CN116269791A

CN116269791A - Angiography interventional operation system convenient to disinfect

Info

Publication number: CN116269791A
Application number: CN202211097339.9A
Authority: CN
Inventors: 黄韬
Original assignee: Beijing Wemed Medical Equipment Co Ltd
Current assignee: Beijing Wemed Medical Equipment Co Ltd
Priority date: 2022-09-08
Filing date: 2022-09-08
Publication date: 2023-06-23

Abstract

The invention relates to a convenient and fast disinfection angiography interventional operation system which is used for forward pushing and backward withdrawing actions of a catheter and a guide wire and rotation control of the catheter and the guide wire in vascular interventional operation. The automatic positioning can be carried out through four robots, the automatic homing can be carried out after the operation is finished, the clinical use is convenient, and the independent installation and the disassembly are not needed. Through the operation outside the operating room, a doctor can control the arm device of the robot to push and rotate the guide wire catheter to enter the appointed position in the patient, so that the risk that the doctor is injured by X rays is avoided, and the interventional operation radiography process is completed. The device adopts four independent robots to carry out combined design, can well control the actions of the guide wire and the guide pipe, and after the guide pipe moves, the guide wire can be operated at the tail end of the guide pipe, so that the guide wire can follow the guide pipe to act; meanwhile, the auxiliary fixation of the outer sheath is realized. The same effect as the actual intervention operation of doctors can be achieved.

Description

Angiography interventional operation system convenient to disinfect

Technical Field

The invention relates to the technical field of minimally invasive vascular interventional procedures, in particular to a convenient and fast disinfection angiographic interventional procedure system.

Background

The cardiovascular and cerebrovascular minimally invasive interventional therapy is a main treatment means for cardiovascular and cerebrovascular diseases. Compared with the traditional surgery, the method has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular intervention operation is a treatment process by a doctor manually sending the catheter, the guide wire, the bracket and other instruments into a patient.

The intervention operation has the following two problems, firstly, in the operation process, as the DSA can send out X rays, the physical strength of doctors is reduced rapidly, the attention and the stability are also reduced, the operation precision is reduced, and accidents such as vascular intima injury, vascular perforation fracture and the like caused by improper pushing force are easy to occur, so that the life of patients is dangerous. Second, long-term ionizing radiation accumulation damage can greatly increase the chances of a doctor suffering from leukemia, cancer, and acute cataract. The phenomenon that doctors continuously accumulate rays due to interventional operations has become a non-negligible problem for damaging the professional lives of doctors and restricting the development of interventional operations.

The problem can be effectively solved by means of the robot technology, the accuracy and stability of operation can be greatly improved, meanwhile, the damage of radioactive rays to interventional doctors can be effectively reduced, and the occurrence probability of accidents in operation is reduced. The auxiliary robots for cardiovascular and cerebrovascular intervention operation are more and more focused by people, and become an important research and development object in the field of medical robots nowadays.

The replacement of guide wires and catheters in interventional procedures presents several problems: (1) The action of the guide wire and the catheter cannot be well controlled by using a robot, and particularly after the catheter moves, the guide wire needs to be operated at the tail end of the catheter and needs to follow the action of the catheter; (2) the auxiliary fixation of the sheath cannot be realized; (3) The device has huge volume and complex structure, and is not suitable for actual clinical operation; (4) the system is inconvenient to install and detach; (5) the mechanical gripper is large in size and inconvenient to use; (6) in the operation, the disinfection and cleaning of the robot are complicated; (7) the robot surgery consumables are complex and expensive.

Therefore, how to provide a convenient and sterile angiographic interventional surgical system is a problem to be solved by the person skilled in the art.

Disclosure of Invention

The present invention aims to solve, at least to some extent, one of the above technical problems in the prior art.

Therefore, an object of the present invention is to provide a convenient and fast sterilization angiographic interventional operation system, which solves the problems 1-4 in the background art.

The invention provides a convenient and fast disinfection angiographic interventional operation system, which comprises: a pair of catheter front end robots and catheter rear end robots which can move in the interventional operation catheter room and can be arranged at two sides of the catheter bed in pairs, and a pair of guide wire front end robots and guide wire rear end robots;

The four robots are in wireless communication connection and comprise a base, a trunk, a head device and an arm device; the base, the trunk and the head device corresponding to the four robots are identical in structure;

the first arm devices corresponding to the front end robot and the rear end robot of the catheter are matched and clamped at the position of an outer sheath outlet, the guide wire front end robot and the guide wire rear end robot are respectively provided with a second arm device and a third arm device, the matched and clamped positions of the two second arm devices are Y valves, the catheter is kept to be straightened into a straight line, the two third arm devices are matched and clamped with the guide wire, and the clamped positions are the position of the Y valve outlet;

the guide wire front end robot or the guide wire rear end robot is provided with a first group of infrared positioning devices at the head parts of the guide wire front end robot and the guide wire rear end robot, and a second group of infrared positioning devices are arranged at the head parts of the guide wire front end robot and the guide wire rear end robot and used for aligning the positions of the robots;

the doctor controls each robot in the control room.

Compared with the prior art, the angiography interventional operation system with convenient sterilization is used for forward pushing and backward withdrawing actions of the catheter and the guide wire and rotation control of the catheter and the guide wire in vascular interventional operation. The automatic positioning can be carried out through four robots, the automatic homing can be carried out after the operation is finished, the clinical use is convenient, and the independent installation and the disassembly are not needed. Through the operation outside the operating room, a doctor can control the arm device of the robot to push and rotate the guide wire catheter to enter the appointed position in the patient, so that the risk that the doctor is injured by X rays is avoided, and the interventional operation radiography process is completed. The device adopts a combined design of 4 independent robots, can well control the actions of the guide wire and the guide pipe, and after the guide pipe moves, the guide wire can be operated at the tail end of the guide pipe, so that the guide wire can follow the guide pipe to act; meanwhile, the auxiliary fixation of the outer sheath is realized. The same effect as the actual intervention operation of doctors can be achieved.

Further, the disposable consumable materials can be detached from the clamping positions of the first arm device, the second arm device and the third arm device, and the problem that the disinfection and cleaning of the robot are complicated is solved.

Further, the disposable consumable comprises a back plate, the front surface of the back plate is used for pasting a medical silica gel pad, the back surface of the back plate is provided with two handles which extend backwards in parallel and are elastic, and the outer side surfaces of the two handles are respectively provided with a stop block which is used for being connected with the clamping ends of the arm devices in a plug-in and clamping mode. Solves the problems of complex consumable and high price of the robot operation.

Further, two first arm devices that pipe front end robot and pipe rear end robot correspond are the same in structure, and every first arm device all includes first extension board, and two first arm devices correspond the part on first extension board upper portion is mirror image arrangement, every first extension board all along perpendicular its length direction slide in on truck and the head device, be fixed with first motor support on it, first motor support is perpendicular first extension board length direction supports first lead screw motor, on the first extension board with first lead screw motor arrangement direction parallel arrangement has first linear guide, slide on the first linear guide and have first slider, first slider top is fixed with first holder, first holder one end have with first lead screw motor complex first screw hole, the other end stretch out first extension board, and buckle downwards and connect disposable consumable. The volume of the device is reduced, and the use is convenient.

Further, the first clamping piece is fixed in including being fixed in body board on the first slider, body board one end is vertical board, first screw hole has been seted up on the vertical board, the body board other end is the L shaped plate, the L shaped plate is vertical to be fixed with first triaxial force transducer towards the lower extreme, first triaxial force transducer below is fixed with first consumptive material connecting piece, first consumptive material connecting piece is the rectangle frame, its inside be with disposable consumptive material complex plug groove.

Further, the two second arm devices and the two third arm devices corresponding to the guide wire front end robot and the guide wire rear end robot have the same structure and are arranged in a mirror image manner; the second arm device and the third arm device are both fixed on a rectangular second extension plate, and the second extension plate slides on the trunk and the head device along the length direction of the second extension plate so as to realize telescopic movement relative to the clamping channel.

Further, each second arm device includes the second motor support, the second motor support is fixed in on the second extension board, it is followed on the second extension board length direction support second lead screw motor, it is parallel on the second extension board second lead screw motor is fixed with second linear guide, second linear guide top slides has the second slider, second slider top is fixed with the second holder, the second holder is the rectangle, its one end is close to second lead screw motor output side is provided with the second screw hole, and the other end stretches out the second extension board, and is fixed with the second triaxial force transducer down, second triaxial force transducer below is fixed with the second consumable connecting piece, the second consumable connecting piece is rectangular frame, its inside be with disposable consumable complex plug groove.

Further, each third arm device comprises a third motor support, the third motor support is fixed on the second extension plate, a third lead screw motor is supported on the second extension plate along the length direction of the second extension plate, a third linear guide rail is fixed on the second extension plate in parallel with the third lead screw motor, a third sliding block is slidably arranged at the top of the third linear guide rail, a rectangular first pushing plate is fixed at the top of the third sliding block, a third threaded hole matched with the third lead screw motor is formed in one end of the first pushing plate, a fourth lead screw motor is vertically fixed on the top surface of the first pushing plate, a vertical connecting plate is arranged in parallel with the fourth lead screw motor, a fourth linear guide rail is vertically fixed on the output end side of the vertical connecting plate far away from the third lead screw motor, a fourth sliding block is slidably arranged on the fourth linear guide rail, a right angle connecting plate is fixed on the fourth sliding block, the top of the right angle connecting plate is outwards bent, a fourth threaded hole matched with the fourth lead screw motor is formed in the extending position, a third vertical connecting plate is vertically arranged on the connecting plate, a fifth linear guide rail is horizontally bent, a fifth linear guide rail is horizontally arranged along the length direction of the third connecting plate, a fifth linear guide rail is horizontally bent, a fifth linear guide rail is horizontally connected with a fifth linear guide rail is horizontally arranged, a fifth linear guide rail is horizontally connected with a consumable part is horizontally arranged, a fifth linear guide is horizontally bent, a fifth linear guide is horizontally connected with a consumable part is horizontally arranged, a fifth linear guide is horizontally arranged, a consumable part is horizontally connected with a top part is horizontally, a fifth linear guide is horizontally bent, a device is connected with a fifth device is, the interior of the disposable consumable is provided with a plug groove matched with the disposable consumable.

Further, the base comprises a bottom plate, driving wheels are arranged below the bottom plate, four upright posts are fixed above the driving wheels, and the tops of the upright posts are connected with a trunk and a head device; a host, a lithium battery, a transformer, a switching power supply and a driving device which are electrically connected with the host are arranged among the four upright posts;

the driving wheels are four groups, each group comprises an L-shaped piece, the top of each L-shaped piece is a horizontal section, the lower part of each L-shaped piece is a vertical section, the horizontal section of each L-shaped piece is vertically connected with a rotary servo motor, the vertical section of each L-shaped piece is provided with a bearing hole for an output shaft of each axial servo motor to pass through and rotate, the output shafts of the axial servo motors are connected with wheels, the rotary servo motors and the axial servo motors are connected with the driving devices, and the rotary servo motors are fixed in square holes arranged on the bottom plates; and detection cameras are fixed on two sides of the bottom plate.

Further, the torso and head apparatus includes: the trunk device comprises a supporting plate, four upright posts are connected to the bottom of the supporting plate, two vertical sliding part groups are symmetrically arranged on the supporting plate, each vertical sliding part group comprises a guide rail bracket fixed on the supporting plate, two groups of sixth linear guide rails are fixed inside each guide rail bracket, a sixth sliding block is arranged on each sixth linear guide rail in a sliding mode, the sixth sliding blocks are fixedly connected with the side face of the head bracket, a sixth lead screw motor matched with a sixth threaded hole formed in the head bracket is arranged on the supporting plate, two groups of seventh linear guide rails are arranged at the top of the head bracket in parallel along the length direction of the head bracket, a seventh lead screw motor is arranged between the two groups of seventh linear guide rails in a parallel mode, a seventh sliding block is arranged on each seventh linear guide rail in a sliding mode, a head connecting plate is fixed at the top of each seventh sliding block, a bearing hole is formed in the middle of the top surface of each head connecting plate, two groups of eighth linear guide rails are arranged on the two sides of each bearing hole in a parallel mode, each eighth linear guide rail is correspondingly provided with a eighth threaded hole, and each eighth linear guide rail is correspondingly connected with an eighth lead screw device;

The head device comprises a rotary table, the bottom of the rotary table rotates in the bearing hole, a rotary shaft gear is fixed on the upward extending part of a rotary shaft of the rotary table, a rotary motor is connected to the top of the head connecting plate, which is close to the rotary table, through a rotary motor bracket, and an output shaft of the rotary motor is upward and connected with a motor gear meshed with the rotary shaft gear; the turntable is connected with a touch screen, and two groups of cameras are fixed on two sides of the touch screen through camera supports; the rotating motor is connected with the driving device;

a touch screen motor bracket is fixed above the turntable, a pitching motor is fixed on the side surface of the touch screen motor bracket, and an output shaft of the pitching motor is fixed with the bottom of the camera bracket; the pitching motor is connected with the driving device, and the infrared positioning device is fixed at the top of the touch screen and connected with the host.

Drawings

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

FIG. 1 is a schematic diagram of a convenient and fast sterilization angiographic interventional operation system according to the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a schematic view showing a state of a fixed position of the robot;

FIG. 4 is a diagram showing a first arm unit, a second arm unit, and a third arm unit clamping a catheter, a guidewire with a disposable consumable;

FIG. 5 is a diagram showing the overall structure of the catheter back-end robot;

FIG. 6 is a schematic view showing the structure of the base;

FIG. 7 is an exploded view of the base;

figure 8 is a schematic view of a torso and head apparatus;

FIG. 9 is an exploded view of the torso and head unit;

FIG. 10 is a schematic view of a first arm unit of the catheter backend robot;

FIG. 11 is an exploded view of FIG. 10;

FIG. 12 is a schematic view of the structure of a disposable consumable;

FIG. 13 is a schematic view of a first arm unit of the catheter front-end robot;

FIG. 14 is a schematic view of the structure of a second arm assembly and a third arm assembly of the guidewire backend robot;

FIG. 15 is an exploded view of FIG. 14;

fig. 16 is a schematic view showing the structure of the second arm device and the third arm device of the guide wire front end robot.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

In the description of the present invention, it should 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 the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

The embodiment of the invention discloses a convenient and fast disinfection angiography interventional operation system which is used for forward pushing and backward withdrawing actions of a catheter and a guide wire and rotation control of the catheter and the guide wire in vascular interventional operation. Each robot can be automatically positioned, and can be automatically reset after the operation is finished, so that the device is convenient for clinical use. Through the operation outside the operating room, a doctor can control the grabbing hand of the robot to push and rotate the guide wire catheter to enter the appointed position in the patient, so that the risk that the doctor is injured by X rays is avoided, and the interventional operation radiography process is completed. The device adopts 4 independent robots to carry out the design of combination, can reach the same effect of doctor actual intervention operation.

Referring to fig. 1-3, comprising: a pair of catheter

front end robots

105 and 102, a pair of guide wire

front end robots

104 and 103, which are movable in the interventional operation catheter room and are arranged in pairs on both sides of the catheter bed 101;

the four robots are in wireless communication connection and need to be matched with each other to complete the operation action of the whole radiography operation. The main arm devices of the 4 robots are greatly different, and other parts are basically the same, so that the modular design is adopted, and the application of parts and the replacement of accessories are easier to realize, and the four robots comprise a base 200, a trunk and head device 300 and the arm devices; the base 200 and the trunk and head device 300 corresponding to the four robots are identical in structure; the base is used for realizing the movement of the robot, and the trunk and head device are mainly used for realizing the up-and-down movement of the robot and completing the system identification. The arm device is mainly used for extending and clamping the guide wire catheter.

The matched clamping positions of the first arm devices corresponding to the front end robot 105 and the rear end robot 102 of the catheter are at the position of an outer sheath outlet, the front end robot 104 of the guide wire and the rear end robot 103 of the guide wire are respectively provided with a second arm device and a third arm device, the matched clamping positions of the two second arm devices are Y valves 107, the guide tube 106 is kept to be straightened into a straight line, the two third arm devices are matched with the clamping guide wire 108, and the clamping positions of the two third arm devices are at the position of the Y valve outlet; the actions of the guide wire and the catheter can be well controlled, and particularly after the catheter moves, the guide wire is operated at the tail end of the catheter and follows the catheter to act; meanwhile, the auxiliary fixation of the outer sheath is realized.

The position sensors arranged on the guide wire front end robot 104 or the guide wire rear end robot 103 are clamped on the guide rail of the guide tube bed 101, the heads of the guide wire front end robot 104 and the guide wire rear end robot 103 are provided with a first group of infrared positioning devices, and the heads of the guide tube front end robot 105 and the guide tube rear end robot 102 are provided with a second group of infrared positioning devices for aligning the positions of the robots;

the doctor controls each robot in the control room.

Referring to fig. 4, disposable consumable 500 is removable from each of the first arm unit, the second arm unit, and the third arm unit in a clamping position. The medical PVC material is adopted for processing, and is sterilized by ethylene oxide to be used as disposable consumable in operation. The robot is connected in a handle-inserting mode, so that the robot is convenient to install and detach and low in cost.

Advantageously, referring to fig. 12, in one embodiment of the present invention, the disposable consumable 500 comprises a back plate 503, the front surface of which is used for adhering a medical silica gel pad 504, the back surface of which is provided with two handles 502 which extend backwards in parallel and are elastic, and the outer sides of the two handles 502 are provided with stoppers 501 which are used for being inserted and clamped with the clamping ends of the arm devices. When in use, the disposable consumable is inserted into the clamping end of the arm device. After the disposable consumable is used, the two handles are pinched with two hands, so that the stop block 501 falls off the clamping end, and then the disposable consumable is pushed out from the clamping end, so that the disposable consumable is uniformly recycled. The whole disposable consumable has simple structure, low price and convenient use. Disposable surgical consumables are used on all four robots.

Referring to fig. 10 and 11, a catheter front end robotic arm assembly is provided for use with a catheter rear end robotic arm assembly. The two first arm devices corresponding to the front end robot 105 and the rear end robot 102 of the catheter are identical in structure and different in mounting position, each first arm device comprises a first extension plate 401, parts on the upper portion of the first extension plate 401 corresponding to the two first arm devices are arranged in a mirror image mode, each first extension plate 401 slides on the trunk and the head device 300 along the length direction perpendicular to the first extension plate 401, a first motor bracket 402 is fixed on the first extension plate 401, the first motor bracket 402 supports a first lead screw motor 403 along the length direction of the first extension plate 401, a first linear guide rail 404 is arranged on the first extension plate 401 in parallel to the arrangement direction of the first lead screw motor 403, a first slider is slid on the first linear guide rail 404, a first clamping piece 409 is fixed on the top of the first slider, one end of the first clamping piece 409 is provided with a first threaded hole matched with the first lead screw motor 403, and the other end of the first clamping piece 409 extends out of the first extension plate 401 and is connected with the disposable consumable 500 in a downward bending mode.

The two catheter robots perform a clamping operation on the catheter by controlling the extension distance of the first extension plate 401, perform a rotating operation on the catheter by adjusting the ascending and descending heights of each robot, and perform forward or backward pushing of the catheter by forward and reverse rotation of the first screw motor 403. The system can realize simultaneous pushing and rotating actions. The basic operation is to clamp the catheter first, then push the catheter forward, after pushing about 2cm, control the robot to unclamp the catheter, control the first screw motor 403 to retract 2cm, and then clamp the catheter again. When the rotation is needed, 2 robots are controlled to rub the catheter. Sequentially and circularly completing the whole operation process.

Referring to fig. 11, in a specific embodiment of the present invention, the first clamping member 409 includes a body plate fixed on the first slider, one end of the body plate is a vertical plate 407, a first threaded hole is formed in the vertical plate, the other end of the body plate is an L-shaped plate 408, a first triaxial force sensor 405 is fixed on a vertical downward end of the L-shaped plate 408, a first consumable connector 406 is fixed under the first triaxial force sensor 405, and the first consumable connector 406 is a rectangular frame, and is an insertion slot matched with the disposable consumable 500.

Referring to fig. 13, a schematic structural diagram of a first arm device of a catheter front-end robot is shown, which is identical to a catheter rear-end robot in structure, except that the components on the upper portion of the first extension plate 401 are arranged in mirror image with the catheter rear-end robot.

The disposable consumable 500 can move left and right in a small range under the driving of the first screw motor 403. The triaxial force transducer can sense the clamping force of the robot for clamping the catheter and the pushing force for pushing the catheter.

Referring to fig. 14 and 15, two second arm devices and two third arm devices corresponding to the guide wire front end robot 104 and the guide wire rear end robot 103 are identical in structure and are arranged in mirror image; the second arm device and the third arm device are both fixed on a rectangular second extension plate 620, and the second extension plate 620 slides on the trunk and head device 300 along the length direction thereof, so as to realize telescopic movement relative to the clamping channel.

Specifically, each second arm device includes a second motor support 622, the second motor support 622 is fixed on the second extension board 620, it is along on the second extension board 620 length direction supports the second lead screw motor 601, it is parallel on the second extension board 620 the second lead screw motor 601 is fixed with second linear guide 6091, second linear guide 6091 top slides has the second slider, second slider top is fixed with second clamping piece 621, second clamping piece 621 is rectangle, its one end is close to second lead screw motor 601 output side is provided with the second screw hole, and the other end stretches out the second extension board 620, and is fixed with the second triaxial force transducer 619 downwards, second consumable connecting piece 618 is fixed with to the lower side of second triaxial force transducer 619, second consumable connecting piece 618 is the rectangle frame, its inside for with disposable consumable 500 complex plug groove.

Referring to fig. 15, each third arm device includes a third motor support 607, the third motor support 607 is fixed on the second extension board 620, and supports a third lead screw motor 602 along the length direction of the second extension board 620, a third linear guide 609 is fixed on the second extension board 620 in parallel with the third lead screw motor 602, a third slider is slidably disposed on the top of the third linear guide 609, a rectangular first push board 603 is fixed on the top of the third slider, a third threaded hole matched with the third lead screw motor 602 is formed on one end of the first push board 603, a fourth lead screw motor 614 is vertically fixed on the top surface of the third push board 614, a vertical connection board 613 is arranged in parallel with the fourth lead screw motor 614, a fourth linear guide 605 is vertically fixed on the output end side of the vertical connection board 613 far away from the third lead screw motor 602, a right angle connection board 604 is fixed on the fourth linear guide 605, the top of the right angle connection board 604 extends outwards, a fourth slider is provided with a fourth slider, a fifth force sensor is connected with the third linear guide 608 in parallel with the third linear guide 608, a fifth force sensor is connected with the fifth linear guide 608 in parallel with the third linear guide 608, a fifth linear guide 608 is provided on the fifth linear guide 608, a fifth linear guide 610 is provided on the fifth linear guide 608, and a fifth linear guide 610 is connected with the fifth linear guide 608 is horizontally bent along the third end of the fifth linear guide 608, the third consumable part 616 is a rectangular frame, and a plug slot matched with the disposable consumable part 500 is formed inside the third consumable part 616.

The second clamping piece 621 can be controlled to extend and retract under the driving of the second screw motor 601, thereby completing the clamping of the Y valve. The first push plate 603 can be controlled to extend and retract under the driving of the third screw motor 602, so as to complete the clamping and loosening actions of the guide wire. The right-angle connection plate 604 can be controlled to ascend and descend under the driving of the fourth screw motor 614, so that the twisting action of the guide wire is completed. The third clamping member 606 is controlled to perform forward and backward movements under the driving of the fifth screw motor, so as to perform advancing and retracting movements of the guide wire. The plurality of triaxial force transducers can sense the clamping force of the robot for clamping the guide wire and the pushing force for pushing the guide wire. The triaxial force transducer can sense the clamping force of the robot when clamping the Y valve.

Referring to fig. 16, a schematic structural diagram of a second arm device and a third arm device of a guide wire front end robot is provided, and the structure is the same as that of a guide wire rear end robot, except that the second arm device and the third arm device are arranged in mirror image with the guide wire rear end robot.

The two wire guide robots perform clamping actions on the Y valve and the wire guide by controlling the extension distances of the first push plate 603 and the second clamping piece 621, perform rotating actions on the wire guide by adjusting the forward rotation and the reverse rotation of the fourth screw motor 614, and perform forward or backward pushing of the wire guide by the forward rotation and the reverse rotation of the fifth screw motor 608. The system can realize the action of pushing and rotating the guide wire simultaneously. The basic operation is to clamp the Y valve and the guide wire first, then push the guide wire forward, after about 2cm, control the robot to unclamp the guide wire, control the fifth lead screw motor 608 to retract 2cm, and then clamp the guide wire again. When rotation is needed, 2 robots are controlled to adjust the fourth screw motor 614 to rub the catheter. Sequentially and circularly completing the whole operation process.

Referring to fig. 6 and 7, the base 200 includes a base plate 212, a driving wheel is installed below the base plate 212, four upright posts 202 are fixed above the driving wheel, and the top of each upright post 202 is connected with a trunk and head device 300; a host 205, a lithium battery 201 electrically connected with the host 205, a transformer, a switching power supply 204 and a driving device 203 are arranged among the four upright posts 202;

the driving wheels are four groups, each group comprises an L-shaped piece 208, the top of the L-shaped piece 208 is a horizontal section, the lower part of the L-shaped piece is a vertical section, the horizontal section of the L-shaped piece is vertically connected with a rotary servo motor 211, the vertical section of the L-shaped piece is provided with a bearing hole for the output shaft of an axial servo motor 209 to pass through and rotate, the output shaft of the axial servo motor 209 is connected with a wheel 210, the rotary servo motor 211 and the axial servo motor 209 are both connected with the driving device 203, and the rotary servo motor 211 is fixed in a square hole arranged on a bottom plate 212;

detection cameras

206, 207 are fixed on two sides of the bottom plate 212.

The rotation servo motor 211 can control the steering of the wheels 210, the axial servo motor 209 can control the forward and backward movement of the wheels 210, the two wheels are matched, and the four groups of wheels move together, so that the omnibearing movement of the whole vehicle body can be realized. On the side of the base plate 212, 2 sets of

cameras

206, 207 are mounted for detecting the surrounding environment, and when an obstacle is encountered, the vehicle body operation can be stopped.

The driving device 203 is used for driving each motor. The host 205 is used to receive information, store information, process information, and send instructions to the components. The host 205 is internally provided with a Bluetooth module and a WiFi module, so that wireless data can be sent and received. The lithium battery is used for supplying power to the whole system. The transformer and switching power supply 204 is used to regulate and stabilize the system voltage. When the system is in the operation state, the moving system can be temporarily locked in the direction parallel to the catheter bed, so that the accuracy of the direction during operation is ensured, and the movement can be responded quickly.

Referring to fig. 8 and 9, the torso and head apparatus 300 includes: the trunk device comprises a supporting plate 319, the bottom of the supporting plate 319 is connected with four upright posts 202, two vertical sliding member groups are symmetrically arranged on the supporting plate 319, each vertical sliding member group comprises a guide rail bracket 312 fixed on the supporting plate 319, two groups of sixth linear guide rails 315 are fixed inside each guide rail bracket 312, a sixth sliding block is slidingly arranged on each of the two groups of sixth linear guide rails 315, the sixth sliding block is fixedly connected with the side surface of the head bracket 301, sixth lead screw motors 313 and 320 matched with sixth threaded holes arranged on the head bracket 301 are arranged on the supporting plate 319, two groups of seventh linear guide rails 318 are arranged at the top of the head bracket 301 in parallel along the length direction of the head bracket 301, a seventh lead screw motor 321 is arranged between the two groups of seventh linear guide rails 318 in parallel, a seventh sliding block is slidingly arranged on each of the seventh linear guide rails 318, a head connecting plate 311 is fixedly arranged at the top of the head connecting plate 311, a seventh threaded hole matched with the seventh lead screw motor 321 is formed at the bottom of the head connecting plate, a middle part of the head connecting plate 311 is provided with a bearing hole 314, and an eighth lead screw device is correspondingly arranged at the outer side of the eighth linear guide rail device, and is provided with eight lead screw motors 309;

The first motor bracket 322 is mounted on the head bracket 301 and is fixed with the seventh screw motor 321, and the head connecting plate 311 can move back and forth under the drive of the seventh screw motor 321, so as to complete the extension and retraction actions of the whole arm.

Two groups of parallel eighth lead screw motors 309 are arranged on the head connecting plate 311 and are used for being matched with the arm device, and two groups of motor brackets 310 are arranged on the head connecting plate and are respectively connected with the two eighth lead screw motors 309.

The

sixth screw motor

313, 320 is controlled to synchronously move, so that the system can be controlled to lift and descend.

The head device comprises a turntable 303, the bottom of the turntable 303 rotates in the bearing hole, a rotating shaft gear is fixed on the upward extending part of the rotating shaft of the turntable 303, a rotating motor 317 is connected to the top of the head connecting plate 311, which is close to the turntable 303, through a rotating motor bracket 316, and the output shaft of the rotating motor 317 is upward and connected with a motor gear meshed with the rotating shaft gear; a touch screen 307 is connected to the turntable 303, and two groups of cameras 306 are fixed on two sides of the touch screen 307 through camera supports 305; the rotating motor 317 is connected to the driving device 203;

A touch screen motor bracket 302 is fixed above the turntable 303, a pitching motor 304 is fixed on the side surface of the touch screen motor bracket 302, and an output shaft of the pitching motor 304 is fixed with the bottom of the camera bracket 305; the pitching motor 304 is connected to the driving device 203, and an infrared positioning device 308 is fixed on top of the touch screen 307 and connected to the host 205. The first infrared positioning device and the second infrared positioning device both adopt infrared positioners, are installed above the touch screen 307, can emit infrared rays, the same position of the other wire guiding robot can receive infrared rays, the two can be matched, whether the positioning of the robot is accurate or not can be known, and if the positioning is inaccurate, the robot needs to be adjusted.

The rotating motor 317 may control the rotation of the entire head unit in a horizontal direction, and the pitching motor 304 may control the movement of the head unit in a vertical direction, so that the entire head unit may perform flexible movement, so that the robot may observe objects at various angles. The touch screen 307 is used for human-computer interaction, and people can perform some operations on the touch screen 307, and meanwhile, information of a system is displayed on the touch screen 307. The two sets of cameras 306 are the eyes of the robot for observing the surrounding environment, detecting distance, etc. The resulting information is sent to the host 205 for analysis and processing.

The whole system mainly comprises 4 subsystem robots, namely a catheter front end robot 105, a catheter rear end robot 102, a guide wire front end robot 104 and a guide wire rear end robot 103. The whole device can move in an interventional operation catheter room to complete the control operation of the guide wire catheter in operation. The 4 robots can automatically move, and the cameras arranged in the head device can observe the surrounding environment. Through machine learning, the environment in an operating room can be familiar, and movement can be better performed. The 4 robots can perform wireless communication and can perform cooperation operation.

At the beginning of the operation, after the doctor first completes the preliminary preparation work such as puncture, the doctor installs sterile consumables on the arm device of each robot, then 4 robots sequentially move to the designated positions according to the positions shown in fig. 1, the catheter robot is in front, the guide wire robot is behind, and they are respectively on both sides of the catheter bed 101. The catheter robot and the guide wire robot are provided with infrared positioning devices on the top, and whether the two groups of robots are aligned can be judged according to the infrared positioning devices. Then, the doctor controls the catheter robot to clamp the catheter, the clamping position is the outer sheath outlet, and controls the guide wire robot to clamp the Y valve 107, so that the catheter 106 is straightened into a straight line as much as possible when the Y valve is clamped. The control wire robot clamps the wire 108 at the Y valve outlet. The position sensor on the guide wire robot is clamped on the guide rail of the catheter bed, and after preparation, a doctor performs operation on the robot in a control room to finish operation.

When the guide tube is controlled to advance or retreat, the guide wire robot receives guide tube moving distance information sent by the guide tube robot, and wheels of the guide wire robot are automatically controlled to move forward or backward equidistantly, so that the guide wire robot and the tail end of the guide tube are guaranteed to be in a relatively static state at any time. When the catheter bed moves, the positioning device on the guide wire robot can detect the moving direction and the moving distance of the catheter bed. And then the position information is transmitted to all robots, and each robot moves the respective wheel after calculation, so that all robots synchronously make the same action with the catheter bed, and the moving direction and the moving distance are synchronous.

If the catheter bed moves forward, the wheels of the guide wire robot and the catheter robot synchronously rotate forward, the catheter bed moves left and right, the arms of the guide wire robot and the catheter robot correspondingly elongate and recover, the catheter bed moves up and down, and the arms of the guide wire robot and the catheter robot correspondingly lift and descend. Through the cooperation action of 4 robots, can realize the operation in-process to the good control of pipe seal wire, make the pipe be in sharp state all the time. The guide wire propelling mechanism and the catheter propelling mechanism are matched to finish the propelling and rotating action control of the guide wire and the catheter. After the operation is finished, the sterile consumables are removed and then are uniformly recycled, and 4 robots can automatically move to corners of an operating room without influencing the patient to get on and off the bed and transport.

The invention solves the problems that the doctor eats the wire, reduces the intake of X-rays by the doctor, influences the control of the guide wire after the catheter moves, is inconvenient to install and remove equipment, is inconvenient to transfer equipment, has no fixation of an outer sheath, has overlarge volume of an aseptic box, cannot measure the pushing stress of the guide wire catheter, and cannot finish the automatic positioning and homing of the robot.

The base of the invention adopts a vehicle body structure, can freely move in the conduit chamber, and is suitable for the use environment of the conduit chamber. The design has multiunit camera, can guarantee security and accuracy in the automobile body removes.

The whole structure is simple, the stability is good, the modularized structural design is adopted, the disassembly and assembly are simple and convenient, the structure is compact, the volume is small, and the device is very suitable for the operation environment.

The robot is not required to be installed, so that automatic positioning in operation and automatic homing after operation can be realized. And the catheter bed is not contacted, so that the damage to the catheter bed is avoided.

The invention is suitable for various catheters and guide wires, has strong universality, can adjust the clamping degree of the guide wires at any time, ensures no slipping phenomenon, powerfully feeds back, and can ensure the safety of the operation.

The invention adopts the disposable surgical consumable design, simplifies the disinfection step and is convenient for clinical use. The surgical consumable has simple structure, can be quickly installed and removed, and has good stability and low price.

The invention is accompanied by deep machine learning, and the robot can automatically perform operation.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present invention. In this specification, schematic representations of the above terms are not necessarily directed 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. Further, one skilled in the art can engage and combine the different embodiments or examples described in this specification.

While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims

1. A sterile, convenient angiographic interventional procedure system, comprising: a pair of catheter front end robots (105), a catheter rear end robot (102), a pair of guide wire front end robots (104) and a guide wire rear end robot (103) which can move in an interventional operation catheter room and can be arranged at both sides of a catheter bed (101) in pairs;

The four robots are in wireless communication connection and comprise a base (200), a trunk and head device (300) and an arm device; wherein the base (200) and the trunk and head device (300) corresponding to the four robots have the same structure;

the matched clamping positions of the first arm devices corresponding to the front end robot (105) and the rear end robot (102) of the catheter are at the position of an outer sheath outlet, the front end robot (104) of the guide wire and the rear end robot (103) of the guide wire are respectively provided with a second arm device and a third arm device, the matched clamping positions of the two second arm devices are Y valves (107), the guide tube (106) is kept to be straightened into a straight line, the two third arm devices are matched with the guide wire (108), and the clamping positions of the two third arm devices are at the position of the Y valve outlet;

the guide wire front end robot (104) or the guide wire rear end robot (103) is provided with a position sensor which is clamped on a guide rail of the guide tube bed (101), the heads of the guide wire front end robot (104) and the guide wire rear end robot (103) are provided with a first group of infrared positioning devices, and the heads of the guide tube front end robot (105) and the guide tube rear end robot (102) are provided with a second group of infrared positioning devices for aligning the positions of the robots;

the doctor controls each robot in the control room.

2. The sterile, easy-to-use angiographic interventional procedure system according to claim 1, wherein the first, second and third arm devices are each detachable with a disposable consumable (500).

3. A sterile convenient angiographic interventional procedure system according to claim 2, characterized in that the disposable consumable (500) comprises a back plate (503) with a front surface for attaching a medical silicone pad (504), and a back surface with two handles (502) extending in parallel backward and having elasticity, wherein the two handles (502) are provided with stoppers (501) on the outer side surface for inserting and clamping with the clamping ends of the arm devices.

4. The angiographic interventional surgical system according to claim 2, wherein two first arm devices corresponding to the catheter front end robot (105) and the catheter rear end robot (102) have the same structure, each first arm device comprises a first elongated plate (401), parts on the upper portion of the first elongated plate (401) corresponding to the two first arm devices are arranged in a mirror image mode, each first elongated plate (401) slides on the trunk and the head device (300) along the vertical length direction of the parts, a first motor bracket (402) is fixed on the first elongated plate, the first motor bracket (402) supports a first screw motor (403) along the vertical length direction of the first elongated plate (401), a first linear guide rail (404) is arranged on the first elongated plate (401) in parallel with the arrangement direction of the first screw motor (403), a first slider is fixed on the top of the first slider, and the first slider (409) is provided with a first clamping member (409) matched with the first screw motor (403) and is connected with the first threaded hole (401) in a first extending mode.

5. The angiographic interventional operation system with convenient sterilization according to claim 4, wherein the first clamping member (409) comprises a body plate fixed on the first slider, one end of the body plate is a vertical plate (407), a first threaded hole is formed in the vertical plate, the other end of the body plate is an L-shaped plate (408), a first triaxial force transducer (405) is fixed at the lower end of the L-shaped plate (408) vertically, a first consumable connecting member (406) is fixed below the first triaxial force transducer (405), and the first consumable connecting member (406) is a rectangular frame, and is internally provided with a plug slot matched with the disposable consumable (500).

6. A sterile facile angiographic interventional procedure system according to claim 2, characterized in that the two second arm arrangements and the two third arm arrangements corresponding to the guide wire front end robot (104) and the guide wire back end robot (103) are identical in structure and arranged in mirror image; one second arm device and one third arm device are both fixed on a rectangular second extension plate (620), and the second extension plate (620) slides on the trunk and head device (300) along the length direction of the second extension plate, so that the telescopic movement of the relative clamping channel is realized.

7. The angiographic interventional surgical system according to claim 6, wherein each second arm device comprises a second motor support (622), the second motor supports (622) are fixed on the second extension plate (620), the second motor supports (601) are supported on the second extension plate (620) along the length direction of the second extension plate (620), second linear guide rails (6091) are fixed on the second extension plate (620) in parallel with the second screw motor (601), second slide blocks are slid on the tops of the second linear guide rails (6091), second clamping pieces (621) are fixed on the tops of the second slide blocks, one ends of the second clamping pieces (621) are rectangular, the other ends of the second clamping pieces are extended out of the second extension plate (620), second triaxial force sensors (619) are fixed downwards, second connecting pieces (618) are fixed below the second triaxial force sensors (619), and the second rectangular connecting pieces (618) are matched with consumable material boxes (500) in a disposable mode.

8. The angiographic interventional surgical system according to claim 6, wherein each of the third arm devices comprises a third motor support (607), the third motor support (607) is fixed on the second extension plate (620) and supports a third screw motor (602) along the length direction of the second extension plate (620), a third linear guide (609) is fixed on the second extension plate (620) in parallel with the third screw motor (602), a third slider is sliding on the top of the third linear guide (609), a rectangular first push plate (603) is fixed on the top of the third slider, a fourth screw motor (614) is vertically fixed on the top surface of the first push plate (603), a vertical connecting plate (613) is arranged in parallel with the fourth screw motor (614), a fourth linear guide (605) is vertically fixed on the output end side of the second extension plate (620) away from the third screw motor (602), a fourth linear guide (605) is fixed on the top of the fourth push plate (603), a fourth linear guide (605) is extended to the fourth linear guide (604) and is provided with a rectangular first push plate (603) which is matched with the fourth screw motor (602), perpendicular on right angle connecting plate (604) horizontal segment second extension board (620) length direction is provided with fifth lead screw motor (608), right angle connecting plate (604) horizontal segment with fifth lead screw motor (608) parallel arrangement has fifth linear guide (610), it has the fifth slider to slide on fifth linear guide (610), fifth slider top is fixed with third clamping part (606), third clamping part (606) one end have with fifth screw hole of fifth lead screw motor (608) complex, the other end stretch out second extension board (620) to buckle downwards and connect third triaxial force transducer (611), third triaxial force transducer (611) below is fixed with third consumable connecting piece (616), third consumable connecting piece (616) are rectangular frame, its inside be with disposable consumable (500) complex plug groove.

9. The portable sterile angiographic interventional procedure system according to claim 1, characterized in that the base (200) comprises a bottom plate (212), a driving wheel is mounted below the bottom plate (212), four upright posts (202) are fixed above the driving wheel, and the tops of the upright posts (202) are connected with a trunk and head device (300); a host (205), a lithium battery (201), a transformer, a switching power supply (204) and a driving device (203) which are electrically connected with the host (205) are arranged among the four upright posts (202); the driving wheels are four groups, each group comprises an L-shaped piece (208), the top of each L-shaped piece (208) is a horizontal section, the lower part of each L-shaped piece is a vertical section, a rotary servo motor (211) is vertically connected to the horizontal section of each L-shaped piece, bearing holes for the output shafts of the axial servo motors (209) to penetrate through and rotate are formed in the vertical sections of each L-shaped piece, the output shafts of the axial servo motors (209) are connected with wheels (210), the rotary servo motors (211) and the axial servo motors (209) are connected with the driving devices (203), and the rotary servo motors (211) are fixed in square holes formed in the bottom plates (212); detection cameras (206, 207) are fixed on two sides of the bottom plate (212).

10. A sterile facile angiographic interventional procedure system according to claim 9, characterized in that said torso and head device (300) comprises: the trunk device comprises a supporting plate (319), four upright posts (202) are connected to the bottom of the supporting plate (319), two vertical sliding part groups are symmetrically arranged on the supporting plate, each vertical sliding part group comprises a guide rail bracket (312) fixed on the supporting plate (319), two groups of sixth linear guide rails (315) are fixed inside each guide rail bracket (312), a sixth sliding block is arranged on each of the two groups of sixth linear guide rails (315) in a sliding mode, the sixth sliding block is fixedly connected with the side face of the head bracket (301), sixth lead screw motors (313, 320) matched with sixth threaded holes formed in the head bracket (301) are arranged on the supporting plate (319), two groups of seventh linear guide rails (318) are arranged at the top of the head bracket (301) in parallel along the length direction of the head bracket, a seventh lead screw motor (321) is arranged between the two groups of seventh linear guide rails (318), a seventh sliding block is arranged on each of the seventh linear guide rails (318), a head motor (311) is fixed at the top of the seventh sliding block, a connecting plate (311) is provided with a seventh threaded hole, an eighth lead screw motor (311) is arranged at the bottom of the head bracket (301) in a sliding mode, the eighth lead screw motor (311) is provided with a threaded hole formed in the middle of the head bracket, the eighth linear guide rail (314) is provided with a connecting plate (314), and the eighth threaded hole is provided at the top of the head device, an eighth screw motor (309) corresponds to the outer side of each eighth linear guide rail (314), and an eighth threaded hole matched with the eighth screw motor (309) is formed in the arm device;

The head device comprises a rotary table (303), the bottom of the rotary table (303) rotates in the bearing hole, a rotating shaft gear is fixed on the upward extending part of the rotating shaft of the rotary table, a rotating motor (317) is connected to the position, close to the rotary table (303), of the top of the head connecting plate (311) through a rotating motor bracket (316), and an output shaft of the rotating motor (317) faces upwards and is connected with a motor gear meshed with the rotating shaft gear; a touch screen (307) is connected to the turntable (303), and two groups of cameras (306) are fixed on two sides of the touch screen (307) through camera supports (305); the rotating electric machine (317) is connected to the driving device (203);

a touch screen motor bracket (302) is fixed above the turntable (303), a pitching motor (304) is fixed on the side surface of the touch screen motor bracket (302), and an output shaft of the pitching motor (304) is fixed with the bottom of the camera bracket (305); the pitching motor (304) is connected with the driving device (203), and the infrared positioning device (308) is fixed on the top of the touch screen (307) and connected with the host (205).