CN117100403A - Telescopic propelling guide rail - Google Patents

Abstract

The application proposes a telescopic propulsion guide rail comprising: the guide rod, the guide rail handle clamp holder and at least two catheter tube restraints; the guide rail handle holder is connected with the guide rod in a sliding way; the catheter tube restrainer is arranged at intervals and is arranged at the other end of the guide rod opposite to the catheter handle clamp holder in a sliding manner; the catheter tube restraints are connected through at least two flexible restraint connecting wires, and the length of the restraint connecting wires is adjustable. The application adapts to the guide pipes with different hardness by changing the length of the connecting wire of the restraint, the guide pipe with high hardness can be provided with the longer length of the connecting wire of the restraint, the more flexible guide pipe can shorten the length of the connecting wire of the restraint according to the softness of the guide pipe, so that the restraint on the guide rail is denser, each section of the guide pipe with low hardness can be supported, so as to prevent the arch in the use process caused by different hardness of the pipe body, and meanwhile, stable guide pipe support can be provided when each degree of freedom is controlled.

Description

Telescopic propelling guide rail

Technical Field

The application relates to the technical field of medical equipment manufacturing, in particular to a telescopic propelling guide rail.

Background

Cardiovascular intervention is a novel technique for treating cardiovascular diseases, and a diagnosis and treatment method for diagnosing and treating the cardiovascular diseases by a complex cardiac catheter operation technique is provided, wherein a catheter is sent into a heart target cavity under continuous radiography of digital image DSA. The cardiovascular interventional operation robot has the advantages of reducing X-ray radiation damage in the interventional operation process, standardizing operation interventional instruments, reducing labor intensity of operators, shortening operation training learning curve and the like, and becomes a research hot spot of interventional operations at home and abroad in recent years.

Compared with the traditional manual cardiovascular interventional operation, the surgical robot has the advantages that although the surgical robot has a plurality of surgical operation safety and stability advantages, compared with the traditional manual cardiovascular interventional operation, the surgical robot can be flexibly operated by using two hands, particularly the manual operation of leaning against a percutaneous puncture; therefore, the operation scheme on the manipulator actuator has the greatest challenge of solving the operation and propulsion problems of interventional instruments with different softness, and the interventional instruments are required to be ensured to be stably propelled and not arched outside a blood vessel puncture, so that the interventional instruments cannot be propelled in a preset direction, and the accuracy and the safety of the operation robot catheter are influenced.

Disclosure of Invention

The application aims to solve the technical problems of providing corresponding catheter support for interventional instruments with different softness, preventing the safety problems of catheter arching and the like outside a vascular puncture, and achieving accurate axial movement control; in view of this, the present application provides a retractable propulsion guide.

The application adopts the technical scheme that the telescopic propelling guide rail comprises:

a guide rod;

the guide rail handle clamp holder is connected with the guide rod in a sliding way;

at least two catheter tube restraints which are arranged on the guide rod at intervals and slide at the other end of the guide rod opposite to the catheter handle clamp holder;

the catheter tube restraints are connected through at least two flexible restraint connecting wires, and the lengths of the restraint connecting wires are adjustable.

In one embodiment, the guide bar is:

and the two guide rods are fixed on a mechanical arm fixing support of the external equipment, the length direction of the guide rods is consistent with the axial moving direction of the guide pipe, and the distal ends of the two guide rods are fixed through fixing blocks.

In one embodiment, the guide rod is made of metal.

In one embodiment, the catheter handle holder is provided with a guide rod through hole matched with the guide rod, so that the catheter handle holder can be sleeved on the guide rod in a sliding way through the guide rod through hole.

In one embodiment, a catheter handle adapting structure is arranged in the catheter handle holder, and the catheter handle is arranged at a designated position of a mechanical arm actuator outside the telescopic propelling guide rail through the catheter handle holder, so that the catheter is driven to correspondingly move through a transmission structure of the actuator.

In one embodiment, the catheter tube restraint device is slidably arranged on the two guide rods through a restraint hole formed in the bottom of the catheter tube restraint device, and a concave catheter limiting groove is formed in the top of the catheter tube restraint device and used for limiting the circumferential position of the catheter tube.

In one embodiment, the guide rod is additionally provided with a limiting device for fixing the position of the catheter tube restraint on the guide rod.

In one embodiment, the limiting device comprises a rubber sleeve sleeved on the guide rod.

Another aspect of the present application also provides a medical manipulator, comprising: a front end effector, a rear end effector, a catheter handle, a sheath handle, a telescopic propulsion rail as claimed in any one of the preceding claims;

the front end actuator and the rear end actuator are arranged on the fixed slide rail in a sliding way, the front end actuator controls the sheath tube to act by using the sheath tube handle, and the rear end actuator controls the catheter to act by using the catheter handle; the telescopic pushing guide rail is arranged on the rear end actuator, and the rear end actuator is controlled to axially slide on the fixed slide rail so as to drive the axial pushing of the guide pipe.

By adopting the technical scheme, the application has at least the following advantages:

the application provides a telescopic pushing guide rail device, which provides supporting function for a guide rail handle and a pipe body in the working process of a surgical robot, can customize corresponding guide rail devices according to pipes with different hardness, adapts to the pipes with different hardness by changing the length of a connecting wire of a restraint, can be provided with the pipes with high hardness, has longer length of the connecting wire of the restraint, shortens the length of the connecting wire of the restraint according to the softness degree of the connecting wire of the restraint, ensures that the restraints on the guide rail are denser, can support each section of the pipes with low hardness, prevents arching in the use process caused by different hardness of the pipe body, and simultaneously provides stable guide rail support when controlling in various degrees of freedom including axial movement, circumferential rotation and head end bending.

Drawings

FIG. 1 is a schematic view of a retractable propulsion guide arrangement according to an embodiment of the application;

FIG. 2 is a schematic illustration of a catheter handle holder according to an embodiment of the application, shown disassembled;

FIG. 3 is a schematic view of a retractable track arrangement according to another embodiment of the present application;

FIG. 4 is a schematic diagram illustrating an operating state according to an embodiment of the present application;

reference numerals

1-a retractable propulsion guide; 2-a back end effector; 3-front end effector; 4-catheter handle; 5-sheath handle;

11-a catheter tube restraint; 12-a guide rod; 13-catheter handle holder; 14-a restraint connection line; 15-a fixed block; 16-rubber sleeve;

131-catheter handle adapter structure; 132-guide rod through holes.

Detailed Description

In order to further describe the technical means and effects adopted by the present application for achieving the intended purpose, the following detailed description of the present application is given with reference to the accompanying drawings and preferred embodiments.

In the drawings, the thickness, size and shape of the object have been slightly exaggerated for convenience of explanation. The figures are merely examples and are not drawn to scale.

It will be further understood that the terms "comprises," "comprising," "includes," "including," "having," "containing," and/or "including," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Furthermore, when a statement such as "at least one of the following" appears after a list of features that are listed, the entire listed feature is modified instead of modifying a separate element in the list. Furthermore, when describing embodiments of the present application, the use of "may" means "one or more embodiments of the present application. Also, the term "exemplary" is intended to refer to an example or illustration.

As used herein, the terms "substantially," "about," and the like are used as terms of a table approximation, not as terms of a table level, and are intended to illustrate inherent deviations in measured or calculated values that would be recognized by one of ordinary skill in the art.

Unless otherwise defined, all terms (including 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. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.

In a first embodiment of the present application, a retractable propulsion guide 1, as shown in fig. 1, specifically includes:

catheter handle holder 13, guide bar 12, catheter tube restraint 11, restraint connection wire 14.

The catheter handle holder 13 is slidably connected with the guide rod 12, at least two catheter tube restrainers 11 are slidably arranged on the guide rod 12 opposite to the other side of the catheter handle holder 13, the catheter tube restrainer 11 at the far end is fixed on the guide rod 12 at the far end of the guide rail, the catheter tube restrainers 11 are connected through at least two restraint connecting wires 14, and the restraint connecting wires 14 corresponding to different lengths can be adapted according to different softness of the catheter tube, so that the maximum interval distance between two adjacent restrainers is limited in the process of moving the catheter, and the phenomenon of arching of the catheter tube between the two restrainers is prevented.

In this embodiment, the guide rod 2 includes two guide rods 12 fixed on the fixing support of the mechanical arm, the length direction of the guide rods 12 is consistent with the axial moving direction of the catheter, the distal ends of the two guide rods 12 are fixed by the fixing blocks 15, the two guide rods 12 are made of metal materials, the guide rail is provided with a substantially rigid support, and the restraint device can freely and smoothly move on the guide rods 12 formed by the two guide rods 12.

As shown in fig. 2, the catheter handle holder 13 is provided with a guide rod through hole 132, and the catheter handle holder 13 is slidably sleeved on the guide rod 12 through the guide rod through hole 132. The catheter handle holder 13 is similar to a flip cover structure, a catheter handle adapting structure 131 is arranged in the catheter handle holder 13, the catheter handle 4 is arranged at a designated position of the mechanical arm actuator through the catheter handle holder 13, and the catheter is driven to axially move, bend, rotate and the like through a transmission structure of the actuator.

In this embodiment, the catheter tube restraint device 11 slidably sets the catheter tube restraint device 11 on two guide rods 12 through the restraint holes formed in the body portion of the catheter tube restraint device 11, the top of the catheter tube restraint device 11 is provided with a concave catheter limiting groove, the catheter tube can limit the circumferential position of the catheter tube through the limiting groove, and the concave limiting grooves of the restraint devices are sequentially arranged on the guide rods 12 to form a catheter tube support rail, so that rigid support is provided for the catheter tube.

Further, the limiting groove is designed to be embedded into the opening, so that the catheter is convenient to install, the opening diameter of the limiting groove is slightly larger than that of the catheter, the limiting groove can be used for customizing different inner diameters, and the limiting groove is suitable for interventional instruments with different pipe diameters, so that the catheter is convenient to operate in a rotational degree of freedom.

In this embodiment, the catheter tube restrainers 11 are arranged on the metal guide rod 12 at intervals along the moving path of the catheter, two adjacent catheter tube restrainers 11 are connected through a flexible restraint connecting wire 14, so that adverse phenomena such as arching of the catheter tube and the like caused by overlong intervals of two adjacent catheter tube restrainers 11 in the axial movement process of the catheter are prevented, the length of the connecting wire between the restrainers is determined by the flexibility of the catheter tube, if the catheter tube is softer, the length of the connecting wire is shorter, the maximum interval distance between the catheter tube restrainers 11 is controlled to be shortened, the number of the catheter tube restrainers 11 is increased, the arching phenomenon of the catheter tube with low hardness in the axial moving process is avoided, when the catheter tube is harder, the length of the connecting wire can be properly prolonged, and the number of restrainers can be properly reduced under the same travel, so that the maximum travel of the catheter tube is increased. Corresponding propelling guide rails can be adapted according to different types of guide pipes.

Compared with the prior art, the embodiment has at least the following advantages:

the guide rail device that this embodiment provided can be applicable to all kinds of flexible interventional instruments on cardiovascular surgery robot, when the pipe has longer extension outside the sheath tube head end, scalable propulsion guide rail provides an effective support to the body that the pipe is soft, prevents that the pipe body from arching outside the vascular access, and the direction of advance of fixed pipe simultaneously realizes the accurate control pipe access direction of robot, rotatory and each degree of freedom of bending, and the guide rail is scalable propulsion guide rail, along with the axial displacement of pipe, the guide rail carry out the flexible change that corresponds to for the pipe body provides effectual support, prevent that the pipe body from arching the phenomenon from appearing, influence the stability and the security requirement of operation.

The second embodiment of the present application, similar to the first embodiment described above, differs mainly in that:

as shown in fig. 3, in this embodiment, the catheter tube restraint 11 can be adjusted and fixed on the guide rod 12 according to the operation requirement, so as to adapt to different operation requirements, and a limiting device is additionally arranged on the guide rod 12 to lock the position of the catheter tube restraint 11 on the guide rod 12.

Illustratively, the limiting device comprises a rubber sleeve 16 sleeved on the guide rod 12, and friction between the restraint and the guide rod 12 is improved by adding the rubber sleeve 16 between the restraint and the guide rod 12, so that the restraint is limited to a designated position of the guide rod 12 to adapt to different operation type requirements.

A third embodiment of the present application is an apparatus to which the above first or second embodiment is applied, specifically, a medical mechanical arm, as shown in fig. 4, including:

the front end actuator 3 utilizes the sheath handle 5 to control the sheath action, the rear end actuator 2 utilizes the catheter handle 4 to control the catheter action, and the front end actuator 2 and the rear end actuator 2 can realize the control of each degree of freedom in the manual operation process.

In this embodiment, the catheter handle holder 13 is disposed on the mechanical arm rear end effector 2, and the operator can control the rear end effector 2 to axially slide on the fixed sliding rail to drive the axial pushing of the interventional device such as the catheter, because the hardness of the catheter body of the sheath is higher than that of the catheter, when the catheter has a longer portion outside the sheath, the arching phenomenon is easier to occur, so that the telescopic pushing rail 1 is erected between the front end effector 2 and the rear end effector 2, and is used for providing rigid support for the catheter which does not enter the catheter body of the sheath portion.

In this embodiment, a fixed block 15 at one end of a guide rod 12 is fixedly connected with a fixed actuator at the front end of the mechanical arm, the other end of the guide rod passes through a through hole reserved on a catheter handle holder 13 and is slidably connected with the catheter handle holder 13, a plurality of catheter restraints are slidably arranged on the guide rod 12 in a penetrating manner, the catheter restraints are connected through a restraint connecting wire 14, and a rear end actuator 2 moves along a fixed sliding rail to drive a catheter on the rear end actuator 2 to axially move forwards and backwards.

When a longer catheter tube part is arranged between the front actuator and the rear actuator, the catheter restrainer can provide rigid support for the catheter tube, the arrangement of the catheter restrainer is in a tightening or dispersing state along with the distance change of the front end actuator and the rear end actuator 2 in the operation process, the rigid support of each section of catheter tube in the operation process is ensured, the phenomenon of catheter arching between the front actuator and the rear actuator is avoided, the operation risk is caused, and the operation robot can operate the catheter more stably for operation.

While the application has been described in connection with specific embodiments thereof, it is to be understood that these drawings are included in the spirit and scope of the application, it is not to be limited thereto.

Claims (9)

1. A retractable feed rail, comprising:

a guide rod;

the guide rail handle clamp holder is connected with the guide rod in a sliding way;

at least two catheter tube restraints which are arranged on the guide rod at intervals and slide at the other end of the guide rod opposite to the catheter handle clamp holder;

the catheter tube restraints are connected through at least two flexible restraint connecting wires, and the lengths of the restraint connecting wires are adjustable.

2. The telescopic propulsion guide according to claim 1, wherein the guide rods are two guide rods fixed on a mechanical arm fixing bracket of an external device, wherein the length direction of the guide rods is consistent with the axial moving direction of the guide tube, and the distal ends of the two guide rods are fixed by fixing blocks.

3. The retractable guide rail of claim 2, wherein said guide rod is metallic.

4. The retractable guide rail according to claim 1, wherein the catheter handle holder is provided with a guide rod through hole adapted to the guide rod, such that the catheter handle holder is slidably sleeved on the guide rod through hole.

5. The retractable guide rail of claim 4, wherein the catheter handle holder has a catheter handle adapter structure disposed therein, and wherein the catheter handle is mounted by the catheter handle holder at a designated location on the robotic arm actuator external to the retractable guide rail such that the catheter is driven for corresponding movement by the actuator drive structure.

6. The retractable guide rail according to claim 1, wherein the guide tube body restraint device is slidably disposed on the two guide rods through a restraint hole formed in the bottom of the guide tube body restraint device, and a concave guide tube limit groove is formed in the top of the guide tube body restraint device for limiting the circumferential position of the guide tube body.

7. The retractable guide rail of claim 1, wherein the guide bar is additionally provided with a stop device for fixing the position of the catheter tube restraint on the guide bar.

8. The retractable guide rail of claim 7, wherein said stop means comprises a rubber sleeve over said guide rod.

9. A medical manipulator, comprising: a front end effector, a rear end effector, a catheter handle, a sheath handle, a telescopic propulsion rail according to any one of claims 1 to 8;

the front end actuator and the rear end actuator are arranged on the fixed slide rail in a sliding way, the front end actuator controls the sheath tube to act by using the sheath tube handle, and the rear end actuator controls the catheter to act by using the catheter handle; the telescopic pushing guide rail is arranged on the rear end actuator, and the rear end actuator is controlled to axially slide on the fixed slide rail so as to drive the axial pushing of the guide pipe.