CN113693733B

CN113693733B - Intervene operation robot from end device

Info

Publication number: CN113693733B
Application number: CN202111009735.7A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Aibo Medical Robot Co Ltd
Current assignee: Shenzhen Aibo Hechuang Medical Robot Co ltd
Priority date: 2021-07-05
Filing date: 2021-08-31
Publication date: 2022-08-09
Anticipated expiration: 2041-08-31
Also published as: CN113693733A

Abstract

A slave end device of an interventional operation robot comprises a main body, a front gripper, a first driving mechanism, a second driving mechanism and a third driving mechanism, wherein the front gripper, the first driving mechanism, the second driving mechanism and the third driving mechanism are arranged on the main body; when the first guide wire penetrates into the second catheter, the second catheter penetrates into the first catheter and is respectively clamped in the third driving mechanism, the second driving mechanism and the first driving mechanism and moves to the position in the same axial direction on the main body, the first catheter, the second catheter and the first guide wire are respectively taken down from the first driving mechanism, the second driving mechanism and the third driving mechanism, the front clamp and the second driving mechanism clamp the first catheter and the second catheter without moving, and the third catheter penetrates into the second catheter and the second guide wire penetrates into the third catheter and is respectively clamped in the second driving mechanism and the third driving mechanism and moves in the same axial direction on the main body. The control is more accurate.

Description

Intervene operation robot from end device

Technical Field

The invention relates to the field of medical robots, is applied to a master-slave vascular interventional operation robot, and particularly relates to a slave device of an interventional operation robot.

Background

Minimally invasive vascular interventional surgery refers to the operation of controlling the motion of a guide wire of a catheter in a blood vessel of a human body by a doctor under the guidance of a digital subtraction angiography imaging (DSA) system to treat a focus, so as to achieve the purposes of embolizing a malformed blood vessel, dissolving thrombus, expanding a narrow blood vessel and the like. The interventional operation treatment plays an important role in diagnosis and treatment of hundreds of diseases such as tumors, peripheral blood vessels, large blood vessels, digestive tract diseases, nervous systems, non-blood vessels and the like, so that the interventional operation treatment range covers all diseases from head to foot of a human body, and the interventional operation treatment is a preferred scheme for treating partial diseases. The interventional operation does not need to cut human tissues, and the cut (puncture point) of the interventional operation only has the size of rice grains, so that the interventional operation can treat a plurality of diseases which cannot be treated or have poor curative effect in the past, has the characteristics of no operation, small wound, quick recovery and good curative effect, and is highly valued by the medical field at home and abroad.

At present, the minimally invasive vascular interventional operation auxiliary robot is developed rapidly due to the fact that high-end medical equipment and robot technology are involved. We have also invested in research and development.

Disclosure of Invention

The invention aims to provide a slave end device of an interventional operation robot for assisting a doctor in interventional operation.

In order to solve the above problems, the present invention provides a slave end device of an interventional surgical robot, which includes a main body, a first driving mechanism, a second driving mechanism, a third driving mechanism and a front gripper adjacent to the first driving mechanism, wherein the first driving mechanism, the second driving mechanism, the third driving mechanism and the front gripper are sequentially mounted on the main body;

the first driving mechanism is used for clamping and rotating the first catheter and the second catheter, the second driving mechanism is used for clamping and rotating the second catheter and the third catheter, and the third driving mechanism is used for clamping and rotating the first guide wire and the second guide wire;

when the first guide wire penetrates into the second catheter, the second catheter penetrates into the first catheter and is respectively clamped in the third driving mechanism, the second driving mechanism and the first driving mechanism and moves to the position on the main body along the direction of the forward clamp in the same axial direction, the first catheter, the second catheter and the first guide wire are respectively taken down from the first driving mechanism, the second driving mechanism and the third driving mechanism, the front clamp and the second driving mechanism are used for clamping the first catheter and the second catheter, and the third catheter penetrates into the second catheter and the second guide wire and is respectively clamped in the second driving mechanism and the third driving mechanism and moves on the main body along the direction of the forward clamp in the same axial direction.

Further, the interventional operation robot slave end device further comprises a plurality of front grippers, and a plurality of first conduits which are pushed into positions one by the first driving mechanism are respectively clamped on the plurality of front grippers.

Further, the second driving mechanism is used for clamping and rotating the first conduit and the second conduit together with the first driving mechanism.

Further, the second driving mechanism comprises a first component for clamping and rotating the first conduit and the second conduit, and a second component for clamping and rotating the second conduit and the third conduit.

Furthermore, the first component of the second driving mechanism is used for clamping a Y valve connected to the first catheter and the second catheter to clamp the first catheter and the second catheter and rotating the Y valve luer connector to drive the first catheter and the second catheter to rotate.

Further, the third driving mechanism is used for clamping and rotating the second conduit and the third conduit together with the second driving mechanism.

Further, the third driving mechanism comprises a first component for clamping and rotating the second catheter and the third catheter and a second component for clamping and rotating the first guide wire and the second guide wire.

Furthermore, the first component of the third driving mechanism is used for clamping a Y valve connected to the second conduit and the third conduit to clamp the second conduit and the third conduit and rotating the Y valve luer connector to drive the second conduit and the third conduit to rotate.

Further, the interventional operation robot slave-end device further comprises a fourth driving mechanism arranged on the main body, and the fourth driving mechanism is used for clamping and rotating the first guide pipe and the second guide pipe together with the first driving mechanism.

Further, when the first driving mechanism moves to the limit position to reset and releases the first conduit and the second conduit, the fourth driving mechanism is used for clamping the first conduit and the second conduit and does not move.

Further, the fourth drive mechanism is located between the first drive mechanism and the second drive mechanism.

Further, the interventional operation robot slave-end device further comprises a fifth driving mechanism arranged on the main body, and the fifth driving mechanism is used for clamping and rotating the second guide pipe and the third guide pipe together with the second driving mechanism.

Further, when the second driving mechanism moves to the extreme position to reset and releases the second conduit and the third conduit, the fifth driving mechanism is used for clamping the second conduit and the third conduit without moving.

Further, the fifth driving mechanism is located between the second driving mechanism and the third driving mechanism.

Furthermore, the fourth driving mechanism and the fifth driving mechanism move along the same axial direction as the first driving mechanism, the second driving mechanism and the third driving mechanism.

Furthermore, the slave device of the interventional operation robot further comprises an exchange mechanism, and the exchange mechanism is a quick exchange mechanism or a coaxial exchange mechanism.

Further, the exchange mechanism is detachably fixed to the third driving mechanism, or the exchange mechanism and the third driving mechanism are designed integrally.

The invention can lead a doctor to remotely control the first driving mechanism, the second driving mechanism and the third driving mechanism and move on the main body along the same axial direction, thereby leading the front holder to clamp the first catheter to not move when the catheter and the guide wire are replaced after the multi-catheter and the multi-guide wire cooperatively move in place, not only preventing the health from being influenced by X-ray radiation, but also leading the robot to control the catheter and the guide wire to move more accurately, being capable of implementing more complex operations, reducing the working intensity and avoiding great errors.

Drawings

FIG. 1 is a schematic view of a first embodiment of a slave device of an interventional surgical robot of the present invention;

FIG. 2 is another schematic view of FIG. 1;

FIG. 3 is a schematic view of a second embodiment of a slave device of an interventional surgical robot of the present invention;

FIG. 4 is another schematic view of FIG. 3;

FIG. 5 is a schematic view of FIG. 3 with the addition of two drive mechanisms;

fig. 6 is a schematic view of fig. 3 with only two drive mechanisms removed.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed, even movably connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present invention.

As used herein, the direction "distal" is toward the patient and the direction "proximal" is away from the patient. The terms "upper" and "upper" refer to a invar direction away from the direction of gravity, and the terms "bottom", "lower" and "lower" refer to an invar direction of gravity. The term "advancement" refers to the direction of displacement of a guide wire or catheter into the body of a patient undergoing surgery. The term "retrograde" refers to a direction in which a guide wire or catheter is displaced out of the body of a patient being operated on. The term "inwardly" refers to the interior portion of a feature. The term "outwardly" refers to the outer portion of a feature. The term "rotation" includes "forward rotation" and "reverse rotation," where "forward rotation" refers to a direction in which a guide wire or catheter is rotated into the body of a patient being operated, and "reverse rotation" refers to a direction in which a guide wire or catheter is rotated out of the body of a patient being operated.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "plurality" or "a plurality" means two or more.

Finally, it should be noted that, if not conflicting, the embodiments of the present invention and the features of the embodiments may be combined with each other within the scope of protection of the present invention. Additionally, all or a portion of the steps of the above-described methods may be performed in a computer system, such as a set of computer-executable instructions, and although the steps are listed in order 1, 2, 3 …, in some cases the steps shown or described may be performed in an order different than presented herein.

The guide wire includes but is not limited to guide wires, micro guide wires, stents and other guide and support interventional medical devices, and the catheter includes but is not limited to guide catheters, micro catheters, contrast catheters, multifunctional tubes (also called middle catheters), thrombolysis catheters, balloon dilatation catheters, balloon stent catheters and other therapeutic interventional medical devices.

As shown in fig. 1 and 2, a first embodiment of the slave end device of the interventional surgical robot of the present invention includes a body 10,

driving mechanisms

12, 14, 16 movably mounted on the body 10, and a front gripper 18 and a rear gripper (not shown).

The body 10 is elongated and has a linear guide 102 provided thereon. These drive means 12, 14, 16 are successively fixed to the guide rail 102 and can slide along the guide rail 102.

Each driving mechanism is used for clamping, pushing (including advancing and retreating) and rotating (including forward rotation and reverse rotation) the catheter or the guide wire, and also can be used for simultaneously clamping, pushing (including advancing and retreating) and rotating (including forward rotation and reverse rotation) the catheter or the guide wire to realize the cooperative motion of the plurality of catheters and the plurality of guide wires. The specific configuration of the

drive mechanisms

12, 14, 16 is not limited to the same, and may be different so long as clamping, pushing and/or rotating of the catheter and guidewire is achieved. In this embodiment, the specific structures of the

driving mechanisms

14 and 16 are the same, and the specific structures of the driving mechanisms 12 are different. Drive mechanism 14 includes a first assembly for gripping and rotating the same catheter in cooperation with drive mechanism 12 and a second assembly for gripping and rotating another catheter. The drive mechanism 16 includes a first component that grips and rotates the other catheter and a second component that grips and rotates the guidewire in cooperation with the second component of the drive mechanism 14. The drive mechanism 16 includes a quick-swap mechanism 162 that cooperates with a first component of the drive mechanism 16.

In this embodiment, the second components of the driving mechanism 12 and the driving

mechanisms

14 and 16 are a slave guidewire catheter twirling device of an interventional surgical robot as described in chinese patent application 202110674959.3, the entire contents of which are incorporated herein by reference.

A front clamp 18 is located at the front of the body 10 adjacent the

drive mechanisms

12, 14. The rear holder is located at the rear of the body 10, as will be described in detail below with reference to the rear holder 70. In this embodiment, the front holder 18 and the rear holder are fixed to the body 10 to be movable relative to the body 10 as necessary. In other embodiments, the front holder 18 and the rear holder may be mounted separately from the body 10.

In preparation for surgery, the physician goes to the catheter suite for preoperative preparation. And (3) selecting a first catheter, a second catheter and a first guide wire with proper lengths and diameters (for example), and flushing and exhausting the physiological saline on the first catheter and the second catheter. And manually penetrating the second catheter into the first catheter and extending out of the first catheter for a certain distance, and penetrating the first guide wire into the second catheter and extending out of the second catheter for a certain distance, such as about 10cm beyond the head of the first guide wire. The first catheter, the second catheter and the first guide wire are placed in a puncture sheath (such as a femoral artery, a radial artery or the like) of a surgical patient by positioning the driving

mechanisms

12, 14 and 16 reasonably, the driving mechanism 12 and the first assembly of the driving mechanism 14 are matched to clamp the first catheter, the second assembly of the driving mechanism 14 and the first assembly of the driving mechanism 16 are matched to clamp the second catheter, and the second assembly of the driving mechanism 16 is matched to clamp the first guide wire, so that the first catheter, the second catheter and the first guide wire are fixed.

At the beginning of the operation, the surgeon, before arriving at the console outside the catheter room, remotely operates the driving

mechanisms

12, 14, 16 using the master console (such as the master console of the interventional surgical robot described in chinese patent application 202110654379.8 and the master control module of the interventional surgical robot described in 202110649908.5, the entire contents of which are incorporated herein). Specifically, the driving

mechanisms

12, 14, 16 cooperate to clamp the first catheter, the second catheter and the first guide wire to move along the guide rail 102 to advance the first catheter, the second catheter and the first guide wire, and simultaneously or non-simultaneously, the driving

mechanisms

12, 14, 16 rotate the first catheter, the second catheter and the first guide wire, so as to advance the first catheter, the second catheter and the first guide wire in a coordinated manner. In the process, the second catheter is required to be always kept to extend out of the first catheter for a certain distance, and the first guide wire is required to extend out of the second catheter for a certain distance. When the first catheter, the second catheter and the first guide wire reach some parts of the blood vessel, the driving

mechanisms

12, 14 and 16 may need to be remotely controlled by the main-end console, so that the first catheter, the second catheter and the first guide wire can be advanced, retreated, rotated forwards and reversely for fine adjustment for multiple times.

In this embodiment, the first components of the

drive mechanisms

14, 16 clamp the first and second conduits, respectively, via the Y-valve. Namely, the first conduit and the second conduit are respectively connected to the Y valve, the Y valve is fixed to the driving

mechanisms

14 and 16, the first components of the driving

mechanisms

14 and 16 clamp the Y valve and rotate the Y valve luer connector, and the first conduit and the second conduit are driven to rotate under the cooperation of the second components of the driving

mechanisms

12 and 14.

When the first catheter has been advanced into position, the physician enters the catheter suite to manually remove the first catheter from the first assembly of

drive mechanism

12, 14, held in place by front holder 18. The second conduit is manually removed from the second assembly of drive mechanism 14 and the first assembly of drive mechanism 16, allowing the

drive mechanisms

12, 14 to retract along the rail 102 to grip the second conduit. The driving mechanism 16 can be remotely controlled by the main-end console or the first guide wire can be manually retracted, and when the first guide wire is retracted to the puncture sheath, the first guide wire is taken out from the second component of the driving mechanism 16 and soaked in heparin water. Note that during this process, the first catheter is not pushed, avoiding the first catheter head moving in the blood vessel.

The drive mechanism 16 is retracted to a reasonable position. A thinner third catheter (e.g., microcatheter) and second guidewire (0.014in microcatheter) are selected for use. And manually penetrating a second guide wire into a third catheter and a second catheter together, and clamping the third catheter and the second guide wire in the second component of the driving mechanism 14, the first component of the driving mechanism 16 and the second component of the driving mechanism 16 respectively, so as to fix the third catheter and the second guide wire. In this embodiment, the third conduit is connected to the Y-valve, which is fixed to the drive mechanism 16 and held by its first component, and the third conduit is rotated by rotating the Y-valve luer connector in cooperation with the second component of the drive mechanism 14. For the front gripper 18 that grips the first catheter, it may also rotate the first catheter by rotating the Y-valve luer connector.

The surgeon again goes to the console outside the catheter room and remotely manipulates the

drive mechanisms

12, 14, 16 using the master console. The specific process is the same as the advancing process of the first catheter, the second catheter and the first guide wire, and is not described in detail herein. The second catheter is further advanced to a more distant blood vessel to assist the third catheter and the second guide wire to move to a more distant lesion of the operation patient (also called a target blood vessel stenosis). During this process, it may be necessary for the front clamp 18 to drive the first conduit in rotation. The second guide wire position is confirmed by imaging, and the first catheter, the second catheter, the third catheter and the second guide wire are respectively fixed by the front clamp 18 and the driving

mechanisms

12, 14 and 16 and do not move if the specified position is reached (generally, the second guide wire is to pass through the focus of the operation patient, except for possible treatment of aneurysm embolism). If the specified location is not reached, the

teleoperational drive mechanism

12, 14, 16 movement is repeated until the second guidewire reaches the specified location.

After the second guidewire reaches the designated location, the drive mechanism 16 is remotely operated by the master console to retract the third catheter while keeping the second guidewire immobile, e.g., by replacing the second guidewire held by the rear gripper. When the third catheter head is retracted back into the puncture sheath, the physician enters the catheter lab to manually remove the third catheter from the

drive mechanism

14, 16 and immerse it in heparin water. At this time, the second guide wire can be held by the drive mechanism 16 while the front holder, the

drive mechanisms

12 and 14, and the drive mechanism 16 are held in place to keep the first catheter, the second catheter, and the second guide wire, respectively, from moving.

In other embodiments, the

drive mechanism

12, 14, 16 may be remotely operated by the master end console to retract the second catheter and the first guidewire together when the front holder 18 holds the first catheter against movement. When the head of the second catheter and the first guide wire is retracted to the puncture sheath, the doctor goes to the catheter room to manually take out the second catheter and the first guide wire from the driving

mechanisms

14 and 16 and immerse the second catheter and the first guide wire in heparin water. And selecting two catheters and a guide wire which are suitable, threading the catheters and the guide wire together and placing the catheters and the guide wire into the first catheter. The driving

mechanisms

12, 14 and 16 are positioned at reasonable positions, and the driving

mechanisms

12, 14 and 16 are matched with and clamp two catheters and one guide wire, so that the two catheters and the one guide wire are fixed. The subsequent advancement process is the same as the advancement process of the first catheter, the second catheter and the first guide wire. And will not be described in detail herein.

In other embodiments, the body 10 is provided with a plurality of front holders 18 at the front, and the above-described first catheter advancing process may be performed a plurality of times. When the tube is pushed into position, a front clamp 18 is caused to clamp the tube.

The doctor comes to the catheter chamber again, and manually lets the tail of the second guide wire penetrate into the rapid exchange balloon dilatation catheter, and the rapid exchange balloon dilatation catheter advances along the second guide wire, and at this time, the rapid exchange mechanism 162 clamps the rapid exchange balloon dilatation catheter.

The doctor again comes to the operating table outside the catheter room, and uses the main-end operating table to remotely control the rapid exchange mechanism 162, so as to advance the rapid exchange balloon dilatation catheter to the focus of the surgical patient (not beyond the head of the second guide wire). In the process, the position and the angle of the second guide wire are noticed all the time, and fine adjustment is carried out by forward rotation, reverse rotation, forward movement and backward movement in time. When the rapid exchange balloon dilatation catheter reaches the focus of a patient, the rapid exchange balloon dilatation catheter is filled with a contrast medium in the catheter chamber for pre-dilatation, and the vasodilatation effect is confirmed by contrast. If the blood vessel expansion effect is achieved, the contrast agent is extracted from the rapid exchange balloon dilatation catheter. The physician moves to the console outside the catheter chamber, and then remotely controls the quick-exchange mechanism 162 to move back to the puncture sheath by using the console at the main end. During the process of the back moving of the rapid exchange balloon dilatation catheter, the position of the second guide wire is kept unchanged. For some procedures, multiple vasodilations may be required, so there are multiple rapid exchange balloon dilation catheter advancement and retraction procedures.

The doctor comes to the catheter room again, and manual taking off quick exchange sacculus expansion pipe from quick exchange mechanism 162, again manual wear to locate the second seal wire with quick exchange sacculus expansion support pipe and centre gripping to quick exchange mechanism 162 on, specific process is with above-mentioned quick exchange sacculus expansion pipe, no longer gives details.

The physician again goes to the operating table outside the catheter room, and remotely operates the quick-exchange mechanism 162 by using the main-end operating table, so as to push the quick-exchange balloon stent catheter to the focus (the expanded angiostenosis) of the surgical patient along the second guide wire. In the process, the position and the angle of the second guide wire are noticed all the time, and fine adjustment is carried out by forward rotation, reverse rotation, forward movement and backward movement in time. When the rapid exchange ball expanding bracket catheter reaches the focus (the expanded blood vessel) of the operation patient, the position of the rapid exchange ball expanding bracket catheter is finely adjusted, and after the position is determined, the rapid exchange ball expanding bracket catheter is filled with contrast medium in a catheter chamber to form the bracket. After confirming the placement of the ball-expanding stent by radiography, the contrast agent can be pumped out and the quick exchange mechanism 162 is controlled to drive the quick exchange ball-expanding stent catheter to retreat to the puncture sheath, while the ball-expanding stent is left at the focus of the operation patient. The physician enters the catheterization room to manually remove the quick-exchange balloon stent catheter from the quick-exchange mechanism 162 and place it in heparin water.

The doctor then comes to the operation table outside the catheter chamber, and uses the main-end operation table to remotely control the driving

mechanisms

12, 14 and 16 to move, so that the second catheter and the second guide wire retreat to the puncture sheath. Finally, the doctor returns to the catheter room, manually pulls out the first catheter to the puncture sheath, and takes out the first catheter, the second catheter and the second guide wire from the front holder 18 and the driving

mechanisms

12, 14 and 16, puts the first catheter, the second catheter and the second guide wire into heparin water, and then carries out puncture sheath extraction and post-operation treatment, thereby completing the operation.

The above is a rapid exchange catheter, and therefore, a rapid exchange mechanism 162 is required to hold, push, and rotate. If the coaxial exchange catheter is adopted, the tail part of the second guide wire penetrates into the coaxial exchange catheter, and then the coaxial exchange catheter is clamped, pushed and rotated by the coaxial exchange mechanism, so that the coaxial exchange catheter advances to a proper position along the second guide wire or retreats to the puncture sheath. Either the rapid exchange mechanism 162 or the coaxial exchange mechanism may be roller driven to effect gripping, pushing and rotating of the rapid exchange conduit and the coaxial exchange conduit.

As for how the main console remotely controls the driving

mechanisms

12, 14, 16 and the fast exchanging mechanism 162 to move, it can be the same as the main control module of the interventional surgical robot described in chinese patent application 202110649908.5, which includes two operation levers, one of which is used for controlling the driving

mechanisms

12, 14 and the fast exchanging mechanism 162, and the operation lever can time-share control the driving

mechanisms

12, 14 and the fast exchanging mechanism 162 by the switching device, and the other operation lever is used for controlling the driving mechanism 16. It is also possible that the master end console includes more than two levers, such as four levers, for remotely operating the

drive mechanisms

12, 14, 16 and the quick-change mechanism 162, respectively.

The movement and control process of the present invention is described above using "balloon stent angioplasty" as an example. In fact, the invention can also be used for various operations such as imaging, embolism, thrombus removal and the like. The driving

mechanisms

12, 14, 16 and the front holder 18 can be freely allocated by the doctor according to the actual needs of the operation, namely, the driving

mechanisms

12, 14, 16 and the front holder 18 can be conveniently assembled and disassembled. If more complex operations are performed, more driving mechanisms and front holders can be added, and if more driving mechanisms and front holders are added, the coordinated movement of one guide wire corresponding to a plurality of catheters or a plurality of guide wires corresponding to a plurality of catheters can be realized; each driving mechanism corresponding to the pipe clamping all the time is provided with a quick exchange mechanism which is detachably arranged on the driving mechanism or is made into an integrated structure with the driving mechanism. While in performing a simple examination procedure, only two of these drive mechanisms, such as drive mechanisms 12 and 16 (and drive

mechanisms

12 and 14 may be provided, as desired, with a quick-change mechanism on drive mechanism 14), and front holder 162 are used, the other drive mechanism is removed from body 10.

The following describes the control of the present invention with only the

drive mechanisms

12, 16 and the front holder 162 moving two catheters, one guide wire, in tandem:

when the operation is prepared, two catheters (one is thick and the other is thin) and two guide wires (one is thick and the other is thin) with proper diameters and lengths are selected according to the position of a blood vessel focus, and the two catheters are flushed with normal saline to exhaust. And starting the interventional operation robot to complete initialization. The puncture sheath is arranged for the operation patient. A thick guidewire is manually threaded into and out of the thick catheter a certain distance and placed together into the puncture sheath. The first components of the driving mechanism 12 and the driving mechanism 16 are matched to clamp the thick catheter (connected to the Y valve), and the second components of the driving mechanism 16 are matched to clamp the thick guide wire, so that the thick catheter and the thick guide wire are fixed.

To begin the procedure, the surgeon moves to the operator's station outside the catheter room and remotely operates the

drive mechanisms

12, 16 using the master end console. The thick catheter and the thick guide wire are respectively advanced to the narrow part of the blood vessel in a cooperative way. The process is referred to the above-mentioned "balloon expandable stent forming operation". The head of the thick catheter and the thick guide wire are kept in the image visual field range. At this point, the physician manually removes the thick catheter from the first assembly of drive mechanism 12 and drive mechanism 16, and the thick catheter is held in place by front holder 18. Note that during this procedure, the thick catheter is not pushed, avoiding the thick catheter head moving in the vessel. The driving mechanism 16 can be remotely controlled by the main-end console or the thick guide wire can be manually retracted to the puncture sheath, and then the thick guide wire is taken out from the second component of the driving mechanism 16 and soaked in heparin water.

The

drive mechanisms

12, 16 are retracted to the appropriate position. The thin guide wire is manually inserted into the thin catheter and the thick catheter together, and the thin catheter and the thin guide wire are clamped on the driving

mechanisms

12 and 16 in a matching manner, so that the thin catheter and the thin guide wire are fixed. In this embodiment, the thin catheter is connected to a Y-valve, which is fixed to the driving mechanism 16 and held by its first component, and the thin catheter is rotated by rotating the Y-valve luer connector in cooperation with the driving mechanism 14.

drive mechanisms

12, 16 using the master console. The specific process is the same as the advancing process of the thick catheter and the thick guide wire, and the detailed description is omitted here. The thin catheter and the thin guide wire are pushed to the farther focus of the operation patient (also called the target vessel stenosis). When the position of the thin catheter and the thin guide wire is confirmed by radiography and the thin catheter and the thin guide wire are fixed by the driving

mechanisms

12 and 16 respectively and do not move when the thin catheter and the thin guide wire reach the designated position (generally, the thin guide wire passes through the focus of a patient and the embolism is excluded).

The doctor comes to the catheter room again, and manually lets the thin seal wire afterbody penetrate the quick change ball expand support pipe, and quick change ball expand support pipe advances along the thin seal wire and penetrates in the thin seal pipe, specifically is in the Y valve of connecting the thin seal pipe, is by quick change mechanism 162 centre gripping quick change ball expand support pipe.

The doctor again comes to the operating table outside the catheter chamber, and uses the master operating table to remotely control the rapid exchange mechanism 162, so that the rapid exchange balloon stent catheter is advanced to the focus of the operation patient (not beyond the head of the thin guide wire). In the process, the positions and angles of the thin catheter and the thin guide wire are paid attention to constantly, and fine adjustment can be carried out by forward rotation, reverse rotation, forward movement and backward movement in time if necessary. When the rapid exchange ball expanding bracket catheter reaches the focus of a patient, the position of the rapid exchange ball expanding bracket catheter is finely adjusted, and after the position is determined, contrast medium is filled into the rapid exchange ball expanding bracket catheter in the catheter chamber, so that the bracket is formed. After confirming the placement of the ball-expanding stent by radiography, the contrast agent can be pumped out and the quick exchange mechanism 162 is controlled to drive the quick exchange ball-expanding stent catheter to retreat to the puncture sheath, while the ball-expanding stent is left at the focus of the operation patient. During the process of the rapid exchange of the ball-expanding stent catheter retreating, the positions of the thick catheter, the thin catheter and the thin guide wire are kept unchanged. The physician enters the catheterization room to manually remove the quick-exchange balloon stent catheter from the quick-exchange mechanism 162 and place it in heparin water.

The doctor then comes to the operation table outside the catheter chamber, and utilizes the main end operation table to remotely control the driving

mechanisms

12 and 16 to move, so that the thin catheter and the thin guide wire retreat to the puncture sheath. Finally, the doctor returns to the catheter room, can manually pull out the thick catheter to the puncture sheath, takes out the thick catheter, the thin catheter and the thin guide wire from the front holder 18 and the driving

mechanisms

12 and 16, puts the thick catheter, the thin catheter and the thin guide wire into heparin water, and then carries out puncture sheath extraction and post-operation treatment to complete the operation.

In the above process, if the coaxial exchange catheter is adopted, after the tail part of the thin guide wire penetrates into the coaxial exchange catheter, the coaxial exchange catheter is clamped, pushed and rotated by the coaxial exchange mechanism, and the coaxial exchange catheter is advanced to a proper position along the thin guide wire or retreated to the puncture sheath.

As shown in fig. 3 and 4, a second embodiment of the slave device of an interventional surgical robot of the present invention comprises a body 19, a

driving mechanism

20, 30, 40, 50, 60 movably mounted on the body 19, a rear gripper 70, a quick-exchange mechanism 80 and a front gripper 82.

The body 19 is elongate and defines a linear channel 192. These drive

mechanisms

20, 30, 40, 50, 60 are successively disposed within and movable along the channel 192. In this embodiment, the driving

mechanisms

20, 30, 40, 50, 60 can slide directly on the main body 19, for example, a linear guide rail is fixed on the main body 19, and the driving

mechanisms

20, 30, 40, 50, 60 can slide along the guide rail.

Each driving mechanism is used for clamping, pushing (including advancing and retreating) and rotating (including forward rotation and reverse rotation) the catheter or the guide wire, and can also be used for simultaneously clamping, pushing (including advancing and retreating) and rotating (including forward rotation and reverse rotation) the catheter or the guide wire to realize the cooperative motion of a plurality of catheters and one guide wire. Each drive mechanism includes a clamping assembly for clamping the catheter or guidewire and a rotating assembly for rotating the catheter or guidewire, the rotating assembly being either of an active drive type or a passive follow-up type, or of an active drive type in its entirety, or of an active drive type in part, or of a passive follow-up type, the clamping of the catheter by the

drive mechanisms

20, 40 not affecting its rotation.

The gripping and rotating assemblies of the

drive mechanisms

20, 30, 40, 50, 60 may be a slave guidewire catheter twirling device of an interventional surgical robot as described in chinese patent application 202110674959.3, the entire contents of which are incorporated herein by reference.

In other embodiments, the specific configurations of the

drive mechanisms

20, 30, 40, 50, 60 are not limited to the same, and may be different so long as clamping, pushing, and/or rotating of the catheter, guidewire is achieved. Or the clamping components and the rotating components are the same, or the clamping components and the rotating components are different, or a plurality of clamping components and rotating components are the same, and other clamping components and rotating components are different.

In this embodiment, the

drive mechanisms

20 and 30 are spaced back and forth to cooperate to hold, push and rotate the same guide catheter 90 (i.e., the first catheter) against bending. In fact, it is preferred that drive

mechanisms

20 and 30 simultaneously advance guide catheter 90 so that it straightens and does not bend. Similarly, drive

mechanisms

40 and 50 are coupled at a distance back and forth for cooperatively gripping, pushing and rotating the same multi-function tube 91 (i.e., the second conduit, also referred to as the intermediate conduit). The drive mechanism 60 is used to grip, push and rotate the guide wire 92. The rear holder 70 is used to hold and push the guide wire 92. The rapid exchange mechanism 80 is removably secured to the drive mechanism 50 for gripping and advancing the rapid exchange catheter.

A rear clamp 70 is located at the rear of the body 19. The front clamp 82 is located at the front of the body 19, adjacent the

drive mechanism

20, 30. In this embodiment, the front holder 82 and the rear holder 70 are fixed to the body 10 to be movable relative to the body 10 as necessary. In other embodiments, the front holder 82 and the rear holder 70 may be separately installed from the body 10.

In preparation for surgery, the physician goes to the catheter suite for preoperative preparation. If the guiding catheter 90, the multifunctional tube 91 and the guiding guide wire 92 are selected to be suitable (such as length and diameter), the guiding catheter 90 and the multifunctional tube 91 are flushed with the physiological saline and exhausted. The multifunctional tube 91 is manually inserted into the guiding catheter 90 and extended out of the guiding catheter 90 for a certain distance, and the guiding wire 92 is inserted into the multifunctional tube 91 and extended out of the multifunctional tube 91 for a certain distance, for example, the head of the guiding wire 92 exceeds the multifunctional tube 91 by about 10 cm. The guiding catheter 90, the multifunctional tube 91 and the guiding guide wire 92 are placed in a proper position by the driving

mechanisms

20, 30, 40, 50 and 60, the guiding catheter 90, the multifunctional tube 91 and the guiding guide wire 92 are placed into a puncture sheath (such as a femoral artery, a radial artery or the like) of a surgical patient, and the clamping components of the driving

mechanisms

20 and 30 clamp the guiding catheter 90, the clamping components of the driving

mechanisms

40 and 50 clamp the multifunctional tube 91, the clamping components of the driving mechanism 60 and the rear clamp 70 clamp the guiding guide wire 92, so that the guiding catheter 90, the multifunctional tube 91 and the guiding guide wire 92 are fixed.

At the beginning of the surgery, the surgeon, before arriving at the console outside the catheter room, remotely operates the

driving mechanism

20, 30, 40, 50, 60, the rear gripper 70 and the quick-change mechanism 80 using the master console (such as the master console of the interventional surgical robot described in chinese patent application 202110654379.8 and the master control module of the interventional surgical robot described in 202110649908.5, the entire contents of which are incorporated herein by reference). Specifically, drive

mechanisms

20 and 30 together grip guide catheter 90 and advance guide catheter 90 along pathway 192, simultaneously or non-simultaneously with the rotation of the rotating components of

drive mechanisms

20 and 30 rotating guide catheter 90, and drive mechanism 30 grips guide catheter 90 and does not move when drive mechanism 20 is moved to an extreme position (e.g., drive mechanism 20 is moved to the distal end of pathway 192) to reset and release guide catheter 90. When the driving mechanism 20 is returned to a position closer to the driving mechanism 30, the holding assembly of the driving mechanism 20 holds the guiding catheter 90 again, so that the driving

mechanisms

20 and 30 drive the guiding catheter 90 to advance, simultaneously or not simultaneously, the rotating assemblies of the driving

mechanisms

20 and 30 rotate the guiding catheter 90, and the process is repeated until the guiding catheter is advanced to the position.

During this process, the driving

mechanisms

40 and 50 simultaneously or not simultaneously grip the multi-function tube 91 and move along the channel 192 to advance the multi-function tube 91, and the driving mechanisms 50 grip the multi-function tube 91 and do not move when the driving mechanism 40 moves to an extreme position (e.g., the distance from the driving mechanism 30 approaches a threshold value) to be reset to release the multi-function tube 91 when the driving mechanism 40 is moved to the extreme position to rotate the multi-function tube 91. When the driving mechanism 40 is reset to a position closer to the driving mechanism 50, the clamping assembly of the driving mechanism 40 clamps the multi-function tube 91 again, so that the driving

mechanisms

40 and 50 drive the multi-function tube 91 to advance, and simultaneously or not drive the rotating assemblies of the driving

mechanisms

40 and 50 to rotate the multi-function tube 91, and the operation is repeated until the multi-function tube is advanced.

During the above process, the driving mechanism 60 and the rear holder 70 simultaneously or not simultaneously hold the guide wire 92 and move along the channel 192 to advance the guide wire 92, and simultaneously or not simultaneously, the rotating component of the driving mechanism 60 rotates the guide wire 92. When the drive mechanism 60 is moved to an extreme position (e.g., a distance from the drive mechanism 50 is near a threshold) to reset and release the guidewire 92, the guidewire 92 is held against movement by the rear holder 70. After the driving mechanism 60 is reset, the clamping assembly of the driving mechanism 60 clamps the guide wire 92 again, so that the driving mechanism 60 and the rear clamp 70 drive the guide wire 92 to advance together, and at the same time or at different times, the rotating assembly of the driving mechanism 60 rotates the guide wire 92, and the process is repeated until the guide wire 92 advances in place. In other embodiments, initially, only the guide wire 92 is gripped by the drive mechanism 60, and the rear gripper 70 is not gripped. When the drive mechanism 60 is to be reset, the guide wire 92 is held by the rear holder 70. When the guide wire 92 is gripped again after the drive mechanism 60 is reset, the rear gripper 70 releases the guide wire 92, and so on, the drive mechanism 60 and the rear gripper 70 alternately grip the guide wire 92.

As to how the main console remotely controls the movements of the driving

mechanisms

20, 30, 40, 50, 60, the rear holder 70 and the quick-exchange mechanism 80, it can be the same as the main control module of the interventional surgical robot described in chinese patent application 202110649908.5, which includes two operation levers, one of which is used for controlling the driving

mechanisms

20, 30, 40, 50 and the quick-exchange mechanism 80, and the operation lever can control the driving

mechanisms

20, 30, the driving

mechanisms

40, 50 and the quick-exchange mechanism 80 in a time-sharing manner through a switching device, and the other is used for controlling the driving mechanism 60 and the rear holder 70. It is also possible that the master end console includes more than two levers, such as four levers, for remotely operating the driving

mechanisms

20, 30, the driving

mechanisms

40, 50, the driving mechanism 60, the rear clamper 70, and the quick-change mechanism 80, respectively.

In other embodiments, the

drive mechanisms

30, 50 clamp the guide catheter 90, the multi-function tube 91, respectively, through the Y-valve. That is, the guiding catheter 90 and the multi-functional tube 91 are connected to the Y valve, the Y valve is fixed to the

driving mechanism

30, 50, and the clamping component of the

driving mechanism

30, 50 clamps the Y valve and the rotating component rotates the Y valve luer connector to drive the guiding catheter 90 and the multi-functional tube 91 to rotate.

In the process of cooperatively moving the guide catheter 90, the multifunctional tube 91, and the guide wire 92, it is necessary to always keep the multifunctional tube 91 extending out of the guide catheter 90 by a certain distance and the guide wire 92 extending out of the multifunctional tube 91 by a certain distance. When the guiding catheter 90, the multifunctional tube 91 and the guiding wire 92 reach some part of the blood vessel, the

driving mechanism

20, 30, 40, 50, 60 and the rear holder 70 may need to be remotely operated by the main console to allow the guiding catheter 90, the multifunctional tube 91 and the guiding wire 92 to be exchanged for advancing, retreating, forward rotating and reverse rotating for many times.

When the guide catheter 90 is advanced into position, the guide catheter 90 is fixed against movement. The guide wire 92 is retracted by remote manipulation of the drive mechanism 60 and rear gripper 70 by the master console, in a process substantially similar to the forward process described above. When the guide wire 92 head is retracted back to the puncture sheath, the physician enters the catheterization room to manually remove the guide wire 92 from the clamping assembly of the drive mechanism 60 and the rear clamp 70 and immerse it in heparin water.

The physician manually removes the guide catheter 90 from the grasping assembly of the

drive mechanism

20, 30 and the guide catheter is held in place by the front holder 82. Note that during this process, guide catheter 90 is not pushed, and the head of guide catheter 90 is prevented from moving in the blood vessel. The multi-function tube 91 is manually removed from the gripping assembly of the

driving mechanism

40, 50 and is gripped by the gripping assembly of the

driving mechanism

20, 30.

In other embodiments, the front clamp 82 may be telescoping, extending from the hidden space when it is desired to clamp a catheter. For a front holder 82 holding a guide catheter 90, it may also rotate the guide catheter 90 by rotating the Y-valve luer connector of the guide catheter 90. In addition, if the front part of the main body 19 is provided with a plurality of front holders 82, the above-mentioned catheter advancing process can be performed a plurality of times. As each conduit is advanced into position, a front gripper 82 grips the conduit.

The

adjustment drive mechanism

40, 50, 60 and the rear clamp 70 are in reasonable positions. A thinner microcatheter 94 and a microcatheter 96 (e.g., 0.014in) are selected. The microcatheter 96 is manually inserted into the microcatheter 94 and the multifunctional tube 91 together, so that the microcatheter 94 and the microcatheter 96 are respectively clamped by the clamping components of the driving

mechanisms

40 and 50, the clamping component of the driving mechanism 60 and the rear clamp 70, thereby realizing the fixation of the microcatheter 94 and the microcatheter 96. In other embodiments, microcatheter 94 is connected to a Y-valve that is attached to drive mechanism 50 and is rotated by its clamping assembly clamping the Y-valve and rotating assembly rotating the Y-valve luer connector.

drive mechanism

20, 30, 40, 50, 60 and rear gripper 70 motion using the master console. The specific process is the same as the above-mentioned advancing process of the guiding catheter 90, the multifunctional tube 91 and the guiding wire 92, and the detailed description thereof is omitted here. When the multifunctional tube 91 is further advanced to a more distant blood vessel and the micro-catheter 94 and the micro-guidewire 96 are advanced to the head of the multifunctional tube 91, the micro-catheter 94 and the micro-guidewire 96 are further pushed to a lesion (also called a target blood vessel stenosis) of the surgical patient. The position of the micro-guidewire 96 is confirmed by radiography, and the multifunctional tube 91, the micro-catheter 94 and the micro-guidewire 96 are respectively fixed by the driving

mechanisms

20 and 30, the driving

mechanisms

40 and 50, the driving mechanism 60 and the rear clamp 70 and do not move when the micro-guidewire 96 reaches the designated position (generally speaking, the micro-guidewire 96 is to pass through the focus of the operation patient, except for possible treatment of aneurysm embolism). If the desired position is not reached, the teleoperational drive

mechanisms

20, 30, 40, 50, 60 and rear gripper 70 are repeated until the micro-wire 96 reaches the desired position.

In other embodiments, the

drive mechanisms

40, 50, 60 and rear clamp 70 may be remotely operated by a master end console to retract the multifunction tube 91 and guide wire 92 together. When the head of the multi-functional tube 91 and the guide wire 92 are retracted to the puncture sheath, the physician enters the catheterization room to manually remove the multi-functional tube 91 and the guide wire 92 from the clamping assembly of the

driving mechanism

40, 50, 60 and the rear clamp 70 and immerse the tube in heparin water. The guide catheter 90 is then manually removed from the clamping assembly of the

drive mechanism

20, 30 and held against movement by the front clamp 82. Note that during this process, guide catheter 90 is not pushed, and the head of guide catheter 90 is prevented from moving in the blood vessel. And the appropriate two catheters, a guidewire, are selected and threaded together and placed into the guiding catheter 90. The driving

mechanisms

20, 30, 40, 50 and 60 are positioned reasonably, the clamping components of the driving

mechanisms

20 and 30 clamp one catheter, the clamping components of the driving

mechanisms

40 and 50 clamp the other catheter, the clamping components of the driving mechanisms 60 and the rear clamp 70 clamp the guide wires, and therefore the two catheters and one guide wire are fixed. The subsequent advancement process is the same as that of the aforementioned guide catheter 90, multifunction tube 91 and guide wire 92. And will not be described in detail herein.

After the micro-wires 96 reach the desired location, the

drive mechanisms

40, 50 are remotely operated by the master console to retract the micro-catheter 94 while keeping the micro-wires 96 immobile, e.g., the drive mechanism 60 instead holds the micro-wires 96 immobile by the rear holder 70 as the micro-wires are retracted. When the tip of the microcatheter 94 is retracted back into the puncture sheath, the physician enters the catheter room to manually remove the microcatheter 94 from the

drive mechanism

40, 50 and immerse it in heparin water. At this time, the driving mechanism 60 can alternatively hold the micro-wire 96, and the front holder 82, the driving

mechanisms

20 and 30, and the driving mechanism 60 can be kept fixed to the guide catheter 90, the multi-functional tube 91, and the micro-wire 96, respectively, without movement.

The physician again enters the catheter room and manually inserts the tail of the micro-guidewire 96 into the rapid exchange balloon dilation catheter 98, and the rapid exchange balloon dilation catheter 98 is advanced over the micro-guidewire 96, at which time the rapid exchange balloon dilation catheter 98 is held by the rapid exchange mechanism 80.

The physician again moves to the operating table outside the catheter room and remotely operates the rapid exchange mechanism 80 using the master-end console to advance the rapid exchange balloon dilation catheter 98 to the lesion (not beyond the head of the micro-guidewire 96) of the surgical patient. In this process, the position and angle of the micro-wire 96 are constantly noticed, and fine adjustment is performed by forward rotation, reverse rotation, forward movement, and backward movement in time. When the rapid exchange balloon dilatation catheter 98 reaches the lesion of the patient, the rapid exchange balloon dilatation catheter 98 is filled with a contrast medium in the catheter chamber for pre-dilatation, and the vasodilatation effect is confirmed by contrast. If the vasodilatation effect is achieved, the contrast medium is withdrawn from the rapid exchange balloon dilation catheter 98. Before the doctor comes to the operation table outside the catheter chamber, the doctor remotely controls the quick exchange mechanism 80 to retreat to the puncture sheath by using the main-end operation table. During the retraction of the rapid exchange balloon dilation catheter 98, the position of the micro-guidewire 96 is maintained. For some procedures, multiple vasodilations may be required, so there are multiple rapid exchange balloon dilation catheter advancement and retraction procedures.

The doctor comes to the catheter room again, manually takes off the rapid exchange balloon dilatation catheter 98 from the rapid exchange mechanism 80, and then manually inserts the rapid exchange balloon dilatation stent catheter into the micro-guide wire 96 and clamps the rapid exchange mechanism 80, and the specific process is the same as the above rapid exchange balloon dilatation catheter 98, and is not repeated.

The physician again goes to the operating table outside the catheter room and remotely operates the rapid exchange mechanism 80 by using the main-end operating table, so as to push the rapid exchange balloon stent catheter to the focus (the expanded angiostenosis) of the operation patient along the micro-guide wire 96. In this process, the position and angle of the micro-wire 96 are constantly noticed, and fine adjustment is performed by forward rotation, reverse rotation, forward movement, and backward movement in time. When the rapid exchange ball expanding bracket catheter reaches the focus (the expanded blood vessel) of the operation patient, the position of the rapid exchange ball expanding bracket catheter is finely adjusted, and after the position is determined, the rapid exchange ball expanding bracket catheter is filled with contrast medium in a catheter chamber to form the bracket. After confirming the correct placement of the balloon expandable stent by radiography, the contrast agent can be pumped out and the rapid exchange mechanism 80 is controlled to drive the rapid exchange balloon expandable stent catheter to retreat to the puncture sheath, while the balloon expandable stent is left at the focus of the operation patient. The physician enters the catheterization room to manually remove the quick-exchange balloon stent catheter from the quick-exchange mechanism 80 and place it in heparin water.

The doctor then goes to the operation table outside the catheter chamber, and uses the main-end operation table to remotely control the driving

mechanisms

20, 30, 40, 50, 60 and the rear holder 70 to move, so that the multifunctional tube 91 and the micro-guide wire 96 retreat to the puncture sheath. Finally, the physician returns to the catheter room, manually removes the multifunctional tube 91 and the micro-guide wire 96 from the holding assembly of the

driving mechanism

20, 30, 60 and the rear holder 70, removes the guiding catheter 90 from the front holder 82, withdraws to the puncture sheath, withdraws into heparin water, and then performs puncture sheath extraction and post-operative treatment, thereby completing the operation.

The above is selected for rapid exchange of catheters, and therefore, a rapid exchange mechanism 80 is required to hold, push and rotate. If the catheter is a coaxial exchange catheter, the tail of the micro-guide wire 96 is inserted into the coaxial exchange catheter, and then the coaxial exchange catheter is clamped, pushed and rotated by the coaxial exchange mechanism, so that the coaxial exchange catheter advances to a proper position along the micro-guide wire 96 or retreats to the puncture sheath. Either the rapid exchange mechanism 80 or the coaxial exchange mechanism may be roller driven to clamp, push and rotate the rapid exchange conduit and the coaxial exchange conduit.

The movement and control process of the present invention is described above using "balloon stent angioplasty" as an example. In fact, the invention can also be used for various operations such as imaging, embolism, thrombus removal and the like. The

driving mechanism

20, 30, 40, 50, 60, the rear holder 70 and the quick-change mechanism 80 can be freely adjusted by the surgeon according to the actual needs of the operation, i.e. the

driving mechanism

20, 30, 40, 50, 60, the rear holder 70 and the quick-change mechanism 80 can be conveniently assembled and disassembled. For example, when a more complicated operation is performed, more driving mechanisms, post-holders and fast exchanging mechanisms may be added, and for example, after more driving mechanisms and post-holders are added, the coordinated movement of one guide wire corresponding to a plurality of catheters or a plurality of guide wires corresponding to a plurality of catheters may be realized, for example, two driving mechanisms are added to clamp and rotate more catheters in fig. 5, which may be referred to as the "balloon stent forming operation"; each driving mechanism corresponding to the pipe clamping all the time is provided with a quick exchange mechanism which is detachably arranged on the driving mechanism or is made into an integrated mechanism with the driving mechanism. Whereas in performing a simple examination procedure, such as an angiographic procedure, only two of the

drive mechanisms

20, 30, 40, 50, 60 are used, such as

drive mechanisms

30 and 60, see fig. 6, with the other drive mechanisms, rear holder 70 and quick-exchange mechanism 80 removed from body 19.

In the above description, the main-end console and the console on which the main-end console is placed are located outside the duct chamber. In fact, they can also be placed in an independent space in the catheter chamber, as long as the X-ray radiation can be isolated, and the doctor is free from the X-ray radiation.

The above only describes how to replace the guide wire of the catheter in some cases. In fact, the replacement of the guide wire of the catheter can be completely determined by doctors according to the actual needs of the operation and the personal operation habits. And is not limited only by the way of replacing the guide wire of the catheter.

Therefore, according to the invention, a doctor can remotely control the first driving mechanism and the second driving mechanism and move on the main body along the same axial direction, so that the multiple catheters and the multiple guide wires can cooperatively move in place, the front clamp clamps the first catheter to be not moved when the catheters and the guide wires are replaced, the health is not influenced by X-ray radiation, the robot controls the catheter and the guide wires to move more accurately, the working intensity is reduced, and large errors can be avoided.

It will be understood by those skilled in the art that all or part of the steps of the above methods may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, such as a read-only memory, a magnetic or optical disk, and the like. Alternatively, all or part of the steps of the above embodiments may be implemented using one or more integrated circuits. Accordingly, each module/unit in the above embodiments may be implemented in the form of hardware, and may also be implemented in the form of a software functional module. The present invention is not limited to any specific form of combination of hardware and software.

The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A slave end device of an interventional operation robot comprises a main body, a first driving mechanism, a second driving mechanism, a third driving mechanism and a front gripper, wherein the first driving mechanism, the second driving mechanism and the third driving mechanism are sequentially arranged on the main body;

2. An interventional surgical robotic slave device according to claim 1, further comprising a plurality of front grippers to which the plurality of first conduits advanced one by one into position by the first drive mechanism are respectively gripped.

3. An interventional surgical robotic slave end assembly according to claim 1, wherein the second drive mechanism is adapted to grip and rotate the first catheter and the second catheter in conjunction with the first drive mechanism.

4. An interventional surgical robotic slave device according to claim 3, wherein the second drive mechanism comprises a first assembly for gripping and rotating the first conduit and the second conduit, and a second assembly for gripping and rotating the second conduit and the third conduit.

5. An interventional surgical robotic slave device according to claim 4, wherein the first assembly of the second drive mechanism is adapted to grip a Y-valve connected to the first catheter and the second catheter to grip the first catheter and the second catheter and rotate the Y-valve luer connector to rotate the first catheter and the second catheter.

6. An interventional surgical robotic slave end device according to any of claims 3-5, wherein the third drive mechanism is adapted to grip and rotate the second catheter and the third catheter in conjunction with the second drive mechanism.

7. An interventional surgical robotic slave-end device of claim 6, wherein the third drive mechanism comprises a first assembly for gripping and rotating the second catheter, the third catheter, and a second assembly for gripping and rotating the first guidewire, the second guidewire.

8. An interventional surgical robotic slave device according to claim 7, wherein the first member of the third drive mechanism is adapted to grip a Y-valve connected to the second conduit and the third conduit to grip the second conduit and the third conduit and rotate the Y-valve luer connector to rotate the second conduit and the third conduit.

9. An interventional surgical robotic slave device according to claim 1, further comprising a fourth drive mechanism mounted to the body for clamping and rotating the first conduit and the second conduit in conjunction with the first drive mechanism.

10. An interventional surgical robotic slave end assembly according to claim 9, wherein the fourth drive mechanism is adapted to clamp the first conduit and the second conduit against movement when the first drive mechanism is moved to the limit position to reposition and release the first conduit and the second conduit.

11. An interventional surgical robotic slave end device of claim 9, wherein the fourth drive mechanism is located between the first drive mechanism and the second drive mechanism.

12. An interventional surgical robotic slave device according to claim 9, further comprising a fifth drive mechanism mounted to the body for gripping and rotating the second conduit and the third conduit in conjunction with the second drive mechanism.

13. An interventional surgical robotic slave end assembly according to claim 12, wherein the fifth drive mechanism is adapted to hold the second conduit free of movement and the third conduit free of movement when the second drive mechanism is moved to the limit position to reposition the second conduit free of movement.

14. An interventional surgical robotic slave device according to claim 12, wherein the fifth drive mechanism is located between the second drive mechanism and the third drive mechanism.

15. An interventional surgical robotic slave device according to claim 12, wherein the fourth drive mechanism, the fifth drive mechanism and the first drive mechanism, the second drive mechanism and the third drive mechanism move in the same axial direction.

16. An interventional surgical robotic slave device of claim 1, further comprising an exchange mechanism, the exchange mechanism being a quick exchange mechanism or a coaxial exchange mechanism.

17. An interventional surgical robotic slave device according to claim 16, wherein the interchange mechanism is removably secured to the third drive mechanism or the interchange mechanism is integrally formed with the third drive mechanism.