CN115211974A

CN115211974A - Robot for replacing guide wire catheter in interventional operation

Info

Publication number: CN115211974A
Application number: CN202210858440.5A
Authority: CN
Inventors: 解菁; 黄韬
Original assignee: Beijing Wemed Medical Equipment Co Ltd
Current assignee: Beijing Wemed Medical Equipment Co Ltd
Priority date: 2022-07-20
Filing date: 2022-07-20
Publication date: 2022-10-21

Abstract

The invention relates to a guide wire and catheter replacing robot for interventional operation, which comprises a base, a battery and a driving device, wherein a host machine, the battery and the driving device are fixed on the base and are electrically connected with the host machine, an arm device is connected to the top of the base and is provided with a first arm mechanism, a second arm mechanism and a third arm mechanism which are electrically connected with the host machine, the first arm mechanism, the second arm mechanism and the third arm mechanism are parallel, the output ends of the first arm mechanism, the second arm mechanism and the third arm mechanism are arranged in the direction facing a catheter bed and can move along the X-axis direction and the Y-axis direction relative to the base, a clamping mechanism is arranged on the output end of the first arm mechanism and the third arm mechanism and is used for cooperatively completing the guide wire placement and withdrawal, a balloon or a stent catheter is withdrawn from the guide wire, and the balloon or the stent catheter is placed on the guide wire and penetrates into a Y valve. According to the invention, the clamping mechanisms of the three arm mechanisms which are arranged in parallel clamp the guide wire catheter, the balloon or the stent catheter to complete the withdrawing or putting in of the part, so that the displacement in the part replacing process is effectively prevented, and the safety in the part replacing process is improved.

Description

Robot for replacing guide wire catheter in interventional operation

Technical Field

The invention relates to the technical field of minimally invasive surgery, in particular to a guide wire catheter replacing robot for interventional surgery.

Background

The minimally invasive interventional therapy of the cardiovascular and cerebrovascular diseases is a main treatment means aiming at the cardiovascular and cerebrovascular diseases. Compared with the traditional surgical operation, has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular interventional operation is a process in which a doctor manually feeds a catheter, a guide wire, a bracket and other instruments into a patient to complete treatment.

In the interventional operation, according to different disease conditions, doctors need to replace different guide wires, different balloons and different stent catheters for completing corresponding diagnosis and treatment processes. During the guide wire replacement process, the catheter cannot be moved. During balloon and stent catheter replacement, the guidewire cannot move. Specifically, referring to fig. 2, the head end of the catheter 103 passes through the guide wire 102, the guide wire 102 passes through the Y-valve 106, the front end of the Y-valve 106 is connected with the guide catheter, and then enters the human blood vessel. The direction toward the Y-valve 106 is defined as forward and the direction away from the Y-valve 106 is defined as backward. When the catheter 103 is replaced, firstly, the catheter 103 needs to be inserted into the guide wire 102, at this time, the guide wire 102 enters the blood vessel of the human body and is positioned at a diseased part, when the catheter 103 is placed, the guide wire 102 is required to be incapable of displacement, if the guide wire is displaced forwards, the blood vessel can be punctured, if the guide wire is displaced backwards, the guide wire can be caused to remove the diseased blood vessel, and the treatment cannot be carried out.

Therefore, how to provide an interventional operation guide wire catheter replacing robot is a problem to be solved urgently by the technical personnel in the field.

Disclosure of Invention

Therefore, the invention aims to provide a guide wire and catheter replacing robot for interventional operation, which solves the problems that the guide wire and catheter are easy to displace and are not beneficial to treatment in the replacement process.

The invention provides a guide wire catheter replacing robot for interventional operation, which comprises:

a base, a battery and a driving device which are fixed with the host and electrically connected with the host, and

the arm device is connected to the top of the base and provided with a first arm mechanism, a second arm mechanism and a third arm mechanism which are electrically connected with the host, the first arm mechanism, the second arm mechanism and the third arm mechanism are parallel, the output ends of the first arm mechanism, the second arm mechanism and the third arm mechanism are arranged in the direction facing the catheter bed and can move along the X axis and the Y axis relative to the base, a clamping mechanism is arranged at the output end of the first arm mechanism, the second arm mechanism and the third arm mechanism and used for cooperatively completing the placement and withdrawal of the guide wire, the balloon or the stent catheter is withdrawn from the guide wire, and the balloon or the stent catheter is placed on the guide wire and penetrates into the Y valve.

Compared with the prior art, the guide wire catheter replacing robot for the interventional operation is characterized in that the guide wire catheter, the balloon or the stent catheter are clamped through the clamping mechanisms of the three arm mechanisms which are arranged in parallel, withdrawing or placing of parts is completed, and compared with manual replacement of doctors, the robot effectively prevents displacement in the part replacing process and ensures the safety of the part replacing process.

Further, the arm device comprises an arm support, the arm support is a gantry-shaped frame, the lower portion of the arm support is connected with the base, two groups of Y-axis linear guide rails are fixed on the top plane of the arm support in parallel, a first sliding block slides on each Y-axis linear guide rail, a working plate is fixed on the top surface of each first sliding block, two groups of Y-axis lead screw motors are arranged on the top plane of the arm support in parallel between the two Y-axis linear guide rails, and a lead screw of each group of Y-axis lead screw motors is in matched transmission with a first threaded hole correspondingly arranged on the working plate; the first arm mechanism, the second arm mechanism and the third arm mechanism are sequentially arranged on the top surface of the working plate in parallel in the direction close to the guide pipe bed, and the Y-axis lead screw motor is connected with the driving device.

Furthermore, the first arm mechanism, the second arm mechanism and the third arm mechanism are identical in structure and respectively comprise a right-angle frame, the right-angle frame comprises a connecting section and a clamping section which form an L shape, the connecting section slides on an X-axis linear guide rail fixed on the arm support, a Y-direction guide rail is mounted at the top of the connecting section, a third sliding block slides on the Y-direction guide rail, the top of the third sliding block is fixedly connected with a right-angle connecting piece with a third threaded hole, the connecting section is positioned at the rear part of the Y-direction guide rail, a Y-direction lead screw motor is fixed through a Y-direction motor support, a lead screw of the Y-direction lead screw motor is in matched transmission with the third threaded hole, and the Y-direction lead screw motor is connected with the driving device; the front part of the right-angle connecting piece is connected with a clamping piece, and the clamping piece is matched with the clamping section to form the clamping mechanism.

Furthermore, the front end of the right-angle connecting piece is provided with a first connecting boss, the clamping piece is a right-angle piece, the upper part of the clamping piece is provided with a second connecting boss matched with the first connecting boss, the first connecting boss is connected with the second connecting boss, the clamping section is vertical to the connecting section and faces downwards, and the clamping section is positioned in front of the working plate and the arm support and close to the side of the catheter bed; the clamping piece lower part with the clamping section shape is the same, forms the centre gripping region between the two, be fixed with medical silica gel piece on the inner wall of clamping region both sides.

Furthermore, the first connecting bosses and the second connecting bosses are arranged in a staggered mode and used for being connected with two ends of a pressure sensor, and the pressure sensor is connected with the host and used for detecting the clamping force.

Furthermore, X-direction driving plates are connected to the sides, away from the clamping section, of the corresponding right-angle frames in the first arm mechanism, the second arm mechanism and the third arm mechanism, each X-direction driving plate corresponds to one group of X-direction driving mechanisms, and the X-direction driving mechanisms are connected with the driving device.

Furthermore, the top of the arm support behind the first arm mechanism, the second arm mechanism and the third arm mechanism is connected with a head mechanism, and the head mechanism is used for observation and man-machine interaction and is connected with the host.

Furthermore, the head mechanism comprises a rotary table, a rotary shaft at the bottom of the rotary table is rotatably connected in a shaft hole on the arm support, a rotary shaft gear is fixed on an upward extending part of the rotary shaft, a rotary motor is connected to the position, close to the rotary table, of the top of the arm support through a first motor support, an output shaft of the rotary motor is upward, and a motor gear meshed with the rotary shaft gear is connected to the output shaft of the rotary motor; the rotary table is connected with a touch screen, and two groups of cameras are fixed on two sides of the touch screen through camera supports; the rotating motor is connected with the driving device;

a touch screen motor support is fixed above the rotary table, a pitching motor is fixed on the side face of the touch screen motor support, and an output shaft of the pitching motor is fixed with the bottom of the camera support; the pitching motor is connected with the driving device.

Further, the base includes: the driving wheel is arranged below the bottom plate, four upright posts are fixed above the bottom plate, and the tops of the upright posts are connected with the supporting plate; a host, a battery and a driving device which are electrically connected with the host are arranged among the four upright posts,

the driving wheels are four groups, each group of driving wheels comprises an L-shaped piece, the top of each L-shaped piece is a horizontal section, the lower part of each L-shaped piece is a vertical section, the horizontal section of each L-shaped piece is vertically connected with a rotary servo motor, the vertical section of each L-shaped piece is provided with a bearing hole for an output shaft of the axial servo motor to penetrate through and rotate, the output shaft of the axial servo motor is connected with wheels, the rotary servo motor and the axial servo motor are connected with the driving device, and the rotary servo motor is fixed in a square hole formed in the bottom plate.

Furthermore, two Z-axis supports are symmetrically fixed at the top of the supporting plate, two parallel Z-axis linear guide rails are arranged on the inner side of each Z-axis support, a second sliding block slides on each Z-axis linear guide rail, and the second sliding blocks are fixed on the outer side of the lower part of the arm support; and a Z-axis screw motor is fixed on the supporting plate close to the Z-axis support and is connected with the driving device.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a guide wire catheter replacing robot for interventional operation provided by the invention;

FIG. 2 is a schematic view of a replacement guidewire catheter;

FIG. 3 the accompanying drawings show a mechanical schematic of the base;

FIG. 4 is an exploded view of FIG. 3;

FIG. 5 is a schematic view showing the structure of the arm device and the head mechanism;

FIG. 6 is a top view of the arm assembly;

FIG. 7 is an exploded view of the arm support, work plate, etc. and head mechanism;

FIG. 8 is an exploded view of a part of the arm unit;

fig. 9 is a rear side view of fig. 5.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "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 referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; 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 present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

During the seal wire and the pipe of interveneeing in the operation are changed, can only rely on the doctor to change the operation by hand, when changing sacculus or support pipe, take place the seal wire easily and control not jail for the seal wire shifts, thereby can cause the damage to patient's blood vessel, when changing sacculus or support pipe, needs 2 assistants to cooperate the operation each other, appears the cooperation improper easily, has reduced the security of operation.

Therefore, the embodiment of the invention discloses a guide wire catheter replacing robot for interventional operations, which is used for replacing consumable materials for interventional operations such as guide wires, balloons or stent catheters and the like in the interventional operations. The guide wire catheter can be replaced by matching with an interventional operation robot, and can also be replaced by matching with the assistance of doctors. The invention is used for completing the operation actions of threading and withdrawing of a guide wire, threading a catheter into the guide wire and pushing the catheter into a Y valve, withdrawing the catheter and the like. Can ensure that the catheter and the guide wire do not displace in the process of replacing the guide wire catheter, thereby ensuring the safety of the operation.

Referring to fig. 1 and 2, including: a base 200 and an arm device 400, wherein a host 206 is fixed on the base 200, and a battery 205 and

driving devices

204, 214 electrically connected with the host 206; the host 206 is internally provided with a Bluetooth module and a WIFI module for communicating with the outside; the arm device 400 is connected to the top of the base 200, and has a first arm mechanism, a second arm mechanism, and a third arm mechanism electrically connected to the host 206, the first arm mechanism, the second arm mechanism, and the third arm mechanism are parallel, and output ends thereof are arranged facing the direction of the catheter bed and can move along the X axis and the Y axis with respect to the base 200, the three arm mechanisms are independently controlled, and a clamping mechanism is provided at output ends thereof for cooperatively completing placement and withdrawal of the guide wire, the balloon or stent catheter is withdrawn from the guide wire, and the balloon or stent catheter is placed on the guide wire and inserted into the Y valve 106.

Referring to fig. 5, 7 and 9, an arm device is used to perform the action of replacing the guide wire catheter. 3 groups of arms are arranged, and each arm can independently move. The 3 groups of arms are arranged on a connecting plate, and the connecting plate can move back and forth through the 2 groups of lead screw motors and the 2 groups of linear guide rails and is used for extending and retracting the handle arms. The 3 groups of arms have basically the same structure and can move left and right. Each arm has a clamping mechanism for clamping and unclamping a guide wire or catheter. And a pressure sensor is arranged in the clamping device and used for detecting the clamping force. The 3 groups of arms are matched to act when in work.

Specifically, the arm device 400 includes an arm support 312, the arm support 312 is a gantry-shaped frame, the lower portion of the arm support 312 is connected to the base 200, two sets of Y-axis linear guide rails 308 are fixed on the top plane of the arm support in parallel, a first slider slides on each Y-axis linear guide rail 308, a working plate 306 is fixed on the top surface of the first slider, two sets of Y-axis lead screw motors 309 are arranged in parallel on the top plane of the arm support 312 between the two Y-axis linear guide rails 308, and the lead screw of each set of Y-axis lead screw motors 309 is in transmission with a first threaded hole correspondingly arranged on the working plate 306 in a matching manner; the first arm mechanism, the second arm mechanism and the third arm mechanism are sequentially arranged on the top surface of the working plate 306 in parallel in the direction close to the catheter bed, and the Y-axis lead screw motor 309 is connected with the

driving devices

204 and 214. Under the drive of the Y-axis lead screw motor 309, the working plate 306 can move left and right, completing the extending and retracting actions of the whole arm.

Referring to fig. 8, the first arm mechanism, the second arm mechanism and the third arm mechanism have the same structure and each include a right-angle frame 423, the right-angle frame 423 includes a connecting section and a clamping section which form an L shape, the connecting section slides on an X-axis linear guide 419 fixed on the arm support 312, a Y-direction guide rail is installed at the top of the connecting section, a third slider slides on the Y-direction guide rail, a right-angle connecting piece 422 with a third threaded hole is fixedly connected to the top of the third slider, a Y-direction lead screw motor 402 is fixed on the connecting section at the rear of the Y-direction guide rail through a Y-direction motor support 401, a lead screw of the Y-direction lead screw motor 402 is in fit transmission with the third threaded hole, and the Y-direction lead screw motor 402 is connected to the driving

devices

204 and 214; the clamping piece 420 is connected to the front part of the right-angle connecting piece 422, and the clamping piece 420 and the clamping section are matched to form the clamping mechanism. The Y-direction lead screw motor 402 drives the third slider to move, so as to clamp the clamping section and the clamping member 420.

Advantageously, referring to fig. 5, the right-angle connecting piece 422 has a first connecting boss 4221 at the front end, the clamping member 420 is a right-angle piece, and has a second connecting boss 4201 at the upper part thereof for cooperating with the first connecting boss 4221, the first connecting boss 4221 is connected with the second connecting boss 4201, and the clamping section is located vertically downward from the connecting section, at the front part of the working plate 306 and the arm support 312, near the side of the catheter bed; the shape of the lower part of the clamping piece 420 is the same as that of the clamping section, a clamping area is formed between the clamping piece and the clamping section, and medical silica gel sheets 418 are fixed on the inner walls of two sides of the clamping area to prevent slipping.

In another embodiment of the present invention, referring to fig. 5, the first coupling boss 4221 and the second coupling boss 4201 are arranged in a staggered manner for connecting both ends of the pressure sensor 421, and the pressure sensor 421 is connected to the main body 206 for detecting the magnitude of the clamping force. The clamping force is thus fed back to the host machine via the pressure sensor 421, and the host machine sends a command to the control device to drive the corresponding motor. The clamping force is ensured to be controllable.

In other embodiments of the present invention, referring to fig. 3 and 7, the side of the right-angle frame 423 of the first arm mechanism, the second arm mechanism and the third arm mechanism away from the clamping segment is connected with X-direction driving plates 4231, each of the X-direction driving plates 4231 corresponds to a group of X-direction driving mechanisms 4232, and the X-direction driving mechanisms 4232 are connected with the driving

devices

204, 214. The X-direction drive mechanism 4232, see fig. 8, for convenience of driving, three X-direction drive plates 4231 are different in length according to arrangement, and three sets of drive lead screw motors (404, 403, 407) and three sets of drive motor brackets (405, 406, 408) are correspondingly arranged.

In another embodiment of the present invention, referring to fig. 5 and 9, a head mechanism 300 is connected to the top of the arm support 312 behind the first arm mechanism, the second arm mechanism and the third arm mechanism, wherein the head mechanism 300 is used for observation and man-machine interaction and is connected to the host 206.

Specifically, the head mechanism 300 includes a rotating table 307, a rotating shaft at the bottom of the rotating table 307 is rotatably connected in a shaft hole on the arm support 312, a rotating shaft gear is fixed on an upward extending part of the rotating shaft, a rotating motor 305 is connected to the top of the arm support 312 near the rotating table 307 through a first motor support 303, and an output shaft of the rotating motor 305 is upward and connected with a motor gear engaged with the rotating shaft gear; the turntable 307 is connected with a touch screen 310, and two groups of cameras 301 are fixed on two sides of the touch screen 310 through camera supports 311; the rotating motor 305 is connected with the driving

devices

204, 214;

a touch screen motor support 302 is fixed above the rotary table 307, a pitching motor 304 is fixed on the side surface of the touch screen motor support 302, and an output shaft of the pitching motor 304 is fixed with the bottom of the camera support 311; the pitch motor 304 is coupled to the

drive

204, 214.

The rotating motor 305 can control the whole head mechanism to rotate in the horizontal direction, and the pitching motor 304 can control the head mechanism to move in the vertical direction, so that the whole head mechanism can move flexibly, and the robot can observe objects at various angles. The touch screen 310 is used for human-computer interaction, some operations can be performed on the touch screen 310, and information of the system is displayed on the touch screen 310. The two sets of cameras 301 are the eyes of the robot for observing the surrounding environment. The resulting information is sent to the host 206 for analysis and processing.

In the above embodiments, referring to fig. 3 and 4, the base 200 includes: a bottom plate 212, wherein a driving wheel is arranged below the bottom plate 212, four upright posts 207 are fixed above the bottom plate 212, and the tops of the upright posts 207 are connected with a supporting plate 203; a main machine 206, a battery 205 electrically connected with the main machine 206 and driving

devices

204 and 214 are arranged among the four upright posts 207;

the driving wheels are four groups, each group of driving wheels comprises an L-shaped piece 211, the top of the L-shaped piece 211 is a horizontal section, the lower part of the L-shaped piece 211 is a vertical section, the horizontal section is vertically connected with a rotary servo motor 209, the vertical section is provided with a bearing hole for an output shaft of an axial servo motor 210 to pass through and rotate, an output shaft of the axial servo motor 210 is connected with a wheel 208, the rotary servo motor 209 and the axial servo motor 210 are connected with driving

devices

204 and 214, and the rotary servo motor 209 is fixed in a square hole formed in the bottom plate 212.

It is advantageous to provide a first ultrasonic sensor and a second ultrasonic sensor at both ends of the base plate 212 in the traveling direction for distance measurement.

The rotary servo motor 209 can control the steering of the wheels 208, the axial servo motor 210 can control the advancing and retreating of the wheels 208, the rotary servo motor and the axial servo motor are matched, 4 groups of wheels move together, and the whole trolley body can move in all directions in an interventional operating room.

In another preferred embodiment of the present invention, referring to fig. 4, two Z-axis brackets 201 are symmetrically fixed on the top of the supporting plate 203, two parallel Z-axis linear guide rails 202 are arranged inside each Z-axis bracket 201, and a second sliding block is slid on each Z-axis linear guide rail 202 and fixed on the outer side of the lower part of the arm bracket 312; z-

axis screw motors

213 and 215 are fixed to the support plate 203 near the Z-axis bracket 201, and the Z-

axis screw motors

213 and 215 are connected to the driving

devices

204 and 214. Therefore, the arm device can be lifted on the Z axis.

Wherein, the driving

devices

204 and 214 can be respectively installed on the bottom plate 212 and the supporting plate 203 for driving each motor, so that the whole structure is compact.

In use, referring to fig. 2 and 6, for convenience of description, fig. 6 shows, from left to right, a first arm mechanism, a second arm mechanism, and a third arm mechanism in sequence, and the arm device faces the catheter side, and the robot needs to control the first arm mechanism to clamp the guide wire at the front end 105 and then fix the first arm mechanism to be kept still. The third arm mechanism grabs the head end of the catheter 103, the second arm mechanism grabs the tail end of the guide wire 102, the position is adjusted to enable the catheter 103 to penetrate into the guide wire 102, then the third arm mechanism pushes the catheter 103 to move forwards, when the catheter is close to the second arm mechanism, the second arm mechanism is released, then the second arm mechanism is controlled to move about 2cm in the direction of a phase Y valve, the second arm mechanism is controlled to clamp the guide wire, the third arm mechanism is controlled to continue to push the catheter 103 forwards, the process is sequentially carried out until the tail end of the guide wire 102 penetrates out of the catheter 103 by about 3cm, the third arm mechanism is operated to retreat and moves to the rear end 101, and the guide wire 102 exposed from the middle end of the catheter 103 is clamped. Then, the second arm mechanism is controlled to clamp the conduit 103 at the middle end 104 and push the conduit 103 in the direction of the Y valve, and the second arm mechanism pushes the conduit 103 forward. The third arm mechanism is operated to move backwards until the guide wire 102 is pulled into alignment. When the second arm mechanism moves to the first arm mechanism, the second arm mechanism stops moving, the first arm mechanism is controlled to grasp the Y valve 106, then the second arm mechanism is controlled to push the conduit 103 into the Y valve 106, after the Y valve is reached, the second arm mechanism is released and retreats for about 2cm, the conduit is clamped to move forwards again, and the operation is circulated in sequence until the head end part of the conduit 103 completely enters the Y valve 106.

When it is desired to remove the catheter 103 from the guidewire 102, both the catheter and the guidewire are within the body vessel. During withdrawal of the catheter, it is necessary to ensure that the displacement of the guide wire does not change. And controlling a third arm mechanism to clamp the guide wire 102 which is 2-3cm away from the outlet of the Y valve 106, controlling a first arm mechanism to clamp the Y valve 106, controlling a second arm mechanism to clamp the guide pipe 103 at the outlet of the Y valve 106, ensuring that the third arm mechanism is fixed, controlling the second arm mechanism to move backwards until the second arm mechanism is close to the third arm mechanism and then stop, and then loosening the third arm mechanism to move backwards for 2cm to clamp the guide wire. And controlling the second arm mechanism to continuously move backwards until the second arm mechanism is close to the third arm mechanism and then stop, sequentially circulating until the head end of the catheter is 2-3cm away from the tail end of the Y valve 106, and then controlling the first arm mechanism to move to the position of the outlet of the Y valve 106, clamping the guide wire and enabling the guide wire to be fixed. The second arm mechanism and the third arm mechanism are then controlled to move backwards together until the catheter is clear of the guide wire.

When the guide wire is replaced, the guide wire is firstly inserted into the Y valve 106, the third arm mechanism and the second arm mechanism are controlled to clamp the position, close to the head end, of the guide wire, the first arm mechanism clamps the Y valve 106 and keeps the position of the Y valve 106 still, the third arm mechanism and the second arm mechanism are controlled to push the guide wire forwards to enter the Y valve 106, the second arm mechanism stops after moving to the outlet of the Y valve, then the third arm mechanism is released, the guide wire is moved backwards for 2cm, then the guide wire is clamped, the second arm mechanism is released, and the guide wire is clamped after moving backwards for 2 cm. The third arm mechanism and the second arm mechanism move forward together until the second arm mechanism stops after moving to the outlet of the Y valve, and the cycle is stopped until 10-12 groups of actions are completed.

When it is desired to remove the guidewire 102, the first arm mechanism is controlled to clamp the Y-valve 106 and hold it in place. The third arm mechanism is controlled to move to the exit of the Y-valve 106, grip the guidewire 102, and then move backward until after the head end of the guidewire 102 has all left the tail end of the Y-valve 106, at which point it is verified that the guidewire has been completely removed.

The invention solves the problems that the operation of replacing the guide wire and the guide pipe in the existing interventional operation can only be completed manually, the position of the guide wire or the guide pipe is easy to move in the replacement process, the blood vessel of a patient is damaged, a doctor needs to cooperate with a plurality of people in the actual operation, the error is easy to occur, and the like.

The guide wire and catheter replacing robot realizes that the robot automatically completes guide wire and catheter replacement, can complete operation actions, does not need cooperation of multiple persons, and saves human resources. The operation precision in the replacement process is high, and the position of the catheter is not moved in the guide wire replacement process; in the process of replacing the catheter, the position of the guide wire is not moved, and the safety in the operation is guaranteed. The invention adopts a high-precision sensor, does not damage the catheter and the guide wire, adopts a base structure, can freely move in the catheter chamber and is suitable for the use environment of the catheter chamber. The whole device is simple in structure, low in cost, convenient to use and simple to operate due to the fact that the modularized design is adopted.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. An interventional surgically replacing guidewire catheter robot comprising:

the base (200) is fixed with a host (206), and a battery (205) and a driving device (204, 214) which are electrically connected with the host (206) are fixed on the base (200); and

and the arm device (400) is connected to the top of the base (200) and is provided with a first arm mechanism, a second arm mechanism and a third arm mechanism which are electrically connected with the host (206), the first arm mechanism, the second arm mechanism and the third arm mechanism are parallel, the output ends of the first arm mechanism, the second arm mechanism and the third arm mechanism are arranged in the direction of the catheter bed and can move along the X axis and the Y axis relative to the base (200), the output ends of the first arm mechanism, the second arm mechanism and the third arm mechanism are provided with clamping mechanisms used for completing the placement and the withdrawal of the guide wire in a coordinated mode, the balloon or the stent catheter is withdrawn from the guide wire, and the balloon or the stent catheter is placed on the guide wire and penetrates into the Y valve (106).

2. The robot for replacing the guide wire guide catheter in the interventional operation is characterized in that the arm device (400) comprises an arm support (312), the arm support (312) is a gantry-shaped frame, the lower part of the arm support is connected with the base (200), two groups of Y-axis linear guide rails (308) are fixed on the top plane of the arm support in parallel, a first sliding block slides on each Y-axis linear guide rail (308), a working plate (306) is fixed on the top surface of the first sliding block, two groups of Y-axis lead screw motors (309) are arranged on the top plane of the arm support (312) in parallel between the two Y-axis linear guide rails (308), and the lead screw of each group of Y-axis lead screw motors (309) is in fit transmission with a first threaded hole correspondingly arranged on the working plate (306); the first arm mechanism, the second arm mechanism and the third arm mechanism are sequentially arranged on the top surface of the working plate (306) in parallel in the direction close to the guide pipe bed, and the Y-axis lead screw motor (309) is connected with the driving devices (204, 214).

3. The robot for replacing the guide wire duct for interventional operation according to claim 2, wherein the first arm mechanism, the second arm mechanism and the third arm mechanism are identical in structure and each comprises a right-angle frame (423), the right-angle frame (423) comprises a connecting section and a clamping section which form an L shape, the connecting section slides on an X-axis linear guide rail (419) fixed on the arm support (312), a Y-direction guide rail is mounted at the top of the connecting section, a third sliding block slides on the Y-direction guide rail, a right-angle connecting piece (422) with a third threaded hole is fixedly connected to the top of the third sliding block, a Y-direction lead screw motor (402) is fixed on the connecting section at the rear part of the Y-direction guide rail through a Y-direction motor support (401), a lead screw of the Y-direction lead screw motor (402) is in fit transmission with the third threaded hole, and the Y-direction lead screw motor (402) is connected with the driving device (204, 214); the front part of the right-angle connecting piece (422) is connected with a clamping piece (420), and the clamping piece (420) is matched with the clamping section to form the clamping mechanism.

4. An interventional surgical replacement guide wire catheter robot according to claim 3, characterized in that the right-angle connecting piece (422) has a first connecting boss (4221) at the front end, the clamping piece (420) is a right-angle piece, the upper part of the right-angle connecting piece has a second connecting boss (4201) matched with the first connecting boss (4221), the first connecting boss (4221) is connected with the second connecting boss (4201), and the clamping section is downward perpendicular to the connecting section and is positioned at the front part of the working plate (306) and the arm support (312) and close to the side of the catheter bed; clamping piece (420) lower part with the clamping section shape is the same, forms the centre gripping region between the two, be fixed with medical silica gel piece (418) on the clamping region both sides inner wall.

5. An interventional surgical replacement guide wire catheter robot according to claim 4, characterized in that the first connection boss (4221) and the second connection boss (4201) are arranged in a staggered manner for connecting two ends of a pressure sensor (421), and the pressure sensor (421) is connected with the host computer (206) for detecting the clamping force.

6. The robot for replacing the guide wire guide catheter in the interventional operation according to claim 3, wherein X-direction driving plates (4231) are connected to the corresponding right angle frames (423) of the first arm mechanism, the second arm mechanism and the third arm mechanism at the side away from the clamping section, each X-direction driving plate (4231) corresponds to one group of X-direction driving mechanisms (4232), and the X-direction driving mechanisms (4232) are connected with the driving devices (204, 214).

7. The robot of claim 2, wherein a head mechanism (300) is connected to the top of the arm support (312) behind the first arm mechanism, the second arm mechanism and the third arm mechanism, and the head mechanism (300) is used for observation and human-computer interaction and is connected to the host computer (206).

8. The robot for replacing the guide wire and the guide tube in the interventional operation according to claim 7, wherein the head mechanism (300) comprises a rotary table (307), a rotary shaft at the bottom of the rotary table (307) is rotatably connected in a rotary hole on the arm support (312), a rotary shaft gear is fixed on the upward extending part of the rotary shaft, a rotary motor (305) is connected to the top of the arm support (312) close to the rotary table (307) through a first motor support (303), an output shaft of the rotary motor (305) faces upward, and a motor gear meshed with the rotary shaft gear is connected; the rotary table (307) is connected with a touch screen (310), and two groups of cameras (301) are fixed on two sides of the touch screen (310) through camera supports (311); the rotating motor (305) is connected with the driving device (204, 214);

a touch screen motor support (302) is fixed above the rotary table (307), a pitching motor (304) is fixed on the side surface of the touch screen motor support (302), and an output shaft of the pitching motor (304) is fixed with the bottom of the camera support (311); the pitch motor (304) is connected to the drive (204, 214).

9. An interventional surgically replacing guide wire catheter robot according to any of claims 2-8, characterized in that the base (200) comprises: the driving wheel is arranged below the bottom plate (212), four upright posts (207) are fixed above the bottom plate (212), and the tops of the upright posts (207) are connected with the supporting plate (203); a main machine (206), a battery (205) electrically connected with the main machine (206) and driving devices (204, 214) are arranged among the four upright posts (207);

the driving wheel is four groups, and each group all includes L shape spare (211), L shape spare (211) top is the horizontal segment, and the lower part is vertical section, vertical connection rotary servo motor (209) on its horizontal segment, has on its vertical section and supplies axial servo motor (210) output shaft to pass and pivoted dead eye, the output shaft of axial servo motor (210) has wheel (208), rotary servo motor (209) with axial servo motor (210) all with drive arrangement (204, 214) are connected, rotary servo motor (209) are fixed in the square hole that sets up on bottom plate (212).

10. The robot for replacing the guide wire guide catheter in the interventional operation is characterized in that two Z-axis brackets (201) are symmetrically fixed on the top of the supporting plate (203), two parallel Z-axis linear guide rails (202) are arranged on the inner side of each Z-axis bracket (201), and a second sliding block slides on each Z-axis linear guide rail (202) and is fixed on the outer side of the lower part of the arm bracket (312); and a Z-axis lead screw motor (213, 215) is fixed on the supporting plate (203) close to the Z-axis support (201), and the Z-axis lead screw motor (213, 215) is connected with the driving device (204, 214).