CN114587615B - Guide wire conveying clamping module and endoscope accessory operation end system - Google Patents
Guide wire conveying clamping module and endoscope accessory operation end system Download PDFInfo
- Publication number
- CN114587615B CN114587615B CN202210169218.4A CN202210169218A CN114587615B CN 114587615 B CN114587615 B CN 114587615B CN 202210169218 A CN202210169218 A CN 202210169218A CN 114587615 B CN114587615 B CN 114587615B
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- guide wire
- module
- base
- clamping
- hose
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- 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
- A61B34/74—Manipulators with manual electric input means
-
- 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
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- 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
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
Abstract
The invention provides a guide wire conveying clamping module and an endoscope accessory operating end system, including base, seal wire clamping module, seal wire transport module and hose clamping module, wherein: the guide wire clamping module is detachably arranged on the base; the guide wire conveying module and the hose clamping module are sequentially arranged on the base, and the guide wire is guided by the guide wire clamping module and then sequentially passes through the guide wire conveying module and the guide wire clamping module; the guide wire conveying module is used for conveying a guide wire; the guide wire clamping module clamps or releases the guide wire. The invention mainly solves the problem of injury to doctors caused by long-term radiation of the ERCP operation, reduces hand vibration of the doctors during operation, reduces working strength, reduces operating personnel and improves the success rate of the operation.
Description
Technical Field
The invention relates to the field of operation of interventional surgical robots, in particular to a guide wire conveying clamping module and an endoscope accessory operating end system.
Background
ERCP is a well-established endoscopic minimally-invasive treatment of diseases of the biliary-pancreatic system, also known as endoscopic retrograde cholangiopancreatography. ERCP can be used for diagnosing and treating cholelithiasis, biliary obstruction, cholangitis, biliary tumor, pancreatic tumor, etc. During the operation, a duodenoscope is inserted into the descending part of the duodenum of a patient, a contrast catheter is inserted into a biopsy channel to the opening of the duodenal papilla, then a contrast agent is injected, the specific condition of the pancreaticobiliary duct is observed under an x-ray film to determine whether pathological changes exist, and then the corresponding operation is carried out.
The ERCP operation has small wound, short operation time, less complication, high safety and the like. The operation belongs to minimally invasive operation, the operation wound is very small, the patient cannot be suffered from much pain, and the postoperative recovery is fast. However, ERCP surgery needs to be performed with the aid of X-rays, and the surgeon must be exposed to X-rays for a long period of time. In order to relieve the working environment of an interventional surgeon, an ERCP surgical robot is developed in engineering to replace the surgeon to complete the operation, and the surgeon controls the ERCP surgical robot to complete the operation in an X-ray-free environment in a remote operation or remote control operation mode. At present, no effective and similar technical scheme exists in the market.
At present, the domestic ERCP operation is manually operated by doctors and teams thereof, operators need to wear thick radiation-proof clothes during the operation, arm parts need to be exposed for operation and cannot be protected against radiation, and long-term operation radiation can cause serious radiation injury to the operators throughout the year. In addition, the conventional ERCP operation needs a lot of operators and cooperative staff, congestion is slightly obvious in an operating room with small space, doctors and operators need to stand in a day to perform the operation, the working strength is high, fatigue is easy to occur, and the accuracy of the operation is influenced and even errors are caused. In the operation process, doctors and operators are difficult to ensure that hands do not shake, and the situation that the hands shift after being inserted into the human body instrument for positioning sometimes happens.
The ERCP surgical robot has the advantages that a doctor sits on the control table outside the operating room, the whole operation can be carried out through remote control, the problem that the operator is injured by long-term radiation of the ERCP operation is solved, hand vibration of the doctor during operation is avoided, working strength is reduced, and operation success rate is improved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a guide wire conveying clamping module and an endoscope accessory operating end system.
The invention provides a guide wire conveying clamping module, which comprises a base, a guide wire clamping module, a guide wire conveying module and a hose clamping module, wherein:
the guide wire clamping module is detachably arranged on the base;
the guide wire conveying module and the hose clamping module are sequentially arranged on the base, and the guide wire is guided by the guide wire clamping module and then sequentially passes through the guide wire conveying module and the guide wire clamping module;
the guide wire conveying module is used for conveying a guide wire;
the guide wire clamping module clamps or releases the guide wire.
Preferably, the hose clamping module further comprises an auxiliary instrument, a guide wire is inserted into the auxiliary instrument, and the auxiliary instrument can be inserted on the hose clamping module.
Preferably, the hose clamp module comprises a hose and a holder, wherein:
the fixed seat is arranged on the base;
the hose is detachably arranged on the fixed seat, and the guide wire is inserted from one end of the hose; the other end of the hose is close to the guide wire conveying module.
Preferably, seal wire centre gripping module includes centre gripping base, actuation electro-magnet and centre gripping top cap, wherein:
the clamping base is arranged on the base;
the clamping top cover is sleeved on the clamping base, and an accommodating space for the guide wire to pass through is formed between the clamping top cover and the clamping base;
the suction electromagnet is arranged on the clamping base and is propped against the clamping top cover when being electrified so as to clamp the guide wire; the guide wire is loosened when the attraction electromagnet is powered off.
Preferably, the clamping base comprises guide wire guide grooves and through holes arranged between the guide wire guide grooves;
the attraction electromagnet comprises a top shaft, and the top shaft penetrates out of the through hole;
when the guide wire is electrified, the top shaft rises to prop against the clamping top cover to clamp the guide wire;
when power is off, the top shaft rebounds and the guide wire is loosened.
Preferably, the guide wire guide groove is two U-shaped grooves with the same height and overlapped slotting directions.
Preferably, the clamping cap and the clamping base are in threaded connection.
Preferably, an installation cavity for accommodating the attraction electromagnet is arranged between the base and the clamping base; the attraction electromagnet is in threaded connection with the clamping base.
Preferably, the hose comprises a plastic tube.
According to the invention, the endoscope auxiliary member operation end system comprises an operation end base, a cooperation arm and the guide wire conveying clamping module, wherein:
the cooperation arm is arranged on the operation end base;
the end of the cooperation arm is provided with a guide wire conveying clamping module.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention mainly solves the problem of injury to doctors caused by long-term radiation of the ERCP operation, reduces hand vibration of the doctors during operation, reduces the working intensity, reduces the number of operators and improves the success rate of the operation.
2. The doctor can put the endoscope auxiliary instrument at the most reasonable position to guarantee the operation convenience thereof through the position adjustment and the locking to base, cooperation arm and auxiliary operating panel according to the position of patient and sick bed, finally makes the operation conveniently go on smoothly.
3. The invention completely copies the actual operation action of the doctor, and the doctor can adapt to the handle control mode through a few learning processes.
4. The invention reduces the number of medical operators, improves the operation comfort of doctors, reduces the operation intensity of doctors and avoids the injury of rays to the operation operators.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural diagram of a guide wire conveying clamping module.
Fig. 2 is a schematic diagram of an expanded structure of the guide wire conveying clamping module.
Figure 3 is a top view of a guidewire delivery gripping module.
Fig. 4 is a structural schematic diagram of a screw rod guide groove of the guide wire conveying clamping module.
Fig. 5 is a structural schematic diagram of the attracting electromagnet of the guide wire conveying clamping module.
Figure 6 is a schematic structural diagram of the system of the operation end of the endoscope accessory.
The figures show that:
operation end base 1
Cooperating arm 2
Guide wire conveying clamping module 3
Guidewire clamping module 302
Attracting electromagnet 3022
Clamping top cover 3023
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1 to 6, a guidewire delivery clamping module according to the present invention, particularly for use in ERCP, comprises a base, a guidewire clamping module, a guidewire delivery module, and a hose clamping module, wherein: the guide wire clamping module is detachably arranged on the base; the guide wire conveying module and the hose clamping module are sequentially arranged on the base, and the guide wire is guided by the guide wire clamping module and then sequentially penetrates through the guide wire conveying module and the guide wire clamping module; the guide wire conveying module is used for conveying a guide wire; the guide wire clamping module clamps or releases the guide wire.
The device also comprises an auxiliary instrument, wherein a guide wire is inserted into the auxiliary instrument, and the auxiliary instrument can be inserted on the hose clamping module.
The hose clamping module comprises a hose and a fixing seat, wherein: the fixed seat is arranged on the base; the hose is detachably arranged on the fixed seat, and the guide wire is inserted from one end of the hose; the other end of the hose is close to the guide wire conveying module. The hose may be a plastic tube.
Seal wire clamping module includes centre gripping base, actuation electro-magnet and centre gripping top cap, wherein: the clamping base is arranged on the base; the clamping top cover is sleeved on the clamping base, and an accommodating space for the guide wire to pass through is formed between the clamping top cover and the clamping base; the attraction electromagnet is arranged on the clamping base and is propped against the clamping top cover when being electrified so as to clamp the guide wire; and when the suction electromagnet is powered off, the guide wire is loosened.
The clamping base comprises guide wire guide grooves and through holes arranged between the guide wire guide grooves; the attraction electromagnet comprises a top shaft which penetrates out of the through hole; when the guide wire is electrified, the top shaft rises to prop against the clamping top cover to clamp the guide wire; when the power is off, the top shaft rebounds to release the guide wire. The guide wire guide groove is two U-shaped grooves with the same height and the same grooving direction. The clamping top cover is in threaded connection with the clamping base. An installation cavity for accommodating the attraction electromagnet is arranged between the base and the clamping base; the attraction electromagnet is in threaded connection with the clamping base.
According to the invention, the endoscope auxiliary member operation end system comprises an operation end base, a cooperation arm and the guide wire conveying clamping module, wherein: the cooperation arm is arranged on the operation end base; the end of the cooperation arm is provided with a guide wire conveying clamping module. The endoscope auxiliary member operation end system is used for supporting and holding the endoscope auxiliary member operation instrument part. The operating end base is provided with a caster and a brake device, the cooperation arm is fixed on the operating end base, the cooperation arm is provided with a plurality of joints and can be dragged to rotate in a certain space range and lock a band-type brake, and the auxiliary operating platform, namely the guide wire conveying and clamping module, is used for fixing a guide wire or other various auxiliary operating instruments.
When the medical operating personnel perform the operation, the base is pushed to the position near the sickbed and the patient, the caster wheel is braked, and then the positions of the cooperation arm and the accessory operating platform are adjusted, so that the accessory operating platform is fixed at a proper position, and the subsequent operation is performed conveniently. The auxiliary devices comprise guide wires, sphincterotomes, lithotomy balloons, net baskets, balloon dilators, cytobrushes, various stent catheters and the like.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. The utility model provides a centre gripping module is carried to seal wire which characterized in that, includes base, seal wire centre gripping module, seal wire transport module and hose centre gripping module, wherein:
the guide wire clamping module is detachably arranged on the base;
the guide wire conveying module and the hose clamping module are sequentially arranged on the base, and the guide wire is guided by the guide wire clamping module and then sequentially passes through the guide wire conveying module and the guide wire clamping module;
the guide wire conveying module is used for conveying a guide wire;
the guide wire clamping module clamps or releases the guide wire; seal wire clamping module includes centre gripping base, actuation electro-magnet and centre gripping top cap, wherein:
the clamping base is arranged on the base;
the clamping top cover is sleeved on the clamping base, and an accommodating space for the guide wire to pass through is formed between the clamping top cover and the clamping base;
the attraction electromagnet is arranged on the clamping base and is propped against the clamping top cover when being electrified so as to clamp the guide wire; loosening the guide wire when the suction electromagnet is powered off;
the clamping base comprises guide wire guide grooves and through holes arranged between the guide wire guide grooves;
the attraction electromagnet comprises a top shaft, and the top shaft penetrates out of the through hole;
when the guide wire is electrified, the top shaft rises to prop against the clamping top cover to clamp the guide wire;
when the power is off, the top shaft rebounds to release the guide wire.
2. The guidewire delivery clamp module of claim 1, further comprising an auxiliary instrument into which a guidewire is inserted, the auxiliary instrument being insertable over the hose clamp module.
3. The guidewire delivery clamp module of claim 1, wherein the hose clamp module comprises a hose and a mount, wherein:
the fixed seat is arranged on the base;
the hose is detachably arranged on the fixed seat, and the guide wire is inserted from one end of the hose; the other end of the hose is close to the guide wire conveying module.
4. The guidewire delivery gripping module of claim 1, wherein the guidewire guide slots are two U-shaped slots of equal height and overlapping slot directions.
5. The guidewire delivery clamp module of claim 1, wherein the clamp cap and clamp base are threadably connected.
6. The guidewire delivery gripping module of claim 1, wherein a mounting cavity is provided between the base and the gripping base for receiving the attracting electromagnet; the attraction electromagnet is in threaded connection with the clamping base.
7. The guidewire delivery gripping module of claim 3, wherein the hose comprises a plastic tube.
8. An endoscopic accessory manipulation end system comprising a manipulation end base, a cooperating arm, and the guidewire delivery gripping module of any of claims 1-7, wherein:
the cooperation arm is arranged on the operation end base;
the end of the cooperation arm is provided with a guide wire conveying clamping module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210169218.4A CN114587615B (en) | 2022-02-23 | 2022-02-23 | Guide wire conveying clamping module and endoscope accessory operation end system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210169218.4A CN114587615B (en) | 2022-02-23 | 2022-02-23 | Guide wire conveying clamping module and endoscope accessory operation end system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114587615A CN114587615A (en) | 2022-06-07 |
| CN114587615B true CN114587615B (en) | 2023-04-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210169218.4A Active CN114587615B (en) | 2022-02-23 | 2022-02-23 | Guide wire conveying clamping module and endoscope accessory operation end system |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005072807A1 (en) * | 2004-01-29 | 2005-08-11 | Cube Medical A/S | A lock for a guide wire or an intravascular catheter |
| CN107320181A (en) * | 2017-06-05 | 2017-11-07 | 上海速介机器人科技有限公司 | The folder that wire catheter is operated in blood vessel intervention operation transfers manipulator |
| CN113633382A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter conveying device of vascular intervention surgical robot and vascular intervention surgical robot |
| CN113749781A (en) * | 2021-08-10 | 2021-12-07 | 深圳市爱博医疗机器人有限公司 | Intervene operation robot from end seal wire pipe drive arrangement with power detects function |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103083784B (en) * | 2013-02-25 | 2014-09-17 | 中国科学院自动化研究所 | Catheter or guide wire operating device for vessel interventional operation |
-
2022
- 2022-02-23 CN CN202210169218.4A patent/CN114587615B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005072807A1 (en) * | 2004-01-29 | 2005-08-11 | Cube Medical A/S | A lock for a guide wire or an intravascular catheter |
| CN107320181A (en) * | 2017-06-05 | 2017-11-07 | 上海速介机器人科技有限公司 | The folder that wire catheter is operated in blood vessel intervention operation transfers manipulator |
| CN113633382A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter conveying device of vascular intervention surgical robot and vascular intervention surgical robot |
| CN113749781A (en) * | 2021-08-10 | 2021-12-07 | 深圳市爱博医疗机器人有限公司 | Intervene operation robot from end seal wire pipe drive arrangement with power detects function |
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| Publication number | Publication date |
|---|---|
| CN114587615A (en) | 2022-06-07 |
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