CN115282464A - Liquid way auto-change over device and intervene operation robot - Google Patents

Liquid way auto-change over device and intervene operation robot Download PDF

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Publication number
CN115282464A
CN115282464A CN202211003153.2A CN202211003153A CN115282464A CN 115282464 A CN115282464 A CN 115282464A CN 202211003153 A CN202211003153 A CN 202211003153A CN 115282464 A CN115282464 A CN 115282464A
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liquid
driving
valve body
sealing
pressure
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CN115282464B (en
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熊永生
欧永红
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Shenzhen Aibo Medical Robot Co Ltd
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Shenzhen Aibo Medical Robot Co Ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • 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
    • A61M39/00—Tubes, tube connectors, tube couplings, valves, access sites or the like, specially adapted for medical use
    • A61M39/10—Tube connectors; Tube couplings
    • A61M39/105—Multi-channel connectors or couplings, e.g. for connecting multi-lumen tubes
    • 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
    • A61M39/00—Tubes, tube connectors, tube couplings, valves, access sites or the like, specially adapted for medical use
    • A61M39/22—Valves or arrangement of valves
    • A61M39/223—Multiway valves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

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  • Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Pulmonology (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)

Abstract

The embodiment of the application belongs to the field of medical equipment, and comprises the following components: the valve comprises a shell, a valve body arranged in the shell and a driving part connected with the valve body; the shell comprises a connecting part, a sealing part and at least two liquid input parts, and the connecting part can be connected with the tail end of the conduit; the valve body is provided with a liquid path. The high-pressure liquid circulating valve has the advantages that the valve body is driven by the driving part to act, so that the liquid input part connected with the high-pressure injector is communicated with the liquid path and the connecting part, and the sealing part is sealed on the outer wall of the valve body to replace the sealing part to bear pressure, so that the high-pressure liquid can circulate; the valve body can be driven by the driving part to move, so that the liquid input part connected with the low-pressure injector is communicated with the liquid path, the sealing part and the connecting part, and the flow of low-pressure liquid and the movement and/or rotation of the guide wire are realized; the application realizes automatic control and shortens the operation time.

Description

Liquid path switching device and interventional operation robot
Technical Field
The application relates to the technical field of medical equipment, in particular to a fluid path switching device and an interventional operation robot.
Background
In the prior art, a Y-shaped connector with a hemostatic valve and a triple tee joint device are generally adopted to realize liquid path switching, and specific liquid paths include but are not limited to hand-push smoking radiography, constant-pressure dropping of heparin water, high-pressure radiography and the like; when the three-way valve is used, the three rotary valves on the triple tee are used for controlling the switching of the liquid paths, namely, one liquid path is opened, and the other liquid path is closed. Because the Y-shaped connector has insufficient pressure resistance, when a high-pressure injector is used for radiography in a connecting way, the Y-shaped connector and the triple tee joint need to be disassembled, and a pressure extension pipe of the high-pressure injector is directly connected to the catheter seat. Such an operation process is cumbersome, prolongs the operation time, and is more difficult to operate and implement for an interventional operation robot. In addition, the triple tee joint and the Y-shaped connector belong to standard connectors, and are multiple in connecting accessories, long in connecting time, complex in control mode and incapable of realizing automation.
Disclosure of Invention
The embodiment of the application provides a liquid path switching device and an interventional surgical robot, and is used for solving the problems that in the prior art, a triple tee and a Y-shaped connector need to be disassembled when high-pressure radiography is carried out, so that the operation is complex, time is wasted, and automation cannot be realized.
In order to solve the above technical problem, an embodiment of the present application provides a liquid path switching device, which adopts the following technical solutions:
a fluid path switching apparatus comprising: the valve comprises a shell, a valve body arranged in the shell and a driving part connected with the valve body; the shell comprises a connecting part, a sealing part and at least two liquid input parts, and the connecting part can be connected with the tail end of the conduit; the valve body is provided with a liquid path; the driving part can drive the valve body to act;
when the driving part drives the valve body to act to enable the liquid path to be communicated with one of the liquid input parts, the valve body seals the sealing part, and the liquid path is also communicated with the connecting part and can be used for liquid to flow;
when the driving part drives the valve body to act, so that the liquid path is communicated with any other liquid input part, the connecting part, the liquid path and the sealing part are communicated, so that the guide wire can move and/or rotate along the axis, and meanwhile, the sealing part seals liquid, so that the liquid only flows in the liquid input part, the liquid path and the connecting part.
Further, the liquid path includes a first passage and a second passage communicating with each other, the first passage being adapted to communicate with the liquid input portion, the second passage being adapted to communicate with the connecting portion and the sealing portion at the same time or only with the connecting portion.
Further, the valve body comprises a body and a connecting piece, the connecting piece is connected with the body and the driving part, the liquid path is arranged on the body, and the body is movably arranged in the shell;
the driving part comprises a sealing element and a driving element, the sealing element is fixedly connected with the shell and seals the shell, and the connecting element penetrates out of the sealing element and is connected with the driving element.
Further, the connecting piece comprises a movable part and a fixed part; the movable part is arranged on the body and is movably connected with the sealing element; the fixed part is located the movable part is kept away from the one end of body, the fixed part with the driving piece is connected.
Furthermore, the connecting piece still includes spacing portion, spacing portion is located the fixed part is kept away from the one end of movable part to wear out the driving piece is with spacing the driving piece.
Further, the driving part comprises a driving part and a driven part, and the connecting part is connected with the driven part; the driving part is meshed with the driven part; or the driving member and the driven member are connected through a transmission belt.
Further, the sealing part comprises a hemostatic valve, and the hemostatic valve is provided with an incision through which the guide wire can pass and can seal liquid.
Further, the connecting portion includes a rotating member connectable to the trailing end of the conduit.
In order to solve the above technical problem, an embodiment of the present application further provides an interventional surgical robot, which adopts the following technical solution:
an interventional surgical robot comprising a first control device and a fluid path switching device as described above, the fluid path switching device being located at a distal end of the first control device; the first control device is used for driving the catheter connected with the connecting part to rotate and also used for driving the guide wire to move and/or rotate along the axis.
Further, the interventional surgical robot further comprises a second control device, and the second control device is positioned at the far end of the liquid path switching device; the second control device is used for being matched with the first control device to drive the catheter to move.
Compared with the prior art, the embodiment of the application mainly has the following beneficial effects: the Y-shaped connector and the triplet tee are reduced, and when high-pressure liquid and low-pressure liquid are injected, a doctor does not need to install and disassemble the Y-shaped connector and the triplet tee; the doctor operates the intervention operation robot to control the action of the driving part, the driving part is controlled to drive the valve body to act, so that the liquid input part connected with the high-pressure injector is communicated with the liquid path and the connecting part, and the outer wall of the valve body is sealed with the sealing part to replace the sealing part to bear pressure, so that the circulation of high-pressure liquid can be realized; the valve body can be driven to move by the driving part, so that the liquid input part connected with the low-pressure injector is communicated with the liquid path, the sealing part and the connecting part, and the circulation of low-pressure liquid and the movement and/or rotation of the guide wire along the axis are realized; the operation of the application is easy to realize for the interventional operation robot, realizes automatic control, shortens the operation time by the automatic control, reduces the expense of patients and lightens the burden of the patients.
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 a perspective view of a liquid path switching device provided in an embodiment of the present application;
fig. 2 is a side view of a liquid path switching device provided in an embodiment of the present application;
FIG. 3 isbase:Sub>A cross-sectional view taken at A-A of FIG. 2;
FIG. 4 is a schematic view of FIG. 3 with the cutaway lines omitted;
FIG. 5 is a schematic view of the valve body of FIG. 3 after rotation;
FIG. 6 is an exploded view of FIG. 1;
fig. 7 is a schematic view of a valve body in a fluid passage switching device according to an embodiment of the present application.
Reference numerals are as follows: 10. a housing; 11. a connecting portion; 111. a rotating member; 112. a luer connector; 113. a gear; 12. a sealing part; 121. a bonnet; 13. a liquid input section; 14. an accommodating cavity; 20. a valve body; 21. a liquid path; 211. a first channel; 212. a second channel; 22. a body; 23. a connecting member; 231. a movable portion; 232. a fixed part; 233. a limiting part; 30. a drive section; 31. a seal member; 311. a circular hole; 32. a drive member; 321. a driving member; 322. a driven member; 323. mounting grooves; 324. a special-shaped hole.
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 can be combined with other embodiments.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
The first embodiment of the liquid path switching device of the present application:
an embodiment of the present application provides a liquid path switching device, as shown in fig. 1 to 3, the liquid path switching device includes: a housing 10, a valve body 20 disposed in the housing 10, and a driving part 30 connected to the valve body 20; the shell 10 comprises a connecting part 11, a sealing part 12 and at least two liquid input parts 13, wherein the connecting part 11 can be connected with the tail end of a conduit; the valve body 20 is provided with a liquid path 21; the driving part 30 can drive the valve body 20 to act;
when the valve body 20 is driven by the driving unit 30 to operate and the liquid path 21 communicates with one of the liquid input portions 13, the valve body 20 seals the sealing portion 12, and the connecting portion 11 communicates with the liquid path 21 to allow liquid to flow therethrough;
when the driving unit 30 drives the valve body 20 to operate and the liquid path 21 communicates with any one of the liquid input units 13, the connecting unit 11, the liquid path 21, and the sealing unit 12 communicate with each other so that the guide wire moves and/or rotates along the axis, and the sealing unit 12 seals the liquid so that the liquid flows only through the liquid input unit 13, the liquid path 21, and the connecting unit 11.
The working principle of the liquid path switching device provided by the embodiment of the application is as follows: in this application liquid input portion 13 can be connected with high pressure syringe, low pressure syringe etc. connecting portion 11 and catheter tail are connected, and drive division 30 is connected with the intervention operation robot electricity, receives the instruction of intervention operation robot, realizes that drive division 30 drives valve body 20 and moves.
At the beginning, the doctor operates the interventional operation robot control driving part 30 to drive the valve body 20 to act (rotate or move), so that the liquid path 21 is communicated with the liquid input part 13 connected with the low-pressure syringe, the outer wall of the valve body 20 is far away from the sealing part 12, so that the sealing part 12, the liquid path 21 and the connecting part 11 are communicated, as shown in a graph g in fig. 5, at this time, after the guide wire enters from the sealing part 12, a channel formed by the communication of the sealing part 12, the liquid path 21 and the connecting part 11 can be used for the guide wire to move and/or rotate along the axis, meanwhile, the sealing part 12 seals the liquid to prevent the leakage of the low-pressure liquid, and the low-pressure liquid enters the catheter through the liquid input part 13 connected with the low-pressure syringe, the liquid path 21 and the connecting part 11 to realize the circulation of the low-pressure liquid (such as heparin saline).
When the doctor operates the interventional operation robot control catheter and guide wire to move in the blood vessel of the patient until the catheter and guide wire are delivered to the target position, the interventional operation robot control driving part 30 is operated again to drive the valve body 20 to move, so that the liquid path 21 is communicated with the other liquid input part 13 connected with the low-pressure injector, similarly, the outer wall of the valve body 20 is far away from the sealing part 12, so that the sealing part 12, the liquid path 21 and the connecting part 11 are communicated, as shown in a diagram f in fig. 5, a passage formed by the communication of the sealing part 12, the liquid path 21 and the connecting part 11 can still be used for the guide wire to move and/or rotate along the axis, meanwhile, the sealing part 12 seals the liquid to prevent the leakage of the low-pressure liquid, and the low-pressure liquid enters the catheter through the liquid input part 13 connected with the low-pressure injector, the liquid path 21 and the connecting part 11 to realize the circulation of the other low-pressure liquid (such as the low-pressure contrast liquid).
After a doctor confirms that a catheter and a guide wire reach a focus by watching an X-ray image, the interventional operation robot is operated to withdraw the guide wire from the catheter to a port of the sealing part 12, which is close to the valve body 20, so as to prevent the guide wire from influencing the movement of the valve body 20, then the driving part 30 is controlled to drive the valve body 20 to move, so that the liquid path 21 is communicated with the liquid input part 13 connected with a high-pressure syringe, as shown in a graph e in fig. 5, the outer wall of the valve body 20 seals one end of the sealing part 12, the valve body 20 replaces the sealing part 12 to bear pressure, and when the high-pressure syringe injects high-pressure liquid, the high-pressure liquid breaks the sealing part 12 to cause liquid leakage, the highest pressure resistance value of the valve body 20 can reach 1200psi, the valve body 20 is also communicated with the connecting part 11, and the high-pressure liquid enters the catheter through the liquid input part 13 connected with the high-pressure syringe, the liquid path 21 and the connecting part 11, so as to realize the circulation of the high-pressure liquid (such as high-pressure contrast liquid).
The beneficial effect that a liquid way auto-change over device that this application embodiment provided does: the Y-shaped connector and the triplet tee are reduced, and when high-pressure liquid and low-pressure liquid are injected, a doctor does not need to install and disassemble the Y-shaped connector and the triplet tee; the doctor operates the intervention operation robot to control the action of the driving part 30, the driving part 30 is controlled to drive the valve body 20 to act, so that the liquid input part 13 connected with the high-pressure injector is communicated with the liquid path 21 and the connecting part 11, and the sealing part 12 of the outer wall of the valve body 20 is sealed to replace the sealing part 12 to bear pressure, so that the high-pressure liquid can be circulated; the valve body 20 can be driven by the driving part 30 to move, so that the liquid input part 13 connected with the low-pressure injector is communicated with the liquid path 21, the sealing part 12 and the connecting part 11, and the circulation of low-pressure liquid and the movement and/or rotation of the guide wire along the axis are realized; the operation of the application is easy to realize for the interventional operation robot, realizes automatic control, shortens the operation time by the automatic control, reduces the expense of patients and lightens the burden of the patients.
Further, when the driving portion 30 is used for driving the valve body 20 to rotate around its axis in the housing 10, the valve body 20 is substantially cylindrical, and the rotation of the valve body 20 can change the communication state of the liquid path 21 with the connecting portion 11, the sealing portion 12 and the liquid input portion 13.
As shown in fig. 1, 2 and 6, the valve body 20 further includes a main body 22 and a connector 23, the connector 23 is connected to the main body 22 and the driving portion 30, the liquid path 21 is opened on the main body 22, and the main body 22 is movably disposed in the housing 10; the driving part 30 comprises a sealing member 31 and a driving member 32, the sealing member 31 is fixedly connected with the housing 10 and seals the housing 10, and the connecting member 23 penetrates through the sealing member 31 and is connected with the driving member 32. The driving member 32 is connected to a power device such as a motor or an air cylinder, and the power device drives the driving member 32 to drive the connecting member 23 to rotate, so as to drive the body 22 to rotate between the sealing member 31 and the housing 10, thereby preventing the liquid path 21 from being polluted.
As shown in fig. 6 and 7, the body 22 is substantially a cylinder, the connecting member 23 is disposed at the axial line of the body 22, and the driving portion 30 is used for driving the body 22 to rotate through the connecting member 23; specifically, the body 22 rotates about its own axis.
As shown in fig. 6, further, the connecting member 23 includes a movable portion 231 and a fixed portion 232; the movable part 231 is arranged on the body 22 and movably connected with the sealing element 31; the fixing portion 232 is located at one end of the movable portion 231 away from the body 22, and the fixing portion 232 is connected to the driving member 32. When the driving member 32 drives the fixing portion 232 of the connecting member 23 to rotate, the movable portion 231 is rotatably connected to the sealing member 31, so that the body 22 is rotated between the sealing member 31 and the housing 10.
Further, the connecting member 23 further includes a limiting portion 233, the limiting portion 233 is located at one end of the fixing portion 232 far away from the movable portion 231, and penetrates out of the driving member 32 to limit the driving member 32. The displacement of the driving member 32 in the rotation process is avoided, and the stability of the liquid path switching device is improved.
As shown in fig. 1, 2 and 6, further, the driving member 32 includes a driving member 321 and a driven member 322, and the connecting member 23 is connected to the driven member 322; the driving member 321 is engaged with the driven member 322; alternatively, the driving member 321 and the driven member 322 are connected by a belt.
In one embodiment, a surface of the driving member 321 is engaged with a surface of the driven member 322. In this embodiment, the driving part 321 and the driven part 322 may be gears or racks, and when the driving part 321 and the driven part 322 are gears, the driving part 321 rotates to drive the driven part 322 to rotate, so as to drive the body 22 to rotate through the connecting part 23; when the driving member 321 is a rack and the driven member 322 is a gear, the driving member 321 moves to drive the driven member 322 to rotate, so as to drive the body 22 to rotate through the connecting member 23.
Preferably, in another embodiment, a mounting groove 323 is formed in a surface of the driven member 322 away from the valve body 20, and the driving member 321 is engaged with the mounting groove 323. In this embodiment, the driving member 321 and the driven member 322 are gears, and the driving member 321 rotates in the mounting groove 323 to drive the driven member 322 to rotate, so as to drive the body 22 to rotate through the connecting member 23; this embodiment can prevent the driving member 321 and the driven member 322 from being separated from each other, and can reduce the volume of the driving member 321, thereby reducing the volume of the liquid path switching device. Of course, a mounting groove 323 may be formed on a surface of the driving member 321 adjacent to the driven member 322, and the driven member 322 is engaged with the mounting groove 323.
In still another embodiment, the driving member 321 and the driven member 322 are connected by a belt. In this embodiment, the driving member 321 is a driving wheel, the driven member 322 is a driven wheel, and the driving wheel drives the driven wheel to rotate through the transmission belt, so as to drive the body 22 to rotate through the connecting member 23.
Specifically, the driving member 321 is connected to a power device such as a motor or a cylinder.
As shown in fig. 6, further, the movable portion 231 is a cylinder, the sealing plate is provided with a circular hole 311 matching with the movable portion 231, the fixing portion 232 is a special-shaped column, and the driven member 322 is provided with a special-shaped hole 324 matching with the fixing portion 232; so that the driven member 322 can lock the fixing portion 232, thereby driving the fixing portion 232, the movable portion 231 and the body 22 to rotate.
In the embodiment of the present application, the sealing portion 12 and the connecting portion 11 are disposed opposite to each other to facilitate the movement and/or rotation of the guide wire.
As shown in fig. 6, in the embodiment of the present application, the housing 10 has a receiving cavity 14, the valve body 20 is disposed in the receiving cavity 14 and is tightly fitted with the receiving cavity 14, the connecting portion 11, the sealing portion 12 and the liquid input portion 13 are provided with connecting pipes, and the lumens of the connecting pipes are communicated with the receiving cavity 14, so that the connecting portion 11 is connected with the tail end of the catheter, a guide wire is conveniently passed into and out of the sealing portion 12, and a high-pressure syringe or a low-pressure syringe is conveniently connected with the liquid input portion 13; wherein the sealing portion 12 employs a hemostatic valve as described below to seal the liquid.
Further, the sealing portion 12 includes a hemostatic valve (not shown) having an incision through which a guide wire passes and which can seal liquid. The hemostatic valve can remove residual blood on the guide wire, the highest pressure resistance value of the hemostatic valve can reach 400psi, the residual blood can be prevented from seeping out of the sealing part 12, and low-pressure liquid can be prevented from seeping out of the sealing part 12.
As shown in fig. 1 to 3 and 6, the sealing portion 12 further includes a valve cap 121, and the hemostatic valve is located in the valve cap 121.
Further, the connecting portion 11 includes a rotating member 111, and the rotating member 111 can be connected to the tail end of the guide tube; the rotation of the guide tube can be achieved by rotating the rotating member 111.
Further, the rotating member 111 includes a luer connector 112 and a gear 113, the luer connector 112 can be connected to the tail end of the catheter, and the gear 113 is connected to the luer connector 112. The luer connector 112 is rotated by the rotation of the driving gear 113, and the catheter is rotated.
Specifically, the gear 113 is a bevel gear.
The second embodiment of the liquid path switching device of the present application:
the difference from the first embodiment is that when the driving portion 30 is used to drive the valve body 20 to move along a horizontal line, a vertical line, or an inclined line in the housing 10, moving the valve body 20 can change the communication state of the liquid path 21 with the connecting portion 11, the sealing portion 12, and the liquid input portion 13.
The driving member 32 is connected to a power device such as a motor or an air cylinder, and the power device drives the driving member 32 to drive the connecting member 23 to move, so as to drive the body 22 to move between the sealing member 31 and the housing 10, thereby preventing the liquid path 21 from being polluted.
In this embodiment, the sealing element 31 is provided with a sliding slot (not shown), and when the driving element 32 drives the fixing portion 232 of the connecting element 23 to move, the movable portion 231 is slidably connected in the sliding slot of the sealing element 31, so as to realize the movement of the body 22 between the sealing element 31 and the housing 10.
In this embodiment, the diameter of the movable portion 231 matches the width of the sliding slot, so as to prevent the movable portion 231 from shaking in the sliding slot, which may affect the stability of the valve body 20 between the sealing member 31 and the housing 10.
In the present embodiment, the movable portion 231 and the fixed portion 232 are not limited in shape.
In this embodiment, when the driving member 321 is a gear and the driven member 322 is a rack, the driving member 321 rotates to drive the driven member 322 to move, so as to drive the body 22 to move through the connecting member 23.
The third embodiment of the liquid path switching device of the present application:
in addition to the first or second embodiment, as shown in fig. 3 to 5, the liquid path 21 includes a first channel 211 and a second channel 212 which are communicated with each other, the first channel 211 is used for being communicated with the liquid input portion 13, and the second channel 212 is used for being communicated with the connecting portion 11 and the sealing portion 12 at the same time or being communicated with only the connecting portion 11.
As shown in fig. 7, further, one end of the valve body 20 away from the liquid input part 13 is recessed to form the second channel 212, and the first channel 211 penetrates through the valve body 20 and is communicated with the second channel 212; to facilitate the fabrication of the second channel 212.
On the basis of the first embodiment, the driving portion 30 drives the valve body 20 to rotate, so that the orientations of the first channel 211 and the second channel 212 can be changed, and further, the communication states of the first channel 211 with the liquid input portion 13 and the second channel 212 with the connecting portion 11 and the sealing portion 12 can be changed.
Referring to fig. 5 e, when the driving part 30 drives the valve body 20 to rotate, so that the first channel 211 is communicated with the liquid input part 13 connected with the high-pressure contrast syringe, the outer wall of the valve body 20 seals one end of the sealing part 12, the second channel 212 is only communicated with the connecting part 11, and the high-pressure contrast liquid enters the conduit through the liquid input part 13 connected with the high-pressure contrast syringe, the first channel 211, the second channel 212 and the connecting part 11, so as to realize the circulation of the high-pressure contrast liquid.
Referring to fig. 5 f and g, when the driving part 30 drives the valve body 20 to rotate, so that the first channel 211 is communicated with the liquid input part 13 connected with the heparin saline drip chamber or the smoke contrast injector, the outer wall of the valve body 20 is far away from the sealing part 12, so that the second channel 212 is communicated with the connecting part 11 and the sealing part 12, and the liquid input part 13 connected with the heparin saline drip chamber or the smoke contrast injector, the first channel 211, the second channel 212 and the connecting part 11 enter the catheter, so that the circulation of heparin saline or low-pressure contrast liquid is realized; further, the guidewire may be advanced into the catheter through the sealing portion 12, the second channel 212, and the connecting portion 11 to effect rotation and/or movement of the guidewire.
Further, when the number of the liquid inlets 13 is not less than two, as shown in fig. 4, the included angle a between the first channel 211 and the second channel 212 is larger than the included angle b between the first liquid inlet 13 and the last liquid inlet 13, and the included angle a between the first channel 211 and the second channel 212 is set in a direction away from the sealing portion 12. To avoid the first channel 211 communicating with one of the liquid inputs 13 and the second channel 212 communicating with the other liquid input 13.
Further, when the number of the liquid inputs 13 is three, a first one of the liquid inputs 13 is connected to a high pressure syringe, and a second one of the liquid inputs 13 and a third one of the liquid inputs 13 are connected to a low pressure syringe. The included angle d between the two ends of the second channel 212 is the same as the included angle c between the two adjacent liquid input parts 13; or the included angle d between the two ends of the second channel 212 is greater than the included angle c between two adjacent liquid input parts 13, and the included angle c is smaller than the included angle b between the first liquid input part 13 and the last liquid input part 13. When the driving portion 30 drives the valve body 20 to rotate, so that the first channel 211 is communicated with the second liquid input portion 13 or the third liquid input portion 13, referring to fig. f and g in fig. 5, the second channel 212 can still connect the sealing portion 12 and the connecting portion 11, so that the guide wire can continue to be in the second channel 212, and the guide wire is prevented from being frequently driven to enter and exit when the valve body 20 is rotated.
Of course, the number of the liquid input parts 13 can be adjusted according to actual requirements.
On the basis of the second embodiment, the driving portion 30 drives the valve body 20 to move, so that the positions of the first channel 211 and the second channel 212 can be changed, and further, the communication state between the first channel 211 and the liquid input portion 13, and the communication state between the second channel 212 and the connecting portion 11 and the sealing portion 12 can be changed.
The first embodiment of the interventional surgical robot of the present application:
the embodiment of the present application further provides an interventional surgical robot, which includes a first control device and the above-mentioned fluid path switching device, where the fluid path switching device is located at a distal end of the first control device; the first control device is used for driving the conduit connected with the connecting part 11 to rotate; and also for driving the guidewire in axial translation and/or rotation.
In the embodiment of the application, the end close to the patient is a far end, and the end far away from the patient is a near end.
The working principle of the interventional operation robot provided by the embodiment of the application is as follows: in this application, the liquid input part 13 can be connected with a high-pressure injector, a low-pressure injector and the like, the connecting part 11 is connected with the tail part of the conduit, the driving part 30 is electrically connected with an interventional operation robot, receives an instruction of the interventional operation robot, and the driving part 30 drives the valve body 20 to move.
At the beginning, the doctor operates the interventional operation robot control driving part 30 to drive the valve body 20 to move, so that the liquid path 21 is communicated with the liquid input part 13 connected with the low-pressure syringe, the outer wall of the valve body 20 is far away from the sealing part 12, so that the sealing part 12, the liquid path 21 and the connecting part 11 are communicated, as shown in a graph g in fig. 5, after the guide wire enters from the sealing part 12, a passage formed by the communication of the sealing part 12, the liquid path 21 and the connecting part 11 can be used for the guide wire to move and/or rotate along the axis, meanwhile, the sealing part 12 seals the liquid to prevent the low-pressure liquid from leaking, and the low-pressure liquid enters the catheter through the liquid input part 13 connected with the low-pressure syringe, the liquid path 21 and the connecting part 11 to realize the circulation of the low-pressure liquid (such as heparin saline).
When the doctor operates the interventional operation robot control catheter and guide wire to move in the blood vessel of the patient until the catheter and guide wire are delivered to the target position, the interventional operation robot control driving part 30 is operated again to drive the valve body 20 to move, so that the liquid path 21 is communicated with the other liquid input part 13 connected with the low-pressure injector, similarly, the outer wall of the valve body 20 is far away from the sealing part 12, so that the sealing part 12, the liquid path 21 and the connecting part 11 are communicated, as shown in a diagram f in fig. 5, a passage formed by the communication of the sealing part 12, the liquid path 21 and the connecting part 11 can still be used for the guide wire to move and/or rotate along the axis, meanwhile, the sealing part 12 seals the liquid to prevent the leakage of the low-pressure liquid, and the low-pressure liquid enters the catheter through the liquid input part 13 connected with the low-pressure injector, the liquid path 21 and the connecting part 11 to realize the circulation of the other low-pressure liquid (such as the low-pressure contrast liquid).
After a doctor confirms that a catheter and a guide wire reach a focus by watching an X-ray image, the interventional operation robot is operated to withdraw the guide wire from the catheter to a port of the sealing part 12, which is close to the valve body 20, so as to prevent the guide wire from influencing the movement of the valve body 20, then the driving part 30 is controlled to drive the valve body 20 to move, so that the liquid path 21 is communicated with the liquid input part 13 connected with a high-pressure syringe, as shown in a graph e in fig. 5, the outer wall of the valve body 20 seals one end of the sealing part 12, the valve body 20 replaces the sealing part 12 to bear pressure, and when the high-pressure syringe injects high-pressure liquid, the high-pressure liquid breaks the sealing part 12 to cause liquid leakage, the highest pressure resistance value of the valve body 20 can reach 1200psi, the valve body 20 is also communicated with the connecting part 11, and the high-pressure liquid enters the catheter through the liquid input part 13 connected with the high-pressure syringe, the liquid path 21 and the connecting part 11, so as to realize the circulation of the high-pressure liquid (such as high-pressure contrast liquid).
The beneficial effect that an intervention operation robot that this application embodiment provided puts does: the Y-shaped connector and the triplet tee are reduced, and when high-pressure liquid and low-pressure liquid are injected, a doctor does not need to install and disassemble the Y-shaped connector and the triplet tee; the doctor operates the intervention operation robot to control the action of the driving part 30, the driving part 30 is controlled to drive the valve body 20 to act, so that the liquid input part 13 connected with the high-pressure injector is communicated with the liquid path 21 and the connecting part 11, and the sealing part 12 of the outer wall of the valve body 20 is sealed to replace the sealing part 12 to bear pressure, so that the high-pressure liquid can be circulated; the driving part 30 can drive the valve body 20 to move, so that the liquid input part 13 connected with the low-pressure injector is communicated with the liquid path 21, the sealing part 12 and the connecting part 11, and the circulation of low-pressure liquid and the movement and/or rotation of the guide wire along the axis are realized; the operation of the application is easy to realize for the interventional operation robot, realizes automatic control, shortens the operation time by the automatic control, reduces the expense of patients and lightens the burden of the patients.
Further, the first control device comprises a first control component and a second control component, wherein the first control component is used for driving the catheter connected with the connecting part 11 to rotate, and the second control component is used for driving the guide wire to move and/or rotate along the axis.
Specifically, the first control assembly is connected with the gear 113 of the rotating member 111.
Further, the interventional surgical robot further comprises a second control device, and the second control device is positioned at the far end of the liquid path switching device; the second control device is used for cooperating with the first control device to drive the catheter to move. When the catheter needs to be driven to move, the first control device drives the liquid path switching device to move towards the far end, and meanwhile, the second control device drives the catheter to move; when the catheter needs to be driven to be drawn out, the first control device drives the liquid path switching device to move towards the near end, and meanwhile, the second control device drives the catheter to be drawn out.
In the description of the present invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. 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 some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various embodiments. However, the disclosed method should not be construed to reflect the intent: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, embodiment aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. It should be noted that the specific features, structures, materials or characteristics described in the embodiments and examples of the present application may be combined with each other without conflict or contradiction. The present invention is not limited to any single aspect or embodiment, nor is it limited to any single embodiment, nor to any combination and/or permutation of such aspects and/or embodiments. Moreover, each aspect and/or embodiment of the invention may be utilized independently or in combination with one or more other aspects and/or embodiments by one of ordinary skill in the art without contradiction to each other.
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 the embodiments are provided so that this disclosure will be thorough and complete. 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 all the equivalent structures are within the protection scope of the present application.

Claims (10)

1. A fluid passage switching apparatus, comprising: the valve comprises a shell, a valve body arranged in the shell and a driving part connected with the valve body; the shell comprises a connecting part, a sealing part and at least two liquid input parts, and the connecting part can be connected with the tail end of the conduit; the valve body is provided with a liquid path; the driving part can drive the valve body to act;
when the driving part drives the valve body to act to enable the liquid path to be communicated with one of the liquid input parts, the valve body seals the sealing part, and the liquid path is also communicated with the connecting part and can be used for liquid to flow;
when the driving part drives the valve body to act, so that the liquid path is communicated with any other liquid input part, the connecting part, the liquid path and the sealing part are communicated, so that the guide wire can move and/or rotate along the axis, and meanwhile, the sealing part seals liquid, so that the liquid only flows in the liquid input part, the liquid path and the connecting part.
2. The liquid path switching device according to claim 1, wherein the liquid path includes a first passage and a second passage communicating with each other, the first passage being adapted to communicate with the liquid input portion, the second passage being adapted to communicate with the connecting portion and the sealing portion at the same time or communicate with only the connecting portion.
3. The fluid path switching device according to claim 1 or 2, wherein the valve body comprises a body and a connecting member, the connecting member is connected with the body and the driving portion, the fluid path is opened on the body, and the body is movably arranged in the housing;
the driving part comprises a sealing piece and a driving piece, the sealing piece is fixedly connected with the shell and seals the shell, and the connecting piece penetrates out of the sealing piece and is connected with the driving piece.
4. The fluid path switching device according to claim 3, wherein the connecting member includes a movable portion and a fixed portion; the movable part is arranged on the body and is movably connected with the sealing element; the fixed part is located the movable part is kept away from the one end of body, the fixed part with the driving piece is connected.
5. The fluid path switching device according to claim 4, wherein the connecting member further comprises a limiting portion, and the limiting portion is located at one end of the fixing portion away from the movable portion and penetrates through the driving member to limit the driving member.
6. The fluid path switching device according to claim 3, wherein the driving member comprises a driving member and a driven member, and the connecting member is connected with the driven member; the driving part is meshed with the driven part; or the driving member and the driven member are connected through a transmission belt.
7. The fluid path switching device according to claim 1 or 2, wherein the sealing portion includes a hemostatic valve provided with a slit through which a guide wire passes and which can seal fluid.
8. The fluid path switching device according to claim 1 or 2, wherein the connecting portion comprises a rotatable member connectable to the trailing end of the conduit.
9. An interventional surgical robot comprising a first control device and a fluid path switching device as claimed in any one of claims 1 to 8, the fluid path switching device being located at a distal end of the first control device; the first control device is used for driving the catheter connected with the connecting part to rotate and also used for driving the guide wire to move and/or rotate along the axis.
10. An interventional surgical robot of claim 9, further comprising a second control device located distal to the fluid path switching device; the second control device is used for being matched with the first control device to drive the catheter to move.
CN202211003153.2A 2022-08-19 2022-08-19 Liquid way switching device and intervention operation robot Active CN115282464B (en)

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