CN113729957A

CN113729957A - Intervene operation robot from end device

Info

Publication number: CN113729957A
Application number: CN202111009777.0A
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: 2021-12-03
Anticipated expiration: 2041-08-31
Also published as: CN113729957B; WO2023030323A1

Abstract

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 fourth driving mechanism, wherein the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism are sequentially arranged on the main body; when the guide wire penetrates into the third catheter, the third catheter penetrates into the second catheter, the second catheter penetrates into the first catheter, and the first catheter, the second catheter, the third catheter and the guide wire are respectively clamped in the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism, the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism move on the main body along the same axial direction to respectively drive the first catheter, the second catheter, the third catheter and the guide wire to move. Can let the doctor remote control robot, avoid X ray radiation, control first pipe, seal wire motion more accurate moreover, can avoid big error.

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, comprising:

the device comprises a main body, and a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism which are sequentially arranged on the main body;

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

when the guide wire penetrates into the third catheter, the third catheter penetrates into the second catheter, the second catheter penetrates into the first catheter, and the first catheter, the second catheter, the third catheter and the guide wire are respectively clamped in the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism, the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism move on the main body along the same axial direction to respectively drive the first catheter, the second catheter, the third catheter and the guide wire to move.

Furthermore, the auxiliary end device of the interventional operation robot further comprises a fifth driving mechanism arranged on the main body, and the fifth driving mechanism is matched with the first driving mechanism to drive the first conduit to move.

Further, the first drive mechanism is adapted to clamp the first conduit against movement when the fifth drive mechanism is moved to an extreme position to reset and release the first conduit.

Further, the fifth driving mechanism is positioned on one side of the first driving mechanism, which is far away from the second driving mechanism.

Furthermore, the auxiliary end device of the interventional operation robot further comprises a sixth driving mechanism arranged on the main body, and the sixth driving mechanism is matched with the second driving mechanism to drive the second conduit to move.

Further, the second drive mechanism is adapted to hold the first conduit against movement when the sixth drive mechanism is moved to an extreme position to reposition and release the second conduit.

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

Furthermore, the interventional operation robot slave end device further comprises a seventh driving mechanism arranged on the main body, and the seventh driving mechanism and the third driving mechanism are matched to drive the third conduit to move.

Further, the second drive mechanism is adapted to clamp the third conduit against movement when the seventh drive mechanism is moved to an extreme position to reposition and release the third conduit.

Further, the seventh drive mechanism is located between the second drive mechanism and the third drive mechanism.

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

Further, the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the fifth driving mechanism, the sixth driving mechanism and the seventh driving mechanism are all of active driving type.

Further, the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism are all of active driving type, and the fifth driving mechanism, the sixth driving mechanism and the seventh driving mechanism are of passive following type.

Further, the first, second and third drive mechanisms comprise the same clamping assembly for clamping a Y-valve connected to the conduit to clamp the conduit.

Further, the first driving mechanism, the second driving mechanism and the third driving mechanism further comprise the same rotating assembly, and the rotating assembly is used for rotating the Y-valve luer connector to drive the catheter to rotate.

Further, the fifth driving mechanism, the sixth driving mechanism and the seventh driving mechanism comprise the same clamping assembly and the same rotating assembly.

Further, the fourth driving mechanism comprises a clamping assembly and a rotating assembly, and the clamping assembly and the rotating assembly of the fourth driving mechanism are the same as or different from those of the fifth driving mechanism, the sixth driving mechanism and the seventh driving mechanism.

Further, the interventional surgical robot slave-end device further comprises a clamp, and when the fourth driving mechanism moves to the limit position to reset and release the guide wire, the clamp is used for clamping the guide wire not to move.

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 second driving mechanism, or the exchange mechanism and the second driving mechanism are designed integrally.

According to the invention, a doctor can remotely control the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism to move on the main body along the same axial direction, so that the catheter and the guide wire are driven to move cooperatively, X-ray radiation is avoided, and the robot controls the catheter and the guide wire to move more accurately, so that the working intensity is reduced, and large errors are avoided.

Drawings

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

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

FIG. 3 is a schematic view of FIG. 1 with the addition of two drive mechanisms;

fig. 4 is a schematic view of fig. 1 with only two drive mechanisms removed.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, 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; either directly or indirectly through intervening media, either internally or in any other relationship. 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 those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not 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 "forward" refers to the side of the interventional surgical robot facing the user from the end device, "forward" refers to the direction of displacement of a guide wire or catheter into the body of the surgical patient. The term "posterior" refers to the side of the interventional surgical robot facing away from the user from the end device, "retrograde" refers to the direction of displacement of the guide wire or catheter out of the body of the surgical patient. 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, an embodiment of a slave device of an interventional surgical robot according to the present invention includes a body 10, a

driving mechanism

20, 30, 40, 50, 60 movably mounted on the body 10, a gripper 70, and a quick-change mechanism 80.

The body 10 is elongate and is provided with a linear channel 102. These

drive mechanisms

20, 30, 40, 50, 60 are successively disposed within and movable along the channel 102. In the present embodiment, the

driving mechanisms

20, 30, 40, 50, 60 can slide directly on the main body 10, for example, a linear guide rail is fixed on the main body 10, 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 element for clamping the catheter or guidewire, and a rotating element for rotating the catheter or guidewire, the rotating element being either of an active or passive type, or of an active type in its entirety, or of an active type in part, or of a passive 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 configuration of the

drive mechanisms

20, 30, 40, 50, 60 is not limited to the same, but 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 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.

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, gripper 70 and fast-swap 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). Specifically, drive

mechanisms

20 and 30 together grip guide catheter 90 and advance guide catheter 90 along pathway 102, either simultaneously or not, with the rotational components of

drive mechanisms

20 and 30 rotating guide catheter 90. 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 102) 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 102 to advance the multi-function tube 91, and the driving

mechanisms

40 and 50 simultaneously or not simultaneously rotate the multi-function tube 91, and 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, the driving mechanism 50 grips the multi-function tube 91 and does not move. 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 holder 70 simultaneously or not simultaneously hold the guide wire 92 and move along the channel 102 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 by the holder 70 against movement. After the driving mechanism 60 is reset, the clamping component of the driving mechanism 60 clamps the guide wire 92 again, so that the driving mechanism 60 and the clamp 70 drive the guide wire 92 to advance together, and simultaneously or not simultaneously, the rotating component of the driving mechanism 60 rotates the guide wire 92, and the process is repeated until the guide wire is advanced in place. In other embodiments, initially, only the guide wire 92 is gripped by the drive mechanism 60, and the gripper 70 is not gripped. When the drive mechanism 60 is to be reset, the guide wire 92 is held by the holder 70. When the guide wire 92 is gripped again after the drive mechanism 60 is reset, the gripper 70 releases the guide wire 92, and reciprocates so that the drive mechanism 60 and the gripper 70 alternately grip the guide wire 92.

As to how the master console remotely controls the driving

mechanisms

20, 30, 40, 50, 60, the clamper 70 and the fast-exchanging mechanism 80 to move, it can be the same as the master 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 fast-exchanging mechanism 80, and the operation lever can time-divisionally control the driving

mechanisms

20, 30, the driving

mechanisms

40, 50 and the fast-exchanging mechanism 80 through a switching device, and the other of which is used for controlling the driving mechanisms 60 and the clamper 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 clamper 70, and the quick-change mechanism 80, respectively.

In other embodiments, the

drive mechanisms

30, 50 clamp the guide catheter 90 and 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 clamper 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 guiding catheter 90 advances to the proper position, the guiding catheter 90 is fixed and does not move, the

driving mechanism

40, 50, 60 and the holder 70 are remotely controlled by the console at the main end, so that the multifunctional tube 91 and the guiding wire 92 retreat, and the retreating process is similar to the advancing process. 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 clamp 70 and immerse the tube in heparin water.

A thinner microcatheter 94 and a microcatheter 96 (e.g., 0.014in) are selected. The microcatheter 94 and the microcatheter 96 are manually inserted into the microcatheter 94 and together into the guide catheter 90, with the microcatheter 96 extending beyond the microcatheter 94 a distance such that the microcatheter 94 and the microcatheter 96 are respectively retained by the retaining assembly of the

drive mechanisms

40, 50 and the retaining assembly of the drive mechanism 60 and the retainer 70, thereby achieving 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.

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

drive mechanisms

40, 50, 60 and gripper 70 with the master console. The specific process is the same as the above-mentioned advancing process of the multifunctional tube 91 and the guide wire 92, and will not be described herein again. When the microcatheter 94 and the microcatheter 96 are advanced to the head of the guiding catheter 90, the microcatheter 94 and the microcatheter 96 are further pushed to the focus of the operation patient (also called the target angiostenosis). The position of the micro-guide wire 96 is confirmed by radiography, and the micro-catheter 94 and the micro-guide wire 96 are respectively fixed by the driving

mechanisms

50 and 60 and do not move when the micro-guide wire 96 reaches the designated position (generally, the micro-guide wire 96 is to pass through the focus of the operation patient, except the aneurysm embolism possibly treated). If the desired location is not reached, the teleoperational drive

mechanisms

40, 50, 60 and gripper 70 movement are repeated until the micro-wire 96 reaches the desired location.

After the micro-wire 96 reaches 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-wire 96 motionless, e.g., the drive mechanism 60 holds the micro-wire 96 motionless by the holder 70 instead as it is retracted. When the microcatheter head 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 may alternatively hold the micro-wire 96, and the driving

mechanisms

20 and 30 and the driving mechanism 60 may be kept fixed to the guide catheter 90 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 the adjustment can be 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, and thus the rapid exchange balloon dilation catheter 98 described above may be advanced and retracted multiple times.

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 console outside the catheter room and remotely controls the rapid exchange mechanism 80 using the master console, thereby pushing the rapid exchange balloon stent catheter along the micro-guidewire 96 to the lesion (expanded vessel) of the surgical patient. In this process, the position and angle of the micro-wire 96 are constantly noticed, and the adjustment can be 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 physician then moves to the console outside the catheter room, and remotely controls the

driving mechanism

20, 30, 40, 50, 60 and the holder 70 to move by using the console at the main end, so that the guiding catheter 90 and the micro-guide wire 96 move back to the puncture sheath. The physician finally returns to the catheter room and manually removes the guide catheter 90, the micro-guidewire 96 from the clamping assembly of the

drive mechanism

20, 30, 60 and the holder 70, withdraws it from the puncture sheath and places it in heparin water, and then performs the puncture sheath extraction and post-operative treatment to complete the procedure.

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 holder 70 and the quick-change mechanism 80 can be freely adjusted by the doctor according to the actual needs of the operation, i.e. the

driving mechanism

20, 30, 40, 50, 60, the 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, holders and fast exchanging mechanisms may be added, for example, after more driving mechanisms and 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. 3, which may be referred to as the "balloon stent forming operation" specifically; 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 simple examination procedures, such as angiographic procedures, only two of the

drive mechanisms

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

drive mechanisms

30 and 60, see fig. 4, the other drive mechanisms, holder 70 and quick-exchange mechanism 80 are removed from the body 10. The following describes the coordinated movement and control of a catheter and a guidewire with only the

drive mechanisms

30 and 60, using an angiographic procedure as an example:

when preparing operation, according to the position of the blood vessel focus, a guide catheter, a guide wire and a radiography catheter with proper diameter and length are selected, and the guide catheter and the radiography catheter are flushed with physiological saline and exhausted. And starting the interventional operation robot to complete initialization. The puncture sheath is arranged for the operation patient. The guide wire is manually inserted into the guide catheter and extended out of the guide catheter for a certain distance, for example, the head of the guide wire is about 10cm beyond the guide catheter, and the guide wire and the guide catheter are placed together into the puncture sheath. The clamping components of the driving

mechanisms

30 and 60 clamp the guide catheter and the guide wire respectively, so that the guide catheter and the guide wire are fixed.

To begin the procedure, the surgeon moves to the front of the console outside the catheter room and uses the master console to remotely operate the

drive mechanisms

30, 60. The guide catheter and the guide wire are advanced to the target blood vessel in a coordinated manner. The process is referred to the above-mentioned "balloon expandable stent forming operation". The head of the guide catheter and the guide wire are kept in the image visual field range. At this time, the driving mechanism 30 is not moved to hold the guide catheter, and the remote operation driving mechanism 60 is retracted to withdraw the guide wire to the puncture sheath.

The physician enters the catheterization laboratory and manually removes the guide wire from the gripping assembly of the drive mechanism 60 and bathes it in heparin water. A contrast medium is introduced into the guide tube, and radiographic imaging is performed to acquire complete image information at different angles of the target blood vessel.

If the image information of a plurality of target blood vessels needs to be acquired, another guide wire is inserted into the guide tube and advanced to the puncture sheath, and the guide wire is clamped by the clamping component of the driving mechanism 60. At this time, the patient enters the operation table outside the catheter chamber, and then the main-end operation table remote

operation driving mechanisms

30 and 60 are used for moving, so that the guide catheter and the guide wire are respectively cooperated to advance to the other target blood vessel, the guide wire is retreated to the puncture sheath and taken out, the contrast agent is input into the guide catheter again for radiography, and the complete image information of the other target blood vessel at different angles is obtained. This is repeated until the complete image information of all target vessels is obtained.

The doctor remotely controls the driving mechanism 30 to retreat, and drives the guiding catheter to withdraw to the puncture sheath. The physician enters the catheterization laboratory and manually removes the guide catheter and the last used guide wire from the gripping assembly of the

drive mechanism

30, 60, respectively, and withdraws the guide catheter from the puncture sheath.

If the guide wire is not bent during the advancement for guiding the catheter, the drive mechanism 20 is adapted to move and rotate the guide catheter together with the drive mechanism 30, and the holder 70 is adapted to move and rotate the guide wire together with the drive mechanism 60.

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 driving mechanism, the clamp holder and the quick exchange mechanism, so that the catheter and the guide wire are driven to move cooperatively, the health is not influenced by X-ray radiation, the robot controls the catheter and the guide wire to move more accurately, the working strength 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 instructing the relevant hardware through a program, 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 fourth driving mechanism, wherein the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism are sequentially arranged on the main body;

2. An interventional surgical robotic slave device according to claim 1, further comprising a fifth drive mechanism mounted to the body, the fifth drive mechanism cooperating with the first drive mechanism to move the first catheter.

3. An interventional surgical robotic slave end assembly according to claim 2, wherein the first drive mechanism is adapted to hold the first conduit against movement when the fifth drive mechanism is moved to the limit position to reposition and release the first conduit.

4. An interventional surgical robotic slave device according to claim 2, wherein the fifth drive mechanism is located on a side of the first drive mechanism remote from the second drive mechanism.

5. An interventional surgical robotic slave device according to any one of claims 2-4, further comprising a sixth drive mechanism mounted to the body, the sixth drive mechanism cooperating with the second drive mechanism to move the second catheter.

6. An interventional surgical robotic slave end assembly according to claim 5, wherein the second drive mechanism is adapted to hold the first catheter against movement when the sixth drive mechanism is moved to the extreme position to reposition and release the second catheter.

7. An interventional surgical robotic slave device according to claim 5, wherein the sixth drive mechanism is located between the first drive mechanism and the second drive mechanism.

8. An interventional surgical robotic slave device according to any of claim 5, further comprising a seventh drive mechanism mounted to the body, the seventh drive mechanism cooperating with the third drive mechanism to move the third catheter.

9. An interventional surgical robotic slave end assembly according to claim 8, wherein the second drive mechanism is adapted to hold the third conduit against movement when the seventh drive mechanism is moved to an extreme position to reposition and release the third conduit.

10. An interventional surgical robotic slave device according to claim 8, wherein the seventh drive mechanism is located between the second drive mechanism and the third drive mechanism.

11. An interventional surgical robotic slave device according to claim 8, wherein the fifth, sixth and seventh drive mechanisms move in the same axial direction as the first, second, third and fourth drive mechanisms.

12. An interventional surgical robotic slave device of claim 8, wherein the first, second, third, fourth, fifth, sixth and seventh drive mechanisms are all of an active drive type.

13. An interventional surgical robotic slave device according to claim 8, wherein the first, second, third and fourth drive mechanisms are all of an active drive type, and the fifth, sixth and seventh drive mechanisms are of a passive follow-up type.

14. An interventional surgical robotic slave device according to claim 1, wherein the first drive mechanism, the second drive mechanism and the third drive mechanism comprise the same clamping assembly for clamping a Y-valve connected to a catheter for clamping the catheter.

15. An interventional surgical robotic slave device according to claim 14, wherein the first drive mechanism, the second drive mechanism and the third drive mechanism further comprise the same rotating assembly for rotating the Y-valve luer connector to rotate the catheter.

16. An interventional surgical robotic slave device according to claim 8, wherein the fifth drive mechanism, sixth drive mechanism and seventh drive mechanism comprise the same gripping assembly and the same rotating assembly.

17. An interventional surgical robotic slave device according to claim 8, wherein the fourth drive mechanism comprises a gripping assembly and a rotating assembly, the gripping assembly and the rotating assembly of the fourth drive mechanism being the same or different from the gripping assembly and the rotating assembly of the fifth, sixth and seventh drive mechanisms.

18. An interventional surgical robotic slave end assembly according to claim 1, further comprising a gripper for gripping the guide wire against movement when the fourth drive mechanism is moved to an extreme position to reposition and release the guide wire.

19. 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.

20. An interventional surgical robotic slave device according to claim 19, wherein the exchange mechanism is removably secured to the third drive mechanism or the exchange mechanism is integrally formed with the third drive mechanism.