CN113729958B

CN113729958B - From end device of intervention operation robot

Info

Publication number: CN113729958B
Application number: CN202111009785.5A
Authority: CN
Inventors: 请求不公布姓名
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: 2023-06-23
Anticipated expiration: 2041-08-31
Also published as: CN113729958A

Abstract

An interventional operation robot slave end device comprises a main body, and a first driving mechanism, a second driving mechanism and a third driving mechanism which are sequentially arranged on the main body; when the guide wire penetrates into the second guide tube, the second guide tube penetrates into the first guide tube, and the first guide tube, the second guide tube and the guide wire are clamped on the first driving mechanism, the second driving mechanism and the third driving mechanism respectively, the first driving mechanism, the second driving mechanism and the third driving mechanism move on the main body along the same axial direction to drive the first guide tube, the second guide tube and the guide wire to move respectively. The robot can be remotely controlled by a doctor to prevent the doctor from being influenced by X-ray radiation, and the first catheter and the guide wire are controlled to move more accurately, so that the working intensity is reduced, and large errors can be avoided.

Description

From end device of intervention operation robot

Technical Field

The invention relates to the field of medical robots, and is applied to a master-slave vascular intervention operation robot, in particular to a slave-end device of the intervention operation robot.

Background

Minimally invasive vascular interventional surgery refers to the process that a doctor controls a catheter guide wire to move in a human blood vessel under the guidance of a Digital Subtraction Angiography (DSA) system, so as to treat a focus, and achieve the purposes of embolism malformed blood vessels, dissolving thrombus, dilating narrow blood vessels and the like. At present, 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, and the interventional operation treatment range can be said to encompass all disease treatments of the human body from head to foot, and is a preferred scheme for treating part of diseases. The intervention operation can treat a plurality of diseases which cannot be treated or have poor curative effect in the past only by the size of rice grains without cutting human tissues, has the characteristics of no operation, small wound, quick recovery and good curative effect, and is highly valued by the medical community at home and abroad.

Currently, minimally invasive vascular interventional surgery auxiliary robots are rapidly developed due to the high-end medical equipment and robot technology involved. We have also put into development.

Disclosure of Invention

The invention aims to solve the technical problem of providing an interventional operation robot slave device for assisting a doctor in interventional operation.

In order to solve the above-mentioned problems, the present invention provides an interventional surgical robot slave device, comprising:

the main body is provided with a first driving mechanism, a second driving mechanism and a third driving mechanism which are sequentially arranged on the main body;

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

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

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 matched with the first driving mechanism to drive the first catheter to move.

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

Further, the fourth driving mechanism is located at one side of the first driving mechanism away from the second driving mechanism.

Further, 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 second driving mechanism to drive the second catheter to move.

Further, the second drive mechanism is adapted to clamp the first catheter against movement when the fifth drive mechanism is moved to the extreme position to be reset to unclamp the second catheter.

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

Further, the interventional surgical robot slave device further comprises a clamp for clamping the guide wire against movement when the third driving mechanism moves to the extreme position to be reset to release the guide wire.

Further, the fourth and fifth drive mechanisms move in the same axial direction as the first, second and third drive mechanisms.

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

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

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

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

Further, the fourth and fifth drive mechanisms include the same clamping assembly and the same rotating assembly.

Further, the third driving mechanism comprises a clamping component and a rotating component, and the clamping component and the rotating component of the third driving mechanism are identical or different from the clamping component and the rotating component of the fourth driving mechanism and the fifth driving mechanism.

Further, the interventional surgical robot slave device further comprises an exchange mechanism, wherein the exchange mechanism is a rapid 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 integrally designed.

According to the invention, a doctor can move on the main body along the same axial direction by remotely controlling the first driving mechanism, the second driving mechanism and the third driving mechanism, so that the catheter and the guide wire are driven to move cooperatively to avoid X-ray radiation, and the robot can control the catheter and the guide wire to move more accurately, thereby not only reducing the working strength, but also avoiding large errors.

Drawings

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

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

FIG. 3 is a schematic illustration of FIG. 1 with two drive mechanisms added;

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 schemes and beneficial effects to be solved more clear, the 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 for purposes of illustration only and are not intended to limit the scope of the invention.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally or even relatively movable; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

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, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus are not to be construed as limiting the present invention.

As used herein, the direction "distal" is the direction toward the patient and the direction "proximal" is the direction 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 a invar direction of gravity. The term "forward" refers to the side of the interventional surgical robot facing the user from the end device and "advancement" refers to the direction of displacement of the guidewire or catheter into the body of the surgical patient. The term "back" refers to the side of the interventional surgical robot facing away from the user from the end device and "back" refers to the direction in which the guidewire or catheter is displaced 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 "rotating" includes "forward rotation" and "reverse rotation," where "forward rotation" refers to the direction of rotating a guidewire or catheter into the body of a surgical patient and "reverse rotation" refers to the direction of rotating a guidewire or catheter out of the body of a surgical patient.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, "multiple" or "multiple" 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, which are all within the protection scope of the present invention. Additionally, all or some of the steps in the methods described above may be performed in a computer system, such as a set of computer executable instructions, and, although the steps are listed in order of 1, 2, 3 …, in some cases, the steps shown or described may be performed in an order different than that described herein.

The guide wire comprises but is not limited to guide wires, micro guide wires, stents and other guiding and supporting interventional medical devices, and the catheter comprises but is not limited to guiding catheters, micro catheters, radiography catheters, multifunctional tubes (also called intermediate catheters), thrombolysis catheters, balloon dilation stent catheters and other therapeutic interventional medical devices.

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

driving mechanisms

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

The body 10 is elongated and provided with a rectilinear channel 102. These

drive mechanisms

20, 30, 40, 50, 60 are successively positioned in the channel 102 and are movable along the channel. In this embodiment, the

driving mechanisms

20, 30, 40, 50, 60 can slide directly on the main body 10, such as fixing a linear guide rail 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 forward and backward) and rotating (including forward and backward) the catheter or the guide wire, and can also be used for simultaneously clamping, pushing (including forward and backward) and rotating (including forward and backward) the catheter or the guide wire, so that the cooperative motion of a plurality of catheters and one guide wire is realized. Each drive mechanism includes a clamping assembly for clamping the catheter or guidewire, a rotating assembly for rotating the catheter or guidewire, which may be either actively driven or passively following, or all or part of which may be actively driven, or otherwise passively following, the clamping of the catheter by the

drive mechanisms

20, 40 not affecting its rotation.

The clamping and rotating assemblies of the

drive mechanisms

20, 30, 40, 50, 60 may be an interventional surgical robotic slave end guide wire catheter twisting device as described in chinese patent application 202110674959.3, the entire contents of which are incorporated herein.

In other embodiments, the specific configuration of the

drive mechanisms

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

In this embodiment, the

drive mechanisms

20 and 30 are spaced back and forth a distance to cooperatively grip, push and rotate the same guide catheter 90 (i.e., the first catheter) so that it does not bend. In fact, the

drive mechanisms

20 and 30 preferably move the guide catheter 90 synchronously so that it straightens and does not bend. Likewise, the

drive mechanisms

40 and 50 are coupled in tandem at a distance for cooperatively clamping, 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, advance and rotate the guide wire 92. The gripper 70 is used to grip and advance the guide wire 92. The quick-change mechanism 80 is removably secured to the drive mechanism 50 for gripping and advancing the quick-change catheter.

In preparation for surgery, the physician goes to the catheter room for preoperative preparation. If the guide catheter 90, the multifunctional tube 91 and the guide wire 92 are selected to be suitable (such as length and diameter), the normal saline flushing and exhausting are carried out on the guide catheter 90 and the multifunctional tube 91. The multifunctional tube 91 is manually threaded into the guide catheter 90 and extended beyond the guide catheter 90 a distance, and the guide wire 92 is threaded into the multifunctional tube 91 and extended beyond the multifunctional tube 91 a distance, such as about 10cm above the head of the guide wire 92. The

drive mechanisms

20, 30, 40, 50, 60 are positioned appropriately, the guide catheter 90, the multifunctional tube 91 and the guide wire 92 are placed together into a puncture sheath (such as into the femoral artery, radial artery or other) penetrating the surgical patient, the clamping assemblies of the

drive mechanisms

20 and 30 clamp the guide catheter 90, the clamping assemblies of the

drive mechanisms

40 and 50 clamp the multifunctional tube 91, the clamping assemblies of the drive mechanism 60 and the rear clamp 70 clamp the guide wire 92, and thus the fixation of the guide catheter 90, the multifunctional tube 91 and the guide wire 92 is achieved.

At the beginning of the operation, before the doctor comes to the outside of the catheter, the doctor uses the main end console (such as the main end operating handle of the interventional operation robot described in the chinese patent application 202110654379.8 and the main end control module of the interventional operation robot described in 202110649908.5, the entire contents of which are incorporated in the present invention) to remotely operate the driving

mechanisms

20, 30, 40, 50, 60, the gripper 70 and the quick exchange mechanism 80 for movement. Specifically, the rotation assembly of the

drive mechanisms

20 and 30, which together hold the guide catheter 90 for movement along the passageway 102, rotates the guide catheter 90 with or without the guide catheter 90, and the drive mechanism 30 holds the guide catheter 90 against movement when the drive mechanism 20 is moved to a limit position (e.g., the drive mechanism 20 is moved to the distal end of the passageway 102) to be reset and the guide catheter 90 is released. When the drive mechanism 20 is reset to a position closer to the drive mechanism 30, the clamping assembly of the drive mechanism 20 again clamps the guide catheter 90, allowing the

drive mechanisms

20 and 30 to drive the guide catheter 90 together, and simultaneously or non-simultaneously the rotating assemblies of the

drive mechanisms

20 and 30 rotate the guide catheter 90, and so forth until advanced into place.

In this process, the

drive mechanisms

40 and 50 simultaneously or non-simultaneously clamp the utility tube 91 and move along the channel 102 to advance the utility tube 91, and the rotating assembly of the

drive mechanisms

40 and 50 simultaneously or non-simultaneously rotates the utility tube 91, and the drive mechanism 50 clamps the utility tube 91 without moving when the drive mechanism 40 is moved to the limit position (e.g., the distance from the drive mechanism 30 is close to the threshold value) to reset and unclamp the utility tube 91. When the drive mechanism 40 is reset to a position closer to the drive mechanism 50, the clamping assembly of the drive mechanism 40 clamps the utility tube 91 again, so that the

drive mechanisms

40 and 50 together drive the utility tube 91 to advance, and the rotating assemblies of the

drive mechanisms

40 and 50 simultaneously or not simultaneously rotate the utility tube 91, and the operation is repeated until the operation advances to the proper position.

In the above process, the simultaneous or non-simultaneous drive mechanism 60 and the holder 70 together hold the guide wire 92 along the channel 102 to advance the guide wire 92, and the rotating assembly of the simultaneous or non-simultaneous drive 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 approaching a threshold value) to reset and release the guidewire 92, the guidewire 92 is held against movement by the holder 70. After the drive mechanism 60 is reset, the clamping assembly of the drive mechanism 60 clamps the guide wire 92 again, allowing the drive mechanism 60 and the clamp 70 to drive the guide wire 92 together to advance, while or without simultaneously rotating the drive mechanism 60 to rotate the guide wire 92, and so forth until advanced into place. In other embodiments, the guide wire 92 is initially held only by the drive mechanism 60 and the holder 70 is not held. When the drive mechanism 60 is to be reset, the guide wire 92 is held by the holder 70 instead. When the drive mechanism 60 is reset to again clamp the guide wire 92, the clamp 70 releases the guide wire 92, and thus reciprocates, the drive mechanism 60 and the clamp 70 alternately clamp the guide wire 92.

As to how the main end console remotely controls the driving

mechanisms

20, 30, 40, 50, 60, the gripper 70 and the quick-change mechanism 80 to move, it may include two levers, one of which is used to control the driving

mechanisms

20, 30, 40, 50 and the quick-change mechanism 80, and the other of which is used to control the driving mechanisms 60 and the gripper 70 by switching means for time-sharing the driving

mechanisms

20, 30, the driving

mechanisms

40, 50 and the quick-change mechanism 80, as in the interventional surgical robot main end control module described in chinese patent application 202110649908.5. Alternatively, the main console includes more than two levers, such as four levers, for remotely controlling the driving

mechanisms

20, 30, the driving

mechanisms

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

In other embodiments, drive

mechanisms

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

mechanisms

30 and 50, and the clamping assemblies of the driving

mechanisms

30 and 50 clamp the Y valves and the rotating assemblies rotate the luer connectors of the Y valves to drive the guide catheter 90 and the multifunctional tube 91 to rotate.

In the above-described process of pushing the guide catheter 90, the multifunctional tube 91 and the guide wire 92 together, it is necessary to always keep the multifunctional tube 91 extending a certain distance from the guide catheter 90 and the guide wire 92 extending a certain distance from the multifunctional tube 91. When the guide catheter 90, the multifunctional tube 91 and the guide wire 92 reach certain parts of the blood vessel, the driving

mechanisms

20, 30, 40, 50, 60 and the holder 70 may need to be remotely controlled by the main end console, so that the guide catheter 90, the multifunctional tube 91 and the guide wire 92 can be subjected to forward, backward, forward and reverse exchanges for a plurality of times.

After the guide catheter 90 is advanced into position, the guide catheter 90 is fixed without movement, and the

drive mechanisms

40, 50, 60 and the clamp 70 are remotely controlled by the main end console to retract the multifunctional tube 91 and the guide wire 92, similar to the advancement described above. When the head of the multifunctional tube 91 and the guide wire 92 is retracted to the puncture sheath, the doctor goes to the catheter room to manually take out the multifunctional tube 91 and the guide wire 92 from the clamping assembly and the clamp 70 of the

driving mechanism

40, 50, 60 and soak them in heparin water.

Finer microcatheters 94 and microcatheters 96 (e.g., 0.014 in) were chosen. The microcatheter 96 is manually threaded into the microcatheter 94 and threaded into the guide catheter 90 together, and the microcatheter 96 extends beyond the microcatheter 94 a distance such that the microcatheter 94 and the microcatheter 96 are clamped to the clamping assembly of the

drive mechanism

40, 50 and the clamping assembly of the drive mechanism 60 and the clamp 70, respectively, thereby achieving fixation of the microcatheter 94 and the microcatheter 96. In other embodiments, microcatheter 94 is connected to a Y valve that is secured to drive mechanism 50 and held by its holding assembly, and the rotating assembly rotates the Y valve luer connector to rotate microcatheter 94.

The physician again goes to the outside of the catheter's console and remotely manipulates the movement of the

drive mechanisms

40, 50, 60 and the holder 70 using the main end console. The specific process is the same as the advancing process of the multifunctional tube 91 and the guide wire 92, and will not be described herein. As

microcatheters

94, 96 are advanced to the head of guide catheter 90,

microcatheters

94, 96 are further advanced to the lesion (also referred to as a target vascular stenosis) of the surgical patient. Contrast confirms the location of the microcatheter 96 and if the desired location is reached (generally, the microcatheter 96 is to be passed through a lesion in the surgical patient, possibly except for an aneurysm embolism), the microcatheter 94 and microcatheter 96 are secured against movement by the

drive mechanisms

50, 60, respectively. If the prescribed position is not reached, the

teleoperated drive mechanism

40, 50, 60 and gripper 70 movements are repeated until the micro-wire 96 reaches the prescribed position.

After the microcatheter 96 reaches the desired position, the

drive mechanisms

40, 50 are remotely operated via the main end console to retract the microcatheter 94 while maintaining the microcatheter 96 motionless, such as the drive mechanism 60 moving back while the microcatheter 96 is held stationary by the holder 70. When the microcatheter head is retracted to the puncture sheath, the physician accesses the catheter chamber to manually withdraw the microcatheter 94 from the

drive mechanism

40, 50 and immerse it in heparin water. At this time, the micro-wire 96 may be alternately held by the driving mechanism 60, and the driving

mechanisms

20, 30 and the driving mechanism 60 may be kept fixed to the guide catheter 90 and the micro-wire 96, respectively, from moving.

The physician again goes to the catheter room and manually lets the tail of the micro-guidewire 96 penetrate the rapid exchange balloon dilation catheter 98, and the rapid exchange balloon dilation catheter 98 is advanced along 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 advances the rapid exchange balloon dilation catheter 98 to the surgical patient's lesion (without exceeding the head of the microcatheter 96) by remotely manipulating the rapid exchange mechanism 80 with the main end console before arriving outside the catheter's console. In this process, attention is paid to the position and angle of the micro wire 96 at all times, and the position and angle need to be adjusted by forward rotation, reverse rotation, forward movement and backward movement in time. When the rapid exchange balloon dilation catheter 98 reaches the lesion of the surgical patient, the rapid exchange balloon dilation catheter 98 is pre-inflated with contrast medium in the catheter room, and the contrast medium confirms the vasodilation effect. If a vasodilatory effect is achieved, contrast agent is withdrawn from within the rapid exchange balloon dilation catheter 98. Before the doctor goes to the operation table outside the catheter, the main end operation table is used for remotely controlling the quick exchange mechanism 80 to retreat to the puncture sheath. This rapid exchange balloon dilation catheter 98 maintains the microcatheter 96 in place during retraction. For some procedures, multiple vasodilation may be required, so the rapid exchange balloon dilation catheter 98 described above may be advanced and retracted multiple times.

The doctor comes to the catheter room again, the rapid exchange balloon dilation catheter 98 is manually removed from the rapid exchange mechanism 80, and the rapid exchange balloon dilation stent catheter is manually inserted through the micro-guide wire 96 and clamped to the rapid exchange mechanism 80, and the specific process is the same as the rapid exchange balloon dilation catheter 98, and is not repeated.

The physician again goes to the outside of the catheter console and remotely manipulates the rapid exchange mechanism 80 using the main end console to advance the rapid exchange balloon stent catheter along the microcatheter 96 to the surgical patient's lesion (already expanded vessel). In this process, attention is paid to the position and angle of the micro wire 96 at all times, and the position and angle need to be adjusted by forward rotation, reverse rotation, forward movement and backward movement in time. When the rapid exchange balloon expandable stent catheter reaches the focus of the operation patient (the expanded blood vessel), the position of the rapid exchange balloon expandable stent catheter is finely adjusted, and after the position is determined, the rapid exchange balloon expandable stent catheter is filled with contrast agent in the catheter chamber, so that the stent is formed. Contrast confirms that the balloon expandable stent is placed correctly, contrast can be extracted and the rapid exchange mechanism 80 is operated to drive the rapid exchange balloon expandable stent catheter to retract to the puncture sheath, while the balloon expandable stent remains at the focus of the patient. The physician arrives at the catheter room to manually remove the rapid exchange balloon stent catheter from the rapid exchange mechanism 80 and place it into heparin water.

The physician then goes to the outside of the catheter and remotely controls the movement of the

drive mechanism

20, 30, 40, 50, 60 and the holder 70 using the main end console to retract the guide catheter 90 and the microcatheter 96 to the puncture sheath. Finally, the doctor returns to the catheter room, manually removes the guide catheter 90 and the micro-guide wire 96 from the clamping assembly and the clamp 70 of the

driving mechanism

20, 30 and 60, withdraws from the puncture sheath, puts the puncture sheath into heparin water, and then performs puncture sheath extraction and postoperative treatment to complete the operation.

The above is a quick change catheter and therefore requires a quick change mechanism 80 to hold, push and rotate. If the coaxial exchange catheter is used, after the tail of the micro-guide wire 96 penetrates 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 or retreated to the puncture sheath along the micro-guide wire 96. Roller drive means may be used to effect clamping, pushing and rotation of the quick-change and coaxial exchange conduits, whether the quick-change mechanism 80 or the coaxial exchange mechanism.

The above is an illustration of the motion and control procedure of the present invention using "balloon stent forming surgery". Indeed, the present invention may also be used in a variety of procedures for imaging, embolization, thrombolysis, and the like. The driving

mechanisms

20, 30, 40, 50, 60, the clamp 70 and the quick-change mechanism 80 can be freely adjusted by doctors according to actual surgical needs, namely, the driving

mechanisms

20, 30, 40, 50, 60, the clamp 70 and the quick-change mechanism 80 can be conveniently assembled and disassembled. If more complicated operations are implemented, more driving mechanisms, holders and quick exchange mechanisms can be added, for example, after more driving mechanisms and holders are added, the collaborative movement of a plurality of catheters corresponding to one guide wire or a plurality of catheters corresponding to a plurality of guide wires can be realized, for example, two driving mechanisms are added in fig. 3 to clamp and rotate more catheters, and the above-mentioned "ball-expanding stent forming operation" can be specifically referred to; each driving mechanism corresponding to the guide pipe 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. While in performing a simple examination procedure such as an angiographic procedure, only two of the

drive mechanisms

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

drive mechanisms

30 and 60, refer to fig. 4, the other drive mechanisms, gripper 70 and quick-change mechanism 80 are removed from body 10. In the following, the invention will be described with reference to angiographic procedures, in which only one catheter and one guidewire cooperate to move and control the drive mechanisms 30 and 60:

when preparing operation, the guiding catheter, guiding guide wire and radiography catheter with proper diameters and lengths are selected according to the positions of vascular lesions, and physiological saline is flushed and exhausted for the guiding catheter and radiography catheter. And starting the interventional operation robot to finish initialization. The puncture sheath is put into the operation patient. The guide wire is manually threaded into and out of the guide catheter a distance, such as about 10cm above the guide catheter at the guide wire head, and placed together into the puncture sheath. The clamping components of the driving

mechanisms

30 and 60 are used for respectively clamping the guide catheter and the guide wire, so that the guide catheter and the guide wire are fixed.

When the operation is started, the doctor moves to the outside of the catheter before arriving at the operation table, and remotely operates the driving

mechanisms

30 and 60 by using the main end operation table. The guiding catheter and the guiding guide wire are cooperatively advanced to the target blood vessel respectively. The process refers to the aforementioned "balloon stent forming surgery". The head parts of the guide catheter and the guide wire are kept in the visual field range of the image. At this time, the drive mechanism 30 is allowed to hold the guide catheter without moving, and the drive mechanism 60 is remotely operated to retract to withdraw the guide guidewire to the puncture sheath.

The physician accesses the catheter room and manually removes the guide wire from the clamping assembly of the drive mechanism 60 and dips it into the heparin water. And (3) inputting a contrast agent into the guide catheter, performing radiographic imaging, and obtaining complete image information of different angles of the target blood vessel.

If it is desired to obtain image information of multiple target vessels, another guide wire is selected to penetrate into the guide catheter and advance to the puncture sheath, and the guide wire is clamped to the clamping assembly of the driving mechanism 60. Before the catheter is moved to the outside of the catheter, the main end console is used for remotely operating the driving

mechanisms

30 and 60 to move, the guiding catheter and the guiding guide wire are respectively advanced to the other target blood vessel in a coordinated manner, the guiding guide wire is retracted to the puncture sheath and taken out, and contrast agent is input into the guiding catheter again for radiography, so that complete image information of the other target blood vessel at different angles is obtained. And so many times until the complete image information of all target blood vessels is obtained.

The doctor remotely controls the driving mechanism 30 to retreat to drive the guiding catheter to withdraw to the puncture sheath. The physician accesses the catheter room and manually removes the guide catheter and the last used guide wire from the clamping assembly of the

drive mechanism

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

If the guide catheter is not bent during advancement of the guide wire, the drive mechanism 20 is allowed to advance and rotate the guide catheter in conjunction with the drive mechanism 30, and the holder 70 is allowed to advance and rotate the guide wire in conjunction 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 catheter. In fact, they may also be placed in a separate space within the catheter chamber, provided that they isolate the X-ray radiation, and allow the physician to avoid the X-ray radiation.

The above describes only some of the ways in which a catheter guidewire may be replaced. In fact, the replacement of the catheter guidewire is entirely contingent on the actual needs of the procedure and the personal operating habits of the physician. Not only in the above manner of catheter guidewire removal.

Therefore, the invention can enable doctors to remotely control the driving mechanism, the clamp holder and the quick exchange mechanism, thereby driving the catheter guide wires to cooperatively move, not only avoiding the influence of X-ray radiation on health, but also ensuring that the robot controls the movement of the catheter guide wires to be more accurate, reducing the working strength and avoiding large errors.

Those of ordinary skill in the art will appreciate that all or a portion of the steps of the methods described above may be implemented by a program that instructs associated hardware, and the program may be stored on a computer readable storage medium such as a read-only memory, a magnetic or optical disk, etc. 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 embodiment may be implemented in the form of hardware, or may 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.

Of course, the present invention is capable of other various embodiments and its several details are capable of modification and variation in light of the present invention, as will be apparent to those skilled in the art, without departing from the spirit and scope of the invention as defined in the appended claims.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims

1. An interventional operation robot slave end device comprises a main body, and a first driving mechanism, a second driving mechanism and a third driving mechanism which are sequentially arranged on the main body;

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

the device comprises a guide wire, a first driving mechanism, a second driving mechanism, a third driving mechanism, a clamping device and a clamping device, wherein the guide wire is driven to move by the first driving mechanism and the clamping device in a matched mode, when the third driving mechanism moves to a limiting position to be reset and the guide wire is loosened, the clamping device clamps the guide wire and does not move, and after the third driving mechanism resets, the third driving mechanism or the third driving mechanism clamps the guide wire together with the clamping device to move, and the guide wire moves in a reciprocating mode until the guide wire advances to the proper position;

the clamp holder is matched with the third driving mechanism to rotate the guide wire together;

the main body is long and narrow and is provided with a linear channel, and the first driving mechanism, the second driving mechanism, the third driving mechanism and the clamp holder are sequentially arranged in the channel in a gradual manner and can move along the channel.

2. The interventional surgical robot slave device of claim 1, further comprising a fourth drive mechanism mounted to the body, the fourth drive mechanism cooperating with the first drive mechanism to move the first catheter.

3. An interventional surgical robot slave device according to claim 2, wherein the first drive mechanism is adapted to clamp the first catheter against movement when the fourth drive mechanism is moved to an extreme position to be reset to unclamp the first catheter.

4. An interventional procedure robot slave according to claim 2, in which the fourth drive mechanism is located on the side of the first drive mechanism remote from the second drive mechanism.

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

6. An interventional robot slave device according to claim 5, wherein the second drive mechanism is adapted to clamp the second catheter against movement when the fifth drive mechanism is moved to an extreme position to be reset to unclamp the second catheter.

7. An interventional procedure robot slave according to claim 5, in which the fifth drive mechanism is located between the first drive mechanism and the second drive mechanism.

8. An interventional procedure robot slave according to claim 5, in which the fourth and fifth drive mechanisms are moved in the same axial direction as the first, second and third drive mechanisms.

9. The interventional surgical robot slave device of claim 5, wherein the first drive mechanism, the second drive mechanism, the third drive mechanism, the fourth drive mechanism, and the fifth drive mechanism are all of an active drive type.

10. The interventional surgical robot slave device of claim 5, wherein the first, second and third drive mechanisms are all of an active drive type, and the fourth and fifth drive mechanisms are of a passive following type.

11. An interventional procedure robot slave according to claim 1, in which the first and second drive mechanisms comprise the same clamping assembly for clamping a Y valve connected to a catheter to clamp the catheter.

12. The interventional procedure robot slave device of claim 11, wherein the first drive mechanism and the second drive mechanism further comprise the same rotating assembly for rotating the Y-valve luer connector to rotate the catheter.

13. An interventional surgical robotic slave device according to claim 5, wherein the fourth and fifth drive mechanisms comprise the same clamping assembly and the same rotating assembly.

14. An interventional surgical robot slave device according to claim 5, wherein the third drive mechanism comprises a clamping assembly and a rotating assembly, the clamping assembly and the rotating assembly of the third drive mechanism being identical or different from the clamping assembly and the rotating assembly of the fourth drive mechanism and the fifth drive mechanism.

15. The interventional surgical robotic slave device of claim 1, further comprising a switching mechanism, the switching mechanism being either a rapid switching mechanism or a coaxial switching mechanism.

16. An interventional surgical robotic slave device according to claim 15, wherein the exchange mechanism is detachably secured to the second drive mechanism or is of integral design with the second drive mechanism.