CN117338432B - Auxiliary tube placing robot for operation - Google Patents
Auxiliary tube placing robot for operation Download PDFInfo
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- CN117338432B CN117338432B CN202311448511.5A CN202311448511A CN117338432B CN 117338432 B CN117338432 B CN 117338432B CN 202311448511 A CN202311448511 A CN 202311448511A CN 117338432 B CN117338432 B CN 117338432B
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- Prior art keywords
- wall
- auxiliary
- connector
- tube
- fixedly connected
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- 230000001681 protective effect Effects 0.000 claims description 32
- 238000004659 sterilization and disinfection Methods 0.000 claims description 32
- 238000007789 sealing Methods 0.000 claims description 26
- 238000003860 storage Methods 0.000 claims description 21
- 239000000523 sample Substances 0.000 claims description 20
- 230000001954 sterilising effect Effects 0.000 claims description 20
- 238000001514 detection method Methods 0.000 claims description 11
- 229920000742 Cotton Polymers 0.000 claims description 10
- 230000002792 vascular Effects 0.000 claims description 10
- 230000000249 desinfective effect Effects 0.000 claims description 4
- 238000005538 encapsulation Methods 0.000 claims 2
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 abstract description 30
- 238000007872 degassing Methods 0.000 abstract description 8
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000001356 surgical procedure Methods 0.000 abstract description 2
- 238000004806 packaging method and process Methods 0.000 description 12
- 238000005457 optimization Methods 0.000 description 5
- 210000004204 blood vessel Anatomy 0.000 description 4
- 238000002324 minimally invasive surgery Methods 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 3
- 239000004033 plastic Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002791 soaking Methods 0.000 description 1
- 238000007631 vascular surgery Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
-
- 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
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
-
- 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
- A61M25/0111—Aseptic insertion devices
-
- 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
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61M25/0133—Tip steering devices
- A61M25/0136—Handles therefor
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention discloses an auxiliary catheterization robot for surgery, which has the technical scheme that: including auxiliary connection pipe, auxiliary connection pipe one side outer wall fixedly connected with intervenes the pipeline, auxiliary connection pipe keeps away from the side fixedly mounted who intervenes the pipeline and has the link, link bottom inner wall rotates and is connected with the rotating turret, connector outer wall connection has inner tube degassing unit, auxiliary connection pipe outer wall connection has outer wall degassing unit. The auxiliary tube placing robot is convenient for medical staff to rapidly disinfect auxiliary tube placing tools, is more beneficial to bringing out residual alcohol, and is convenient for doctors to clean.
Description
Technical Field
The invention belongs to the technical field of auxiliary catheterization robots, and particularly relates to an auxiliary catheterization robot for surgery.
Background
In the present day with rapid scientific development, in order to make the minimally invasive surgery more accurate, technicians develop vascular surgery interventional robots for performing the minimally invasive surgery, and the robots can be controlled to perform accurate minimally invasive vascular catheterization work through remote operation of doctors;
while the robot is operated, a plurality of auxiliary tube placing tools are needed, wherein tools for clamping in blood vessels are needed;
the tool is used for controlling the clamping work of the parts like the vice through the wire harness, and meanwhile, the ultrasonic probes and the cameras are arranged on the two sides of the tool to provide visual angles for medical staff, so that the medical staff can operate conveniently. Before the tool is used, the tool needs to be disinfected to avoid contact between bacteria and wounds, in the prior art, medical staff is used for soaking the tool in advance through medical alcohol, but fine slits exist at the installation positions of the ultrasonic probe and the camera, and when the ultrasonic probe and the camera are soaked, alcohol is difficult to enter the slits, so that the medical staff is required to detach the ultrasonic probe and the camera to facilitate disinfection in the ultrasonic probe, and after the disinfection, the ultrasonic probe and the camera are also required to be assembled, so that the medical staff is inconvenient to rapidly disinfect the whole robot auxiliary tool
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides the following technical scheme: the auxiliary tube placing robot for the operation comprises an auxiliary connecting tube, wherein an intervention pipeline is fixedly connected to the outer wall of one side of the auxiliary connecting tube, a connecting frame is fixedly installed on one side of the auxiliary connecting tube away from the intervention pipeline, and a rotating frame is rotatably connected to the inner wall of the bottom of the connecting frame;
the connecting line is fixedly arranged on one side of the rotating frame, which is close to the auxiliary connecting pipe, the linkage line is fixedly arranged on the other side of the connecting line, the auxiliary clamp is fixedly connected with one side of the linkage line, which is far away from the connecting line, the connector is fixedly arranged at the bottom of the auxiliary clamp, and the outer wall of one end of the connector is fixedly connected with the outer wall of one side of the intervention pipeline, which is far away from the auxiliary connecting pipe;
an ultrasonic detection probe is fixedly arranged on the inner wall of one side of the connector, a first data wire is fixedly arranged on the side, close to the intervention pipeline, of the ultrasonic detection probe, a USB connector is fixedly arranged at the other end of the first data wire, a miniature camera is fixedly arranged on the inner wall of one side of the connector, a second data wire is fixedly arranged on the side, close to the intervention pipeline, of the miniature camera, and a circular interface is fixedly arranged at the other end of the second data wire;
the connector outer wall is connected with an inner tube disinfection device, the inner tube disinfection device is used for disinfecting the inner wall of the connector when performing vascular intervention operation, the auxiliary connecting tube outer wall is connected with an outer wall disinfection device, and the outer wall disinfection device is used for disinfecting an intervention pipeline after the vascular intervention operation is completed.
As a preferable aspect of the above-described aspect, the inner tube sterilization device includes: the device comprises a protective sleeve, a storage tube, a piston, a connecting rod, a connecting ring and a handle;
the two storage pipes are arranged, the outer walls of the two sides of the two storage pipes are fixedly connected with the two sides of the inner wall of the protective sleeve, and the two pistons, the connecting rods, the connecting rings and the handles are arranged;
the outer walls of the two pistons are fixedly connected with the outer walls of one side of the two connecting rods respectively, the outer walls of the other side of the two connecting rods are fixedly connected with the outer walls of the two connecting rings respectively, the outer walls of the other side of the two connecting rings are fixedly connected with the outer walls of one side of the two handles respectively, the outer walls of the two pistons are respectively connected with the inner walls of the two storage tubes in a sliding manner, and the two connecting rods are both connected with the outer walls of the protective sleeves in a sliding manner;
the inner tube sterilization device further includes: a valve, a connecting cover and a conveying pipe;
the four conveying pipes are fixedly connected with the outer walls of the two sides of the connecting cover respectively;
the outer walls of the two sides of the valves far away from the connecting cover are fixedly connected with the inner walls of the protecting sleeves.
As the optimization of the technical scheme, the side, close to the conveying pipe, of the protective sleeve is fixedly connected with the outer wall of the connector, and the outer wall of the conveying pipe is in sliding connection with the inner wall of the connector.
As the optimization of the technical scheme, the side of the protective sleeve conveying pipe is fixedly provided with the positioning column, and the outer wall of the positioning column is connected with the disinfection cotton in a sliding manner.
As the optimization of the technical scheme, the outer wall of the side, close to the connector, of the protective sleeve is fixedly provided with a packaging page, and the side, close to the disinfection cotton, of the packaging page is fixedly provided with a sealing column.
As the preferable mode of the technical scheme, the outer wall of the sealing column is in sliding connection with the inner wall of the positioning column, and the conveying pipe is conical in shape.
As the optimization of the technical scheme, the inner walls of the two connecting rings are both rotationally connected with the rotating pages, and the outer walls of the two rotating pages are slidingly connected with the inner wall of the other connecting ring adjacent to the rotating pages.
As a preferable aspect of the above-described aspect, the outer wall sterilizing device includes: a moving sleeve, a sealing ring and a rubber sleeve;
the inner wall of the movable sleeve is in sliding connection with the outer wall of the sealing ring, and the outer wall of one side of the movable sleeve is fixedly connected with the outer wall of the rubber sleeve.
As the optimization of the technical scheme, the inner wall of the movable sleeve is contacted with the outer wall of the auxiliary connecting pipe, the inner wall of the sealing ring is contacted with the outer wall of the auxiliary connecting pipe, and the inner wall of the rubber sleeve is contacted with the outer wall of the auxiliary connecting pipe.
The beneficial effects of the invention are as follows:
through setting up inner tube degassing unit, through pouring disinfection alcohol into the protective sheath in, the pulling handle to drive go-between and connecting rod removal, make the piston motion, make appear the negative pressure in the accumulator tube, drive alcohol admission accumulator tube. And then the valve is rotated, and the handle is pressed, so that alcohol is pushed to the valve to flush the connecting cover and the conveying pipe. The end of the conveying pipe is provided with an opening and threads, after the conveying pipe is tightly attached to the round hole, alcohol is subjected to threaded movement after coming out of the opening, so that the flowing speed of the alcohol is accelerated, the alcohol is uniformly diffused, the disinfection is more comprehensive, the ultrasonic probe and the camera are not required to be detached for disinfection, medical staff can conveniently and rapidly disinfect an auxiliary pipe placing tool, and meanwhile, when the conveying pipe is taken out, the threads are more favorable for bringing residual alcohol out, so that the cleaning of doctors is facilitated.
Drawings
Fig. 1 shows a top view;
fig. 2 shows a side view;
FIG. 3 is a structural connection diagram;
FIG. 4 shows an exploded view;
FIG. 5 is a diagram showing an internal structure;
FIG. 6 illustrates a front view of the connector frame;
FIG. 7 shows a front view of the connection and turret;
FIG. 8 shows a cross-sectional view of the inner tube sterilization device;
FIG. 9 is an exploded view of the inner tube sterilization device;
FIG. 10 is an exploded side view of the inner tube sterilization device;
FIG. 11 illustrates a front view of a connecting ring;
FIG. 12 is an exploded view of an outer wall sterilization device;
FIG. 13 illustrates a side view of an outer wall disinfection apparatus;
FIG. 14 shows a side view of the inner tube sterilization device;
FIG. 15 illustrates a front view of an encapsulated page;
figure 16 shows a side view of the interior of the protective sheath;
FIG. 17 shows an enlarged view of area A of FIG. 3;
fig. 18 shows an enlarged view of region B of fig. 6;
fig. 19 shows an enlarged view of region C of fig. 9;
fig. 20 shows an enlarged view of region D of fig. 9;
fig. 21 shows an enlarged view of the area E of fig. 14.
In the figure: auxiliary connection pipe 1, intervention pipeline 2, link 3, rotating frame 4, connecting wire 5, linkage 6, auxiliary fixture 7, connector 8, ultrasonic detection probe 9, first data line 10, USB connector 11, miniature camera 12, second data line 13, circular interface 14, protective sheath 15, storage tube 16, piston 17, connecting rod 18, go-between 19, handle 20, valve 21, connecting cover 22, conveyer pipe 23, reference column 24, sterilizing cotton 25, packaging page 26, sealing column 27, rotating page 28, moving sleeve 29, sealing ring 30, rubber sleeve 31.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the embodiments.
The invention provides an auxiliary tube-placing robot for operation, as shown in figures 1-21, which comprises an auxiliary connecting tube 1, wherein the outer wall of one side of the auxiliary connecting tube 1 is fixedly connected with an intervention pipeline 2, the side of the auxiliary connecting tube 1 far away from the intervention pipeline 2 is fixedly provided with a connecting frame 3, the inner wall of the bottom of the connecting frame 3 is rotationally connected with a rotating frame 4, the side of the rotating frame 4 close to the auxiliary connecting tube 1 is fixedly provided with a connecting wire 5, the other side of the connecting wire 5 is fixedly provided with a linkage line 6, the side of the linkage line 6 far away from the connecting wire 5 is fixedly connected with an auxiliary clamp 7, the bottom of the auxiliary clamp 7 is fixedly provided with a connector 8, the outer wall of one end of the connector 8 is fixedly connected with the outer wall of the side of the intervention pipeline 2 far away from the auxiliary connecting tube 1, the inner wall of one side of the connector 8 is fixedly provided with an ultrasonic detection probe 9, the side of the ultrasonic detection probe 9 is fixedly provided with a first data line 10 near the intervention pipeline 2, the other end of the first data wire 10 is fixedly provided with a USB joint 11, the inner wall of one side of the connector 8 is fixedly provided with a miniature camera 12, the side of the miniature camera 12 close to the interventional tube 2 is fixedly provided with a second data wire 13, the other end of the second data wire 13 is fixedly provided with a circular interface 14, when the minimally invasive interventional tube placing operation is carried out, the USB joint 11 and the circular interface 14 are respectively required to be connected with corresponding machines, so that an auxiliary tube placing tool is connected with the existing tube placing robot, when the minimally invasive tube placing tool is used, the interventional tube 2 and the connector 8 are required to be placed in a blood vessel of a patient, the interventional tube 2 with proper length is sent into the blood vessel through the existing tube placing robot, during the period, the miniature camera 12 is connected with a display screen, a real-time picture is transmitted to the display screen, meanwhile, the ultrasonic detection probe 9 can detect the path of the blood vessel through ultrasonic waves, the operation is convenient for a user, after the interventional pipe 2 sends the connector 8 to the object clamping position, the angle of the auxiliary clamp 7 is required to be adjusted by operating the pipe placing robot through medical staff, so that the object enters the clamping range of the auxiliary clamp 7, then the rotating frame 4 is pressed, as shown in fig. 6 and 7, after the rotating frame 4 is pressed, the rotating frame 4 moves towards the connecting frame 3, at the moment, the rotating frame 4 drives the connecting wire 5 to move towards the connecting frame 3, the connecting wire 5 moves towards the connecting frame 3, as shown in fig. 18, the connecting wire 5 drives the linkage wire 6 to move towards the connecting frame 3, the linkage wire 6 pulls the upper half part in the auxiliary clamp 7 towards the connecting frame 3, as shown in fig. 18, the clamp is divided into the upper half part and the lower half part, the upper half part and the lower half part are rotationally connected, and a spring is arranged between the upper half part and the lower half part, when the upper half part of the auxiliary clamp 7 is pulled by the linkage wire 6, the spring is extruded, so that the upper half part rotates towards the lower half part, and a target object is clamped, and the object can be completely clamped together with the auxiliary pipe clamp 3 after the object clamping is pulled;
the intervention pipeline 2 and the connector 8 are all parts adopted in the prior art, the adopted minimally invasive surgery vascular intervention catheter is a universal standard part or a part known by a person skilled in the art, the structure and the principle of the minimally invasive surgery vascular intervention catheter are all known by the person skilled in the art through a technical manual or a conventional experimental method, the length of the intervention pipeline 2 and the length of the connector 8 are both the intervention pipeline 2 and the length of the connector 8 which are relatively sized according to requirements, the size of the intervention pipeline 2 is 3mm, and the diameter of the connector 8 is 4mm;
the miniature camera 12 adopts a medical endoscope camera in the prior art, the ultrasonic detection Probe 9 adopts a Mantoux electronic M2Probe miniature ultrasonic Probe, the miniature ultrasonic Probe and the Mantoux electronic M2Probe are all universal standard components or components known to a person skilled in the art, the structure and the principle of the miniature camera are all known by the person skilled in the art through a technical manual or a conventional experimental method, and meanwhile, the circuit connection and the use method of the miniature camera can also be known through the technical manual or the conventional experimental method;
the side of the protective sleeve 15, which is close to the conveying pipe 23, is fixedly connected with the outer wall of the connector 8, wherein before the connector 8 is used, the connector 8 and the protective sleeve 15 are fixedly connected together through plastic sealing packaging, and the protective sleeve has certain tightness, so that the connector 8 can be protected from pollution;
the two storage tubes 16 are arranged, the outer walls of the two sides of the two storage tubes 16 are fixedly connected with the two sides of the inner wall of the protective sleeve 15, the two pistons 17, the connecting rods 18, the connecting rings 19 and the handles 20 are arranged, the outer walls of the two pistons 17 are fixedly connected with the outer walls of one side of the two connecting rods 18 respectively, the outer walls of the other side of the two connecting rods 18 are fixedly connected with the outer walls of the two connecting rings 19 respectively, the outer walls of the other side of the two connecting rings 19 are fixedly connected with the outer walls of one side of the two handles 20 respectively, the outer walls of the two pistons 17 are respectively and slidably connected with the inner walls of the two storage tubes 16, the two connecting rods 18 are slidably connected with the outer walls of the protective sleeve 15, the two valves 21 and the two connecting covers 22 are arranged, the four conveying pipes 23 are arranged, the outer wall of one side of the two valves 21 is respectively in threaded connection with the inner wall of one side of the two connecting covers 22, the four conveying pipes 23 are respectively in fixed connection with the outer walls of two sides of the two connecting covers 22, the outer wall of one side of the two valves 21, which is far away from the connecting covers 22, is fixedly connected with the inner wall of the protective sleeve 15, the outer wall of the conveying pipe 23 is in sliding connection with the inner wall of the connector 8, the outer shape of the conveying pipe 23 is conical, the inner walls of the two connecting rings 19 are all rotationally connected with rotating pages 28, the outer walls of the two rotating pages 28 are in sliding connection with the inner wall of the other connecting ring 19 adjacent to the outer wall of the two rotating pages 28, and before the auxiliary pipe placing tool is used, the ultrasonic detection probe 9 is installed on the connector 8 and a gap at the miniature camera 12 is required to be disinfected. As shown in fig. 8, the protective cover 15 is provided with a feed port, and a cavity is provided in the protective cover 15, and two storage pipes 16 are positioned in the cavity. Here, the disinfection alcohol needs to be poured into the cavity in the protective sleeve 15, then the handle 20 is pulled, the handle 20 drives the connecting ring 19 to move away from the protective sleeve 15, the connecting ring 19 is shown in fig. 11, the two rotating pages 28 are clamped with the two connecting rings 19 to integrate the two connecting rings 19, when one handle 20 is pulled, the two connecting rings 19 drive the two connecting rods 18 to move, the two connecting rods 18 drive the two pistons 17 to move, a through hole is formed in the direction of the storage tube 16 approaching the connector 8, meanwhile, as shown in fig. 8, the storage tube 16 and the protective sleeve 15 are connected together through a fixing block, an opening is formed in the fixing block, thus negative pressure occurs in the storage tube 16 under the movement of the pistons 17, alcohol enters the storage tube 16 through negative pressure, then the valve 21 is rotated, the valve 21 is opened, after the valve 21 is opened, the handle 20 is pressed, so that the handle 20 drives the connecting rod 18 and the piston 17 to move towards the connector 8, alcohol can be pushed to flow towards the valve 21 to the connecting cover 22 and the conveying tube 23, as shown in fig. 21, an opening is formed at the tail end of the conveying tube 23, threads are formed on the outer wall of the conveying tube 23, when the conveying tube 23 enters a round hole beside a gap at the installation position of the ultrasonic detection probe 9 and the miniature camera 12, the threads are tightly attached to the round hole, and thus, when the alcohol comes out through the opening, the threads can move, so that the flow speed of the alcohol is accelerated, and the alcohol can uniformly spread all around;
the side of the protective sleeve 15, which is close to the conveying pipe 23, is fixedly provided with a positioning column 24, the outer wall of the positioning column 24 is in sliding connection with a sterilizing cotton 25, the outer wall of the side of the protective sleeve 15, which is close to the connector 8, is fixedly provided with a packaging page 26, the side of the packaging page 26, which is close to the sterilizing cotton 25, is fixedly provided with a sealing column 27, the outer wall of the sealing column 27 is in sliding connection with the inner wall of the positioning column 24, before the auxiliary pipe tool is used, the outer surfaces of the intervention pipeline 2 and the connector 8 are required to be sterilized, the packaging page 26 is required to be taken down, the packaging page 26 is made of packaging paper made of plastic materials and is adhered to the protective sleeve 15 through glue, the packaging page 26 is torn off, the packaging page 26 drives the sealing column 27 to leave the positioning column 24, the positioning column 24 is hollow in the middle, meanwhile, after the sealing column 27 leaves the positioning column 24, alcohol flows from the positioning column 24 to each sterilizing cotton 25, and after the sterilizing cotton 25 is soaked by alcohol, the intervention pipeline 2 and the outer surfaces of the connector 8 are wiped;
the inner wall of the movable sleeve 29 is slidably connected with the outer wall of the sealing ring 30, the outer wall of one side of the movable sleeve 29 is fixedly connected with the outer wall of the rubber sleeve 31, the inner wall of the movable sleeve 29 is contacted with the outer wall of the auxiliary connecting pipe 1, the inner wall of the sealing ring 30 is contacted with the outer wall of the auxiliary connecting pipe 1, the inner wall of the rubber sleeve 31 is contacted with the outer wall of the auxiliary connecting pipe 1, after the task of taking out is completed, in order to prevent the intervention pipeline 2 and the connector 8 from polluting an operating room, the intervention pipeline 2 and the connector 8 need to be sterilized, at the moment, the sealing ring 30 needs to be taken down, the movable sleeve 29 and the sealing ring 30 are connected together through pressure interference fit, the sealing ring 30 is pulled by force, the sealing ring 30 can leave the interior of the movable sleeve 29, the movable sleeve 29 is positioned on the inner wall of the sealing ring 30, as shown in fig. 12, a through hole is formed on the outer wall of the movable sleeve 29, a feed inlet is also formed in the interior, and a cavity is formed, the disinfection alcohol can be introduced into the cavity by pouring the disinfection alcohol into the feed inlet, the cavity is communicated with the through hole, meanwhile, the movable sleeve 29 is made of medical grade soft plastic, the alcohol can be sprayed out from the through hole by pressing the movable sleeve 29, meanwhile, the movable sleeve 29 can slide on the auxiliary connecting pipe 1 to the position of the intervention pipeline 2 and the connecting head 8, the movable sleeve 29 can uniformly smear the alcohol on the intervention pipeline 2 and the connecting head 8 by sliding the movable sleeve 29 to the position of the intervention pipeline 2, meanwhile, the movable sleeve 29 is also provided with the rubber sleeve 31, the rubber sleeve 31 is very thin, meanwhile, the rubber sleeve 31 is made of elastic rubber material, has very good elasticity, and the allowance of the rubber sleeve 31 is reserved, when the movable sleeve 29 moves, the intervention pipeline 2 and the connecting head 8 can be tightly jointed through the rubber sleeve 31, so that the mixture of the stains and the alcohol in the intervention pipeline 2 and the connector 8 is scraped off, and the surfaces of the intervention pipeline 2 and the connector 8 can be uniformly disinfected.
The connector 8 outer wall is connected with inner tube degassing unit, and inner tube degassing unit includes: protective sheath 15, storage tube 16, piston 17, connecting rod 18, go-between 19, handle 20, the inner tube disinfection device still includes: valve 21, junction cap 22, conveyer pipe 23, inner tube degassing unit is used for carrying out disinfection work to connector 8 inner wall when carrying out the vascular intervention operation, and supplementary connecting pipe 1 outer wall connection has outer wall degassing unit, and outer wall degassing unit includes: the movable sleeve 29, the sealing ring 30 and the rubber sleeve 31, and the outer wall sterilizing device is used for sterilizing the intervention pipeline 2 after the vascular intervention operation is completed.
Working principle: before using the auxiliary tube placing tool, the connector 8 needs to be sterilized. The protective sleeve 15 is provided with a feed inlet and a cavity, and the storage tube 16 is positioned in the cavity. Pouring disinfection alcohol into the cavity, pulling the handle 20, integrating the connecting ring 19 and driving the connecting rod 18 and the piston 17 to move, generating negative pressure in the storage tube 16, and enabling alcohol to enter the storage tube 16. The rotary valve 21 is opened, the handle 20 is pressed, alcohol is pushed to flow to the valve to the connecting cover 22 and the conveying pipe 23, the tail end of the conveying pipe 23 is provided with an opening, and the outer wall is provided with threads. The alcohol flows out and moves in a threaded way, so that the flowing speed is increased and the alcohol is uniformly diffused. Sterilizing the outer surfaces of the intervention pipeline 2 and the connector 8, tearing off the packaging paper, and taking out sterilized cotton for wiping. The sealing ring 30 is removed, the moving sleeve 29 is slid toward the access tube 2, and alcohol is sprayed out of the through hole by pressing the moving sleeve 29, and can slide on the auxiliary connection tube 1. The rubber sleeve 31 is arranged on the movable sleeve 29 and closely attached to the intervention pipeline 2 and the connector 8, so that the mixture of dirt and alcohol is scraped off, and the disinfection is uniform.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting.
Claims (4)
1. The auxiliary tube placing robot for the operation comprises an auxiliary connecting tube (1), wherein an intervention pipeline (2) is fixedly connected to the outer wall of one side of the auxiliary connecting tube (1), a connecting frame (3) is fixedly arranged on one side, far away from the intervention pipeline (2), of the auxiliary connecting tube (1), and a rotating frame (4) is rotatably connected to the inner wall of the bottom of the connecting frame (3);
the connecting line (5) is fixedly arranged on one side, close to the auxiliary connecting pipe (1), of the rotating frame (4), the linkage line (6) is fixedly arranged on the other side of the connecting line (5), an auxiliary clamp (7) is fixedly connected on one side, far away from the connecting line (5), of the linkage line (6), a connector (8) is fixedly arranged at the bottom of the auxiliary clamp (7), and the outer wall on one side of the connector (8) is fixedly connected with the outer wall on one side, far away from the auxiliary connecting pipe (1), of the intervention pipeline (2);
an ultrasonic detection probe (9) and a miniature camera (12) are fixedly arranged on the inner wall of the other side of the connector (8), a first data line (10) is fixedly arranged on one side, close to the interventional pipeline (2), of the ultrasonic detection probe (9), a USB connector (11) is fixedly arranged on the other side of the first data line (10), a second data line (13) is fixedly arranged on one side, close to the interventional pipeline (2), of the miniature camera (12), and a circular interface (14) is fixedly arranged on the other side of the second data line (13);
the vascular interventional operation device is characterized in that one side of the connector (8) far away from the interventional pipeline (2) is connected with an inner pipe disinfection device, the inner pipe disinfection device is used for disinfecting the inner wall of the connector (8) when performing the vascular interventional operation, the outer wall of the auxiliary connecting pipe (1) is connected with an outer wall disinfection device, and the outer wall disinfection device is used for disinfecting the interventional pipeline (2) after the vascular interventional operation is completed;
the inner tube sterilizing device includes: the device comprises a protective sleeve (15), a storage tube (16), a piston (17), a connecting rod (18), a connecting ring (19) and a handle (20);
the two storage pipes (16) are arranged, the outer walls of the two sides of the two storage pipes (16) are fixedly connected with the inner walls of the two sides of the protective sleeve (15), and the two pistons (17), the connecting rods (18), the connecting rings (19) and the handles (20) are arranged;
the outer walls of the two pistons (17) are fixedly connected with the outer walls of one side of the two connecting rods (18), the outer walls of the other side of the two connecting rods (18) are fixedly connected with the outer walls of the two connecting rings (19), the outer walls of the other side of the two connecting rings (19) are fixedly connected with the outer walls of one side of the two handles (20), the outer walls of the two pistons (17) are respectively connected with the inner walls of the two storage tubes (16) in a sliding manner, and the two connecting rods (18) are both connected with the outer walls of the protective sleeves (15) in a sliding manner;
the inner tube sterilization device further includes: a valve (21), a connecting cover (22) and a conveying pipe (23);
the two valves (21) and the two connecting covers (22) are arranged, the number of the conveying pipes (23) is four, the outer walls of one side of the two valves (21) are respectively in threaded connection with the inner walls of one side of the two connecting covers (22), and the outer walls of the other side of each connecting cover (22) are fixedly connected with the two conveying pipes (23);
the outer walls of the two valves (21) on the side far away from the connecting cover (22) are fixedly connected with the inner wall of the protective sleeve (15);
the side of the protective sleeve (15) close to the conveying pipe (23) is fixedly connected with the outer wall of the connector (8), and the outer wall of the conveying pipe (23) is in sliding connection with the inner wall of the connector (8);
the inner walls of the two connecting rings (19) are rotatably connected with rotating pages (28), and the outer walls of the two rotating pages (28) are slidably connected with the inner wall of the other connecting ring (19) adjacent to the rotating pages;
the outer wall sterilizing device includes: a movable sleeve (29), a sealing ring (30) and a rubber sleeve (31);
the inner wall of the movable sleeve (29) is in sliding connection with the outer wall of the sealing ring (30), and the outer wall of one side of the movable sleeve (29) is fixedly connected with the outer wall of the rubber sleeve (31);
the inner wall of the movable sleeve (29) is contacted with the outer wall of the auxiliary connecting pipe (1), the inner wall of the sealing ring (30) is contacted with the outer wall of the auxiliary connecting pipe (1), and the inner wall of the rubber sleeve (31) is contacted with the outer wall of the auxiliary connecting pipe (1).
2. The surgical auxiliary catheterization robot according to claim 1, wherein a positioning column (24) is fixedly arranged on the side, close to the conveying pipe (23), of the protective sleeve (15), and disinfection cotton (25) is slidably connected to the outer wall of the positioning column (24).
3. The surgical auxiliary catheterization robot according to claim 2, wherein an encapsulation page (26) is fixedly installed on the outer wall of the side of the protective sleeve (15) close to the connector (8), and a sealing column (27) is fixedly installed on the side of the encapsulation page (26) close to the sterilizing cotton (25).
4. A surgical auxiliary catheterization robot according to claim 3, characterized in that the outer wall of the sealing post (27) is slidingly connected to the inner wall of the positioning post (24), and the outer shape of the delivery tube (23) is conical.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311448511.5A CN117338432B (en) | 2023-11-02 | 2023-11-02 | Auxiliary tube placing robot for operation |
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| CN202311448511.5A CN117338432B (en) | 2023-11-02 | 2023-11-02 | Auxiliary tube placing robot for operation |
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| CN117338432A (en) | 2024-01-05 |
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