CN114191079B - Independent driving type interventional operation robot - Google Patents
Independent driving type interventional operation robot Download PDFInfo
- Publication number
- CN114191079B CN114191079B CN202111330014.6A CN202111330014A CN114191079B CN 114191079 B CN114191079 B CN 114191079B CN 202111330014 A CN202111330014 A CN 202111330014A CN 114191079 B CN114191079 B CN 114191079B
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- connecting plate
- drive arrangement
- driving motor
- rack
- surgical robot
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- 238000009434 installation Methods 0.000 claims description 17
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000001727 in vivo Methods 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
- 230000001575 pathological effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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
-
- 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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Robotics (AREA)
- Pulmonology (AREA)
- Hematology (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Anesthesiology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Manipulator (AREA)
Abstract
The utility model provides an operation robot is intervened to independent drive formula, its includes the base, installs the guider on the base, with guider parallel arrangement's rack, install in a plurality of connecting plates of guider, with a plurality of main drive arrangement that connecting plate one-to-one is connected, install on each connecting plate vice drive arrangement, each main drive arrangement includes driving motor and connects on driving motor and with rack-engaging gear, driving motor lets the gear move on the rack through driving gear rotation, drives main drive arrangement, the connecting plate of being connected with main drive arrangement, installs vice drive arrangement on the connecting plate along guider linear motion. In summary, the auxiliary driving devices on different connecting plates move independently, have flexible structures, can independently control a plurality of catheters and guide wires, realize the control of the operation modes of multiple tubes and one wire, and provide great help for operators 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 independently-driven interventional operation robot.
Background
The interventional therapy is a minimally invasive therapy performed by using modern high-tech means, and under the guidance of medical imaging equipment, special precise instruments such as a catheter, a guide wire and the like are introduced into a human body to diagnose and treat the in vivo pathological condition locally.
In the process of performing operation, the interventional operation robot needs to adopt the cooperation of a plurality of medical instruments (such as guide wires and catheters) to send the medical instruments into a focus position, along with the rapid development of interventional operation technology, interventional operation can complete more complex operation than before, and the requirement of the medical instruments in operation also develops from a previous one-tube (that is, catheter, next same) one-wire (that is, guide wires, next same), two-tube one-wire to three-tube one-wire or even four-tube one-wire mode. However, in the multi-tube one-wire mode, more driving devices are required to control each medical instrument, and the operation requirements of doctors cannot be satisfied by the conventional surgical robot, so that improvement of the driving mechanism of the conventional surgical robot is needed.
Disclosure of Invention
Based on this, it is necessary to provide a novel independently driven interventional surgical robot in view of the shortcomings in the prior art.
The utility model provides an operation robot is intervened to independent drive formula, its includes the base, installs the guider on the base, with guider parallel arrangement's rack, install in a plurality of connecting plates of guider, with a plurality of main drive arrangement that connecting plate one-to-one is connected, install on each connecting plate vice drive arrangement, each main drive arrangement includes driving motor and connects on driving motor and with rack-engaging gear, driving motor lets the gear move on the rack through driving gear rotation, drives main drive arrangement, the connecting plate of being connected with main drive arrangement, installs vice drive arrangement on the connecting plate along guider linear motion.
Further, a rotating shaft is arranged on the driving motor, and the gear is arranged on the rotating shaft.
Further, teeth which are linearly distributed in a saw-tooth shape are arranged on one side of the rack, and the gear is meshed on the teeth of the rack through the teeth on the circumferential surface of the gear.
Further, the main driving device further comprises a cutting sleeve, and the driving motor is fixed on the connecting plate through the cutting sleeve.
Further, 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 formed between the clamping columns and the top plate in a surrounding mode.
Further, 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.
Further, the guiding device comprises a guide rail and a sliding block which is arranged on the connecting plate, matched with the guide rail and capable of sliding along the guide rail.
Further, 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 is located on the same side of the guide rail as the first mounting section.
In summary, according to the independent driving type interventional operation robot, each main driving device is independently arranged on each connecting plate, and each main driving device independently drives the corresponding connecting plate, so that the auxiliary driving devices on the connecting plates move linearly, the auxiliary driving devices on different connecting plates move independently, 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 operators to realize more complex interventional operations.
Drawings
FIG. 1 is a schematic view of a structure of an independently driven interventional surgical robot according to the present invention;
FIG. 2 is a schematic view of the independently driven interventional surgical 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 driven interventional surgical 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 will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1 to 4, the present invention provides an independently driven interventional robot for performing clamping, delivering and rotating operations on different elongated medical devices 100 (guide wires or catheters) so as to push the elongated medical devices 100, i.e. the guide wires or catheters, into or out of a patient's body, which comprises a base 10, a guiding device 60 mounted on the base 10, a plurality of connection plates 40 mounted on the guiding device 60, a plurality of main driving devices 30 connected to the connection plates 40 in a one-to-one correspondence manner, a sub driving device 50 mounted on each connection plate 40, and a cover 20 mounted on the base 10 and covering the base 10, wherein the cover 20 and the base 10 define an inner space, the guiding device 60 and the main driving device 30 are disposed in the inner space, an elongated movable gap is disposed between the cover 20 and the base 10, the connection plates 40 extend from the movable gap, and the sub driving devices 50 are disposed on the connection plates 40 outside the cover 20.
The guide 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 slender medical instrument 100, sliding grooves 611 are formed in two sides of the guide rail 61, clamping grooves 621 are formed in the bottoms of the sliding blocks 62, clamping protrusions 622 are formed in two opposite side walls of the clamping grooves 621, when the sliding block 62 is matched with the guide rail 61, one end of the guide rail 61, which is close to the sliding block 62, is clamped into the clamping grooves 621, and the clamping protrusions 622 in the clamping grooves 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 comprises 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 and vertically connected to two sides of the connecting section 41 and extend in opposite directions, the connecting section 41 is arranged on the sliding block 62, the main driving device 30 and the auxiliary driving device 50 are respectively arranged at the far-end positions of the first mounting section 42 and the second mounting section 43, the guiding device 60 is arranged below the main driving device 30 and the auxiliary driving device 50, so that the weight ratio of two ends of the connecting plate 40 is ensured, and the bending deformation of the connecting plate 40 and the guide rail 61 is prevented, which is caused by large weight ratio difference of two ends of the connecting plate 40, so that the sliding block 62 is not smooth.
The main driving device 30 comprises a clamping sleeve 32, a driving motor 31 and a gear 33, wherein 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 invention further comprises a rack 34 arranged in parallel with the guide device 60, the rack 34 is fixed on the base 10, one side of the rack 34 is provided with saw-tooth linearly distributed teeth, the gear 33 is arranged on the rotating shaft of the driving motor 31, the gear 33 is meshed with the teeth of the rack 34 through the teeth on the circumferential surface of the gear 33, and the driving motor 31 and the base 10 are respectively arranged on the upper side surface and the lower side surface of the first mounting section 42.
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 formed by surrounding the clamping columns 322 and the top plate 321, the driving motor 31 is arranged in the installation space during installation, and the end position of the clamping columns 322 far away from the top plate 321 is fixed on the first installation section 42 through a fixing piece, so that the driving motor 31 is clamped among the first installation section 42, the top plate 321 and the clamping columns 322.
When in operation, the main driving device 30 drives the connection board 40 to linearly slide along the delivery direction, so as to adjust the position of the auxiliary driving device 50 on the connection board 40, initialize the position of the auxiliary driving device 50, and then mount the elongated medical device 100 on the auxiliary driving device 50 according to the operation requirement, and the different auxiliary driving devices 50 are mutually matched with the main driving device, so as to complete the rotation and/or delivery operation of the plurality of elongated medical devices 100.
Specifically, when the position of the auxiliary driving device 50 or the elongated medical device 100 on the auxiliary driving device 50 needs to be adjusted, the driving motor 31 of the main driving device 30 drives the gear 33 to rotate, and during the rotation of the gear 33, the rack 34 meshed with the gear 33 is fixed on the base 10, so that the rack 34 reversely drives the connecting plate 40 and the auxiliary 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 auxiliary driving device 50 drives the elongated medical device 100 to rotate.
In summary, according to the independently driven interventional operation robot of the present invention, each main driving device 30 is individually mounted on each connecting plate 40, and each main driving device 30 individually drives the corresponding mounted connecting plate 40, so that the auxiliary driving devices 50 on the connecting plates 40 move linearly, and the auxiliary driving devices 50 on different connecting plates 40 move independently of each other, so that the independently driven interventional operation robot has a flexible structure, can independently control a plurality of catheters and guide wires, realizes control of the operation modes of multiple catheters and one wire, and provides great help for operators to realize more complex interventional operations.
The above examples illustrate only one embodiment of the invention, which is described in more detail and is not to be construed as limiting the scope of the invention. It should be noted that variations and modifications can be made by those skilled in the art without departing from the inventive concept, which fall within the scope of the invention. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. The utility model provides an independent drive formula intervention surgical robot, its characterized in that, includes the base, installs the guider on the base, with guider parallel arrangement's rack, install in a plurality of connecting plates of guider, with a plurality of main drive arrangement that the connecting plate one-to-one is connected, install in vice drive arrangement on each connecting plate, each main drive arrangement includes driving motor and connects on driving motor and with rack-meshed gear, driving motor lets the gear move on the rack through driving gear rotation, drives main drive arrangement, the connecting plate of being connected with main drive arrangement, install vice drive arrangement on the connecting plate follow guider linear motion, the connecting plate includes linkage segment, first installation segment and second installation segment, first installation segment the second installation segment respectively perpendicular to the linkage segment both sides are the opposite direction extension, main drive arrangement vice drive arrangement install respectively in the distal end position of first installation segment the second installation segment.
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: and one side of the rack is provided with teeth which are linearly distributed in a sawtooth shape, and the gear is meshed with the teeth of the rack through the 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 formed between the clamping columns and the top plate.
6. The independently driven interventional surgical robot of 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 capable of sliding along the guide rail.
8. The independently driven interventional surgical robot of claim 7, wherein: the first installation section and the second installation section extend out of two sides of the guide rail.
9. The independently driven interventional surgical robot of claim 1, wherein: the driving motor and the base are respectively arranged on two side surfaces of the first installation section.
10. The independently driven interventional surgical robot of claim 7, wherein: the rack is fixed on the base and is positioned on the same side of the guide rail as 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 CN114191079A (en) | 2022-03-18 |
| CN114191079B true 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) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114191103B (en) * | 2021-11-11 | 2024-04-16 | 深圳爱博合创医疗机器人有限公司 | Aseptic protection intervention operation robot |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
Family Cites Families (9)
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| CN101612436B (en) * | 2009-07-23 | 2011-09-28 | 北京航空航天大学 | Robot propulsion mechanism for blood vessel intervention operation |
| US10238457B2 (en) * | 2013-09-13 | 2019-03-26 | Vanderbilt University | System and method for endoscopic deployment of robotic concentric tube manipulators for performing surgery |
| CH712611A1 (en) * | 2016-06-28 | 2017-12-29 | Med Karl Pieper Dr | Device for the controlled transport of a catheter, light guide or cable. |
| CN107753109B (en) * | 2016-08-16 | 2022-02-11 | 新加坡国立大学 | Concentric tube robot device and control method thereof |
| 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 |
| 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 |
| CN114191103B (en) * | 2021-11-11 | 2024-04-16 | 深圳爱博合创医疗机器人有限公司 | Aseptic protection intervention operation robot |
| 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 |
| 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 |
-
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 (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023082558A1 (en) | 2023-05-19 |
| CN114191079A (en) | 2022-03-18 |
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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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