CN115702830A - Interventional operation catheter propulsion robot - Google Patents

Abstract

The invention relates to a catheter propelling robot for interventional operation, which comprises a disinfection box, wherein one end of the disinfection box extends outwards to form an extension rod, a catheter installation groove is formed in the extension rod along the length direction, a rotating shaft is sleeved outside the extension rod and is a circular sleeve, a notch is formed in the outer wall of the extension rod along the length direction, a catheter can be installed by rotating the rotating shaft to enable the notch to correspond to the catheter installation groove, a catheter limiting channel can be formed by staggered arrangement of the notch and the catheter installation groove, and the limiting channel and the catheter channel in the disinfection box are positioned on the same straight line; the catheter propulsion device is vertically arranged, the front end of the catheter propulsion device extends out of a platform, the disinfection box is positioned on the platform, and the bottom shell of the disinfection box is magnetically connected with the platform; the lower end of the forearm of the mechanical arm is rotationally connected with a shell rotating shaft on the outer wall of the catheter propelling device. The invention improves the installation efficiency of the guide pipe. The problem of in the actual clinical loaded down with trivial details to the device disinfection is solved. The whole structure is simple and the volume is small. The stability is good, adopts the modular mode, and the equipment and the debugging of being convenient for.

Description

Interventional operation catheter propulsion robot

Technical Field

The invention relates to the technical field of minimally invasive vascular interventional operations, in particular to an interventional operation catheter propulsion robot.

Background

Firstly, in the operation process, because DSA can emit X-rays, the physical strength of a doctor is reduced quickly, the attention and the stability are also reduced, the operation precision is reduced, and accidents such as endangium injury, perforation and rupture of blood vessels and the like caused by improper pushing force are easy to happen, so that the life risk of a patient is caused. Second, the risk of prolonged ionizing radiation injury can greatly increase the risk of physicians developing leukemia, cancer and acute cataracts. The phenomenon that doctors accumulate rays continuously because of interventional operation becomes a problem that the occupational lives of the doctors are damaged and the development of the interventional operation is restricted to be neglected.

The problems can be effectively solved by means of the robot technology, the precision and the stability of the operation can be greatly improved, meanwhile, the injury of the radioactive rays to the interventional doctor can be effectively reduced, and the occurrence probability of accidents in the operation is reduced. The control of the advancement of the catheter is one of the important steps in the interventional operation, and how to solve the problem of the advancement and withdrawal of the guide catheter or the contrast catheter in the interventional operation is one of the important links for ensuring the smooth completion of the operation.

The guide catheter and the contrast catheter propulsion control of the interventional operation robot have the following problems in China: (1) the volume of the device is too long and large, and the operation of a doctor is inconvenient; (2) sterilization of the control part is inconvenient; (3) The installation of the guide catheter and the radiography catheter on the device is inconvenient; and (4) the control of the guide pipe is easy to cause slipping.

Therefore, how to provide an interventional operation catheter propelling robot is a problem which needs to be solved by those skilled in the art.

Disclosure of Invention

Therefore, the invention aims to provide a catheter propelling robot for interventional operation, which solves the problems of overlong and overlarge device volume; sterilization of the control components is inconvenient; the installation of the guide catheter and the radiography catheter on the device is inconvenient, and the like.

The invention provides an interventional operation catheter propulsion robot, which comprises:

the disinfection box is characterized in that an extension rod extends outwards from one end of the disinfection box, a conduit installation groove is formed in the extension rod along the length direction, a rotating shaft is sleeved outside the extension rod and is a circular ring sleeve, a notch is formed in the outer wall of the rotating shaft along the length direction, the rotating shaft is rotated to enable the notch to correspond to the conduit installation groove in position and enable a conduit to be installed, the notch and the conduit installation groove are arranged in a staggered mode to form a conduit limiting channel, and the limiting channel and the conduit channel in the disinfection box are located on the same straight line;

the catheter propulsion device is vertically arranged, the front end of the catheter propulsion device extends out of a platform, the disinfection box is positioned on the platform, and the bottom shell of the disinfection box is magnetically connected with the platform; and

and the lower end of the front arm of the mechanical arm is rotationally connected with the shell rotating shaft on the outer wall of the catheter propelling device.

According to the technical scheme, compared with the prior art, the interventional operation catheter propulsion robot is characterized in that the disinfection box is opened through the correspondence between the notch on the rotating shaft and the catheter installation groove on the extension rod, so that the catheter can be directly placed from top to bottom, the clinical operation is facilitated, and the installation efficiency is improved. The disinfection box is disposable consumptive material, and the disinfection is convenient, has effectually solved in the actual clinic loaded down with trivial details problem of device disinfection. The disinfection box and the platform are connected magnetically, so that the disinfection box is convenient to install and remove. The invention has simple integral structure and good stability, adopts a modularized mode and is convenient for assembly and debugging. The whole device is small in size and convenient for doctors to use.

Further, the disinfection box comprises a turnover cover, a catheter driving part and a catheter driving driven part; one side of the flip cover is hinged with the bottom shell, the other side of the flip cover is magnetically connected with the bottom shell, a driving space of the conduit is formed inside the flip cover and the bottom shell, and a conduit driving part and a conduit driving driven part which are matched with each other to drive the conduit are arranged in the driving space; upright posts which are correspondingly arranged and can form a conduit channel are arranged on the inner wall of the turnover cover and the inner wall of the bottom shell; the extension rod is fixed on the bottom shell through an extension rod support and is arranged towards the extending direction of the conduit channel.

Furthermore, the conduit driving part comprises a driving wheel bracket, a driving rotating shaft and a driving friction wheel; the bottom shell is provided with a rotating hole extending downwards from the bottom of the driving rotating shaft, the upper part of the driving rotating shaft is rotatably supported on the bottom shell through the driving wheel bracket, and the driving friction wheel is fixed on the driving rotating shaft;

the conduit driving driven part comprises a driven bracket, a driven friction wheel bracket, a driven rotating shaft and a driven friction wheel; the driven bracket and the driving wheel bracket are oppositely arranged, a connecting rod extends out of the driven bracket close to the side of the driving wheel bracket, the driven friction wheel bracket is provided with an inserting hole which can penetrate through the connecting rod, the driven rotating shaft rotates in the driven friction wheel bracket, and the driven rotating shaft is connected with the driven friction wheel; the bottom of the driven rotating shaft corresponds to the bottom shell and is provided with a long strip poking hole.

Furthermore, a pressing sheet for pressing and connecting the waterproof membrane is arranged between the bottom of the driven rotating shaft and the bottom shell.

Further, the catheter propelling device comprises a propelling motor, a propelling shell, a driving gear set, a photoelectric switch, a steering engine, a push rod connecting piece and a probe rod;

the propelling shell is integrally connected with the platform and is arranged in an L shape, the propelling motor with the output end facing downwards is installed inside the propelling shell, and the output end of the propelling motor drives the driving rotating shaft to rotate through the driving gear set; the push rod connecting piece is arranged around the driving wheel set and slides on a linear guide rail in the platform, the steering engine is arranged in the propelling shell, and a rotating shaft of the steering engine rotates to push the push rod connecting piece to move along the linear guide rail so as to change the clamping distance between the driving friction wheel and the driven friction wheel bracket;

the photoelectric switch and the probe rod are arranged inside the platform and used for detecting the opening and closing states of the turnover cover of the disinfection box.

Furthermore, the shell rotating shaft is fixed at the rear part of the propelling shell, and a shaft sleeve is sleeved on the shell rotating shaft.

Further, the robot arm includes: front arm, middle arm, back arm and upright post; the forearm bottom forms the ring for rotate and connects pivot, its top is connected well arm one end, well arm has adopted air spring structure, its other end with the postbrachium is connected, the postbrachium connect in the stand top, the stand bottom is fixed with the pipe bed.

Drawings

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

FIG. 1 is a general schematic view of an interventional surgical catheter advancement robot;

FIG. 2 is a front overall schematic view of a catheter sterilization cassette;

FIG. 3 is a schematic view of the inside of the catheter sterilization cassette;

FIG. 4 is a rear view of the catheter sterilization cassette in general;

FIG. 5 is an exploded view of a catheter sterilization cassette;

FIG. 6 is a front overall schematic view of the catheter pusher;

FIG. 7 is a rear perspective view of the catheter pusher assembly;

FIG. 8 is an exploded view of the catheter propulsion device;

FIG. 9 is a schematic view of a robotic arm;

FIG. 10 is a schematic view of a coupling mechanism;

in the figure:

100-a disinfection box; 101-a flip cover; 102-a passive mount; 103-passive friction wheel support; 104-an extension pole; 1041-a conduit installation slot; 1042-an extension rod support; 105-a rotating shaft; 1051-notch; 106-a bottom shell; 1061-elongated toggle holes; 107-passive friction wheel; 108-tabletting; 109-passive rotating shaft; 110-driving wheel support; 111-active spindle; 1111-driving friction wheel;

200-a catheter advancing device; 201-a propulsion motor; 202-a propulsion housing; 203-a second gear; 204-a first gear; 205-third gear; 206-a photoelectric switch; 207-shaft sleeve; 208-a housing shaft; 209-steering engine; 210-a push rod connector; 211-probe rod;

300-a robotic arm; 301-forearm; 302-middle arm; 303-rear arm; 304-a column;

400-a connection mechanism; 401-connecting a column; 402-a reducer; 403-a drive motor; 404-a rack; 405-a guide rail; 406-connecting plate.

Detailed Description

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

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

The invention is used for controlling the advance of a guide catheter and a contrast catheter in an interventional operation from a terminal device by a robot. The robot can advance or withdraw the guide catheter or the radiography catheter under the remote control of a doctor, and the interventional operation process is completed in a matching manner. The catheter propulsion device is matched with a disinfection box above the catheter propulsion device and a device for controlling the guide wire catheter by a robot to be used together, and the position of the mechanical arm is adjusted, so that the front end of the catheter disinfection box is aligned with the outlet of the sheath. After the cover of the disinfection box is opened, a contrast catheter or a guide catheter can be placed on the catheter disinfection box, after the cover of the disinfection box is closed, a friction wheel can be automatically controlled to clamp the contrast catheter or the guide catheter, and the catheter can be pushed and retracted through remote operation of a doctor outside an operating room. The direct contact element for pushing the catheter is a consumable material for operation, and is installed by a plug-in type tool-free mode, so that the direct contact element is convenient for a doctor to use.

Referring to fig. 1-4, the embodiment of the invention discloses an interventional operation catheter propulsion robot, which specifically comprises:

an extension rod 104 extends outwards from one end of the disinfection box 100, a catheter installation groove 1041 is formed in the extension rod 104 along the length direction, a rotating shaft 105 is sleeved outside the extension rod 104, the rotating shaft 105 is an annular sleeve, a notch 1051 is formed in the outer wall of the extension rod along the length direction, the rotating shaft 105 is rotated to enable the notch 1051 to correspond to the catheter installation groove 1041 in position and enable a catheter to be installed, the notch 1051 and the catheter installation groove 1041 are arranged in a staggered mode to form a catheter limiting channel, and the limiting channel and a catheter channel in the disinfection box 100 are located on the same straight line;

a catheter propulsion device 200, wherein the catheter propulsion device 200 is vertically arranged, the front end of the catheter propulsion device 200 extends out of a platform, the disinfection box 100 is positioned on the platform, and the bottom shell 106 of the disinfection box is magnetically connected with the platform; and

a mechanical arm 300, wherein the lower end of a front arm 301 of the mechanical arm 300 is rotatably connected with the shell rotating shaft 208 on the outer wall of the catheter advancing device 200.

The width of the slot of the rotating shaft 105 is 4mm. The shaft 105 is rotatable on the extension rod 104. This section is used to place a guide catheter or a contrast catheter for attaching the cassette to the patient at the exit of the sheath. After the catheter is placed in the slot of the shaft 105 and the extension rod 104, the physician can simply select the shaft 105 so that the catheter is constrained within the slot, so that the catheter will not distort during advancement or withdrawal of the catheter, thereby achieving the effect of advancing or withdrawing the catheter smoothly. After the operation is finished, the rotating shaft 105 can be rotated to align the notches of the rotating shaft and the notches, and then the catheter can be taken out.

Referring to fig. 2-5, the catheter sterilization cassette is a disposable consumable that has been sterilized and replaced with a new one each time. The disinfection box 100 comprises a flip cover 101, a conduit driving part and a conduit driving driven part; one side of the flip cover 101 is hinged to the bottom case 106, and the other side of the flip cover 101 is magnetically connected to the bottom case 106, a driving space of the conduit is formed inside the flip cover and the bottom case, and a conduit driving part and a conduit driving driven part which are matched with each other to drive the conduit are arranged in the driving space; upright posts which are correspondingly arranged and can form a duct channel are arranged on the inner wall of the flip cover 101 and the inner wall of the bottom shell 106; the extension rod 104 is fixed to the bottom case 106 by an extension rod holder 1042 and is disposed toward the extending direction of the conduit channel. The flip 101 is installed on the bottom shell 106, the upright post rod of the pressure conduit is arranged on the flip 101, and the magnet is installed on the flip 101 and can be adsorbed on the bottom shell 106, so that the conduit is ensured not to deviate from the conduit channel.

Wherein, the catheter driving part comprises a driving wheel bracket 110, a driving rotating shaft 111 and a driving friction wheel 1111; the bottom housing 106 has a rotation hole extending downward from the bottom of the driving shaft 111, and the upper portion of the driving shaft 111 is rotatably supported on the bottom housing 106 through the driving wheel bracket 110, and the driving friction wheel 1111 is fixed thereon.

The conduit driving driven part comprises a driven bracket 102, a driven friction wheel bracket 103, a driven rotating shaft 109 and a driven friction wheel 107; the driven bracket 102 is arranged opposite to the driving wheel bracket 110, a connecting rod extends out of the driven bracket 110, a plug hole capable of penetrating the connecting rod is formed in the driven friction wheel bracket 103, and the driven rotating shaft 109 rotates in the driven friction wheel bracket 103 and is connected with the driven friction wheel 107; the bottom of the passive spindle 109 corresponding to the bottom case 106 has a long toggle hole 1061.

In the embodiment of the present invention, there are two sets of friction wheels in the disinfection box, namely two driving friction wheels and two driven friction wheels, which are respectively connected with the driving rotating shaft 111 and the driven rotating shaft 109. The driving rotating shaft 111 is matched with a third gear 205 of a propelling device below, a friction wheel can be driven to rotate under the action of a propelling motor, the driving friction wheel and the driven friction wheel clamp the catheter under the action of a spring (the spring is arranged on a connecting rod of the driven bracket 102), and the rotating friction force can drive the guide catheter or the radiography catheter to move forwards or backwards. Advantageously, a pressing sheet 108 for pressing and connecting the waterproof film is disposed between the bottom of the passive rotating shaft 109 and the bottom shell 106. The driven rotating shaft 109 is arranged on the pressing sheet 108, the driven rotating shaft 109 is sleeved on a shaft extending out of the push rod connecting piece 210, and the driven friction wheel can be opened under the action of the steering engine.

Referring to fig. 6-8, the catheter propulsion device 200 includes a propulsion motor 201, a propulsion housing 202, a driving gear set, a photoelectric switch 206, a steering engine 209, a push rod connector 210 and a probe 211;

the propelling shell 202 is integrally connected with the platform and is arranged in an L shape, the propelling motor 201 with the output end facing downward is installed inside the propelling shell 202, the output end of the propelling motor 201 firstly drives the first gear 204 to rotate through the driving gear set (including the first gear 204, the second gear 203 and the third gear 205), the first gear is meshed with the second gear 203 with the diameter larger than that of the first gear, the second gear 203 simultaneously drives the two third gears 205, and the top of each third gear is provided with a driving tooth for driving the driving rotating shaft 111, so that when the propelling motor rotates, the two groups of third gears can simultaneously drive the two groups of driving rotating shafts 111 to synchronously and simultaneously rotate, and further can drive the driving friction wheel matched above the driving rotating shafts to rotate) to drive the driving rotating shafts 111 to rotate; the push rod connecting piece 210 is arranged around the driving wheel set and slides on a linear guide rail in the platform, the steering engine 209 is arranged in the propelling shell 202, and a rotating shaft of the steering engine rotates to push the push rod connecting piece 210 to move along the linear guide rail so as to change the clamping distance between the driving friction wheel 1111 and the driven friction wheel bracket 103; when the steering engine rotates, the connecting piece can be pushed for a certain distance, so that the purpose of opening the passive friction wheel and the active friction wheel is achieved, and when the steering engine rotates back, the push rod connecting piece 210 returns to the original position under the action of the spring. One end of the spring is hung on the push rod connecting piece, and the other end of the spring is hung on the propelling shell and fixed through a screw.

The photoelectric switch 206 and the probe 211 are installed inside the platform, and are used for detecting the open/close state of the flip 101 of the sterilizing box 100. A pressure spring matched with the probe 211 is arranged below the probe 211 and used for bouncing the probe 211. The photoelectric switch 206 and the probe 211 are used in cooperation to detect whether the cover of the sterilization case is closed. When the disinfection box cover is closed, the probe rod 211 is pressed down, the blocking piece on the probe rod blocks the photoelectric switch 206, and the system receives a signal that the disinfection box cover is closed. When the cover of the disinfection box is opened, the probe 211 is bounced under the action of the pressure spring, the baffle plate on the probe leaves the photoelectric switch 206, and the system receives a signal that the cover of the disinfection box is opened.

Referring to fig. 7, the housing rotating shaft 208 is fixed to the rear of the propelling housing 202, and a shaft sleeve 207 is sleeved on the housing rotating shaft; the housing shaft 208 allows the catheter pushing device to rotate at a certain angle, which facilitates the positioning of the doctor in the clinic.

Referring to fig. 9, the robot arm 300 includes: a front arm 301, a middle arm 302, a rear arm 303 and a column 304; the forearm 301 bottom forms the ring for rotate and connects the casing pivot 208, and its top is connected well arm 302 one end, well arm 302 has adopted the gas spring structure, its other end with the postbrachium 303 is connected, postbrachium 303 connect in the stand 304 top, stand 304 bottom is fixed with the pipe bed. The middle arm 302 employs a gas spring structure that moves up and down, and the catheter robot arm is used to support the catheter propulsion device and the catheter disinfection box. The mechanical arm adopts a passive 6-shaft design, and the catheter disinfection box can be placed at the position of the outer sheath outlet of a patient. Wherein the gas spring structure can adopt hanging atmospheric pressure all direction rotation support S103, designs according to the constant force principle, adopts pneumatic spring structure regulation scheme, reaches the purpose of free regulation, and it can realize about and rotary motion, and both ends are fixed through screw and forearm and postbrachium respectively. The 6 shafts formed by the mechanical arm are respectively the rotation of the front arm and the shell rotating shaft, the rotation of one end of the front arm and the middle arm, the up-and-down movement and the rotation of the middle arm and the rear arm, and the rotation of the rear arm and the upright post.

The invention is matched with a guide wire pushing mechanism for use, actually, two groups of guide wire mechanical arms and a catheter mechanical arm are respectively arranged on a catheter bed, the front part is the catheter mechanical arm, the rear part is the guide wire mechanical arm, in the using process, the front end of an angiography catheter or a guide catheter is placed in a catheter disinfection box on the catheter mechanical arm, and the tail end of the angiography catheter or the guide catheter is placed on the disinfection box of the guide wire mechanical arm. During the operation, the catheter is kept in a straightened state as much as possible when being advanced and retracted. Therefore, the following guide wire mechanical arm keeps following the movement when the catheter advances or retreats. The moving speed can be calculated according to the system structure. This requires changing the base portion of the guide wire robot arm, see fig. 10. The tip of the guide catheter or contrast catheter is on the guidewire advancing device. Therefore, when moving the guide catheter or the contrast catheter, the guide wire advancing device should also make a following movement. The guide wire mechanical arm base (the connecting mechanism 400) comprises a connecting upright column 401, a speed reducer 402, a driving motor 403, a rack 404, a guide rail 405 and a connecting plate 406; the back of the connecting plate 406 is fixed on the conduit bed, an L-shaped space is formed at the front end of the connecting plate, the guide rail 405 is arranged at the bottom of the L-shaped space along the length direction of the conduit bed, a sliding block sliding on the guide rail 405 is arranged at the bottom of the connecting upright column 401, the rack 404 is fixed on the side wall of the L-shaped space, the front end of the speed reducer 402 is provided with a meshing gear matched with the rack 404, the rear end of the speed reducer 402 is connected with the driving motor 403, and the driving motor 403 is fixed on the sliding block to drive the sliding block to slide on the guide rail 405. The speed of the motor is automatically controlled through system calculation, so that the catheter propulsion device and the guide wire propulsion device can synchronously move, and the guide wire propulsion device at the rear end can realize follow-up movement with the catheter propulsion device at the front end.

A method of using a catheter advancing device in surgery. The device adopts an automatic initialization mode, and is convenient for doctors to use. At the beginning of the procedure, first, a catheter disinfection cartridge is mounted to the catheter advancing device. Then, the position of the mechanical arm is adjusted, so that the front end of the catheter disinfection box is placed at the outlet of the sheath of the patient. Then, the cover of the disinfection box is opened, the guide catheter or the radiography catheter is placed in the groove of the catheter, the rotating shaft at the front end of the catheter disinfection box is rotated, and the turnover cover of the disinfection box is covered. Then, the patient is remotely controlled from the operating room to perform the operation. After the operation is finished, the turnover cover is opened, the catheter is taken down, the disinfection box is taken down, and unified recovery processing is carried out.

The physician may control the advancement and retraction of the catheter by means of the control box outside the operating room. The mechanical arm of the guide wire is provided with a movable gear rack structure which can automatically realize synchronous following movement with the propelling of the catheter.

Each disinfection box of the invention needs to be sterilized, and a new disinfection box is used for each operation. The disinfection box adopts the plug-in installation of no instrument, during the use with the disinfection box place on advancing device can, take off the disinfection box after the operation, unify the recovery.

Two groups of matched friction wheels in the catheter disinfection box can prevent the catheter from slipping in the process of propelling the catheter. The catheter disinfection box is provided with a turnover cover, when the turnover cover is opened, the propelling device can automatically open the friction wheel, and when the catheter is installed, the catheter can be automatically fastened after the turnover cover is closed.

The invention is specially suitable for the catheter propulsion control of an interventional operation robot, can be used together with a guide wire propulsion device, realizes automatic following movement, and has higher control stability because the control device of the whole catheter is arranged at the outlet of the sheath of a patient.

The invention adopts a disposable consumable material mode which is convenient to install and remove to control the propulsion of the catheter, thereby effectively solving the problem of fussy disinfection of the device in actual clinic.

The invention has simple integral structure and good stability, adopts a modularized mode and is convenient for assembly and debugging. The whole device is small in size and convenient for doctors to use.

The invention adopts the structure of automatically clamping and opening the conduit, and has the advantages of simple and convenient use, simple operation and strong practicability.

The invention can directly place the catheter from top to bottom, is convenient for clinical operation and improves the installation efficiency.

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

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

Claims (7)

1. An interventional procedure catheter advancement robot, comprising:

the disinfection box (100), an extension rod (104) extends outwards from one end of the disinfection box (100), a catheter installation groove (1041) is formed in the extension rod (104) along the length direction, a rotating shaft (105) is sleeved outside the extension rod (104), the rotating shaft (105) is an annular sleeve, a notch (1051) is formed in the outer wall of the rotating shaft (105) along the length direction, the rotating shaft (105) is rotated to enable the notch (1051) and the catheter installation groove (1041) to correspond in position and enable a catheter to be installed, the notch (1051) and the catheter installation groove (1041) are arranged in a staggered mode to form a catheter limiting channel, and the limiting channel and a catheter channel in the disinfection box (100) are located on the same straight line;

a catheter advancement device (200), wherein the catheter advancement device (200) is vertically arranged, the front end of the catheter advancement device extends out of a platform, the disinfection box (100) is positioned on the platform, and a bottom shell (106) of the disinfection box is magnetically connected with the platform; and

the lower end of a front arm (301) of the mechanical arm (300) is rotatably connected with a shell rotating shaft (208) on the outer wall of the catheter propelling device (200).

2. The interventional procedure catheter propulsion robot of claim 1, wherein the disinfection box (100) comprises a flip (101), a catheter driving master and a catheter driving slave; one side of the flip cover (101) is hinged with the bottom shell (106), the other side of the flip cover is magnetically connected with the bottom shell (106), a driving space of the guide pipe is formed inside the flip cover and the bottom shell, and a guide pipe driving part and a guide pipe driving driven part which are matched with each other to drive the guide pipe are arranged in the driving space; upright posts which are correspondingly arranged and can form a conduit channel are arranged on the inner wall of the flip cover (101) and the inner wall of the bottom shell (106); the extension rod (104) is fixed on the bottom shell (106) through an extension rod bracket (1042) and is arranged towards the extending direction of the conduit channel.

3. An interventional procedure catheter propulsion robot according to claim 2, wherein the catheter drive initiative comprises a driving wheel support (110), a driving rotation shaft (111) and a driving friction wheel (1111); the bottom shell (106) is provided with a rotating hole extending downwards from the bottom of the driving rotating shaft (111), the upper part of the driving rotating shaft (111) is rotatably supported on the bottom shell (106) through the driving wheel bracket (110), and the driving friction wheel (1111) is fixed on the driving rotating shaft;

the conduit driving driven part comprises a driven bracket (102), a driven friction wheel bracket (103), a driven rotating shaft (109) and a driven friction wheel (107); the driven bracket (102) and the driving wheel bracket (110) are arranged oppositely, a connecting rod extends out of the side of the driven bracket close to the driving wheel bracket (110), the driven friction wheel bracket (103) is provided with a splicing hole capable of penetrating the connecting rod, the driven rotating shaft (109) rotates in the driven friction wheel bracket (103), and the driven rotating shaft is connected with the driven friction wheel (107); the bottom of the driven rotating shaft (109) is provided with a long strip poking hole (1061) corresponding to the bottom shell (106).

4. The interventional procedure catheter propulsion robot according to claim 3, characterized in that a pressing sheet (108) for pressing and connecting a waterproof film is arranged between the bottom of the passive rotating shaft (109) and the bottom shell (106).

5. The interventional operation catheter propulsion robot as claimed in claim 3, wherein the catheter propulsion device (200) comprises a propulsion motor (201), a propulsion housing (202), a driving gear set, a photoelectric switch (206), a steering engine (209), a push rod connecting piece (210) and a probe rod (211);

the propelling shell (202) is integrally connected with the platform and is arranged in an L shape, the propelling motor (201) with the output end facing downwards is installed inside the propelling shell (202), and the output end of the propelling motor (201) drives the driving rotating shaft (111) to rotate through the driving gear set; the push rod connecting piece (210) is arranged around the driving wheel set and slides on a linear guide rail in the platform, the steering engine (209) is installed in the propelling shell (202), and a rotating shaft of the steering engine rotates to push the push rod connecting piece (210) to move along the linear guide rail so as to change the clamping distance between the driving friction wheel (1111) and the driven friction wheel bracket (103);

the photoelectric switch (206) and the probe rod (211) are arranged inside the platform and used for detecting the opening and closing states of the flip cover (101) of the disinfection box (100).

6. The interventional procedure catheter propulsion robot as set forth in claim 5, wherein the housing rotating shaft (208) is fixed to a rear portion of the propulsion housing (202) and is sleeved with a bushing (207).

7. An interventional procedure catheter advancement robot according to any of claims 1-6, wherein the robotic arm (300) comprises: a front arm (301), a middle arm (302), a rear arm (303) and a vertical column (304); forearm (301) bottom forms the ring for rotate and connect pivot (208), its top is connected well arm (302) one end, well arm (302) have adopted the gas spring structure, its other end with postbrachium (303) are connected, postbrachium (303) connect in stand (304) top, stand (304) bottom is fixed with the pipe bed.

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