CN114028709A

CN114028709A - Valve fixing assembly and interventional operation robot with same

Info

Publication number: CN114028709A
Application number: CN202111401971.3A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Aibo Medical Robot Co Ltd
Current assignee: Shenzhen Aibo Medical Robot Co Ltd
Priority date: 2021-11-19
Filing date: 2021-11-19
Publication date: 2022-02-11

Abstract

A valve mounting assembly includes a telescoping support bracket and a mounting bracket that is manually removably secured to the support bracket. The invention also provides an interventional surgical robot with a valve securing assembly, comprising a slave end body and a valve securing assembly telescopically disposed at a distal end of the slave end body. The valve fixing component is arranged on a delivery path of the slender medical device between the slave end main body and a surgical patient and is used for fixedly installing the slender medical device which is delivered in place and the functional valve connected to the proximal end of the slender medical device, so that the driving device on the slave end main body can control a larger number of slender medical devices, the delivery stroke of the driving device is increased while the driving device is reduced, and the control of the driving device on the slave end main body is simplified.

Description

Valve fixing assembly and interventional operation robot with same

Technical Field

The invention relates to a device in the field of medical robots, in particular to a valve fixing component and an interventional operation robot with the valve fixing component.

Background

Interventional therapy is minimally invasive therapy carried out by modern high-tech means, and under the guidance of medical imaging equipment, special catheters, guide wires and other precise instruments are introduced into a human body to diagnose and locally treat internal diseases.

The slave end of the interventional operation robot generally comprises a transmission trolley mechanism and a main driving device, a guide wire of a catheter in the operation process is clamped on the transmission trolley mechanism, the main driving device can drive the transmission trolley mechanism to adjust the position in the linear direction, along with the rapid development of the interventional operation technology, the interventional operation can complete more complicated operation compared with the prior operation, and for the requirements of medical instruments in the operation, the operation can be developed to a three-tube one-wire mode or even a multi-tube multi-wire mode from the previous one-tube (namely, the catheter, the same tube) one-wire (namely, the guide wire, the same tube) and the same wire (namely, the same tube) and the same wire (hereinafter). However, when the multi-tube and multi-wire mode is adopted, more transmission trolley mechanisms are needed to control each medical appliance.

Compared with the operation of doctors, on the premise of ensuring that the operation can be completed, the more the transmission trolley mechanisms are, the better the transmission trolley mechanisms are, the surgical robot adopting the type with the multiple transmission trolley mechanisms is limited by the moving space of the transmission trolley mechanisms, and the shorter the delivery stroke is due to the more the transmission trolley mechanisms, which is not beneficial to delivering the guide wire of the catheter to the focus position. And traditional intervention operation robot exists the condition that leading Y valve occupies transmission trolley mechanism from the end, needs to increase extra transmission trolley mechanism and drives pipe, seal wire, consequently, urgently need carry out structural improvement to traditional intervention operation robot to a novel fixed subassembly of Y valve is provided.

Disclosure of Invention

In view of the above, it is necessary to provide a novel valve fixing assembly and an interventional surgical robot having the same, which address the deficiencies in the prior art.

A valve mounting assembly includes a telescoping support bracket and a mounting bracket that is manually removably secured to the support bracket.

Furthermore, the fixing seat comprises a body part fixed on the support frame and a guiding part connected with the body part and used for supporting the slender medical device.

Furthermore, the guiding part is a hollow sterile isolation cover, the shape of the guiding part gradually shrinks towards the direction far away from the body part, and the shape of the guiding part gradually shrinks towards the direction far away from the body part.

Further, a guide groove is formed in the guide part, and a through hole for the passage of the slender medical device is formed in one end, far away from the body part, of the guide groove.

Further, the body portion is provided with a first receiving groove, a second receiving groove, a through groove communicating the first receiving groove and the second receiving groove, a third receiving groove communicating with the through groove and located between the first receiving groove and the second receiving groove, and a fourth receiving groove communicating the guide groove and the second receiving groove on the side surface.

Furthermore, the valve fixing component also comprises a limiting cover which is rotatably arranged on the fixing seat and covers the side surface of the body part.

Further, the limit cover is fixed on the body part in a magnetic suction mode.

The invention also provides an interventional surgical robot with a valve fixing component, which comprises a slave end main body and the valve fixing component, wherein the valve fixing component is telescopically arranged at the far end of the slave end main body.

Further, the valve securing assembly is received in the distal end of the slave end body and hidden.

Further, the valve securing assembly is manually removably disposed at the distal end of the slave end body.

Further, the support frame is telescopic.

Further, the support bracket extends from within the slave end body.

In summary, the valve fixing assembly of the present invention is disposed on the delivery path of the elongated medical device between the slave end body and the surgical patient, and is used for fixedly installing the elongated medical device which has been delivered in place and the functional valve connected to the proximal end of the elongated medical device, so that the driving device on the slave end body can control a greater number of elongated medical devices.

Drawings

FIG. 1 is a schematic view of the interventional surgical robot of the present invention having a valve fixation assembly;

FIG. 2 is a schematic view of the valve mounting assembly of the present invention in cooperation with a T-valve and a guide catheter;

FIG. 3 is a schematic structural view of the valve securing assembly of FIG. 2;

fig. 4 is a schematic structural view of the T-valve shown in fig. 2 after being installed in cooperation with a guiding catheter.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further 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.

As shown in fig. 1 to 4, the present invention provides an interventional surgical robot having a valve fixing assembly, a distal end of the interventional surgical robot is an end close to a patient, and another end, corresponding to the distal end, far from the patient is a proximal end. The interventional surgical robot with the valve fixing assembly comprises a slave end body 10 and a valve fixing assembly 20 telescopically arranged at the far end of the slave end body 10 (namely, the far end of the interventional surgical robot), wherein the slave end body 10 comprises a box body 11 and a plurality of driving devices 12 arranged at the outer side of the box body 11, the driving devices 12 are used for carrying out clamping, delivering and rotating operations on a plurality of elongated medical devices (such as a guide catheter 100, a micro guide wire 300 or a micro guide catheter 200), the valve fixing assembly 20 is arranged on the forward delivery path of the elongated medical devices (namely, the far end of the interventional surgical robot) and is used for fixedly installing the guide catheter 100 which is delivered in place and a functional valve 30 (such as a T-shaped valve and a Y-shaped valve) connected to the near end of the guide catheter 100.

The functional valve 30 includes a valve body 31, a connector 33 mounted on the valve body 31, and a driving member 34 mounted on the connector 33, where the valve body 31 includes a first tube 311, a second tube 312, and a third tube 313, in this embodiment, the first tube 311, the second tube 312, and the third tube 313 are distributed in a T shape, the first tube 311 is communicated with the second tube 312, the third tube 313 is connected between the first tube 311 and the second tube 312 and is communicated with the first tube 311 and the second tube 312, a slender medical device is introduced from the first tube 311 and extends out of the second tube 312, and an introduction end 32 is disposed at an end of the first tube 311 away from the second tube 312.

The connector 33 is mounted on the end of the second tube 312 far away from the first tube 311, the connector 33 is freely rotatable on the second tube 312, the connector 33 is a male luer connector, the proximal end of the guiding catheter 100 is provided with a female luer connector 110, and the guiding catheter 100 is fittingly mounted with the connector 33 through the female luer connector 110. A plurality of clamping strips 331 are arranged on the connecting head 33, and the extending direction of the clamping strips 331 is consistent with that of the second pipe body 312. The middle of the driving member 34 is provided with a mounting hole 341, a clamping groove 342 is formed in the hole wall of the mounting hole 341, when the driving member 34 is mounted in cooperation with the connector 33, the connector 33 is inserted into the mounting hole 341, and the clamping strip 331 on the connector 33 and the clamping groove 342 on the mounting hole 341 are clamped and fixed in an interference fit manner, so that the driving member 34 and the connector 33 can rotate synchronously. In this embodiment, the driving member 34 is a gear having straight teeth on the circumferential surface.

The valve fixing assembly 20 includes a support frame 28 telescopically disposed at the distal end of the slave end main body 10, a fixing seat 21 fixed to the support frame 25, and a limit cover 22 movably mounted on the fixing seat 21, the functional valve 30 is placed on the fixing seat 21, the guide catheter 100 mounted on the functional valve 30 extends from one end of the fixing seat 21, the limit cover 22 can be turned over from the fixing seat 21, so that the limit cover 22 covers the fixing seat 21, and limits the functional valve 30 placed on the fixing seat 21, or opens the limit cover 22 to install or take out the functional valve 30.

The fixing seat 21 includes a main body 23 and a guiding portion 24 connected to one end of the main body 23, the main body 23 is provided with a first receiving groove 231, a second receiving groove 232, a through groove 233 communicating the first receiving groove 231 with the second receiving groove 232, a third receiving groove 234 located between the first receiving groove 231 and the second receiving groove 232 and communicating with the through groove 233, and a fourth receiving groove 235 communicating an inner space of the guiding portion 24 with the second receiving groove 232, wherein bottoms of the first receiving groove 231 and the second receiving groove 232 are arc-shaped and respectively correspond to the leading-in end 32 and the connecting head 33 of the functional valve 30. The guide portion 24 has a hollow conical shape as a whole, the shape of the guide portion gradually shrinks in a direction away from the main body portion 23, the guide portion 24 is provided with a guide groove 241 communicating with the second receiving groove 232, the space in the guide groove 241 also gradually shrinks in a direction away from the main body portion 23, a through hole 242 is formed at one end of the guide portion 24 away from the main body portion 23, and the opening of the through hole 242 is aligned with the through groove 233. In this embodiment, the opening of the through hole 242 and the through groove 233 are located on the same line.

The two sides of the limiting cover 22 are convexly provided with the bayonet pins 222, the body portion 23 is convexly provided with two supporting columns 236 which are oppositely arranged on the installation surface, the supporting columns 236 are provided with movable holes 237, the bayonet pins 222 of the limiting cover 22 are inserted into the movable holes 237, and the limiting cover 22 can rotate on the fixed seat 21 through the matching of the bayonet pins 222 and the movable holes 237. One of the limit cover 22 and the main body 23 is provided with a magnetic element 25, and the other one is provided with a ferrous element or a magnetic element 26, and the limit cover 22 can be fixed on the main body 23 by a magnetic attraction way.

In this embodiment, the fixing seat 21 of the valve fixing component 20 is connected to the box body 11 through a supporting frame 25, the supporting frame 25 may be a telescopic rod, and the telescopic rod includes a telescopic type supporting frame 25 itself, similar to a telescopic antenna, and can also extend out from the box body 11 when in use, and be hidden in the box body 11 when not in use, thereby facilitating use and not occupying space. The fixing seat 21 is fixed on the supporting frame 25 through a snap structure or a magnetic suction manner. In this embodiment, the supporting frame 25 is substantially L-shaped. In other embodiments, the valve fixing component 20 can also be directly installed in cooperation with the box 11 by a snap structure or a magnetic attraction manner, so that the valve fixing component 20 can be freely detached from the box 11. The valve holding member 20 may be housed in the slave end body 10 so as to be hidden, and the valve holding member 20 is extended from the slave end body 10 when it is required to be used.

During the interventional operation, the driving device 12 on the slave end body 10 is reset to connect the guiding catheter 100 to the functional valve 30, and then the functional valve 30 with the guiding catheter 100 is installed on the driving device 12, and the driving device 12 drives the guiding catheter 100 and the functional valve 30 to be delivered forwards; after the guide catheter 100 is delivered in place in the blood vessel of the surgical patient, contrast medium is injected from the third tube 313 of the functional valve 30 to confirm the position of the guide catheter 100; if the position is correct, the functional valve 30 connected with the guide conduit 100 is taken out from the driving device 12 and placed on the valve fixing assembly 20, when the functional valve 30 and the valve fixing assembly 20 are installed in a matching manner, the limit cover 22 is opened, the valve body 31 and the third tube 313 on the functional valve 30 are respectively clamped in the through groove 233 and the third accommodating groove 234, the leading end 32 and the connecting head 33 on the functional valve 30 are accommodated in the first accommodating groove 231 and the second accommodating groove 232 on the two sides of the through groove 233, the driving member 34 is accommodated in the fourth accommodating groove 235 of the body portion 23, the proximal end of the guide conduit 100 connected with the functional valve 30 is accommodated in the guide groove 241, the guide conduit 100 passes through the guide groove 241 and extends out of the through hole 242, the limit cover 22 is covered on the body portion 23, and the limit cover 22 limits the functional valve 30 under the action of the magnetic attraction force; after the guide catheter 100 and the functional valve 30 are removed from the driving device 12 of the tip body 10, another catheter may be attached to the driving device 12 of the tip body 10, for example, a catheter or a guide wire attached to another driving device 12 after the driving device 12 may be detached and replaced to the driving device 12, and a thinner catheter may be attached to another driving device 12. In this way, more catheters, guidewires, etc. can be controlled for gripping, delivery and rotation.

In this embodiment, the guiding portion 24 is open, can extend to a structure for fixing an introducer sheath (i.e., a sheath inserted into a puncture site of an interventional operation), and can be fixed to the structure for fixing the introducer sheath by means of a snap or a magnetic attraction. In other embodiments, the guide 24 may be of a closed type. These all contribute to achieving aseptic isolation.

In other embodiments, the guide catheter 100 connected to the functional valve 30 may be manually threaded into place and then secured to the valve retaining assembly 20.

In other embodiments, the valve securing assembly 20 may be mounted at an angle relative to the interventional surgical robot, i.e., toward the direction of the surgical patient, to facilitate control of catheter, guidewire delivery, etc.

In summary, the interventional surgical robot of the present invention is provided with the valve fixing assembly 20, the valve fixing assembly 20 is disposed on the elongated medical device delivery path between the slave end body 10 and the surgical patient, and is used for fixedly installing the guide catheter 100 which has been delivered in place and the function valve 30 connected to one end of the guide catheter 100, so that the driving device 12 on the slave end body 10 can control a larger number of catheters and guide wires, compared to the conventional interventional surgical robot, in the same type of interventional surgical process, because the additional driving device 12 is not needed to support the function valve 30 which has been delivered, the interventional surgical process can be completed with a smaller number of driving devices 12, the delivery stroke of the driving devices 12 is effectively increased, and the control of the driving devices 12 on the slave end body 10 is simplified.

The above-mentioned embodiments only express one embodiment of the invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.

Claims

1. A valve fixing assembly is characterized by comprising a telescopic support frame and a fixing seat fixed on the support frame.

2. The valve securing assembly as defined in claim 1, wherein: the fixing seat comprises a body part fixed on the support frame and a guide part connected with the body part and used for supporting the slender medical instrument.

3. The valve securing assembly as defined in claim 2, wherein: the guiding part is a hollow sterile isolation cover, and the shape of the guiding part gradually shrinks towards the direction far away from the body part.

4. The valve securing assembly as defined in claim 2, wherein: a guide groove is formed in the guide part, and a through hole for the passage of a slender medical instrument is formed in one end, far away from the body part, of the guide groove.

5. The valve securing assembly as defined in claim 4, wherein: the side surface of the body part is provided with a first containing groove, a second containing groove, a through groove communicated with the first containing groove and the second containing groove, a third containing groove communicated with the through groove and positioned between the first containing groove and the second containing groove, and a fourth containing groove communicated with the guide groove and the second containing groove.

6. The valve securing assembly as defined in claim 5, wherein: the valve fixing component also comprises a limiting cover which is rotatably arranged on the fixing seat and covers the side surface of the body part.

7. The valve securing assembly as defined in claim 6, wherein: the limiting cover is fixed on the body part in a magnetic attraction mode.

8. An interventional surgical robot having a valve securing assembly, characterized by: comprising a slave end body and a valve securing assembly according to any of claims 1 to 7 telescopically disposed in a distal end of the slave end body.

9. An interventional surgical robot having a valve securing assembly according to claim 8, wherein: the valve securing assembly is received in the distal end of the slave end body and hidden.

10. An interventional surgical robot having a valve securing assembly according to claim 8, wherein: the valve securing assembly is manually removably disposed at the distal end of the slave end body.

11. An interventional surgical robot having a valve securing assembly according to claim 8, wherein: the support frame is telescopic.

12. An interventional surgical robot having a valve securing assembly according to claim 8, wherein: the support bracket extends from the interior of the slave end body.