CN114391961A

CN114391961A - Simple and convenient type intervenes operation robot from end operating means

Info

Publication number: CN114391961A
Application number: CN202111529468.6A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Aibo Medical Robot Co Ltd
Current assignee: Shenzhen Aibo Hechuang Medical Robot Co ltd
Priority date: 2021-12-14
Filing date: 2021-12-14
Publication date: 2022-04-26
Anticipated expiration: 2041-12-14
Also published as: CN114391961B; WO2023109191A1

Abstract

The utility model provides a simple and convenient type intervenes operation robot from end operating means, includes the main part, is used for first slim medical instrument of centre gripping first actuating mechanism and second actuating mechanism, first actuating mechanism install fixedly in the main part, when second actuating mechanism follows the main part slides and when driving first slim medical instrument motion, first actuating mechanism only for supporting first slim medical instrument and cooperation second actuating mechanism lets first slim medical instrument move in step, when guaranteeing that slim medical instrument delivers more smoothly, actuating mechanism and control process are more simple and convenient, and the cost is lower.

Description

Simple and convenient type intervenes operation robot from end operating means

Technical Field

The invention relates to the field of medical robots, is applied to a master-slave vascular interventional surgical robot, and particularly relates to a simple slave-end operating device of an interventional surgical robot.

Background

Minimally invasive vascular interventional surgery refers to the operation of controlling the motion of a guide wire of a catheter in a blood vessel of a human body by a doctor under the guidance of a digital subtraction angiography imaging (DSA) system to treat a focus, so as to achieve the purposes of embolizing a malformed blood vessel, dissolving thrombus, expanding a narrow blood vessel and the like. The interventional operation treatment plays an important role in diagnosis and treatment of hundreds of diseases such as tumors, peripheral blood vessels, large blood vessels, digestive tract diseases, nervous systems, non-blood vessels and the like, so that the interventional operation treatment range covers all diseases from head to foot of a human body, and the interventional operation treatment is a preferred scheme for treating partial diseases. The interventional operation does not need to cut human tissues, and the cut (puncture point) of the interventional operation only has the size of rice grains, so that the interventional operation can treat a plurality of diseases which cannot be treated or have poor curative effect in the past, has the characteristics of no operation, small wound, quick recovery and good curative effect, and is highly valued by the medical field at home and abroad.

At present, the minimally invasive vascular interventional operation auxiliary robot is developed rapidly due to the fact that high-end medical equipment and robot technology are involved. We have also invested in research and development.

Disclosure of Invention

The invention aims to provide a simple and convenient slave-end operation device of an interventional operation robot for assisting a doctor in interventional operation.

In order to solve the above problems, the present invention provides a simple slave manipulator for an interventional surgical robot, comprising:

the medical instrument comprises a main body, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is used for clamping a first elongated medical instrument, the first driving mechanism is fixedly arranged on the main body, and when the second driving mechanism slides along the main body to drive the first elongated medical instrument to move, the first driving mechanism enables the first elongated medical instrument to move synchronously.

Further, the first drive mechanism is a follower mechanism that supports and cooperates with the second drive mechanism to drive the first elongated medical device.

Furthermore, a follow-up roller set is arranged on the first driving mechanism and used for clamping the first slender medical instrument and matching with the second driving mechanism to synchronously drive the first slender medical instrument to move.

Further, a first guide rail is arranged on the main body, and the second driving mechanism slides along the first guide rail to drive the first elongated medical device to move.

Further, the simple interventional surgical robot slave end operation device further comprises a third driving mechanism and a fourth driving mechanism which are slidably mounted on the main body, and the third driving mechanism and the fourth driving mechanism are used for clamping a second elongated medical device and sliding along the main body to drive the second elongated medical device to move.

Further, a second guide rail is arranged on the main body, and the third driving mechanism and the fourth driving mechanism slide along the second guide rail to drive the second elongated medical device to move.

Further, the simple and convenient interventional operation robot slave-end operation device further comprises a fifth driving mechanism, and the fifth driving mechanism is used for clamping a third slender medical device and can slide along the main body to drive the third slender medical device to move.

Further, the fifth driving mechanism slides along the second guide rail to drive the third elongated medical device to move.

Further, a third guide rail is arranged on the main body, and the fifth driving mechanism slides along the third guide rail to drive a third elongated medical device to move.

Further, the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism and the fifth driving mechanism are sequentially arranged along the main body.

According to the invention, a doctor can remotely control the corresponding second driving mechanism to move on the guide rail of the main body, and the first driving mechanism only supports the first slender medical instrument and is matched with the second driving mechanism to enable the first slender medical instrument to synchronously move, so that the driving mechanism and the control process thereof are simpler and more convenient while the delivery of the slender medical instrument is ensured to be smoother, and the cost is lower.

Drawings

FIG. 1 is a schematic view of a first embodiment of a simple interventional surgical robot slave-end operation device according to the present invention;

FIG. 2 is another schematic view of FIG. 1;

FIG. 3 is a schematic view of FIG. 1 with the addition of two drive mechanisms;

FIG. 4 is a schematic view of FIG. 1 with only three of the drive mechanisms removed;

FIG. 5 is a schematic view of a second embodiment of a simple interventional surgical robot slave-end operation device according to the present invention;

FIG. 6 is a schematic view of the drive mechanisms shown in FIG. 5 slidable to a distal-most end;

FIG. 7 is a schematic diagram of a second embodiment of a simplified slave-end operation device for an interventional surgical robot according to the present invention;

FIG. 8 is a schematic view of a third embodiment of a simple surgical robot slave-end operation device of the present invention;

fig. 9 is a schematic diagram of a modified example of the simple interventional surgical robot slave-end operation device according to the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in 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.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed, even movably connected; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

As used herein, the direction "distal" is toward the patient and the direction "proximal" is away from the patient. The terms "upper" and "upper" refer to a invar direction away from the direction of gravity, and the terms "bottom", "lower" and "lower" refer to an invar (common) direction of gravity. The term "forward" refers to the side of the interventional surgical robot facing the user from the end device, "forward" refers to the direction of displacement of a guide wire or catheter into the body of the surgical patient. The term "posterior" refers to the side of the interventional surgical robot facing away from the user from the end device, "retrograde" refers to the direction of displacement of the guide wire or catheter out of the body of the surgical patient. The term "inwardly" refers to the interior portion of a feature. The term "outwardly" refers to the outer portion of a feature. The term "rotation" includes "forward rotation" and "reverse rotation," where "forward rotation" refers to a direction in which a guide wire or catheter is rotated into the body of a patient being operated, and "reverse rotation" refers to a direction in which a guide wire or catheter is rotated out of the body of a patient being operated.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "plurality" or "a plurality" means two or more.

Finally, it should be noted that, if not conflicting, the embodiments of the present invention and the features of the embodiments may be combined with each other within the scope of protection of the present invention. Additionally, all or a portion of the steps of the above-described methods may be performed in a computer system, such as a set of computer-executable instructions, and although the steps are listed in order 1, 2, 3 …, in some cases the steps shown or described may be performed in an order different than presented herein.

The guide wire includes but is not limited to guide wires, micro guide wires, stents and other guide and support interventional medical devices, and the catheter includes but is not limited to guide catheters, micro catheters, contrast catheters, multifunctional tubes (also called middle catheters), thrombolysis catheters, balloon dilatation catheters, balloon stent catheters and other therapeutic interventional medical devices.

As shown in fig. 1 and 2, an embodiment of a handy type interventional surgical robot slave end operation device according to the present invention includes a main body 10,

driving mechanisms

20, 30, 40, 50, 60 movably installed on the main body 10, a gripper 70, and a quick exchange mechanism 80.

The body 10 is elongate and is provided with a linear channel 102. These

drive mechanisms

20, 30, 40, 50, 60 are successively disposed within the channel 102 and are movable along the channel 102. In the present embodiment, the

driving mechanisms

20, 30, 40, 50, 60 can slide directly on the main body 10, for example, a guide rail, such as a linear guide rail in the drawing, is fixed on the main body 10, and all of the

driving mechanisms

20, 30, 40, 50, 60 can slide along the same guide rail.

In other embodiments, as shown in fig. 5 to 6, the main body 10 is provided with

guide rails

103 and 104, wherein the

guide rails

103 and 104 are linear guide rails. Wherein the driving mechanism 20 is fixedly installed on the main body 10, the driving mechanism 30 can slide along the guide rail 103, the

driving mechanisms

40, 50, 60 can slide along the guide rail 104, preferably, the length of the guide rail 104 is greater than or equal to the length of the guide rail 103, and the farthest end of the guide rail 104 does not exceed the farthest position where the driving mechanism 30 can slide on the guide rail 103. The

guide rails

103 and 104 are shown parallel to each other, which ensures that the catheter and guide wire they grip, push and/or rotate are in the same axial direction. In addition, the

guide rails

103 and 104 may not be parallel to each other, i.e., they may intersect each other, so that they may also grip, push and/or rotate the catheter or guide wire, except that the catheter or guide wire does not move in the same axial direction.

Each driving mechanism is used for clamping, pushing (including advancing and retreating) and rotating (including forward rotation and reverse rotation) the catheter or the guide wire (generally called as a slender medical device), and the like, and can also be used for simultaneously clamping, pushing (including advancing and retreating) and rotating (including forward rotation and reverse rotation) the catheter or the guide wire to realize the cooperative motion of a plurality of catheters and one guide wire or the cooperative motion of a plurality of catheters and a plurality of guide wires. Each drive mechanism includes a clamping assembly for clamping the catheter or guidewire, a rotating assembly for rotating the catheter or guidewire, the rotating assembly can be either of an active drive type or a passive follow-up type, or of an active drive type in its entirety, or of an active drive type in part, or of a passive follow-up type, and the clamping of the catheter by the

drive mechanisms

20, 40 does not affect the rotation of the catheter.

The gripping and rotating assemblies of the

drive mechanisms

20, 30, 40, 50, 60 may be a slave guidewire catheter twirling device of an interventional surgical robot as described in chinese patent application 202111010071.6, the entire contents of which are incorporated herein by reference.

In other embodiments, the specific configuration of the

drive mechanisms

20, 30, 40, 50, 60 is not limited to the same, but may be different so long as clamping, pushing, and/or rotating of the catheter, guidewire is achieved. Or the clamping components and the rotating components are the same, or the clamping components and the rotating components are different, or a plurality of clamping components and rotating components are the same, and other clamping components and rotating components are different. In other embodiments, the drive mechanism 20 may preferably be only a follower mechanism, such as a follower roller set, for example, as shown in fig. 5-9, that supports and cooperates with the drive mechanism 30 to move and/or rotate the catheter or guidewire, which may reduce equipment costs.

In this embodiment, the

drive mechanisms

20 and 30 are spaced back and forth and are adapted to cooperate to hold, push and/or rotate the same guide catheter 90 (i.e., the first catheter) without buckling. Preferably, drive

mechanisms

20 and 30 preferably simultaneously advance and/or rotate guide catheter 90 to straighten it without bending. Similarly, drive

mechanisms

40 and 50 are coupled at a distance back and forth for cooperatively gripping, preferably simultaneously advancing and/or rotating the same multi-function tube 91 (i.e., the second conduit, also referred to as the intermediate conduit). The drive mechanism 60 is used to grip, push and/or rotate the guide wire 92. The gripper 70 is used to grip and/or advance the guide wire 92 in synchronization with the drive mechanism 60. The rapid exchange mechanism 80 is removably secured to the drive mechanism 50 for gripping and advancing the rapid exchange catheter.

In other embodiments, the drive mechanism 20 is fixed to the body 10 at a distance back and forth from the drive mechanism 30 disposed on the guide track 103 for cooperating with clamping, pushing and/or rotating the same guide catheter 90 (i.e., the first catheter) without bending. Preferably, drive mechanism 20 acts as a follower mechanism that can synchronously move and/or rotate guide catheter 90 with drive mechanism 30 to straighten it without bending. Similarly, drive

mechanisms

40 and 50 are disposed on rail 104 and spaced back and forth for moving and/or rotating the same multi-function tube 91 (i.e., the second conduit, also referred to as the intermediate conduit) preferably synchronously in conjunction with the clamping. The drive mechanism 60 is also disposed on the rail 104 and is used to grip, push, and/or rotate the guide wire 92.

In preparation for surgery, the physician goes to the catheter suite for preoperative preparation. If the guiding catheter 90, the multifunctional tube 91 and the guiding guide wire 92 are selected to be suitable (such as length and diameter), the guiding catheter 90 and the multifunctional tube 91 are flushed with the physiological saline and exhausted. The multifunctional tube 91 is manually inserted into the guiding catheter 90 and extended out of the guiding catheter 90 for a certain distance, and the guiding wire 92 is inserted into the multifunctional tube 91 and extended out of the multifunctional tube 91 for a certain distance, for example, the head of the guiding wire 92 exceeds the multifunctional tube 91 by about 10 cm. The driving

mechanisms

20, 30, 40, 50 and 60 are positioned reasonably, the guiding catheter 90, the multifunctional tube 91 and the guiding guide wire 92 are placed into a puncture sheath (such as a femoral artery, a radial artery or other) of a surgical patient, and the clamping components of the driving

mechanisms

20 and 30 simultaneously clamp the guiding catheter 90, the clamping components of the driving

mechanisms

40 and 50 simultaneously clamp the multifunctional tube 91, the clamping components of the driving mechanism 60 and the clamping device 70 simultaneously clamp the guiding guide wire 92, so that clamping and fixing of the guiding catheter 90, the multifunctional tube 91 and the guiding guide wire 92 are realized.

In other embodiments, the driving mechanism 20 is fixed at the most distal end of the main body 10, and only the driving

mechanisms

30, 40, 50, 60 need to be adjusted to a proper position, and the guiding catheter 90, the multifunctional tube 91 and the guiding wire 92 are placed into a puncture sheath for penetrating a surgical patient, so that the clamping components of the driving

mechanisms

40 and 50 simultaneously clamp the multifunctional tube 91, and the clamping components of the driving mechanism 60 clamp the guiding wire 92, thereby realizing the coaxial clamping and fixing of the guiding catheter 90, the multifunctional tube 91 and the guiding wire 92, and keeping the guiding catheter 90, the multifunctional tube 91 and the guiding wire 92 moving along the same axial direction during operation.

At the beginning of the operation, the surgeon, before arriving at the console outside the catheter room, remotely operates the driving

mechanisms

20, 30, 40, 50, 60, the gripper 70 and the quick-change mechanism 80 using the master console (such as the master console of the interventional surgical robot described in chinese patent application 202111009835.X and the master control module of the interventional surgical robot described in 202111009832.6, the entire contents of which are incorporated herein). Specifically, drive

mechanisms

20 and 30 together grip guide catheter 90 and advance guide catheter 90, either simultaneously or not, the rotating components of

drive mechanisms

20 and 30 rotate guide catheter 90, and drive mechanism 30 grips guide catheter 90 against movement when drive mechanism 20 is moved to an extreme position (e.g., the distal-most end of body 10) to reset and release guide catheter 90. When the driving mechanism 20 is returned to a position closer to the driving mechanism 30, the holding assembly of the driving mechanism 20 holds the guiding catheter 90 again, so that the driving

mechanisms

20 and 30 drive the guiding catheter 90 forward together, and the rotating assemblies of the driving

mechanisms

20 and 30 rotate the guiding catheter 90 at the same time or at different times, and the process is repeated until the guiding catheter is advanced to the proper position.

In other embodiments, drive mechanism 20 is stationary and does not move, drive

mechanisms

20 and 30 together grip guide catheter 90, drive mechanism 30 moves along guide rail 103 and alone advances guide catheter 90, while or not simultaneously driving the rotating components of drive mechanism 30 to rotate guide catheter 90, and drive mechanism 20 only supports guide catheter 90 in cooperation with drive mechanism 30 so that it does not bend and allows delivery and rotation to be accomplished smoothly.

During this process, the driving

mechanisms

40 and 50 simultaneously or not simultaneously grip the multi-function tube 91 and move along the channel 102 to advance the multi-function tube 91, and the driving

mechanisms

40 and 50 rotate the multi-function tube 91 at the same time or not, and when the driving mechanism 40 moves to an extreme position (for example, the distance from the driving mechanism 30 is close to the threshold value) to be reset to release the multi-function tube 91, the driving mechanism 50 grips the multi-function tube 91 and does not move. When the driving mechanism 40 is reset to a position closer to the driving mechanism 50, the clamping assembly of the driving mechanism 40 clamps the multifunctional pipe 91 again, so that the driving

mechanisms

40 and 50 drive the multifunctional pipe 91 to advance together, and simultaneously or not drive the rotating assemblies of the driving

mechanisms

40 and 50 to rotate the multifunctional pipe 91, and the operation is repeated until the multifunctional pipe is advanced in place.

During the above process, the driving mechanism 60 and the holder 70 hold the guide wire 92 and advance the guide wire 92 at the same time or at different times, and the rotating component of the driving mechanism 60 rotates the guide wire 92 at the same time or at different times. When the drive mechanism 60 is moved to an extreme position (e.g., a distance from the drive mechanism 50 is near a threshold) to reset and release the guidewire 92, the guidewire 92 is held by the holder 70 against movement. After the driving mechanism 60 is reset, the clamping assembly of the driving mechanism 60 clamps the guide wire 92 again, so that the driving mechanism 60 and the clamp 70 drive the guide wire 92 to advance, and at the same time or at different times, the rotating assembly of the driving mechanism 60 rotates the guide wire 92, and the process is repeated until the guide wire is advanced in place.

In other embodiments, the gripper 70 is not required, and the drive mechanism 60 can be operated to advance the guidewire 92, with or without simultaneous rotation of the guidewire 92 by the rotating components of the drive mechanism 60. When the drive mechanism 60 is moved to an extreme position (e.g., a distance from the drive mechanism 50 approaching a threshold) for repositioning, only the guidewire 92 needs to be released for repositioning. After resetting, the clamping assembly of the driving mechanism 60 clamps the guide wire 92 again, and the driving mechanism 60 drives the guide wire 92 to advance again, and simultaneously or not simultaneously, the rotating assembly of the driving mechanism 60 rotates the guide wire 92, so that the reciprocating operation is carried out until the guide wire is advanced in place.

As to how the master console remotely controls the driving

mechanisms

20, 30, 40, 50, 60, the clamper 70 and the fast-exchanging mechanism 80 to move, it can be the same as the master control module of the interventional surgical robot described in chinese patent application 202111009832.6, which includes two operation levers, one of which is used for controlling the driving

mechanisms

20, 30, 40, 50 and the fast-exchanging mechanism 80, and the operation lever can time-divisionally control the driving

mechanisms

20, 30, the driving

mechanisms

40, 50 and the fast-exchanging mechanism 80 through a switching device, and the other of which is used for controlling the driving mechanisms 60 and the clamper 70. It is also possible that the master end console includes more than two levers, such as four levers, for remotely operating the driving

mechanisms

20, 30, the driving

mechanisms

40, 50, the driving mechanism 60, the clamper 70, and the quick-change mechanism 80, respectively.

In other embodiments, the

drive mechanisms

30, 50 clamp the guide catheter 90 and the multi-function tube 91, respectively, through the Y-valve. That is, the guiding catheter 90 and the multi-functional tube 91 are connected to the Y valve, the Y valve is fixed to the

driving mechanism

30, 50, and the clamping component of the

driving mechanism

30, 50 clamps the Y valve and the rotating component rotates the Y valve luer connector to drive the guiding catheter 90 and the multi-functional tube 91 to rotate.

In the above-described cooperative pushing of the guide catheter 90, the multifunctional tube 91, and the guide wire 92, it is desirable to always keep the multifunctional tube 91 extending a certain distance from the guide catheter 90 and the guide wire 92 extending a certain distance from the multifunctional tube 91. When the guiding catheter 90, the multifunctional tube 91 and the guiding wire 92 reach some part of the blood vessel, the

driving mechanism

20, 30, 40, 50, 60 and the clamper 70 may need to be remotely operated by the main console to allow the guiding catheter 90, the multifunctional tube 91 and the guiding wire 92 to be exchanged for advancing, retreating, forward rotating and reverse rotating for many times.

When the guiding catheter 90 advances to the proper position, the guiding catheter 90 is fixed and does not move, the driving

mechanisms

40, 50 and 60 and the holder 70 are remotely controlled by the console at the main end, so that the multifunctional tube 91 and the guiding wire 92 retreat, the retreating process can be similar to the advancing process, or the driving mechanism 40 does not move and only the driving mechanism 50 pulls the multifunctional tube 91 to retreat, and the driving mechanism 60 does not move and only the holder 70 pulls the guiding wire 92 to retreat. When the head of the multi-functional tube 91 and the guide wire 92 are retracted to the puncture sheath, the physician enters the catheterization room to manually remove the multi-functional tube 91 and the guide wire 92 from the clamping assembly of the

driving mechanism

40, 50, 60 and the clamp 70 and immerse the tube in heparin water.

A thinner microcatheter 94 and a microcatheter 96 (e.g., 0.014in) are selected. The micro-wire 96 is manually threaded into the micro-catheter 94 and together into the guiding catheter 90, with the micro-wire 96 extending a distance beyond the micro-catheter 94. According to the requirements of the microcatheter 94 and the microcatheter 96, the driving

mechanisms

40, 50, 60 and the clamper 70 are in reasonable positions, and the microcatheter 94 and the microcatheter 96 are respectively clamped on the clamping components of the driving

mechanisms

40 and 50 and the clamping components of the driving mechanism 60 and the clamper 70, so that the microcatheter 94 and the microcatheter 96 are clamped and fixed. Preferably, microcatheter 94 is connected to a Y-valve which is fixed to drive mechanism 50 and rotated by its clamping assembly clamping the Y-valve and rotating assembly rotating the Y-valve luer connector.

The surgeon again goes to the console outside the catheter room and remotely manipulates the

drive mechanisms

40, 50, 60 and gripper 70 with the master console. The specific process is similar to the above-described pushing and/or rotating process of the multifunctional tube 91 and the guide wire 92. When the microcatheter 94 and the microcatheter 96 are advanced to the head of the guiding catheter 90, the microcatheter 94 and the microcatheter 96 are further pushed to the focus of the operation patient (also called the target angiostenosis). The position of the micro-wire 96 is confirmed by imaging, and the micro-catheter 94 and the micro-wire 96 are fixed by the driving

mechanisms

40, 50, 60 and the holder 70 respectively and do not move when the specified position is reached (generally, the micro-wire 96 is to pass through the focus of the operation patient, except for the possibility of treating aneurysm embolism). If the desired location is not reached, the teleoperational drive

mechanisms

40, 50, 60 and gripper 70 movement are repeated until the micro-wire 96 reaches the desired location.

After the micro-wire 96 reaches the desired location, the

drive mechanisms

40, 50 are remotely operated by the master console to retract the micro-catheter 94 while keeping the micro-wire 96 motionless, e.g., the drive mechanism 60 holds the micro-wire 96 motionless by the holder 70 instead as it is retracted. When the tip of the microcatheter 94 is retracted back into the puncture sheath, the physician enters the catheter room to manually remove the microcatheter 94 from the

drive mechanism

40, 50 and immerse it in heparin water. At this time, the driving mechanism 60 may alternatively hold the micro-wire 96, and the driving

mechanisms

20 and 30 and the driving mechanism 60 may be kept fixed to the guide catheter 90 and the micro-wire 96, respectively, without movement.

The physician again enters the catheter room and manually inserts the tail of the micro-guidewire 96 into the rapid exchange balloon dilation catheter 98, and the rapid exchange balloon dilation catheter 98 is advanced over the micro-guidewire 96, at which time the rapid exchange balloon dilation catheter 98 is held by the rapid exchange mechanism 80.

The physician again moves to the operating table outside the catheter room and remotely operates the rapid exchange mechanism 80 using the master-end console to advance the rapid exchange balloon dilation catheter 98 to the lesion (not beyond the head of the micro-guidewire 96) of the surgical patient. In this process, the position and angle of the micro-wire 96 are constantly noticed, and the adjustment can be performed by forward rotation, reverse rotation, forward movement and backward movement in time. When the rapid exchange balloon dilatation catheter 98 reaches the lesion of the patient, the rapid exchange balloon dilatation catheter 98 is filled with a contrast medium in the catheter chamber for pre-dilatation, and the vasodilatation effect is confirmed by contrast. If the vasodilatation effect is achieved, the contrast medium is withdrawn from the rapid exchange balloon dilation catheter 98. Before the physician arrives at the operation table outside the catheter chamber, the main-end operation table is used to remotely control the rapid exchange mechanism 80, so that the rapid exchange balloon dilatation catheter 98 is retracted to the puncture sheath. During the retraction of the rapid exchange balloon dilation catheter 98, the position of the micro-guidewire 96 is maintained. For some procedures, multiple vasodilations may be required, and thus the rapid exchange balloon dilation catheter 98 described above may be advanced and retracted multiple times.

The doctor comes to the catheter room again, manually takes off the rapid exchange balloon dilatation catheter 98 from the rapid exchange mechanism 80, and then manually inserts the rapid exchange balloon dilatation stent catheter into the micro-guide wire 96 and clamps the rapid exchange mechanism 80, and the specific process is the same as the process of pushing and/or rotating the rapid exchange balloon dilatation catheter 98, which is not described again.

The physician again goes to the console outside the catheter room and remotely controls the rapid exchange mechanism 80 using the master console, thereby pushing the rapid exchange balloon stent catheter along the micro-guidewire 96 to the lesion (expanded vessel) of the surgical patient. In this process, the position and angle of the micro-wire 96 are constantly noticed, and the adjustment can be performed by forward rotation, reverse rotation, forward movement and backward movement in time. When the rapid exchange ball expanding bracket catheter reaches the focus (the expanded blood vessel) of the operation patient, the position of the rapid exchange ball expanding bracket catheter is finely adjusted, and after the position is determined, the rapid exchange ball expanding bracket catheter is filled with contrast medium in a catheter chamber to form the bracket. After confirming the correct placement of the balloon expandable stent by radiography, the contrast agent can be pumped out and the rapid exchange mechanism 80 is controlled to drive the rapid exchange balloon expandable stent catheter to retreat to the puncture sheath, while the balloon expandable stent is left at the focus of the operation patient. The physician enters the catheterization room to manually remove the quick-exchange balloon stent catheter from the quick-exchange mechanism 80 and place it in heparin water. This concludes the treatment.

The physician then moves to the console outside the catheter room, and remotely controls the

driving mechanism

20, 30, 40, 50, 60 and the holder 70 to move by using the console at the main end, so that the guiding catheter 90 and the micro-guide wire 96 move back to the puncture sheath. When withdrawing, the driving mechanism 20 may pull the guiding catheter 90 together with the driving mechanism 30 to withdraw, or may pull only the guiding catheter 90 by the driving mechanism 30 to withdraw without moving. The physician finally returns to the catheter room and manually removes the guide catheter 90, the micro-guidewire 96 from the clamping assembly of the

drive mechanism

20, 30, 60 and the holder 70, withdraws it from the puncture sheath and places it in heparin water, and then performs the puncture sheath extraction and post-operative treatment to complete the procedure.

The above is selected for rapid exchange of catheters, and therefore, a rapid exchange mechanism 80 is required to hold, push and/or rotate. If the catheter is a coaxial exchange catheter, the tail of the micro-wire 96 is inserted into the coaxial exchange catheter, and then the coaxial exchange catheter is clamped, pushed and/or rotated by the coaxial exchange mechanism, so that the coaxial exchange catheter advances to a proper position along the micro-wire 96 or retreats to the puncture sheath. Either the rapid exchange mechanism 80 or the coaxial exchange mechanism may be roller driven to effect gripping, pushing and/or rotation of the rapid exchange conduit and the coaxial exchange conduit.

In other embodiments, drive mechanism 60 is disposed on another rail, such as linear rail 105 shown in FIG. 7, and drive mechanism 20 is slidably mounted on rail 103, as is drive mechanism 30. At this time, the driving

mechanisms

20 and 30, the driving

mechanisms

40 and 50, and the driving mechanism 60 slide along three different linear guides, respectively. In addition, these guides can be non-linear guides, such as shown in fig. 8 and 9, where three guides are distributed on the same circumference or different circumferences, and the catheters and guide wires on the driving

mechanisms

30, 40, 50 and 60 are not delivered along the same axial direction. As shown in fig. 3, when two driving mechanisms are added, the two driving mechanisms may slide along the same guide rail as the driving

mechanisms

20 and 30, the driving

mechanisms

40 and 50, or the driving mechanism 60, or may slide along another separate guide rail, and so on.

As mentioned above, only the

drive mechanism

20, 30, 40, 50, 60, the gripper 70 are mentioned to move along the guide rail of the body 10. In fact, in order to drive the driving

mechanism

20, 30, 40, 50, 60 and the clamper 70 to move, the main body 10 is further provided with a transmission mechanism such as a timing belt, a cable, a slider rail, a rack and pinion, etc. which cooperates with the rail to realize the movement of the

driving mechanism

20, 30, 40, 50, 60 and the clamper 70 along the main body 10.

The movement and control process of the present invention is described above using "balloon stent angioplasty" as an example. In fact, the invention can also be used for various operations such as radiography, embolism, thrombus removal and the like. The

driving mechanism

20, 30, 40, 50, 60, the holder 70 and the quick-change mechanism 80 can be freely adjusted by the doctor according to the actual needs of the operation, i.e. the

driving mechanism

20, 30, 40, 50, 60, the holder 70 and the quick-change mechanism 80 can be conveniently assembled and disassembled. For example, when performing a more complicated operation, more driving mechanisms, holders and fast exchanging mechanisms may be added, for example, after adding more driving mechanisms and holders, the coordinated movement of one guide wire corresponding to a plurality of catheters or a plurality of guide wires corresponding to a plurality of catheters may be realized, for example, two driving mechanisms (which may be the driving

mechanisms

20, 30, or the driving mechanisms 40, 50) are added in fig. 3 to clamp, synchronously move and/or rotate a plurality of catheters, which may be referred to the "ball expanding stent forming operation" described above; a quick-change mechanism is provided for each drive mechanism (e.g., drive mechanisms 30, 50) that is configured to hold the conduit at all times, and is removably mounted to the drive mechanism or is formed as an integral unit with the drive mechanism. While in performing a simple examination procedure, such as an angiographic procedure, only portions of the

drive mechanisms

20, 30, 40, 50, 60, such as the

drive mechanisms

20, 30, and 60 (or the

drive mechanisms

40, 50, and 60), referring to fig. 4, the other drive mechanisms, the holder 70, and the quick-exchange mechanism 80 are removed from the body 10. The following describes the coordinated movement and control of a catheter and a guide wire with only the drive mechanisms 20 (or 40), 30 (or 50), and 60 according to the present invention, using an angiographic procedure as an example:

when preparing operation, according to the position of the blood vessel focus, a guide catheter, a guide wire and a radiography catheter with proper diameter and length are selected, and the guide catheter and the radiography catheter are flushed with physiological saline and exhausted. And starting the interventional operation robot to complete initialization. The puncture sheath is arranged for the operation patient. The guide wire is manually inserted into the guide catheter and extended out of the guide catheter for a certain distance, for example, the head of the guide wire is about 10cm beyond the guide catheter, and the guide wire and the guide catheter are placed together into the puncture sheath. The clamping components of the driving mechanisms 20 (or 40), 30 (or 50) and 60 clamp the guide catheter and the guide wire respectively, so that the guide catheter and the guide wire are clamped and fixed.

To begin the procedure, the surgeon moves to a console outside the catheter room and remotely operates the drive mechanisms 20 (or 40), 30 (or 50), 60 using the master console. The guide catheter and the guide wire are advanced to the target blood vessel in a coordinated manner. The process is referred to the above-mentioned "balloon expandable stent forming operation". The head of the guide catheter and the guide wire are kept in the image visual field range. At this time, the driving mechanism 20 (or 40) or 30 (or 50) is not moved to hold the guide catheter, and the remote operation driving mechanism 60 is retracted to withdraw the guide wire to the puncture sheath.

The physician enters the catheterization laboratory and manually removes the guide wire from the gripping assembly of the drive mechanism 60 and bathes it in heparin water. A contrast medium is introduced into the guide tube, and radiographic imaging is performed to acquire complete image information at different angles of the target blood vessel.

If the image information of a plurality of target blood vessels needs to be acquired, another guide wire is inserted into the guide tube and advanced to the puncture sheath, and the guide wire is clamped by the clamping component of the driving mechanism 60. At this time, the patient moves to the operation table outside the catheter chamber, and then the main console remotely operates the driving mechanisms 20 (or 40), 30 (or 50), and 60 to advance the guide catheter and the guide wire to another target blood vessel in a coordinated manner, at this time, the driving mechanisms 20 (or 40), and 30 (or 50) hold the guide catheter without moving, the guide wire is retracted to the puncture sheath and taken out, and the contrast medium is again introduced into the guide catheter to perform radiography, so that complete image information at a different angle at another target blood vessel is obtained. This is repeated until the complete image information of all target vessels is obtained. The above procedure can also be advanced to another target vessel by first withdrawing the guiding catheter and using another guiding catheter to fit the other guiding wire.

The doctor remotely controls the driving mechanism 20 (or 40) and 30 (or 50) to retreat, and the guiding catheter is driven to withdraw to the puncture sheath. The physician enters the catheterization laboratory and manually removes the guide catheter and the last used guide wire from the gripping assembly of the drive mechanism 20 (or 40), 30 (or 50), 60, respectively, and withdraws it from the puncture sheath.

In other embodiments, the guide wire 92 may be initially held by the drive mechanism 60 and advanced and/or rotated along with the guide wire 92 without being held by the holder 70. When the driving mechanism 60 moves to a certain position and needs to be reset, the guide wire 92 is clamped by the clamp holder 70, and the driving mechanism 60 releases the guide wire 92. When the guide wire 92 is gripped again after the drive mechanism 60 is reset, the gripper 70 releases the guide wire 92, and thus the drive mechanism 60 and the gripper 70 alternately grip the guide wire 92. At this time, preferably, the holder 70 is fixedly mounted at the proximal end of the body 10 for supporting the guide wire 92 without sliding together with the drive mechanism 60. With the support of the guide wire 92 by the holder 70, the drive mechanism 60 can more smoothly drive the guide wire 92 to advance and/or rotate. That is, the guide wire 92 can be advanced and/or rotated even if the guide wire 92 is held only by the drive mechanism 60 without the holder 70.

In other embodiments, the rapid exchange mechanism 80 may rotate the rapid exchange catheter or may rotate the rapid exchange catheter while pushing the rapid exchange catheter.

As mentioned above, although synchronously pushing and/or rotating is the best option, it is not excluded: for example, the speed of pushing

guide catheter

90, 91 by

drive mechanism

20, 40 is faster than the speed of pushing

guide catheter

90, 91 by

drive mechanism

30, 50, respectively, which also allows guide

catheter

90, 91 to straighten without bending. 2. The driving

mechanisms

20 and 40 make the rotation speed of the guiding

catheters

90 and 91 different from (e.g. smaller than or larger than) the rotation speed of the guiding

catheters

90 and 91 by the driving

mechanisms

30 and 50, respectively, so long as the maximum allowable distortion of the guiding

catheters

90 and 91 is satisfied, although a certain distortion of the guiding

catheters

90 and 91 is caused; it is even possible that only the

drive mechanism

30, 50 grips the

guide catheter

90, 91 and allows the

guide catheter

90, 91 to rotate, and that the

drive mechanism

20, 40 only grips the

guide catheter

90, 91 and does not drive the

guide catheter

90, 91 to rotate.

In the above description, the main-end console and the console on which the main-end console is placed are located outside the duct chamber. In fact, they can also be placed in an independent space in the catheter chamber, as long as the X-ray radiation can be isolated, and the doctor is free from the X-ray radiation.

The above only describes how to replace the guide wire of the catheter in some cases. In fact, the replacement of the guide wire of the catheter can be completely determined by doctors according to the actual needs of the operation and the personal operation habits. And is not limited only by the way of replacing the guide wire of the catheter.

Therefore, the invention can lead a doctor to remotely control the driving mechanism, the clamp holder and the quick exchange mechanism so as to drive the catheter and the guide wire to move cooperatively, thereby not only preventing the health from being influenced by X-ray radiation, but also controlling the catheter and the guide wire to move more accurately by means of the interventional operation robot, lightening the working strength and avoiding misoperation.

It will be understood by those skilled in the art that all or part of the steps of the above methods may be implemented by instructing the relevant hardware through a program, and the program may be stored in a computer readable storage medium, such as a read-only memory, a magnetic or optical disk, and the like. Alternatively, all or part of the steps of the above embodiments may be implemented using one or more integrated circuits. Accordingly, each module/unit in the above embodiments may be implemented in the form of hardware, and may also be implemented in the form of a software functional module. The present invention is not limited to any specific form of combination of hardware and software.

The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. The utility model provides a simple and convenient type intervenes operation robot from end operating means which characterized in that: the medical instrument clamp comprises a main body, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism and the second driving mechanism are used for clamping a first elongated medical instrument, the first driving mechanism is fixedly arranged on the main body, and when the second driving mechanism slides along the main body to drive the first elongated medical instrument to move, the first driving mechanism enables the first elongated medical instrument to move synchronously.

2. A handy type interventional surgical robot slave end operating device according to claim 1, wherein: the first driving mechanism is a follow-up mechanism which supports and cooperates with the second driving mechanism to drive the first elongated medical device.

3. A handy type interventional surgical robot slave end operating device according to claim 2, wherein: the first driving mechanism is provided with a follow-up roller set which is used for clamping a first slender medical instrument and is matched with the second driving mechanism to synchronously drive the first slender medical instrument to move.

4. A handy type interventional surgical robot slave end operating device according to claim 1, wherein: the main body is provided with a first guide rail, and the second driving mechanism slides along the first guide rail to drive the first slender medical device to move.

5. A handy type interventional surgical robot slave end operating device according to claim 4, wherein: the simple interventional surgical robot slave-end operation device further comprises a third driving mechanism and a fourth driving mechanism which are slidably mounted on the main body, and the third driving mechanism and the fourth driving mechanism are used for clamping a second slender medical device and sliding along the main body to drive the second slender medical device to move.

6. The handy surgical robotic slave-end effector as claimed in claim 5, wherein: the main body is provided with a second guide rail, and the third driving mechanism and the fourth driving mechanism slide along the second guide rail to drive the second slender medical instrument to move.

7. A handy type interventional surgical robot slave end operating device according to claim 6, wherein: the simple interventional surgical robot slave-end operation device further comprises a fifth driving mechanism, and the fifth driving mechanism is used for clamping a third slender medical device and can slide along the main body to drive the third slender medical device to move.

8. A handy type interventional surgical robot slave end operating device according to claim 7, wherein: the fifth driving mechanism slides along the second guide rail to drive the third slender medical device to move.

9. A handy type interventional surgical robot slave end operating device according to claim 7, wherein: the main body is provided with a third guide rail, and the fifth driving mechanism slides along the third guide rail to drive a third slender medical device to move.

10. A handy type interventional surgical robot slave end operating device according to claim 8, wherein: the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism and the fifth driving mechanism are sequentially arranged along the main body.