CN113951946B - 血管介入器械推送装置及方法 - Google Patents

血管介入器械推送装置及方法 Download PDF

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Publication number
CN113951946B
CN113951946B CN202111234034.3A CN202111234034A CN113951946B CN 113951946 B CN113951946 B CN 113951946B CN 202111234034 A CN202111234034 A CN 202111234034A CN 113951946 B CN113951946 B CN 113951946B
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Prior art keywords
driving
driven
conveyor belt
lifting
assembly
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CN202111234034.3A
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Chinese (zh)
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CN113951946A (zh
Inventor
周小虎
刘市祺
谢晓亮
侯增广
王晋利
桂美将
李�浩
奉振球
孟令武
赵含霖
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Institute of Automation of Chinese Academy of Science
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Institute of Automation of Chinese Academy of Science
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Priority to CN202111234034.3A priority Critical patent/CN113951946B/zh
Publication of CN113951946A publication Critical patent/CN113951946A/zh
Priority to PCT/CN2022/126610 priority patent/WO2023066362A1/fr
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A61M25/09041—Mechanisms for insertion of guide wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00243—Type of minimally invasive operation cardiac
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Pulmonology (AREA)
  • Biophysics (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Robotics (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Surgical Instruments (AREA)
CN202111234034.3A 2021-10-22 2021-10-22 血管介入器械推送装置及方法 Active CN113951946B (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202111234034.3A CN113951946B (zh) 2021-10-22 2021-10-22 血管介入器械推送装置及方法
PCT/CN2022/126610 WO2023066362A1 (fr) 2021-10-22 2022-10-21 Dispositif et méthode de poussée d'instrument d'intervention vasculaire

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111234034.3A CN113951946B (zh) 2021-10-22 2021-10-22 血管介入器械推送装置及方法

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CN113951946A CN113951946A (zh) 2022-01-21
CN113951946B true CN113951946B (zh) 2023-11-17

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CN (1) CN113951946B (fr)
WO (1) WO2023066362A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113974787B (zh) * 2021-10-22 2022-09-27 中国科学院自动化研究所 血管介入器械搓捻装置及方法
CN113951946B (zh) * 2021-10-22 2023-11-17 中国科学院自动化研究所 血管介入器械推送装置及方法
CN114560284B (zh) * 2022-03-30 2024-04-16 四川大川合颐生物科技有限公司 一种细胞培养器械生产设备、智能控制系统及其生产方法

Citations (13)

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US6695813B1 (en) * 1999-12-30 2004-02-24 Advanced Cardiovascular Systems, Inc. Embolic protection devices
WO2010124520A1 (fr) * 2009-05-01 2010-11-04 常州高新技术产业开发区三维工业技术研究所有限公司 Composition pharmaceutique pour le traitement d'un métabolisme énergétique anormal et son utilisation
CN103083783A (zh) * 2013-02-25 2013-05-08 中国科学院自动化研究所 一种基于带夹持的血管介入手术导管或导丝操纵装置
CN105769343A (zh) * 2016-04-26 2016-07-20 中国科学院自动化研究所 一种血管介入手术操作采集装置及方法
CN107106155A (zh) * 2017-04-01 2017-08-29 中国科学院深圳先进技术研究院 血管介入手术机器人的导管推送控制方法及导管推送设备
CN108514448A (zh) * 2017-12-14 2018-09-11 深圳先进技术研究院 血管介入手术机器人导丝、导管操控装置
CN109109989A (zh) * 2018-09-10 2019-01-01 华南理工大学 一种基于履带和麦克纳姆轮的全地形底盘
CN208389162U (zh) * 2017-11-01 2019-01-18 青岛市市立医院 一种用于超滑亲水导丝的控制装置
CN110182632A (zh) * 2019-06-04 2019-08-30 安徽富贵服饰有限公司 一种升降式成卷布料智能上料机器人
CN211985654U (zh) * 2019-10-26 2020-11-24 宜昌市中心人民医院 一种介入血管微手术机器人
WO2021004255A1 (fr) * 2019-07-10 2021-01-14 北京唯迈医疗设备有限公司 Appareil de propulsion d'extrémité esclave de robot chirurgical d'intervention et son procédé de commande
WO2021008076A1 (fr) * 2019-07-12 2021-01-21 中国科学院深圳先进技术研究院 Dispositif chirurgical d'intervention vasculaire
KR102274498B1 (ko) * 2020-01-31 2021-07-07 (주)퓨전이엔씨 리프트가 탑재된 전 방향 이동 운송 로봇

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CN101879346B (zh) * 2010-07-03 2013-12-18 燕山大学 微创血管介入手术机器人导管捻旋装置
US10376672B2 (en) * 2013-03-15 2019-08-13 Auris Health, Inc. Catheter insertion system and method of fabrication
DE102016002812A1 (de) * 2016-03-08 2017-09-14 Sami Haddadin Robotersystem, Verfahren zur Steuerung eines Robotersystems und Fließbearbeitungsvorrichtung
WO2020058736A1 (fr) * 2018-09-19 2020-03-26 Gebo Cermex Canada Inc. Dispositif et procede de convoyage de produits
CN110141364A (zh) * 2019-06-18 2019-08-20 李羿贤 一种介入操作系统
CN110668142B (zh) * 2019-09-18 2021-12-24 兰剑智能科技股份有限公司 拣选装置
CN112107775B (zh) * 2020-10-14 2024-07-26 上海睿触科技有限公司 一种血管介入手术导丝自动输送系统
CN112827054A (zh) * 2021-01-07 2021-05-25 冯俊波 一种适用于大血管手术的插管推进装置
CN113951946B (zh) * 2021-10-22 2023-11-17 中国科学院自动化研究所 血管介入器械推送装置及方法
CN113974787B (zh) * 2021-10-22 2022-09-27 中国科学院自动化研究所 血管介入器械搓捻装置及方法

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6695813B1 (en) * 1999-12-30 2004-02-24 Advanced Cardiovascular Systems, Inc. Embolic protection devices
WO2010124520A1 (fr) * 2009-05-01 2010-11-04 常州高新技术产业开发区三维工业技术研究所有限公司 Composition pharmaceutique pour le traitement d'un métabolisme énergétique anormal et son utilisation
CN103083783A (zh) * 2013-02-25 2013-05-08 中国科学院自动化研究所 一种基于带夹持的血管介入手术导管或导丝操纵装置
CN105769343A (zh) * 2016-04-26 2016-07-20 中国科学院自动化研究所 一种血管介入手术操作采集装置及方法
CN107106155A (zh) * 2017-04-01 2017-08-29 中国科学院深圳先进技术研究院 血管介入手术机器人的导管推送控制方法及导管推送设备
CN208389162U (zh) * 2017-11-01 2019-01-18 青岛市市立医院 一种用于超滑亲水导丝的控制装置
CN108514448A (zh) * 2017-12-14 2018-09-11 深圳先进技术研究院 血管介入手术机器人导丝、导管操控装置
CN109109989A (zh) * 2018-09-10 2019-01-01 华南理工大学 一种基于履带和麦克纳姆轮的全地形底盘
CN110182632A (zh) * 2019-06-04 2019-08-30 安徽富贵服饰有限公司 一种升降式成卷布料智能上料机器人
WO2021004255A1 (fr) * 2019-07-10 2021-01-14 北京唯迈医疗设备有限公司 Appareil de propulsion d'extrémité esclave de robot chirurgical d'intervention et son procédé de commande
WO2021008076A1 (fr) * 2019-07-12 2021-01-21 中国科学院深圳先进技术研究院 Dispositif chirurgical d'intervention vasculaire
CN211985654U (zh) * 2019-10-26 2020-11-24 宜昌市中心人民医院 一种介入血管微手术机器人
KR102274498B1 (ko) * 2020-01-31 2021-07-07 (주)퓨전이엔씨 리프트가 탑재된 전 방향 이동 운송 로봇

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CN113951946A (zh) 2022-01-21

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