred embodiment, at least two fixing gears are provided on the fixing disk, and the fixing gears are connected with the sun gear in a meshed manner and are used for fixing the sun gear.

In another preferred embodiment, the guide wire control module comprises a locking device for locking the guide wire, the locking device being fixed to the sun gear.

In another preferred embodiment, the locking device comprises a locking control assembly, a driving part and a fixing part, wherein the fixing part is fixed on the sun wheel and aligned with one side of the wire slot, the driving part is arranged relative to the fixing part and aligned with the other side of the wire slot, and the locking control assembly is connected with the driving part and used for controlling the position relation of the driving part relative to the fixing part.

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 an inner cavity of the driving component, the limiting block is fixed, the spring is located between the limiting block and a side wall of the driving component, one end of the linkage rod is connected with the key, and the other end of the linkage rod is connected with the driving component.

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

In another preferred embodiment, the operator remotely controls the movement of the guidewire control module, balloon/stent control module and guide catheter control module by signal transmission through a remote microcomputer control terminal.

The invention also provides a vascular intervention navigation surgery system which is used for controlling a guide wire, a balloon or a bracket in surgery, can control the advancing, the retreating and the rotation of the guide wire, can control the advancing or the retreating of a balloon catheter or a bracket catheter and a guiding catheter, and comprises a remote microcomputer control end, a surgery positioning mechanical arm and a terminal execution system. Wherein the terminal execution system comprises

The seal wire control module for control the forward, backward and rotatory of seal wire, seal wire control module includes: 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 slot is formed in the sun wheel and used for being embedded into the guide wire; the conveying assembly is used for controlling the advancing and retreating of the guide wire 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 gears and the power wheel sets are driven by motors, the rotating shafts which are concentrically connected are driven by the rotating bevel gears to rotate together, the planetary gears are driven by the rotating shafts to rotate, and the sun gears are driven by the planetary gears to rotate through meshing action; 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 advances or retreats along with the rotation of the transmission screw rod.

In another preferred embodiment, the rotation shaft is a hexagonal shaft.

In another preferred embodiment, the rotation axis is a polygonal axis.

In another preferred embodiment, the sun gear and the planet gears are both disposed in the inner cavity of the fixed disk and move with the back-and-forth movement of the fixed disk.

In another preferred embodiment, the proximal end of the transmission screw rod is fixedly connected with the bevel gear of the travelling wheel set, the proximal end of the rotating shaft is fixedly connected with the rotating wheel set, and the distal end of the transmission screw rod and the distal end of the rotating shaft are both fixed on a distal fixing plate through bearings.

In another preferred embodiment, a wire slot similar to the wire slot on the sun gear is provided on the fixed plate to allow for the insertion of the guide wire.

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

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

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

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

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

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

In another embodiment, the slot openings are provided at the valley bottoms between the teeth of the sun gear without affecting the meshing between the sun gear and the other gears.

In another embodiment, the wire chase is opened from the tooth of the sun gear to the center of the sun gear from the bottom of the valley between the teeth.

In another preferred embodiment, the wire grooves on the sun gear are tapered in the outside-in radial direction for insertion of different diameter guide wires.

In another preferred embodiment, at least two fixing gears are provided on the fixing disk, and the fixing gears are connected with the sun gear in a meshed manner and are used for fixing the sun gear. The number of the fixed gears can be two or more.

In another preferred embodiment, the fixed disc is a hollow disc, the sun wheel, the planet wheel and the fixed wheel are arranged in a hollow inner cavity of the fixed disc, and the fixed disc is further provided with a radial opening for embedding the guide 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, the locking device being fixed to the sun gear.

In another preferred embodiment, the locking control assembly controls the active component to move away from the fixed component, i.e. the wire groove forms a passage into which the guide wire can be inserted.

In another preferred embodiment, the locking control assembly controls the active part against the fixed part, clamping the guide wire embedded in the wire groove.

In another preferred embodiment, the locking device may be an electric clip structure, driven by electric power.

In another preferred embodiment, the locking means may be a pneumatic clip structure, pneumatically actuated.

When the locking device is in a release state, the key is pressed to drive the linkage rod to move outwards, so that the driving part is driven to move outwards in the radial direction, and the driving part is far away from the fixing part, and at the moment, the spring is in a compression state. And under the action of the elastic force of the spring, the driving part moves radially inwards and abuts against the fixing part, and the key returns to the initial position.

In another preferred embodiment, 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 includes a slide bar disposed between the sun gear and the fixed plate.

In another preferred embodiment, the slide bar is slidable in the axial direction of the guide wire.

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

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

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

In another preferred embodiment, a first magnet is arranged on the sliding rod, a second magnet is arranged on the fixed disc correspondingly, and the first magnet and the second magnet are attracted mutually.

In the operation of conveying the guide wire, the intermediate support is initially positioned in the middle section of the sun wheel and the fixed plate, the guide wire is placed in the groove, and as the fixed plate moves distally along the transmission screw rod, the second magnet and the first magnet generate attraction action, and the intermediate support together with the fixed plate continuously moves distally; in the operation of retracting the guide wire, the intermediate support member is retracted proximally together with the fixing plate, and when retracted to the intermediate position of the sun gear and the fixing plate, the intermediate support member is not retracted and is fixed under the blocking action of the stop member or the chute wall, and the fixing plate can then be retracted continuously. The above-described configuration of the present disclosure is such that the guidewire does not sag severely due to the excessive span.

In another preferred embodiment, all the wire grooves form a path from the proximal end to the center of the Y-valve, so that the guide wire can be easily inserted and removed, facilitating rapid exchange of the guide wire and balloon or stent during surgery.

In another preferred embodiment, the system includes at least one pair of guidewire drive wheels for distally supporting and delivering the guidewire.

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

In another preferred embodiment, 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 the guide wire driving wheels, and further controlling the locking condition of at least one pair of the guide wire driving wheels.

In another preferred embodiment, the system comprises at least one set of drive wheel sets for supporting and transporting the balloon catheter or stent catheter.

In another preferred embodiment, the balloon catheter or stent is placed between at least one set of drive wheels, and the balloon catheter or stent catheter is delivered by friction between at least one set of drive wheels.

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

In another preferred embodiment, the system comprises a Y-shaped combination for a Y-shaped quick combination of the guide wire and guide catheter, the Y-shaped combination being movable, the movement of the Y-shaped combination controlling the back and forth movement of the guide catheter.

It should be noted that movement of the Y-shaped assembly may transport or retract the guide catheter, thereby providing a suitable recoil force for the guide catheter to facilitate advancement of the guidewire within the guide catheter.

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

In another preferred embodiment, the Y-shaped combination moves back and forth through engagement of a gear and a rack.

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

When the Y-shaped combined body 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 combined body is driven to move forwards or backwards.

In another embodiment, the number of the gears is two, namely a driving gear and a driven gear, the driving gear and the driven gear are meshed with each other, and 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-combination is openable and closable, in the open state, a rapid exchange of the guidewire and the balloon catheter or stent catheter can be performed.

In another embodiment, the Y-shaped combination is foldable, and the folding angle of the Y-shaped combination is 0-60 degrees, so that the guide wire and the balloon catheter or the stent catheter can be exchanged more conveniently.

In another preferred embodiment, the operator remotely controls the movement of the guide wire control module, the balloon/stent control module and the guide catheter module by signal transmission through a remote microcomputer control terminal.

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

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 control lever, wherein an operator adjusts the advancing or retreating distance of the guide wire and the rotating angle of the guide wire, adjusts the advancing or retreating distance of the guide catheter and the advancing or retreating distance of the balloon catheter or the stent catheter by adjusting parameters displayed on the tablet computer, then operates the control lever to control the guide wire to rotate, advance or retreat, operates the control lever to control the balloon catheter or the stent catheter to advance or retreat, and operates the control lever to control the guide catheter to advance or retreat.

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

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

In another embodiment, the planet and at least two of the fixed gears are identical in size and each has a diameter of 15-30mm.

In another embodiment, the planet has a different gauge than at least two of the fixed gears.

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

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

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

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

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

In another embodiment, the number of the integral components of the rotating assembly, the delivery assembly and the accessories thereof, i.e., the guidewire control modules, may be stacked to deliver a plurality of different guidewires for intra-operative guidewire exchange. In another embodiment, the fixing plate is provided with more than two wire grooves, and when 2-3 guide wires are used in operation, the wire grooves are respectively embedded into the guide wires.

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, is harmless to human bodies, can be disinfected and sterilized, has low cost 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 operating 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 operation is not like manual operation, and the stability is better because the robot is concentrated for a long time to cause fatigue or other reasons to cause errors;

(d) Telerobotic manipulation enables separation of the doctor from the patient, reducing the risk of infection for the operator and the patient.

It is understood that within the scope of the present invention, the above-described technical features of the present invention and technical features specifically described below (e.g., in the examples) may be combined with each other to constitute new or preferred technical solutions. And are limited to a space, and are not described in detail herein.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1a is a schematic illustration of an operating room layout with a vascular interventional navigation surgical system in one example of the present invention;

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

FIG. 2 is a perspective view of a vascular interventional navigation surgery system according to one example 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 example of the 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 example of the present invention, wherein the locking device is in an unlocked state;

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

FIG. 10 is a top view of the drive wheel of FIG. 9 in an undamped 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-bank of FIG. 11 in a retracted state;

FIG. 13 is a schematic diagram of the motion mechanism of a Y-shaped assembly according to one example of the invention;

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

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

fig. 16 is a perspective view of the Y-shaped assembly of fig. 14 in an open state.

In the drawings, each is indicated as follows:

1-a guide wire driving wheel; 2-driving a screw rod; 3-wheel disc groups; 4-a guide wire driving wheel lock; 5-traveling wheel sets; 6-Y type combination; 7-a transmission wheel set; 8-rotating shaft; 9-pulleys; 10-fixing a disc; 11-a traveling bevel gear; 12-linkage belt; 13-fixed gear; 14-wire slots; 15-a sun gear; 16-planet wheels; 17-key; 18-a linkage rod; 19-a spring; 20-limiting blocks; 21-an active component; 22-a fixed part; 23-a transmission wheel set locking switch; 24-fixing plates; 25-supporting frames; 26-a drive gear; 27-a rack; 28-linkage gear.

Detailed Description

The vascular intervention navigation surgery system is developed for the first time through extensive and intensive research by the inventor, compared with the prior art, the vascular intervention navigation surgery system is characterized in that a remote operation robot is used for carrying out vascular intervention navigation surgery so as to realize the forward, backward and rotation of a guide wire in surgery, a balloon catheter or a bracket catheter and the forward or backward of the guide catheter can be controlled simultaneously, multiple intervention surgery consumables are combined in one system, wherein mechanical braking is mainly realized by meshing among gears or transmission through a transmission rod, the vascular intervention navigation surgery system is realized, the roboticization of vascular intervention navigation surgery is avoided, meanwhile, the roboticization of vascular intervention navigation surgery is improved, the stability and the accuracy of surgery are improved, and further, the risk of medical cross infection is reduced through remote operation by the operator.

The invention will be further illustrated with reference to specific examples. It is to be understood that these examples are illustrative of the present invention and are not intended to limit the scope of the present invention. Furthermore, the drawings are schematic representations, and thus the apparatus and device of the present invention are not limited by the dimensions or proportions of the schematic representations.

It should be noted that in the claims and the description of this 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. Moreover, 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, an element defined by the phrase "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Examples

The vascular interventional navigation surgery system of the present embodiment is shown in fig. 1 a-16. The vascular intervention navigation surgery system is provided with a distal Cheng Weiji control end, a surgery 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 advancing, retreating and rotating of the guide wire, and can also control the advancing or retreating of the balloon catheter or the stent catheter and the guide catheter.

The guide wire control module comprises a rotating component and a traveling 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 traveling wheel set 5, a planet wheel 16 sleeved on the rotating shaft 8 and slidable 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 is used for being embedded in the guide wire groove, and the wire groove is gradually reduced along the radius from outside to inside so as to be used for being embedded in guide wires with different diameters. The slot 14 is opened at the valley bottom between the teeth of the sun gear 15, and does not affect the meshing between the sun gear 15 and other gears. The wire slot 14 is opened from the valley between the teeth of the sun wheel 15 to the center of the sun wheel 15, and the wire slot 14 is used for embedding the guide wire and ensuring the coaxiality of the rotation of the guide wire. The rotation shaft 8 is a hexagonal shaft.

The traveling assembly is used for controlling the advancing or retreating of the guide wire and comprises a traveling wheel set 5, a transmission screw rod 2 concentrically connected with a gear of the traveling 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 both placed in the inner cavity of the fixed disk 10 and move with the back and forth movement of the fixed disk 10. The proximal end of the transmission screw rod 2 is fixedly connected with the traveling bevel gear 11 of the traveling wheel set 5, the proximal end of the rotating shaft 8 is fixedly connected with the rotating wheel set, and the distal end of the transmission screw rod 2 and the distal end of the rotating shaft are both fixed on the distal fixing plate 24 through bearings. A wire slot 14 is provided on the fixing plate 24 to allow insertion of the guide wire. The running gear set 5 is composed of two sets of running bevel gears 11. The traveling wheel set 5 further includes a 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 the hollow inner cavity of the fixed disk 10, and the fixed disk 10 is also provided with a radial opening for embedding the guide wire. The sun gear 15 and the fixed disk 10 are aligned concentrically.

The rotating wheel set and the travelling wheel set 5 are both positioned on the same section. The rotating wheel set and the travelling wheel set 5 are driven by a motor, the rotating wheel set rotates to drive the concentric rotating shafts 8 to rotate together, the rotating shafts 8 drive the planet gears 16 to rotate, and the planet gears 16 drive the sun gears 15 to rotate through meshing.

The rotation of the gears of the travelling wheel sets 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 advances or retreats 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 for fixing the sun gear 15. The fixed gear 13 is symmetrically disposed at the upper portion of the fixed disk 10 to provide a symmetrical supporting force for 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 stack 3.

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

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 driving part 21, the limiting block 20 is fixed, the spring 19 is positioned between the limiting block 20 and the side wall of the driving part 21, one end of the linkage rod 18 is connected with the key 17, and the other end is connected with the driving part 21. When the locking device is in an unclamped state, the key 17 is pressed to drive the linkage rod 18 to move outwards, so that the driving part 21 is driven to move outwards in the radial direction, the driving part 21 is far away from the fixed part 22, and at the moment, the spring 19 is in a compressed state. In the locked state of the locking device, the pressing control of the key 17 is released, the driving part 21 moves radially inwards and abuts against the fixing part 22 under the action of the elastic force of the spring 19, and the key 17 returns to the initial position.

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

The guide wire control module comprises a slide bar arranged between the sun wheel 15 and the fixed plate 24. The slide bar is slidable in the axial direction of the guide wire.

The slide bar comprises a support frame 25 and two side pulleys 9, wherein the support frame 25 is provided with a wire groove corresponding to the wire groove on the sun wheel 15 and the fixed plate 24, in the use state, the guide wire is embedded in the wire groove, and the pulleys 9 on the two sides can respectively move in the corresponding sliding grooves on the two side wall surfaces.

The slide grooves start from both side wall surfaces corresponding to the intermediate sections of the sun gear 15 and the fixed plate 24, and end from both side wall surfaces corresponding to the fixed plate 24.

The sliding groove starts from two side wall surfaces corresponding to the sun gear 15 and ends at two side wall surfaces corresponding to the fixed plate 24, wherein a stop piece is arranged on a sliding groove section corresponding to the middle sections of the sun gear 15 and the fixed plate 24, and the stop piece is used for blocking the sliding of the middle support piece.

The slide bar is provided with a magnet, the wheel disc cover is provided with another magnet corresponding to the slide bar, and the two magnets are in an attractive relationship. In the operation of conveying the guide wire, the slide bar is initially positioned at the middle sections of the sun wheel 15 and the fixed plate 24, the guide wire is placed in the wire groove, and as the fixed disc 10 moves distally along the transmission screw rod 2, the two magnets generate attraction action, and the slide bar and the fixed disc 10 move distally continuously; in the operation of retracting the guide wire, the slide bar is retracted proximally together with the fixing plate 10, and when retracted to the intermediate position of the sun wheel 15 and the fixing plate 24, the slide bar is fixed without being retracted under the blocking action of the stopper or the slide groove wall, and the fixing plate 10 can be retracted continuously. The above arrangement allows the guidewire not to sag severely due to the excessive span.

On the distal side of the fixed plate 24, and 5-15mm from the fixed plate 24 (center distance), a pair of wire drive wheels 1 for supporting and feeding the wire at the distal end are provided. The junction of the wire drive wheel 1 corresponds to the wire slot 14 on the fixed plate 24. The guide wire is arranged between the guide wire driving wheels 1, and the guide wire is 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, wherein the transmission wheel set 7 is used for controlling the forward or backward movement 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 a motor. When the balloon catheter or the stent catheter clamped by the friction wheel set advances or retreats along with the advance, the motor drives the gear to rotate, and the gear drives the friction wheel set above to rotate. The transmission wheel set 7 is also provided with a pair of transmission wheel set locking switches 23, and the transmission wheel set locking switches 23 are used for controlling the distance between a group of transmission wheel sets 7, thereby controlling the locking condition of the transmission wheel sets 7.

The guide catheter control module includes a Y-shaped combination 6, the Y-shaped combination 6 being for a Y-shaped combination of a guidewire (not shown) and a guide catheter (not shown), the Y-shaped combination 6 being movable, movement of the Y-shaped combination 6 being capable of transporting or retracting the guide catheter to provide a suitable recoil force for the guide catheter to facilitate advancement of the guidewire within the guide catheter. The Y-shaped combination 6 is disposed at the distal end of the system and is moved back and forth by engagement of gears (26, 28) and rack 27. Wherein, Y type assembly 6 is connected with rack 27 fixed connection, and driving gear 26 is connected with the motor, and driving gear 26 drives interlock gear 28 rotation through the intermeshing 26 between the gear, and gear (26, 28) and rack 27 intermesh 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 combination 6 to move forwards or backwards.

The operator uses the signal to transmit the motion of the remote control guiding wire control module, the saccule/support control module and the guiding 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 forward and backward movement of the guide catheter is controlled by controlling the forward and backward movement of the Y-shaped table; the transmission wheel set 7 clamps the balloon catheter or the stent balloon catheter to advance or retreat; the rotating wheel set and the travelling wheel set 5 control the guide wire to rotate, advance or retreat; the rotation, the forward movement or the backward movement of all the components can be completed by operating the terminal controller outside the operating room by an operator. The system communicates with the operating terminal via wire, wireless (WiFi, bluetooth, etc.) or the internet. The operation terminal is a computer and comprises an operation lever and a tablet computer, an operator adjusts the advancing or retreating distance of the guide wire and the rotating angle of the guide wire by adjusting parameters displayed on the tablet computer, adjusts the advancing or retreating distance of the guide catheter and the advancing or retreating distance of the balloon catheter or the bracket catheter, then the operation lever controls the guide wire to advance, retreat or rotate, the operation lever controls the balloon catheter or the bracket catheter to advance or retreat, and the operation lever controls the guide catheter to advance or retreat.

It should be noted that, there are more than two wire grooves 14 on the fixing plate 24, and when 2-3 wires are used in the operation, the wire grooves 14 are respectively embedded into the 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 disinfected and sterilized, has low cost, and is suitable for disposable use.

All documents mentioned in this application are incorporated by reference as if each were individually incorporated by reference. Further, it will be appreciated that various changes and modifications may be made by those skilled in the art after reading the above teachings, and such equivalents are intended to fall within the scope of the claims appended hereto.

Claims

1. The vascular intervention navigation surgery system is characterized by comprising a remote microcomputer control end, a surgery 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 drives the concentrically connected rotating shafts to rotate together, the rotating shafts in turn drive the planet gears to rotate, and the planet gears drive the sun gear to rotate through meshing action, so that the guide wire is driven to rotate;

3. The system of claim 1, wherein the friction wheel set gear of the driving 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 advance or retract.

4. The system of claim 1, wherein gears in the set of racks and gears of the Y-stage assembly in the guide catheter module move racks engaged therewith to advance or retract the Y-stage and the attached guide catheter.

5. The system of claim 1, wherein a plurality of wire slots are provided in the longitudinal direction of the overall system from the proximal end to the distal end for direct placement of the guide wire from top to bottom, including outer boxes, pulley sets, pulleys and fixation plates, to facilitate pre-operative placement of the guide wire and intra-operative removal and exchange of the guide wire, as well as for use with balloon catheters or stent catheters.

6. The system of claim 1, wherein at least two fixed gears are provided on the fixed disk, the fixed gears being in meshed connection 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 gear.

8. The system of claim 7, wherein the locking device comprises a locking control assembly, a driving member, and a fixing member, wherein the fixing member is fixed to the sun gear and aligned with one side of the wire slot, the driving member is disposed with respect to the fixing member and aligned with the other side of the wire slot, and the locking control assembly is connected to the driving member for controlling a positional relationship of the driving member with respect to the fixing 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 driving part, the limiting block is fixed, the spring is positioned between the limiting block and the side wall of the driving part, one end of the linkage rod is connected with the key, and the other end of the linkage rod is connected with the driving part.

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

10. The system of claim 1, wherein the operator remotely controls the movement of the guidewire control module, balloon/stent control module, and guide catheter control module via signal transmission via a remote microcomputer control port.