CN116492055A - Vascular intervention operation robot - Google Patents

Abstract

The present application relates to a vascular interventional procedure robot, comprising: a bracket; the driving box assembly is provided with a first accommodating cavity; the Y-shaped hemostatic valve is arranged in the first accommodating cavity, and the first end of the Y-shaped hemostatic valve is used for being connected with the guide catheter; and the first driving assembly is arranged on the bracket, the output end of the first driving assembly is connected with the driving box assembly, and the first driving assembly is configured to drive the driving box assembly to perform linear motion. The vascular intervention surgical robot can realize the forward and backward movement of the guiding catheter in the human blood vessel. Based on the vascular interventional operation robot, if the guiding catheter is separated from the target position in the process of performing the operation, the guiding catheter can be advanced or retracted by the driving action of the first driving assembly, so that the guiding catheter is restored to the target position. In this way, manual adjustment of the guide catheter is not required, avoiding the risk of exposure of the doctor to ionizing radiation from X-rays.

Description

Vascular intervention operation robot

Technical Field

The application relates to the technical field of medical instruments, in particular to a vascular intervention surgical robot.

Background

Guide wires and catheter interventions are effective means for treating vascular diseases, but doctors and medical staff in operation can be exposed to ionizing radiation of X rays for a long time to cause various influences and injuries to the bodies of the doctors and medical staff. Therefore, in recent years, vascular intervention robots have rapidly developed, by means of which a doctor can precisely perform vascular intervention by means of physical isolation or remote operation. During the operation, the doctor is in a safe environment, thereby solving the problem of exposing the operation to the ionizing radiation of X rays.

The vascular intervention operation robot in the related art cannot drive the guiding catheter, and the guiding catheter needs to be manually controlled to reach the target position before operation. If the guide catheter is guided out of the target position during surgery, it is necessary to manually restore the guide catheter to the target position, so that a doctor performing the relevant operation has to be exposed to ionizing radiation of X-rays, which poses a risk.

Disclosure of Invention

Based on this, it is necessary to provide a vascular interventional surgical robot to solve the problem that manual restoration to the target position is required when the guide catheter is deviated from the target position.

The embodiment of the application provides a vascular intervention surgical robot, which comprises: a bracket; a drive cassette assembly provided with a first receiving cavity; the Y-shaped hemostatic valve is arranged in the first accommodating cavity, and the first end of the Y-shaped hemostatic valve is used for being connected with the guiding catheter; and the first driving assembly is arranged on the bracket, the output end of the first driving assembly is connected with the driving box assembly, and the first driving assembly is configured to drive the driving box assembly to perform linear motion.

Vascular intervention surgical robot in this application embodiment, it is provided with first drive assembly, and first drive assembly sets up in support and first drive assembly's output and drive box subassembly are connected, and Y type hemostasis valve sets up in the first chamber that holds of drive box subassembly, and the first end of Y type hemostasis valve is used for connecting the guide pipe. So set up, when first drive assembly drive box subassembly carries out rectilinear motion, drive box subassembly can drive the Y type hemostasis valve synchronous motion in holding the chamber, and Y type hemostasis valve can drive the guide pipe of being connected with it when the motion carries out rectilinear motion, from this, can realize guiding the advance and the back of pipe in human blood vessel. Based on the vascular interventional operation robot, if the guiding catheter is separated from the target position in the process of performing the operation, the guiding catheter can be advanced or retracted by the driving action of the first driving assembly, so that the guiding catheter is restored to the target position. In this way, manual adjustment of the guide catheter is not required, avoiding the risk of exposure of the doctor to ionizing radiation from X-rays.

In some embodiments, the Y-shaped hemostatic valve is rotatably mounted to the first receiving cavity; the vascular intervention surgical robot further comprises a first bevel gear and a second bevel gear, the first bevel gear is arranged at the first end of the Y-shaped hemostatic valve, the second bevel gear is arranged at the bottom wall of the first accommodating cavity, and the second bevel gear is meshed with the first bevel gear.

In some embodiments, the Y-shaped hemostatic valve includes a hemostatic valve body and a locking portion disposed at an end of the hemostatic valve body remote from the first bevel gear, the locking portion configured to be rotatable relative to the hemostatic valve body to control the Y-shaped hemostatic valve to open or close; the vascular intervention surgical robot further comprises a third bevel gear and a fourth bevel gear, the third bevel gear is connected with the locking part, the fourth bevel gear is arranged on the bottom wall of the first accommodating cavity, and the fourth bevel gear is meshed with the third bevel gear.

In some embodiments, the vascular interventional procedure robot further includes a guidewire rectilinear motion control assembly disposed within the first receiving cavity, the guidewire rectilinear motion control assembly including: the first mounting rack is arranged on the bottom wall of the first accommodating cavity; a first rolling member rotatably mounted to the first mounting frame; the second mounting rack is arranged on the bottom wall of the first accommodating cavity; and a second rolling member rotatably mounted to the second mounting frame; wherein the first roller and the second roller are configured to grip a guidewire and drive the guidewire to move.

In some embodiments, the vascular interventional procedure robot further includes a guidewire rotation control assembly disposed within the first receiving cavity, the guidewire rotation control assembly including: the third mounting rack is arranged on the bottom wall of the first accommodating cavity; a third rolling member mounted to the third mounting bracket; the fourth mounting rack is arranged on the bottom wall of the first accommodating cavity; a fourth roller slidably mounted to the fourth mount, the third roller and the fourth roller being configured to be capable of sandwiching the guidewire; and a second drive assembly for driving the fourth roller to slide relative to the fourth mount to move the fourth roller relative to the third roller.

In some embodiments, the fourth rolling member includes a rolling portion and a supporting portion, the rolling portion being disposed on the supporting portion, the supporting portion having a rack disposed thereon; the second driving assembly comprises a driving gear and a transmission gear set, wherein the driving gear is in transmission connection with the rack through the transmission gear set, so that the rack is driven to move through the transmission gear set.

In some embodiments, the third mounting frame includes a first fixed frame body, a first movable frame body, a first elastic member and a first handle, the first movable frame body is hinged to the first fixed frame body, the first elastic member is disposed between the first movable frame body and the first fixed frame body, and the first elastic member is configured to make the third rolling member approach to the fourth rolling member; the first handle is connected with the first movable frame body.

In some embodiments, the vascular interventional procedure robot further comprises a guidewire rotation control assembly disposed within the first containment lumen; the second mounting frame comprises a second fixing frame body and a second movable frame body, and the second movable frame body is hinged to the second fixing frame body; the vascular interventional surgical robot further comprises a cam and an elastic reset piece, wherein the cam is configured to drive the second movable frame body to rotate relative to the second fixed frame body so as to enable the second rolling piece to be far away from the first rolling piece; the elastic reset piece is configured to provide elastic force for the second movable frame body so as to enable the second rolling piece to approach the first rolling piece.

In some embodiments, the second mount further comprises a second handle coupled to the second movable mount.

In some embodiments, the vascular interventional procedure robot further includes a balloon catheter motion control assembly disposed within the first receiving cavity, the balloon catheter motion control assembly comprising: the fifth mounting rack is arranged on the bottom wall of the first accommodating cavity; a fifth rolling member rotatably mounted to the fifth mount; the sixth mounting rack is arranged on the bottom wall of the first accommodating cavity; and a sixth rolling member rotatably mounted to the sixth mounting frame, the fifth rolling member and the sixth rolling member being configured to be capable of sandwiching a balloon catheter and driving the balloon catheter to move.

In some embodiments, the balloon catheter motion control assembly further comprises: a seventh rolling member rotatably mounted to the fifth mount; a seventh mounting bracket disposed at a bottom wall of the first accommodation chamber; an eighth roller rotatably mounted to the seventh mount, the seventh roller and the eighth roller configured to be capable of sandwiching a balloon catheter; a count encoder configured to detect a number of turns the seventh rolling member or the eighth rolling member has rotated; and a controller connected with the counting encoder, wherein the counting encoder is configured to send the number of turns information to the controller, and the controller is configured to calculate the moving distance and/or the moving speed of the balloon catheter according to the number of turns information.

In some embodiments, the sixth mounting frame includes a first fixed portion provided to a bottom wall of the first accommodation chamber, a first movable portion hinged to the first fixed portion, and a second elastic member provided between the first movable portion and the first fixed portion, the second elastic member configured to bring the sixth rolling member closer to the fifth rolling member; the seventh mounting frame comprises a second fixing portion, a second movable portion and a third elastic piece, wherein the second fixing portion is arranged on the bottom wall of the first accommodating cavity, the second movable portion is hinged to the second fixing portion, the eighth rolling piece is arranged on the second movable portion, the third elastic piece is arranged between the second movable portion and the second fixing portion, and the third elastic piece is configured to enable the eighth rolling piece to approach the seventh rolling piece.

In some embodiments, the balloon catheter motion control assembly further comprises a third handle, a first link, and a second link, the third handle being connected to the first movable portion by the first link, the third handle being connected to the second movable portion by the second link.

In some embodiments, the drive cassette assembly includes a first cassette body and a cover plate that together define the first receiving cavity; the cover plate is provided with a first limit groove for accommodating the guide wire and a second limit groove for accommodating the cavity balloon catheter, and is also provided with a first locking assembly and a second locking assembly, wherein the first locking assembly comprises a first locking piece and a first control member, and the first control member is connected with the first locking piece so that the first locking piece is matched with the first limit groove to limit the guide wire; the second locking assembly comprises a second locking piece and a second control component, and the second control component is connected with the second locking piece, so that the second locking piece is matched with the second limiting groove to limit the balloon catheter.

In some embodiments, the vascular interventional surgical robot further comprises a support member connected to the stent, the support member is provided with a channel for the guide catheter to pass through, and a through groove extending along the length direction of the support member and communicating with the channel is provided on the side wall of the support member.

In some embodiments, the proximal end of the support member is in a curved arrangement.

Drawings

FIG. 1 is a schematic view of a vascular interventional procedure robot according to an embodiment of the present application;

FIG. 2 is a schematic view of a part of a vascular interventional operation robot according to an embodiment of the present application;

FIG. 3 is a schematic view illustrating an internal structure of a first case according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram showing the connection of a Y-shaped hemostatic valve, a first bevel gear, a second bevel gear, a third bevel gear, and a fourth bevel gear according to an embodiment of the present application;

FIG. 5 is a schematic view of a linear motion control assembly for a guidewire according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a guidewire rotation control assembly according to an embodiment of the present application;

FIG. 7 is a balloon catheter motion control assembly in an embodiment of the present application;

FIG. 8 is a schematic structural view of a cover plate according to an embodiment of the present application;

FIG. 9 is a schematic view of a cover plate according to an embodiment of the present disclosure at another view angle;

FIG. 10 is a schematic view of a structure of a bracket and a second case according to an embodiment of the present application;

fig. 11 is a schematic structural view of a support member in an embodiment of the present application.

Detailed Description

In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is, however, susceptible of embodiment in many other forms than those described herein and similar modifications can be made by those skilled in the art without departing from the spirit of the application, and therefore the application is not to be limited to the specific embodiments disclosed below.

In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

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 at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

In this application, unless specifically stated 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; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

For ease of description, in the following description and elsewhere in this document, the end of the instrument that is proximal to the drive means and distal to the body vessel is referred to as the proximal end, and the end that is distal to the drive means and proximal to the body vessel is referred to as the distal end.

The present embodiments provide a vascular interventional procedure robot 10. As shown in fig. 1, 2, 3 and 4, the vascular interventional procedure robot 10 includes a stent 100, a drive cassette assembly 200, a Y-shaped hemostasis valve 300, and a first drive assembly 400. Specifically, the drive cassette assembly 200 is provided with a first receiving cavity 201, and a Y-shaped hemostatic valve 300 is disposed within the first receiving cavity 201, with a first end of the Y-shaped hemostatic valve 300 being adapted to be connected to a guide catheter. The first driving assembly 400 is disposed on the bracket 100, an output end of the first driving assembly 400 is connected to the driving box assembly 200, and the first driving assembly 400 is configured to drive the driving box assembly 200 to perform linear motion.

The vascular intervention surgical robot 10 in the embodiment of the application is provided with a first driving assembly 400, the first driving assembly 400 is arranged on the support 100, the output end of the first driving assembly 400 is connected with the driving box assembly 200, the Y-shaped hemostatic valve 300 is arranged in the first accommodating cavity 201 of the driving box assembly 200, and the first end of the Y-shaped hemostatic valve 300 is used for connecting a guiding catheter. So set up, when first drive assembly 400 drive box subassembly 200 carries out rectilinear motion, drive box subassembly 200 can drive the Y type hemostasis valve 300 synchronous motion in holding the chamber, and Y type hemostasis valve 300 can drive the guide pipe who connects with it and carry out rectilinear motion when the motion, from this, can realize guiding the advance and the back of pipe in human blood vessel. Based on the vascular interventional procedure robot 10, if the guide catheter is deviated from the target position during the procedure, the guide catheter can be advanced or retracted by the driving action of the first driving unit 400, thereby restoring the target position. In this way, manual adjustment of the guide catheter is not required, avoiding the risk of exposure of the doctor to ionizing radiation from X-rays.

In some embodiments, the first drive assembly 400 is a sled that has high motion control accuracy such that the motion accuracy of the guide catheter meets surgical requirements.

In some embodiments, the Y-shaped hemostatic valve 300 is rotatably mounted to the first receiving cavity 201. The vascular intervention robot 10 further includes a first bevel gear 310 and a second bevel gear 320, the first bevel gear 310 is disposed at a first end of the Y-shaped hemostatic valve 300, the second bevel gear 320 is disposed at a bottom wall of the first accommodating chamber 201, and the second bevel gear 320 is engaged with the first bevel gear 310.

So set up, can drive first bevel gear 310 rotation through driving second bevel gear 320 rotation, first bevel gear 310 can drive Y type hemostasis valve 300 synchronous rotation when rotating, and Y type hemostasis valve 300 can further drive the guide pipe rotation of being connected with it when rotating. Thereby, the vascular intervention surgical robot 10 also has the function of driving the guiding catheter to rotate. In the process of adjusting the movement of the guide catheter to restore the guide catheter to the target position, it is sometimes necessary to adjust the angle of the guide catheter so that the guide catheter can adapt to the shape of the blood vessel, so that the guide catheter can be smoothly advanced in the blood vessel. The vascular intervention surgical robot 10 in the embodiment of the application can control the guiding catheter to perform linear motion and control the guiding catheter to rotate, so that the guiding catheter has stronger adaptability when moving in the blood vessel.

In some embodiments, the Y-shaped hemostatic valve 300 includes a hemostatic valve body 301 and a locking portion 302, the locking portion 302 being disposed at an end of the hemostatic valve body 301 remote from the first bevel gear 310, the locking portion 302 being configured to be rotatable relative to the hemostatic valve body 301 to control the Y-shaped hemostatic valve 300 to open or close. The vascular intervention robot 10 further includes a third bevel gear 330 and a fourth bevel gear 340, the third bevel gear 330 is connected to the locking part 302, the fourth bevel gear 340 is disposed at the bottom wall of the first receiving chamber 201, and the fourth bevel gear 340 is engaged with the third bevel gear 330.

So configured, the third bevel gear 330 can be driven to rotate by driving the fourth bevel gear 340 to rotate, and the third bevel gear 330 can drive the locking portion 302 to rotate relative to the hemostatic valve body 301 when rotating, so that the Y-shaped hemostatic valve 300 is controlled to be opened or closed by the locking portion 302.

It should be noted that, when only the rotation of the Y-shaped hemostatic valve 300 needs to be adjusted without changing the opened and closed states of the Y-shaped hemostatic valve 300, the rotation of the second bevel gear 320 and the fourth bevel gear 340 needs to be controlled simultaneously, so that the second bevel gear 320 and the third bevel gear drive the Y-shaped hemostatic valve 300 to rotate, and the fourth bevel gear 340 can drive the locking portion 302 to synchronously rotate through the third bevel gear 330, thereby making the locking portion 302 stationary relative to the hemostatic valve body 301, so that the opened and closed states of the Y-shaped hemostatic valve 300 are not changed.

In some embodiments, as shown in fig. 3 and 5, the vascular interventional procedure robot 10 further includes a guidewire rectilinear motion control assembly 500 disposed within the first receiving chamber 201. The guide wire linear motion control assembly 500 includes a first mounting frame 510, a first rolling member 520, a second mounting frame 530, and a second rolling member 540, wherein the first mounting frame 510 is disposed on a bottom wall of the first accommodating chamber 201, the first rolling member 520 is rotatably mounted on the first mounting frame 510, the second mounting frame 530 is disposed on a bottom wall of the first accommodating chamber 201, the second rolling member 540 is rotatably mounted on the second mounting frame 530, and the first rolling member 520 and the second rolling member 540 are configured to clamp the guide wire and drive the guide wire to move.

The first rolling member 520 and the second rolling member 540 may be rotatable members such as a roller, a drum, or the like. When it is desired to control the advancing or retreating of the guide wire in the blood vessel, the guide wire may be clamped by the first rolling member 520 and the second rolling member 540 and then the first rolling member 520 is driven to rotate, so that the guide wire is linearly moved by the friction force of the first rolling member 520 to advance or retreat in the blood vessel.

Of course, after the guide wire is clamped by the first rolling member 520 and the second rolling member 540, the second rolling member 540 may be driven to rotate, so that the guide wire can perform linear motion under the friction force of the second rolling member 540. Alternatively, the first rolling member 520 and the second rolling member 540 may be driven to rotate simultaneously, so that the guide wire can perform linear motion under the friction force of the first rolling member 520 and the second rolling member 540.

In some embodiments, as shown in fig. 3 and 6, the vascular interventional procedure robot 10 further includes a guidewire rotation control assembly 600 disposed within the first receiving lumen 201. The guide wire rotation control assembly 600 includes a third mounting frame 610, a third rolling member 620, a fourth mounting frame 630, a fourth rolling member 640, and a second driving assembly 650, wherein the third mounting frame 610 is disposed on a bottom wall of the first accommodating chamber 201, the third rolling member 620 is mounted on the third mounting frame 610, the fourth mounting frame 630 is disposed on a bottom wall of the first accommodating chamber 201, the fourth rolling member 640 is slidably mounted on the fourth mounting frame 630, and the third rolling member 620 and the fourth rolling member 640 are configured to clamp the guide wire. The second driving assembly 650 is used to drive the fourth rolling member 640 to slide with respect to the fourth mounting frame 630 to move the fourth rolling member 640 with respect to the third rolling member 620. The sliding direction of the fourth rolling member 640 is the axial direction of the fourth rolling member 640.

The third rolling member 620 and the fourth rolling member 640 may be rotatable members such as rollers, drums, and the like. The third rolling member 620 and the fourth rolling member 640 clamp the guide wire together, and when the guide wire linear motion control assembly 500 controls the guide wire to perform linear motion, the clamping of the guide wire by the third rolling member 620 and the fourth rolling member 640 does not affect the linear motion of the guide wire because the third rolling member 620 and the fourth rolling member 640 can both rotate.

When the rotation of the guide wire needs to be controlled, the second driving component 650 can drive the fourth rolling element 640 to slide relative to the fourth mounting frame 630, and at this time, in the sliding process of the fourth rolling element 640, the fourth rolling element 640 drives the guide wire to rotate through friction force.

Further, the fourth rolling element 640 includes a rolling portion 641 and a supporting portion 642, the rolling portion 641 is provided to the supporting portion 642, and a rack 643 is provided to the supporting portion 642. The second driving assembly 650 includes a driving gear 651 and a driving gear set, and the driving gear 651 is in driving connection with the rack 643 through the driving gear set, so as to drive the rack 643 to move through the driving gear set. Thus, the fourth rolling member 640 slides relative to the fourth mounting frame 630 through the transmission among the driving gear 651, the transmission gear set and the rack 643, thereby driving the rotation of the guide wire.

Illustratively, the drive gear set may include a fifth bevel gear 652, a first spur gear 653, and a second spur gear 654, and the drive gear 651 may be a bevel gear, wherein the fifth bevel gear 652 meshes with the drive gear 651, the first spur gear 653 is coaxially disposed with and fixedly coupled to the fifth bevel gear 652, the second spur gear 654 meshes with the first spur gear 653, and the second spur gear 654 meshes with the rack 643. So set up, when the drive gear 651 rotates, can drive the rotation of fifth bevel gear 652, fifth bevel gear 652 drives first straight gear 653 to rotate, and first straight gear 653 further drives second straight gear 654 to rotate, and second straight gear 654 drives rack 643 to produce rectilinear motion, and then, makes fourth rolling member 640 produce sliding motion relative to fourth mounting bracket 630.

In some embodiments, the third mounting frame 610 includes a first fixed frame 611, a first movable frame 612, a first elastic member 613 and a first handle 614, the first movable frame 612 is hinged to the first fixed frame 611, the first elastic member 613 is disposed between the first movable frame 612 and the first fixed frame 611, and the first elastic member 613 is configured to enable the third rolling member 620 to approach the fourth rolling member 640, and the first handle 614 is connected to the first movable frame 612. So set up, the mounting guide wire of being convenient for. Specifically, the first handle 614 may be first shifted, so that the first handle 614 drives the first movable frame 612 to rotate relative to the first fixed frame 611, thereby moving the third rolling member 620 away from the fourth rolling member 640, and then the guide wire is installed and positioned between the third rolling member 620 and the fourth rolling member 640. Then, the first handle 614 is released, and the first movable frame 612 rotates reversely relative to the first fixed frame 611 under the elastic action of the first elastic element 613, so that the third rolling element 620 returns to the original position, and at this time, the third rolling element 620 and the fourth rolling element 640 clamp the guide wire together.

In some embodiments, as shown in fig. 3 and 5, the vascular interventional procedure robot 10 further includes a guidewire rotation control assembly 600 disposed within the first receiving lumen 201. The second mounting bracket 530 includes a second fixed frame 531 and a second movable frame 532, and the second movable frame 532 is hinged to the second fixed frame 531. The vascular interventional surgical robot 10 further includes a cam 701 and an elastic restoring member 702, the cam 701 being configured to be able to drive the second movable frame 532 to rotate with respect to the second fixed frame 531 so as to move the second rolling member 540 away from the first rolling member 520. The elastic restoring member 702 is configured to provide an elastic force to the second movable frame 532 to bring the second rolling member 540 closer to the first rolling member 520.

In this embodiment, the second rolling member 540 can be controlled to move away from or toward the first rolling member 520 by cooperation of the control cam 701 and the elastic restoring member 702. When the rotation of the guide wire needs to be controlled, the second rolling member 540 can be controlled to be away from the first rolling member 520, so that the guide wire is not clamped by the first rolling member 520 and the second rolling member 540 any more, and the guide wire rotation control assembly 600 can smoothly drive the guide wire to rotate. When the rotation of the guide wire is completed, the second rolling member 540 can be controlled to approach the first rolling member 520, so that the first rolling member 520 and the second rolling member 540 clamp the guide wire again, and the guide wire maintains the current position and angle.

Specifically, the cam 701 and the elastic restoring member 702 are controlled as follows: the control cam 701 rotates by a certain angle, and the second movable frame 532 rotates relative to the second fixed frame 531 under the pushing action of the cam 701, so as to drive the second rolling member 540 to be far away from the first rolling member 520. The cam 701 continues to rotate by a certain angle, and the cam 701 does not push the second movable frame 532 any more, at this time, the second movable frame 532 reversely rotates relative to the second fixed frame 531 under the action of the elastic reset element 702, so as to drive the second rolling element 540 to approach the first rolling element 520.

Further, the second mounting frame 530 further includes a second handle 533 coupled to the second movable frame 532. The second movable frame 532 can also be driven to rotate relative to the second fixed frame 531 by the second handle 533, so that the second rolling element 540 is far away from the first rolling element 520, at this time, the guide wire can be conveniently installed, after the guide wire is installed in place, the second handle 533 is loosened, and under the action of the elastic reset element, the second movable frame 532 reversely rotates relative to the second fixed frame 531, so that the second rolling element 540 is driven to be close to the first rolling element 520, and therefore the second rolling element 540 and the first rolling element 520 clamp the guide wire together.

In some embodiments, as shown in fig. 3 and 7, the vascular interventional procedure robot 10 further includes a balloon catheter motion control assembly 800 disposed within the first receiving chamber 201. Balloon catheter motion control assembly 800 includes a fifth mount 810, a fifth rolling member 820, a sixth mount 830, and a sixth rolling member 840. Specifically, the fifth mounting frame 810 is disposed at the bottom wall of the first accommodating chamber 201, the fifth rolling member 820 is rotatably mounted to the fifth mounting frame 810, the sixth mounting frame 830 is disposed at the bottom wall of the first accommodating chamber 201, the sixth rolling member 840 is rotatably mounted to the sixth mounting frame 830, and the fifth rolling member 820 and the sixth rolling member 840 are configured to be capable of clamping the balloon catheter and driving the balloon catheter to move.

The fifth rolling member 820 and the sixth rolling member 840 may be rotatable members such as rollers, drums, or the like. When it is necessary to control the balloon catheter to advance or retreat in the blood vessel, the balloon catheter may be clamped by the fifth rolling member 820 and the sixth rolling member 840 and then the fifth rolling member 820 is driven to rotate, so that the balloon catheter moves linearly under the frictional force of the fifth rolling member 820 to advance or retreat in the blood vessel.

In some embodiments, balloon catheter motion control assembly 800 further includes a seventh roller 850 rotatably mounted to fifth mount 810, a seventh mount 870 disposed on a bottom wall of first housing 201, an eighth roller 860 rotatably mounted to seventh mount 870, a counter encoder (not shown) and a controller (not shown), seventh roller 850 and eighth roller 860 configured to clamp a balloon catheter. The counting encoder is configured to detect the number of turns of the seventh rolling member 850 or the eighth rolling member 860, the controller is connected to the counting encoder, the counting encoder is configured to send the number of turns information to the controller, and the controller is configured to calculate the moving distance and/or the moving speed of the balloon catheter according to the number of turns information. The seventh rolling element 850 and the eighth rolling element 860 may be rotatable members such as rollers, drums, and the like.

In the process that the fifth rolling member 820 and the sixth rolling member 840 clamp the balloon catheter and drive the balloon catheter to perform a linear motion, since the seventh rolling member 850 and the eighth rolling member 860 clamp the balloon catheter, the seventh rolling member 850 and the eighth rolling member 860 also rotate. The counter encoder detects the number of turns of the seventh rolling member 850 or the eighth rolling member 860, and transmits the number of turns information to the controller, which can calculate the moving distance and/or moving speed of the balloon catheter according to the number of turns information. Therefore, the surgeon can acquire the motion parameters of the balloon catheter in real time, so that the position or the moving speed of the balloon catheter can be adjusted according to the motion parameters of the balloon catheter.

In some embodiments, the sixth mounting bracket 830 includes a first fixing portion 831, a first movable portion 832 and a second elastic member 833, the first fixing portion 831 is disposed at a bottom wall of the first accommodating cavity 201, the first movable portion 832 is hinged to the first fixing portion 831, the sixth rolling member 840 is disposed at the first movable portion 832, the second elastic member 833 is disposed between the first movable portion 832 and the first fixing portion 831, and the second elastic member 833 is configured to bring the sixth rolling member 840 toward the fifth rolling member 820. The seventh mount 870 includes a second fixed portion 871, a second movable portion 872, and a third elastic member 873, the second fixed portion 871 is provided at the bottom wall of the first accommodation chamber 201, the second movable portion 872 is hinged to the second fixed portion 871, the eighth rolling member 860 is provided at the second movable portion 872, the third elastic member 873 is provided between the second movable portion 872 and the second fixed portion 871, and the third elastic member 873 is configured to bring the eighth rolling member 860 closer to the seventh rolling member 850.

In this embodiment, the sixth rolling element 840 can be moved away from or toward the fifth rolling element 820 by rotating the first movable portion 832 with respect to the first fixed portion 831, and the eighth rolling element 860 can be moved away from or toward the seventh rolling element 850 by rotating the second movable portion 872 with respect to the second fixed portion 871. So set up, the installation sacculus pipe of being convenient for. Specifically, when the balloon catheter is mounted, the first movable portion 832 is first rotated relative to the first fixed portion 831, and the second movable portion 872 is rotated relative to the second fixed portion 871, such that the sixth rolling member 840 is away from the fifth rolling member 820 and the eighth rolling member 860 is away from the seventh rolling member 850. Then, the balloon catheter is mounted, and thereafter, the first movable portion 832 and the second movable portion 872 are released, the first movable portion 832 is reversely rotated with respect to the first fixed portion 831 by the second elastic member 833 and the third elastic member 873, the second movable portion 872 is reversely rotated with respect to the second fixed portion 871, thereby bringing the sixth rolling member 840 close to the fifth rolling member 820, the eighth rolling member 860 close to the seventh rolling member 850, thereby bringing the fifth rolling member 820 and the second rolling member 540 together to clamp the balloon catheter, and the seventh rolling member 850 and the eighth rolling member 860 together to clamp the balloon catheter.

Further, the balloon catheter motion control assembly 800 further includes a third handle 880, a first link 881, and a second link 882, the third handle 880 being coupled to the first movable portion 832 via the first link 881, the third handle 880 being coupled to the second movable portion 872 via the second link 882. So configured, by toggling the third handle 880, the first movable portion 832 and the second movable portion 872 can be controlled to simultaneously rotate so as to move the sixth rolling member 840 away from the fifth rolling member 820 and the eighth rolling member 860 away from the seventh rolling member 850. It will be readily appreciated that when the third handle 880 is released, the sixth rolling member 840 and the eighth rolling member 860 will be adjacent to the fifth rolling member 820 and the seventh rolling member 850, respectively, under the action of the second elastic member 833 and the third elastic member 873.

In some embodiments, the first elastic member 613, the second elastic member 833, the third elastic member 873, and the elastic restoring member 702 may each be a spring, which may provide an elastic force. In addition, the spring has the advantages of low cost, good stability and the like.

In some embodiments, as shown in fig. 2, 8 and 9, the drive cassette assembly 200 includes a first cassette 210 and a cover 220, the first cassette 210 and the cover 220 together defining a first receiving cavity 201. The cover plate 220 is provided with a first limit groove 221 for accommodating a guide wire and a second limit groove 222 for accommodating a lumen balloon catheter, the cover plate 220 is also provided with a first locking assembly 223 and a second locking assembly 224, the first locking assembly 223 comprises a first locking piece 2231 and a first control member 2232, and the first control member 2232 is connected with the first locking piece 2231 so that the first locking piece 2231 cooperates with the first limit groove 221 to limit the guide wire. The second locking assembly 224 includes a second locking tab 2241 and a second control member 2242, the second control member 2242 being connected with the second locking tab 2241 such that the second locking tab 2241 cooperates with the second limiting slot 222 to limit the balloon catheter. So set up, utilize first spacing groove 221 and first closure piece 2231 to restrict the seal wire in less space, utilize second spacing groove 222 and second closure piece 2241 to restrict the sacculus pipe in less space, like this, can prevent that seal wire and sacculus pipe from taking place buckling, warpage etc. in the motion process to guarantee that seal wire and sacculus pipe can normally use throughout the operation process.

In some embodiments, as shown in fig. 2 and 10, the driving cartridge assembly 200 further includes a second cartridge 230, the first cartridge 210 is connected to the top of the second cartridge, and the second cartridge 230 is connected to the output end of the first driving assembly 400. The second box 230 is provided with a second accommodating cavity, a plurality of driving motors 231 are arranged in the second accommodating cavity, and output shafts of the driving motors 231 extend out of the second box 230. The output shaft of each driving motor 231 may be coupled to the second bevel gear 320, the fourth bevel gear 340, the first rolling member 520, the driving gear, the cam, and the fifth rolling member 820 in a one-to-one correspondence to power the second bevel gear 320, the fourth bevel gear 340, the first rolling member 520, the driving gear, the cam, and the fifth rolling member 820.

In some embodiments, as shown in fig. 1 and 11, the vascular interventional surgical robot 10 further includes a support member 900, the support member 900 is connected to the stent 100, the support member 900 is provided with a channel for passing a guide catheter therethrough, and a through groove 901 extending along the length direction of the support member 900 and communicating with the channel is provided on a side wall of the support member 900. In this embodiment, the support member 900 is used to provide support for the guide catheter so that the portion of the guide catheter outside the human body is not bent, thus allowing the guide catheter to be smoothly introduced into the blood vessel and smoothly advanced therein. In addition, be provided with on the lateral wall of support member 900 along the length direction extension of support member 900 and with the logical groove 901 of passageway intercommunication, can put into the passageway in the support member 900 with the guide catheter through logical groove 901, compare in the mode of penetrating the guide catheter into the support catheter, it is more convenient to put into the mode through logical groove 901, is favorable to saving operating time.

Further, the proximal end of the support member 900 is provided in a curved configuration. When the guide catheter is fitted, a pressure may be applied to the bent portion of the support member 900, and at this time, the pressure acts to expand the through groove 901, whereby the guide catheter can be more conveniently fitted into the support member.

Further, the distal end of the support member 900 is provided with a puncture sheath clip 902, the puncture sheath clip 902 being used to mount the vascular puncture sheath 20.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the claims. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims (14)

1. A vascular interventional procedure robot, comprising:

a bracket;

a drive cassette assembly provided with a first receiving cavity;

the Y-shaped hemostatic valve is arranged in the first accommodating cavity, and the first end of the Y-shaped hemostatic valve is used for being connected with the guiding catheter; and

the first driving assembly is arranged on the support, the output end of the first driving assembly is connected with the driving box assembly, and the first driving assembly is configured to drive the driving box assembly to perform linear motion.

2. The vascular interventional procedure robot of claim 1, wherein the Y-shaped hemostatic valve is rotatably mounted to the first receiving cavity;

the vascular intervention surgical robot further comprises a first bevel gear and a second bevel gear, the first bevel gear is arranged at the first end of the Y-shaped hemostatic valve, the second bevel gear is arranged at the bottom wall of the first accommodating cavity, and the second bevel gear is meshed with the first bevel gear.

3. The vascular interventional procedure robot according to claim 2, wherein the Y-shaped hemostatic valve comprises a hemostatic valve body and a locking portion provided at an end of the hemostatic valve body remote from the first bevel gear, the locking portion being configured to be rotatable relative to the hemostatic valve body to control the Y-shaped hemostatic valve to open or close; the vascular intervention surgical robot further comprises a third bevel gear and a fourth bevel gear, the third bevel gear is connected with the locking part, the fourth bevel gear is arranged on the bottom wall of the first accommodating cavity, and the fourth bevel gear is meshed with the third bevel gear.

4. The vascular interventional procedure robot of claim 1, further comprising a guidewire rectilinear motion control assembly disposed within the first containment cavity, the guidewire rectilinear motion control assembly comprising:

the first mounting rack is arranged on the bottom wall of the first accommodating cavity;

a first rolling member rotatably mounted to the first mounting frame;

the second mounting rack is arranged on the bottom wall of the first accommodating cavity; and

a second rolling member rotatably mounted to the second mounting frame;

wherein the first roller and the second roller are configured to grip a guidewire and drive the guidewire to move.

5. The vascular interventional procedure robot of claim 4, further comprising a guidewire rotation control assembly disposed within the first receiving cavity, the guidewire rotation control assembly comprising:

the third mounting rack is arranged on the bottom wall of the first accommodating cavity;

a third rolling member mounted to the third mounting bracket;

The fourth mounting rack is arranged on the bottom wall of the first accommodating cavity;

a fourth roller slidably mounted to the fourth mount, the third roller and the fourth roller being configured to be capable of sandwiching the guidewire; and

and the second driving assembly is used for driving the fourth rolling element to slide relative to the fourth mounting frame so as to enable the fourth rolling element to move relative to the third rolling element.

6. The vascular interventional procedure robot according to claim 5, wherein the fourth rolling member comprises a rolling part and a supporting part, the rolling part being provided to the supporting part, the supporting part being provided with a rack;

the second driving assembly comprises a driving gear and a transmission gear set, wherein the driving gear is in transmission connection with the rack through the transmission gear set, so that the rack is driven to move through the transmission gear set.

7. The vascular interventional procedure robot according to claim 5, wherein the third mounting frame comprises a first mounting frame body, a first movable frame body, a first elastic member and a first handle, the first movable frame body is hinged to the first mounting frame body, the first elastic member is arranged between the first movable frame body and the first mounting frame body, and the first elastic member is configured to bring the third rolling member closer to the fourth rolling member; the first handle is connected with the first movable frame body.

8. The vascular interventional procedure robot of claim 4, further comprising a guidewire rotation control assembly disposed within the first containment lumen;

the second mounting frame comprises a second fixing frame body and a second movable frame body, and the second movable frame body is hinged to the second fixing frame body;

the vascular interventional surgical robot further comprises a cam and an elastic reset piece, wherein the cam is configured to drive the second movable frame body to rotate relative to the second fixed frame body so as to enable the second rolling piece to be far away from the first rolling piece; the elastic reset piece is configured to provide elastic force for the second movable frame body so as to enable the second rolling piece to approach the first rolling piece;

preferably, the second mounting frame further comprises a second handle connected to the second movable frame body.

9. The vascular interventional procedure robot of claim 1, further comprising a balloon catheter motion control assembly disposed within the first receiving cavity, the balloon catheter motion control assembly comprising:

the fifth mounting rack is arranged on the bottom wall of the first accommodating cavity;

A fifth rolling member rotatably mounted to the fifth mount;

the sixth mounting rack is arranged on the bottom wall of the first accommodating cavity; and

and a sixth rolling member rotatably mounted to the sixth mounting frame, the fifth rolling member and the sixth rolling member being configured to be capable of sandwiching a balloon catheter and driving the balloon catheter to move.

10. The vascular interventional procedure robot of claim 9, wherein the balloon catheter motion control assembly further comprises:

a seventh rolling member rotatably mounted to the fifth mount;

a seventh mounting bracket disposed at a bottom wall of the first accommodation chamber;

an eighth roller rotatably mounted to the seventh mount, the seventh roller and the eighth roller configured to be capable of sandwiching a balloon catheter;

a count encoder configured to detect a number of turns the seventh rolling member or the eighth rolling member has rotated; and

and the controller is connected with the counting encoder, the counting encoder is configured to send the turn number information to the controller, and the controller is configured to calculate the moving distance and/or the moving speed of the balloon catheter according to the turn number information.

11. The vascular interventional surgical robot according to claim 10, wherein the sixth mounting frame includes a first fixed portion provided to a bottom wall of the first receiving chamber, a first movable portion hinged to the first fixed portion, and a second elastic member provided between the first movable portion and the first fixed portion, the second elastic member being configured to bring the sixth rolling member closer to the fifth rolling member;

the seventh mounting frame comprises a second fixing portion, a second movable portion and a third elastic piece, wherein the second fixing portion is arranged on the bottom wall of the first accommodating cavity, the second movable portion is hinged to the second fixing portion, the eighth rolling piece is arranged on the second movable portion, the third elastic piece is arranged between the second movable portion and the second fixing portion, and the third elastic piece is configured to enable the eighth rolling piece to approach the seventh rolling piece.

12. The vascular interventional procedure robot of claim 11, wherein the balloon catheter motion control assembly further comprises a third handle, a first link, and a second link, the third handle being connected to the first movable portion by the first link, the third handle being connected to the second movable portion by the second link.

13. The vascular interventional procedure robot of claim 1, wherein the drive cassette assembly includes a first cassette body and a cover plate, the first cassette body and the cover plate together defining the first receiving chamber; the cover plate is provided with a first limit groove for accommodating the guide wire and a second limit groove for accommodating the cavity balloon catheter, and is also provided with a first locking assembly and a second locking assembly, wherein the first locking assembly comprises a first locking piece and a first control member, and the first control member is connected with the first locking piece so that the first locking piece is matched with the first limit groove to limit the guide wire; the second locking assembly comprises a second locking piece and a second control component, and the second control component is connected with the second locking piece, so that the second locking piece is matched with the second limiting groove to limit the balloon catheter.

14. The vascular interventional procedure robot according to claim 1, further comprising a support member connected to the stent, the support member being provided with a passage for passing the guide catheter therethrough, a through groove extending in a length direction of the support member and communicating with the passage being provided on a side wall of the support member;

Preferably, the proximal end of the support member is provided in a curved configuration.