CN115430007A - Guidewire catheter delivery methods and devices - Google Patents
Guidewire catheter delivery methods and devices Download PDFInfo
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- CN115430007A CN115430007A CN202211099503.XA CN202211099503A CN115430007A CN 115430007 A CN115430007 A CN 115430007A CN 202211099503 A CN202211099503 A CN 202211099503A CN 115430007 A CN115430007 A CN 115430007A
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- 238000002716 delivery method Methods 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 claims description 17
- 238000005452 bending Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 244000145845 chattering Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Abstract
The invention relates to the technical field of interventional surgical robots, and provides a guide wire and catheter delivery method.
Description
Technical Field
The invention relates to the field of interventional surgical robots, in particular to a guide wire catheter delivery method and a guide wire catheter delivery device.
Background
The existing interventional surgical robot adopts a catheter delivery mode that the catheter is always delivered in a straightened state, so that the initial distance between a first driving unit and a second driving unit which clamp the catheter needs to be approximately the same as the length of the catheter, and the whole volume of the device is overlarge and heavy.
Disclosure of Invention
The invention mainly aims to provide a guide wire and catheter delivery method and a guide wire and catheter delivery device, aiming at solving the technical problem that the initial distance between a first driving unit and a second driving unit is approximately the same as the length of a catheter, so that the whole volume of equipment is overlarge and heavy.
The invention discloses the following technical scheme:
a guide wire catheter delivery method is used for a slave-end driving device of an interventional surgical robot, the slave-end driving device of the interventional surgical robot comprises a first driving unit, a second driving unit, a third driving unit and a supporting plate, the first driving unit is arranged on the supporting plate, and the third driving unit drives the second driving unit to move relative to the supporting plate, and the method comprises the following specific steps:
s1, the guide wire is arranged in the guide pipe in a penetrating mode, the guide wire can move in the guide pipe, the first driving unit clamps one end of the guide pipe, the second driving unit clamps the other end of the guide pipe, and the third driving unit provides resistance through a moment mode so as to prevent relative movement between the second driving unit and the supporting plate, wherein the guide pipe between the first driving unit and the second driving unit is in a bending state;
s2, delivering the catheter and the guide wire by the first driving unit, wherein the catheter and the guide wire between the first driving unit and the second driving unit are gradually changed from a bending state to a straightening state in the continuous delivery process;
s3, after the catheter and the guide wire between the first driving unit and the second driving unit are changed from a bending state to a straightening state, the catheter pulls the second driving unit to move;
s4: the first driving unit drives the catheter and the guide wire to retract, the third driving unit provides power through an active mode to drive the second driving unit to move so as to drive the catheter and the guide wire to retract, and in the retracting process, the catheter and the guide wire between the first driving unit and the second driving unit are kept in a straightening state;
s5: when the second driving unit moves to a first preset position, the third driving unit stops driving the second driving unit to retract, and the first driving unit continues driving the catheter and the guide wire to retract until the catheter and the guide wire are bent to the maximum extent.
Further, the second driving unit comprises a guide wire rotating assembly and a guide wire delivery assembly, the guide wire rotating assembly is used for driving the guide wire to rotate, and the guide wire delivery assembly is used for driving the guide wire to move.
Further, the first driving unit comprises a catheter delivery assembly, and in steps S2, S3, S4 and S5, the catheter and the guide wire are carried by the catheter delivery assembly for delivery and retraction.
Further, the first drive unit further comprises a first catheter rotation assembly, the second drive unit comprises a second catheter rotation assembly;
the first catheter rotating assembly and the second catheter rotating assembly are used for driving the catheter to rotate;
in the process of withdrawing the catheter, when the catheter is kept in a straightened state, the first catheter rotating assembly and the second catheter rotating assembly drive the catheter to rotate together.
Further, the interventional surgical robot slave-end driving device further comprises a position detection mechanism, and the method further comprises:
in step S3, detecting whether the second driving unit moves to a second preset position by the position detecting mechanism; if so, stopping driving by the first driving unit to avoid collision between the second driving unit and the first driving unit when the catheter is pulled by the first driving unit, wherein the second preset position is a position close to the first driving unit;
in step S5, detecting whether the second driving unit moves to a first preset position by the position detecting mechanism; if so, the third driving unit stops driving, wherein the first preset position is a position far away from the first driving unit.
Furthermore, the slave end driving device of the interventional operation robot further comprises a slide rail and a slide block, wherein the slide rail is arranged on the supporting plate, the slide block is arranged on the third driving unit or the second driving unit, and the slide block is matched with the slide rail and is in sliding connection with the slide rail;
in step S3, through the arrangement of the slide rail and the slide block, the second driving unit can be driven by the pulling force provided by the guide tube to slide along the supporting plate.
Further, the first driving unit is fixedly arranged, and the third driving unit drives the second driving unit to move in a direction away from the first driving unit.
Further, the third driving unit comprises a resistance providing device and a power providing device;
the resistance providing device is used for providing the moment mode in the step S1 so as to prevent the relative sliding between the second driving unit and the supporting plate;
the power supply device is used for providing the active mode in the step S4 to provide power to drive the second driving unit to move.
Further, the resistance device includes a damper,
the damper provides a resistance force to prevent relative sliding between the second drive unit and the support plate when the third drive unit is in a torque mode.
Further, the power device comprises a motor, a gear, a rack and a connecting plate;
the second driving unit and the motor are arranged on the connecting plate;
the rack is arranged on the support plate;
the gear is in transmission connection with the output end of the motor;
the rack is connected with the gear in a meshed manner.
The present application also provides a guidewire catheter delivery device comprising a first drive unit, a second drive unit, a third drive unit, a support plate;
the first driving unit is arranged on the supporting plate, and the third driving unit drives the second driving unit to move;
the third driving unit comprises a power supply device and a resistance supply device;
the resistance providing device is used for providing resistance to prevent relative sliding between the second driving unit and the supporting plate;
the power supply device is used for supplying power to drive the second driving unit to move relative to the supporting plate.
Has the advantages that:
in the invention, the guide pipe between the first driving unit and the second driving unit adopts a bending clamping mode, thereby greatly shortening the distance between the first driving unit and the second driving unit, reducing the overall size of the machine and reducing the occupied space and the overall quality of the device.
Drawings
FIG. 1 is a schematic view of a delivery device in a curved state of a guide wire catheter in accordance with an embodiment of the present invention;
FIG. 2 is a schematic view of a delivery device according to an embodiment of the present invention in a straightened state;
FIG. 3 is a schematic view of a second drive unit for pulling the guide wire catheter in accordance with an embodiment of the present invention;
FIG. 4 is a partial schematic structural diagram of a third driving unit according to an embodiment of the present invention;
wherein: 1. a first drive unit; 2. a second driving unit; 3. a third driving unit; 4. a support plate; 5. a guide wire; 6. a conduit; 7. a guidewire rotation assembly; 8. a guidewire delivery assembly; 9. a catheter delivery assembly; 10. a first conduit rotation assembly; 11. a second conduit rotation assembly; 12. a position detection mechanism; 13. a slide rail; 14. a slider; 15. a roller; 16. a gear; 17. a rack; 18. a connecting plate; 19. an electric motor.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides an embodiment, a guide wire catheter delivery method, which is used for a slave-end driving device of an interventional surgical robot, wherein the slave-end driving device of the interventional surgical robot comprises a first driving unit 1, a second driving unit 2, a third driving unit 3 and a supporting plate 4. The first driving unit 1 is disposed on the supporting plate 4, and the third driving unit 3 drives the second driving unit 2 to move relative to the supporting plate 4.
The first drive unit 1 and the second drive unit 2 are arranged on the support plate 4 at intervals, when in use, the first drive unit 1 clamps the head end of the conduit 6, and the second drive unit 2 clamps the tail end of the conduit 6, namely, the first drive unit 1 is in front of the second drive unit 2. The first driving unit 1 can drive the catheter 6 to deliver or withdraw, and the third driving unit 3 can drive the catheter 6 to withdraw by driving the second driving unit 2.
In one embodiment, the first driving unit 1 is fixedly disposed, and the third driving unit 3 drives the second driving unit 2 to move away from the first driving unit 1. By adopting the structure, the first driving unit 1 can drive the catheter 6 and the guide wire 5 to move without generating displacement, so that the overall size of the driven end driving device can be effectively reduced, and the space occupied by the driven end driving device is reduced.
The method comprises the following specific steps:
s1, the guide wire 5 is arranged in the catheter 6 in a penetrating mode, the guide wire 5 can move in the catheter 6, the first driving unit 1 clamps one end of the catheter 6, the second driving unit 2 clamps the other end of the catheter 6, the third driving unit 3 provides resistance through a moment mode to prevent relative movement between the second driving unit 2 and the supporting plate 4, and the catheter 6 between the first driving unit 1 and the second driving unit 2 is in a bending state;
in step S1, the guide wire 5 is first inserted into the catheter 6, and the tip of the guide wire 5 is exposed to the tip of the catheter 6 for a certain distance, and the distance that the guide wire 5 is exposed to the tip of the catheter 6 may be adjusted manually or by mechanical equipment.
In particular, a small range of movement of the guide wire 5 in the catheter 6 is performed by the second drive unit 2. In one embodiment, the second driving unit 2 includes a guide wire rotating assembly 7 and a guide wire delivering assembly 8, the guide wire rotating assembly 7 is configured to rotate the guide wire 5, and the guide wire delivering assembly 8 is configured to move the guide wire 5.
In the above embodiment, when the guide wire 5 enters the duct and encounters a duct intersection, if the guide wire 5 is delivered only by the guide wire delivery assembly 8, the guide wire 5 may not pass through the duct intersection smoothly or the guide wire 5 may be broken due to a too sharp bending angle of the duct intersection, and the like. It is therefore desirable that the guidewire rotation assembly 7 and the guidewire delivery assembly 8 cooperate to move the guidewire 5. The guide wire 5 is driven to move to a certain extent by the guide wire delivery component 8, then the guide wire 5 is driven to rotate by the guide wire rotating component 7, and finally the guide wire 5 is sent to a specified position. Specifically, the guidewire delivery assembly 8 includes a number of rotatable rollers 15. The rollers 15 are disposed on both sides of the yarn 5, and the yarn 5 is fed by the rotation of the rollers 15 themselves under the friction between the rollers 15 and the yarn 5. The guide wire rotating component 7 drives the roller wheel to rotate around the guide wire 5 through the gear, and then drives the guide wire 5 to rotate.
The first drive unit 1 grips one end of the pipe 6 and the second drive unit 2 grips the other end of the pipe 6. The first drive unit 1 drives the catheter 6 for delivery or withdrawal. It is noted that the conduit 6 between the first drive unit 1 and said second drive unit 2 may be in a curved state, whereby the distance between the first drive unit 1 and the second drive unit 2 will be substantially shortened.
In one embodiment, the first drive unit 1 includes a catheter delivery assembly 9, and the catheter 6 and the guidewire 5 are advanced and retracted by the catheter delivery assembly 9 in subsequent steps S2, S3, S4, S5.
In the above embodiment, the catheter delivery assembly 9 includes a plurality of rotatable rollers 15 and cooperating motors. A plurality of rollers 15 are provided at both sides of the guide duct 6, and when the rollers 15 rotate, the guide duct 6 is delivered by the rotation of the rollers 15 themselves under the friction between the rollers 15 and the guide duct 6. Friction between the catheter 6 and the guidewire 5 can cause the guidewire 5 to be delivered with the catheter 6. The above is merely illustrative of one manner in which the catheter delivery assembly 9 may effect delivery of the catheter 6, and other alternative ways of effecting delivery of the catheter 6 are within the scope of the present invention.
In an embodiment, the third drive unit 3 comprises a power supply and a resistance supply;
the resistance providing device is used for providing the moment mode in the step S1 so as to prevent the relative sliding between the second driving unit 2 and the supporting plate 4;
in the above embodiment, in order to avoid the third driving unit 3 from displacing the second driving unit 2 under the action of gravity or other external force and interfering with the movement of the guide wire 5 and the catheter 6, in the initial state, the third driving unit 3 starts the torque mode, and provides resistance through the resistance providing device to limit the movement of the third driving unit 3 so as to prevent the relative sliding between the second driving unit 2 and the supporting plate 4.
In an embodiment, the resistance device includes a damper, and when the third driving unit 3 is in the torque mode, the damper provides resistance to prevent the third driving unit 3 from moving the second driving unit 2 under the action of gravity or other external force, so as to prevent the relative sliding between the second driving unit 2 and the supporting plate 4. Specifically, a liquid damper, a gas damper, an electromagnetic damper, and the like may be selected. In other embodiments, the resistance may also be provided by a brushless motor.
S2, delivering the catheter 6 and the guide wire 5 by the first driving unit 1, wherein the catheter 6 and the guide wire 5 between the first driving unit 1 and the second driving unit 2 are gradually changed from a bending state to a straightening state in the continuous delivery process;
when the catheter 6 and the guide wire 5 between the first drive unit 1 and the second drive unit 2 are in a bent state, the first drive unit 1 drives the catheter 6 and the guide wire 5 to be delivered in the pipeline, and the third drive unit 3 is in a torque mode, and the catheter 6 is not delivered, as described in step S2. The conduit 6 between the first drive unit 1 and the second drive unit 2 is thus gradually changed from a bent state to a straightened state during the movement.
S3, after the catheter 6 and the guide wire 5 between the first driving unit 1 and the second driving unit 2 are changed from a bending state to a straightening state, the catheter 6 pulls the second driving unit 2 to move;
after the catheter 6 between the first driving unit 1 and the second driving unit 2 becomes the straightened state, the first driving unit 1 continues to drive the catheter 6 for delivery, the catheter 6 pulls the second driving unit 2, and the second driving unit 2 follows the catheter 6, as described in step S3. In this process, the catheter 6 between the first drive unit 1 and the second drive unit 2 is kept in a straightened state at all times, and the requirement of straight line delivery is met.
In the process, the guide pipe 6 is always kept in a straightening state, and a detection device is not needed to be independently arranged to detect whether the guide pipe 6 is straightened, so that the structure is simplified. Further, the output power of the first drive unit 1 and the second drive unit 2 is not frequently adjusted to ensure synchronous driving of the first drive unit 1 and the second drive unit 2, and the chattering of the guide tube 6 can be reduced.
In one embodiment, the interventional surgical robot slave-end driving device further comprises a position detection mechanism 12, and the method further comprises:
in step S3, it is detected by the position detection mechanism 12 whether the second drive unit 2 is moved to a second preset position; if so, stopping driving the first driving unit 1 to prevent the conduit 6 from pulling the second driving unit 2 to collide with the first driving unit 1, wherein the second preset position is a position close to the first driving unit 1;
in the above embodiment, the second driving unit 2 will gradually approach the first driving unit 1, the second preset position is a position close to the first driving unit 1, when the second driving unit 2 moves to a position beyond the second preset position, the second driving unit 2 has a risk of collision with the first driving unit 1, and when the position detection mechanism 12 detects that the second driving unit 2 moves to the second preset position, the system sends a command, the first driving unit 1 stops driving the conduit 6, and the conduit 6 stops pulling the second driving unit 2, so that the second driving unit 2 can be effectively prevented from colliding with the first driving unit 1.
Due to the connection relationship between the third driving unit 3 and the second driving unit 2, the second driving unit 2 will also apply the pulling force applied by the conduit 6 to the third driving unit 3, and the third driving unit 3 follows the second driving unit 2.
In one embodiment, the slave-end driving device of the interventional surgical robot further comprises a slide rail 13 and a slide block 14, wherein the slide rail 13 is arranged on the support plate 4, the slide block 14 is arranged on the third driving unit 3 or the second driving unit 2, and the slide block 14 is adapted to the slide rail 13 and is connected with the slide rail 13 in a sliding manner; through the arrangement of the slide rail 13 and the slide block 14, the pulling force provided by the guide tube 6 drives the second driving unit 2 to slide along the supporting plate 4 more smoothly.
S4: the first driving unit 1 drives the catheter 6 and the guide wire 5 to retract, and the third driving unit 3 provides power through an active mode to drive the second driving unit 2 to move so as to drive the catheter 6 and the guide wire 5 to retract. Wherein the catheter 6 and the guide wire 5 between the first drive unit 1 and the second drive unit 2 are kept straightened during retraction;
when the catheter 6 needs to be withdrawn, the first driving unit 1 and the third driving unit 3 drive the catheter 6 and the guide wire together to withdraw as described in step S4. When the first drive unit 1 and the third drive unit 3 jointly drive the catheter 6 to retract, the first drive unit 1 and the third drive unit 3 need to be synchronized to ensure that the catheter 6 is in a straightened state.
The third driving unit 3 provides power to drive the second driving unit 2 to move through an active mode, and the conduit 6 clamped by the second driving unit 2 follows the second driving unit 2. The friction between the catheter 6 and the guide wire 5 allows the guide wire 5 to be withdrawn with the catheter 6.
The power supply device of the third driving unit 3 is used for providing the active mode in step S4 to provide power to drive the second driving unit 2 to move.
When the third driving unit 3 starts the active mode, the power supply device drives the second driving unit 2 to move. In one embodiment, the power device comprises a motor 19, a gear 16, a rack 17 and a connecting plate 18;
the second driving unit 2 and the motor 19 are arranged on the connecting plate 18;
the rack 17 is arranged on the support plate 4;
the gear 16 is in transmission connection with the output end of the motor 19;
the rack 17 is engaged with the gear 16.
In the above embodiment, the rack 17 is engaged with the gear 16, and the gear 16 is in transmission connection with the output end of the motor 19. When the output shaft of the motor 19 rotates, the gear 16 moves along the rack 17 during the rotation by the output shaft. Because the motor 19 is fixedly installed on the connecting plate 18, the moving gear 16 drives the connecting plate 18 to move along the rack 17, and the second driving unit 2 also moves along with the connecting plate 18.
S5: when the second driving unit 2 moves to the first preset position, the third driving unit 3 stops driving the second driving unit 2 to retract, and the first driving unit 1 continues driving the catheter 6 and the guide wire 5 to retract until the catheter 6 and the guide wire 5 are bent to the maximum extent.
As described in step S5, when the second driving unit 2 moves to the first predetermined position, which is the limit position where the third driving unit 3 drives the second driving unit 2 to move, the third driving unit 3 stops driving, and the second driving unit 2 stops driving the conduit 6 to move.
In step S5, it is detected by the position detection mechanism 12 whether the second drive unit 2 is moved to a first preset position; if yes, the third driving unit 3 stops driving, wherein the first preset position is a position far away from the first driving unit 1.
In the above embodiment, the second driving unit 2 will gradually move away from the first driving unit 1, the first preset position is a position away from the first driving unit 1, when the second driving unit 2 moves to a position beyond the first preset position, the second driving unit 2 has a risk of sliding off the supporting plate 4 or colliding with the edge of the supporting plate 4, when the position detection mechanism 12 detects that the second driving unit 2 moves to the first preset position, the system sends a command, and the third driving unit 1 stops the second driving unit 2, so that the second driving unit 2 can be effectively prevented from sliding off the supporting plate 4 or colliding with the edge of the supporting plate 4.
The first driving unit 1 continues to drive the catheter 6 and the guide wire 5 to retract, and when the first driving unit 1 is driven alone, the catheter 6 between the first driving unit 1 and the second driving unit 2 is gradually changed from a straightened state to a bent state until the catheter 6 and the guide wire 5 are bent to the maximum.
In an embodiment, the first drive unit 1 further comprises a first catheter rotation assembly 10, the second drive unit 2 comprises a second catheter rotation assembly 11; the first conduit rotating assembly 10 and the second conduit rotating assembly 11 are used for driving the conduit 6 to rotate; wherein, during the process of withdrawing the catheter 6, when the catheter 6 is kept in a straightened state, the first catheter rotating assembly 10 and the second catheter rotating assembly 11 jointly drive the catheter 6 to rotate.
In the above embodiment, the first conduit rotating assembly 10 drives the roller 15 to rotate around the conduit 6 through the gear, and further drives the conduit 6 to rotate. The second conduit rotating assembly 11 comprises a T valve, a rotating part is arranged on the T valve, and the conduit 6 is connected with the rotating part. When the conduit 6 needs to be rotated, the first conduit rotating assembly 10 drives one end of the conduit 6 to rotate, and the rotating part of the second conduit rotating assembly 11 drives the other end of the conduit 6 to rotate synchronously. When the conduit 6 does not need to be rotated, the second driving unit 2 clamps the conduit 6 by the rotating part on the T valve to fix the conduit 6.
In the above embodiment, the catheter 6 may be bent between the first driving unit 1 and the second driving unit 2, and the first driving unit 1, the second driving unit 2, and the third driving unit 3 cooperate with each other to drive the catheter 6 to be delivered or retracted. By the mode, the distance between the first driving unit 1 and the second driving unit 2 is greatly shortened, the overall size of the machine is reduced, and the occupied space and the overall quality of the device are reduced.
In addition, steps S1-S5 described above in relation to the catheter-guidewire delivery method are not in any fixed order and may be selected as appropriate. For example, the mobile terminal may be retracted according to actual conditions without moving to the second preset position in step S3.
The invention also provides a guide wire catheter delivery device, which comprises a first driving unit 1, a second driving unit 2, a third driving unit 3 and a supporting plate 4;
the first driving unit 1 is arranged on the supporting plate 4, and the third driving unit 3 drives the second driving unit 2 to move;
the third driving unit 3 comprises a power supply device and a resistance supply device;
the resistance providing device is used for providing resistance to prevent relative sliding between the second driving unit and the supporting plate;
the power supply device is used for supplying power to drive the second driving unit to move relative to the supporting plate.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields will be covered by the scope of the present invention.
Claims (11)
1. A guide wire catheter delivery method is used for an interventional surgical robot slave end driving device, the interventional surgical robot slave end driving device comprises a first driving unit, a second driving unit, a third driving unit and a supporting plate, the first driving unit is arranged on the supporting plate, the third driving unit drives the second driving unit to move relative to the supporting plate, and the method is characterized by comprising the following specific steps of:
s1, the guide wire is arranged in the guide pipe in a penetrating mode, the guide wire can move in the guide pipe, the first driving unit clamps one end of the guide pipe, the second driving unit clamps the other end of the guide pipe, and the third driving unit provides resistance through a moment mode so as to prevent relative movement between the second driving unit and the supporting plate, wherein the guide pipe between the first driving unit and the second driving unit is in a bending state;
s2, delivering the catheter and the guide wire by the first driving unit, wherein the catheter and the guide wire between the first driving unit and the second driving unit are gradually changed from a bending state to a straightening state in the continuous delivery process;
s3, after the catheter and the guide wire between the first driving unit and the second driving unit are changed from a bending state to a straightening state, the catheter pulls the second driving unit to move;
s4, the first driving unit drives the catheter and the guide wire to retract, the third driving unit provides power through an active mode to drive the second driving unit to move so as to drive the catheter and the guide wire to retract, and in the retracting process, the catheter and the guide wire between the first driving unit and the second driving unit are kept in a straightening state;
and S5, when the second driving unit moves to a first preset position, the third driving unit stops driving the second driving unit to retract, and the first driving unit continues to drive the catheter and the guide wire to retract until the catheter and the guide wire are bent to the maximum.
2. The guidewire catheter delivery method as in claim 1, wherein the second drive unit comprises a guidewire rotation assembly and a guidewire delivery assembly;
the guide wire rotating assembly is used for driving the guide wire to rotate;
the guide wire delivery assembly is used for driving the guide wire to move.
3. The guidewire catheter delivery method as claimed in claim 1, wherein the first drive unit comprises a catheter delivery assembly, and wherein the catheter and the guidewire are delivered and withdrawn by the catheter delivery assembly in steps S2, S3, S4, S5.
4. The guidewire catheter delivery method of claim 1, wherein the first drive unit further comprises a first catheter rotation assembly and the second drive unit comprises a second catheter rotation assembly;
the first catheter rotating assembly and the second catheter rotating assembly are used for driving the catheter to rotate;
in the process of withdrawing the catheter, when the catheter is kept in a straightened state, the first catheter rotating assembly and the second catheter rotating assembly drive the catheter to rotate together.
5. The guidewire catheter delivery method of claim 1, wherein the interventional surgical robot slave-end drive device further comprises a position detection mechanism, the method further comprising:
in step S3, detecting whether the second driving unit moves to a second preset position by the position detecting mechanism; if so, stopping driving by the first driving unit to avoid collision between the second driving unit and the first driving unit when the catheter is pulled by the first driving unit, wherein the second preset position is a position close to the first driving unit;
in step S5, detecting whether the second driving unit moves to a first preset position by the position detecting mechanism; if so, the third driving unit stops driving, wherein the first preset position is a position far away from the first driving unit.
6. The guidewire catheter delivery method of claim 1, wherein the interventional surgical robot slave-end drive device further comprises a slide rail disposed on the support plate, a slider disposed on the third drive unit or the second drive unit, the slider being adapted to the slide rail and slidably coupled thereto;
in step S3, through the arrangement of the slide rail and the slide block, the second driving unit can be driven by the pulling force provided by the guide tube to slide along the supporting plate.
7. The guidewire catheter delivery method of claim 1, wherein the first drive unit is fixedly disposed and the third drive unit drives the second drive unit to move in a direction away from the first drive unit.
8. A guidewire catheter delivery method as in claim 1, wherein the third drive unit comprises a resistance providing device and a power providing device;
the resistance providing device is used for providing the moment mode in the step S1 so as to prevent relative sliding between the second driving unit and the supporting plate;
the power supply device is used for providing the active mode in the step S4 to provide power to drive the second driving unit to move.
9. The guidewire catheter delivery method of claim 8, wherein the resistance providing device includes a damper,
the damper provides a resistance force to prevent relative sliding between the second drive unit and the support plate when the third drive unit is in a torque mode.
10. The guidewire catheter delivery method of claim 8, wherein the power providing means comprises a motor, a gear, a rack, a web;
the second driving unit and the motor are arranged on the connecting plate;
the rack is arranged on the support plate;
the gear is in transmission connection with the output end of the motor;
the rack is connected with the gear in a meshed manner.
11. A guidewire catheter delivery device comprising a first drive unit, a second drive unit, a third drive unit, a support plate;
the first driving unit is arranged on the supporting plate, and the third driving unit drives the second driving unit to move;
the third driving unit comprises a power supply device and a resistance supply device;
the resistance providing device is used for providing resistance to prevent relative sliding between the second driving unit and the supporting plate;
the power supply device is used for supplying power to drive the second driving unit to move relative to the supporting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211099503.XA CN115430007A (en) | 2022-09-08 | 2022-09-08 | Guidewire catheter delivery methods and devices |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211099503.XA CN115430007A (en) | 2022-09-08 | 2022-09-08 | Guidewire catheter delivery methods and devices |
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| CN115430007A true CN115430007A (en) | 2022-12-06 |
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| CN202211099503.XA Pending CN115430007A (en) | 2022-09-08 | 2022-09-08 | Guidewire catheter delivery methods and devices |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070203561A1 (en) * | 2006-02-27 | 2007-08-30 | Cardiacmd, Inc. A California Corporation | Methods and devices for delivery of prosthetic heart valves and other prosthetics |
| US20180311473A1 (en) * | 2017-04-25 | 2018-11-01 | Project Moray, Inc. | Hybrid fluid/mechanical actuation and transseptal systems for catheters and other uses |
| CN111035453A (en) * | 2019-11-27 | 2020-04-21 | 北京理工大学 | Catheter external anti-bending device for vascular cavity interventional surgical robot |
| CN111544741A (en) * | 2020-06-22 | 2020-08-18 | 中国科学院自动化研究所 | Coaxial steering device for cooperative delivery of guide wire and microcatheter |
| CN111603242A (en) * | 2020-06-12 | 2020-09-01 | 绍兴梅奥心磁医疗科技有限公司 | Catheter arm and catheter assembly |
| CN113729958A (en) * | 2021-07-05 | 2021-12-03 | 深圳市爱博医疗机器人有限公司 | Intervene operation robot from end device |
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2022
- 2022-09-08 CN CN202211099503.XA patent/CN115430007A/en active Pending
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| US20070203561A1 (en) * | 2006-02-27 | 2007-08-30 | Cardiacmd, Inc. A California Corporation | Methods and devices for delivery of prosthetic heart valves and other prosthetics |
| US20180311473A1 (en) * | 2017-04-25 | 2018-11-01 | Project Moray, Inc. | Hybrid fluid/mechanical actuation and transseptal systems for catheters and other uses |
| CN111035453A (en) * | 2019-11-27 | 2020-04-21 | 北京理工大学 | Catheter external anti-bending device for vascular cavity interventional surgical robot |
| CN111603242A (en) * | 2020-06-12 | 2020-09-01 | 绍兴梅奥心磁医疗科技有限公司 | Catheter arm and catheter assembly |
| CN111544741A (en) * | 2020-06-22 | 2020-08-18 | 中国科学院自动化研究所 | Coaxial steering device for cooperative delivery of guide wire and microcatheter |
| CN113729958A (en) * | 2021-07-05 | 2021-12-03 | 深圳市爱博医疗机器人有限公司 | Intervene operation robot from end device |
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