CN116585039A

CN116585039A - Interventional operation robot

Info

Publication number: CN116585039A
Application number: CN202310772806.1A
Authority: CN
Inventors: 毛苏杭; 黄孟超; 韩静峰
Original assignee: Shanghai Bodong Medical Technology Co ltd
Current assignee: Shanghai Bodong Medical Technology Co ltd
Priority date: 2023-06-27
Filing date: 2023-06-27
Publication date: 2023-08-15

Abstract

The invention discloses an interventional operation robot, which relates to the technical field of medical appliances and comprises the following components: a sterilization box integrated with a guide wire driver, a first catheter driver, a second catheter driver and a fixing clamp inside; the guide wire driver is arranged at the tail part of the sterilization box and used for executing driving operation on the working guide wire, and the fixing clamp is arranged on the guide wire driver and used for fixing the working guide wire; the first catheter driver is arranged in the middle of the sterilization box and positioned at one side of an extension line of a guide wire channel of the guide wire driver and is used for executing driving operation on the first instrument catheter; the second catheter driver is arranged in the middle of the sterilization box and positioned at the other side of the extension line of the guide wire channel of the guide wire driver and is used for executing driving operation on the second instrument catheter. The embodiment of the invention improves the execution efficiency of the operation.

Description

Interventional operation robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to an interventional operation robot.

Background

The interventional operation robot is an operation robot which completes pushing, rotating, retracting and other operations of various catheters through a pushing rod, a controller, a driving component and other hardware structures.

Only one group of working guide wire driving assemblies and guide tube driving assemblies exist in the traditional interventional operation robot, only the combined pushing of a single working guide wire and a guide tube can be supported at one time, when the pushing requirement of double guide tubes exists, the former group of working guide wire guide tubes are required to be withdrawn, and then the other group of working guide wire guide tubes are required to be pushed, so that the operation time is overlong, the operation efficiency is low, and the operation risk is further improved.

Disclosure of Invention

The embodiment of the invention provides an interventional operation robot, which aims to solve the problem that the traditional interventional operation robot needs to be retracted and pushed in a double-catheter scene, improve the operation execution efficiency and further reduce the operation execution risk.

According to an embodiment of the present invention, there is provided an interventional surgical robot including: a sterilization box integrated with a guide wire driver, a first catheter driver, a second catheter driver and a fixing clamp inside;

the guide wire driver is arranged at the tail part of the sterilization box and used for executing driving operation on the working guide wire, and the fixing clamp is arranged on the guide wire driver and used for fixing the working guide wire;

the first catheter driver is arranged in the middle of the sterilization box and positioned at one side of an extension line of a guide wire channel of the guide wire driver and is used for executing driving operation on the first instrument catheter;

the second catheter driver is arranged in the middle of the sterilization box and positioned at the other side of the extension line of the guide wire channel of the guide wire driver and is used for executing driving operation on the second instrument catheter.

As an alternative embodiment, the first catheter channel of the first catheter driver forms a first preset angle with the guide wire channel, the second catheter channel of the second catheter driver forms a second preset angle with the guide wire channel, and the angle ranges of the first preset angle and the second preset angle respectively satisfy 5 ° to 85 °.

As an alternative embodiment, the first catheter driver comprises a first catheter base, a first catheter holder and at least one set of first catheter driving wheels; the first catheter holder is arranged on the first catheter base and used for holding the first instrument catheter; the first catheter driving wheel is arranged on the first catheter base and is used for performing driving operation on the first instrument catheter;

the second catheter driver comprises a second catheter base, a second catheter holder and at least one set of second catheter drive wheels; the second catheter holder is arranged on the second catheter base and used for holding the second instrument catheter; the second catheter driving wheel is arranged on the second catheter base and is used for performing driving operation on the second instrument catheter;

the first conduit driving wheel and the first conduit driven wheel in the first conduit driving wheel are symmetrically arranged along a first conduit channel of the first conduit driver, and the second conduit driving wheel and the second conduit driven wheel in the second conduit driving wheel are symmetrically arranged along a second conduit channel of the second conduit driver.

As an alternative embodiment, the guidewire driver includes a guidewire pushing assembly located on the guidewire channel, the guidewire pushing assembly including a first guidewire base, a first guidewire gripper, and at least one set of guidewire drive wheels; the first guide wire clamp holder is arranged on the first guide wire base and used for clamping the working guide wire; the guide wire driving wheel is arranged on the first guide wire base and is used for executing advancing operation or retracting operation on the working guide wire;

the guide wire driving wheel and the guide wire driven wheel in the guide wire driving wheel are symmetrically arranged along the guide wire channel of the guide wire driver.

As an alternative embodiment, the guidewire driver includes a guidewire rotation assembly located on the guidewire channel, the guidewire rotation assembly including a second guidewire base, a second guidewire holder, and a rotation wheel; the second guide wire clamp holder is arranged on the second guide wire base and used for clamping the working guide wire; the rotating wheel is arranged on the second guide wire base and used for driving the second guide wire base to execute rotating operation.

As an alternative embodiment, the rotating wheel comprises a transmission gear or friction wheel symmetrically arranged along the guide wire channel of the guide wire driver, and the rotating shaft of the rotating operation is the guide wire channel of the guide wire driver.

As an alternative embodiment, the fixation clamp is mounted on a first guide wire base in a guide wire pushing assembly in the guide wire drive, or the fixation clamp is mounted on a second guide wire base in a guide wire rotating assembly in the guide wire drive.

As an alternative embodiment, a Y valve holder is further integrated into the sterilization box, the Y valve holder is disposed at the head of the sterilization box, and the outlet end of the Y valve holder and the instrument inlet end are located on an extension line of the guide wire channel.

As an optional embodiment, the interventional operation robot further comprises a body structural member, and the body structural member is fixedly connected with the sterilization box through a connecting mechanism; the body structure comprises a power box and a transmission mechanism, the sterilization box is fixedly connected with the power box through a connecting mechanism, a driving motor is installed in the power box, and the guide wire driver, the first guide tube driver and the second guide tube driver are respectively connected with the driving motor through the transmission mechanism.

As an alternative embodiment, the connection mechanism includes at least one of a buckle, a mechanical lock, and a magnetic mechanism.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent 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 structural view of an interventional operation robot according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a guidewire driver and a catheter driver according to one embodiment of the present invention;

fig. 3 is a schematic structural view of another interventional surgical robot according to an embodiment of the present invention.

Reference numerals: the surgical instrument comprises an interventional surgical robot-10, a sterilization box-1, a guide wire driver-11, a guide wire pushing assembly-111, a first guide wire base-1111, a first guide wire clamp holder-1112, a guide wire driving wheel-1113, a guide wire rotating assembly-112, a second guide wire base-1121, a second guide wire clamp holder-1122, a rotating wheel-1123, a first catheter driver-12, a first catheter base-121, a first catheter clamp holder-122, a first catheter driving wheel-123, a second catheter driver-13, a second catheter base-131, a second catheter clamp holder-132, a second catheter driving wheel-133, a fixing clamp-14, a Y valve fixing device-15, an outlet end-151, a substance inlet end-152, an instrument inlet end-153, a body structural member-2 and a connecting mechanism-3.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprise" and "have," and any variations thereof, are intended to cover non-exclusive inclusions, for example, products or devices that comprise a series of components are not necessarily limited to those listed explicitly, and may include other components not expressly listed or inherent to such products or devices.

Fig. 1 is a schematic structural view of an interventional operation robot according to an embodiment of the present invention. As shown in fig. 1, the interventional operation robot 10 includes: sterilization cassette 1 integrating a guidewire driver 11, a first catheter driver 12, a second catheter driver 13 and a retaining clip 14.

The guide wire driver 11 is arranged at the tail part of the sterilization box 1 and is used for executing driving operation on a working guide wire, and the fixing clamp 14 is arranged on the guide wire driver 11 and is used for fixing the working guide wire; the first catheter driver 12 is arranged in the middle of the sterilization box and is positioned at one side of an extension line of a guide wire channel of the guide wire driver 11 and is used for executing driving operation on a first instrument catheter; the second catheter driver 13 is disposed in the middle of the sterilization box and is located at the other side of the extension line of the guide wire channel of the guide wire driver 11, and is used for performing driving operation on the second instrument catheter.

Wherein, in particular, a box inlet and a box outlet are arranged on the sterilizing box 1, wherein the box inlet can be used for inserting a working guide wire, a first instrument catheter and a second instrument catheter. Wherein the guidewire driver 11 is mounted at the tail of the cassette near the cassette entrance.

The working guide wire can walk in the blood vessel, and plays roles of entering the blood vessel along with the puncture needle, reaching the interested part, crossing the interested part, conveying the interventional instrument and the like in interventional treatment. The success or failure of percutaneous coronary intervention (percutaneous coronary intervention, PCI) depends to some extent on whether the working guidewire is successful in traversing the region of interest, and the instrument catheter is guided through the guiding catheter to the region of interest by means of the working guidewire as a working track.

In this embodiment, the working guidewire includes a first working guidewire that cooperates with the first instrument catheter and a second working guidewire that cooperates with the second instrument catheter. Specifically, the first catheter driver 12 is controlled to perform a driving operation on the first instrument catheter, the guide wire driver 11 is controlled to perform a driving operation on the first working guide wire, after the first catheter driver 12 pushes the first instrument catheter to the region of interest, the first working guide wire on the guide wire driver 11 is fixed on the fixing clip 14 on the guide wire driver 11, and the second catheter driver 13 is controlled to perform a driving operation on the second instrument catheter, and the guide wire driver 11 is controlled to perform a driving operation on the second working guide wire.

In the present embodiment, the first instrument catheter and the second instrument catheter are collectively referred to as an instrument catheter. Exemplary instrument catheters include, but are not limited to, imaging catheters and surgical catheters, including, but not limited to, balloon catheters and stent catheters.

Wherein, exemplary, the imaging catheter is constituted by a catheter assembly for carrying the imaging probe for delivering the imaging probe to a target location and an imaging probe for performing an imaging operation.

The balloon catheter can be used for representing an interventional catheter carrying a balloon, in some practical scenes, the type of the balloon matched with the system is a quick-exchange balloon, most of the quick-exchange balloons are Monorail balloons, the balloon type which is the most widely used in PCI treatment at present is the type of the balloon, only 15-30cm of the proximal section of the balloon can coaxially slide along a working guide wire, the working guide wire with the standard length of 180-195cm can be matched, and the operation can be carried out simply and conveniently by a single person. Rapid exchange balloon types include, but are not limited to: high compliance balloons, semi-compliant balloons, low compliance balloons, non-compliant balloons, and the like; or a pre-dilation balloon, a stent balloon, a post-dilation balloon, etc.; or special types of balloons such as cutting balloons, shock wave balloons, drug balloons, etc.

The stent catheter can be used for representing an interventional catheter carrying a stent, and the blood vessel can be treated into an inner stent at a blood vessel of a narrow occlusion section on the basis of being expanded and formed by a balloon catheter, so that the purpose of further supporting the blood vessel is realized, the elastic retraction and the reshaping of the blood vessel are reduced, and the lumen blood flow is further kept smooth. At present, stents have been widely used in interventional therapy of vascular diseases such as coronary artery, intracranial artery, carotid artery, renal artery and femoral artery, and the stent types are mainly classified into coronary stents, intracranial stents and peripheral vascular stents.

In an alternative embodiment, the first catheter channel of the first catheter driver 12 forms a first preset angle with the guide wire channel, the second catheter channel of the second catheter driver 13 forms a second preset angle with the guide wire channel, and the angle ranges of the first preset angle and the second preset angle respectively satisfy 5 ° to 85 °.

Specifically, the first preset angle and the second preset angle may be the same or different. Taking the first preset angle as an example, under the condition that the placement position shown in fig. 1 is unchanged (that is, the volume of the interventional operation robot 10 is ensured to be unchanged), if the first preset angle is smaller than 5 °, the first catheter driver 12 interferes with the working guide wire installed in the guide wire driver 11, and if the second preset angle is larger than 85 °, the first instrument catheter deflects by a larger angle at the junction with the working guide wire, so that the service life of the first instrument catheter is reduced.

According to the embodiment, the first preset angle and the second preset angle are limited, so that the smoothness of the pushing process of the instrument catheter is ensured, and the service life of the instrument catheter is prolonged.

According to the technical scheme, the two catheter drivers and the one fixing clamp are arranged in the interventional operation robot, the fixing clamp is arranged on the guide wire driver and used for fixing the working guide wire, the problem that the traditional interventional operation robot needs to retract and push in a double-catheter scene is solved, the operation execution efficiency is improved, the operation time is shortened, the dosage of X-rays or contrast agents in the operation process can be reduced, and the operation execution risk is reduced.

FIG. 2 is a schematic view of a guide wire driver and a catheter driver according to an embodiment of the present invention, wherein the first catheter driver 12 of the interventional robot 10 includes a first catheter base 121, a first catheter holder 122 and at least one set of first catheter driving wheels 123 as shown in FIG. 2; the first catheter holder 122 is mounted on the first catheter base 121 for holding the first instrument catheter; the first catheter driving wheel 123 is mounted on the first catheter base 121 for performing a driving operation on the first instrument catheter. Wherein the first conduit driving wheel and the first conduit driven wheel in the first conduit driving wheel 123 are symmetrically disposed along the first conduit channel of the first conduit driver 12.

Wherein the second catheter driver 13 in the interventional procedure robot 10 comprises a second catheter base 131, a second catheter holder 132 and at least one set of second catheter drive wheels 133; the second catheter holder 132 is mounted on the second catheter base 131 for holding the second instrument catheter; the second guide tube driving wheel 133 is mounted on the second guide tube base 131 for performing a driving operation on the second instrument guide tube. Wherein the second conduit driving wheel and the second conduit driven wheel in the second conduit driving wheel 133 are symmetrically disposed along the second conduit channel of the second conduit driver 13.

Fig. 2 shows a first catheter driver 12 comprising 2 sets of first catheter driving wheels 123 and a second catheter driver 13 comprising 2 sets of second catheter driving wheels 133.

In an alternative embodiment, the guidewire driver 11 includes a guidewire pushing assembly 111 positioned on the guidewire channel, the guidewire pushing assembly 111 including a first guidewire base 1111, a first guidewire holder 1112, and at least one set of guidewire drive wheels 1113; the first wire holder 1112 mounted on the first wire base 1111 for holding the working wire; the guide wire driving wheel 1113 is mounted on the first guide wire base 1111, and is used for performing advancing operation or retracting operation on the working guide wire; wherein the guide wire driving wheel and the guide wire driven wheel in the guide wire driving wheel 1113 are symmetrically arranged along the guide wire channel of the guide wire driver 11.

Fig. 2 shows a guidewire pushing assembly 111 that includes 4 sets of guidewire drive wheels 1113.

In an alternative embodiment, the guidewire driver 11 includes a guidewire rotation assembly 112 positioned on the guidewire channel, the guidewire rotation assembly 112 including a second guidewire base 1121, a second guidewire holder 1122, and a rotation wheel 1123; the second wire holder 1122 mounted on the second wire base 1121 for holding the working wire; the rotating wheel 1123 is mounted on the second wire guide base 1121 for driving the second wire guide base 1121 to perform a rotating operation.

In an alternative embodiment, the rotating wheel 1123 comprises a transmission gear or friction wheel symmetrically disposed along the guide wire path of the guide wire driver 11, and the rotation axis of the rotating operation is the guide wire path of the guide wire driver 11.

The guidewire rotation assembly 112 shown in fig. 2 includes 4 sets of rotation wheels.

In an alternative embodiment, the fixation clamp 14 is mounted on a first wire base 1111 in the wire pushing assembly 111 in the wire drive 11, or the fixation clamp 14 is mounted on a second wire base 1121 in the wire rotating assembly in the wire drive 11. As shown in fig. 2, the fixation clamp 14 is mounted on a second guidewire base 1121.

Fig. 3 is a schematic structural view of another interventional surgical robot according to an embodiment of the present invention. As shown in fig. 3, a Y-valve holder 15 is further integrated in the sterilization box 1, the Y-valve holder 15 is disposed at the head of the sterilization box 1, and the outlet end of the Y-valve holder 15 and the instrument inlet end are located on the extension line of the guide wire channel.

Wherein, specifically, the Y-valve holder 15 is installed at the cartridge outlet of the sterilization cartridge, the outlet end 151 and the substance inlet end 152 of the Y-valve holder 15 are located outside the cartridge, and the instrument inlet end 153 of the Y-valve holder 15 is located inside the cartridge.

Wherein the Y-valve holder 15 is hollow, the Y-valve holder 15 is illustratively composed of a Y-connector, a guidewire torque device, a guidewire catheter, a protective sheath, and the like, and the passageway formed by the instrument inlet end 153 and the instrument outlet end 151 on the Y-valve holder 15 is used for guiding, placing and locking the instrument catheter, and the substance inlet end 152 on the Y-valve holder 15 is used for placing interventional substances, such as interventional substances including but not limited to saline, contrast media, drugs, and substances required during interventional procedures.

Based on the above embodiments, optionally, the interventional surgical robot 10 further includes: one end of the contrast catheter or guide catheter is fixedly connected to the outlet end 151 of the Y-valve holder 15. A contrast catheter is a catheter for injecting a contrast agent into a coronary artery for diagnostic purposes, and generally has suitable hardness, elasticity, flexibility, torsion, good shape memory, smooth wall, high contrast performance and other hardware requirements, and in some practical situations, the contrast catheter generally needs to have good X-ray transmission performance. Among the primary functions of the guiding catheter include, but are not limited to, delivery of therapeutic guidewires, instrument catheters and interventional materials, monitoring intra-coronary pressure, and the like.

In an alternative embodiment, the interventional surgical robot 10 further comprises a body structural member 2, and the body structural member 2 is fixedly connected with the sterilization box 1 through a connecting mechanism 3; the body structural member 2 comprises a power box and a transmission mechanism, the sterilization box 1 is fixedly connected with the power box through a connecting mechanism 3, a driving motor is installed in the power box, and the guide wire driver 11, the first guide tube driver 12 and the second guide tube driver 13 are respectively connected with the driving motor through the transmission mechanism.

The relative positions of the sterilization box 1 and the body structural member 2 may be, for example, left and right (as shown in fig. 3), or may be up and down, and the relative positions of the sterilization box 1 and the body structural member 2 are not limited.

In an alternative embodiment, the connection mechanism 3 includes at least one of a buckle, a mechanical lock, and a magnetic mechanism. Illustratively, the transmission may be a gear.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. An interventional procedure robot, comprising: a sterilization box integrated with a guide wire driver, a first catheter driver, a second catheter driver and a fixing clamp inside;

2. The interventional procedure robot of claim 1, wherein a first catheter channel of the first catheter driver is at a first preset angle with the guidewire channel, a second catheter channel of the second catheter driver is at a second preset angle with the guidewire channel, and the first and second preset angles each have an angle range satisfying 5 ° to 85 °.

3. The interventional procedure robot of claim 1, wherein the first catheter driver comprises a first catheter base, a first catheter clamp, and at least one set of first catheter drive wheels; the first catheter holder is arranged on the first catheter base and used for holding the first instrument catheter; the first catheter driving wheel is arranged on the first catheter base and is used for performing driving operation on the first instrument catheter;

4. The interventional procedure robot of claim 1, wherein the guidewire driver comprises a guidewire pushing assembly on the guidewire channel, the guidewire pushing assembly comprising a first guidewire base, a first guidewire holder, and at least one set of guidewire drive wheels; the first guide wire clamp holder is arranged on the first guide wire base and used for clamping the working guide wire; the guide wire driving wheel is arranged on the first guide wire base and is used for executing advancing operation or retracting operation on the working guide wire;

5. The interventional procedure robot of claim 1, wherein the guidewire driver comprises a guidewire rotation assembly on the guidewire channel, the guidewire rotation assembly comprising a second guidewire base, a second guidewire holder, and a rotation wheel; the second guide wire clamp holder is arranged on the second guide wire base and used for clamping the working guide wire; the rotating wheel is arranged on the second guide wire base and used for driving the second guide wire base to execute rotating operation.

6. The interventional procedure robot of claim 5, wherein the swivel wheel comprises a transmission gear or friction wheel symmetrically arranged along a guide wire channel of the guide wire driver, the swivel operated swivel axis being the guide wire channel of the guide wire driver.

7. The interventional procedure robot of claim 4 or 5, wherein the fixation clamp is mounted on a first guide wire base in a guide wire pushing assembly in the guide wire drive or on a second guide wire base in a guide wire rotating assembly in the guide wire drive.

8. The interventional procedure robot of claim 1, wherein a Y-valve holder is also integrated into the sterilization cassette, the Y-valve holder being disposed at the head of the sterilization cassette, and the outlet end of the Y-valve holder and the instrument inlet end being located on an extension of the guidewire channel.

9. The interventional procedure robot of claim 1, further comprising a body structural member fixedly connected to the sterilization box by a connection mechanism; the body structure comprises a power box and a transmission mechanism, the sterilization box is fixedly connected with the power box through a connecting mechanism, a driving motor is installed in the power box, and the guide wire driver, the first guide tube driver and the second guide tube driver are respectively connected with the driving motor through the transmission mechanism.

10. The interventional procedure robot of claim 9, wherein the connection mechanism comprises at least one of a snap, a mechanical lock, and a magnetic mechanism.