CN114191079A - Independent drive type interventional operation robot - Google Patents
Independent drive type interventional operation robot Download PDFInfo
- Publication number
- CN114191079A CN114191079A CN202111330014.6A CN202111330014A CN114191079A CN 114191079 A CN114191079 A CN 114191079A CN 202111330014 A CN202111330014 A CN 202111330014A CN 114191079 A CN114191079 A CN 114191079A
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- CN
- China
- Prior art keywords
- driving
- driving motor
- independently
- connecting plates
- surgical robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000009434 installation Methods 0.000 claims description 10
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- A61B34/70—Manipulators specially adapted for use in 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
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
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- 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
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Abstract
An independent driving type interventional operation robot comprises a base, a guide device arranged on the base, racks arranged in parallel with the guide device, a plurality of connecting plates arranged on the guide device, a plurality of main driving devices connected with the connecting plates in a one-to-one correspondence mode, and auxiliary driving devices arranged on each connecting plate, wherein each main driving device comprises a driving motor and a gear connected to the driving motor and meshed with the racks, the driving motor rotates through driving gears to enable the gears to move on the racks, and the driving motors drive the main driving devices, the connecting plates connected with the main driving devices and the auxiliary driving devices arranged on the connecting plates to move linearly along the guide device. In conclusion, the auxiliary driving devices on different connecting plates are mutually independent during movement, the structure is flexible, a plurality of catheters and guide wires can be independently controlled, the control of the operation mode of multiple tubes and one wire is realized, and great help is provided for operating doctors to realize more complex interventional operations.
Description
Technical Field
The invention relates to a device in the field of medical instrument robots, in particular to an independent driving type interventional operation robot.
Background
Interventional therapy is minimally invasive therapy carried out by modern high-tech means, and under the guidance of medical imaging equipment, special precise instruments such as catheters, guide wires and the like are introduced into a human body to diagnose and locally treat internal diseases.
The interventional operation robot needs to adopt the matching of a plurality of medical instruments (such as guide wires and catheters) in the process of executing operation so as to send the medical instruments to the focus position, along with the rapid development of interventional operation technology, the interventional operation can finish more complicated operation compared with the prior art, and the requirements of the medical instruments during the operation are also developed to a three-tube one-wire mode or even a four-tube one-wire mode from the prior one-tube (such as the catheter and the guide wire) one-wire (such as the guide wire and the guide wire) and the two-tube one-wire. However, when the multi-tube-single-wire mode is adopted, more driving devices are required to control each medical instrument, and the traditional surgical robot cannot meet the operation requirement of a doctor, so that improvement on the driving mechanism part of the traditional surgical robot is needed.
Disclosure of Invention
In view of the above, it is necessary to provide a novel independently driven interventional surgical robot for overcoming the disadvantages of the prior art.
An independent driving type interventional operation robot comprises a base, a guide device arranged on the base, racks arranged in parallel with the guide device, a plurality of connecting plates arranged on the guide device, a plurality of main driving devices connected with the connecting plates in a one-to-one correspondence mode, and auxiliary driving devices arranged on each connecting plate, wherein each main driving device comprises a driving motor and a gear connected to the driving motor and meshed with the racks, the driving motor rotates through driving gears to enable the gears to move on the racks, and the driving motors drive the main driving devices, the connecting plates connected with the main driving devices and the auxiliary driving devices arranged on the connecting plates to move linearly along the guide device.
Furthermore, a rotating shaft is arranged on the driving motor, and the gear is installed on the rotating shaft.
Furthermore, one side of the rack is provided with clamping teeth which are distributed in a sawtooth shape in a linear mode, and the gear is meshed with the clamping teeth of the rack through the clamping teeth on the circumferential surface of the gear.
Furthermore, the main driving device also comprises a clamping sleeve, and the driving motor is fixed on the connecting plate through the clamping sleeve.
Furthermore, the cutting ferrule includes a top plate and a plurality of clamping columns connected to the top plate, and an installation space for installing the driving motor is defined between the clamping columns and the top plate.
Furthermore, the end part of the clamping column far away from the top plate is fixed on the connecting plate through a fixing piece, so that the driving motor is clamped among the connecting plate, the top plate and the clamping column.
Furthermore, the guide device comprises a guide rail and a sliding block which is arranged on the connecting plate, matched with the guide rail and can slide along the guide rail.
Furthermore, the connecting plate comprises a first mounting section and a second mounting section which extend out of two sides of the guide rail, and the main driving device and the auxiliary driving device are respectively arranged on the first mounting section and the second mounting section.
Further, the driving motor and the base are respectively arranged on two side surfaces of the first installation section.
Further, the rack is fixed on the base and located on the same side of the guide rail as the first installation section.
In summary, according to the independently driven interventional operation robot, each main driving device is independently installed on each connecting plate, each main driving device independently drives the corresponding installed connecting plate, so that the auxiliary driving devices on the connecting plates linearly move, the auxiliary driving devices on different connecting plates are independent during movement, the structure is flexible, independent control can be performed on a plurality of catheters and guide wires, control of a multi-tube one-wire operation mode is realized, and great help is provided for an operator to realize a more complex interventional operation.
Drawings
FIG. 1 is a schematic structural diagram of an independently driven interventional surgical robot according to the present invention;
FIG. 2 is a schematic view of the self-contained powered interventional robot of FIG. 1 with the outer cover removed;
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is a side view of the independently powered interventional robot of FIG. 1 with the outer cover removed;
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 independently driven interventional surgical robot for clamping, delivering and rotating different slender medical devices 100 (guide wires or catheters) to push the slender medical devices 100 (guide wires or catheters) into or out of the body of a patient, including a base 10, a guiding device 60 mounted on the base 10, a plurality of connecting plates 40 mounted on the guiding device 60, a plurality of primary driving devices 30 connected with the connecting plates 40 in a one-to-one correspondence manner, a secondary driving device 50 mounted on each connecting plate 40, a housing 20 mounted on the base 10 and covering the upper portion of the base 10, wherein the housing 20 and the base 10 enclose an inner space, the guiding device 60 and the primary driving devices 30 are disposed in the inner space, an elongated movable gap is disposed between the housing 20 and the base 10, and the connecting plates 40 extend from the movable gap, the secondary driving means 50 is provided on the connection plate 40 outside the housing 20.
The guiding device 60 comprises a guide rail 61 and a sliding block 62 which is arranged on the guide rail 61 and can slide along the guide rail 61, the extending direction of the guide rail 61 is consistent with the delivery direction of the long and thin medical device 100, sliding grooves 611 are formed in two sides of the guide rail 61, a clamping groove 621 is formed in the bottom of the sliding block 62, clamping protrusions 622 are arranged on two opposite side walls in the clamping groove 621, when the sliding block 62 is installed in cooperation with the guide rail 61, the guide rail 61 is clamped into the clamping groove 621 by one end of the sliding block 62, and the clamping protrusions 622 in the clamping groove 621 are correspondingly clamped in the sliding grooves 611, so that the sliding block 62 can slide along the guide rail 61.
The connecting plate 40 includes a connecting section 41, a first mounting section 42 and a second mounting section 43, the first mounting section 42 and the second mounting section 43 are respectively vertically connected to two sides of the connecting section 41 and extend in opposite directions, the connecting section 41 is mounted on the sliding block 62, the main driving device 30 and the auxiliary driving device 50 are respectively mounted at distal ends of the first mounting section 42 and the second mounting section 43, and the guiding device 60 is disposed below the space between the main driving device 30 and the auxiliary driving device 50 to ensure a weight ratio at two ends of the connecting plate 40, so as to prevent the connecting plate 40 and the guide rail 61 from bending and deforming due to a large difference in weight ratio at two ends of the connecting plate 40, and the sliding block 62 from sliding unsmoothly.
The main driving device 30 comprises a clamping sleeve 32, a driving motor 31 and a gear 33, the driving motor 31 is fixed on the first mounting section 42 through the clamping sleeve 32, a rotating shaft used for being connected with the outside is arranged on the driving motor 31, and the rotating shaft of the driving motor 31 penetrates through the first mounting section 42. The present invention further includes a rack 34 disposed parallel to the guide 60, the rack 34 is fixed on the base 10, one side of the rack 34 is provided with linearly distributed sawtooth-shaped latches, the gear 33 is mounted on the rotating shaft of the driving motor 31, the gear 33 is engaged with the latches of the rack 34 by the latches on the circumferential surface thereof, and the driving motor 31 and the base 10 are disposed on the upper and lower sides of the first mounting section 42, respectively.
The clamping sleeve 32 comprises a top plate 321 and a plurality of clamping columns 322 connected to the top plate 321, an installation space is defined between the clamping columns 322 and the top plate 321, the driving motor 31 is installed in the installation space during installation, and the end portions, far away from the top plate 321, of the clamping columns 322 are fixed on the first installation section 42 through fixing pieces, so that the driving motor 31 is clamped among the first installation section 42, the top plate 321 and the clamping columns 322.
In operation, the main driving device 30 drives the connecting plate 40 to slide linearly along the delivery direction, so as to adjust the position of the secondary driving device 50 on the connecting plate 40, initialize the position of the secondary driving device 50, and then install the elongated medical device 100 on the secondary driving device 50 according to the operation requirement, wherein different secondary driving devices 50 are mutually matched with the main driving device, so as to complete the rotation and/or delivery operation of a plurality of elongated medical devices 100.
Specifically, when the position of the secondary driving device 50 or the elongated medical device 100 on the secondary driving device 50 needs to be adjusted, the driving motor 31 of the primary driving device 30 drives the gear 33 to rotate, during the rotation of the gear 33, since the rack 34 engaged with the gear 33 is fixed on the base 10, the rack 34 reversely drives the connecting plate 40 and the secondary driving device 50 mounted on the connecting plate 40 to move along the guide rail 61, and during the delivery of the elongated medical device 100, the secondary driving device 50 drives the elongated medical device 100 to rotate.
In summary, each main driving device 30 is individually installed on each connecting plate 40, each main driving device 30 individually drives the corresponding connecting plate 40, and further the auxiliary driving devices 50 on the connecting plates 40 linearly move, and the auxiliary driving devices 50 on different connecting plates 40 are independent during movement, so that the independent control of multiple catheters and guide wires is realized, the control of the operation modes of multiple tubes and one wire is realized, and great help is provided for the operator to realize more complicated interventional operations.
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 (10)
1. An independent driving type interventional operation robot is characterized by comprising a base, a guide device arranged on the base, racks arranged in parallel with the guide device, a plurality of connecting plates arranged on the guide device, a plurality of main driving devices connected with the connecting plates in a one-to-one correspondence mode, and auxiliary driving devices arranged on each connecting plate, wherein each main driving device comprises a driving motor and a gear connected to the driving motor and meshed with the racks, the driving motor rotates through a driving gear to enable the gear to move on the racks, and the main driving devices, the connecting plates connected with the main driving devices and the auxiliary driving devices arranged on the connecting plates move linearly along the guide device.
2. The independently-driven interventional surgical robot of claim 1, wherein: the driving motor is provided with a rotating shaft, and the gear is arranged on the rotating shaft.
3. The independently-driven interventional surgical robot of claim 2, wherein: one side of the rack is provided with clamping teeth which are distributed in a sawtooth shape in a linear mode, and the gear is meshed with the clamping teeth of the rack through the clamping teeth on the circumferential surface of the gear.
4. The independently-driven interventional surgical robot of claim 1, wherein: the main driving device further comprises a clamping sleeve, and the driving motor is fixed on the connecting plate through the clamping sleeve.
5. The independently-driven interventional surgical robot of claim 4, wherein: the clamping sleeve comprises a top plate and a plurality of clamping columns connected to the top plate, and an installation space for installing the driving motor is defined between the clamping columns and the top plate.
6. An independently driven interventional surgical robot according to claim 5, wherein: the end part of the clamping column far away from the top plate is fixed on the connecting plate through a fixing piece, so that the driving motor is clamped among the connecting plate, the top plate and the clamping column.
7. The independently-driven interventional surgical robot of claim 1, wherein: the guide device comprises a guide rail and a sliding block which is arranged on the connecting plate, matched with the guide rail and can slide along the guide rail.
8. The independently-driven interventional surgical robot of claim 7, wherein: the connecting plate comprises a first mounting section and a second mounting section which extend out of two sides of the guide rail, and the main driving device and the auxiliary driving device are respectively arranged on the first mounting section and the second mounting section.
9. The independently-driven interventional surgical robot of claim 1, wherein: the driving motor and the base are respectively arranged on two side faces of the first installation section.
10. An independently driven interventional surgical robot according to claim 9, wherein: the rack is fixed on the base and is positioned on the same side of the guide rail with the first mounting section.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111330014.6A CN114191079B (en) | 2021-11-11 | 2021-11-11 | Independent driving type interventional operation robot |
| PCT/CN2022/089630 WO2023082558A1 (en) | 2021-11-11 | 2022-04-27 | Independently-driven interventional surgery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111330014.6A CN114191079B (en) | 2021-11-11 | 2021-11-11 | Independent driving type interventional operation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114191079A true CN114191079A (en) | 2022-03-18 |
| CN114191079B CN114191079B (en) | 2024-03-29 |
Family
ID=80647271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111330014.6A Active CN114191079B (en) | 2021-11-11 | 2021-11-11 | Independent driving type interventional operation robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114191079B (en) |
| WO (1) | WO2023082558A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023082558A1 (en) * | 2021-11-11 | 2023-05-19 | 深圳市爱博医疗机器人有限公司 | Independently-driven interventional surgery robot |
| WO2023082562A1 (en) * | 2021-11-11 | 2023-05-19 | 深圳市爱博医疗机器人有限公司 | Sterile protective interventional surgical robot |
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| CN112353491B (en) * | 2020-10-29 | 2021-09-14 | 北京唯迈医疗设备有限公司 | Universal robot for interventional radiography and therapeutic surgery |
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| CN114191079B (en) * | 2021-11-11 | 2024-03-29 | 深圳爱博合创医疗机器人有限公司 | Independent driving type interventional operation robot |
| CN216724732U (en) * | 2021-11-11 | 2022-06-14 | 深圳市爱博医疗机器人有限公司 | Interventional operation robot |
| CN114391950B (en) * | 2021-12-15 | 2024-02-27 | 深圳爱博合创医疗机器人有限公司 | Interventional operation robot with anti-collision function |
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2021
- 2021-11-11 CN CN202111330014.6A patent/CN114191079B/en active Active
-
2022
- 2022-04-27 WO PCT/CN2022/089630 patent/WO2023082558A1/en unknown
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20200038106A1 (en) * | 2016-06-28 | 2020-02-06 | Schmuck Thilo | Appliance for conveying a catheter, light guide or cable in a controlled manner |
| CN107088093A (en) * | 2017-04-28 | 2017-08-25 | 深圳市聚焦医疗机器人科技有限公司 | A kind of modular event driven device of Multi-stage flexible curved tube medical robot |
| CN107307909A (en) * | 2017-07-06 | 2017-11-03 | 北京理工大学 | One kind intervention robot remote operating system and its control method |
| CN107822711A (en) * | 2017-09-28 | 2018-03-23 | 济南大学 | A kind of seal wire intervention device of minimally invasive intervention operation robot |
| KR20200018886A (en) * | 2018-08-13 | 2020-02-21 | 광주과학기술원 | Medical catheter module device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023082558A1 (en) * | 2021-11-11 | 2023-05-19 | 深圳市爱博医疗机器人有限公司 | Independently-driven interventional surgery robot |
| WO2023082562A1 (en) * | 2021-11-11 | 2023-05-19 | 深圳市爱博医疗机器人有限公司 | Sterile protective interventional surgical robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023082558A1 (en) | 2023-05-19 |
| CN114191079B (en) | 2024-03-29 |
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Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant before: Shenzhen Aibo medical robot Co.,Ltd. |
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