CN114145847A - Robot for vascular intervention operation - Google Patents
Robot for vascular intervention operation Download PDFInfo
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- CN114145847A CN114145847A CN202111490870.8A CN202111490870A CN114145847A CN 114145847 A CN114145847 A CN 114145847A CN 202111490870 A CN202111490870 A CN 202111490870A CN 114145847 A CN114145847 A CN 114145847A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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Abstract
The disclosed embodiment relates to a robot for vascular intervention surgery, comprising: a base; the catheter intervention device is movably arranged on the base and comprises a first conveying mechanism, a first rotating mechanism and a first locking mechanism, a hollow first installation sleeve is arranged on the catheter intervention device, the first catheter penetrates through the first installation sleeve and is fixed through the first locking mechanism, the first conveying mechanism can drive the first catheter to move relative to the base, and the first rotating mechanism can drive the first catheter to rotate around the axis of the first catheter; the guide wire intervention device is movably mounted on the base and located on the rear side of the catheter intervention device, the guide wire intervention device comprises a second conveying mechanism, a second rotating mechanism and a clamping mechanism, a guide wire installation position is arranged on the guide wire intervention device, the guide wire is mounted on the guide wire installation position, the clamping mechanism can adjust the guide wire installation position and fix the guide wire, the second conveying mechanism can drive the guide wire to move relative to the base, and the second rotating mechanism drives the guide wire to rotate around the axis of the guide wire.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of medical instruments, in particular to a vascular intervention surgical robot.
Background
Cardiovascular and other vascular diseases become the first cause of death in the world and China, and doctors and medical staff can be exposed to ionizing radiation of X-rays for a long time and suffer secondary injury by wearing heavy lead clothes when traditional guide wires and catheter interventional devices are used. By means of the robot technology, doctors can accurately treat and reduce injuries to human bodies in a physical isolation or remote operation mode.
At present, minimally invasive interventional surgical robot systems developed and introduced cannot be adapted to catheters and guide wires with different wire diameter specifications, and the allowed movement stroke is small, so that the minimally invasive interventional surgical robot systems are only applicable to partial operations, and the application range is greatly reduced.
Disclosure of Invention
An object of the disclosed embodiments is to provide a vascular intervention surgical robot to solve the problems existing in the prior art.
In one aspect, embodiments of the present disclosure provide a vascular interventional surgical robot, including:
a base;
the catheter intervention device is movably arranged on the base and comprises a first conveying mechanism, a first rotating mechanism and a first locking mechanism, a hollow first installation sleeve is arranged on the catheter intervention device, a first catheter penetrates through the first installation sleeve and is fixed through the first locking mechanism, the first conveying mechanism can drive the first catheter to move relative to the base, and the first rotating mechanism can drive the first catheter to rotate around the axis of the first catheter;
the device is intervene to the seal wire, movable mounting in the base is located the rear side that the device was intervene to the pipe, the seal wire is intervene the device and is included second conveying mechanism, second rotary mechanism and fixture, be equipped with seal wire installation position on the device is intervene to the seal wire, the seal wire install in seal wire installation position, fixture can adjust seal wire installation position will the seal wire is fixed, second conveying mechanism can drive the seal wire for the base removes, second rotary mechanism drives the seal wire is rotatory around its axle center.
In some embodiments, the first conveying mechanism includes a guide rail disposed on the base, a first conveying wheel slidably connected to the guide rail, a rack disposed on the base, a first gear engaged with the rack, and a first conveying driving mechanism connected to the first gear, the guide rail and the rack are disposed in parallel, and the first conveying driving mechanism can drive the first gear to move along the rack, so as to drive the first conveying wheel to move along the guide rail;
the second conveying mechanism comprises the guide rail, a second conveying wheel in sliding connection with the guide rail, the rack, a second gear meshed with the rack and a second conveying driving mechanism connected with the second gear, and the second conveying driving mechanism can drive the second gear to move along the rack so as to drive the second conveying wheel to move along the guide rail.
In some embodiments, the first locking mechanism and the first rotation mechanism are respectively mounted on two sides of the first mounting sleeve.
In some embodiments, the first rotating mechanism includes a first bevel gear set and a first rotating driving mechanism, the first bevel gear of the first bevel gear set is coaxially connected with the first mounting sleeve, and the second bevel gear of the first bevel gear set is connected with the first rotating driving mechanism.
In some embodiments, the first locking mechanism comprises a locking member and a rotating nut cooperating with the locking member, one end of the first mounting sleeve is mounted in the locking member, and the outer periphery of the locking member has a tapered configuration toward the end of the rotating nut to provide different pressing forces to interact with the rotating nut to lock and fix the first mounting sleeve.
In some embodiments, the second rotating mechanism includes a second bevel gear set engaged perpendicularly to each other, a rotating bracket connected to one end of the second bevel gear set, and a second rotating driving mechanism connected to the other end of the second bevel gear set, the guide wire is fixed to the rotating bracket through the clamping mechanism, and the second rotating driving mechanism can drive the second bevel gear set to rotate, so as to drive the rotating bracket and the guide wire to rotate together.
In some embodiments, the clamping mechanism comprises a first clamping mechanism and a second clamping mechanism, the first clamping mechanism comprises a first fixed wheel, a first adjusting wheel and a first adjusting mechanism connected with the first adjusting wheel, a first gap is formed between the first fixed wheel and the first adjusting wheel to form a first guide wire installation position, the guide wire is placed in the first gap, and the guide wire is clamped and fixed by adjusting a first relative position between the first adjusting wheel and the first fixed wheel through the first adjusting mechanism;
the second clamping mechanism is arranged on the rotating support and comprises a second fixed wheel, a second adjusting wheel and a second adjusting mechanism connected with the second adjusting wheel, a second gap is formed between the second fixed wheel and the second adjusting wheel to form a second guide wire mounting position, and the guide wire is arranged in the second gap and is clamped and fixed through the second adjusting mechanism adjusting a second relative position between the second adjusting wheel and the second fixed wheel.
In some embodiments, the first adjusting mechanism includes a slide rail, an adjusting cantilever slidably connected to the slide rail, a first adjusting knob connected to one end of the adjusting cantilever, and an adjusting bracket connected to the other end of the adjusting cantilever, the adjusting bracket is connected to the first adjusting wheel, and the first adjusting knob can drive the adjusting cantilever to move along the slide rail and drive the first adjusting wheel to move relative to the first fixed wheel through the adjusting bracket, so as to adjust an included angle between the first adjusting wheel and the first fixed wheel.
In some embodiments, the second adjusting mechanism includes a sliding groove formed in the rotating bracket and a second adjusting knob, the second adjusting wheel is slidably disposed in the sliding groove and connected to the second adjusting knob, and the second adjusting wheel can be driven to move along the sliding groove by rotating the second adjusting knob, so as to adjust the distance between the second adjusting wheel and the second fixed wheel.
In some embodiments, a hollow second installation sleeve is further arranged on the guide wire intervention device, the second installation sleeve is arranged on the front side of a guide wire installation position of the guide wire, a second catheter is arranged in the second installation sleeve in a penetrating mode, the second catheter is fixed through a second locking mechanism arranged on the guide wire intervention device, a third rotating mechanism connected with the second installation sleeve is further arranged on the guide wire intervention device, and the third rotating mechanism can drive the second installation sleeve to rotate so as to drive the second catheter to rotate.
The vessel intervention operation robot provided by the embodiment of the disclosure can convey and rotate a catheter and a guide wire simultaneously in an operation process by arranging the catheter intervention device and the guide wire intervention device on the same base, and the operation of the catheter intervention device and the guide wire intervention device is not influenced mutually, so that the synchronous operation similar to a human hand can be realized, and the safety and the convenience of the operation are improved. Meanwhile, the catheters with different diameters can be replaced according to actual needs through the matching of the first mounting sleeve and the first locking mechanism 23, the guide wires with different diameters can be replaced according to actual needs through the adjustment and clamping fixation of the clamping mechanism on the guide wire mounting position, and the application range of the robot is expanded; in addition, the catheter intervention device and the guide wire intervention device are of modular structures, can be used as consumables to be rapidly disassembled, assembled and replaced, can reduce the use cost of the robot, can meet the medical sterile isolation requirement, and further improves the safety of the operation.
Drawings
In the drawings, which are not necessarily drawn to scale, like reference numerals may describe similar components in different views. Like reference numerals having letter suffixes or different letter suffixes may represent different instances of similar components. The drawings illustrate various embodiments, by way of example and not by way of limitation, and together with the description and claims, serve to explain the claimed embodiments. The same reference numbers will be used throughout the drawings to refer to the same or like parts, where appropriate. Such embodiments are illustrative, and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.
Fig. 1 is an overall structural schematic diagram of a vascular interventional surgical robot according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a base according to an embodiment of the disclosure;
FIG. 3 is a schematic structural diagram of a catheter access device according to an embodiment of the present disclosure;
fig. 4 is a schematic structural view of another direction of a catheter access device according to an embodiment of the present disclosure;
fig. 5 is a schematic structural view of a guidewire access device according to an embodiment of the present disclosure;
fig. 6 is a schematic structural view of another orientation of a guidewire access device according to an embodiment of the present disclosure;
fig. 7 is a schematic structural view of another orientation of a guidewire access device in accordance with an embodiment of the present disclosure;
fig. 8 is a schematic structural view of a second rotating mechanism according to an embodiment of the present disclosure;
fig. 9 is a top view of a structure of a removed portion of a guidewire access device in accordance with an embodiment of the present disclosure.
Reference numerals:
1-base, 11-guide rail, 12-rack, 13-bottom plate, 14-side plate, 15-fixing frame;
2-catheter intervention device, 21-first conveying mechanism, 211-first conveying wheel, 212-first gear, 213-first conveying driving mechanism, 22-first rotating mechanism, 221-first bevel gear set, 222-first rotating driving mechanism, 23-first locking mechanism, 231-locking member, 232-rotating nut, 24-first supporting seat and 241-first vertical plate; 3-a first mounting sleeve;
4-guide wire interventional device, 41-second conveying mechanism, 411-second conveying wheel, 412-second gear and 413-second conveying driving mechanism; 42-a second rotating mechanism, 421-a second bevel gear set, 422-a rotating support, 423-a second rotating driving mechanism, 43-a clamping mechanism, 431-a first clamping mechanism, 4311-a first fixed wheel, 4312-a first adjusting wheel, 4313-a sliding rail, 4314-an adjusting cantilever, 4315-a first adjusting knob, 4316-an adjusting support, 43161-a connecting rod, 43162-a connecting frame, 43163-an adjusting shaft, 43164-a gear mechanism, 432-a second clamping mechanism, 4321-a second fixed wheel, 4322-a second adjusting wheel, 4323-a sliding groove and 4324-a second adjusting knob; 44-a second supporting seat, 441-a second vertical plate, 45-a second locking mechanism and 46-a third rotating mechanism; 5-a second mounting sleeve; 6-a separator.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described below clearly and completely with reference to the accompanying drawings of the embodiments of the present disclosure.
Unless otherwise defined, technical or scientific terms used in the embodiments of the present disclosure should have the ordinary meaning as understood by those having ordinary skill in the art to which the embodiments of the present disclosure belong. The use of "first," "second," and similar terms in the embodiments of the disclosure is not intended to indicate any order, quantity, or importance, but rather to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
To maintain the following description of the disclosed embodiments clear and concise, detailed descriptions of known functions and known components are omitted from the disclosed embodiments.
Fig. 1 to 9 show schematic structural diagrams of a vascular interventional surgical robot according to an embodiment of the present disclosure. As shown in fig. 1 to 9, an embodiment of the present disclosure provides a vascular intervention surgical robot, including a base 1, a catheter intervention device 2, and a guide wire intervention device 4: the catheter intervention device 2 is movably mounted on the base 1, the catheter intervention device 2 comprises a first conveying mechanism 21, a first rotating mechanism 22 and a first locking mechanism 23, a hollow first mounting sleeve 3 is arranged on the catheter intervention device 2, the first catheter penetrates through the first mounting sleeve 3 and is fixed through the first locking mechanism 23, the first conveying mechanism 21 can drive the first catheter to move relative to the base 1, and the first rotating mechanism 22 can drive the first catheter to rotate around the axis of the first catheter;
guide wire intervenes device 4 movable mounting and is located the rear side that device 2 was intervene to the pipe in base 1, guide wire intervenes device 4 includes that the pipe intervenes second conveying mechanism 41, second rotary mechanism 42 and fixture 43, be equipped with the guide wire installation position on the guide wire intervenes device 4, the guide wire is installed in the guide wire installation position, fixture 43 can adjust the guide wire installation position and fix the guide wire, second conveying mechanism 41 can drive the guide wire and remove for base 1, second rotary mechanism 42 drives the guide wire around its axle center rotation.
Wherein, the side of the catheter intervention device 2 close to the blood vessel of the human body is the front side of the surgical robot, and the side far away from the blood vessel is the back side of the surgical robot. The conveying mechanism drives the catheter and/or the guide wire to move forward along the direction towards the blood vessel, and the catheter and/or the guide wire can be conveyed into the blood vessel; the conveying mechanism drives the catheter and/or the guide wire to move backwards along the direction away from the blood vessel, and the catheter and/or the guide wire can be taken out of the blood vessel. The guide wire intervention device 4 is located behind the catheter intervention device 2, that is, the guide tube intervention device 2 is disposed in front of the surgical robot, and the guide wire intervention device 4 is disposed behind the surgical robot.
The first catheter is a hollow long tube, the guide wire can extend to the front end of the robot and penetrate through the first catheter installed on the first installation sleeve 3 to extend into a blood vessel, the first catheter and the guide wire can be simultaneously conveyed into the blood vessel through the first conveying mechanism 21 and the second conveying mechanism 41 to be operated, and corresponding rotating operation can be carried out in the blood vessel through the first rotating mechanism 22 and the second rotating mechanism 42, so that the conveying and the rotating of the first catheter and the guide wire are not influenced mutually.
The vessel intervention surgical robot provided by the embodiment of the disclosure can convey and rotate a catheter and a guide wire simultaneously in the operation process by arranging the catheter intervention device 2 and the guide wire intervention device 4 on the same base 1, and the operation of the catheter intervention device 2 and the guide wire intervention device 4 is not affected by each other, so that the synchronous operation similar to a human hand can be realized, and the safety and the convenience of the operation are improved. Meanwhile, catheters with different diameters can be replaced according to actual needs through the matching of the first mounting sleeve 3 and the first locking mechanism 23, guide wires with different diameters can be replaced according to actual needs through the adjustment and clamping fixation of the clamping mechanism 43 on the guide wire mounting position, and the application range of the robot is expanded; in addition, device 2 is intervene to pipe and device 4 is intervene to the seal wire to be modular structure, can regard as the consumptive material to carry out quick assembly disassembly, change, can reduce the use cost of robot, and can satisfy the aseptic isolation requirement of medical science, further promote the security of operation.
In some embodiments, as shown in fig. 1 to 4, the first conveying mechanism 21 includes a guide rail 11 disposed on the base 1, a first conveying wheel 211 slidably connected to the guide rail 11, a rack 12 disposed on the base 1, a first gear 212 engaged with the rack 12, and a first conveying driving mechanism 213 connected to the first gear 212, the guide rail 11 and the rack 12 are disposed parallel to each other, and the first conveying driving mechanism 213 is operable to drive the first gear 212 to move along the rack 12, so as to drive the first conveying wheel 211 to move along the guide rail 11;
as shown in fig. 1 and 5 to 7, the second conveying mechanism 41 includes a guide rail 11, a second conveying wheel 411 slidably connected to the guide rail 11, a rack 12, a second gear 412 engaged with the rack 12, and a second conveying driving mechanism 413 connected to the second gear 412, and the second conveying driving mechanism 413 can drive the second gear 412 to move along the rack 12, so as to drive the second conveying wheel 411 to move along the guide rail 11.
As shown in fig. 2, the base 1 includes a bottom plate 13 and two side plates 14 disposed at both sides of the bottom plate 13, the guide rail 11 is mounted on the two side plates 14 and fixed by a fixing frame 15, and the rack 12 is mounted on one of the side plates 14. In this embodiment, the guide rail 11 is a convex circular guide rail, and is fixed to two sides of the base 1 through the fixing frame 13, and the first conveying wheel 211 and the second conveying wheel 411 have the same structure and are both U-shaped guide wheels, so that the U-shaped groove portions of the U-shaped guide wheels are slidably connected with the convex guide rail 11.
In the embodiment of the disclosure, the first conveying mechanism 21 and the second conveying mechanism 41 are used for conveying the catheter and the guide wire through the matching of the guide rail 11, the conveying wheel, the rack 12 and the gear which are meshed with each other, and are controlled through different conveying drives, so that the independent control of the conveying of the catheter and the guide wire can be realized, and the use convenience of the robot is improved.
In some embodiments, as shown in fig. 3, the first locking mechanism 23 and the first rotating mechanism 22 are respectively installed at two sides of the first installation sleeve 3, the first guide tubes with different diameters are fixed by the first locking mechanism 23 installed at a first end of the first installation sleeve 3, and the first guide tubes are driven to rotate by the first rotating mechanism 22 installed at a second end, opposite to the first end, of the first installation sleeve 3, which is reasonable in structure and convenient to operate.
The catheter intervention device 2 further comprises a first support seat 24 for mounting the first mounting sleeve 3, the first delivery wheel 211, the first gear 212, the first rotating mechanism 22, the first locking mechanism 23 and other components, two first risers 241 oppositely arranged at a certain interval are arranged at the top of the first support seat 24, the first mounting sleeve 3 is mounted on the two first risers 241 through the two first risers 241, the first delivery wheel 211 is mounted on two sides of the first support seat 24 facing the guide rail 11 and is in sliding connection with the guide rail 11, the first gear 212 is mounted at the bottom of the first support seat 24 and is connected with the first delivery driving mechanism 213 arranged at the top of the first support seat 24 through the first support seat 24.
The first gear 212 is arranged at the bottom of the first support seat 24, so that the guide rail 11 and the first conveying wheel 211, and the rack 12 and the first gear 212 are matched and staggered up and down, and the appearance is attractive. In a specific implementation, the positions of the above components may be set according to actual needs, for example, the first gear 212 may be disposed on the top of the first support seat 24, and the rack 12 may be disposed above the guide rail 11.
As shown in fig. 5, the guide wire interventional device 4 further comprises a second supporting seat 44 for mounting the second conveying wheel 411, the second gear 412, the second rotating mechanism 42 and the clamping mechanism 43, similar to the first supporting seat 24, the second conveying wheel 411 is mounted on two sides of the second supporting seat 44 facing the guide rail 11 and is slidably connected with the guide rail 11, and the second gear 412 is mounted on the bottom of the second supporting seat 44 and passes through the second supporting seat 44 to be connected with a second conveying driving mechanism 413 arranged on the top of the second supporting seat 44.
In some embodiments, as shown in fig. 3, the first rotation mechanism 22 includes a first bevel gear set 221 and a first rotation driving mechanism 222 connected to the first bevel gear set 221, the first bevel gear set 221 includes a first bevel gear and a second bevel gear which are vertically engaged with each other, the first bevel gear is coaxially connected to the first mounting sleeve 3, and the second bevel gear is connected to the first rotation driving mechanism 222. The direction of the power output by the first rotary driving mechanism 222 can be directly changed through the mutually perpendicular meshed first bevel gear set 221, and the power is transmitted to the first mounting sleeve 3 to drive the first mounting sleeve 3 to rotate, so that the transmission structure is simple, and the rotation control is convenient.
In some embodiments, as shown in fig. 3, the first locking mechanism 23 includes a locking member 231 and a rotating nut 232 cooperating with the locking member 231, one end of the first installation sleeve 3 is installed in the locking member 231, and an outer circumference of the locking member 231 has a tapered structure toward an end of the rotating nut 232 to interact with the rotating nut 231 to provide different pressing forces to lock and fix the first installation sleeve 3, thereby realizing replacement and locking and fixing of first catheters with different diameters. Can put into first installation sleeve 3 with the first pipe of different diameters promptly to through the different positions of swivel nut 232 screw in reducing structure on retaining member 231, provide different packing force, fix the first pipe locking of different diameter sizes, simple structure is reasonable, and can effectively protect first pipe through setting up first installation sleeve 3, prevents to cause the damage because of the packing force of exerting is too big to first pipe.
In some embodiments, as shown in fig. 5, 6 and 8, the second rotating mechanism 42 for rotating the guide wire includes a second bevel gear set 421, a rotating bracket 422 connected to one end of the second bevel gear set 421, and a second rotating driving mechanism 423 connected to the other end of the second bevel gear set 421, the second bevel gear set 421 includes a third bevel gear and a fourth bevel gear which are vertically engaged with each other, the third bevel gear is connected to the rotating bracket 422, the fourth bevel gear is connected to the second rotating driving mechanism 423, the guide wire is fixed to the rotating bracket 422 through the clamping mechanism 43, and the second rotating driving mechanism 423 is operable to drive the second bevel gear set 421 to rotate, so as to rotate the rotating bracket 422 and the guide wire together.
Two second vertical plates 441 used for installing the rotating support 422 are arranged on the second supporting seat 44, the rotating support 422 is installed between the two second vertical plates 441, a third bevel gear of the second bevel gear set 421 is installed on the outer side of the second vertical plate 441 and connected with the rotating support 422, and a fourth bevel gear is connected with a second rotating driving mechanism 423 installed on the second supporting seat 44.
In some embodiments, as shown in fig. 5, 6, 8 and 9, the clamping mechanism 43 for clamping the guide wire includes a first clamping mechanism 431 and a second clamping mechanism 432, the first clamping mechanism 431 includes a first fixed wheel 4311, a first adjusting wheel 4312 and a first adjusting mechanism connected to the first adjusting wheel 4312, a first gap is formed between the first fixed wheel 4311 and the first adjusting wheel 4312 to form a first guide wire installation position, the guide wire is placed in the first gap and is clamped and fixed by the first adjusting mechanism adjusting a first relative position between the first adjusting wheel 4312 and the first fixed wheel 4311.
Preferably, as shown in fig. 6, the first adjusting mechanism includes a sliding rail 4313, an adjusting cantilever 4314 slidably connected to the sliding rail 4313, a first adjusting knob 4315 connected to one end of the adjusting cantilever 4314, and an adjusting bracket 4316 connected to the other end of the adjusting cantilever 4314, wherein the adjusting bracket 4316 is connected to the first adjusting wheel 4312, and the first adjusting knob 4315 is rotated to drive the adjusting cantilever 4314 to move along the sliding rail 4313 and drive the first adjusting wheel 4312 to move relative to the first fixed wheel 4311 through the adjusting bracket 4316, so as to adjust an included angle between the first adjusting wheel 4312 and the first fixed wheel 4311.
As shown in fig. 6 and 9, the adjusting bracket 4316 includes a link 43161 and a link frame 43162 rotatably connected to each other by a rotation shaft, one end of the link 43161 is connected to the adjusting suspension 4314, the other end of the link 43161 is connected to one end of the link frame 43162, and the other end of the link frame 43162 is connected to the first adjusting wheel 4312.
Furthermore, an adjusting shaft 43163 penetrates through the connecting frame 43162, the adjusting shaft 4363 is connected with the first adjusting wheel 4312 through a gear mechanism 43164, and rotating the first adjusting knob 4315 can move the adjusting cantilever 4314 along the sliding rail 4313, and drive the connecting frame 43162 to rotate around the adjusting shaft 43163 through the connecting rod 43161, and drive the first adjusting wheel 4312 to rotate along with the connecting frame 43162 through the gear mechanism 43164, so that an included angle between the first adjusting wheel 4312 and the first fixed wheel 4311 is adjusted, and the size of the first gap is adjusted, so as to be suitable for guide wires with different diameters. In this embodiment, by providing the adjustment shaft 43163 and the gear mechanism 43164, the stable rotation (or swing) of the connecting frame 43162 can be ensured, and the reliability of the rotation of the first adjustment wheel 4312 can be ensured.
As shown in fig. 5, 6, 8 and 9, the second clamping mechanism 432 is mounted on the rotating bracket 422, the second clamping mechanism 432 includes a second fixed wheel 4321, a second adjusting wheel 4322 and a second adjusting mechanism connected to the second adjusting wheel 4322, a second gap is formed between the second fixed wheel 4321 and the second adjusting wheel 4322 to form a second guide wire mounting position, the guide wire is disposed in the second gap, and the second adjusting mechanism adjusts a second relative position between the second adjusting wheel 4322 and the second fixed wheel 4321 to clamp and fix the guide wire.
Preferably, the second adjusting mechanism includes a sliding groove 4323 and a second adjusting knob 4324, the sliding groove 4323 is disposed on the rotating bracket 422, the second adjusting wheel 4322 is slidably disposed in the sliding groove 4323 and connected to the second adjusting knob 4324, and the second adjusting wheel 4322 can be driven to move along the sliding groove 4323 by rotating the second adjusting knob 4324, so as to adjust a distance between the second adjusting wheel 4322 and the second fixed wheel 4321.
In some embodiments, as shown in fig. 1 and 5, a hollow second installation sleeve 5 is further disposed on the guide wire intervention device 4, the second installation sleeve 5 is disposed on a front side of a guide wire installation position of the guide wire, the second catheter is inserted into the second installation sleeve 5, the second catheter is fixed by a second locking mechanism 45 disposed on the guide wire intervention device 4, a third rotating mechanism 46 connected with the second installation sleeve 5 is further disposed on the guide wire intervention device 4, and the third rotating mechanism 46 can drive the second installation sleeve 5 to rotate, so as to drive the second catheter to rotate. That is, the guide wire interventional device 4 may be a catheter, a guide wire interventional device, at the same time, with a guide wire mounted at a guide wire mounting location and extending through a second catheter towards the catheter interventional device 2. The second catheter may be delivered over a second delivery mechanism 42 of the guidewire. The second locking mechanism 45 and the third rotating mechanism 46 are respectively installed at two sides of the second installation sleeve 5, and the structures of the second locking mechanism 45 and the third rotating mechanism 46 are similar to the structures of the first locking mechanism 23 and the first rotating mechanism 22, and are not described again here.
In some embodiments, the diameter of the first conduit is larger than that of the second conduit, so that the second conduit can extend through the first conduit towards the front end of the base 1, so that when the first conduit and the second conduit are installed at the same time, the second conduit is extended into a blood vessel for operation, and the conduits with different diameters can work at the same time.
Preferably, as shown in fig. 1, the length of the first mounting sleeve 3 is greater than the length of the second mounting sleeve 5 in order to adapt to different catheters, the first catheter preferably being a long sheath, a guiding catheter or the like, and the second catheter preferably being a medium catheter, a micro-catheter or the like.
In some embodiments, as shown in fig. 1, a partition 6 is further disposed between the catheter access device 2 and the guide wire access device 4 to separate them from each other to avoid collision of the two during delivery; at the same time, the height of the partition 6 is lower than the guide wire mounting position, the second mounting sleeve 5 to avoid affecting the extension of the guide wire and the second catheter.
The vascular interventional surgical robot provided by the embodiment of the disclosure can be suitable for vessels such as cardiovascular vessels, cerebrovascular vessels, peripheral vessels, aorta vessels, tumor vessels and the like.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents does not depart from the spirit of the disclosure. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.
While the present disclosure has been described in detail with reference to the embodiments, the present disclosure is not limited to the specific embodiments, and those skilled in the art can make various modifications and alterations based on the concept of the present disclosure, and the modifications and alterations should fall within the scope of the present disclosure as claimed.
Claims (10)
1. A vascular interventional surgical robot, comprising:
a base;
the catheter intervention device is movably arranged on the base and comprises a first conveying mechanism, a first rotating mechanism and a first locking mechanism, a hollow first installation sleeve is arranged on the catheter intervention device, a first catheter penetrates through the first installation sleeve and is fixed through the first locking mechanism, the first conveying mechanism can drive the first catheter to move relative to the base, and the first rotating mechanism can drive the first catheter to rotate around the axis of the first catheter;
the device is intervene to the seal wire, movable mounting in the base is located the rear side that the device was intervene to the pipe, the seal wire is intervene the device and is included second conveying mechanism, second rotary mechanism and fixture, be equipped with seal wire installation position on the device is intervene to the seal wire, the seal wire install in seal wire installation position, fixture can adjust seal wire installation position will the seal wire is fixed, second conveying mechanism can drive the seal wire for the base removes, second rotary mechanism drives the seal wire is rotatory around its axle center.
2. The robot of claim 1, wherein the first transportation mechanism comprises a guide rail disposed on the base, a first transportation wheel slidably connected to the guide rail, a rack disposed on the base, a first gear engaged with the rack, and a first transportation driving mechanism connected to the first gear, the guide rail and the rack are disposed parallel to each other, and the first transportation driving mechanism is capable of driving the first gear to move along the rack, so as to drive the first transportation wheel to move along the guide rail;
the second conveying mechanism comprises the guide rail, a second conveying wheel in sliding connection with the guide rail, the rack, a second gear meshed with the rack and a second conveying driving mechanism connected with the second gear, and the second conveying driving mechanism can drive the second gear to move along the rack so as to drive the second conveying wheel to move along the guide rail.
3. The vascular interventional surgical robot of claim 1, wherein the first locking mechanism and the first rotation mechanism are respectively mounted on both sides of the first mounting sleeve.
4. The robot of claim 1, wherein the first rotation mechanism comprises a first bevel gear set and a first rotation driving mechanism, the first bevel gear set is engaged with the first bevel gear set perpendicularly, the first bevel gear of the first bevel gear set is coaxially connected with the first mounting sleeve, and the second bevel gear of the first bevel gear set is connected with the first rotation driving mechanism.
5. The robot of claim 1, wherein the first locking mechanism comprises a locking member and a rotating nut cooperating with the locking member, one end of the first mounting sleeve is mounted in the locking member, and the outer circumference of the locking member has a tapered structure toward one end of the rotating nut to provide different pressing forces to lock and fix the first mounting sleeve in interaction with the rotating nut.
6. The robot of claim 1, wherein the second rotating mechanism comprises a second bevel gear set engaged perpendicularly to each other, a rotating bracket connected to one end of the second bevel gear set, and a second rotating driving mechanism connected to the other end of the second bevel gear set, the guide wire is fixed to the rotating bracket through the clamping mechanism, and the second rotating driving mechanism can drive the second bevel gear set to rotate, so as to drive the rotating bracket and the guide wire to rotate together.
7. The vascular interventional surgical robot of claim 6, wherein the clamping mechanism comprises a first clamping mechanism and a second clamping mechanism, the first clamping mechanism comprises a first fixed wheel, a first adjusting wheel and a first adjusting mechanism connected with the first adjusting wheel, a first gap is formed between the first fixed wheel and the first adjusting wheel to form a first guide wire installation position, the guide wire is placed in the first gap, and the guide wire is clamped and fixed by adjusting the first relative position between the first adjusting wheel and the first fixed wheel through the first adjusting mechanism;
the second clamping mechanism is arranged on the rotating support and comprises a second fixed wheel, a second adjusting wheel and a second adjusting mechanism connected with the second adjusting wheel, a second gap is formed between the second fixed wheel and the second adjusting wheel to form a second guide wire mounting position, and the guide wire is arranged in the second gap and is clamped and fixed through the second adjusting mechanism adjusting a second relative position between the second adjusting wheel and the second fixed wheel.
8. The robot of claim 7, wherein the first adjusting mechanism comprises a slide rail, an adjusting cantilever slidably connected to the slide rail, a first adjusting knob connected to one end of the adjusting cantilever, and an adjusting bracket connected to the other end of the adjusting cantilever, the adjusting bracket is connected to the first adjusting wheel, and the first adjusting knob can be rotated to move the adjusting cantilever along the slide rail and the adjusting bracket can be rotated to move the first adjusting wheel relative to the first fixed wheel, so as to adjust an included angle between the first adjusting wheel and the first fixed wheel.
9. The robot of claim 7, wherein the second adjusting mechanism includes a sliding slot disposed on the rotating bracket and a second adjusting knob, the second adjusting wheel is slidably disposed in the sliding slot and connected to the second adjusting knob, and the second adjusting wheel can be driven to move along the sliding slot by rotating the second adjusting knob, so as to adjust the distance between the second adjusting wheel and the second fixing wheel.
10. The robot of any one of claims 1 to 9, wherein a hollow second installation sleeve is further disposed on the guide wire intervention device, the second installation sleeve is disposed at a front side of a guide wire installation position of the guide wire, a second catheter is inserted into the second installation sleeve, the second catheter is fixed by a second locking mechanism disposed on the guide wire intervention device, a third rotation mechanism connected to the second installation sleeve is further disposed on the guide wire intervention device, and the third rotation mechanism can drive the second installation sleeve to rotate, so as to drive the second catheter to rotate.
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| CN202111490870.8A CN114145847B (en) | 2021-12-08 | 2021-12-08 | Robot for vascular intervention operation |
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| CN202111490870.8A CN114145847B (en) | 2021-12-08 | 2021-12-08 | Robot for vascular intervention operation |
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| CN116421322A (en) * | 2023-03-06 | 2023-07-14 | 极限人工智能有限公司 | Surgical robot platform and surgical robot |
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| CN114145847B (en) | 2022-11-08 |
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