CN115517767A - Intervene medical instrument auxiliary device - Google Patents
Intervene medical instrument auxiliary device Download PDFInfo
- Publication number
- CN115517767A CN115517767A CN202210111637.2A CN202210111637A CN115517767A CN 115517767 A CN115517767 A CN 115517767A CN 202210111637 A CN202210111637 A CN 202210111637A CN 115517767 A CN115517767 A CN 115517767A
- Authority
- CN
- China
- Prior art keywords
- interventional medical
- fixed seat
- group
- clamping
- movable plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000000149 penetrating effect Effects 0.000 claims abstract description 6
- 230000002439 hemostatic effect Effects 0.000 claims description 13
- 238000000034 method Methods 0.000 abstract description 7
- 238000005096 rolling process Methods 0.000 abstract description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
An auxiliary device for interventional medical equipment comprises a guide rail, a fixed seat which is arranged on the guide rail in a sliding way and drives a catheter to withdraw, and a clamping group which is arranged on the fixed seat and is used for clamping a guide wire penetrating into the catheter and moving along with the fixed seat relative to the guide wire. In the process that the auxiliary device of the interventional medical instrument drives the catheter to exit, the clamping group is in rolling fit with the guide wire, and the guide wire is kept still.
Description
Technical Field
The invention relates to a device in the field of medical robots, in particular to an auxiliary device for interventional medical equipment.
Background
Interventional therapy is minimally invasive therapy carried out by modern high-tech means, and under the guidance of medical imaging equipment, special precise instruments such as catheters, guide wires and the like are introduced into a human body to diagnose and locally treat internal diseases.
In the process of operation, the surgical robot needs to adopt the cooperation of a plurality of medical instruments (such as guide wires and catheters) to send the medical instruments to the focus position, along with the rapid development of interventional operation technology, the interventional operation can complete more complicated operation than before, and the requirements on the medical instruments during the operation also develop from the former one-tube one-wire mode, two-tube one-wire mode to the three-tube one-wire mode or even a multi-tube multi-wire mode. However, when the multi-tube and multi-wire mode is adopted, more driving devices are required to control each medical instrument, and the stroke control of the driving devices is required to be higher due to the increase of the number of the driving devices.
When the catheter is delivered, the front half section of the catheter is manually penetrated through a guide catheter which is penetrated into the body of a patient, and the rear half section of the catheter is delivered through a driving device of a surgical robot.
Disclosure of Invention
In view of the above, there is a need to provide a novel auxiliary device for interventional medical equipment to overcome the shortcomings in the prior art.
An auxiliary device for interventional medical equipment comprises a guide rail, a fixed seat and a clamping group, wherein the fixed seat is slidably arranged on the guide rail and drives a catheter to withdraw, and the clamping group is arranged on the fixed seat and is used for clamping a guide wire penetrating into the catheter and moving along with the fixed seat relative to the guide wire.
Furthermore, the clamping group comprises a driving wheel set, a driven wheel set which is abutted against and separated from the driving wheel set, and a driving group which drives the driving wheel set to rotate and is in driving fit with the guide rail.
Further, the guide rail comprises an elongated main body part and clamping teeth arranged on the main body part, and the driving group is a gear group meshed on the clamping teeth.
Furthermore, the clamping group also comprises a movable plate and an elastic return piece for abutting against the movable plate to return, the driven wheel group is arranged on the movable plate, and the movable plate moves relative to the fixed seat to separate the driven wheel group from the driving wheel group.
Furthermore, a connecting shaft penetrates through the fixing seat, one end of the connecting shaft is located on the top surface of the fixing seat to install the driving idler wheel of the driving wheel set, and the other end of the connecting shaft extends out of the bottom of the fixing seat to install the gear of the gear set.
Furthermore, the fixing seat is provided with two oppositely-arranged functional plates opposite to the clamping group, a sliding groove for accommodating the movable plate is further formed between the two functional plates of the fixing seat, the clamping group further comprises a guide rod which is slidably arranged on the movable plate in a penetrating mode, and two ends of the guide rod are respectively arranged on the two functional plates.
Furthermore, one end of the elastic return piece is pressed on the movable plate, and the other end of the elastic return piece is pressed on the functional plate far away from the supporting plate.
Furthermore, the bottom of the fixing seat is provided with a first supporting leg and a second supporting leg which are oppositely arranged, and the first supporting leg and the second supporting leg are used for guiding the fixing seat to slide along the guide rail.
Furthermore, intervene medical instrument auxiliary device still includes the base that is used for installing the guide rail, first supporting legs and second supporting legs all are equipped with the draw-in groove, be equipped with the card on the base and locate the edge in the draw-in groove of first supporting legs and second supporting legs.
Further, the fixing base is provided with a limiting part, and the limiting part is provided with a mounting groove for mounting and connecting a hemostatic valve of the catheter.
Furthermore, the auxiliary device of the interventional medical instrument further comprises a cover plate which can be openably covered on the fixed seat, so that the clamping group is accommodated in a space formed by the fixed seat and the cover plate.
In conclusion, in the process that the auxiliary device of the interventional medical instrument drives the catheter to exit, the clamping group is in rolling fit with the guide wire, and the guide wire is kept still.
Drawings
FIG. 1 is a schematic structural view of the auxiliary device of the interventional medical instrument of the present invention after installation of a hemostatic valve, a guide wire and a catheter;
FIG. 2 is a side view of the auxiliary device of the interventional medical device of FIG. 1 with a hemostatic valve, a guide wire, and a catheter installed;
FIG. 3 is a schematic view of a fixing base of the auxiliary device of the interventional medical instrument shown in FIG. 1;
fig. 4 is a schematic structural view of a clamping group of the auxiliary device of the interventional medical instrument shown in fig. 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
In the description of the present invention, the terms "length", "diameter", "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, merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present invention.
As used herein, the direction "distal" is toward the patient and the direction "proximal" is away from the patient. The terms "upper" and "upper" refer to the direction away from gravity, the terms "bottom", "lower" and "lower" refer to the direction of gravity, "inner" refers to the direction of a location horizontally closer to the guide wire 100, catheter 200, "outer" refers to the direction of a location horizontally further from the guide wire 100, catheter 200, "front" refers to the side facing the user, "rear" refers to the side facing away from the user.
As shown in fig. 1 to 4, the present invention provides an auxiliary device for an interventional medical instrument, which is used for assisting a catheter to be withdrawn from a patient during an interventional operation, wherein a guide wire 100 is kept stationary during the withdrawal of the catheter 200, the auxiliary device for an interventional medical instrument is mountable on an operating table and can be freely dismounted on the operating table, the mounting direction of the auxiliary device for an interventional medical instrument on the operating table is consistent with the lying direction of the patient on the operating table, and preferably, the auxiliary device for an interventional medical instrument is mounted at a bedside position on one side of the operating table.
The auxiliary device for the interventional medical instrument comprises a base 60, a guide rail 10 arranged on the base 60, a fixed seat 20 arranged on the guide rail 10 and capable of axially sliding along the guide rail 10, a clamping group 30 arranged on the fixed seat 20 and in driving fit with the guide rail 10, and a cover plate 40 movably arranged on the fixed seat 20 and linked with the clamping group 30, wherein the cover plate 40 can be opened from the fixed seat 20 or covered on the fixed seat 20, so that the clamping group 30 is accommodated in a space formed by the fixed seat 20 and the cover plate 40.
The base 60 is long, the base 60 includes a bottom plate 61 and a plurality of ribs 62 connected to the bottom of the bottom plate 61, and the guide rail 10 is connected to the top surface of the base 60 opposite to the ribs 62 along the extending direction of the base 60. In this embodiment, the guide rail 10 is fixed on the base 60 by an integral molding, and in other embodiments, the guide rail 10 may be fixed on the base 60 by a single fitting.
The guide rail 10 includes an elongated main body 11 extending along the base 60, a latch 13 disposed on a side surface of the main body 11, and a guide plate 12 connected to a top of the main body 11, wherein the latch 13 is arranged along an extending direction of the main body 11, the guide plate 12 also extends along the extending direction of the main body 11, and two sides of the guide plate 12 protrude above two sides of the guide plate 12.
The fixing seat 20 is provided with a limiting part 21 near the far end, the limiting part 21 is provided with a mounting groove 211 corresponding to the shape of the hemostatic valve 300 (such as a T valve or a Y valve), the fixing seat 20 is provided with a plurality of support plates 22 distributed along the exit path of the guide wire 100 near the end, the edge of each support plate 22 is provided with a V-shaped support groove 221 with a narrow inner part and a wide outer part, the V-shaped support groove is right opposite to the mounting groove 211 and used for placing the guide wire 100 passing through the hemostatic valve 300, and a mounting space 222 is formed between two adjacent support plates 22. Fixed base 20 rear side position is equipped with two function boards 23 of relative setting, just right backup pad 22, fixed base 20 still is equipped with the spout 24 relative with function board 23 between two function boards 23, spout 24 bottom is equipped with first accepting groove 25. The functional boards 23 are provided with through holes 231, and the through holes 231 of the two functional boards 23 are arranged oppositely. Two opposite positioning plates 26 are further arranged on the fixed seat 20 close to the rear side, positioning holes 261 are formed in the positioning plates 26, and the positioning holes 261 in the two positioning plates 26 are also opposite to each other. The function board 23 and the sliding groove 24 are located between the two positioning boards 26.
The clamping set 30 includes a guide rod 31, a movable plate 32 slidably disposed on the guide rod 31, a driven wheel set 33 rotatably disposed on the movable plate 32, a driving wheel set 34 opposite to the driven wheel set 33 and rotatably disposed on the fixed seat 20, an elastic return member 37 for abutting against the movable plate 32 to return, and a gear set 36 synchronously rotating with the driving wheel set 34 and drivingly engaged with the guide rail 10, wherein the driving wheel set 34 and the driven wheel set 33 are respectively disposed on front and rear sides of a withdrawing path of the guide wire 100, and the driving wheel set 34 includes a plurality of driving wheels respectively disposed in different mounting spaces 222 and separated by the support plate 22. In this embodiment, the fixing base 20 is installed with a connecting shaft 35, one end of the connecting shaft 35 extends into the installation space 222 to install the driving wheel, and the other end of the connecting shaft 35 extends out from the bottom of the fixing base 20 to fix the gear of the gear set 36, so that the driving wheel set 34 is fixedly installed on the connecting shaft 35, the movable plate 32 is convexly provided with a supporting rod 324, and the driven wheel set 33 is installed on the supporting rod through a bearing. The gears of the gear set 36 are correspondingly engaged with the latch 13. The movable plate 32 is disposed in the sliding slot 24, the guide rod 31 is disposed through the bottom of the movable plate 32 and disposed in the two first receiving slots 25, and two ends of the guide rod 31 are disposed in the through holes 231 of the two function plates 23. In this embodiment, the driving wheel set 34 and the driven wheel set 33 are roller sets, and the elastic return member 37 is a return spring. The resilient return 37 is hereinafter referred to by a return spring.
The bottom of the movable plate 32 is provided with a second receiving groove 321 extending inward, the return spring is arranged in a space surrounded by the first receiving groove 25 and the second receiving groove 321, one end of the return spring abuts against and is pressed in the inner wall of the space surrounded by the first receiving groove 25 and the second receiving groove 321, namely, the bottom of the movable plate 32, and the other end of the return spring abuts against and is pressed on the function board 23 which is close to the outer side. When the movable plate 32 is pushed outward, the movable plate 32 is displaced outward, the return spring further elastically contracts, the movable plate 32 drives the driven wheel set 33 to displace outward synchronously, so that a gap is formed between the driving wheel set 34 and the driven wheel set 33, the V-shaped support groove 221 of the support plate 22 is aligned with the gap, the guide wire 100 passing through the hemostatic valve 300 is placed in the V-shaped support groove 221 between the driving wheel set 34 and the driven wheel set 33, the movable plate 32 is released, and the return spring presses the movable plate 32 and the driven wheel set 33 on the movable plate 32, so that the guide wire 100 is clamped by the driven wheel set 33 and the driving wheel set 34.
In order to further improve the stability of the fixed seat 20 when sliding on the guide rail 10, the front side and the rear side of the bottom of the fixed seat 20 are provided with a first supporting leg 27 and a second supporting leg 28 which are arranged oppositely, the inner sides of the first supporting leg 27 and the second supporting leg 28 are provided with clamping grooves 271 and 281, and the clamping grooves 271 and 281 of the first supporting leg 27 and the second supporting leg 28 are respectively clamped at the edge of the bottom plate 61 and the edge of the guide plate 12 which deviate from each other and can slide along the base 60.
The cover plate 40 is provided with a support leg 41 near the proximal end and the distal end, the two support legs 41 of the cover plate 40 are respectively pivoted on the positioning holes 261 of the two positioning plates 26 through a locking pin 411, and the cover plate 40 can rotate on the fixing base 20 to turn backward to open or close on the fixing base 20. When the cover plate 40 is covered on the fixing base 20, the cover plate 40 simultaneously limits the hemostatic valve 300 and the guide wire 100 which are installed on the fixing base 20.
In order to ensure that the cover plate 40 is more firmly matched with the fixing base 20, the cover plate 40 and the fixing base 20 are respectively provided with a first fixing block 71 and a second fixing block 72, in this embodiment, one of the first fixing block 71 and the second fixing block 72 is a magnet, and the other one of the first fixing block 71 and the second fixing block 72 is a magnet or an iron block, so that the cover plate 40 is stably covered on the fixing base 20 through the adsorption force of the first fixing block 71 and the second fixing block 72. It is understood that, besides the first fixing block 71 and the second fixing block 72 are fixed by using a magnet and a magnet/iron, in other embodiments, the first fixing block 71 and the second fixing block 72 may also be fixed by using a similar snap, a screw lock, or other detachable structure.
The cover plate 40 is further provided with a plurality of clamping pieces 42 and a first linkage piece 43, the clamping pieces 42 are arranged along the direction of covering the cover plate 40 on the fixing base 20 in a staggered manner, and the clamping pieces 42 are matched with the supporting grooves 221 of the supporting plate 22 to limit the guide wire 100 from the upper direction and the lower direction.
The end of the first linking piece 43 is protruded with a convex column 431, and the axis of the convex column 431 is not on the same axis with the axis of the bayonet 411, so that the convex column 431 rotates around the axis of the bayonet 411 and moves outwards at the same time, not only rotates around its own axis in the original position, in the process of turning the cover plate 40 open. The movable plate 32 is further convexly provided with a second linkage plate 322, and the extending direction of the second linkage plate 322 is consistent with the installation direction of the return spring. The inner side of the second linkage piece 322 is provided with a stop surface 323 matched with the convex column 431, and under the action of a return spring, the stop surface 323 is propped against the convex column 431 from the outer side.
During the interventional operation, when the guide wire 100 (such as a micro guide wire) and the catheter 200 (such as a micro catheter) are delivered to the lesion site and another type of catheter (such as a balloon catheter) needs to be replaced while the guide wire 100 is still, the interventional operation robot drives the catheter 200 to perform an initial retraction.
When the interventional operation robot moves to the limit position of the stroke, the catheter 200 is still left in the body of the patient, and the catheter 200 cannot be withdrawn from the body of the patient through the interventional operation robot, and then the hemostatic valve 300, the catheter 200 connected with the hemostatic valve 300 and the guide wire 100 are taken down from the interventional operation robot together.
The interventional medical device aid is placed in an operating table or other suitable location. The cover plate 40 is turned outwards, in the turning process of the cover plate 40, the convex column 431 on the cover plate 40 pushes the second linkage piece 322 of the movable plate 32 outwards, so as to drive the driven wheel set 33 connected with the movable plate 32 to move outwards, separate the driven wheel set 33 from the driving wheel set 34, place the hemostatic valve 300 in the installation groove 211, place the guide wire 100 between the driven wheel set 33 and the driving wheel set 34 and be supported by the support groove 221 of the support plate 22, cover the cover plate 40, and simultaneously, the convex column 431 moves inwards, under the action of the return spring, the return spring pushes the movable plate 32 to move inwards, the stop surface of the second linkage piece 322 moves inwards along with the convex column 431, and further, the driving wheel set 34 and the driven wheel set 33 are close to clamp the guide wire 100. Finally, the guide wire 100 is grasped by one hand and is immobilized, the fixing seat 20 is pushed to the near end by the other hand, in the process that the fixing seat 20 retreats along the guide rail 10, the fixing seat 20 drives the catheter 200 to retreat out of the body of the patient through the hemostatic valve 300, the latch 13 on the guide rail 10 drives the driving wheel on the driving wheel set 34 to synchronously rotate through the gear set 36, the driving wheel is in contact with the guide wire 100 in a rolling mode, the driving wheel does not generate driving force to the guide wire 100 in the retreating direction, and the guide wire 100 is kept immobilized and is left on the body of the patient.
It can be understood that, in the embodiment, the cover 40 and the clamping set 30 are linked, when the cover 40 is turned outwards, the driven wheel set 33 connected to the clamping set 30 is driven to be separated from the driving wheel set 34, in other embodiments, the cover 40 and the clamping set 30 may not be linked, and the cover 40 and the clamping set 30 are independent of each other, and the movable plate 32 is manually pushed outwards directly to separate the driven wheel set 33 from the driving wheel set 34. In addition, in this embodiment, the auxiliary device of the interventional medical instrument is adopted to drive the catheter 200 to exit through the hemostatic valve 300, and in other embodiments, other types of fixing members may be adopted to fix the catheter 200 to the fixing base 20 to assist in exiting the catheter 200.
In conclusion, in the process of withdrawing the carrying catheter 200, the clamping group 30 is in rolling fit with the guide wire 100, the clamping group 30 moves relative to the guide wire 100, the guide wire 100 is kept still, the carrying catheter 200 can be conveniently and rapidly withdrawn from the body of the patient, the efficiency of the interventional operation is effectively improved, and the working strength of a doctor is reduced.
The above embodiment only represents one implementation manner of the invention, and the description is specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.
Claims (11)
1. An auxiliary device for interventional medical equipment is characterized by comprising a guide rail, a fixed seat which is arranged on the guide rail in a sliding way and drives a catheter to withdraw, and a clamping group which is arranged on the fixed seat and is used for clamping a guide wire penetrating into the catheter and moving relative to the guide wire along with the fixed seat.
2. An interventional medical device as defined in claim 1, wherein: the clamping group comprises a driving wheel set, a driven wheel set which is abutted against and separated from the driving wheel set, and a driving group which drives the driving wheel set to rotate and is matched with the guide rail in a driving way.
3. An interventional medical device as defined in claim 2, wherein: the guide rail comprises a long main body part and clamping teeth arranged on the main body part, and the driving group is a gear group meshed on the clamping teeth.
4. An interventional medical device as defined in claim 2, wherein: the clamping group further comprises a movable plate and an elastic return piece for abutting against the movable plate to return, the driven wheel group is arranged on the movable plate, and the movable plate moves relative to the fixed seat to separate the driven wheel group from the driving wheel group.
5. An interventional medical device as defined in claim 4, wherein: the fixing seat is provided with a connecting shaft in a penetrating mode, one end of the connecting shaft is located on the top face of the fixing seat and used for installing the driving idler wheel of the driving wheel set, and the other end of the connecting shaft extends out of the bottom of the fixing seat and used for installing the gear of the gear set.
6. An interventional medical device as defined in claim 4, wherein: the clamping group comprises a fixed seat and a clamping group, wherein the fixed seat is provided with two functional plates which are oppositely arranged opposite to the clamping group, a sliding groove for accommodating the movable plate is further arranged between the two functional plates of the fixed seat, the clamping group further comprises a guide rod which is slidably arranged on the movable plate in a penetrating manner, and two ends of the guide rod are respectively arranged on the two functional plates.
7. An interventional medical device as defined in claim 6, wherein: one end of the elastic return piece is pressed on the movable plate, and the other end of the elastic return piece is pressed on the functional plate far away from the supporting plate.
8. An interventional medical device as defined in claim 1, wherein: the bottom of the fixing seat is provided with a first supporting leg and a second supporting leg which are oppositely arranged, and the first supporting leg and the second supporting leg are used for guiding the fixing seat to slide along the guide rail.
9. An interventional medical device as defined in claim 8, wherein: intervene medical instrument auxiliary device still includes the base that is used for installing the guide rail, first supporting legs and second supporting legs all are equipped with the draw-in groove, be equipped with the card on the base and locate the edge in the draw-in groove of first supporting legs and second supporting legs.
10. An interventional medical device accessory as defined in claim 2, wherein: the fixing seat is provided with a limiting part, and the limiting part is provided with a mounting groove for mounting and connecting the hemostatic valve of the catheter.
11. An interventional medical device as defined in claim 1, wherein: the auxiliary device for the interventional medical instrument further comprises a cover plate which can be opened and covered on the fixed seat, so that the clamping group is accommodated in a space formed by the fixed seat and the cover plate.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210111637.2A CN115517767A (en) | 2022-01-29 | 2022-01-29 | Intervene medical instrument auxiliary device |
| PCT/CN2022/090310 WO2023142290A1 (en) | 2022-01-29 | 2022-04-29 | Interventional medical instrument auxiliary apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210111637.2A CN115517767A (en) | 2022-01-29 | 2022-01-29 | Intervene medical instrument auxiliary device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115517767A true CN115517767A (en) | 2022-12-27 |
Family
ID=84693831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210111637.2A Pending CN115517767A (en) | 2022-01-29 | 2022-01-29 | Intervene medical instrument auxiliary device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115517767A (en) |
| WO (1) | WO2023142290A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117426844A (en) * | 2023-11-07 | 2024-01-23 | 赛诺威盛医疗科技(扬州)有限公司 | Puncture needle feeding device and puncture robot |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050004579A1 (en) * | 2003-06-27 | 2005-01-06 | Schneider M. Bret | Computer-assisted manipulation of catheters and guide wires |
| CN103157170B (en) * | 2013-02-25 | 2014-12-03 | 中国科学院自动化研究所 | Blood vessel interventional operation conduit or guide wire control device based on two-point clamping |
| US10849702B2 (en) * | 2013-03-15 | 2020-12-01 | Auris Health, Inc. | User input devices for controlling manipulation of guidewires and catheters |
| CN107374740B (en) * | 2017-07-06 | 2018-09-11 | 北京理工大学 | A kind of catheter guide wire cooperating intervention robot |
| US11382652B2 (en) * | 2018-05-08 | 2022-07-12 | Boston Scientific Scimed, Inc. | Device guidewire management accessory |
| CN110151310B (en) * | 2019-05-27 | 2020-08-25 | 燕山大学 | Catheter/guide wire rotary pushing device of minimally invasive vascular interventional surgical robot |
| CN111588471A (en) * | 2020-06-23 | 2020-08-28 | 四川大学 | Robot for vascular intervention operation |
| CN113633389B (en) * | 2021-06-10 | 2022-08-09 | 深圳市爱博医疗机器人有限公司 | Auxiliary end guide wire/catheter twisting device of interventional operation robot |
-
2022
- 2022-01-29 CN CN202210111637.2A patent/CN115517767A/en active Pending
- 2022-04-29 WO PCT/CN2022/090310 patent/WO2023142290A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117426844A (en) * | 2023-11-07 | 2024-01-23 | 赛诺威盛医疗科技(扬州)有限公司 | Puncture needle feeding device and puncture robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023142290A1 (en) | 2023-08-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110269999B (en) | Vascular intervention operation device | |
| CN113749780B (en) | Follow-on intervention operation robot is rubbed with hands from end seal wire pipe and is moved device | |
| CN114404784B (en) | Disposable sterile guide wire controller clamping mechanism of vascular intervention operation robot | |
| CN110840565B (en) | Automatic clamping and opening device for catheter of interventional operation robot | |
| CN115517767A (en) | Intervene medical instrument auxiliary device | |
| CN116269814B (en) | Operation cooperation mechanical arm | |
| CN114191101A (en) | Multifunctional slave end driving device of interventional operation robot | |
| CN114587534A (en) | Auxiliary supporting device for puncture and ultrasonic probe matching use | |
| CN117122396A (en) | Clamping mechanism and automatic puncture device | |
| CN115518264A (en) | Auxiliary clamping device for interventional operation | |
| CN111789665A (en) | Millimeter-level path-variable precise minimally invasive needle inserting system | |
| CN117122395A (en) | Automatic puncture device | |
| CN219557541U (en) | Puncture needle clamping structure with quick-release structure and operation navigation positioning robot | |
| CN215821097U (en) | Device for operating a rigid or flexible puncture needle | |
| CN213821480U (en) | Ultrasonic probe positioning bracket | |
| CN114191093A (en) | Auxiliary end twisting device of interventional operation robot | |
| CN114748763A (en) | Interventional operation sheath fixing device | |
| CN115517768A (en) | Interventional operation auxiliary device | |
| CN114191102A (en) | Intervene operation robot with position control function | |
| CN219721643U (en) | Catheter fixing device | |
| CN219048746U (en) | Synchronous release type electric end effector and surgical navigation positioning robot | |
| CN220801654U (en) | Inhalation type anesthesia device | |
| CN117883154A (en) | Single puncture depth regulating and controlling mechanism and regulating and driving mechanism thereof | |
| CN220001913U (en) | Clamping device and slave end equipment | |
| CN117045940B (en) | Guide wire motion control unit and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant before: Shenzhen Aibo medical robot Co.,Ltd. |
|
| CB02 | Change of applicant information |