CN116492570B - Catheter driving device for interventional operation robot and interventional operation robot - Google Patents

Catheter driving device for interventional operation robot and interventional operation robot Download PDF

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Publication number
CN116492570B
CN116492570B CN202310540530.4A CN202310540530A CN116492570B CN 116492570 B CN116492570 B CN 116492570B CN 202310540530 A CN202310540530 A CN 202310540530A CN 116492570 B CN116492570 B CN 116492570B
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Prior art keywords
driving
assembly
valve
shell
catheter
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Active
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CN202310540530.4A
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CN116492570A (en
Inventor
王迎智
王兴
赵若琦
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Jixian Artificial Intelligence Co Ltd
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Jixian Artificial Intelligence Co Ltd
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Priority to CN202310540530.4A priority Critical patent/CN116492570B/en
Publication of CN116492570A publication Critical patent/CN116492570A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M39/00—Tubes, tube connectors, tube couplings, valves, access sites or the like, specially adapted for medical use
    • A61M39/10—Tube connectors; Tube couplings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M39/00—Tubes, tube connectors, tube couplings, valves, access sites or the like, specially adapted for medical use
    • A61M39/22—Valves or arrangement of valves
    • A61M39/223—Multiway valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K31/00—Actuating devices; Operating means; Releasing devices
    • F16K31/44—Mechanical actuating means
    • F16K31/53—Mechanical actuating means with toothed gearing
    • F16K31/535—Mechanical actuating means with toothed gearing for rotating valves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M39/00—Tubes, tube connectors, tube couplings, valves, access sites or the like, specially adapted for medical use
    • A61M39/10—Tube connectors; Tube couplings
    • A61M2039/1038—Union screw connectors, e.g. hollow screw or sleeve having external threads
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Pulmonology (AREA)
  • Hematology (AREA)
  • Anesthesiology (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • General Engineering & Computer Science (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention belongs to the technical field of catheter driving devices, and provides a catheter driving device for an interventional operation robot and the interventional operation robot, wherein a Y valve is preloaded in a shell, a driving assembly is arranged on a driving platform, a power output end of the driving assembly is provided with a first assembly interface, and a power input end of a transmission assembly is provided with a second assembly interface; when the shell is clamped with the driving platform, the first assembly interface is assembled and connected with the second assembly interface, so that the driving of the catheter can be realized; the transmission assembly and the Y valve are all preloaded in the shell, and when the Y valve is used, medical staff only needs to fix the shell on the driving platform, at the moment, the transmission assembly is connected with the driving assembly on the driving platform, then the guide pipe is connected with the connector on the Y valve, the purpose of rotating and driving the guide pipe can be achieved, direct installation of the Y valve and manual adjustment of the driven gear and the driving gear are avoided, and driving precision is guaranteed on the basis of reducing installation complexity.

Description

Catheter driving device for interventional operation robot and interventional operation robot
Technical Field
The invention belongs to the technical field of catheter driving devices, and particularly relates to a catheter driving device for an interventional operation robot and the interventional operation robot.
Background
In vascular interventional robotic systems, the catheter is the channel through which instruments such as guidewires, stents, etc. enter and exit the vessel and work. Because of the many branches and bends of the body vessel, it is necessary to rotate the catheter during surgery to adapt the head angle of the catheter to the vessel shape so that the catheter enters the branch vessel. Therefore, in the vascular interventional robot system, a catheter driving device is required to enable the catheter to controllably rotate.
The inventor finds that in practical application, the catheter driving device is mostly disposable, so that the catheter rotation driving module is generally used as a passive module, so as to reduce cost. In the conventional catheter driving device for driving the rotation of the catheter, a mode of assembling the catheter, the gear transmission mechanism and the Y valve on the operation site is often adopted. When in operation, the guide pipe is connected with the driven gear, the driven gear is connected with the Y valve, and finally the assembled guide pipe, the driven gear and the Y valve are integrally arranged in the driving box; or a conduit rotating part is arranged between the Y valve and the conduit, and a driven gear is arranged on the conduit rotating part, so that the Y valve is fixed on the clamping frame during operation, and the driven gear is matched with the driving gear to realize the operation of the Y valve. Whichever way, in the installation process of the Y valve, the driven gear is required to be manually adjusted in order to ensure correct engagement with the driving gear during installation, so that the installation and use difficulties are increased, and the precision is lower. Meanwhile, a plurality of parts are required to be assembled on an operation site, the installation operation is complex, the workload of medical staff is increased, and in addition, if the parts are assembled in a temporary assembly mode, the low matching degree exists, and the driving and control precision of the catheter and the guide wire are affected.
Disclosure of Invention
In order to solve the problems, the invention provides a catheter driving device for an interventional operation robot and the interventional operation robot, wherein a transmission assembly and a Y valve are preloaded in a shell.
In order to achieve the above object, in a first aspect, the present invention provides a catheter driving device for an interventional operation robot, which adopts the following technical scheme:
a catheter driving device for an interventional operation robot comprises a driving platform, a shell detachably connected with the driving platform in a clamping manner and a Y valve preassembled in the shell;
one end part of the Y valve is rotationally connected with a connector for connecting a conduit, and the connector is fixedly connected with a transmission assembly;
the driving platform is provided with a driving assembly, a power output end of the driving assembly is provided with a first assembly interface, and a power input end of the transmission assembly is provided with a second assembly interface; when the shell is clamped with the driving platform, the first assembly interface is assembled and connected with the second assembly interface, and when the shell is separated from the driving platform, the first assembly interface is separated from the second assembly interface.
Further, the shell is detachably connected with the driving platform through a buckle.
Further, the connector is a luer connector.
Further, the transmission assembly comprises a worm rotatably arranged on the shell and a turbine fixedly connected with the joint; the worm is meshed with the turbine; the Y valve is a 90-degree valve.
Further, one end of the worm extends to the outside of the housing, and the second assembly interface is fixed to a portion of the worm outside of the housing.
Further, the second assembly interface is a round interface, a plurality of keys are arranged on the inner wall of the round interface, and a clamping head is arranged on the outer wall of the round interface.
Further, the drive assembly includes a motor secured to the drive platform and a first assembly interface secured to an output shaft of the motor.
Further, a key groove and a clamping hole are formed in the first assembly interface.
Further, a cover is arranged on the shell.
In order to achieve the above object, in a second aspect, the present invention further provides an interventional operation robot, which adopts the following technical scheme:
an interventional operation robot employing the catheter driving device for an interventional operation robot as described in the first aspect.
Compared with the prior art, the invention has the beneficial effects that:
1. the Y valve is preassembled in the shell, the driving platform is provided with the driving assembly, the power output end of the driving assembly is provided with the first assembly interface, and the power input end of the transmission assembly is provided with the second assembly interface; when the shell is clamped with the driving platform, the first assembly interface is assembled and connected with the second assembly interface, so that the driving of the guide pipe can be realized, and when the shell is separated from the driving platform, the first assembly interface is separated from the second assembly interface, and at the moment, a new shell pre-assembled with the Y valve can be switched, so that the replacement of the Y valve is realized; when the Y valve is used, the medical staff only needs to fix the shell on the driving platform, at the moment, the transmission assembly is connected with the driving assembly on the driving platform, then the guide pipe is connected with the connector on the Y valve, the purpose of rotating and driving the guide pipe can be achieved, direct installation of the Y valve and manual adjustment of the driven gear and the driving gear are avoided, and on the basis of reducing installation complexity, driving precision is guaranteed; the Y valve is preloaded in the shell, so that the situation of low coordination degree in a temporary assembly mode is not needed to be considered, and the driving and controlling precision of the catheter and the guide wire is ensured;
2. in the invention, the transmission assembly adopts the turbine worm mechanism, and the turbine worm mechanism can provide the advantage of larger reduction ratio than bevel gears or other transmission assemblies, thereby meeting the setting of the driving device under the condition of limited size; meanwhile, when the existing 45-degree Y valve is arranged on the shell, one valve port is required to be arranged on the side face of the shell, the thickness of the shell cannot be too small at the moment, if the thickness of the shell is too small, an inclined pipeline can extend to the front and the back of the shell, the arrangement requirement of the valve port on the side face of the shell cannot be guaranteed, and the Y valve is changed into the 90-degree valve, so that the thickness of the shell can be reduced at any time, the position of the valve port on the shell is not influenced, and the requirement on the size of a customer in a driving device is further reduced; through the use of the worm and gear mechanism and changing the Y valve into a 90-degree valve, the requirement on the size of the driving device is greatly reduced, the driving device is assisted in the trend of miniaturization development, the size of the miniaturized driving device is realized, the requirement on the operation space is reduced, and the flexibility and the adaptability of the interventional operation robot in different operation scenes are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate and explain the embodiments and together with the description serve to explain the embodiments.
FIG. 1 is a schematic structural diagram of embodiment 1 of the present invention;
FIG. 2 is an internal schematic view of embodiment 1 of the present invention;
FIG. 3 is a schematic view of a Y valve in accordance with example 1 of the present invention;
FIG. 4 is a schematic diagram of a second assembly interface according to embodiment 1 of the present invention;
1, a shell; 2. a Y valve; 3. a buckle; 4. a joint; 5. a transmission assembly; 51. a worm; 52. a turbine; 6. a second assembly interface; 61. a key; 62. a chuck.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Example 1:
before or during interventional operation, when the catheter driving device is replaced, the catheter is connected with the driven gear, the driven gear is connected with the Y valve, and finally the assembled catheter, the driven gear and the Y valve are integrally placed in the driving box, or a catheter rotating piece is arranged between the Y valve and the catheter, the driven gear is arranged on the catheter rotating piece, and during operation, the Y valve is fixed on the clamping frame, and the driven gear is matched with the driving gear to realize the operation of the Y valve; in the installation process of the Y valve, the driven gear is required to be manually adjusted in order to ensure correct engagement with the driving gear during installation, so that the installation and use difficulties are increased, and the precision is lower. Meanwhile, a plurality of parts are required to be assembled on the operation site, the installation operation is complex, and the workload of medical staff is increased.
In order to solve the above problems, as shown in fig. 1, the present embodiment provides a catheter driving device for an interventional operation robot, which includes a driving platform, a housing 1 detachably connected to the driving platform by a clamping manner, and a Y valve 2 preloaded in the housing 1;
one end part of the Y valve 2 is rotatably connected with a joint 4 for connecting a conduit, and the joint 4 is fixedly connected with a transmission assembly 5; to facilitate connection to the catheter, the fitting 4 may be provided as a luer fitting;
the driving platform is provided with a driving assembly, the power output end of the driving assembly is provided with a first assembly interface, and the power input end of the transmission assembly 5 is provided with a second assembly interface 6; when the shell 1 is clamped with the driving platform, the first assembly interface is assembled and connected with the second assembly interface 6, and when the shell 1 is separated from the driving platform, the first assembly interface is separated from the second assembly interface 6.
Specifically, the Y valve 2 is preloaded in the shell 1, the driving platform is provided with the driving assembly, the power output end of the driving assembly is provided with the first assembly interface, and the power input end of the transmission assembly 5 is provided with the second assembly interface 6; when the shell 1 is clamped with the driving platform, the first assembly interface is assembled and connected with the second assembly interface 6, so that the driving of the guide pipe can be realized, and when the shell 1 is separated from the driving platform, the first assembly interface is separated from the second assembly interface 6, and at the moment, a new shell 1 pre-assembled with the Y valve 2 can be switched, so that the replacement of the Y valve 2 can be realized; the transmission assembly 6 and the Y valve 2 are preloaded in the shell 1, when the Y valve is used, medical staff only need to fix the shell 1 on a driving platform, at the moment, the transmission assembly 5 is connected with the driving assembly on the driving platform, then a guide pipe is connected with the connector 4 on the Y valve 2, the purpose of rotating and driving the guide pipe can be achieved, direct installation of the Y valve and manual adjustment of a driven gear and a driving gear are avoided, and driving precision is guaranteed on the basis of reducing installation complexity.
It can be appreciated that the drive platform can be a drive platform on an interventional surgical robot; one end of the Y valve 2 can be connected with a joint 4 in a rotating way through a bearing or other sliding parts; the first assembly interface and the second assembly interface 6 can be realized through a card interface or other two parts which can be assembled and separated at any time; when in assembly, the first assembly interface and the second assembly interface 6 can realize the transmission of power after being limited in the circumferential direction.
Optionally, in order to realize detachable connection between the housing 1 and the driving platform, the housing 1 is detachably connected with the driving platform through a buckle 3; it can be appreciated that the bayonet matched with the buckle 3 is provided on the driving platform, and under the action of external force, the connection and the disconnection of the buckle 3 and the bayonet can be realized.
Optionally, in order to improve the stability and precision of the transmission, the transmission assembly 5 comprises a worm 51 rotatably provided on the housing 1, and a worm wheel 52 fixedly connected to the joint 4; the worm 51 is engaged with the worm wheel 52. Specifically, the worm 51 may be connected to the housing 1 through a bearing or other rotating member, and the middle hole of the turbine 52 is connected to the outer wall of the joint 4 through welding or injection molding. One end of the worm 51 extends to the outside of the housing 1, and the second assembly interface 6 is fixed to a portion of the worm 51 located outside of the housing 1.
In order to improve the stability and precision of the connection between the transmission assembly 5 and the driving assembly, as shown in fig. 4, the second assembly interface 6 is a circular interface, a plurality of keys 62 are arranged on the inner wall of the circular interface, and a chuck 61 is arranged on the outer wall of the circular interface; correspondingly, the driving assembly comprises a motor fixed on the driving platform and a first assembly interface fixed on an output shaft of the motor, wherein a key groove matched with the key 62 and a clamping hole matched with the clamping head 61 are arranged on the first assembly interface.
Optionally, a guiding mechanism, such as a circular guiding hole with an outer diameter larger than that of the second assembling interface 6, is disposed on the first assembling interface, and a guiding oblique edge is formed inside the edge of the guiding hole, so that the second assembling interface 6 can be smoothly connected with the first assembling interface in place during convenient installation.
Through reversing of the worm and gear mechanism, the vertical rotation motion of the motor is converted into horizontal rotation required by rotation of the guide pipe; meanwhile, the worm gear can provide a larger reduction ratio, the rotation angular speed of the guide pipe is reduced, and the rotation speed control of the guide pipe is facilitated. On the condition that the number of parts of the Y valve is not changed, the worm and gear mechanism and the Y valve are combined together, the turbine is fixed through the positioning and the restraint of the shell, and meanwhile, the number of parts is reduced.
In order to facilitate the observation and inspection of the Y valve 2 and the transmission assembly 5 in the housing 1, a cover is provided on the housing 1 in this embodiment, and the cover and the body of the housing 1 may be connected by a buckle or other means.
When medical staff uses, after the catheter driving device is installed in place, the catheter can be operated and used only by connecting the catheter with the luer connector, the medical staff does not need to adjust the gear transmission mechanism, the process of assembling the Y valve on the operation site of the medical staff is omitted, and the use experience of the medical staff is improved.
Example 2:
the present embodiment provides an interventional operation robot employing the catheter driving device for an interventional operation robot as described in embodiment 1; it will be appreciated that the interventional surgical robot also includes a robot body, a control system and other parts, which are conventional arrangements and will not be described in detail herein.
The above description is only a preferred embodiment of the present embodiment, and is not intended to limit the present embodiment, and various modifications and variations can be made to the present embodiment by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment should be included in the protection scope of the present embodiment.

Claims (8)

1. The catheter driving device for the interventional operation robot is characterized by comprising a driving platform, a shell detachably connected with the driving platform in a clamping manner and a Y valve preassembled in the shell;
one end part of the Y valve is rotationally connected with a connector for connecting a conduit, and the connector is fixedly connected with a transmission assembly;
the driving platform is provided with a driving assembly, a power output end of the driving assembly is provided with a first assembly interface, and a power input end of the transmission assembly is provided with a second assembly interface; when the shell is clamped with the driving platform, the first assembly interface is assembled and connected with the second assembly interface, and when the shell is separated from the driving platform, the first assembly interface is separated from the second assembly interface;
the transmission assembly comprises a worm rotatably arranged on the shell and a turbine fixedly connected with the joint; the worm is meshed with the turbine;
one end of the worm extends to the outside of the shell, and the second assembly interface is fixed on a part of the worm outside the shell;
the second assembly interface is a circular interface, a plurality of keys are arranged on the inner wall of the circular interface, and a clamping head is arranged on the outer wall of the circular interface.
2. A catheter drive device for an interventional procedure robot according to claim 1, wherein the housing is detachably connected to the drive platform by means of a snap-fit.
3. A catheter drive device for an interventional procedure robot according to claim 1, wherein the fitting is a luer fitting.
4. A catheter driving device for an interventional procedure robot according to claim 1, wherein the Y valve is a 90 ° valve.
5. A catheter drive device for an interventional procedure robot according to claim 1, wherein the drive assembly comprises a motor fixed to the drive platform and a first assembly interface fixed to an output shaft of the motor.
6. The catheter driving device for an interventional procedure robot according to claim 5, wherein the first assembly interface is provided with a key slot and a clamping hole.
7. A catheter driving device for an interventional procedure robot according to claim 1, wherein a cover is provided on the housing.
8. An interventional operation robot, wherein the catheter driving device for an interventional operation robot according to any one of claims 1 to 7 is used.
CN202310540530.4A 2023-05-11 2023-05-11 Catheter driving device for interventional operation robot and interventional operation robot Active CN116492570B (en)

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CN116492570B true CN116492570B (en) 2024-01-26

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113796965A (en) * 2021-09-28 2021-12-17 深圳市爱博医疗机器人有限公司 Detachable slave end intervention operation robot driving device
CN114129269A (en) * 2021-12-30 2022-03-04 微亚医疗科技(苏州)有限公司 Catheter rotation driving device for vascular intervention surgical robot
CN115317778A (en) * 2022-08-09 2022-11-11 北京唯迈医疗设备有限公司 Intervene automatic fixing device of Y valve and pipe rotary device of robot
CN218075214U (en) * 2021-09-28 2022-12-20 深圳市爱博医疗机器人有限公司 Y valve quick-dismantling type slave end intervention operation robot driving device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113796965A (en) * 2021-09-28 2021-12-17 深圳市爱博医疗机器人有限公司 Detachable slave end intervention operation robot driving device
CN218075214U (en) * 2021-09-28 2022-12-20 深圳市爱博医疗机器人有限公司 Y valve quick-dismantling type slave end intervention operation robot driving device
CN114129269A (en) * 2021-12-30 2022-03-04 微亚医疗科技(苏州)有限公司 Catheter rotation driving device for vascular intervention surgical robot
CN115317778A (en) * 2022-08-09 2022-11-11 北京唯迈医疗设备有限公司 Intervene automatic fixing device of Y valve and pipe rotary device of robot

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