CN115153861B - Interventional robot and guide wire cleaning method thereof - Google Patents
Interventional robot and guide wire cleaning method thereof Download PDFInfo
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- CN115153861B CN115153861B CN202211081394.9A CN202211081394A CN115153861B CN 115153861 B CN115153861 B CN 115153861B CN 202211081394 A CN202211081394 A CN 202211081394A CN 115153861 B CN115153861 B CN 115153861B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 34
- 239000007788 liquid Substances 0.000 claims abstract description 109
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 239000002872 contrast media Substances 0.000 claims abstract description 16
- 238000002347 injection Methods 0.000 claims abstract description 14
- 239000007924 injection Substances 0.000 claims abstract description 14
- 238000007789 sealing Methods 0.000 claims description 26
- 239000000243 solution Substances 0.000 claims description 19
- HTTJABKRGRZYRN-UHFFFAOYSA-N Heparin Chemical compound OC1C(NC(=O)C)C(O)OC(COS(O)(=O)=O)C1OC1C(OS(O)(=O)=O)C(O)C(OC2C(C(OS(O)(=O)=O)C(OC3C(C(O)C(O)C(O3)C(O)=O)OS(O)(=O)=O)C(CO)O2)NS(O)(=O)=O)C(C(O)=O)O1 HTTJABKRGRZYRN-UHFFFAOYSA-N 0.000 claims description 18
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 claims description 18
- 239000012530 fluid Substances 0.000 claims description 18
- 229960002897 heparin Drugs 0.000 claims description 18
- 229920000669 heparin Polymers 0.000 claims description 18
- 239000011780 sodium chloride Substances 0.000 claims description 18
- 230000006698 induction Effects 0.000 claims description 12
- 238000001802 infusion Methods 0.000 claims description 5
- 230000005855 radiation Effects 0.000 abstract description 6
- 230000008878 coupling Effects 0.000 abstract 3
- 238000010168 coupling process Methods 0.000 abstract 3
- 238000005859 coupling reaction Methods 0.000 abstract 3
- 238000004891 communication Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 2
- 239000000779 smoke Substances 0.000 description 2
- 230000000391 smoking effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000035602 clotting Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002601 radiography Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave 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
-
- 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
- A61M25/0108—Steering means as part of the catheter or advancing means; Markers for positioning using radio-opaque or ultrasound markers
-
- 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
- A61M25/09041—Mechanisms for insertion of guide wires
-
- 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
- A61M2025/091—Guide wires having a lumen for drug delivery or suction
Abstract
The utility model provides an intervene robot, including robot and from end drive arrangement, from end drive arrangement includes power seat and drive seat, the power seat includes first casing and power module, the drive seat includes the second casing and installs the seal wire coupling mechanism on the second casing, seal wire control mechanism, the clean mechanism of seal wire, seal wire coupling mechanism's side still is connected with liquid way control mechanism, power module's output shaft is connected with pipe coupling mechanism, seal wire control mechanism, the transmission of liquid way control mechanism respectively after extending to drive seat one side. The robot body is connected with the power module in a control mode. The catheter connecting mechanism is connected with a catheter, and a guide wire is arranged in the catheter. The application also relates to a control method of the interventional robot and a guide wire cleaning method. The technical scheme that this application provided can utilize intervention robot to replace the work of artifical injection contrast medium, reduces operator's work load, shortens operating duration and reduces the operator and bears the radiation time.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to an interventional robot, a control method of the interventional robot and a guide wire cleaning method of the interventional robot.
Background
The interventional robot mainly adopts a structure of master-slave end operation. The main end is an operation end, the slave end is an execution end, the main end is connected with the slave end through the control device, an operator operates on one side of the main end, operation information is transmitted to the slave end, and the catheter and the guide wire of the slave end are driven to move.
However, according to the use process of the current interventional robot, it is found that the interventional robot cannot automatically complete the following three key steps through mechanical operation: withdrawing the guide wire and placing the guide wire into the catheter again; secondly, the conduit is sucked and exhausted; and injecting a small amount of contrast medium to perform smoking contrast. Generally, the above three key steps are frequent switching from machine operation to manual operation by an operator, which increases the workload of the operator, reduces the working efficiency, and the operator must bear radiation during operation.
Disclosure of Invention
The key step of the current robot of interveneeing among the prior art that this application embodiment will solve still needs manual operation to lead to operator's work load to increase, work efficiency is low and the operator must bear the problem of radiation and break away from easily forming the clot on the seal wire of pipe, the problem of jam is formed to the pipe after the seal wire resets.
In order to solve the above technical problem, an embodiment of the present application provides an interventional robot, which adopts the following technical solutions:
an interventional robot comprises a robot body and a driven end driving device;
the driven end driving device comprises a power seat and a driving seat, the power seat comprises a first shell and a power module which is arranged in the first shell, the driving seat comprises a second shell, and a catheter connecting mechanism, a guide wire control mechanism and a guide wire cleaning mechanism which are arranged on the second shell, the side end of the catheter connecting mechanism is also connected with a liquid path control mechanism, and each output shaft of the power module is in transmission connection with the catheter connecting mechanism, the guide wire control mechanism and the liquid path control mechanism after extending towards one side of the driving seat;
the robot body is in control connection with the power module;
the catheter connecting mechanism is connected with a catheter, and a guide wire is arranged in the catheter.
Further, the conduit connection mechanism comprises a first valve body, one end of the first valve body is connected with the conduit through a first connector, the other end of the first valve body is provided with a first sealing element, and the liquid path control mechanism is connected with the side end of the first valve body and is positioned between the first connector and the first sealing element;
the first connecting head is also provided with a transmission part in transmission connection with an output shaft of the power module;
the tail of the guide wire passes through the first connecting head, enters the first valve body, passes through the first sealing element and penetrates out of the first valve body.
Further, the liquid path control mechanism comprises a liquid path pipe, a second connector and a liquid path switching assembly;
the liquid path pipe comprises at least one liquid inlet and one liquid outlet;
the second connector is connected between the liquid outlet of the liquid path pipe and the conduit connecting mechanism and is used for communicating the liquid path control mechanism and the conduit connecting mechanism;
the liquid path switching assembly is arranged on the liquid path pipe and is in transmission connection with an output shaft of the power module, and the liquid path switching assembly is used for opening and closing a liquid inlet communicated with the liquid outlet.
Further, the guide wire control mechanism comprises an induction component and a guide wire driving component, wherein the induction component is used for detecting the position of the guide wire in the catheter connecting mechanism and transmitting a signal to the robot body; the guide wire driving assembly is arranged close to the first sealing piece of the catheter connecting mechanism and used for receiving signals transmitted by the robot body and controlling the guide wire in the catheter to advance and retreat, stop and rotate according to the signals.
Further, the guide wire cleaning mechanism comprises a second valve body, a guide wire accommodating component and a solution injection mechanism;
one end of the second valve body is provided with a second sealing element, and the other end of the second valve body is connected with the guide wire containing assembly;
the solution injection mechanism is connected with the side end of the second valve body and is positioned between the second sealing piece and the guide wire receiving assembly;
and the guide wire enters the guide wire containing assembly along the other end of the second valve body after entering the second valve body through the second sealing piece.
In order to solve the above technical problem, an embodiment of the present application further provides a control method applied to the above interventional robot, which adopts the following technical solutions:
a control method of an interventional robot is applied to the interventional robot and comprises the following steps:
controlling the liquid path control mechanism to start, and carrying out continuous heparin saline drip infusion;
the power module is controlled to be started, the slave end driving device is driven to move along the robot body, the guide wire/the guide pipe is conveyed to a target position, and the initial position of the guide wire head end is exposed out of the guide pipe head end;
the power module is controlled to be started, the guide wire control mechanism drives the guide wire head end to retract into the catheter lumen, and the power module is controlled to be stopped;
the power module is controlled to be started, the guide wire control mechanism drives the guide wire positioned in the catheter lumen to be further withdrawn, and the power module is controlled to be stopped after the guide wire reaches the first set position; the first set position is located within the conduit connection mechanism;
the tail part of the guide wire enters the guide wire cleaning mechanism and is cleaned in the guide wire cleaning mechanism;
the liquid path control mechanism is controlled to close the pressurized instillation of the heparin saline, the procedures of back suction, air exhaust and contrast agent injection are sequentially carried out, the pressurized instillation of the heparin saline is recovered, and the liquid path control mechanism is controlled to stop;
the power module is controlled to be started, and the guide wire control mechanism drives the guide wire to extend forwards until the guide wire extends to a second set position and then stops; the second set position is within the catheter lumen.
Further, the step of controlling the power module to start, and the guide wire control mechanism driving the guide wire in the catheter lumen to further retract, and controlling the power module to stop after the guide wire reaches the first setting position specifically includes the following steps:
controlling the power module to start, and driving the guide wire to retract by the guide wire control mechanism;
the guide wire control mechanism senses that the guide wire is retracted to a first set position and transmits a signal to the robot body;
and after the robot body receives a signal sent by the guide wire control mechanism that the guide wire reaches a first set position, the power module is controlled to stop, and the guide wire stops withdrawing.
Further, the control fluid path control mechanism closes the pressurization instillation of the heparin saline, sequentially performs the procedures of back suction, exhaust and injection of the contrast agent, and recovers the pressurization instillation of the heparin saline, and the control fluid path control mechanism specifically comprises the following steps:
controlling a liquid path control mechanism to disconnect the pressurizing drip chamber from the catheter connecting mechanism and stop the liquid path control mechanism after a general injector is communicated with the catheter connecting mechanism, wherein the general injector performs suck-back and exhaust and injects a contrast medium into the catheter for the first time;
controlling the liquid path control mechanism to start, disconnecting the common injector from the catheter connecting mechanism, and controlling the liquid path control mechanism to stop after the high-pressure injector is communicated with the catheter connecting mechanism, and injecting the contrast agent into the catheter again by the high-pressure injector;
and controlling the liquid path control mechanism to start, disconnecting the high-pressure injector from the catheter connecting mechanism, and after the pressurization instillator is communicated with the catheter connecting mechanism, controlling the liquid path control mechanism to stop, and continuously pressurizing and instilling heparin saline in the guide pipe by the pressurization instillator.
Further, the guide wire driving component controls the guide wire to extend to a second set position, and the method specifically comprises the following steps:
obtaining current parameters, wherein the current parameters comprise the feeding speed of a guide wire driven by a power module and the distance between a first set position and a second set position;
calculating first set time required by the forward extension of the guide wire according to the feeding speed of the guide wire and the distance between the first set position and the second set position;
and controlling the power module to operate for a first set time, and extending the guide wire to a second set position.
In order to solve the above technical problem, an embodiment of the present application further provides a guidewire cleaning method applied to the above interventional robot, which adopts the following technical solutions:
the guide wire cleaning method of the interventional robot is characterized by being applied to the interventional robot and comprising the following steps of:
injecting a solution into the inner lumen of the wire cleaning mechanism;
the guide wire control mechanism drives the guide wire to retract along the guide pipe until the head end of the guide wire reaches a first set position, and the tail end of the guide wire is completely immersed into an inner lumen of the guide wire cleaning mechanism;
the first set position is located within the conduit connection mechanism;
the guide wire control mechanism drives the guide wire to extend forwards along the catheter until the guide wire reaches a second set position and then stops;
the second setting position is located in the catheter lumen and is a set distance from the catheter tip.
Compared with the prior art, the embodiment of the application mainly has the following beneficial effects:
1. the interventional robot provided by the embodiment of the invention integrates the original manual operation steps into machine operation, the power module is controlled by the robot body to output power, so that each mechanism on the function module is controlled to act respectively, the retraction of the guide wire, the switching of the liquid path and the reset of the guide wire are realized through the cooperation of each mechanism of the function module, the key steps of contrast agent injection and dripping are converted into machine operation, the workload of an operator is reduced, the working time is shortened, the working efficiency is improved, and the radiation bearing of the operator is avoided.
2. After the guide wire is withdrawn, the tail end of the guide wire is completely soaked in the guide wire containing assembly filled with the tube sealing liquid, so that a clot is prevented from being formed on the guide wire, and the guide wire is prevented from being blocked after being reset into the catheter.
Drawings
In order to illustrate the solution of the present application more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is an overall structural diagram of an interventional robot;
FIG. 2 is a schematic structural view of a guidewire drive assembly of the interventional robot;
FIG. 3 is a schematic diagram of a fluid path control mechanism of the interventional robot;
fig. 4 is a flow chart schematic of a control method of the interventional robot;
fig. 5 is a flow chart illustrating the steps of controlling guidewire retraction of the interventional robot;
FIG. 6 is a flow chart illustrating the steps of switching the control fluid path control mechanism of the interventional robot;
FIG. 7 is a schematic flow chart of a step of controlling guidewire advancement by the interventional robot;
fig. 8 is a flow diagram of a guidewire cleaning method of an interventional robot.
Reference numerals:
1. a robot body; 2. a power base; 21. a first housing; 3. a driving seat; 31. a second housing; 32. a conduit connection mechanism; 321. a first valve body; 322. a first connector; 323. a first seal member; 33. a guide wire control mechanism; 331. an inductive component; 332. a guidewire drive assembly; 3321. a base plate; 3322. a rotary drive member; 3323. a guide plate; 3324. a linear drive; 33241. a driving wheel set; 34. a guide wire cleaning mechanism; 341. a second valve body; 3411. a second seal member; 342. a guidewire receiving assembly; 35. a liquid path control mechanism; 351. a second connector; 352. a third tube; 353. a fourth tube; 354. a fifth tube body; 355. a liquid path switching assembly; 3551. a first fluid path switching assembly; 3552. a second liquid path switching component; 4. A conduit; 5. a guidewire.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.
Referring to fig. 1, the present invention provides an interventional robot, including a robot body 1 and a slave end driving device juxtaposed to the robot body 1;
the slave end driving device comprises a power seat 2 and a driving seat 3;
the power base 2 comprises a first shell 21 and a power module (not shown in the figure) which is arranged in the first shell 21;
the driving seat 3 comprises a second shell 31 installed on the first shell 21 and a catheter connecting mechanism 32, a guide wire control mechanism 33 and a guide wire cleaning mechanism 34 installed on the second shell 31, the side end of the catheter connecting mechanism 32 is further connected with a liquid path control mechanism 35, and each output shaft of the power module is in transmission connection with the catheter connecting mechanism 32, the guide wire control mechanism 33 and the liquid path control mechanism 35 respectively after extending on one side of the driving seat 3.
The robot body 1 is in control connection with the power module.
The catheter connecting mechanism 32 is connected with a catheter 4, and a guide wire 5 is arranged in the catheter 4.
In this embodiment, the power module includes a first driving motor, a second driving motor, a third driving motor, a fourth driving motor, a fifth driving motor, and a sixth driving motor, each driving motor of the power module is connected to the robot body 1 in a control manner, and an output shaft of each driving motor extends to one side of the driving seat and is then connected to each element mounted on the driving seat 3 in a transmission manner; the first driving motor of the power module is used for controlling the slave end driving device to move along the robot body 1, the second driving motor of the power module is used for controlling the guide tube 4 to rotate, the third driving motor of the power module is used for controlling the guide wire 5 to rotate, the fourth driving motor of the power module is used for controlling the guide wire 5 to extend forwards or retract, and the fifth driving motor and the sixth driving motor of the power module are matched and used for controlling the passage switching of the liquid path control mechanism 35;
the catheter connecting mechanism 32 is used for installing the catheter 4, the guide wire 5 is arranged in the catheter 4 in an initial state, the head end of the guide wire 5 is exposed out of the head end of the catheter 4, the tail end of the guide wire 5 extends to one side far away from the head end of the catheter 4, and the guide wire cleaning mechanism 34 is arranged after the guide wire control mechanism.
The head end of the catheter 4 defined in this embodiment is the end of the catheter 4 away from the catheter connection mechanism 32, and the head end of the guide wire 5 is the end of the guide wire 5 exposed from the head end of the catheter 4, and the front-to-back arrangement direction is the direction extending from the head end of the catheter 4 to the tail end of the catheter 4.
The conduit connection mechanism 32 comprises a first valve body 321, one end of the first valve body 321 is connected with the conduit through a first connection head 322, the other end is provided with a first sealing element 323, and the fluid path control mechanism 35 is connected with the side end of the first valve body 321 and is positioned between the first connection head 322 and the first sealing element 323; in this embodiment, the first valve body 321 includes a first pipe body and a second pipe body, a first channel is arranged in the first pipe body, a second channel is arranged in the second pipe body, the second pipe body is connected with a side inlet of the first pipe body, and the first channel is communicated with the second channel, a first connector 322 is installed at one end of the first pipe body, a first sealing element 323 is installed at the other end of the first pipe body, the first pipe body is connected with the conduit 4 through the first connector 322, and the inlet of the second pipe body is connected with the liquid path control mechanism 35.
The first connecting head 322 is further provided with a transmission member in transmission connection with the output shaft of the power module, in this embodiment, the side wall of the first connecting head 322 is provided with a straight tooth in transmission connection with the output shaft of the second driving motor, and the second driving motor controls the first connecting head 322 to select around the axis, so as to drive the conduit 4 to rotate.
The tail end of the guide wire 5 extends to the side far away from the head end of the catheter 4, passes through the first connector 322, enters the first valve body 321, passes through the first sealing element 323, and then passes through the first valve body 321.
The liquid path control mechanism 35 includes a second connector 351, a liquid path pipe, and a liquid path switching assembly 355;
the liquid path pipe comprises at least one liquid inlet and one liquid outlet;
the second connector 351 is arranged between the liquid outlet of the liquid path pipe and the liquid inlet of the second pipe body of the first valve body 321;
the liquid path switching assembly 355 is arranged on the liquid path pipe and is in transmission connection with an output shaft of the power module, and the liquid path switching assembly 355 is used for switching a liquid inlet communicated with the liquid outlet.
Referring to fig. 3, in the present embodiment, the liquid path pipe includes a third pipe 352, a fourth pipe 353, and a fifth pipe 354, a third channel is disposed in the third pipe 352, a fourth channel is disposed in the fourth pipe 353, a fifth channel is disposed in the fifth pipe 354, the fourth pipe 353 and the fifth pipe 354 are respectively installed at a side end of the third pipe 352 and located between a liquid inlet and a liquid outlet of the third pipe 352, the third channel and the fourth channel, and the third channel and the fifth channel are respectively communicated, and the liquid outlet of the third pipe 352 is connected to the liquid inlet of the second pipe via a second connector 351.
In this embodiment, the fluid path switching assembly 355 includes a first fluid path switching assembly 3551 and a second fluid path switching assembly 3552, in some embodiments, the first fluid path switching assembly 3551 is a first fluid path valve, and the second fluid path switching assembly 3552 is a second fluid path valve;
the first liquid path switching assembly 3551 is arranged at a communication position between the third channel and the fourth channel and is in transmission connection with a driving shaft of the fifth driving motor, and the fifth driving motor drives the first liquid path switching assembly 3551 to rotate, so that the connection or disconnection between the third channel and the fourth channel is controlled;
the second liquid path switching assembly 3552 is disposed at a communication position between the third channel and the fifth channel, and is in transmission connection with a driving shaft of the sixth driving motor, and the sixth driving motor drives the second liquid path switching assembly 3552 to rotate, so as to control connection or disconnection between the third channel and the fifth channel.
The first liquid path switching assembly 3551 is arranged at the communication position of the third channel and the fourth channel, the second liquid path switching assembly 3552 is arranged at the communication position of the third channel and the fifth channel, the fifth driving motor and the sixth driving motor can be controlled to be started and stopped respectively according to requirements, the liquid paths can be controlled to be switched by a machine, manual switching of an operator is not needed, the working efficiency is improved, and the situation that the operator bears radiation is avoided.
The guide wire control mechanism 33 comprises a sensing component 331 and a guide wire driving component 332 which are arranged on the second shell 31, wherein the sensing component 331 is used for detecting the position of the guide wire in the catheter connecting mechanism 32 and transmitting a signal to the robot body 1; the guide wire driving assembly 332 is disposed near the first sealing element 323 of the catheter connecting mechanism 32, and is used for receiving the signal transmitted by the robot body 1 and controlling the advancing, retreating, stopping and rotating of the guide wire 5 in the catheter 4 according to the signal.
Referring to fig. 1, in the present embodiment, the sensing element 331 includes a fixed seat mounted on the second housing 31, and a sensing element mounted on the fixed seat, where the sensing element is preferably a photoelectric switch; photoelectric switch passes through the fixing base and installs the both sides at the first body of first valve body 321 respectively, photoelectric switch's response department is located first body and between the inlet of first body and first sealing member 323 for detect move back to the guide wire 5 at the inlet rear of first body in the first body, if photoelectric switch can not detect the guide wire 5 in the first body, then output signal to robot 1, robot 1 transmits signal to guide wire drive assembly 332, control guide wire 5 stops to withdraw.
Referring to fig. 2, the guide wire driving assembly 332 is mounted on the second housing 31 and located at the rear end of the first valve body 321, in this embodiment, the guide wire driving assembly includes a bottom plate 3321, a rotary driving member 3322, a guide plate 3323, and a linear driving member 3324, the rotary driving member 3322 and the guide plate 3323 are respectively mounted at the front end and the rear end of the bottom plate 3321, and the linear driving member 3324 is mounted on the bottom plate 3321 and located between the rotary driving member 3322 and the guide plate 3323;
a clamping groove for clamping the guide wire 5 is formed in the rotary driving piece 3322 in a penetrating manner;
in this embodiment, the outer side wall of the rotary driving member 3322 is uniformly provided with straight teeth in transmission connection with the output shaft of the third driving motor, and the output shaft of the third driving motor drives the rotary driving member 3322 to rotate around the axis, so as to drive the guide wire 5 to rotate;
a guide groove for the guide wire 5 to pass through and guide the extension direction of the guide wire 5 is formed in the guide plate 3323 in a penetrating manner, and in this embodiment, the guide groove is arranged in parallel with the clamping groove;
the linear driving piece 3324 comprises a plurality of driving wheel sets 33241 which are symmetrically arranged, the driving wheel sets 33241 comprise two driving wheels which are symmetrically arranged, the side walls of the two driving wheels are tightly matched, the guide wire 5 is clamped between the two driving wheels, and the input end of the linear driving piece 3324 is in transmission connection with the output shaft of the fourth driving motor;
the lateral wall of drive wheel can also further be equipped with the annular that is used for centre gripping seal wire 5 concavely, 5 centre grippings of seal wire just put into between two drive wheels in the annular, can avoid seal wire 5 to appear squinting from top to bottom in the process of withdrawing or stretching forward, ensure that seal wire 5 stretches out and withdraws the accuracy.
In this embodiment, the tail end of the guide wire 5 passes through the first sealing member 323, extends out of the first valve body 321, and then horizontally passes through the rotary driving member 3322, the linear driving member 3324 and the guide plate 3323 to extend backwards.
Referring to fig. 1, the guide wire cleaning mechanism 34 includes a second valve body 341, a guide wire receiving assembly 342;
in this embodiment, the second valve body 341 is disposed near the guide wire control mechanism 33, the second valve body 341 includes a sixth tube and a seventh tube, a sixth channel is disposed in the sixth tube, and a seventh channel is disposed in the seventh tube; the second sealing element 3411 is installed at one end of the sixth pipe body, the other end of the sixth pipe body is connected with the guide wire containing assembly 342, the seventh pipe body is connected to the side end of the sixth pipe body and located between the second sealing element 3411 and the guide wire containing assembly 342, and the sixth channel is communicated with the seventh channel.
The liquid inlet of the seventh channel is communicated with a solution injection mechanism (not shown in the figure).
The solution injection mechanism injects the solution into the inner lumen of the guide wire accommodating component 342 through the second valve body 341, and the tail part of the guide wire 5 passes through the second sealing element 3411 and enters the second valve body 341, and can be continuously soaked in the solution when being further withdrawn into the guide wire accommodating component 342, so that a clot is prevented from being formed on the surface of the guide wire, and the guide wire is prevented from being blocked after being withdrawn into the catheter; the solution selected in this example was heparin saline.
Referring to fig. 4 to 7, the method for controlling an interventional robot provided by the present application specifically includes the following steps:
s101: controlling the liquid path control mechanism to start, and carrying out continuous heparin saline drip infusion;
s102: the method comprises the steps that a power module is controlled to be started, a slave end driving device is driven to move along a robot body, a guide wire/catheter is conveyed to a target position, the initial position of the guide wire head end is exposed out of the head end of the catheter, in the embodiment, a first driving motor of the power module is in transmission connection with the slave end driving device, and the robot body drives the slave end driving device to move along the robot body by controlling the first driving motor of the power module to start and stop;
s103: the power module is controlled to start, the guide wire control mechanism controls the guide wire head end to retract into the catheter lumen, and the power module is controlled to stop;
s104: the power module is controlled to be started, the guide wire control mechanism controls the guide wire positioned in the catheter lumen to be further withdrawn, and the power module is controlled to be stopped after the guide wire reaches the first set position; in this embodiment, the first setting position is located in the first valve body of the catheter connecting mechanism, between the liquid path control mechanism and the first sealing member of the first valve body, specifically behind the liquid inlet of the first tube body, the fourth driving motor of the power module is in transmission connection with the guide wire driving assembly of the guide wire control mechanism, and the robot body controls the guide wire to further retract to the first setting position by controlling the reverse rotation of the fourth driving motor of the power module;
in some embodiments, in step S104, the control driving module is started, and the guide wire control mechanism drives the guide wire located in the catheter lumen to be further retracted, and after the first setting position is reached, the control power module is stopped, specifically including the following steps:
s201: controlling the power module to start, and driving the guide wire to retract by the guide wire control mechanism;
s202: the guide wire control mechanism senses that the guide wire is retracted to a first set position and transmits a signal to the robot body; in this embodiment, the guide wire control mechanism includes a sensing component, and the sensing component is used for sensing the guide wire retracted to the first set position.
S203: after the robot body receives a signal sent by the guide wire control mechanism that the guide wire reaches a first set position, the robot body controls the power module to stop, and the guide wire stops withdrawing;
by adopting the steps, the key step of 'withdrawing the guide wire from the catheter' can be completely converted from manual operation into mechanical operation by matching the induction component with the guide wire driving component, so that the workload of an operator is reduced, and the working efficiency is improved.
S105: the tail part of the guide wire enters the guide wire cleaning mechanism and is cleaned in the guide wire cleaning mechanism;
s106: the liquid path control mechanism is controlled to close the pressurized instillation of the heparin saline, the procedures of back suction, air exhaust and contrast agent injection are sequentially carried out, the pressurized instillation of the heparin saline is recovered, and the liquid path control mechanism is controlled to stop;
in some embodiments, in step S106, the control fluid path control mechanism closes the pressurized instillation of the heparin saline, sequentially performs the procedures of back suction, air exhaust, contrast agent injection, and pressure instillation of the heparin saline, and stops the control fluid path control mechanism, and specifically includes the following steps:
s301: the control liquid path control mechanism disconnects the pressurizing drip chamber from the catheter connecting mechanism, and stops the control liquid path control mechanism after a general injector is communicated with the catheter connecting mechanism, and the general injector performs suck-back, exhaust and primary injection of a contrast medium into the catheter; in this embodiment, a specific control method of the liquid path control mechanism is as follows: the fifth driving motor controls the first liquid path switching assembly to rotate, so that the liquid inlet of the third channel and the fifth channel are disconnected from the catheter connecting mechanism, the pressurized instillation of heparin saline is closed, the fourth channel is communicated with the catheter connecting mechanism, a common injector connected with the fourth tube is started, and a small amount of contrast agent is sucked back, exhausted and injected for the first time to perform smoke radiography;
in this embodiment, the back suction of a typical syringe is used to detect whether the catheter is located on the target path; the exhaust of a common injector is used for removing air bubbles in the catheter and the liquid path control mechanism, a small amount of contrast agent is injected for the first time, and the smoke generation contrast is carried out for positioning the position of the catheter head;
s302: controlling the liquid path control mechanism to start, disconnecting the general injector from the catheter connecting mechanism, and after the high-pressure injector is communicated with the catheter connecting mechanism, controlling the liquid path control mechanism to stop, and injecting the contrast agent into the catheter again by the high-pressure injector; in this embodiment, a specific control method of the liquid path control mechanism is as follows: the fifth driving motor controls the first liquid path switching assembly to rotate, so that the fourth channel is disconnected with the catheter connecting mechanism, the sixth driving motor controls the second liquid path switching assembly to rotate, the liquid inlet of the third channel is disconnected with the catheter connecting mechanism, the fifth channel is communicated with the catheter connecting mechanism, the high-pressure injector connected with the fifth pipe body is started, and the contrast medium is injected into the catheter again;
s303: controlling the liquid path control mechanism to start, disconnecting the high-pressure injector from the catheter connecting mechanism, and after the pressurization instillator is communicated with the catheter connecting mechanism, controlling the liquid path control mechanism to stop, and continuously pressurizing and instilling heparin saline in the guide tube by the pressurization instillator; in this embodiment, a specific control method of the liquid path control mechanism is as follows: the first liquid path switching assembly is controlled to rotate by the fifth driving motor, the second switching assembly is controlled to rotate by the sixth driving motor, the fifth channel is disconnected from the conduit connecting mechanism, the liquid inlet of the third channel is communicated with the conduit connecting mechanism, and the pressurizing instillator connected with the liquid inlet of the third tube body is started to continuously pressurize and instill heparin saline.
By adopting the steps, the existing' pair conduit needing manual operation of the interventional robot can be sucked back and exhausted; the key step of injecting a small amount of contrast agent to carry out smoking contrast' is converted into machine operation completely, and machine switching of the liquid inlet is realized by controlling the first liquid path switching assembly and the second liquid path switching assembly, so that the workload of an operator is reduced, and the working efficiency is improved.
S107: the liquid path control mechanism is controlled to be closed, the power module is started, and the guide wire driving assembly controls the guide wire to extend forwards until the guide wire extends to a second set position and then stops; in the embodiment, the position which is located in the catheter lumen and is 10-15 cm away from the catheter head end is a second setting position;
in some embodiments, in step S106, the guide wire driving assembly controls the guide wire to extend forward until the guide wire extends to the second setting position, which includes the following steps:
s401: obtaining current parameters, wherein the current parameters comprise the feeding speed of a guide wire driven by a power module and the distance between a first set position and a second set position;
s402: calculating first set time required by guide wire extension according to the guide wire feeding speed and the distance between the first set position and the second set position;
s403: and controlling the power module to operate for a first set time so as to enable the guide wire to extend to a second set position.
Compared with the prior art, the control method of the intervention robot can replace manual operation with machine operation in three key steps in operation of the intervention robot, execution of the key steps is standardized, accordingly, workload of operators is reduced, working time is shortened, working efficiency is improved, and the operators are prevented from bearing radiation.
Referring to fig. 7 and 8, the present application further provides a method for cleaning a guide wire of an interventional robot, which includes the following steps:
s501: injecting a solution into the inner lumen of the wire cleaning mechanism; in this embodiment, the specific control method for injecting the solution into the inner lumen of the guide wire cleaning mechanism is as follows: controlling a solution injection mechanism of the guide wire cleaning mechanism to be started, and injecting solution into an inner lumen of a guide wire accommodating component of the guide wire cleaning mechanism;
s502: the guide wire control mechanism controls the guide wire to retract along the catheter until the head end of the guide wire reaches a first set position, and the tail end of the guide wire is completely immersed into the inner lumen of the guide wire cleaning mechanism; in this embodiment, the tail portion of the guide wire is completely immersed in the inner lumen of the guide wire accommodating component of the guide wire cleaning mechanism, and the first setting position is located in the first valve body of the catheter connecting mechanism and at the sensing position of the sensing component;
s503: the guide wire control mechanism controls the guide wire to extend forwards along the catheter until the guide wire reaches a second set position and then stops; in this embodiment, the position located in the lumen of the catheter and 10-15 cm away from the tip of the catheter is the second setting position.
In step S503, the guide wire driving assembly controls the guide wire to extend forward along the catheter, and specifically includes the following steps:
acquiring current parameters, wherein the current parameters comprise the feeding speed of a guide wire driven by a driving motor and the distance between a first set position and a second set position;
calculating first set time required by guide wire extension according to the guide wire feeding speed and the distance between the first set position and the second set position;
and controlling a driving motor of the power module to operate for a first set time, and extending the guide wire to a second set position.
Compared with the prior art, the guide wire cleaning method of the interventional robot can utilize the machine to operate accurately to withdraw or extend forwards the guide wire, the tail end of the guide wire is completely immersed into the inner lumen of the guide wire containing assembly after the withdrawal, and the condition that the guide wire is blocked due to clot formation on the guide wire and extends forwards is avoided.
It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention and do not limit the scope of the invention. This application is capable of embodiments in many different forms and is provided for the purpose of enabling a thorough understanding of the disclosure of the application. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that the present application may be practiced without modification or with equivalents of some of the features described in the foregoing embodiments. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields and are within the protection scope of the present application.
Claims (8)
1. An interventional robot is characterized by comprising a robot body and a driven end driving device;
the driven end driving device comprises a power seat and a driving seat, the power seat comprises a first shell and a power module which is arranged in the first shell, the driving seat comprises a second shell, a conduit connecting mechanism, a guide wire control mechanism and a guide wire cleaning mechanism which are arranged on the second shell, the side end of the conduit connecting mechanism is also connected with a liquid path control mechanism, and each output shaft of the power module is respectively connected with the conduit connecting mechanism, the guide wire control mechanism and the liquid path control mechanism in a transmission way after extending to one side of the driving seat;
the robot body is in control connection with the power module;
the catheter connecting mechanism is connected with a catheter, and a guide wire is arranged in the catheter;
when the robot starts working, the robot body controls the liquid path control mechanism to start, and continuous heparin saline instillation is carried out in the catheter connecting mechanism and the guide wire cleaning mechanism; the robot body controls the power module to start, drives the driven end driving device to move along the robot body, conveys the catheter/guide wire to a target position, and exposes the initial position of the head end of the guide wire to the head end of the catheter; the guide wire control mechanism controls the guide wire to retract into a lumen of the catheter, then further retracts to reach a first set position, the first set position is positioned in the catheter connecting mechanism and at the rear side of the liquid path control mechanism, and the tail end of the guide wire enters the guide wire cleaning mechanism for cleaning; the robot body controls the liquid path control mechanism to close heparin saline drip infusion, and the procedures of suck back, exhaust and contrast agent injection are sequentially carried out to recover the heparin saline drip infusion; the guide wire control mechanism drives the guide wire to extend forwards until the guide wire extends to a second set position, and then the machine is stopped; the second set position is within the lumen of the catheter.
2. The interventional robot of claim 1,
the guide pipe connecting mechanism comprises a first valve body, one end of the first valve body is connected with the guide pipe through a first connector, the other end of the first valve body is provided with a first sealing element, and the liquid path control mechanism is connected with the side end of the first valve body and is positioned between the first connector and the first sealing element;
the first connecting head is also provided with a transmission part in transmission connection with an output shaft of the power module;
the tail of the guide wire passes through the first connecting head, enters the first valve body, passes through the first sealing element and penetrates out of the first valve body.
3. The interventional robot of claim 1, wherein the fluid path control mechanism comprises a fluid path tube, a second connector, a fluid path switching assembly;
the liquid path pipe comprises at least one liquid inlet and one liquid outlet;
the second connector is connected between the liquid outlet of the liquid path pipe and the conduit connecting mechanism and is used for communicating the liquid path control mechanism and the conduit connecting mechanism;
the liquid path switching assembly is arranged on the liquid path pipe and is in transmission connection with an output shaft of the power module, and the liquid path switching assembly is used for opening and closing a liquid inlet communicated with the liquid outlet.
4. The interventional robot of claim 1, wherein the guide wire control mechanism comprises a sensing assembly for detecting a guide wire position within a catheter connection mechanism and transmitting a signal to the robot body, a guide wire drive assembly; the guide wire driving assembly is arranged close to the first sealing piece of the catheter connecting mechanism and used for receiving the signal transmitted by the robot body and controlling the advance, retreat, halt and rotation of the guide wire in the catheter according to the signal;
when the guide wire control mechanism controls the guide wire to retract, the robot body controls the guide wire driving assembly to drive the guide wire to retract, when the induction assembly induces that the guide wire retracts to the induction part of the induction assembly, a signal is fed back to the robot body, the robot body controls the guide wire driving assembly to stop, the guide wire stops retracting, the head end of the guide wire is positioned in the catheter connecting mechanism and positioned behind the liquid path control mechanism, and the induction part of the induction assembly is the first set position.
5. The interventional robot of claim 1, wherein the guidewire cleaning mechanism comprises a second valve body, a guidewire receiving assembly, a solution infusion mechanism;
one end of the second valve body is provided with a second sealing element, and the other end of the second valve body is connected with the guide wire containing assembly;
the solution injection mechanism is connected with the side end of the second valve body and is positioned between the second sealing piece and the guide wire receiving assembly;
and the guide wire enters the guide wire containing assembly along the other end of the second valve body after entering the second valve body through the second sealing piece.
6. A guide wire cleaning method of an interventional robot, characterized in that the guide wire cleaning method is applied to the interventional robot of any one of claims 1 to 5, and comprises the following steps:
injecting a solution into an inner lumen of the wire cleaning mechanism;
the guide wire control mechanism drives the guide wire to retract along the catheter until the head end of the guide wire reaches a first set position, and the tail end of the guide wire is completely immersed into the inner lumen of the guide wire cleaning mechanism; the first set position is located within the conduit connection mechanism;
the guide wire control mechanism drives the guide wire to extend forwards along the catheter until the guide wire reaches a second set position and then stops; the second setting position is located in the catheter lumen and is a set distance from the catheter tip.
7. The interventional robot guidewire cleaning method of claim 6, wherein the guidewire control mechanism includes a sensing assembly, a guidewire drive assembly;
the guide wire control mechanism drives the guide wire to retract along the guide pipe until the head end of the guide wire reaches a first set position, and the tail end of the guide wire is completely immersed into the inner lumen of the guide wire cleaning mechanism, and the guide wire cleaning mechanism specifically comprises the following steps:
the power module is controlled to be started, and the guide wire driving assembly drives the guide wire to retract;
the induction assembly detects that the guide wire is retracted to a first set position and transmits a signal to the robot body, wherein the first set position is an induction position of the induction assembly;
after the robot body receives a signal that the guide wire sent by the induction assembly reaches a first set position, the power module is controlled to stop, the guide wire stops withdrawing, and the tail end of the guide wire is completely immersed in an inner tube cavity of the guide wire cleaning mechanism.
8. The method for cleaning the guide wire of the interventional robot as set forth in claim 6, wherein the guide wire control mechanism drives the guide wire to extend forwards along the catheter until the guide wire stops after reaching the second set position, and the method comprises the following steps:
acquiring current parameters, wherein the current parameters comprise the feeding speed of a guide wire driven by a driving motor and the distance between a first set position and a second set position;
calculating first set time required by the forward extension of the guide wire according to the feeding speed of the guide wire and the distance between the first set position and the second set position;
and controlling a driving motor of the power module to operate for a first set time, and extending the guide wire to a second set position.
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| CN202211081394.9A CN115153861B (en) | 2022-09-06 | 2022-09-06 | Interventional robot and guide wire cleaning method thereof |
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| CN202211081394.9A CN115153861B (en) | 2022-09-06 | 2022-09-06 | Interventional robot and guide wire cleaning method thereof |
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| CN115153861B true CN115153861B (en) | 2022-12-09 |
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| CN116421321B (en) * | 2023-03-06 | 2024-01-09 | 极限人工智能有限公司 | Vascular intervention robot capable of automatically withdrawing and returning intervention instrument |
| CN116492060A (en) * | 2023-05-05 | 2023-07-28 | 深圳市爱博医疗机器人有限公司 | Automatic valve device and full-automatic radiography robot are worn to seal wire |
| CN116966394A (en) * | 2023-09-06 | 2023-10-31 | 北京唯迈医疗设备有限公司 | Interventional radiography operation catheter positioning method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH07100212A (en) * | 1993-10-08 | 1995-04-18 | Nemoto Kyorindo:Kk | Stopcock for medical treatment |
| JPH09122244A (en) * | 1995-11-06 | 1997-05-13 | Nippon Zeon Co Ltd | Guide wire dispenser |
| CN113289201A (en) * | 2021-05-06 | 2021-08-24 | 深圳高性能医疗器械国家研究院有限公司 | Auxiliary execution device for vascular intervention operation |
| CN113796965B (en) * | 2021-09-28 | 2023-07-18 | 深圳市爱博医疗机器人有限公司 | Detachable slave-end intervention operation robot driving device |
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Address after: 518000 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli 6th Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Country or region after: China Address before: 518000 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli 6th Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee before: Shenzhen Aibo medical robot Co.,Ltd. Country or region before: China |