CN115429443A

CN115429443A - Interventional operation robot system

Info

Publication number: CN115429443A
Application number: CN202211212677.2A
Authority: CN
Inventors: 马晓峰; 孙冰; 刘振全; 贾晶
Original assignee: Shanghai Warm Sun Medical Instrument Co ltd
Current assignee: Shanghai Warm Sun Medical Instrument Co ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2022-12-06

Abstract

The invention is applicable to the technical field of medical instruments, and discloses an interventional operation robot system. The invention provides an interventional operation robot system, which comprises a sickbed and a robot body, wherein the sickbed is used for lying when a patient is treated; the extension arm mechanism is detachably arranged on the sickbed; a delivery device mounted on the extension arm mechanism for delivering a medical intervention device into a patient, the delivery device for delivering one or more elongate medical intervention devices; and the remote control system is used for remotely controlling the action of the conveying device for conveying the medical device. The technical problem of single function in the prior art is solved.

Description

Interventional operation robot system

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of medical instruments, in particular to an interventional operation robot system.

[ background of the invention ]

Vascular intervention surgery is a minimally invasive surgery for the purpose of treating vascular diseases and cancer, and is performed mainly by inserting a thin catheter (catheter) having a diameter of several mm or less through a blood vessel from the skin to a lesion site by means of X-ray fluoroscopy so that the catheter reaches a target organ. Currently, typical vascular interventional procedures performed in various parts of the world including korea include Trans-arterial chemoembolization (TACE) for liver cancer, percutaneous angioplasty, and artificial vascular stent implantation for aortic disease.

Catheters and other Elongate Medical Devices (EMDs) are used in minimally invasive medical procedures for the diagnosis and treatment of various diseases of the vascular system, including neurovascular interventions (NVIs) (also known as neurointerventional procedures), percutaneous Coronary Interventions (PCIs), and Peripheral Vascular Interventions (PVIs). These procedures typically involve navigating a guidewire through the vasculature and advancing a catheter over the guidewire to deliver the therapy. The catheterization procedure is initiated by gaining access to the appropriate vessel (such as an artery or vein) through an introducer sheath using standard percutaneous techniques. The sheath or guide catheter is then advanced over the diagnostic guidewire to a primary location, such as the internal carotid artery for NVI, the coronary ostia for PCI, or the superficial femoral artery for PVI, through the introducer sheath. A guidewire adapted for the vasculature is then navigated through the sheath or guide catheter to the target location in the vasculature. In some cases, such as in tortuous anatomy, a support catheter or microcatheter is inserted over the guidewire to assist in navigating the guidewire. A physician or operator may use an imaging system (e.g., a fluoroscope) to obtain a movie with contrast injection and select a fixed frame to use as a roadmap to navigate a guide wire or catheter to a target location, such as a lesion. While the physician is delivering the guidewire or catheter, a contrast enhanced image may also be obtained so that the physician can verify that the device is moving along the correct path to the target location. While viewing the anatomy using fluoroscopy, the physician manipulates the proximal end of a guidewire or catheter to guide the distal tip into the appropriate vessel toward the lesion or target anatomical location and avoid advancement into the side branch.

The existing interventional operation robot system has single function and cannot meet the requirement.

[ summary of the invention ]

The present invention is directed to overcome the above disadvantages of the prior art, and to provide a robotic interventional surgical system, which aims to solve the technical problem of single function in the prior art.

In order to achieve the purpose, the invention provides an interventional operation robot system, which comprises a sickbed and a robot arm, wherein the sickbed is used for a patient to lie when the patient is treated; the extension arm mechanism is detachably arranged on the sickbed; a delivery device mounted on the extension arm mechanism for delivering a medical intervention device into a patient, the delivery device for delivering one or more elongate medical intervention devices; and the remote control system is used for remotely controlling the action of the conveying device for conveying the medical device.

Preferably, the conveying device comprises a guide wire driving device, and the guide wire driving device comprises a conveying body and a rotating gear arranged on one side of the conveying body; the conveying gear is rotatably arranged on the other side of the conveying body, the rotating gear and the conveying gear are axially penetrated through by an opening, and a guide wire is clamped into the driving device through the opening; the conveying body is provided with a conveying mechanism driven by the conveying gear, the conveying gear drives the conveying mechanism to convey the guide wire through a transmission mechanism, and the transmission mechanism comprises a clutch mechanism which can be disengaged from the conveying gear in the lifting process; and a wire clamping and pressing mechanism is arranged on the conveying body and used for pressing the guide wire into the conveying mechanism along the opening.

Preferably, the conveying mechanism comprises a driving gear driven by the conveying gear, a driving silica gel roller driven by the driving gear and a pressing silica gel roller corresponding to the driving silica gel roller; and a transmission mechanism is arranged between the driving gear and the conveying gear.

Preferably, the rotating gear is a helical gear, a first helical gear is connected to the rotating gear, the conveying gear is a double-sided helical gear, one end of the conveying gear, which is far away from the conveying body, is connected to a second helical gear, and one end of the conveying gear, which is close to the conveying body, is connected to the transmission mechanism.

Preferably, the transmission mechanism comprises a bevel wheel and a driving cylindrical gear coaxially mounted with the bevel wheel, and the driving cylindrical gear drives the driving gear to rotate; the bevel wheel is rotatably connected to a mounting seat, and the mounting seat is mounted on the conveying body.

Preferably, the clutch mechanism comprises a clutch lug clamped with the bevel wheel and a mandril for mounting the clutch lug; the ejector rod is a central shaft of the clutch lug, and the bevel wheel and the driving cylindrical gear are coaxially connected to the ejector rod.

Preferably, the clutch lug comprises a disc and a shoulder arranged at the bottom of the disc; the bevel borrowing wheel is provided with a groove matched with the shoulder; the clutch lug is arranged between the bevel wheel and the driving cylindrical gear, and a spring is arranged between the driving cylindrical gear and the conveying body.

Preferably, the clutch mechanism is connected with a clutch driving mechanism, the clutch driving mechanism comprises a first motor, a crank mounted on the first motor, a slider mounted on the crank, a lifting slot arranged on the slider, and a lifting push rod lifting along the lifting slot, and the lifting push rod controls the clutch of the clutch mechanism.

Preferably, the crank is an L-shaped crank, and a moving groove is formed in one side of the crank, which is close to the first motor; a turntable is arranged on the first motor, a moving shaft is eccentrically arranged on the turntable, and the moving shaft moves in the moving groove; and a guide plate is also arranged between the sliding block and the crank.

Preferably, the conveying body comprises a base, a first stop block and a second stop block, the first stop block and the second stop block are mounted on the base, a mounting groove is formed between the first stop block and the second stop block, the wire clamping and pressing mechanism comprises a knob shifting block and a flashboard, the knob shifting block is rotatably arranged on the second stop block, the flashboard is connected to the knob shifting block, and the flashboard is tightly attached to the second stop block and moves up and down in the mounting groove.

Preferably, the mounting groove includes last mounting groove and sets up lower mounting groove below last mounting groove, the opening of going up the mounting groove is greater than lower mounting groove, the opening and the flashboard thickness adaptation of lower mounting groove.

Preferably, the second stop block is further provided with a guide block, the guide block is driven by the knob shifting block to move up and down, and the guide block drives the flashboard to move up and down; the guide block is connected with the flashboard through a plurality of connecting shafts; and a tension spring is arranged on the connecting shaft to enable the flashboard to be tightly attached to the second stop block.

Preferably, the second stopper is provided with an arc guide groove, and the knob block is provided with a guide shaft moving along the arc guide groove; a lock hole is formed at the bottom end of the arc guide groove; the part of leading axle in the circular arc guiding groove is equipped with the breach, the leading axle is rotatable to be set up on the knob shifting block, the leading axle is fixed after rotatory on the lockhole.

Preferably, the guide shaft is provided with a locking plate buckle for controlling the guide shaft to rotate; the base is provided with a pressing device, and the pressing device comprises a moving seat used for installing the silica gel roller and an adjusting rod used for controlling the radial movement of the moving seat.

Preferably, an inclined cutting groove is formed in the bottom of the adjusting rod, a guide post is arranged on the moving seat, and the guide post moves along the inclined cutting groove; the adjusting rod is provided with a socket, and a bolt is connected to the socket; the bolt extends upwards to penetrate through the adjusting rod.

Preferably, a release projection is arranged on the knob shifting block, and when the knob shifting block rotates to the lowest point, the release projection presses the bolt downwards to enable the bolt to be separated from the socket.

Preferably, the adjusting rod is provided with a push block bulge, and the knob shifting block is provided with a push block; in the process that the knob shifting block rotates from the lowest point to the high position, the pushing block pushes the pushing block to protrude, so that the pressing silica gel roller is installed and far away from the guide wire.

Preferably, the second stopper is provided with a plurality of guide grooves, and the gate plate is provided with convex ribs matched with the guide grooves.

Preferably, the extension arm mechanism comprises a support mechanism, a support column arranged on the support mechanism, a support large arm rotatably arranged on the support column, a support middle arm rotatably arranged on the support large arm, and a support small arm rotatably arranged on the support middle arm; the arm in the bracket can be inclined in the height direction.

Preferably, a clamping groove in sliding connection with the bed is arranged on the supporting mechanism, a cam wrench is rotatably arranged on the supporting mechanism, and the supporting mechanism is fixed through rotation of the cam wrench; a wrench arm is arranged on the cam wrench, and a limiting block is arranged on the wrench arm.

Preferably, a clamping plate connected with the cam wrench is arranged in the clamping groove, a guide shaft is arranged on the clamping plate, and a spring for pushing the clamping plate to be close to the cam wrench is arranged on the guide shaft; the supporting mechanism is provided with a supporting plate.

Preferably, the bracket middle arm comprises a middle arm rotating seat rotatably arranged on the bracket large arm, a middle arm frame rotatably arranged on the middle arm rotating seat and a buffer cylinder; one end of the buffer cylinder is rotatably arranged on the middle arm rotating seat, and the other end of the buffer cylinder is rotatably arranged on the middle arm frame.

Preferably, the middle arm frame comprises a plurality of connecting rods which are parallel to each other, one end of each connecting rod is rotatably connected to the middle arm rotating seat, and the other end of each connecting rod is rotatably connected to the connecting block; the buffer cylinder is rotatably connected to one connecting rod; and a lower limit nail is arranged on one connecting rod.

Preferably, the bracket forearm comprises an adapter and an extension rod detachably mounted on the adapter; the rotary shaft is rotatably connected with the middle arm of the fox-searching bracket; a connector is arranged at one end of the extension rod, which is far away from the adapter; the adapter is provided with a fixing knob for fixing the extension rod; the driving arm is provided with a damping friction plate; and one end of the driving arm, which is far away from the adapter, is provided with an encoder.

Preferably, the large support arm comprises a bolt mechanism, a large braking tooth arranged on the support column and a middle braking tooth arranged on the middle support arm; the spring bolt mechanism comprises a first connecting plate, a first spring bolt arranged on the first connecting plate, a second connecting plate and a second spring bolt arranged on the second connecting plate; the first lock tongue and the brake big tooth form a brake effect when connected, and the support big arm can rotate when separated; the second spring bolt with form the brake effect when tooth is connected in the brake, during the separation the support middle arm is rotatable.

Preferably, a control mechanism is arranged on the lock tongue mechanism, and the control mechanism comprises a control motor, a double-end screw rod controlled by the control motor, and a first moving seat and a second moving seat which are arranged on the double-end screw rod; the first movable seat is connected with the first connecting plate, and the second movable seat is connected with the second connecting plate.

Preferably, the control mechanism further comprises a first microswitch and a second microswitch which are in communication connection with the control motor; the first micro switch controls the distance that the first removal seat moved toward keeping away from the big tooth direction of brake, the second micro switch controls the distance that the second removed the seat and moved toward being close to the brake middle tooth direction.

Preferably, a manual release mechanism is arranged on the bolt mechanism and comprises a release button, a power-assisted rod connected to the release button and a cam block arranged on the power-assisted rod, and the cam block is connected with the first connecting plate and the second connecting plate.

Preferably, a square nut is arranged between the first moving seat and the double-end screw rod, and a square nut is arranged between the second moving seat and the double-end screw rod; and the first bolt and the second bolt are connected with springs.

Preferably, the conveying device comprises a base, a tooth-type guide pipe is mounted on the base, the tooth-type guide pipe comprises a flexible pipe, a rack is arranged on the outer side of the flexible pipe, and a notch is formed in the far end of the flexible pipe; the flexible pipe clamping device is characterized by further comprising a gear which is arranged on the base and meshed with the rack, the gear is controlled by a motor, a rigid channel for the flexible pipe to move is arranged on the base, and one part of the rigid channel is arched.

Preferably, the flexible tube is made of at least one material selected from the group consisting of PDFE and PTFE; the flexible pipe is a hollow circular pipe, and the far end of the flexible pipe is provided with a connecting section; the flexible pipe and the rack are of an integrated structure, or the flexible pipe and the rack are connected in a split manner; a long seam is arranged in the length direction of the flexible pipe and is communicated with the opening; and a long seam is arranged in the length direction of the flexible pipe and is communicated with the opening.

Preferably, the base is provided with a manual and automatic catheter conveying switching device which comprises a flexible pipe and a catheter driving mechanism for driving the flexible pipe to move; the guide pipe driving mechanism comprises an upper fluted disc and a lower fluted disc meshed with the upper fluted disc, the lower fluted disc is driven by the second motor to rotate, and the lower fluted disc is driven by the third motor to lift through a fluted disc lifting mechanism; when the upper fluted disc and the lower fluted disc are meshed and rotate, the flexible pipe is driven to move; when the upper fluted disc and the lower fluted disc are separated and rotate, the flexible pipe can be pulled manually.

Preferably, the lifting mechanism comprises a lifting push rod and an inclined groove arranged on the lifting push rod; the lower fluted disc is connected to the inclined groove; one end of the lifting push rod, which is close to the third motor, is provided with a rack, and a circular fluted disc meshed with the rack is arranged on the third motor; one end of the lifting push rod, which is close to the lower fluted disc, is U-shaped, and the inclined grooves are symmetrically arranged on two sides of the lifting push rod.

Preferably, the lifting mechanism further comprises a lifting slider which can lift along the inclined groove, an angular contact bearing is arranged in the lifting slider, and a lower fluted disc is arranged on the angular contact bearing; the lower fluted disc is in sliding fit with the second motor; and a thrust spring is arranged on the lifting slide block.

Preferably, the last hemostatic valve front end buckle mechanism that is connected with of conveyor, including be used for with hemostatic valve complex adapter, with the adapter can dismantle the connector of connection, with the linkage segment that the connection can be dismantled to the connector, be equipped with in the adapter be used for the centre gripping hemostatic valve the centre gripping groove and with the fretwork portion of centre gripping groove one end tip intercommunication, be close to on the adapter the one end of fretwork portion be equipped with be used for with connector complex connecting portion, be equipped with in the connecting portion run through its setting and with the first through-hole of fretwork portion intercommunication.

Preferably, the device further comprises a catheter sheath matched with the flexible pipe and the connector, the catheter sheath is detachably sleeved on the flexible pipe, and one end of the catheter sheath is detachably connected with the connector; the catheter sheath comprises a first clamping plate and a second clamping plate, one side of the first clamping plate is connected with one side of the second clamping plate through an elastic connecting portion, and a catheter groove matched with the flexible tube and a sheath opening groove communicated with the catheter groove are formed between the first clamping plate and the second clamping plate.

Preferably, a locking fastener for locking the first clamping plate and the second clamping plate is arranged between the first clamping plate and the second clamping plate; one end of the catheter sheath, which is close to the connector, is provided with a sheath plugging part which is arranged in a protruding way, and the connector is provided with a jack which is matched with the sheath plugging part; the connecting part comprises a first part and a second part, the first part and the second part are integrally formed with the body, the second part is detachably connected with the first part, and the first through hole is formed between the first part and the second part; a first connecting half block and a second connecting half block with one side detachably connected with the first connecting half block are fixedly arranged at one end, close to the adapter, of the connector, and a connecting cavity used for being matched with the connecting part is arranged between the first connecting half block and the second connecting half block; a convex cylinder is arranged on the side edge of the connecting part, and a semi-cylinder clamping groove matched with the cylinder is arranged between the first connecting half block and the second connecting half block; the connector is internally provided with a communicating hole which is axially arranged through the connector, the side wall of the connector is provided with a communicating groove communicated with the communicating hole, and the communicating groove is in plug-in fit with the sheath plug-in part.

Preferably, the delivery device is connected with a hemostatic valve fastener, which comprises a body and an elastic clamp body arranged on the body, wherein a clamping groove used for clamping a hemostatic valve is formed in the elastic clamp body, the body is close to the end position of one end of the elastic clamp body, a hollow part which is matched with a hemostatic valve adjusting position and communicated with the clamping groove is formed in the end position of one end of the elastic clamp body, a sliding block which is connected with the body in a sliding mode is arranged on the body, the elastic clamp body is fixedly connected with the sliding block, and an adjusting mechanism which is used for driving the sliding block to move back and forth in the direction of the hollow part is arranged on the body.

Preferably, the adjusting mechanism comprises a plurality of teeth which are uniformly distributed on the body, and the sliding block is provided with a gear which is meshed with the teeth and a knob which is used for driving the gear to rotate; the knob is provided with a worm, and the gear is provided with a worm wheel meshed with the worm.

Preferably, the body is provided with a slide rail, and the slide block is provided with a slide part in slide fit with the slide rail; a connecting part which is convexly arranged away from the hollow part is arranged at one end of the body close to the hollow part, and a through hole which is coaxial with the elastic clamp body is arranged in the connecting part; the connecting part comprises a first part and a second part, wherein the first part is integrally formed with the body, the second part is detachably connected with the first part, and the through hole is formed between the first part and the second part; the side edge of the connecting part is also provided with a raised column body which comprises a first semi-column and a second semi-column which are respectively fixedly arranged on the first part and the second part; and a branch pipe open slot is formed in the clamping slot.

Compared with the prior art, the interventional operation robot system provided by the invention has the beneficial effects that:

1. actuating mechanism is equipped with the opening that the axial runs through, and the seal wire is installed from the opening, and is higher for the mode efficiency of getting into the other end from one end threading, and the installation degree of difficulty is littleer.

2. The guide wire is driven to rotate by the rotation of the rotating gear, and the guide wire is driven to carry out axial conveying by the rotation of the conveying gear.

3. The rotating speed of the rotating gear is the same as that of the conveying gear, and the guide wire makes rotary motion, so that the guide wire is easier to pass through tortuous and bifurcated blood vessels; when the rotating speeds of the rotating gear and the conveying gear are different, the guide wire simultaneously performs axial and rotary motion, the speed and the direction of the rotating gear and the conveying gear are adjusted, and the speed and the direction of the guide wire rotation and the axial motion can be controlled.

4. The conveying gear drives the conveying body to convey the guide wire, the guide wire is clamped into the conveying body and the conveying gear through the opening, the conveying gear rotates all the time in the conveying process, and the opening of the conveying gear is separated from the opening of the conveying body. When the guide wire needs to be removed, the transmission mechanism is separated from the conveying gear through the clutch mechanism, and the conveying guide wire cannot advance or retreat in the process of continuously rotating the conveying gear.

5. The helical gear and the driving cylindrical gear are in a clamping state through the spring, and the guide wire can be conveyed in the rotating process of the conveying gear. When the ejector rod is jacked up, the bevel gear and the driving cylindrical gear are separated, and the driving cylindrical gear is fixed in the rotating process of the bevel gear.

6. The first motor drives the crank to rotate, and the crank drives the sliding block to move radially to drive the ejector rod to move up and down, so that the state of the clutch mechanism is controlled.

7. The flashboard is driven to move up and down by rotating the knob shifting block, and the guide wire can be pressed into a designated position by moving down.

8. The opening of going up the mounting groove is greater than mounting groove down, and the flashboard below can be put into the seal wire when last mounting groove, conveniently impresses the seal wire. The opening of lower mounting groove is equal to the flashboard thickness, prevents to push down the in-process seal wire and breaks away from the flashboard.

9. The compression spring enables the flashboard to be tightly attached to the second stop block all the time, so that a gap exists between the upper mounting groove and the flashboard, and the guide wire is conveniently placed into the gap.

10. The guide shaft is clamped in the lock hole by rotating the locking plate fastener, so that the flashboard is prevented from rising in the guide wire conveying process, and the guide wire is prevented from being separated from the flashboard.

11. At the in-process that the flashboard rose, rotatory shifting block anticlockwise rotation is equipped with the ejector pad on the knob shifting block, and the ejector pad promotes the protruding right motion that turns right of ejector pad of adjusting the pole, thereby compresses tightly the silica gel gyro wheel and keeps away from drive silica gel gyro wheel and loosen the seal wire.

12. The upper fluted disc and the lower fluted disc are meshed by controlling the lifting of the lower fluted disc. Under the engaged state, the second motor rotates to drive the upper fluted disc to rotate so as to drive the guide pipe to move, and under the separated state, the guide pipe can be pulled manually.

13. The rotation through the third motor drives the motion of lift push rod, and lift push rod is last to have the inclined groove, thereby the lift slider goes up and down along the inclined groove and drives the lift of fluted disc down.

14. The lifting slide block is upwards driven by the elasticity of the thrust spring, and is always connected with the upper wall of the inclined groove, so that the lifting slide block can be lifted better.

15. The support mechanism is supported on the sickbed, the large support arm, the middle support arm and the small support arm rotate 360 degrees around the z-axis direction, and the middle support arm can lift and incline along the z-axis height direction.

16. The cam wrench is rotated to control the fixing and loosening of the supporting mechanism. The support column can prevent the mechanism from inclining and turning on one side.

17. The state of the connecting rod is controlled by a cushion cylinder. When the support is in a non-load state, the connecting rod is horizontally arranged, one end, far away from the large arm of the support, of the connecting rod is inclined downwards under a load state, the buffer cylinder contracts, and the inclined angle is controlled through the lower limiting nail.

18. The damping friction plate enables the extension rod to rotate only when the extension rod has a certain energy, the mechanism does not shake after the force is separated, and the encoder can feed back the rotation angle to prompt an operator to adjust to a proper position within a certain range.

19. The rotation of the large support arm and the middle support arm is controlled by the bolt mechanism. Under the condition of tooth engagement in first spring bolt and the brake, second spring bolt and the brake, the arm is unable rotatory in support arm and the support, can rotate again under the condition of separation.

20. Manual and automatic integration, high automation degree and good safety. A microswitch is additionally arranged on the control mechanism. A contact is respectively arranged below the first microswitch and the second microswitch. The first movable seat and the second movable seat are respectively provided with a trigger block, and a beveling structure is arranged above the trigger block. When the first connecting plate and the second connecting plate move oppositely and the first moving seat triggers the contact, the motor stops moving; when the first connecting plate and the second connecting plate move back to back, the second movable base triggers the contact, and the motor stops moving. Be equipped with the spring on first spring bolt and the second spring bolt, be provided with square nut on the removal seat, realized realizing the function of unblock and locking through rotating manual release mechanism.

21. The gear is arranged on the base, the rack is arranged on the flexible pipe, the motor drives the gear to rotate, and the gear drives the flexible pipe to move. Through motor control accuracy height, the control has self-locking function in addition, need not extra locking tool just can fix a position the flexible tube in fixed position.

22. The rack and the strip seam are arranged on the flexible pipe, when the rack is meshed with the gear, the position of the strip seam is fixed, rotation cannot occur, and the guide wire cannot deviate from the strip seam and bend or cannot enter the flexible pipe easily.

23. The flexible conduit material is one or more of PDFE or PTFE, and has self-lubricating and bending characteristics.

24. Through setting up the adapter, and set up the centre gripping groove in with the adapter, hemostatic valve's main part can carry out the centre gripping with centre gripping groove adaptation and through the centre gripping groove, fretwork portion can with hemostatic valve's adjusting position adaptation, when hemostatic valve fixes on the adapter, hemostatic valve's adjusting position just lies in fretwork portion, the switching of hemostatic valve is controlled through the rotatory adjusting position of hemostatic valve of fretwork portion to the operating personnel of being convenient for, it is more convenient to operate, the inside cavity of flexible pipe, be used for supplying the pipeline, equipment such as seal wire passes through hemostatic valve, and protect equipment, connector and flexible pipe, the adapter is the dismantlement and is connected, convenient to detach changes, convenient to maintain, it is used for covering and protecting the opening to set up the pipe sheath, improve the anti buckling performance in opening position, avoid buckling and cause the flexible pipe to damage.

25. Through setting up the elastic clamp body, and set up the centre gripping groove on with the elastic clamp body, the centre gripping groove can cooperate with the main part of Y type hemostasis valve, thereby it is fixed with the hemostasis valve, and the regulation position of the hemostasis valve after fixing just is located fretwork portion, the operating personnel of being convenient for controls the switching of hemostasis valve through the regulation position of rotatory hemostasis valve, adjust the elastic clamp body position through adjustment mechanism, make it be close to or keep away from the centre gripping groove, adjustment centre gripping groove length, make its hemostasis valve that can be applicable to various different length, the suitability is wider.

The features and advantages of the present invention will be described in detail by embodiments in conjunction with the accompanying drawings.

[ description of the drawings ]

Fig. 1 is a schematic view of the overall structure of a guide wire driving device according to an embodiment of the present invention.

Fig. 2 is a schematic view of the overall structure of a guide wire driving device according to a first embodiment of the present invention.

Fig. 3 is a front view of a guide wire driving device according to a first embodiment of the present invention.

FIG. 4 is a schematic view of the internal delivery mechanism of a guidewire drive device according to an embodiment of the invention.

Fig. 5 is an enlarged schematic structural view of a guide wire driving device according to a first embodiment of the present invention.

Fig. 6 is a schematic structural view of another angle of a guide wire driving device according to a first embodiment of the present invention.

Fig. 7 is a schematic structural view of a guide wire driving device according to a second embodiment of the present invention.

Fig. 8 is a schematic structural view of a second stopper according to a first embodiment of the present invention.

Fig. 9 is a schematic structural view of a clip pressing mechanism according to a first embodiment of the present invention.

Fig. 10 is a schematic view of a guidewire driving device according to an embodiment of the present invention without the first stop and the second stop.

Fig. 11 is a schematic structural diagram of a pressing device according to a first embodiment of the present invention.

Fig. 12 is a schematic structural diagram of an adjustment lever according to a first embodiment of the present invention.

Fig. 13 is a schematic view of a mechanism for mounting a flexible tube on a base according to a first embodiment of the present invention.

Fig. 14 is a schematic structural view of a flexible pipe according to a first embodiment of the present invention.

Fig. 15 is an enlarged schematic structural view at a point a of the first embodiment of the present invention.

Fig. 16 is a schematic structural diagram of a manual/automatic switching device for two-catheter delivery according to an embodiment of the present invention.

Fig. 17 is a front view of the manual/automatic switching device for two-tube delivery according to the embodiment of the present invention.

Fig. 18 is a front view of the manual/automatic switching device for two-tube delivery according to the embodiment of the present invention.

Fig. 19 is an exploded view of the front end latch mechanism of the hemostatic valve according to the third embodiment of the present invention.

Fig. 20 is a perspective view of an adapter of a front end fastening mechanism of a hemostatic valve according to a third embodiment of the present invention.

Fig. 21 is a schematic perspective view of a connector of a front end fastening mechanism of a hemostatic valve according to a third embodiment of the present invention.

Fig. 22 is a perspective view of a combined front end fastening mechanism of a hemostatic valve according to a third embodiment of the present invention.

Fig. 23 is a schematic combined rear front view structure diagram of a front end fastening mechanism of a hemostatic valve according to a third embodiment of the present invention.

Fig. 24 is a top view of a combination of a hemostatic valve front end fastener mechanism according to a third embodiment of the invention.

Fig. 25 is a schematic combined rear side view of a hemostatic valve front end fastening mechanism according to a third embodiment of the invention.

Fig. 26 is a schematic perspective view of a connector, a flexible tube and a catheter sheath of a hemostatic valve front end snap mechanism according to a third embodiment of the present invention.

Fig. 27 is a front view of the connector, the flexible tube and the catheter sheath of the hemostatic valve front end locking mechanism according to the third embodiment of the present invention.

Fig. 28 is a schematic sectional view of the structure of B-B in fig. 27 according to the third embodiment.

FIG. 29 is a schematic sectional view of the third embodiment taken along line C-C in FIG. 28.

FIG. 30 is a schematic side view of the third embodiment in FIG. 27.

Fig. 31 is a front view of a hemostatic valve fastener according to a fourth embodiment of the invention.

Fig. 32 is a side view of a hemostatic valve fastener according to a fourth embodiment of the invention.

Fig. 33 isbase:Sub>A schematic view of the cross-sectional structurebase:Sub>A-base:Sub>A in fig. 32.

Fig. 34 is a schematic perspective view of a fastening member of a hemostatic valve according to an embodiment of the invention.

Fig. 35 is a bottom view of a hemostatic valve fastener according to a fourth embodiment of the invention.

Fig. 36 is a perspective view of a hemostatic valve fastener and a hemostatic valve engaged therewith according to another embodiment of the invention.

Fig. 37 is a front view of a hemostatic valve fastener in cooperation with a hemostatic valve according to a fourth embodiment of the invention.

Fig. 38 is a schematic view of the internal structure of a hemostatic valve fastener of the present invention without a slider.

FIG. 39 is a front view of a hemostatic valve with a slider removed and a hemostatic valve clip according to an embodiment of the invention.

FIG. 40 is a schematic view of a hemostatic valve fastener in accordance with the present invention in combination with a connector, a flexible tube, and a catheter sheath.

FIG. 41 is a perspective view of a four-connector, catheter sheath, and catheter sheath of an embodiment of the present invention.

Fig. 42 is an enlarged perspective view of a four-connector according to an embodiment of the invention.

Figure 43 is a perspective view of the catheter sheath of figure 44 shown separated from the catheter sheath.

FIG. 44 is a perspective view of a four-connector catheter sheath in accordance with an embodiment of the present invention.

Fig. 45 is a side view schematic of fig. 44.

FIG. 46 is a front view of the connector, catheter sheath and catheter sheath.

Fig. 47 is a schematic view of a sectional structure B-B in fig. 46.

Fig. 48 is a schematic view of the cross-sectional structure C-C of fig. 47.

Fig. 49 is a side view of the structure of fig. 46.

Fig. 50 is a schematic structural diagram of an extension arm mechanism according to a first embodiment of the invention.

Fig. 51 is a schematic structural diagram of another angle of an extension arm mechanism according to the first embodiment of the present invention.

Fig. 52 is an enlarged schematic structural diagram at C in the first embodiment of the present invention.

Fig. 53 is a schematic structural view of a bracket upper arm according to the first embodiment of the present invention.

Fig. 54 is a schematic view of the internal structure of the large arm of the bracket according to the first embodiment of the invention.

Fig. 55 is a schematic view showing the internal structure of the middle arm and the small arm of the stent in the first embodiment of the present invention.

FIG. 56 is an enlarged view of the first embodiment of the present invention at D.

In the figure: 10. a conveying body; 11. a rotating gear; 12. a conveying gear; 13. an opening; 14. a conveying mechanism; 15. a driving gear; 16. driving the silica gel roller; 17. compressing the silica gel roller; 18. a first bevel pinion; 19. a second helical gear; 20. a transmission mechanism; 21. using a bevel gear; 22. a driving cylindrical gear; 23. An intermediate gear; 24. a clutch mechanism; 241. a clutch lug; 242. a top rod; 243. a disc; 244. shouldering; 245. a groove; 25. a mounting seat; 26. a clutch drive mechanism; 261. a first motor; 262. a crank; 263. a slider; 264. a lifting groove; 265. a lifting push rod; 266. a moving groove; 267. a turntable; 268. a movable shaft; 269. a guide plate; 30. a base; 31. a first stopper; 32. a second stopper; 321. an arc guide groove; 322. a lock hole; 323. a guide groove; 33. mounting grooves; 331. mounting a mounting groove; 332. a lower mounting groove; 34. a knob shifting block; 341. a guide shaft; 342. locking the plate buckle; 343. releasing the bump; 344. a push block; 35. a shutter plate; 351. a rib is protruded; 36. a guide block; 37. a connecting shaft; 40. a pressing device; 41. a movable seat; 411. a guide post; 42. adjusting a rod; 421. obliquely cutting a groove; 422. a socket; 423. the push block is raised; 43. a bolt; 50. a support mechanism; 51. a card slot; 52. a cam wrench; 521. a wrench arm; 522. a limiting block; 53. a splint; 54. a guide shaft; 55. a support plate; 60. a support pillar; 70. a bracket upper arm; 71. A latch bolt mechanism; 711. a first connecting plate; 712. a first bolt; 713. a second connecting plate; 714. a second bolt; 72. a control mechanism; 721. controlling the motor; 722. a double-end screw rod; 723. a first movable base; 724. A second movable base; 725. a first microswitch; 726. a second microswitch; 727. a square nut; 728. A concave ring; 729. a concave ring mounting seat; 73. a manual release mechanism; 731. a release button; 732. a booster lever; 733. a cam block; 74. braking large teeth; 75. a brake middle gear; 80. a bracket middle arm; 81. a middle arm rotating seat; 82. a middle arm support; 821. a connecting rod; 83. a buffer cylinder; 84. connecting blocks; 85. a lower limit nail; 90. A bracket forearm; 91. an adapter; 92. an extension rod; 93. a connector; 94. fixing the knob; 95. damping the friction plate; 96. an encoder; 1060. a catheter drive mechanism; 61. an upper fluted disc; 62. a lower fluted disc; 63. A second motor; 64. a third motor; 65. a fluted disc lifting mechanism; 651. a lifting push rod; 652. an inclined groove; 653. a rack; 654. a circular fluted disc; 655. a lifting slide block; 101. a flexible tube; 1011. opening the gap; 1012. Long seams; 1013. a connecting section; 102. a rack; 103. a base; 104. a gear; 105. a rigid channel; 201-adapter, 202-connector, 204-catheter sheath, 2011-clamping groove, 2012-hollowed-out part, 2013-connecting part, 20131-first through hole, 20132-first part, 20133-second part, 20134-front end buckle; 201321-first half column, 201331-second half column, 2021-first connecting half block, 2022-second connecting half block, 2023-half column clamping groove, 2024-communicating hole, 2025-communicating groove, 2032-conduit tooth, 2041-first splint, 2042-second splint, 2043-elastic connecting part, 2044-conduit groove, 2045-sheath open slot, 2046-locking element and 2047-sheath plug part; 301-body, 3012-elastic clamp, 3013-slide block, 3014-gear, 3015-knob, 3016-worm, 3017-worm wheel, 30111-hollow part, 30112-tooth and 30113-slide rail; 301141 through holes.

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

In the description of the present invention, it should be noted that when an element is referred to as being "fixed" or "disposed" to another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

In the description of the present invention, it should be noted that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships in which the products of the present invention are conventionally placed when used, and are merely used for convenience of describing and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. The meaning of "a number" is one or more unless specifically limited otherwise.

In the description of the present invention, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example one

Referring to fig. 1, 2 and 6, in an alternative embodiment, the present invention provides a guide wire driving device, which includes a conveying body 10 and a rotary gear 11 mounted on one side of the conveying body 10. The delivery gear 12 is rotatably mounted on the other side of the delivery body 10, the rotary gear 11 and the delivery gear 12 are axially penetrated by an opening 13, and the guide wire is clamped into the driving device through the opening 13. The opening 13 is in the upper half of the driving mechanism in the initial state, the height of the opening 13 is equal to the radius of the rotating gear 11, and the size of the opening 13 is larger than that of the guide wire. The conveying body 10 is provided with a conveying mechanism 14 driven by a conveying gear 12. The delivery gear 12 drives the delivery mechanism 14 to deliver the guidewire via a drive mechanism 20, and the drive mechanism 20 includes a clutch mechanism 24 that disengages from the delivery gear 12 during the raising and lowering process. A clamping wire pressing mechanism is provided on the delivery body 10 for pressing the guide wire into the delivery mechanism 14 along the opening 13. The opening 13 and the guide wire are small, manual clamping is difficult, and the guide wire is clamped into the conveying mechanism 14 from the upper part of the opening 13 through an additional clamping wire pressing mechanism for conveying.

Preferably, the rotary gear 11 and the conveying gear 12 are respectively disposed at the left and right sides of the conveying body 10, the rotary gear 11 and the conveying body 10 are fixed together, and the rotary gear 11 and the conveying body 10 rotate together. The diameters of the rotary gear 11 and the conveying gear 12 are equal. The rotating gear 11 rotates to drive the driving mechanism to rotate, so that the guide wire can change the direction and position in tortuous and bifurcated blood vessels, and the passing conveying gear 12 rotates to drive the guide wire to advance or retreat in the blood vessels. The guide wire and the guide wire are matched to be used, so that the movement of the guide wire can be better controlled. The whole shape of the conveying body 10 is circular and the same as that of the rotary gear 11, and the rotary and axial movements relative to the guide wire need to be controlled by separate control structures respectively, so that the whole is stronger, the size is smaller, and the conveying body is easier to place and is attractive. The guide wire may be any tubular or strip-shaped medium of a percutaneous interventional device, which can be conveyed in a blood vessel, and the guide wire is not limited to conveying the medium.

Referring to fig. 2 and 4, in an alternative embodiment, the conveying mechanism 14 includes a driving gear 15 driven by the conveying gear 12, a driving silica gel roller 16 driven by the driving gear 15, and a pressing silica gel roller 17 corresponding to the driving silica gel roller 16. A transmission mechanism 20 is arranged between the driving gear 15 and the conveying gear 12.

Wherein, the driving gear 15 and the driving silica gel roller 16 are coaxially arranged, and the pressing silica gel rollers 17 and the driving silica gel rollers 16 are in one-to-one correspondence and press the guide wires. The driving gear 15 is 1, and it is also 1 to compress tightly silica gel gyro wheel 17, and driving gear 15 rotates and drives drive silica gel gyro wheel 16 synchronous rotation, and drive silica gel gyro wheel 16 passes through frictional force and drives drive silica gel gyro wheel 16 and rotate, drives the seal wire motion under the state that compresses tightly the seal wire. The adopted silica gel material is contacted with the guide wire, so that the guide wire is prevented from being worn by hard contact.

The number of the drive gears 15 may be two or more. The power transmission between the drive gears 15 is performed through an intermediate gear 23. The diameter of the intermediate gear 23 is smaller than that of the driving gear 15, so that the transmission is more stable. Preferably, three driving gears 15 are axially and uniformly distributed on the driving mechanism, so that the number of contact points is more, the conveying guide wire is more stable, and the guide wire is not easy to bend in the conveying process.

Referring to fig. 3, in an alternative embodiment, the rotary gear 11 is a helical gear, and a first helical gear 18 is connected to the rotary gear 11. The rotating gear 11 is fixed with the conveying body 10, a gear end is arranged on one side far away from the conveying body 10, and the rotating gear 11 is driven automatically through the first bevel gear 18, so that the conveying body 10 and the guide wire are driven to rotate.

Referring to fig. 3, in an alternative embodiment, the conveying gear 12 is a double-sided helical gear, one end of the conveying gear 12 far away from the conveying body 10 is connected with a second helical gear 19, and one end of the conveying gear 12 close to the conveying body 10 is connected with a transmission mechanism 20. The conveying gear 12 is rotatably connected with the conveying body 10. Gear faces are provided on both the left and right sides of the conveying gear 12. The end far away from the conveying body 10 is meshed with the second bevel gear 19, and the rotation of the conveying gear 12 is automatically controlled through the second bevel gear 19 so as to control the conveying state of the guide wire.

Referring to fig. 4, in an alternative embodiment, the transmission mechanism 20 includes a drive cylindrical gear 22 coaxially mounted with the bevel gear 21 and the bevel gear 21, and the drive cylindrical gear 22 rotates the drive gear 15. The helical gear 21 and the driving cylindrical gear 22 are connected through the same fixed shaft, and the angular speeds of the helical gear and the driving cylindrical gear are the same. The drive cylindrical gear 22 is directly or indirectly connected to the rightmost drive gear 15.

In the case that three driving gears 15 are preferred, the driving cylindrical gear 22 may be directly connected to the driving gears 15, and the thickness of the rightmost driving gear 15 may be a little thicker. The lower half of the rightmost drive gear 15 meshes with the drive cylindrical gear 22, and the upper half meshes with the intermediate gear 23. In this case, the two left pinion gears 15 do not need to engage with the pinion cylindrical gear 22, and the thickness can be reduced. The other driving gears 15 are one, and the indirect connection between the driving cylindrical gear 22 and the driving gear 15 is only by increasing or decreasing gears or other mechanical structures, which are not described in detail in the embodiments.

Referring to fig. 5, in an alternative embodiment, the clutch mechanism 24 includes a clutch projection 241 engaged with the bevel gear 21, and a rod 242 for mounting the clutch projection 241. The top rod 242 is a central shaft of the clutch projection 241, and the top rod 242 is coaxially connected with the bevel wheel 21 and the driving cylindrical gear 22. The through hole is formed in the middle of the bevel gear 21, and the rod 242 can be inserted. The clutch projection 241 includes a disc 243 and two, preferably two, shoulders 244 disposed at the bottom of the disc 243, the shoulders 244 being disposed at the bottom of the disc 243. The bevel wheel 21 is provided with a groove 245 matched with the shoulder 244, and the groove 245 is a cross-shaped groove. The bevel gear 21 is rotatably connected to a mounting seat 25, and the mounting seat 25 is mounted on the conveying body 10. The mounting seat 25 is Z-shaped and fixed to the bottom of the conveying body 10.

In an alternative embodiment, the clutch projection 241 is arranged between the helical gear 21 and the driving cylindrical gear 22, and a spring is arranged between the driving cylindrical gear 22 and the conveying body. The top of the top rod 242 is provided with a spring accommodating cavity.

Referring to fig. 1 and 9, in an alternative embodiment, the conveying body 10 includes a base 30, a first stopper 31 and a second stopper 32 mounted on the base 30, a mounting groove 33 is formed between the first stopper 31 and the second stopper 32, the clamping and pressing mechanism includes a knob shift 34 rotatably mounted on the second stopper 32 and a shutter 35 connected to the knob shift 34, and the shutter 35 abuts against the second stopper 32 and moves up and down in the mounting groove 33. A guide wire is placed in the mounting groove 33 below the shutter 35. The clockwise rotation of knob dial 34 presses the guidewire down to the desired location. The problem of the seal wire is thinner, it is more troublesome to place directly by hand is solved.

Referring to FIG. 9, in an alternative embodiment, the mounting recess 33 includes an upper mounting recess 331 and a lower mounting recess 332 disposed below the upper mounting recess 331, and the upper mounting recess 331 has a larger opening than the lower mounting recess 332. The upper installation groove 331 and the lower installation groove 332 are smoothly connected with each other without being caught during the lowering of the shutter 35. The opening of the lower mounting groove 332 is adapted to, i.e., substantially equal to, the thickness of the shutter 35. The guide wire is placed into the lower mounting groove 332, and the gate 35 is pressed downwards to press the guide wire to a specified position without being clamped on the inner wall.

Referring to fig. 10, in an alternative embodiment, a guide block 36 is further provided on the second stopper 32, a guide groove of the guide block 36 is provided on the second stopper 32, and the guide block 36 moves up and down along the guide groove. The guide block 36 is driven by the knob shifting block 34 to move up and down, and the guide block 36 drives the gate plate 35 to move up and down. The guide block 36 is connected to the shutter 35 by a plurality of connecting shafts 37. The second stopper 32 is provided with a guide groove for the connecting shaft 37 to prevent the connecting shaft 37 from shaking left and right and moving only in the height direction. The connecting shaft 37 is provided with a tension spring to enable the gate plate 35 to be tightly attached to the second stop block 32, a gap is reserved between the gate plate 35 and the upper mounting groove 331, and the guide wire is placed into the lower mounting groove 332 through the gap. When the shutter 35 moves downward, the guide wire is gradually pushed into the lower installation groove 332 from the upper installation groove 331 until the guide wire is conveyed.

Referring to fig. 10, in an alternative embodiment, the second stopper 32 is provided with a plurality of guide grooves 323, and the shutter 35 is provided with ribs 351 that are engaged with the guide grooves 323. The convex rib 351 moves up and down along the guide groove 323, so that the contact area is increased, the up and down movement is more stable, the inclination is avoided, and the guide wire pressing effect is better. Because the overall device size is smaller, the ribs 351 also increase the strength of the shutter 35, making it less likely to break.

Referring to fig. 8 and 10, in an alternative embodiment, a circular arc guide slot 321 is provided on the second stopper 32, and a guide shaft 341 moving along the circular arc guide slot 321 is provided on the knob dial 34. The bottom end of the arc guide slot 321 is provided with a lock hole 322, and the lock hole 322 is hook-shaped. The guide shaft 341 is provided with a notch in a portion thereof inside the arc guide groove 321, so that the end of the guide shaft 341 is formed in a semicircular shape, and the semicircular end moves inside the arc guide groove 321. The guide shaft 341 is rotatably disposed on the knob dial 34, and the guide shaft 341 is fixed to the lock hole 322 after being rotated. The guide shaft 341 is provided with a lock plate 342 for controlling the rotation thereof. The locking plate catch 342 is rotated to lock the semicircular end of the guide shaft 341 in the locking hole 322, and at this time, the smooth surface of the guide shaft 341 faces upward and the arc surface faces downward, so that the knob dial 34 cannot move. . The smooth surface of the guide shaft 341 faces downward, and the arcuate surface faces downward, so that the knob dial 34 cannot move. The locking plate fastener 342 is L-shaped, and has raised baffle plates in the locking state and the unlocking state, thereby facilitating the operation.

Referring to fig. 11, in an alternative embodiment, a pressing device 40 is disposed on the base 30, and the pressing device 40 includes a movable base 41 for mounting the pressing silicone roller 17 and an adjusting rod 42 for controlling the radial movement of the movable base 41. When the adjusting rod 42 moves to the right, the moving seat 41 drives the pressing silica gel roller 17 to move away from the driving silica gel roller 16, and the guide wire is loosened. The movable base 41 is provided with a spring to make it have a tendency to drive the silica gel roller 16 to move, and when the adjusting rod 42 moves to the left, the movable base 41 will slowly approach the silica gel roller 16 until the guide wire is pressed.

Referring to fig. 12, in an alternative embodiment, an inclined cutting groove 421 is formed at the bottom of the adjusting lever 42, and a guide post 411 is formed on the moving base 41, and the guide post 411 moves along the inclined cutting groove 421. The base 30 is provided with a sliding groove only with the adjusting rod 42, the adjusting rod 42 moves axially, the guide column 411 moves along the inclined cutting groove 421, and the moving seat 41 moves radially, so that the clamping and the loosening of the guide wire are realized.

Referring to fig. 12, in an alternative embodiment, a socket 422 is provided on the adjustment lever 42, a pin 43 is connected to the socket 422, and a spring is provided under the pin 43. The latch 43 extends upwardly through the adjustment post 42. The latch 43 extends upwardly through the adjustment post 42. The adjusting rod 42 is provided with a hole passing through the bolt 43, so that the adjusting rod 42 is not influenced by the bolt 43 in the moving process. The cross section of the socket 422 is in the shape of a right trapezoid, and the pin 43 corresponds to the socket 422 and can limit the position of the adjusting rod 42.

Referring to fig. 10, in an alternative embodiment, a release protrusion 343 is disposed on the knob dial 34, and when the knob dial 34 is rotated to the lowest point, the release protrusion 343 presses the pin 43 to disengage from the socket 422. When the knob shifting block is at the highest position, the bolt 43 is clamped with the socket 422. The adjusting rod 42 enables the pressing silica gel roller 17 to be always pressed with the driving silica gel roller 16 through a spring. The bolt 43 can also be used for clamping the adjusting rod 42 through the spring all the time upwards, and when the bolt 43 clamps the adjusting rod 42, the distance between the silica gel roller 17 and the silica gel roller 16 is compressed to the maximum. When the knob shifting block 34 rotates to the lowest point, the release protrusion 343 presses the bolt 43 downwards to separate from the socket 422, and the pressing silica gel roller 17 moves leftwards to press the guide wire. When the rotating shifting block 34 rotates upwards, the adjusting rod 42 is driven to move radially, the distance between the pressing silica gel roller 17 and the driving silica gel roller 16 is gradually increased, and the guide wire can be taken out.

Referring to fig. 3, in an alternative embodiment, the adjustment lever 42 is provided with a push block protrusion 423, and the knob dial 34 is provided with a push block 344. During the process that the knob shifting block 34 rotates from the lowest point to the high point, the pushing block 344 pushes the pushing block protrusion 423 to enable the installation and compaction silica gel roller 17 to be far away from the guide wire. When the knob shifting block 34 rises to the highest point, the distance between the pressing silica gel roller 17 and the driving silica gel roller 16 is the largest, and at the moment, the bolt 43 rises to block the socket 422, so that the adjusting rod 42 cannot axially move.

The specific working mode is as follows:

in the initial state, the gate plate 35 is located in the upper mounting groove 331 and clings to the second stopper 32, the plug pin 43 catches the socket 422 of the adjusting rod 42, and the distance between the silica gel roller 17 and the driving silica gel roller 16 is the largest. The guide wire is placed in the lower mounting groove 332, the knob dial 34 is rotated clockwise, and the shutter 35 moves downward to press the guide wire downward. When the knob shifting block 34 presses the lowest point, the guide wire is positioned between the pressing silica gel roller 17 and the driving silica gel roller 16, the release convex block 343 presses the plug pin 43 downwards to separate the plug pin from the socket 422, and the pressing silica gel roller 17 moves leftwards to press the guide wire. The locking plate fastener 342 is pulled to clamp the semicircular end part of the guide shaft 341 in the lock hole 322, and the knob shifting block 34 is fixed. The driving gear rotates to drive the silica gel roller 16 to rotate, so that the guide wire is driven to be conveyed. The delivery gear 12 is in line with the opening 13 of the delivery body 10 and the spring pushes the clutch projection 241 into engagement with the recess 245. After the guide wire is put in, the guide wire can be driven to rotate by rotating the conveying gear 12. After the guide wire reaches the specified position of the blood vessel, the conveying gear 12 stops rotating.

When the guide wire needs to be replaced, the locking plate fastener 342 is pulled to separate the semicircular end part of the guide shaft 341 from the locking hole 322, and then the knob dial 34 is rotated counterclockwise. The push block 344 of the knob dial 34 pushes the push block protrusion 423 to move the adjustment lever 42 rightward. The pressing silica gel roller 17 loosens the guide wire and the distance between the pressing silica gel roller 17 and the driving silica gel roller 16 is increased in the process of anticlockwise rotation of the knob shifting block 34. When the knob block 34 is rotated to the highest point, the latch 43 moves upward under the action of the spring to catch the adjustment lever 42. The ejector 242 is pushed up to separate the clutch projection 241 from the recess 245. At this time, the conveying gear 12 is rotated again, so that the openings 13 of the conveying body 10 and the conveying gear 12 are kept consistent, and the guide wire is removed. The plunger 242 is no longer pushed upward and the spring pushes the plunger 242 downward. After the medium is loaded from the opening 13 or other guide wires are replaced, the conveying gear 12 is rotated, after the conveying gear rotates for a certain angle, the clutch lug 241 and the groove 245 are clamped again, and the guide wires rotate along with the conveying gear 12.

Referring to fig. 13, the present invention provides a robotic interventional procedure system using a toothed catheter as described below, including a base 103 for mounting the toothed catheter, which provides a channel for an elongated medical device for assisting in the entry of a tubular or elongated percutaneous interventional medical device, such as a guide wire or catheter, into a patient. And a gear 104 which is arranged on the base 103 and meshed with the rack 102, wherein the gear 104 is controlled by a motor, and the flexible pipe 101 moves through the gear 104, so that the automation is improved through the motor. The self-locking function can be realized through the motor, and the flexible pipe 101 cannot move when reaching a specified position. Because the flexible tube 101 needs to be connected to the patient end, the current prior art cannot be controlled by a motor, and a bump or other device is needed to lock the flexible tube 101 after it is pulled to a given position.

Referring to fig. 13, in an alternative embodiment, a rigid channel 105 for the flexible tube 101 to move is provided on the base 103, the inner dimension is larger than the outer dimension of the flexible tube 1, and a part of the rigid channel 105 is arched. The flexible tube 101 moves without a specific trajectory to be easily separated from the gear 104, and the moving position of the flexible tube 101 is defined by the rigid passage 105.

The toothed catheter is explained in more detail below by way of example.

Referring to fig. 14, in an alternative embodiment, a toothed catheter comprises a flexible tube 1; the outer side of the flexible pipe 1 is provided with a rack 2, and the far end of the flexible pipe 1 is provided with a notch 11. In the initial state, the flexible tube 1 is conveyed by a motor to enable a gap 11 to be arranged at the far end of the base 3, and a sheath tube and a hemostatic valve which are connected with the patient gap are fixed on the base, wherein the sheath tube enters the flexible tube 1 through the gap 11. When the flexible tube 1 moves towards the far end, the sheath tube slowly enters the flexible tube 1 until the connection between the far end of the flexible tube 1 and the patient is stopped. After the gear reaches the designated position, the gear 4 driven by the motor has a self-locking function, so that the gear cannot deviate, and the safety is good.

In an alternative embodiment, the flexible tube 1 is made of at least one material selected from PDFE and PTFE, having self-lubricating and flexible properties. The flexible tube 1 can be bent in the using process, and has flexibility and certain elasticity, so that the sheath tube cannot be damaged in the flexible tube.

Referring to fig. 13 and 14, in an alternative embodiment, the flexible tube 1 is a hollow circular tube, and the distal end of the flexible tube 1 is provided with a connecting section 13, and the connecting section 13 is connected with the connecting mechanism near the human body end or connected with the connecting mechanism at the human body end through a sheath clamp. The sheath clip can be connected to the human body by pulling the sheath clip using a structure of the sheath clip in a flexible track controlled by a guide catheter under patent No. CN 2014800566205. Alternatively, the device can be constructed by the structure of the sheath clamp in the adapter of the robot catheter system with the patent number CN 2020800137690. As long as the connection between the connection section 13 and the human body end can be realized. (not shown, please evaluate whether related structures or other adjustments are needed in this application in conjunction with other remote connector solutions).

Referring to fig. 14, in an alternative embodiment, the flexible tube 1 and the rack 2 are of a unitary structure. The rack 2 is typically chosen to be a hard material for ease of transport. The rack 2 is only arranged on one section of the flexible pipe 1 and can be selected to be integrated, and the flexible pipe is convenient to mold. Or the flexible pipe 1 and the rack 2 are connected in a split mode, and the rack 2 and the flexible pipe 1 are fixed through buckles or glue and the like after being manufactured respectively. It should be understood that all ways of connecting the rack 2 and the flexible tube 1 together fall within the scope of protection of a split connection.

Referring to fig. 14 and 15, in an alternative embodiment, the flexible pipe 1 is provided with a long slit 12 along the length direction. The long slit 12 is communicated with the opening 11, and the sheath tube enters the flexible tube 1 through the opening 11. The gap 11 is gradually narrowed along the proximal end. The maximum opening of the gap 11 is 45-120 degrees, preferably 90 degrees, so that medical catheters such as guide wires, sheath tubes and the like can conveniently enter the flexible tube 1. The elongated slit 12 is not to be understood simply as an opening, and the elongated slit 12 may be used in both cases. The first is that the slit 12 is a flexible tube 1 where there is an opening as shown in figure 15. In the second case, the upper and lower surfaces of the elongated slit 12 are attached to each other by gravity without opening the flexible tube 1. When the flexible tube 1 moves towards the far end, the sheath tube separates the upper surface and the lower surface of the long slit 12 through the notch 11 and slowly enters the flexible tube 1.

Referring to fig. 14, in an alternative embodiment, the elongated slits 12 are formed on both sides of the flexible tube 1 corresponding to the rack 2. The existing flexible pipe 1 does not have the rack 2, when the flexible pipe 1 is pulled manually, the flexible pipe 1 can rotate, the gap 11 and the strip seam 12 can deflect to cause the most suitable angle that the sheath pipe enters the flexible pipe 1, and the use is more complicated because the sheath pipe is required to be continuously adjusted according to actual conditions. After the flexible tube 1 is fixed by the rack 2, the position of the long seam 12 is fixed, namely the most suitable angle for the sheath tube to enter the flexible tube 1, and the sheath tube cannot be changed and does not need to be adjusted again.

Referring to fig. 50, in an alternative embodiment, an extension arm mechanism includes a support mechanism 50, a support column 60 disposed on the support mechanism 50, a bracket large arm 70 rotatably disposed on the support column 60, a bracket middle arm 80 rotatably disposed on the bracket large arm 70, and a bracket small arm 90 rotatably disposed on the bracket middle arm 80; the bracket middle arm 80 is tiltable in the height direction.

Specifically, the support mechanism 50 is fixed to the edge of a patient bed on which a patient lies. The stent small arm 90 is provided with a guide wire conveying and rotating device connected thereon. The guidewire delivery and rotation device is adjusted to the optimal position by rotating the stent large arm 70, the stent middle arm 80, and the stent small arm 90. The bracket middle arm 80 can be inclined in the height direction. The mechanism realizes the adjustment in the XYZ axial direction, and provides a more proper angle for the conveying guide wire. The guide wire conveying and rotating device can be any one of the devices on the market as long as the guide wire rotating and conveying functions can be realized.

Referring to fig. 51, in an alternative embodiment, a slot 51 slidably connected to the bed is provided on the supporting mechanism 50, and a cam wrench 52 is rotatably provided on the supporting mechanism 50, so that the supporting mechanism 50 is fixed by rotating the cam wrench 52.

Specifically, the edge of the hospital bed is formed to be engaged with the slot 51. After the supporting mechanism 50 is clamped into the edge of the sickbed through the clamping groove 51, a little gap is left to facilitate the sliding of the supporting mechanism 50 along the edge of the sickbed. The support mechanism 50 can be secured to the rim by rotating the cam wrench 52 on the support mechanism 50 with the cam wrench 52. The distance from the bed edge changes during rotation of the cam wrench 52, and in the fixed condition, the cam wrench 52 is pressed against the bed edge.

Referring to fig. 51, in an alternative embodiment, a wrench arm 521 is disposed on the cam wrench 52, and a stop block 522 is disposed on the wrench arm 521. In general, the wrench arm 521 of the cam wrench 52 is parallel to the bed edge, and is in a fixed state, and the wrench arm 521 is hidden in the groove of the support mechanism 50, so that it is safer to prevent the wrench arm from being knocked to cause the support mechanism 50 to slide. When the support mechanism 50 is in a slidable state, the arm 52 is at an acute angle to the bed edge, and the arm 52 protrudes from the support mechanism 50. The cam wrench 52 is prevented from over-rotating by the stop block 522, which may cause damage to the cam wrench 52 and the bed edge.

Referring to fig. 51 and 52, in an alternative embodiment, a clamp plate 53 is provided in the pocket 51 to which the cam wrench 52 is connected. The contact area can be increased by additionally arranging the clamping plate 53, the cam surface of the cam wrench 52 is prevented from being in direct contact with the bed edge, the stress area is too small, the contact position is easy to damage, and the fixing effect is deteriorated after a long time. The clamping plate 53 is provided with a guide shaft 54, the guide shaft 54 is provided with a spring for pushing the clamping plate 53 to be close to the cam wrench 52, and the spring always pushes the clamping plate 53 to be far away from the bed edge, so that the friction force of the supporting mechanism 50 in the sliding process is prevented from being too large. The guide shafts 54 are four and distributed at four corners of the clamping plate 53, and the bottom of the support frame body is also provided with a notch for the clamping plate 53 to enter. A through-hole is provided on the side remote from the catch 51 for connection to a guide shaft 54, into which the guide shaft 54 partially enters. After the spring is mounted in the spring hole, one end of the guide shaft 54 is fitted into the spring hole, the clamp plate 53 is inserted from the notch, and the guide shaft 54 is inserted into the through hole after passing through the clamp plate 53. When detaching, it is only necessary to insert a thin tube from the through hole to detach the guide shaft 54 from the clamp plate 53. So the supporting mechanism is more convenient to disassemble and assemble.

Referring to fig. 51, in an alternative embodiment, a support plate 55 is provided on the support mechanism 50. The device composed of the supporting mechanism 50, the large bracket arm 70, the middle bracket arm 80 and the small bracket arm 90 is large in length and width directions, so that the supporting mechanism 50 is easy to incline, the abrasion is large when the device is connected with a bed edge simply through the clamping groove 51, and the toppling force can be reduced through the supporting plate 55. Since the specifications of the operation bed are the same, the height of the support plate 55 is not required to be adjusted in general. However, for manufacturing errors or tolerances, two waist holes are provided on the supporting plate 55, and the supporting plate 55 is fixed on the supporting mechanism 50 by the cooperation of the waist holes and screws, and can be finely adjusted.

Referring to fig. 55, in an alternative embodiment, the bracket middle arm 80 includes a middle arm rotation base 81 rotatably disposed on the bracket large arm 70, a middle arm support 82 rotatably mounted on the middle arm rotation base 81, and a buffer cylinder 83. One end of the buffer cylinder 83 is rotatably mounted on the middle arm rotating seat 81, the other end of the buffer cylinder is rotatably mounted on the middle arm support 82, and the height of the middle arm support 82 in the Z-axis direction is adjusted by extending and contracting the buffer cylinder 83. The bracket middle arm 80 is provided with a housing which encloses the device. Arm 80 sets up to folding when adjustable convenient not using in the height, and on the other hand can make seal wire conveyor's height adjustment littleer, and the security is better.

Referring to fig. 55, in an alternative embodiment, the middle arm frame 82 includes a plurality of parallel connecting rods 821, one end of each connecting rod 821 is rotatably connected to the middle arm rotating base 81, and the other end of each connecting rod 821 is rotatably connected to the connecting block 84. The cushion cylinder 83 is rotatably connected to a connecting rod 821. The damping friction plate enables the extension rod to rotate only when the extension rod has a certain energy, the mechanism does not shake after the force is separated, and the encoder can feed back the rotation angle to prompt an operator to adjust to a proper position within a certain range.

Specifically, two links 821 are preferable, and one end of the cushion cylinder 83 is rotatably fixed to the lower link 821 and the other end is rotatably fixed to the upper link 821. In a state where no load is applied, the two connecting roots 821 are in a horizontal state, and the cushion cylinder 83 is in an extended state. When receiving a force, the link 821 is slowly lowered on the side away from the middle arm rotation base 81, and the other end is rotated while maintaining the same height, and the cushion cylinder 83 is slowly contracted.

Referring to fig. 55, in an alternative embodiment, a lower stop pin 85 is provided on one of the links 821. The lower limit pin 85 is arranged on the upper link 821 at an adjustable angle, typically 45 °. When the link 821 is lowered on the side away from the center arm pivot base 81, the lower limit pin 85 is not lowered after abutting against the center arm pivot base 81.

Referring to fig. 55, in an alternative embodiment, the support forearm 90 includes an adapter 91, an extension rod 92 removably mounted to the adapter 91, and a connector 93. The adapter 91 is provided with a rotating shaft rotatably connected with the bracket middle arm 80. A connector 93 is arranged at one end of the extension rod 92 far away from the adapter 91, and the connector 93 is used for connecting with a guide wire conveying and rotating device. Be equipped with the fixed knob 94 that is used for fixed extension rod 92 on adapter 91, prevent that extension rod 92 is not hard up at the rotation in-process, and intervene the operation and all be the precision operation, and the fastness can be good, and the security performance is also high. The extension rod 92 is inserted into the adapter 91, and the side surface is also fixed by a positioning pin.

Referring to figure 55, in an alternative embodiment, the rotatable shaft of the adapter 91 is provided with a damping friction plate 95. An encoder 96 is provided at an end of the rotary shaft of the adapter 91 remote from the adapter 91, and the rotary shaft of the encoder 96 and the rotary shaft of the adapter 91 are fixed and rotate together. The encoder 96 is a commercially available product and can monitor the rotation angle. The damping friction plate 95 enables the extension rod 92 to rotate only when a certain force is applied, the mechanism does not shake after the force is separated, and the encoder 96 can feed back the rotation angle to prompt an operator to adjust to a proper position within a certain range.

Referring to fig. 54, in an alternative embodiment, the bracket large arm 70 includes a latch mechanism 71, a large brake tooth 74 disposed on the support post 60, and a middle brake tooth 75 disposed on the bracket middle arm 80. The bracket arm 70 cannot rotate when the latch mechanism 71 abuts the brake pawl 74. The bracket center arm 80 cannot rotate when the latch mechanism 71 abuts the brake center tooth 75. The latch mechanism 71 need not be simultaneously held against the large brake tooth 74 and the medium brake tooth 75, and split braking is also understood to fall within the scope of the present invention.

Referring to fig. 53, in an alternative embodiment, the latch mechanism 71 includes a first connection plate 711, a first latch 712 disposed on the first connection plate 711, a second connection plate 713, and a second latch 714 disposed on the second connection plate 713. The first lock tongue 712 and the large braking tooth 72 are connected to form a braking effect, and the large support arm 70 can rotate when the first lock tongue and the large braking tooth are separated. The second latch 714 provides a braking action when connected to the brake center tooth 75, and the bracket center arm 80 is rotatable when disconnected. The first locking tongue 712 and the second locking tongue 714 have teeth on their surfaces, which can engage with the brake big teeth 74 and the brake middle teeth 75, respectively, to prevent rotation.

Referring to fig. 53, in an alternative embodiment, a control mechanism 72 is provided on latch mechanism 71 to improve automation. The control mechanism 72 includes a control motor 721, a stud screw 722 controlled by the control motor 721, a first moving seat 723 and a second moving seat 724 mounted on the stud screw 722. The double-end lead screw 722 and the control motor 721 are connected through a shaft sleeve. The first moving seat 723 is connected to the first connection plate 711, and the second moving seat 724 is connected to the second connection plate 712. Preferably, the first connecting plate 711 and the second connecting plate 712 move back to back at the same time (the distance between the first moving seat 723 and the second moving seat 724 is increased), and the first locking tongue 712 and the second locking tongue 714 play a role in preventing rotation during braking. The first connecting plate 711 and the second connecting plate 712 move relatively at the same time (the distance between the first moving seat 723 and the second moving seat 724 becomes smaller), and the latch mechanism 71, the large brake tooth 74 and the middle brake tooth 75 rotate freely.

Referring to fig. 54, in an alternative embodiment, a manual release mechanism 73 is provided on the latch mechanism 71, and the manual release mechanism 73 is used to respond to a power outage or other emergency condition. The manual release mechanism 73 includes a release button 731, a boosting lever 732 connected to the release button 731, and a cam block 733 provided on the boosting lever 732, the cam block 733 being connected to both the first connection plate 711 and the second connection plate 713. The assist lever 732 is preferably a hexagonal assist lever. The cam block 733 may be a non-circular cam block, and is preferably elliptical. When the release button 731 is rotated by a human hand, the first link plate 711 and the second link plate 712 move toward each other, and the brake is released.

Since the motor 721 itself has a self-locking effect. The addition of the manual release mechanism 73 requires a corresponding modification to the control mechanism. The control mechanism 72 comprises a control motor 721, a double-end lead screw 722 controlled by the control motor 721, and square nuts 727 symmetrically arranged at two sides of the double-end lead screw 722, wherein the two square nuts 727 are respectively connected with a first moving seat 723 and a second moving seat 72. The middle of the double-head screw rod 722 is provided with a concave ring 728, the concave ring 728 is rotatably installed on a concave ring installation seat 729, the concave ring installation seat 729 enables the double-head screw rod 722 to only rotate around the axial center and cannot transversely move left and right along the axial direction, when the double-head screw rod 722 rotates, the square nut 727 can move on the double-head screw rod 722, and the conveying stability of the double-head screw rod 722 is improved through the convex ring installation seat 729. The double-end screw 722 and the control motor 721 are connected through a bushing. The first moving base 723 is connected to the first connection plate 711, and the second moving base 724 is connected to the second connection plate 712. Springs (not shown) are connected to the first locking tongue 712 and the second locking tongue 714. The spring makes the first locking tongue 712 and the second locking tongue 714 respectively engage with the brake big tooth 74 and the brake middle tooth 75 to form a braking action.

In order to improve the stability of the first connecting plate 711 and the second connecting plate 712, a moving groove is formed in the connecting plates, and a limit column is connected to the moving groove. The limiting column clamps the connecting plate and cannot be bent downwards or upwards in the moving process of the connecting plate. While the moving slot provides a sufficient moving distance for the connecting plate.

Referring to fig. 53 and 56, in an alternative embodiment, to increase safety and automation on the basis of a manual release mechanism 73. A microswitch is added to the control mechanism 72. The control mechanism 72 also includes a first microswitch 725 and a second microswitch 726 that are communicatively connected to the control motor 721. A contact is arranged below the first microswitch 725 and the second microswitch 726 respectively. The first moving seat 723 and the second moving seat 724 are respectively provided with a trigger block, and a beveling structure is arranged above the trigger block. When the first connecting plate 711 and the second connecting plate 712 move towards each other and the first moving seat 723 triggers a contact, the motor stops moving; when the first connecting plate 711 and the second connecting plate 712 move back to back, the second moving seat 724 triggers the contact, and the motor stops moving.

The specific working mode is as follows:

the initial state is a locked state. At this time, the teeth of the first locking tongue 712 and the second locking tongue 714 are engaged with the brake large teeth 74 and the brake middle teeth 75, respectively, to prevent rotation. Pressing the release button (on the operating arm of the guidewire delivery system) rotates the motor 721, and the double-ended lead screw 722 rotates on the female ring mount 729. The square nut 727 is disposed at a step of the first moving seat 723 and the second moving seat 724. The square nut 727 drives the first movable seat 723 and the second movable seat 724 to move towards each other. The first connecting plate 711 and the second connecting plate 712 move towards each other, and the first locking tongue 712 and the second locking tongue 714 are respectively and slowly separated from the large braking tooth 74 and the middle braking tooth 75 to release the brake, and the elastic force of the spring is also gradually increased at the moment. After the brake is released, the joints of the middle arm and the large arm can rotate freely. The motor 721 stops rotating when the trigger block of the first moving seat 723 triggers the contacts of the first microswitch 725.

The release button motor 721 is released to rotate in the reverse direction and the double-headed screw 722 rotates to move the two square nuts 727 in a back-to-back direction. The first connection plate 711 and the second connection plate 712 also move back to back under the spring force. The motor 721 stops rotating when the trigger block of the second moving seat 724 triggers the contact of the second microswitch 726. At this time, the teeth of the first locking tongue 712 and the second locking tongue 714 respectively engage with the brake big teeth 74 and the brake middle teeth 75 to play a braking role.

In an emergency or power-off state, the locked state results in the device not being able to rotate freely. The first connecting plate 711 and the second connecting plate 712 are moved toward each other by rotating the release button 73 against the pulling force of the spring, and the first locking tongue 712 and the second locking tongue 714 are slowly separated from the large braking tooth 74 and the middle braking tooth 75, respectively, to release the brake. By turning the release button 73 to the home position, the first link plate 711 and the second link plate 712 are moved back and forth under the spring action to achieve the locked state.

Example two:

in order to improve the degree of automation, a clutch driving mechanism 26 is added on the basis of the first embodiment. The clutch drive mechanism 26 is described in detail below.

Referring to fig. 7, in an alternative embodiment, the clutch driving mechanism 26 is connected to the clutch mechanism 24, the clutch driving mechanism 26 includes a first motor 261, a crank 262 mounted on the first motor 261, a slider 263 mounted on the crank 262, a lifting groove 264 disposed on the slider 263, and a lifting push rod 265 lifting along the lifting groove 264, and the lifting push rod 265 controls the clutch of the clutch mechanism 24.

Referring to fig. 7, in an alternative embodiment, the crank 262 is an L-shaped crank, and a moving slot 266 is formed on a side of the crank 262 adjacent to the first motor 261. The L-shaped crank rotates along the central axis of rotation and the moving slot 266 may be configured to be open and not disengage therefrom during forward and reverse rotation of the motor.

Referring to fig. 7, in an alternative embodiment, the first motor 261 is provided with a rotary disc 267, a moving shaft 268 is eccentrically provided on the rotary disc 267, and the moving shaft 268 moves in the moving groove 266. The moving shaft 268 is fitted with the opening of the moving groove 266, and the crank 262 is driven to rotate by the rotation of the rotary disc 267.

Referring to fig. 7, in an alternative embodiment, a guide plate 269 is provided between the slide block 263 and the crank 262. The guide plate 269 is fixed to another large fixing plate, not shown. The large fixed plate is provided with a guide rail for the guide plate 269 to move radially. The slider 263 can be moved more smoothly by the guide plate 269.

The specific working mode is as follows:

the first motor 261 rotates the rotary plate 267, and the movable shaft 268 rotates along with the rotary plate 267. The middle part of the L-shaped crank can rotate. The crank 262 rotates when the moving shaft 268 moves the moving groove 266 of the crank 262. The other side of the crank 262 is connected to a guide plate 269, the guide plate 269 being constrained to move back and forth. The sliding block 263 moves back and forth along with the guide plate 269, and the sliding block 263 is provided with a lifting groove 264, so that in the moving process of the sliding block 263, the lifting push rod 265 can lift along the lifting groove 264, thereby jacking or separating the push rod 242, and the mode of jacking the push rod 262 manually can be replaced.

In order to deal with the situation that the conveying of the electric flexible pipe 1 cannot meet the actual conveying, a manual and automatic switching device for conveying the guide pipe is additionally arranged between the motor and the gear 4, so that the condition that the guide pipe is manually pulled to a specified position and the position of the guide pipe can be automatically controlled can be met. Referring to fig. 16 and 17, the flexible tube 1 of the first embodiment is a flexible tube 101, which includes a flexible tube 101 and a catheter driving mechanism 60 for driving the flexible tube 101 to move. The catheter driving mechanism 60 includes an upper toothed disc 61 and a lower toothed disc 62 engaged with the upper toothed disc 61, the lower toothed disc 62 is rotated by a second motor 63, and the lower toothed disc 62 is lifted by a third motor 64 via a toothed disc lifting mechanism 65. When the upper toothed disc 61 and the lower toothed disc 62 are meshed and rotated, the flexible pipe 101 is driven to move. When the upper toothed disc 61 is rotated away from the lower toothed disc 62, the flexible tube 101 can be manually pulled. The flexible tube 101 can be moved toward or away from the patient by various means on the upper toothed disc 61.

Referring to fig. 16 and 18, in an alternative embodiment, the lifting mechanism 65 includes a lifting push rod 651, and an inclined slot 652 disposed on the lifting push rod 651. The inclined groove 652 is connected to a lower toothed plate 62. One end of the lifting push rod 651 close to the lower toothed disc 62 is U-shaped, and the inclined grooves 652 are symmetrically arranged on two sides of the lifting push rod 651. The elevating mechanism 65 further includes an elevating slider 655 elevating along the inclined groove 652, and an angular contact bearing is provided in the elevating slider 655, and a lower toothed disc 62 is provided on the angular contact bearing. Shafts that fit into the inclined grooves 652, that is, the opening of the inclined grooves 652 and the shaft have the same diameter, are provided at both ends of the lifting slider 655, and the shafts move along the inclined grooves 652. The angular contact bearing is rotated by the output shaft of the second motor 63. The angular contact bearings rotate with the lower toothed disc 62. Since the lower gear plate 62 is lifted, the lower gear plate 62 is slidably engaged with the second motor 63.

In an alternative embodiment, the lifting slider 655 is provided with a thrust spring, and the opening of the inclined slot 652 may be larger than the diameter of the shaft of the lifting slider 655, so that the gears can be rotated in a meshing manner, and the shaft can move in the vertical direction, thereby preventing the lifting slider 655 or the lifting push rod 651 from being damaged.

Referring to fig. 16, in an alternative embodiment, the lifting push rod 651 is provided with a rack 653 at an end thereof adjacent to the third motor 64, and the third motor 64 is provided with a circular toothed disk 654 engaged with the rack 653. The third motor 64 rotates to drive the circular gear 654 to rotate, so as to drive the rack 653 to move.

Example three:

referring to fig. 19-30, the front end snap mechanism of the hemostatic valve of the present invention comprises an adapter 201 for mating with the hemostatic valve, a connector 202 detachably connected to the adapter 201, and a flexible tube 103 detachably connected to the connector 202. The adapter 201 is internally provided with a clamping groove 2011 for clamping the hemostatic valve and a hollow part 2012 communicated with the end part of one end of the clamping groove 2011, one end, close to the hollow part 2012, of the adapter 201 is provided with a connecting part 2013 for being matched with the connector 202, and the connecting part 2013 is internally provided with a first through hole 20131 which penetrates through the connecting part and is communicated with the hollow part 2012. In this embodiment, the hemostatic valve is an existing Y-shaped hemostatic valve, by setting the adapter 201 in this embodiment, and set up the clamping groove 2011 in the adapter, the main part of the hemostatic valve can be clamped with the clamping groove 2011 and through the clamping groove 2011, the hollow part 2012 can be adapted to the adjusting position of the hemostatic valve, when the hemostatic valve is fixed on the adapter 201, the adjusting position of the hemostatic valve is just located in the hollow part 2012, the hemostatic valve is rotation-regulated in this embodiment, an operator can control the opening and closing of the hemostatic valve through the adjusting position of the rotary hemostatic valve of the hollow part 2012, the operation is more convenient, the inside hollow of the flexible tube 101, the flexible tube 101 is used for supplying a pipeline, devices such as a guide wire pass through the hemostatic valve, and protect the devices, the flexible tube 101 is further used for being connected with a catheter robot, the connector 202 is used for connecting the flexible tube 101 with the adapter 201, the connector 202 is connected with the flexible tube 101, the adapter 201 is detachably, the adapter 201 is convenient for dismounting and replacement, and the maintenance is convenient.

Referring to fig. 19, a slit is provided in the end of the flexible tube 101 adjacent to the connector 202. The opening 1011 is communicated with the hollow cavity channel in the flexible catheter 3, so that equipment such as a pipeline and a guide wire can be conveniently penetrated into the flexible catheter 3 through the opening 1011, and the equipment such as the internal pipeline and the guide wire can be conveniently observed through the opening 1011.

Referring to fig. 19, 22, 23 and 24, the medical device further includes a catheter sheath 204 adapted to the flexible catheter 3 and the connector 2, the catheter sheath 204 is detachably sleeved on the flexible tube 101, and one end of the catheter sheath 204 is detachably connected to the connector 202. The catheter sheath 204 is also matched with the notch 1011 and is used for covering and protecting the notch 1011, so that the bending resistance of the position of the notch 1011 is improved. The catheter sheath 204 can protect the connection part of the flexible catheter 203 and the connector 202, and the flexible pipe 101 is prevented from being damaged due to bending.

Referring to fig. 19, 22, 23 and 24, the catheter sheath 204 includes a first clamping plate 2041 and a second clamping plate 2042, one side of the first clamping plate 2041 is connected to one side of the second clamping plate 2042 through an elastic connecting portion 2043, and a catheter groove 2044 adapted to the flexible catheter 101 and a sheath opening groove 2045 communicating with the catheter groove 2044 are disposed between the first clamping plate 2041 and the second clamping plate 2042. Facilitating the attachment and detachment of the catheter sheath 204 to the flexible tube 101.

Referring to fig. 19, 22, 23 and 24, a locking member 2046 for locking the first clamping plate 2041 and the second clamping plate 2042 is disposed between the first clamping plate 2041 and the second clamping plate 2042. The first clamping plate 2041 and the second clamping plate 2042 are locked by the locking element 2046, so that the stability of the catheter sheath 204 fixed on the flexible catheter 101 is improved, and the catheter sheath is prevented from falling off.

Referring to fig. 19 and 22, a protruding sheath plug 2047 is disposed on one end of the catheter sheath 204 close to the connector 202, and a plug hole adapted to the sheath plug 2047 is disposed on the connector 202. The catheter sheath 204 is matched with the connector 202 in an inserting manner, so that the connection stability of the catheter sheath 204 and the connector 202 is improved, and the connection and the disassembly are more convenient.

Referring to fig. 19, the surface of the flexible tube 101 is provided with a plurality of conduit teeth 2032 disposed along the length thereof.

Referring to fig. 20, the connecting portion 2013 includes a first portion 20132 integrally formed with the adapter 201 and a second portion 20133 detachably connected to the first portion 20132, and the first through hole 20131 is disposed between the first portion 20132 and the second portion 20133. The first through hole 20131 facilitates passage of a catheter or the like, and in this embodiment, the first portion 0132 and the second portion 20133 are arranged in a separated structure, so that the second portion 20133 can be opened to expose the first through hole 20131, and the catheter or the like can be placed in the first through hole 20131.

Referring to fig. 20, the first through hole 20131 is hingedly connected to the second portion 20133 on one side. The opening is more convenient.

Referring to fig. 21, 26, and 30, a first connection half 2021 and a second connection half 2022 having one side detachably connected to the first connection half 2021 are fixedly disposed at one end of the connector 202 close to the adapter 201, and a connection cavity for mating with the connection portion 2013 is disposed between the first connection half 2021 and the second connection half 2022. When the connector 202 is connected with the adapter 201, the connecting portion 2013 extends into the connecting cavity between the first connecting half 2021 and the second connecting half 2022, and the connecting portion 2013 is clamped through the matching of the first connecting half 2021 and the second connecting half 2022, so that the connecting portion 2013 is fixed, the connection is more convenient, and the clamping is more stable.

Preferably, the second connecting half 2022 is hinged to the first connecting half 2021 at one side and snap-fitted to the first connecting half 2021 at the other side.

Referring to fig. 20, 21 and 22, a protruding column 20134 is further disposed on the side of the connecting portion 2013, and a half-column slot 2023 matching with the column 20134 is disposed between the first connecting half 2021 and the second connecting half 2022. The column 20134 is arranged to be matched with the half-column clamping groove 2023, so that the connection stability and firmness are further improved.

Referring to fig. 20, 21 and 22, post 20134 includes first half-post 201321 and second half-post 201331 secured to first portion 20132 and second portion 20133, respectively. The cylinder 20134 is arranged to be combined by the first half-column 201321 and the second half-column 201331, the first half-column 01321 and the second half-column 01331 are respectively arranged on the first portion 132 and the second portion 133, so that the first half-column 1321 and the second half-column 01331 can be matched with the half-column clamping groove 2023 after being combined, and the first half-column 201321 and the second half-column 201331 are buckled together through the half-column clamping groove 2023, so that the connection stability of the first connection half-block 2021 and the second connection half-block 2022 is improved.

Referring to fig. 22, 28 and 29, a communication hole 2024 is formed in the connector 202 and axially penetrates through the connector 202, a communication groove 2025 is formed in the side wall of the connector 202 and communicates with the communication hole 2024, the communication groove 2025 is in plug-in fit with the sheath plug-in portion 2047, and the communication groove 2025 is an insertion hole adapted to the sheath plug-in portion 2047. The communication hole 2024 is provided with a stepped hole which is in plug-in fit with the flexible conduit 203, specifically, the communication hole 2024 is divided into two sections with different diameters, the diameter close to the end of the flexible pipe 101 is larger than the diameter far away from the flexible pipe 101, and the diameter far away from the flexible pipe 101 is smaller than the diameter of the end 3 of the flexible pipe, so as to limit the far end of the flexible pipe 101.

The working process of the invention is as follows:

during the working process of the front end buckling mechanism of the hemostatic valve, when the front end buckling mechanism is used, the main body part of the hemostatic valve is clamped into the clamping groove 2011, the adjusting position of the hemostatic valve is just positioned in the hollow part 2012, an operator can conveniently control the opening and closing of the hemostatic valve by rotating the adjusting position of the hemostatic valve through the hollow part 2012, the adapter 201 is connected with the connector 202 through the matching of the connecting part 2013 and the connector 202, the flexible pipe 101 is inserted into the other side of the connector 202, and a pipeline, a guide wire and other equipment connected with the hemostatic valve sequentially pass through the flexible pipe 101, the connector 202 and the adapter 201. The end of the flexible tube 101 remote from the connector 202 is used for connection with a catheter robot.

Example four:

referring to fig. 31-39, the hemostatic valve fastener of the present invention includes a body 301 and an elastic clamp body 3012 movably disposed on the body 301, the elastic clamp body 3012 is provided with a clamping groove 20121 for clamping the hemostatic valve, a main body portion of the hemostatic valve is adapted to the clamping groove 20121 and can be clamped in the clamping groove 20121, a hollow portion 30111 adapted to an adjusting position of the hemostatic valve and communicating with the clamping groove 20121 is disposed at an end portion of the body 301 close to the end portion of the elastic clamp body 3012, the elastic clamp body 3012 is fixedly connected to a slider 3013, and the body 301 is provided with an adjusting mechanism for driving the slider 3013 to move back and forth in a direction away from or close to the hollow portion 30111. In this embodiment, by providing the elastic clip body 3012, and by providing the clamping groove 20121 on the elastic clip body 3012, the clamping groove 20121 can be matched with a main body portion of the Y-shaped hemostatic valve, thereby fixing the hemostatic valve, and the adjusting portion of the hemostatic valve after being fixed is just located in the hollow portion 30111, the hemostatic valve in this embodiment is rotation-adjustable, so that an operator can control the opening and closing of the hemostatic valve by rotating the adjusting portion of the hemostatic valve, in this embodiment, the elastic clip body 3012 is also set to be movable, and the position of the elastic clip body 3012 is adjusted by the adjusting mechanism, so that the elastic clip body approaches or leaves the clamping groove 20121, and the hemostatic valve can be applied to various hemostatic valves with different lengths, and has wider applicability.

Referring to fig. 33, 38 and 39, the adjusting mechanism includes a plurality of teeth 30112 uniformly arranged on the body 301, and a gear 3014 engaged with the teeth 30112 and a knob 3015 for driving the gear 3014 to rotate are disposed on the slider 3013. The gear 3014 is driven to rotate by the knob 3015, and the slider 3013 is driven to move back and forth along the teeth 30112 by the cooperation of the gear 3014 and the teeth 30112, so that the control is more convenient and the stability is better.

Referring to fig. 33, in the first embodiment, a worm 3016 is disposed on the knob 3015, and a worm wheel 3017 engaged with the worm 3016 is disposed on the gear 3014. The slide block 3013 is driven to move through the cooperation of the worm 3016 and the worm wheel 3017, stability is improved, the worm 3016 and the worm wheel 3017 are matched and not prone to displacement, and the situation that the slide block 3013 is loosened after the position of the slide block 3013 is adjusted is avoided.

Referring to fig. 31 and 34, the main body 301 is provided with a slide rail 30113, and the slide block 3013 is provided with a slide portion slidably engaged with the slide rail 30113. The sliding rail 30113 is matched with the sliding portion, sliding stability is improved, deviation of the sliding block 3013 in the adjusting process is avoided, and accuracy is improved.

Referring to fig. 33 and 34, a connection portion 30114 protruding away from the hollow portion 30111 is disposed at an end of the main body 301 close to the hollow portion 30111, and a through hole 301141 coaxial with the elastic clamp body 3012 is disposed in the connection portion 30114. The connection portion 30114 is used to connect the body 301 to other components.

Referring to fig. 34, the connecting portion 30114 includes a first portion 301142 integrally formed with the body 301 and a second portion 201143 detachably connected to the first portion 201142, and a through hole 301141 is disposed between the first portion 201142 and the second portion 201143. The first portion 201142 is hinged to the second portion 201143 on one side, the through hole 301141 is used for allowing a guide tube and other components to pass through, in the embodiment, the first portion 201142 and the second portion 201143 are arranged in a separated structure, the second portion 201143 is opened to expose the through hole 301141, and the guide tube and other components are placed in the through hole 301141.

Referring to fig. 34, the connecting portion 114 is further provided at its side with a protruding column 201144, and a column 201144 includes a first half-column 201321 and a second half-column 201331 respectively fixed to the first portion 201142 and the second portion 201143. The post 201144 can be matched with other components to improve the connection stability and firmness of the connecting part 30114 and other components.

Referring to fig. 31, 33 and 36, the holding groove 121 is provided with a branch opening groove 301211. The branch pipe opening groove 301211 is convenient to be matched with a branch pipe on the side of the Y-shaped hemostatic valve for the branch pipe to pass through.

Referring to fig. 40 to 49, a connector 202 detachably connected to the connection portion 114 of the body 1, and a flexible tube 101 detachably connected to the connector 202 are further included. The inside cavity of flexible pipe 101 for supply equipment such as pipeline, seal wire to pass through hemostasis valve, and protection equipment, flexible pipe 3 still is used for being connected with the pipe robot, and connector 2 is used for connecting flexible pipe 101, body 301, and connector 202 is can dismantle with flexible pipe 101, body 301 and be connected, and convenient to detach changes, is convenient for maintain.

Referring to fig. 43, a slit 11 is provided at an end of the flexible tube 101 near the connector 202. The opening 11 is communicated with a hollow cavity channel in the flexible pipe 3, so that equipment such as a pipeline and a guide wire can be conveniently penetrated into the flexible pipe 3 through the opening 11, and the equipment such as the internal pipeline and the guide wire can be conveniently observed through the opening 11.

Referring to fig. 40, 41, 43, 44 and 45, the medical device further includes a catheter sheath 204 adapted to the flexible tube 101 and the connector 202, the catheter sheath 204 is detachably sleeved on the flexible tube 101, and one end of the catheter sheath 204 is detachably connected to the connector 202. The catheter sheath 204 is also matched with the notch 11 and is used for covering and protecting the notch 11 and improving the bending resistance of the position of the notch 11. The arrangement of the catheter sheath 204 can protect the connection part of the flexible catheter 3 and the connector 2, and avoid the flexible tube 101 from being damaged due to bending.

Referring to fig. 40, 41, 43, 44 and 45, the catheter sheath 204 includes a first clamping plate 2041 and a second clamping plate 2042, one side of the first clamping plate 2041 is connected to one side of the second clamping plate 2042 through an elastic connecting portion 2043, and a catheter groove 2044 adapted to the flexible tube 101 and a sheath opening groove 2045 communicating with the catheter groove 2044 are disposed between the first clamping plate 2041 and the second clamping plate 2042. Facilitating the attachment and detachment of the catheter sheath 204 to the flexible tube 101.

Referring to fig. 40, 41, 43, 44 and 45, a locking element 2046 for locking the first clamping plate 2041 and the second clamping plate 2042 is disposed between the first clamping plate 2041 and the second clamping plate 2042. The first clamping plate 2041 and the second clamping plate 2042 are locked by the locking element 2046, so that the stability of the catheter sheath 204 fixed on the flexible tube 101 is improved, and the catheter sheath is prevented from falling off.

Referring to fig. 40, 41, 43, 44 and 45, a protruding sheath plug-in part 2047 is disposed at one end of the catheter sheath 204 close to the connector 202, and a plug hole adapted to the sheath plug-in part 2047 is disposed on the connector 202. The catheter sheath 204 is matched with the connector 202 in an inserting manner, so that the connection stability of the catheter sheath 204 and the connector 202 is improved, and the connection and the disassembly are more convenient.

Referring to fig. 43, the surface of the flexible member 101 is provided with a plurality of conduit teeth 2032 disposed along the length thereof.

Referring to fig. 41 and 42, a first connecting half 2021 and a second connecting half 2022 with one side detachably connected to the first connecting half 2021 are fixedly disposed at one end of the connector 202 close to the body 301, and a connecting cavity for matching with the connecting portion 2013 is disposed between the first connecting half 2021 and the second connecting half 2022. When the connector 202 is connected with the body 301, the connecting portion 2013 extends into the connecting cavity between the first connecting half block 2021 and the second connecting half block 2022, and the connecting portion 13 is clamped through the matching of the first connecting half block 2021 and the second connecting half block 2022, so that the connecting portion 2013 is fixed, the connection is more convenient, and the clamping and fixing are more stable.

Referring to fig. 41 and 42, a half-column slot 2023 matched with the column 301144 is disposed between the first connecting half 2021 and the second connecting half 2022. The column 20134 is arranged to be matched with the half-column clamping groove 2023, so that the connection stability and firmness are further improved.

The working process of the invention is as follows: a hemostatic valve fastener is characterized in that a Y-shaped hemostatic valve main body part is matched with a clamping groove 20121 in a clamping mode in a working process, so that a hemostatic valve is fixed, a rotation adjusting part of the fixed hemostatic valve is just positioned in a hollow part 30111, an operator can conveniently control the opening and closing of the hemostatic valve by rotating the adjusting part of the hemostatic valve, an elastic clamp body 3012 can be adjusted through an adjusting mechanism, a gear 3014 is driven to rotate through a knob 3015, a slider 3013 is driven to move transversely along teeth 30112 in a reciprocating mode through matching of the gear 3014 and the teeth 30112, the hemostatic valve fastener is close to or far away from the clamping groove 20121, the length of the clamping groove 20121 is adjusted, the hemostatic valve fastener can be suitable for hemostatic valves with different lengths, and the applicability is wider.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. An interventional surgical robotic system, comprising: comprises a sickbed, which is used for lying when a patient is treated; the extension arm mechanism is detachably arranged on the sickbed; a delivery device mounted on the extension arm mechanism for delivering a medical intervention device into a patient, the delivery device for delivering one or more elongate medical intervention devices; and the remote control system is used for remotely controlling the action of the conveying device for conveying the medical device.

2. An interventional surgical robotic system as set forth in claim 1, wherein: the conveying device comprises a guide wire driving device, and the guide wire driving device comprises a conveying body (10) and a rotating gear (11) arranged on one side of the conveying body (10); the conveying gear (12) is rotatably arranged on the other side of the conveying body (10), the rotating gear (11) and the conveying gear (12) are axially penetrated through by an opening (13), and a guide wire is clamped into the driving device through the opening (13); the conveying body (10) is provided with a conveying mechanism (14) driven by the conveying gear (12), the conveying gear (12) drives the conveying mechanism (14) to convey the guide wire through a transmission mechanism (20), and the transmission mechanism (20) comprises a clutch mechanism (24) which can be disengaged from the conveying gear (12) in the lifting process; a clamping and pressing mechanism is arranged on the conveying body (10) and used for pressing the guide wire into the conveying mechanism (14) along the opening (13).

3. A robotic interventional surgical system as defined in claim 2, wherein: the conveying mechanism (14) comprises a driving gear (15) driven by the conveying gear (12), a driving silica gel roller (16) driven by the driving gear (15) and a pressing silica gel roller (17) corresponding to the driving silica gel roller (16); a transmission mechanism (20) is arranged between the driving gear (15) and the conveying gear (12).

4. A robotic interventional surgical system as defined in claim 2, wherein: the conveying mechanism is characterized in that the rotating gear (11) is a helical gear, a first bevel gear (18) is connected to the rotating gear (11), the conveying gear (12) is a double-sided helical gear, one end, far away from the conveying body (10), of the conveying gear (12) is connected with a second helical gear (19), and one end, close to the conveying body (10), of the conveying gear (12) is connected with the transmission mechanism (20).

5. A robotic interventional surgical system as defined in claim 2, wherein: the transmission mechanism (20) comprises a bevel gear (21) and a driving cylindrical gear (22) which is coaxially arranged with the bevel gear (21), and the driving cylindrical gear (22) drives the driving gear (15) to rotate; the bevel wheel (21) is rotatably connected to a mounting seat (25), and the mounting seat (25) is mounted on the conveying body (10).

6. An interventional surgical robotic system as set forth in claim 5, wherein: the clutch mechanism (24) comprises a clutch lug (241) clamped with the bevel borrowing wheel (21) and a mandril (242) used for installing the clutch lug (241); the ejector rod (242) is a central shaft of the clutch lug (241), and the bevel borrowing gear (21) and the driving cylindrical gear (22) are coaxially connected to the ejector rod (242).

7. A robotic interventional surgical system as defined in claim 6, wherein: the clutch lug (241) comprises a disc (243) and a shoulder (244) arranged at the bottom of the disc (243); a groove (245) matched with the shoulder (244) is arranged on the bevel borrowing wheel (21); the clutch lug (241) is arranged between the borrow helical gear (21) and the driving cylindrical gear (22), and a spring is arranged between the driving cylindrical gear (22) and the conveying body.

8. An interventional surgical robotic system as set forth in claim 2, wherein: the clutch mechanism (24) is connected with a clutch driving mechanism (26), the clutch driving mechanism (26) comprises a first motor (261), a crank (262) installed on the first motor (261), a slider (263) installed on the crank (262), a lifting groove (264) arranged on the slider (263) and a lifting push rod (265) lifted along the lifting groove (264), and the lifting push rod (265) controls the clutch of the clutch mechanism (24).

9. A robotic interventional surgical system as defined in claim 8, wherein: the crank (262) is an L-shaped crank, and a moving groove (266) is formed in one side, close to the first motor (261), of the crank (262); a rotary table (267) is arranged on the first motor (261), a moving shaft (268) is eccentrically arranged on the rotary table (267), and the moving shaft (268) moves in the moving groove (266); a guide plate (269) is also arranged between the slide block (263) and the crank (262).

10. A robotic interventional surgical system as defined in claim 2, wherein: carry body (10) to include base (30), install first dog (31) and second dog (32) on base (30), be formed with mounting groove (33) between first dog (31) and second dog (32), card silk hold-down mechanism includes rotatable the setting knob shifting block (34) on second dog (32) and connection flashboard (35) on knob shifting block (34), flashboard (35) are hugged closely second dog (32) and are in reciprocate in mounting groove (33).

11. A robotic interventional surgical system as defined in claim 10, wherein: mounting groove (33) include last mounting groove (331) and set up lower mounting groove (332) of last mounting groove (331) below, the opening of going up mounting groove (331) is greater than down mounting groove (332), the opening and flashboard (35) thickness adaptation of lower mounting groove (332).

12. A robotic interventional surgical system as defined in claim 10, wherein: a guide block (36) is further arranged on the second stop block (32), the guide block (36) is driven by the knob shifting block (34) to move up and down, and the guide block (36) drives the flashboard (35) to move up and down; the guide block (36) is connected with the gate plate (35) through a plurality of connecting shafts (37); and a tension spring is arranged on the connecting shaft (37) to enable the flashboard (35) to be tightly attached to the second stop block (32).

13. A robotic interventional surgical system as defined in claim 10, wherein: an arc guide groove (321) is formed in the second stop block (32), and a guide shaft (341) moving along the arc guide groove (321) is arranged on the knob shifting block (34); a lock hole (322) is arranged at the bottom end of the arc guide groove (321); the guide shaft (341) is provided with a notch at the part in the arc guide groove (321), the guide shaft (341) is rotatably arranged on the knob shifting block (34), and the guide shaft (341) is fixed on the lock hole (322) after rotating.

14. A robotic interventional surgical system as defined in claim 13, wherein: a locking plate buckle (342) for controlling the guide shaft (341) to rotate is arranged on the guide shaft; be equipped with a closing device (40) on base (30), closing device (40) are including being used for the installation compress tightly removal seat (41) of silica gel gyro wheel (17) and be used for controlling remove seat (41) radial movement's regulation pole (42).

15. A robotic interventional surgical system as defined in claim 14, wherein: an inclined cutting groove (421) is formed in the bottom of the adjusting rod (42), a guide column (411) is arranged on the moving seat (41), and the guide column (411) moves along the inclined cutting groove (421); the adjusting rod (42) is provided with a socket (422), and a bolt (43) is connected to the socket (422); the bolt (43) extends upwards to penetrate through the adjusting rod (42).

16. An interventional surgical robotic system according to claim 15, wherein: a release lug (343) is arranged on the knob shifting block (34), and when the knob shifting block (34) rotates to the lowest point, the release lug (343) presses the bolt (43) downwards to separate from the socket (422).

17. An interventional surgical robotic system according to claim 14, wherein: a push block bulge (423) is arranged on the adjusting rod (42), and a push block (344) is arranged on the knob shifting block (34); in the process that the knob shifting block (34) rotates from the lowest point to the high point, the push block (344) pushes the push block protrusion (423) to enable the compression silica gel roller (17) to be installed to be far away from the guide wire.

18. A robotic interventional surgical system as defined in claim 12, wherein: the second stopper (32) is provided with a plurality of guide grooves (323), and the gate plate (35) is provided with convex ribs (351) matched with the guide grooves (323).

19. A robotic interventional surgical system as defined in claim 1, wherein: the extension arm mechanism comprises a support mechanism (50), a support column (60) is arranged on the support mechanism (50), a support large arm (70) rotatably arranged on the support column (60), a support middle arm (80) rotatably arranged on the support large arm (70), and a support small arm (90) rotatably arranged on the support middle arm (80); the bracket middle arm (80) can incline in the height direction.

20. An interventional surgical robotic system as set forth in claim 19, wherein: a clamping groove (51) which is connected with the bed in a sliding manner is arranged on the supporting mechanism (50), a cam wrench (52) is rotatably arranged on the supporting mechanism (50), and the supporting mechanism (50) is fixed through the rotation of the cam wrench (52); a wrench arm (521) is arranged on the cam wrench (52), and a limit block (522) is arranged on the wrench arm (521).

21. A robotic interventional surgical system as defined in claim 20, wherein: a clamping plate (53) connected with the cam wrench (52) is arranged in the clamping groove (51), a guide shaft (54) is arranged on the clamping plate (53), and a spring for pushing the clamping plate (53) to be close to the cam wrench (52) is arranged on the guide shaft (54); the supporting mechanism (50) is provided with a supporting plate (55).

22. An interventional surgical robotic system as set forth in claim 19, wherein: the bracket middle arm (80) comprises a middle arm rotating seat (81) rotatably arranged on the bracket large arm (70), a middle arm support (82) rotatably arranged on the middle arm rotating seat (81) and a buffer cylinder (83); one end of the buffer cylinder (83) is rotatably arranged on the middle arm rotating seat (81), and the other end of the buffer cylinder is rotatably arranged on the middle arm support (82).

23. A robotic interventional surgical system as defined in claim 22, wherein: the middle arm support (82) comprises a plurality of connecting rods (821) which are parallel to each other, one end of each connecting rod (821) is rotatably connected to the middle arm rotating seat (81), and the other end of each connecting rod (821) is rotatably connected to the connecting block (84); the buffer cylinder (83) is rotatably connected to one connecting rod (821); a lower limit nail (85) is arranged on one connecting rod (821).

24. A robotic interventional surgical system as defined in claim 19, wherein: the bracket small arm (90) comprises an adapter (91) and an extension rod (92) detachably mounted on the adapter (91); a rotating shaft which is rotatably connected with the middle arm (80) of the fox-searching bracket is arranged on the adapter (91); a connector (93) is arranged at one end, far away from the adapter (91), of the extension rod (92); a fixing knob (94) used for fixing the extension rod (92) is arranged on the adapter (91); a damping friction plate (95) is arranged on the driving arm (94); and an encoder (96) is arranged at one end of the driving arm (94) far away from the adapter (91).

25. A robotic interventional surgical system as defined in claim 19, wherein: the bracket large arm (70) comprises a bolt mechanism (71), a brake large tooth (74) arranged on the support column (60) and a brake middle tooth (75) arranged on the bracket middle arm (80); the bolt mechanism (71) comprises a first connecting plate (711), a first bolt (712) arranged on the first connecting plate (711), a second connecting plate (713) and a second bolt (714) arranged on the second connecting plate (713); the first lock tongue (712) and the brake big tooth (74) form a brake effect when being connected, and the support big arm (70) can rotate when being separated; the second bolt (714) and the brake middle tooth (75) form a brake effect when being connected, and the support middle arm (80) can rotate when being separated.

26. An interventional surgical robotic system according to claim 25, wherein: a control mechanism (72) is arranged on the bolt mechanism (71), and the control mechanism (72) comprises a control motor (721), a double-head screw rod (722) controlled by the control motor (721), and a first moving seat (723) and a second moving seat (724) which are arranged on the double-head screw rod (722); the first movable seat (723) is connected with the first connecting plate (711), and the second movable seat (724) is connected with the second connecting plate (712).

27. A robotic interventional surgical system as defined in claim 25, wherein: the control mechanism (72) further comprises a first microswitch (725) and a second microswitch (726) in communicative connection with the control motor (721); the first microswitch (725) controls the distance of the first moving seat (723) moving away from the brake big tooth (74), and the second microswitch (726) controls the distance of the second moving seat (724) moving close to the brake middle tooth (73).

28. A robotic interventional surgical system as defined in claim 25, wherein: the manual release mechanism (73) is arranged on the bolt mechanism (71), the manual release mechanism (73) comprises a release button (731), a boosting rod (732) connected to the release button (731), and a cam block (733) arranged on the boosting rod (732), and the cam block (733) is connected with the first connecting plate (711) and the second connecting plate (713) at the same time.

29. A robotic interventional surgical system as defined in claim 28, wherein: a square nut (727) is arranged between the first moving seat (723) and the double-end screw rod (722), and a square nut (727) is arranged between the second moving seat (724) and the double-end screw rod (722); the first lock tongue (712) and the second lock tongue (714) are connected with springs.

30. A robotic interventional surgical system as defined in claim 1, wherein: the conveying device comprises a base (103), a gear type guide pipe is mounted on the base (103), the gear type guide pipe comprises a flexible pipe (101), a rack (102) is arranged on the outer side of the flexible pipe (101), and a notch (1011) is formed in the far end of the flexible pipe (101); the flexible pipe joint is characterized by further comprising a gear (104) which is arranged on the base (103) and meshed with the rack (102), the gear (104) is controlled through a motor, a rigid channel (105) for the flexible pipe (101) to move is arranged on the base (103), and one part of the rigid channel (105) is arched.

31. A robotic interventional surgical system as defined in claim 30, wherein: the flexible tube (101) is made of at least one material selected from PDFE and PTFE; the flexible pipe (101) is a hollow round pipe, and the far end of the flexible pipe (101) is provided with a connecting section (1013); the flexible pipe (101) and the rack (102) are of an integrated structure, or the flexible pipe (101) and the rack (102) are connected in a split manner; a long seam (1012) is arranged in the length direction of the flexible pipe (101), and the long seam (1012) is communicated with the notch (1011); the flexible pipe (101) is provided with a long slit (1012) in the length direction, and the long slit (1012) is communicated with the notch (1011).

32. A robotic interventional surgical system as defined in claim 30, wherein: a manual and automatic switching device for conveying the catheter is arranged on the base (103), and comprises a flexible pipe (101) and a catheter driving mechanism (1060) for driving the flexible pipe (101) to move; the catheter driving mechanism (1060) comprises an upper fluted disc (61) and a lower fluted disc (62) meshed with the upper fluted disc (61), the lower fluted disc (62) is driven by the second motor (63) to rotate, and the lower fluted disc (62) is driven by the third motor (64) through a fluted disc lifting mechanism (65) to lift; when the upper fluted disc (61) and the lower fluted disc (62) are meshed and rotate, the flexible pipe (101) is driven to move; when the upper fluted disc (61) and the lower fluted disc (62) are separated and rotate, the flexible pipe (101) can be pulled manually.

33. An interventional surgical robotic system according to claim 32, wherein: the lifting mechanism (65) comprises a lifting push rod (651) and an inclined groove (652) arranged on the lifting push rod (651); the lower fluted disc (62) is connected to the inclined groove (652); one end of the lifting push rod (651) close to the third motor (64) is provided with a rack (653), and the third motor (64) is provided with a circular toothed disc (654) meshed with the rack (653); one end of the lifting push rod (651) close to the lower fluted disc (62) is U-shaped, and the inclined grooves (652) are symmetrically arranged on two sides of the lifting push rod (651).

34. A robotic interventional surgical system as defined in claim 32, wherein: the lifting mechanism (65) further comprises a lifting slider (655) which lifts along the inclined groove (652), an angular contact bearing is arranged in the lifting slider (655), and a lower fluted disc (62) is arranged on the angular contact bearing; the lower fluted disc (62) is in sliding fit with the second motor (63); and a thrust spring is arranged on the lifting slide block (655).

35. A robotic interventional surgical system as defined in claim 31, wherein: be connected with hemostatic valve front end buckle mechanism on conveyor, including be used for with hemostatic valve complex adapter (201), with adapter (201) can dismantle connector (202) of connection, with connector (202) can dismantle linkage segment (1013) of connection, be equipped with in adapter (201) and be used for centre gripping hemostatic valve centre gripping groove (2011) and with fretwork portion (2012) of centre gripping groove (2011) one end tip intercommunication, be close to on adapter (201) the one end of fretwork portion (2012) be equipped with be used for with connector (202) complex connecting portion (2013), be equipped with in connecting portion (2013) run through its setting and with first through-hole (20131) of fretwork portion (2012) intercommunication.

36. A robotic interventional surgical system as defined in claim 32, wherein: the catheter sheath (204) is matched with the flexible pipe (101) and the connector (202), the catheter sheath (204) is detachably sleeved on the flexible pipe (101), and one end of the catheter sheath (204) is detachably connected with the connector (202); the catheter sheath (204) comprises a first clamping plate (2041) and a second clamping plate (2042), one side of the first clamping plate (2041) is connected with one side of the second clamping plate (2042) through an elastic connecting part (2043), and a catheter groove (2044) matched with the flexible pipe (101) and a sheath opening groove (2045) communicated with the catheter groove (2044) are formed between the first clamping plate (2041) and the second clamping plate (2042).

37. A robotic interventional surgical system as defined in claim 36, wherein: a locking fastener (2046) for locking the first clamping plate (2041) and the second clamping plate (2042) is arranged between the first clamping plate (2041) and the second clamping plate (2042); a protruding sheath insertion part (2047) is arranged at one end, close to the connector (202), of the catheter sheath (204), and a jack matched with the sheath insertion part (2047) is arranged on the connector (202); the connecting part (2013) comprises a first part (20132) and a second part (20133), wherein the first part (20132) is integrally formed with the body (201), the second part (20133) is detachably connected with the first part (20132), and the first through hole (20131) is formed between the first part (20132) and the second part (20133); a first connecting half block (2021) and a second connecting half block (2022) with one side detachably connected with the first connecting half block (2021) are fixedly arranged at one end, close to the adapter (201), of the connector (202), and a connecting cavity used for being matched with the connecting part (2013) is arranged between the first connecting half block (2021) and the second connecting half block (2022); a protruding column (20134) is further arranged on the side edge of the connecting portion (2013), and a half column clamping groove (2023) matched with the column (20134) is formed between the first connecting half block (2021) and the second connecting half block (2022); a communication hole (2024) axially arranged through the connector (202) is formed in the connector, a communication groove (2025) communicated with the communication hole (2024) is formed in the side wall of the connector (202), and the communication groove (2025) is in plug-in fit with the sheath plug-in part (2047).

38. A robotic interventional surgical system as defined in claim 31, wherein: be connected with hemostatic valve fastener on the conveyor, include body (301) and locate elastic clamp body (3012) on body (301), be equipped with on elastic clamp body (3012) and be used for centre gripping hemostatic valve centre gripping groove (30121), be close to on body (301) elastic clamp body (3012) one end tip position be equipped with hemostatic valve adjusting position adaptation and with fretwork portion (30111) of centre gripping groove (30121) intercommunication, be equipped with on the body rather than sliding connection's slider (3013), elastic clamp body (3012) with slider (3013) fixed connection, be equipped with on body (301) and be used for the drive slider (3013) are to keeping away from or being close to the adjustment mechanism of fretwork portion (30111) direction reciprocating translation.

39. A robotic interventional surgical system as defined in claim 38, wherein: the adjusting mechanism comprises a plurality of teeth (30112) which are uniformly arranged on the body (301), and a gear (3014) which is meshed with the teeth (30112) and a knob (3015) which is used for driving the gear (14) to rotate are arranged on the sliding block (3013); a worm (3016) is arranged on the knob (3015), and a worm wheel (3017) meshed with the worm (3016) is arranged on the gear (3014).

40. A robotic interventional surgical system as defined in claim 39, wherein: a sliding rail (30113) is arranged on the body (301), and a sliding part in sliding fit with the sliding rail (30113) is arranged on the sliding block (3013); a connecting part (30114) protruding away from the hollow part (30111) is arranged at one end of the body (301) close to the hollow part (30111), and a through hole (301141) coaxial with the elastic clamp body (3012) is arranged in the connecting part (30114); the connecting part (30114) comprises a first part (301142) integrally formed with the body (301) and a second part (301143) detachably connected with the first part (301142), and the through hole (301141) is arranged between the first part (301142) and the second part (301143); the side of the connecting part (30114) is also provided with a protruding column (301144), and the column (301144) comprises a first half column (301321) and a second half column (301331) which are fixedly arranged on the first part (301142) and the second part (301143) respectively; and a branch pipe open slot (301211) is arranged on the clamping slot (30121).