CN116531102A

CN116531102A - Vascular intervention robot's anti-catheter-escape mechanism

Info

Publication number: CN116531102A
Application number: CN202310522755.7A
Authority: CN
Inventors: 顾俊杰; 王炳强; 詹世涛
Original assignee: Shandong Weigao Surgical Robot Co Ltd
Current assignee: Shandong Weigao Surgical Robot Co Ltd
Priority date: 2023-05-10
Filing date: 2023-05-10
Publication date: 2023-08-04

Abstract

The invention provides a catheter anti-falling mechanism of a vascular interventional robot, which comprises at least two sections of sleeves, wherein each sleeve is sleeved together layer by layer, the innermost sleeve and the outer sleeve are respectively marked as a first sleeve and a second sleeve, the second sleeve is fixed on a consumable box, the first sleeve is assembled on a bracket, and the bracket is controlled to move relative to the consumable box so as to drive the sleeves except the second sleeve to move; except the first end sleeve, spiral slide ways are arranged on the other sleeves; the sliding parts are arranged on the other sleeves except the tail end sleeve, and the sliding parts are matched with the sliding parts to guide and limit the movement of the sleeve at the inner layer in the two adjacent sleeves; openings are arranged at preset positions of each sleeve, and when all the sleeves are in a retracted state, the openings on the sleeves correspond to each other so that the catheter can be placed into the head end sleeve; when the associated sleeve is in an extended position, its opening may be misaligned to prevent the catheter from backing out. The catheter release preventing mechanism has a simple structure and can effectively prevent the catheter from releasing.

Description

Vascular intervention robot's anti-catheter-escape mechanism

Technical Field

The invention relates to the technical field of medical equipment, in particular to a catheter escape prevention mechanism of a vascular intervention robot.

Background

The vascular intervention operation is to make the guide wire and the saccule support reach the lesion part of the human body along the blood vessel through the catheter, and then the operation is performed. The vascular interventional robot is an instrument which can remotely perform an operation by imaging in order to prevent a doctor from being exposed to an X-ray environment for a long period of time. A catheter anti-falling mechanism needs to be arranged in the vascular interventional robot so as to guide the catheter and prevent the catheter from falling off.

Disclosure of Invention

In order to solve the problem existing in the prior art, the application provides a catheter escape prevention mechanism of a vascular intervention robot, which has a simple structure, is simple and easy to operate, and can effectively prevent the escape of a catheter.

In order to achieve the above-mentioned purpose, the present application proposes an anti-catheter-removal mechanism of a vascular intervention robot, comprising at least two sections of sleeves, each sleeve being sleeved together layer by layer, an innermost sleeve being denoted as a head sleeve, an outermost sleeve being denoted as a tail sleeve, the tail sleeve being adapted to be fixed on a consumable cartridge of the vascular intervention robot, the head sleeve being adapted to be mounted on a support, the support being controlled to be movable relative to the consumable cartridge so as to drive the sleeves other than the tail sleeve to move; the sleeves except the head end sleeve are provided with slide ways, the slide ways are spiral, and the head end and the tail end of the slide ways are in a closed state; the sliding parts matched with the slide ways are arranged on the other sleeves except the tail end sleeve, and the slide ways and the sliding parts are matched, so that the movement of the sleeve in the inner layer in the two adjacent sleeves can be guided and limited, and the two adjacent sleeves can not be separated; openings are arranged at preset positions of each sleeve, and when all the sleeves are in a retracted state, the openings on the sleeves correspond to each other so that the catheter can be placed in the head end sleeve; when the associated sleeve is in the extended position, the openings of the associated sleeve may be misaligned to prevent the catheter from backing out.

In some embodiments, a resilient snap structure is provided on the head end sleeve for preventing the catheter from being pulled out of the head end sleeve.

In some embodiments, the rotational orientation of the ramps on each sleeve is the same.

In some embodiments, the ramps on adjacent sleeves are rotated in opposite directions.

The beneficial effect of this scheme of this application lies in above-mentioned vascular intervention robot prevent pipe from deviate from the mechanism, through setting up two section at least sleeve pipes, utilize the guide of heliciform slide, can realize the action that the sleeve pipe stretches out and rotates simultaneously, when each sleeve pipe is in the state of stretching out, the opening of each sleeve pipe can misplace, makes all have shielding around the pipe, prevents effectively that the pipe from deviate from; the catheter anti-falling mechanism of the vascular intervention robot has the advantages of being simple in structure, easy to operate and the like.

Drawings

Fig. 1 is a schematic structural view showing a catheter removal prevention mechanism of a vascular access robot in an embodiment, in which each sleeve is in an extended state.

Fig. 2 is a schematic structural view showing a catheter-escape prevention mechanism of the vascular intervention robot in an embodiment, in which the respective cannulas are in a retracted state.

Fig. 3 shows a schematic structure of the remaining sleeves except for the head sleeve and the end sleeve in embodiment 1.

Fig. 4 shows a schematic structural view of two adjacent bushings among the rest of the bushings except for the head bushing and the end bushing in embodiment 2.

Fig. 5 (a) shows a schematic structural view of the head-end sleeve in the embodiment, and (b) is an enlarged view of the elastic snap structure in the head-end sleeve.

Fig. 6 is a schematic view showing a use state of the catheter escape prevention mechanism of the vascular intervention robot in the embodiment.

Reference numerals: 1-catheter release prevention mechanism, 101-sleeve, 101A-head sleeve, 101B-end sleeve, 1011-slide, 1012-pin, 1013-opening, 1014-first connector, 1015-second connector, 1016-elastic buckle structure, 2-consumable box, 3-bracket, 4-connector, 5-catheter.

Detailed Description

The following describes the embodiments of the present application further with reference to the accompanying drawings.

In the description of the present application, it should be understood that the terms "first," "second," and the like are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order, and that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," etc. indicate an orientation or a positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.

As shown in fig. 1 to 6, the catheter release preventing mechanism 1 of the vascular intervention robot according to the present application comprises at least two sleeves 101, each sleeve 101 is sleeved together layer by layer, the innermost sleeve is denoted as a head sleeve 101A, the outermost sleeve is denoted as a tail sleeve 101B, the tail sleeve 101B is used for being fixed on a consumable box 2 of the vascular intervention robot, the head sleeve 101A is used for being assembled on a support 3, and the support 3 is controlled to be capable of moving relative to the consumable box 2 so as to drive the sleeves 101 except the tail sleeve 101B to move. Specifically, the end sleeve 101B is provided with a first connecting piece 1014, the first connecting piece 1014 is connected with the consumable box 2, the head sleeve 101A is provided with a second connecting piece 1015, the second connecting piece 1015 is connected with the support 3, the support 3 is connected with the consumable box 2 through a connecting portion 4, and the support 3 can be pulled manually or driven by a motor.

The other sleeves 101 except the head end sleeve 101A are provided with slide ways 1011, the slide ways 1011 are spiral, and the head end and the tail end of the slide ways 1011 are in a closed state; in this embodiment, the sliding members are pins 1012, and when the support 3 moves under control, the relevant sleeves 101 except the end sleeve 101B slide relative to the outer sleeve thereof according to the moving distance of the support 3, and the sliding members 1011 and the sliding members cooperate to guide and limit the movement of the inner sleeve of the two adjacent sleeves, so that the two adjacent sleeves 101 cannot be separated. An opening 1013 is formed at a preset position of each sleeve 101, the opening 1013 penetrates through the sleeve 101 along the axial direction of the sleeve, when all the sleeves 101 are in a retracted state, the openings 1013 on the sleeves 101 correspond to each other, and the width of each opening 1013 is larger than the outer diameter of the catheter 5, so that the catheter 5 can be placed into the head-end sleeve 101A; when the associated cannula 101 is in the extended position, the associated cannula opening 1013 may be misaligned, resulting in shielding around the catheter 5 to prevent the catheter 5 from backing out.

Example 1

The rotational direction of the slide 1011 on each sleeve 101 is the same and the rotational angle is not more than 180 degrees to prevent the slide 1011 on the same sleeve from communicating with the opening 1013; the head sleeve 101A is rotatably connected to the bracket 3 via the second connection member 1015.

In order to make the anti-falling effect better, an elastic fastening structure 1016 is provided on the head-end sleeve 101A, so as to prevent the catheter 5 from falling out of the head-end sleeve 101A. Specifically, a groove may be formed at the inner wall of the two sides of the opening 1013 in the head-end sleeve 101A, so as to reduce the thickness of the inner wall, and enable the deformation of the portion, at this time, the width of the opening 1013 of the head-end sleeve 101A is slightly smaller than the outer diameter of the catheter 5, so that the catheter 5 is easily placed into the head-end sleeve 101A under the action of an external force, and is not easily removed from the opening 1013 of the head-end sleeve 101A when no external force is applied. Of course, other implementations of the resilient snap structure 1016 are possible, as long as the corresponding function is achieved.

In specific use, when each sleeve 101 is in a retracted state, the catheter 5 is placed into the head end sleeve 101A through each opening 1013, then when the stent 3 is controlled to move, according to the moving distance of the stent 3, the relevant sleeve 101 except the tail end sleeve 101B rotates and slides to stretch out relative to the sleeve on the outer layer, and the rotating directions of the sleeves are the same, through the cooperation of the slide ways 1011 and the sliding parts, the movement of the sleeve on the inner layer in the two adjacent sleeves can be guided and limited, so that the two adjacent sleeves 101 can not be separated, and when the sleeves 101 are in an extended state, the openings 1013 of the sleeves are dislocated, so that the circumference of the catheter 5 is shielded, and the catheter 5 is prevented from being separated.

Example 2

The rotational directions of the sliding ways 1011 on two adjacent sleeves 101 are opposite, and the rotational angle is not more than 180 degrees, so as to prevent the sliding ways 1011 on the same sleeve from communicating with the opening 1013; when the sleeve 101 is an even number of sections, the head-end sleeve 101A is rotatably connected with the bracket 3 through the second connecting piece 1015; when the sleeve 101 is in odd number, the head sleeve 101A is fixedly connected with the bracket 3 through the second connecting member 1015.

In specific use, when each sleeve 101 is in a retracted state, the catheter 5 is placed into the head sleeve 101A through each opening 1013, then when the stent 3 is controlled to move, the relevant sleeve 101 except the tail sleeve 101B and the head sleeve 101A rotates and slides and stretches out relative to the sleeve on the outer layer according to the moving distance of the stent 3, the rotating directions of the two adjacent sleeves are opposite, and when each sleeve 101 is in an extended state, the openings 1013 of each sleeve are dislocated, so that the circumference of the catheter 5 is shielded to prevent the catheter 5 from falling out.

The vascular intervention robot's that this application relates to prevents pipe and deviate from mechanism through setting up two section at least sleeve pipes, utilizes the guide of heliciform slide, can realize that the sleeve pipe stretches out rotatory action of limit, and when each sleeve pipe was in the state of stretching out, each sheathed tube opening can misplace, makes all have around the pipe to shelter from, prevents effectively that the pipe from deviating from. The catheter anti-falling mechanism of the vascular intervention robot has the advantages of being simple in structure, easy to operate and the like.

The foregoing is only a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art, within the scope of the present application, should make equivalent substitutions or modifications according to the technical solution and the concept of the present application, and should be covered by the scope of the present application.

Claims

1. The utility model provides a vascular intervention robot prevent pipe and deviate from mechanism which characterized in that: the vascular interventional robot comprises at least two sections of sleeves, wherein each sleeve is sleeved together layer by layer, the innermost sleeve is marked as a head sleeve, the outermost sleeve is marked as a tail sleeve, the tail sleeve is used for being fixed on a consumable box of the vascular interventional robot, the head sleeve is used for being assembled on a bracket, and the bracket can be controlled to move relative to the consumable box so as to drive the sleeves except for the tail sleeve to move; the sleeves except the head end sleeve are provided with slide ways, the slide ways are spiral, and the head end and the tail end of the slide ways are in a closed state; the sliding parts matched with the slide ways are arranged on the other sleeves except the tail end sleeve, and the slide ways and the sliding parts are matched, so that the movement of the sleeve in the inner layer in the two adjacent sleeves can be guided and limited, and the two adjacent sleeves can not be separated; openings are arranged at preset positions of each sleeve, and when all the sleeves are in a retracted state, the openings on the sleeves correspond to each other so that the catheter can be placed in the head end sleeve; when the associated sleeve is in the extended position, the openings of the associated sleeve may be misaligned to prevent the catheter from backing out.

2. The catheter removal prevention mechanism of a vascular interventional robot of claim 1, wherein: the head end sleeve is provided with an elastic buckle structure for preventing the catheter from falling out of the head end sleeve.

3. The catheter-escape prevention mechanism of a vascular interventional robot according to claim 1 or 2, wherein: the screwing direction of the slide ways on the sleeves is the same.

4. The catheter-escape prevention mechanism of a vascular interventional robot according to claim 1 or 2, wherein: the directions of rotation of the slide ways on the two adjacent sleeves are opposite.