CN117398194B - Vascular intervention operation robot - Google Patents
Vascular intervention operation robot Download PDFInfo
- Publication number
- CN117398194B CN117398194B CN202311725629.8A CN202311725629A CN117398194B CN 117398194 B CN117398194 B CN 117398194B CN 202311725629 A CN202311725629 A CN 202311725629A CN 117398194 B CN117398194 B CN 117398194B
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- Prior art keywords
- balloon catheter
- pushing
- guide
- distal end
- catheter
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- 230000002792 vascular Effects 0.000 title claims abstract description 22
- 230000008602 contraction Effects 0.000 claims abstract description 5
- 238000005192 partition Methods 0.000 claims description 14
- 238000013152 interventional procedure Methods 0.000 claims description 8
- 238000003780 insertion Methods 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 description 39
- 230000000670 limiting effect Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 210000004204 blood vessel Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 231100000216 vascular lesion Toxicity 0.000 description 1
Classifications
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- 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
- 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
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
Abstract
The invention discloses a vascular intervention operation robot which comprises a guide wire pushing device used for pushing a guide wire in a balloon catheter and a balloon catheter pushing device used for pushing the balloon catheter in the guide catheter, wherein the balloon catheter pushing device comprises a balloon catheter pushing box and a pushing component used for pushing the balloon catheter, a supporting tube which can be pulled and pulled relatively to the balloon catheter pushing box is arranged in the balloon catheter pushing box, the distal end of the supporting tube extends out of the balloon catheter pushing box, a slit used for inserting the guide catheter is formed in the side wall of the supporting tube, and the slit has elastic contraction force and is automatically closed after external acting force disappears. Therefore, after the guide catheter is partially inserted into the support tube from the slotting position, the support tube is pulled towards the distal direction, so that the support length of the support tube can be adjusted to meet the requirements of patients, the operation of doctors is simplified, and the operation efficiency is further improved.
Description
Technical Field
The invention relates to the technical field of interventional surgical instruments, in particular to a vascular interventional surgical robot.
Background
Vascular interventional robots are used to assist doctors in performing vascular interventional procedures either physically isolated or remotely. In the actual operation process, aiming at different patients or affected parts, the mechanical arm of the robot needs to be adjusted to meet the requirements of different patients on the positions of the sheath tube and the guide catheter, and because the adjustment range of the mechanical arm is limited, a supporting structure needs to be added to support the sheath tube, the guide catheter and the like between the patient and the vascular interventional operation robot so as to ensure that the guide wire, the balloon catheter and the like can be smoothly pushed along the sheath tube and the guide catheter.
In order to solve the above problems, CN114391952a discloses a dual-position driving and feedback device for a clinical vascular interventional operation robot, which sets a supporting structure as a distal bracket connecting frame, a distal extension arm and a distal clamping groove, wherein the distal bracket connecting frame, the distal extension arm, the distal clamping groove and various screws form a supporting structure with adjustable supporting length, thus meeting the requirements of different patients, but because the supporting structure is installed more complicated, after each time of adjusting the supporting length, a sheath tube, a guide catheter and the like are fixed on the supporting structure, thus leading to more complicated operation steps, being unfavorable for the operation of doctors and improving the operation efficiency.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art and provides a vascular intervention surgical robot.
According to the invention, a vascular interventional operation robot is provided, which comprises a guide wire pushing device for pushing a guide wire in a balloon catheter and a balloon catheter pushing device for pushing the balloon catheter in the guide catheter, wherein the balloon catheter pushing device comprises a balloon catheter pushing box and a pushing component for pushing the balloon catheter, a supporting tube which can be pulled and pulled relatively to the balloon catheter pushing box is arranged in the balloon catheter pushing box, the distal end of the supporting tube extends out of the balloon catheter pushing box, a slit for inserting the guide catheter is formed in the side wall of the supporting tube, and the slit has elastic contraction force and is automatically closed after external acting force disappears.
Further, the support tube is a flexible tube, the slotted distal end extends through the distal end of the support tube, and the slotted proximal end extends through the proximal end of the support tube.
Further, a guide catheter accommodating groove for accommodating a guide catheter and a support tube accommodating groove for accommodating a support tube are arranged in the balloon catheter pushing box, and the guide catheter accommodating groove and the support tube accommodating groove are arranged separately and are intersected at the distal end of the balloon catheter pushing box.
Further, the distal end of the support tube is fixedly connected with a tube seat, the tube seat is arranged at the distal end of the balloon catheter pushing box in a detachable manner, and the tube seat is configured to move along with the tube seat in the distal direction and automatically insert into the support tube when the guide catheter is pulled away from the balloon catheter pushing box in the distal direction after being partially inserted into the support tube from the slit.
Further, after the hub is withdrawn from the distal end of the balloon catheter pushing cassette, the slit in the support tube between the hub and the balloon catheter pushing cassette has at least a continuous closed section.
Further, the slotted intermediate section forms a continuous closed section.
Further, the side wall of the tube seat is provided with a slot, and the proximal end of the slot is in butt joint with the distal end of the slot, so that the slot at the proximal end of the support tube is always in an open state so as to facilitate the insertion of a guide catheter.
Further, the far end of the balloon catheter pushing box is provided with the partition plates which are arranged oppositely, the partition plates are positioned at two sides of the guide catheter and extend into the slots so as to prop open the slots positioned at the partition plates, and the guide catheter and the support tube extending out of the balloon catheter pushing box are coaxially arranged.
Further, the outer wall of the tube seat is provided with a clamping protrusion, the far end of the balloon catheter pushing box is provided with a clamping groove, and the clamping protrusion is matched and connected with the clamping groove so as to clamp the tube seat at the far end of the balloon catheter pushing box.
Further, a rotating cover capable of rotating relative to the distal end of the tube holder is connected to the distal end of the tube holder, and the rotating cover is used for installing a sheath tube sleeved outside the guiding catheter at the distal end of the tube holder.
Compared with the prior art, the balloon catheter pushing box is internally provided with the supporting tube which can be pulled relatively, the side wall of the supporting tube is provided with the slit for inserting the guiding catheter, the slit has elastic contraction force and is automatically closed after the external acting force disappears, so that after the guiding catheter is partially inserted into the supporting tube from the slit, the supporting length of the supporting tube can be adjusted by pulling the supporting tube towards the distal direction so as to meet the requirements of patients, and in the process that the guiding catheter synchronously moves towards the distal direction along with the supporting tube, the guiding catheter which is not inserted into the supporting tube can be automatically inserted into the supporting tube and limited by the closed slit.
Drawings
The invention will be more fully understood and its attendant advantages and features will be more readily understood by reference to the following detailed description, taken in conjunction with the accompanying drawings.
Fig. 1 is a schematic overall structure of a guide wire pushing device according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an internal structure of a guide wire pushing device according to an embodiment of the present invention.
Fig. 3 is a second schematic view of the internal structure of the guide wire pushing device according to the embodiment of the invention.
Fig. 4 is a schematic diagram of an assembly structure of a first wire guide sleeve, a second wire guide sleeve, and a wire guide support cylinder according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of an assembly structure of a clamping plate, a sliding rod and a pressing handle according to an embodiment of the invention.
Fig. 6 is a schematic structural view of a vascular intervention robot according to an embodiment of the present invention.
Fig. 7 is a schematic view of the internal structure of the balloon catheter pushing cartridge of fig. 6.
Fig. 8 is a schematic diagram of the assembled structure of the tube socket, support tube, balloon catheter pushing box in fig. 7.
Fig. 9 is a schematic view of the assembled structure of the tube socket and support tube of fig. 7.
Fig. 10 is a schematic view of the stem of fig. 7.
In the accompanying drawings: 1 is a guide wire pushing box, 2 is a rotating mechanism, 3 is a clamping mechanism, 4 is a driving motor, 5 is a driving wheel, 6 is a conveyor belt, 7 is a rotating wheel, 8 is a first guide wire sleeve, 9 is a linkage groove, 10 is a linkage protrusion, 11 is a second guide wire sleeve, 12 is a guide wire supporting cylinder, 13 is a guide wire supporting seat, 14 is a supporting plate, 15 is a clamping plate, 16 is a limit protrusion, 17 is a limit groove, 18 is a sliding rod, 19 is a pressing handle, 20 is a force sensor, 21 is a balloon catheter pushing box, 22 is a pushing component, 23 is a telescopic tube, 24 is a supporting tube, 25 is a slit, 26 is a guide catheter accommodating groove, 27 is a supporting tube accommodating groove, 28 is a tube seat, 29 is a clamping seat, 30 is a clamping protrusion, 31 is a clamping groove, 32 is a slit, 33 is a partition plate, and 34 is a rotating cover; 100 is a guide wire, 200 is a balloon catheter, 300 is a guide catheter, 400 is a sheath.
It should be noted that the drawings are for illustrating the invention and are not to be construed as limiting the invention. Note that the drawings representing structures may not be drawn to scale. Also, in the drawings, the same or similar elements are denoted by the same or similar reference numerals.
Detailed Description
In order that the invention may be more readily understood, a detailed description of the invention is provided below along with specific embodiments and accompanying figures.
The terms "proximal" and "distal" in the sense of the present invention should be understood as meaning, viewed from the direction of the attending physician, the term "proximal" referring to the end proximal to the attending physician, i.e. corresponding to the "right end" referred to with reference to the accompanying drawings, and the term "distal" referring to the end distal to the attending physician, i.e. corresponding to the "left end" referred to with reference to the accompanying drawings.
The structure of the guide wire pushing device in this embodiment includes a guide wire pushing mechanism and a guide wire pushing box 1 disposed above the guide wire pushing mechanism as shown in fig. 1 to 5, where the guide wire pushing box 1 is used to drive the guide wire pushing box 1 to reciprocate to push the guide wire 100, and the guide wire pushing mechanism is a conventional linear reciprocating mechanism, for example, formed by a screw rod and a slider, and will not be described herein again.
The guide wire pushing box 1 is internally provided with a rotating mechanism 2 and a clamping mechanism 3, the rotating mechanism 2 comprises a driving motor 4, a driving wheel 5, a conveying belt 6 and a rotating wheel 7, a motor shaft of the driving motor 4 is fixedly connected with the driving wheel 5, the conveying belt 6 is used for driving and connecting the rotating wheel 7 with the driving wheel 5, the conveying belt 6 is not required to be arranged, and the rotating wheel 7 and the driving wheel 5 are indirectly meshed through an intermediate gear or the rotating wheel 7 and the driving wheel 5 are directly meshed. The rotating mechanism 2 is provided with a first guide wire sleeve 8 for a guide wire 100 to pass through and can drive the first guide wire sleeve 8 to synchronously rotate, the first guide wire sleeve 8 is arranged at the inner center of the rotating wheel 7 in a detachable way, the inner wall of the center of the rotating wheel 7 is provided with a linkage groove 9, the outer wall of the first guide wire sleeve 8 is provided with a linkage protrusion 10, the linkage protrusion 10 is positioned in the linkage groove 9 and can only slide relative to the linkage groove 9 along the pulling-out direction of the first guide wire sleeve 8, the linkage protrusion 10 and the linkage groove 9 are arranged, the first guide wire sleeve 8 can be pulled out of the rotating wheel 7 so as to conveniently pass the guide wire 100 on the first guide wire sleeve 8, the first guide wire sleeve 8 can be rapidly arranged in the rotating wheel 7 along the linkage groove 9, the first wire guiding sleeve 8 is connected with a second wire guiding sleeve 11 which can rotate relative to the first wire guiding sleeve, the second wire guiding sleeve 11 is rotationally connected with the proximal end of the first wire guiding sleeve 8 and is inseparable, the guide wire 100 penetrates into the second wire guiding sleeve 11 and the first wire guiding sleeve 8 along the distal end of the second wire guiding sleeve 11, when the first wire guiding sleeve 8 and the second wire guiding sleeve 11 are tightly screwed to form a screwing state, the guide wire 100 is in a clamped state, at the moment, the guide wire 100 can synchronously move along with the first wire guiding sleeve 8 and the second wire guiding sleeve 11, when the first wire guiding sleeve 8 and the second wire guiding sleeve 11 are not tightly screwed to form an untwisted state, the guide wire 100 is in an untwisted state, and at the moment, the guide wire 100 cannot synchronously move along with the first wire guiding sleeve 8 and the second wire guiding sleeve 11.
The clamping mechanism 3 is disposed corresponding to the second wire guiding sleeve 11 for clamping or releasing the second wire guiding sleeve 11, and the clamping mechanism 3 is a conventional electric clamp or electromagnetic clamp, which is not described herein. The first wire guiding sleeve 8 and the second wire guiding sleeve 11 can be in a screwing state to clamp the wire guiding 100 or in a unscrewing state to release the wire guiding 100 under the cooperation of the clamping mechanism 3 and the rotating mechanism 2, specifically, when the clamping mechanism 3 clamps the second wire guiding sleeve 11 and the rotating mechanism 2 drives the first wire guiding sleeve 8 to rotate through the rotating wheel 7, the first wire guiding sleeve 8 and the second wire guiding sleeve 11 can be tightly screwed to clamp the wire guiding 100, or the first wire guiding sleeve 8 and the second wire guiding sleeve 11 are unscrewed to enable the two parts to be in the unscrewing state to release the wire guiding 100, after the wire guiding 100 is clamped or the wire guiding 100 is released, the clamping mechanism 3 and the rotating mechanism 2 are reset, namely, the clamping mechanism 3 does not clamp the second wire guiding sleeve 11 any more, and the rotating mechanism 2 does not drive the second wire guiding sleeve 11 any more. Thus, when the guide wire pushing mechanism drives the first guide wire sleeve 8 and the second guide wire sleeve 11 in the screwing state to advance in the distal direction, the guide wire pushing mechanism can push the guide wire 100 once, and when the guide wire pushing mechanism drives the first guide wire sleeve 8 and the second guide wire sleeve 11 in the unscrewing state to retreat in the proximal direction, the guide wire 100 cannot retreat along with the first guide wire sleeve 8 and the second guide wire sleeve 11 until the first guide wire sleeve 8 and the second guide wire sleeve 11 retreat to the initial position to wait for pushing the guide wire 100 next time, so that reciprocating pushing of the guide wire 100 is realized. In addition, if the wire 100 is pushed by the wire pushing mechanism, the rotating mechanism 2 can be started to drive the first wire guiding sleeve 8 to rotate through the rotating wheel 7, so that the rotating type wire pushing mechanism 100 is realized, and the rotating mechanism 2 can clamp the wire guiding sleeve 100 only so as to facilitate the wire guiding 100 to be pushed and can drive the clamped wire guiding sleeve 100 to rotate so as to facilitate the wire guiding 100 to rotate, so that the first wire guiding sleeve 8 and the second wire guiding sleeve 11 which can rotate relatively are arranged, and the connection relation between the rotating mechanism 2 and the first wire guiding sleeve 8 is skillfully arranged, so that the wire guiding 100 pushing and the wire guiding sleeve 100 pushing and rotating modes are realized, the whole structure is simplified, the precise measurement of the pushing force and the rotating force of the wire guiding 100 is facilitated, and the success rate of surgery is improved.
The guide wire pushing box 1 is internally provided with a guide wire supporting cylinder 12 and a guide wire supporting seat 13 for supporting the guide wire supporting cylinder 12, the guide wire supporting seat 13 is fixed in the guide wire pushing box 1 and is rotationally connected with the rotating wheel 7, the guide wire supporting cylinder 12 can slide and rotate relative to the guide wire supporting seat 13, the proximal end of the guide wire supporting cylinder 12 is fixedly connected with the distal end of the first guide wire sleeve 8, the distal end of the guide wire supporting cylinder 12 extends to the distal end of the guide wire pushing box 1, the distal end of the second guide wire sleeve 11 is rotationally connected to the proximal end of the first guide wire sleeve 8, and the proximal end of the second guide wire sleeve 11 extends to the proximal end of the guide wire pushing box 1, namely, the guide wire supporting cylinder 12, the first guide wire sleeve 8 and the second guide wire sleeve 11 are always connected together and can be pulled away from the guide wire pushing box 1, so that the guide wire 100 can be conveniently arranged in the guide wire supporting cylinder 12, the first guide wire sleeve 8 and the second guide wire sleeve 11 in a penetrating manner.
For the purpose of more compact internal structure layout of the wire pushing box 1, in this embodiment, the driving motor 4 and the driving wheel 5 are installed on one side of the wire pushing box 1, and the wire supporting seat 13, the rotating wheel 7, the first wire guiding sleeve 8 and the second wire guiding sleeve 11 are installed on the other side of the wire pushing box 1, that is, the driving motor 4 and the wire supporting seat 13 are arranged in parallel and are all located at the distal end of the wire pushing box 1, and the driving wheel 5 and the rotating wheel 7 are arranged in parallel and are all located at the proximal end of the wire pushing box 1. The guide wire supporting cylinder 12, the first guide wire sleeve 8 and the second guide wire sleeve 11 which are positioned at the other side of the guide wire pushing box 1 virtually form a supporting structure for supporting the guide wire 100, in order to facilitate the separation of the supporting structure from the guide wire pushing box 1 and the installation of the supporting structure in the guide wire pushing box 1, the supporting plate 14 is arranged in the guide wire pushing box 1, the opposite side of the supporting plate 14 is provided with the clamping plate 15, the clamping plate 15 is in butt joint with the supporting plate 14 to form a supporting cavity, the distal end of the guide wire supporting cylinder 12 is positioned in the supporting cavity, the supporting cavity is internally provided with the limiting protrusion 16 for limiting the forward and backward movement of the distal end of the guide wire supporting cylinder 12, the distal end of the guide wire supporting cylinder 12 is correspondingly provided with the limiting groove 17, and the limiting protrusion 16 and the limiting groove 17 are matched to realize the limiting effect, in this embodiment, the limiting protrusion 16 is specifically fixed at one side of the clamping plate 15, which is close to the supporting cavity, and the limiting protrusion 16 can be fixed at one side of the supporting plate 14. Thus, when the support structure is to be withdrawn from the guidewire pushing box 1 for threading the guidewire 100, the entire support structure can be withdrawn by withdrawing the second guidewire sheath 11 in the proximal direction from the distal end, simply by manipulating the clamping plate 15 to separate it from the support plate 14.
The splint 15 is equipped with slide bar 18 towards one side of backup pad 14, and slide bar 18 has cup jointed the spring and fixedly connected with presses handle 19 behind the backup pad 14, presses handle 19 to run through guide wire propelling movement box 1 setting, and the spring is in the same place splint 15 and backup pad 14 butt in order to restrict guide wire support cylinder 12 even whole bearing structure, is equipped with force sensor 20 between backup pad 14 and the guide wire supporting seat 13, force sensor 20 and guide wire support cylinder 12 parallel arrangement. Like this, force sensor 20 can accurately measure the propelling movement power with guide wire 100 relative fixed guide wire support cylinder 12, has avoided measuring inaccurately and has appeared the phenomenon that guide wire 100 damaged the blood vessel to take place, because ingenious splint 15 and the backup pad 14 of having set up, the propelling movement power of guide wire 100 can directly transmit to backup pad 14 through guide wire support cylinder 12, and backup pad 14 can directly transmit to force sensor 20, and so the measurement is very accurate.
Normally, the clamping plate 15 is always abutted with the supporting plate 14 under the action of the spring to limit the guide wire supporting cylinder 12 and even the whole supporting structure, when the pressing handle 19 is pressed and the action force of the spring is overcome, the clamping plate 15 is separated from the supporting plate 14, at the moment, the second guide wire sleeve 11 and even the whole supporting structure can be pulled out, and when the supporting structure of the guide wire 100 is to be reinstalled, the pressing handle 19 is pressed firstly to separate the clamping plate 15 from the supporting plate 14, then the whole supporting structure is reversely inserted into the rotating wheel 7, the guide wire supporting seat 13 and the supporting cavity along the near end to the far end, and finally the pressing handle 19 is released, so that the pulling-out and reinstallation of the supporting structure are facilitated.
As shown in fig. 6 to 10, this embodiment also provides a vascular intervention robot using the above-mentioned guidewire pushing device, and the structure of the vascular intervention robot includes the above-mentioned guidewire pushing device and balloon catheter pushing device, where the guidewire pushing device is used for pushing the guidewire 100 located in the balloon catheter 200, and the balloon catheter pushing device is used for pushing the balloon catheter 200 located in the guide catheter 300.
The balloon catheter pushing device comprises a balloon catheter pushing box 21 and a pushing component 22 for pushing the balloon catheter 200, the pushing component 22 is relatively conventional in structure, for example, a friction wheel conveying component is arranged in the balloon catheter pushing box 21, the balloon catheter pushing box 21 is arranged in the distal end direction of the guide wire pushing box 1 of the guide wire pushing device, a telescopic tube 23 is arranged between the balloon catheter pushing box 21 and the guide wire pushing box 21, one end of the telescopic tube 23 is connected with the balloon catheter pushing box 21, the other end of the telescopic tube 23 is in butt joint with the guide wire supporting cylinder 12 in the guide wire pushing box 1, and a guide wire 100 in the guide wire supporting cylinder 12 stretches into the balloon catheter pushing box 21 along the telescopic tube 23 and penetrates through the balloon catheter 200. The balloon catheter pushing box 21 is internally provided with a supporting tube 24 which can be pulled and pulled relatively, the supporting tube 24 is used for supporting a guide catheter 300 which extends out of the distal end of the balloon catheter pushing box 21, and the distance between a patient and the guide catheter 300 is adjustable so as to meet the requirements of different patients. The distal end of the support tube 24 extends out of the distal end of the balloon catheter pushing box 21, the side wall of the support tube 24 is provided with a slit 25 for inserting the guide catheter 300, the slit 25 has elastic contraction force and is automatically closed after external acting force is eliminated, so that after the guide catheter 300 is partially inserted into the support tube 24 from the slit 25, the support length of the support tube 24 can be adjusted by pulling the support tube 24 towards the distal direction to meet the requirement of a patient, and in the process that the guide catheter 300 moves along with the support tube 24 towards the distal direction synchronously, the guide catheter 300 which is not inserted into the support tube 24 can be automatically inserted into the support tube 24 and limited by the closed slit 25, therefore, the embodiment simplifies the operation of doctors and further improves the operation efficiency.
The balloon catheter pushing box 21 is internally provided with a guide catheter accommodating groove 26 for accommodating the guide catheter 300 and a support tube accommodating groove 27 for accommodating the support tube 24, the guide catheter accommodating groove 26 and the support tube accommodating groove 27 are arranged separately and are intersected at the distal end of the balloon catheter pushing box 21, so that the guide catheter 300 and the support tube 24 are intersected at the distal end of the balloon catheter pushing box 21, the guide catheter 300 is inserted into the support tube 24 from the intersection, the support tube 24 is a flexible tube, the distal end of the slit 25 penetrates through the distal end of the support tube 24, and the proximal end of the slit 25 penetrates through the proximal end of the support tube 24, thereby facilitating the insertion of the guide catheter 300 into the support tube 24 from the slit 25 and the automatic closing of the corresponding slit 25 after the insertion of the guide catheter 300, so as to limit the guide catheter 300 into the support tube 24.
The distal end of the support tube 24 is fixedly connected with the tube socket 28, the distal end of the balloon catheter pushing box 21 is correspondingly provided with the clamping seat 29, the tube socket 28 is clamped with the clamping seat 29, the outer wall of the tube socket 28 is provided with the clamping protrusion 30, the distal end of the balloon catheter pushing box 21, namely, the clamping seat 29 is provided with the clamping groove 31, the clamping protrusion 30 is matched with the clamping groove 31 to clamp the tube socket 28 at the distal end of the balloon catheter pushing box 21, the tube socket 28 is arranged at the distal end of the balloon catheter pushing box 21 in a detachable manner, thus, the length of the support tube 24 extending out of the balloon catheter pushing box 21 can be adjusted by pulling out the tube socket 28, further, the requirements of different patients are met, namely, the effective support length of the support tube 24 is adjusted, and the tube socket 28 is configured to be pulled out of the balloon catheter pushing box 21 towards the distal direction after the guide catheter 300 is partially inserted into the support tube 24 from the slit 25, the guide catheter 300 moves towards the distal direction synchronously along with the tube socket 28 and is automatically inserted into the support tube 24, and the operation of a doctor is facilitated.
The side wall of the tube seat 28 is provided with a slot 32, the proximal end of the slot 32 is abutted with the distal end of the slot 25, so that the slot 25 at the proximal end of the support tube 24 is always in an open state to facilitate the insertion of the guide catheter 300, meanwhile, the distal end of the balloon catheter pushing box 21 is provided with a partition plate 33 which is oppositely arranged, the partition plate 33 is arranged in the proximal direction of the clamping seat 29, and the partition plates 33 are positioned at two sides of the guide catheter 300 and extend into the slots 25 so as to prop open the slots 25 at the partition plate 33 to facilitate the insertion of the guide catheter 300. Thus, when the socket 28 is clamped at the clamping seat 29, the slit 25 at the proximal end of the support tube 24 and the slit 25 at the corresponding partition 33 are in a communicated and open state, at this time, the guide catheter 300 is conveniently inserted into the support tube 24 quickly, and at this time, the communicating guide catheter 300 is drawn out of the socket 28 together, so that the part of the guide catheter 300 which is not inserted into the support tube 24 is automatically inserted into the support tube 24 and is limited by the slit 25 which is partially closed automatically, and when the socket 28 is drawn out of the distal end of the balloon catheter pushing box 21, the slit 25 on the support tube 24 between the socket 28 and the balloon catheter pushing box 21 has at least a continuous closed section, mainly the slit 25 on the middle section of the support tube 24 which extends out of the catheter pushing box 21, and the slit 25 at the corresponding partition 33 of the support tube 24 are still in an open state, so as to ensure that the guide catheter 300 and the support tube 24 extending out of the balloon catheter pushing box 21 can be coaxially arranged. The distal end of the hub 28 is connected with a rotating cap 34 capable of rotating relative thereto, the rotating cap 34 is used for installing a sheath 400 sleeved outside the guiding catheter 300 at the distal end of the hub 28, the sheath 400 is an outermost catheter, the distal end of the sheath 400 is positioned in a human blood vessel, the proximal end of the sheath 400 is installed at the distal end of the hub 28 by the rotating cap 34, and the distal end of the guiding catheter 300 extends inwards along the sheath 400 to form a channel for the balloon catheter 200 and the guide wire 100 to enter the blood vessel.
Before the operation, both the sheath 400 and the guide catheter 300 are inserted into the blood vessel, the distal end of the guide catheter 300 extends out of the distal end of the sheath 400, the proximal end of the guide catheter 300 extends out of the proximal end of the sheath 400, the distal end of the balloon catheter 200 and the distal end of the guide wire 100 are both positioned in the guide catheter 300 but do not enter the blood vessel, the proximal end of the balloon catheter 200 extends out of the proximal end of the guide catheter 300, and the proximal end of the guide wire 100 extends out of the proximal end of the balloon catheter 200. In the process, for the connection of the sheath 400, the guide catheter 300 and the vascular interventional operation robot, the distal end of the sheath 400 and the guide catheter 300 at the distal end of the sheath 400 can be inserted into the socket 28 from the slot 32 of the socket 28, then the rotating cover 34 on the socket 28 is rotated to fix the distal end of the sheath 400, and finally the socket 28 is pulled out to a proper position. In the process, for the arrangement of the guide wire 100, the support structure of the guide wire 100 formed by the guide wire support cylinder 12, the first guide wire sleeve 8 and the second guide wire sleeve 11 is firstly pulled out, then the guide wire 100 is penetrated on the support structure, the support structure is reset, and finally the guide wire 100 is sent into the balloon catheter 200.
During operation, the clamping mechanism 3 is started to clamp the second wire guide sleeve 11, then the rotating mechanism 2 is started to drive the first wire guide sleeve 8 to rotate through the rotating wheel 7, so that the first wire guide sleeve 8 and the second wire guide sleeve 11 are screwed tightly, the two parts are in a screwing state to clamp the wire guide 100, then the rotating mechanism 2 and the clamping mechanism 3 are closed, the wire guide pushing mechanism is started to drive the whole wire guide pushing box 1 to move towards the balloon catheter pushing box 21 so as to push the wire guide 100, after one pushing operation is finished, the clamping mechanism 3 is started to clamp the second wire guide sleeve 11, then the rotating mechanism 2 is started to drive the first wire guide sleeve 8 to rotate through the rotating wheel 7, so that the first wire guide sleeve 8 and the second wire guide sleeve 11 are unscrewed, the two parts are in a unscrewed state to release the wire guide 100, then the rotating mechanism 2 and the clamping mechanism 3 are closed, the wire guide pushing mechanism is started to drive the whole wire guide pushing box 1 to move away from the balloon catheter pushing box 21, and the wire guide pushing box 1 is stopped to wait for next pushing the wire guide 100 when the whole wire guide pushing box 1 is retreated to the initial position, so that the wire guide 100 is reciprocally pushed. Of course, in the process, the rotating mechanism 2 may be started to drive the first wire guide sleeve 8 to rotate through the rotating wheel 7, so that the rotating type pushing wire 100 is realized. After the guide wire 100 is pushed in place, the pushing component 22 in the balloon catheter pushing box 21 is started to push the balloon catheter 200, after the balloon catheter 200 is pushed in place, the balloon catheter 200 is filled to break up vascular lesions, and finally the guide wire 100, the balloon catheter 200, the guide catheter 300 and the sheath 400 are withdrawn.
It will be appreciated that although the invention has been described above in terms of preferred embodiments, the above embodiments are not intended to limit the invention. Many possible variations and modifications of the disclosed technology can be made by anyone skilled in the art without departing from the scope of the technology, or the technology can be modified to be equivalent. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.
Claims (8)
1. The vascular interventional surgical robot comprises a guide wire pushing device for pushing a guide wire (100) in a balloon catheter (200) and a balloon catheter pushing device for pushing the balloon catheter (200) in a guide catheter (300), and is characterized in that the balloon catheter pushing device comprises a balloon catheter pushing box (21) and a pushing component (22) for pushing the balloon catheter (200), a supporting tube (24) which can be pulled and pulled relatively to the balloon catheter pushing box (21) is arranged in the balloon catheter pushing box (21), the distal end of the supporting tube (24) extends out of the balloon catheter pushing box (21), a slit (25) for inserting the guide catheter (300) is arranged on the side wall of the supporting tube (24), the slit (25) has elastic contraction force and is automatically closed after the external acting force disappears, a guide catheter accommodating groove (26) for accommodating the guide catheter (300) and a supporting tube accommodating groove (27) for accommodating the supporting tube (24) are arranged in the balloon catheter pushing box (21), the guide catheter accommodating groove (26) and the supporting tube accommodating groove (27) are arranged in a separated mode, a partition plate (33) is arranged at the position of the junction of the balloon catheter pushing box (21) and extends to the distal end of the supporting tube (21) relatively to the distal end of the balloon catheter pushing box (33), and after passing through the lower rear part of the guide pipe accommodating groove (26), the guide pipe accommodating groove and the guide pipe accommodating groove (26) are intersected with each other to form a partition plate (33), and the partition plates (33) are positioned on two sides of the guide pipe (300) and extend into the slits (25) to open the slits (25) positioned at the partition plates (33).
2. Vascular interventional procedure robot according to claim 1, characterized in that the support tube (24) is a flexible tube, the distal end of the slit (25) extending through the distal end of the support tube (24), the proximal end of the slit (25) extending through the proximal end of the support tube (24).
3. The vascular interventional procedure robot according to claim 1, wherein the distal end of the support tube (24) is fixedly connected with a socket (28), the socket (28) is detachably arranged at the distal end of the balloon catheter pushing box (21), and the socket (28) is configured such that when the guide catheter (300) is partially inserted into the support tube (24) from the slit and then pulled away from the balloon catheter pushing box (21) in the distal direction, the guide catheter (300) moves in the distal direction in synchronization with the socket (28) and is automatically inserted into the support tube (24).
4. A vascular interventional procedure robot according to claim 3, characterized in that the slit (25) in the support tube (24) between the socket (28) and the balloon catheter pushing cassette (21) has at least a continuous closed section after the socket (28) has been withdrawn from the distal end of the balloon catheter pushing cassette (21).
5. Vascular interventional procedure robot according to claim 4, characterized in that the middle section of the slit (25) forms a continuous closed section.
6. A vascular interventional procedure robot according to claim 3, characterized in that the side wall of the socket (28) is provided with a slot (32), the proximal end of the slot (32) being in abutment with the distal end of the slot (25), such that the slot (25) at the proximal end of the support tube (24) is always in an open state for guiding the catheter (300) insertion.
7. A vascular interventional procedure robot according to claim 3, characterized in that the outer wall of the socket (28) is provided with a clamping protrusion (30), the distal end of the balloon catheter pushing box (21) is provided with a clamping groove (31), and the clamping protrusion (30) is matched with the clamping groove (31) to clamp the socket (28) at the distal end of the balloon catheter pushing box (21).
8. A vascular interventional procedure robot according to claim 3, characterized in that the distal end of the hub (28) is connected with a rotatable cover (34) rotatable relative thereto, the rotatable cover (34) being adapted to mount a sheath (400) over the exterior of the guide catheter (300) at the distal end of the hub (28).
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| CN117398194A (en) | 2024-01-16 |
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