CN116549814A - Drive and positioning device for guiding catheter of vascular interventional robot - Google Patents

Drive and positioning device for guiding catheter of vascular interventional robot Download PDF

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Publication number
CN116549814A
CN116549814A CN202210114671.5A CN202210114671A CN116549814A CN 116549814 A CN116549814 A CN 116549814A CN 202210114671 A CN202210114671 A CN 202210114671A CN 116549814 A CN116549814 A CN 116549814A
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CN
China
Prior art keywords
positioning device
rack frame
drive
fixed
magnetic member
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210114671.5A
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Chinese (zh)
Inventor
唐熠达
洪炯
张国庆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jieruo Medical Technology Shanghai Co ltd
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Jieruo Medical Technology Shanghai Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jieruo Medical Technology Shanghai Co ltd filed Critical Jieruo Medical Technology Shanghai Co ltd
Priority to CN202210114671.5A priority Critical patent/CN116549814A/en
Priority to EP22855450.7A priority patent/EP4233763A1/en
Priority to US18/251,145 priority patent/US20240008943A1/en
Priority to JP2023540725A priority patent/JP2024519406A/en
Priority to PCT/CN2022/111249 priority patent/WO2023016469A1/en
Publication of CN116549814A publication Critical patent/CN116549814A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
    • 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
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • 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
    • A61M25/09—Guide wires
    • A61M25/09041—Mechanisms for insertion of guide wires
    • 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
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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

Abstract

The invention discloses a driving and positioning device for a guiding catheter of a vascular interventional robot, wherein a guiding catheter control module comprises a Y-shaped table assembly, and the Y-shaped table assembly comprises a Y-shaped valve above and a driving and positioning device below; the distal end port of the Y-shaped valve is connected with the guide catheter, the proximal end port penetrates into the guide wire, and the guide wire enters the guide catheter through the Y-shaped valve and reaches the operation position along the inner cavity of the guide catheter; the driving and positioning device comprises a rack frame, and the Y-shaped valve is fixed on the rack frame; the gear is in meshed connection with teeth on the rack frame; a moving magnetic member mounted on the rack frame; and a fixed magnetic member that acts with the moving magnetic member; wherein the fixed magnetic member is fixed on a housing of the end effector system. The invention can effectively position the guide catheter control module before operation, and does not obstruct the relative movement among the components of the module in the operation process, thereby avoiding the precision loss caused by the unnecessary relative displacement among the components.

Description

Drive and positioning device for guiding catheter of vascular interventional robot
Technical Field
The invention relates to the field of medical instruments for vascular interventional therapy, in particular to a driving and positioning device for a guiding catheter of a vascular interventional robot.
Background
The vascular intervention operation is based on imaging, and is a relatively advanced minimally invasive technique for diagnosing and treating diseases by using guide wires, catheters or stents and other medical instruments under the guidance of X-ray, ultrasonic or CT equipment. Manual insertion of a catheter or guide device into a patient is a relatively conventional surgical procedure.
Vascular interventional surgical robots are used to perform vascular interventional procedures. However, since the microcomputer control system is not easily positioned at the initial position of each module before the operation is started, a technique for precisely positioning the initial position of each module is required, thereby improving the operation accuracy of the surgical robot.
Disclosure of Invention
The invention aims to provide a driving and positioning device for a guiding catheter of a vascular interventional robot, which is used for effectively positioning a guiding catheter control module before an operation and avoiding the loss of precision caused by unnecessary relative displacement among components of the module without obstructing the relative movement among the components in the operation process.
The invention provides a driving and positioning device of a guiding catheter for a vascular interventional robot, wherein the robot is used for vascular interventional therapy and comprises a remote Cheng Weiji control end, a surgical positioning mechanical arm and a terminal execution system, wherein the terminal execution system is fixed on the tail end of the surgical positioning mechanical arm and moves along with the surgical positioning mechanical arm, and the remote microcomputer control end controls the movement of the surgical positioning mechanical arm and the movement inside the terminal execution system; the terminal execution system comprises a guide catheter control module, wherein the guide catheter control module is used for controlling the forward or backward movement of a guide catheter, the guide catheter control module comprises a Y-shaped table assembly, and the Y-shaped table assembly comprises a Y-shaped valve above and a driving and positioning device below; the distal end port of the Y-shaped valve is connected with the guide catheter, the proximal end port penetrates into the guide wire, and the guide wire enters the guide catheter through the Y-shaped valve and reaches the operation position along the inner cavity of the guide catheter; the driving and positioning device comprises a rack frame, and the Y-shaped valve is fixed on the rack frame; the gear is in meshed connection with the straight racks on the rack frame; a moving magnetic member mounted on the rack frame; and a fixed magnetic member that acts with the moving magnetic member; wherein the fixed magnetic member is fixed on a housing of the end effector system.
In another preferred embodiment, the rack frame includes a first tooth side, a second straight side and a third connecting side.
In another preferred embodiment, the first tooth edge is provided with a straight tooth strip meshed with the gear, and the second straight edge and the first tooth edge are oppositely arranged in parallel.
In another preferred embodiment, the third connecting edge connects the first tooth edge and the second straight edge into a half-surrounding structure integrally, and the gear is located in the half-surrounding structure.
In another preferred embodiment, one end of the gear is meshed with the straight rack of the first tooth edge, and the other end of the gear abuts against the second straight edge.
In another preferred embodiment, the moving magnetic element is fixed to the third connecting edge.
In another preferred embodiment, the rack frame is prevented from sliding randomly by the moving magnetic member acting with the fixed magnetic member fixed to the housing of the end effector before the operation, so that the Y-valve is fixed at the initial position.
In another preferred embodiment, during the operation, the driving device drives the gear to rotate, and the rack frame moves forwards against the action of the fixed magnetic piece due to the meshing relationship between the gear and the rack frame, so that the Y-shaped valve is driven to move forwards.
In another preferred embodiment, the drive means is a non-contact motor system.
In another preferred embodiment, the non-contact motor system comprises a motor, a first magnetic induction coupling coupled with and driven by the motor, a second magnetic induction coupling disposed in correspondence with the first magnetic induction coupling, and a transmission structure coupled with the second magnetic induction coupling; wherein the first magnetic induction coupling and the second magnetic induction coupling are coaxially opposite; the distance between the first magnetic induction coupling and the second magnetic induction coupling is 2-20 mm.
In another preferred embodiment, the number of the non-contact motor systems is 2-10.
In another preferred embodiment, the end effector system comprises an effector housing carrying mechanical components for driving the advancing, retracting and rotating of the interventional instrument and a drive housing carrying an electrical assembly for powering the mechanical components.
In a further preferred embodiment, the motor is fixed in the drive housing, and the second magnetic induction coupling is fixed to a bottom wall of the actuating housing.
In another preferred embodiment, a space layer having a thickness of 2-20 mm is formed between the actuating housing and the driving housing under the support of the pair of first and second magnetic induction couplings.
In another preferred embodiment, a sterile cloth is laid between the actuation housing and the drive housing for reducing contamination of components in the drive housing.
In another preferred embodiment, the sterile cloth is blood-separation sterile cloth.
In another preferred embodiment, the transmission structure is a gear set structure or a worm structure.
In another preferred embodiment, the end effector system comprises a guidewire control module in the interventional instrument, the guidewire control module comprising a rotating assembly that controls rotation of the guidewire through a rotating wheel set and a traveling assembly that controls advancement or retraction of the guidewire through a traveling wheel set; wherein, the rotating wheel group and the advancing wheel group are driven by the non-contact motor system.
In another preferred embodiment, the end-effector system comprises a balloon/stent control module in the interventional instrument that controls the advancement or retraction of a balloon catheter or stent catheter by a friction wheel set, and a guide catheter control module in the interventional instrument that controls the advancement or retraction of a guide catheter by a rack-and-pinion set; wherein, friction wheelset with the rack and pinion group is all through non-contact motor system drive.
The main advantages of the invention include:
(a) Each component in the module is accurately positioned before operation;
(b) The motion precision of each component is improved in the operation;
(c) Simple structure, convenient processing production, equipment and operation.
It is understood that within the scope of the present invention, the above-described technical features of the present invention and technical features specifically described below (e.g., in the examples) may be combined with each other to constitute new or preferred technical solutions. And are limited to a space, and are not described in detail herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic rear view of a drive and positioning device in an initial state in one example of the invention;
FIG. 2 is a rear view of the drive and positioning device of FIG. 1 in an operative state;
fig. 3 is a front view of a rack frame of the driving and positioning device of fig. 1 and 2;
fig. 4 is a perspective view of a rack frame of the driving and positioning device of fig. 3.
In the drawings, each is indicated as follows:
1-a gear;
2-a first tooth edge;
3-a second straight edge;
4-a third connecting edge;
5-moving magnetic elements;
6-fixing the magnetic member;
7-Y valve.
Detailed Description
The inventor has developed a driving and positioning device for a guiding catheter of a vascular interventional robot for the first time through extensive and intensive research, and has completed the present invention on the basis of the above-mentioned that a magnetic pair is provided to effectively position a guiding catheter control module before an operation without impeding relative movement between components of the module during the operation and avoiding loss of precision due to unnecessary relative displacement between the components.
The rear part of the Y-shaped table module gear device is provided with a moving magnetic part, and meanwhile, an execution shell of the terminal execution system is provided with a fixed magnetic part, and the two magnetic parts act to accurately position the initial position. When the motor in the motor box rotates, the gear below the Y-shaped table bottom is driven to rotate, the Y-shaped table is pushed to advance, and at the moment, the fixed magnetic part in the terminal execution system execution shell is separated from the moving magnetic part at the rear part of the Y-shaped table, so that surgical consumables are accurately positioned at the surgical position.
The invention will be further illustrated with reference to specific examples. It is to be understood that these examples are illustrative of the present invention and are not intended to limit the scope of the present invention. Furthermore, the drawings are schematic representations, and thus the apparatus and device of the present invention are not limited by the dimensions or proportions of the schematic representations.
It should be noted that in the claims and the description of this patent, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Examples
The driving and positioning device of the guiding catheter for the vascular interventional robot of the present embodiment is shown in fig. 1 to 4.
The robot is used for vascular interventional therapy and comprises a remote Cheng Weiji control end, a surgical positioning mechanical arm and a terminal execution system, wherein the terminal execution system is fixed on the tail end of the surgical positioning mechanical arm and moves along with the surgical positioning mechanical arm, and the remote microcomputer control end controls the movement of the surgical positioning mechanical arm and the movement inside the terminal execution system.
The terminal execution system comprises a guiding catheter control module in the interventional instrument, wherein the guiding catheter control module is used for controlling the advancing or retreating of the guiding catheter, the guiding catheter control module comprises a Y-shaped table assembly, and the Y-shaped table assembly comprises a Y-shaped valve 7 above and a driving and positioning device below.
The distal port of the Y-valve 7 is connected to a guide catheter, the proximal port penetrates a guidewire, and the guidewire enters the guide catheter through the Y-valve 7 and reaches the surgical site along the lumen of the guide catheter.
The driving and positioning device comprises a rack frame, a gear 1, a moving magnetic piece 5 arranged on the rack frame, and a fixed magnetic piece 6 which is acted with the moving magnetic piece 5. The Y-valve 7 is fixed to the rack frame and moves in accordance with the movement of the rack frame. The gear 1 is meshed with a straight rack on the rack frame. The fixed magnetic member 6 is fixed in an execution case of the terminal execution system.
The rack frame comprises a first tooth edge 2, a second straight edge 3 and a third connecting edge 4. The first tooth edge 2 is provided with a straight rack meshed with the gear 1, and the second straight edge 3 and the first tooth edge 2 are oppositely arranged in parallel. The third connecting edge 4 connects the first tooth edge 2 and the second straight edge 3 into a whole to form a semi-enclosed structure, and the gear 1 is positioned in the semi-enclosed structure. One end of the gear 1 is meshed with the straight rack of the first tooth edge 2, and the other end of the gear 1 is propped against the second straight edge 3. The moving magnetic element 5 is fixed to the third connecting edge 4.
Before the operation starts, the rack frame acts with the fixed magnetic member 6 fixed on the housing of the end effector system through the moving magnetic member 5, preventing the rack frame from sliding randomly, so that the Y-valve 7 is fixed at an initial position.
In the operation process, the driving device drives the gear 1 to rotate, and the rack frame overcomes the acting force of the fixed magnetic piece 6 to move forwards due to the meshing relationship of the gear 1 and the rack frame, so that the Y-shaped valve 7 is driven to move forwards, and the precision loss caused by the unnecessary relative displacement among the components is avoided.
The driving device is a non-contact motor system. The non-contact motor system comprises a motor, a first magnetic induction coupler connected with the motor and driven by the motor, a second magnetic induction coupler arranged corresponding to the first magnetic induction coupler, and a transmission gear set connected with the second magnetic induction coupler; wherein the coaxial centers of the first magnetic induction coupling and the second magnetic induction coupling are opposite; the distance between the first magnetic induction coupling and the second magnetic induction coupling is 2-20 mm.
All documents mentioned in this application are incorporated by reference as if each were individually incorporated by reference. Further, it will be appreciated that various changes and modifications may be made by those skilled in the art after reading the above teachings, and such equivalents are intended to fall within the scope of the claims appended hereto.

Claims (10)

1. A driving and positioning device for a guiding catheter of a vascular interventional robot is characterized in that,
the robot is used for vascular interventional therapy and comprises a remote Cheng Weiji control end, a surgical positioning mechanical arm and a terminal execution system, wherein the terminal execution system is fixed on the tail end of the surgical positioning mechanical arm and moves along with the surgical positioning mechanical arm, and the remote microcomputer control end controls the movement of the surgical positioning mechanical arm and the movement inside the terminal execution system;
the terminal execution system comprises a guide catheter control module, wherein the guide catheter control module is used for controlling the forward or backward movement of a guide catheter, the guide catheter control module comprises a Y-shaped table assembly, and the Y-shaped table assembly comprises a Y-shaped valve above and a driving and positioning device below;
the distal end port of the Y-shaped valve is connected with the guide catheter, the proximal end port penetrates into the guide wire, and the guide wire enters the guide catheter through the Y-shaped valve and reaches the operation position along the inner cavity of the guide catheter;
the driving and positioning device comprises a rack frame, and the Y-shaped valve is fixed on the rack frame; the gear is in meshed connection with the straight racks on the rack frame; a moving magnetic member mounted on the rack frame; and a fixed magnetic member that acts with the moving magnetic member; wherein the fixed magnetic member is fixed on a housing of the end effector system.
2. The drive and positioning device of claim 1, wherein the rack frame includes a first toothed edge, a second straight edge, and a third connecting edge.
3. The drive and positioning device of claim 2, wherein said first toothed edge is provided with a straight toothed bar engaging said gear wheel, said second straight edge and said first toothed edge being disposed in parallel opposition.
4. The drive and positioning device of claim 2, wherein the third connecting edge connects the first toothed edge and the second straight edge into an integral semi-enclosing structure in which the gear is located.
5. The drive and positioning device of claim 4, wherein one end of the gear engages the spur rack of the first toothed edge and the other end of the gear abuts the second straight edge.
6. The drive and positioning device of claim 2, wherein said moving magnetic element is secured to said third connecting edge.
7. The driving and positioning device as defined in claim 1, wherein said rack frame is prevented from sliding randomly by said moving magnetic member acting with said fixed magnetic member fixed to a housing of said end effector system before surgery, thereby fixing said Y-valve at an initial position.
8. The drive and positioning device of claim 1, wherein during surgery, the drive device drives the gear into rotation, the rack frame moving forward against the action of the stationary magnetic member due to the meshing relationship of the gear and the rack frame, thereby driving the Y-valve forward.
9. The drive and positioning device of claim 8, wherein the drive device is a non-contact motor system.
10. The drive and positioning device of claim 9, wherein the non-contact motor system includes a motor, a first magnetic induction coupling coupled to and driven by the motor, a second magnetic induction coupling disposed in correspondence with the first magnetic induction coupling, and a transmission structure coupled to the second magnetic induction coupling; wherein the first magnetic induction coupling and the second magnetic induction coupling are coaxially opposite; the distance between the first magnetic induction coupling and the second magnetic induction coupling is 2-20 mm.
CN202210114671.5A 2021-08-11 2022-01-30 Drive and positioning device for guiding catheter of vascular interventional robot Pending CN116549814A (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CN202210114671.5A CN116549814A (en) 2022-01-30 2022-01-30 Drive and positioning device for guiding catheter of vascular interventional robot
EP22855450.7A EP4233763A1 (en) 2021-08-11 2022-08-09 Surgical robot system
US18/251,145 US20240008943A1 (en) 2021-08-11 2022-08-09 Surgical robot system
JP2023540725A JP2024519406A (en) 2021-08-11 2022-08-09 Surgical Robot System
PCT/CN2022/111249 WO2023016469A1 (en) 2021-08-11 2022-08-09 Surgical robot system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210114671.5A CN116549814A (en) 2022-01-30 2022-01-30 Drive and positioning device for guiding catheter of vascular interventional robot

Publications (1)

Publication Number Publication Date
CN116549814A true CN116549814A (en) 2023-08-08

Family

ID=87484953

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210114671.5A Pending CN116549814A (en) 2021-08-11 2022-01-30 Drive and positioning device for guiding catheter of vascular interventional robot

Country Status (1)

Country Link
CN (1) CN116549814A (en)

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