CN216675903U - Vascular intervention operation robot propulsion device - Google Patents
Vascular intervention operation robot propulsion device Download PDFInfo
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- CN216675903U CN216675903U CN202122883996.3U CN202122883996U CN216675903U CN 216675903 U CN216675903 U CN 216675903U CN 202122883996 U CN202122883996 U CN 202122883996U CN 216675903 U CN216675903 U CN 216675903U
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- elongated medical
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- 230000002792 vascular Effects 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 238000005452 bending Methods 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000013152 interventional procedure Methods 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 238000001356 surgical procedure Methods 0.000 description 5
- 239000004615 ingredient Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 208000005189 Embolism Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 208000019553 vascular disease Diseases 0.000 description 1
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Abstract
The present specification provides a vascular interventional surgical robotic advancement device for advancing an elongated medical instrument having a shaft, the device comprising: a base; a guide portion disposed on the base along a first direction, the guide portion configured to receive the elongated medical device and limit bending of a shaft of the elongated medical device toward a second direction different from the first direction; an engagement mechanism for engaging the elongated medical device and being movable relative to the base, the engagement mechanism being at least partially receivable in the guide when moved; and the driving mechanism is used for driving the joint mechanism to move along the first direction. The robot propulsion device for the vascular intervention operation can reduce the bending deformation of the catheter or the guide wire, so that the catheter or the guide wire can advance smoothly.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to a vascular intervention surgical robot propulsion device.
Background
Catheters, as well as guidewires, are useful in many minimally invasive medical procedures for the diagnosis and treatment of various vascular diseases. Manual insertion of a catheter or guidewire into a patient by a physician is a relatively conventional surgical procedure.
However, when the above-described procedure requires X-rays from DSA equipment to be performed, the doctor is exposed to a large amount of radiation, which may be harmful to the health of the doctor in long-term work. To reduce X-ray radiation to the physician, the catheter or guidewire may be driven by the interventional surgical robot and delivered to the desired location within the patient under the physician's remote control.
In the prior art, the mechanism of the interventional surgical robotic system for delivering a catheter or a guide wire takes the following two forms:
1) clamping the guide wire or the guide pipe in a roller pressing mode, and then driving the roller to rotate clockwise and anticlockwise respectively by a motor so as to push the guide wire or the guide pipe to advance and retract under the state of keeping clamping;
2) the catheter clamp or the guide wire clamp is matched with the slide seat in a sliding rail and matched with the slide seat, and the slide seat runs along the sliding rail under the driving of a motor, so that the guide wire or the catheter is sent into and withdrawn from a patient body.
However, both of the above approaches have disadvantages: the guide wire or the guide pipe is pushed in a roller pressing mode, and the guide wire or the guide pipe is easy to slip in the advancing process; the guide wire or the guide pipe is pushed in a sliding rail and matched with the sliding seat, and the guide wire or the guide pipe is easy to bend and deform in the advancing process.
SUMMERY OF THE UTILITY MODEL
In order to solve at least one technical problem in the prior art, the application provides a vascular intervention surgical robot propulsion device, which can reduce the bending deformation of a catheter or a guide wire, so that the catheter or the guide wire can advance smoothly.
In order to achieve the above purpose, the technical solution provided by the present application is as follows:
a robotic vascular interventional procedure advancement device for advancing an elongated medical instrument having a shaft, the device comprising:
a base;
a guide portion disposed on the base along a first direction, the guide portion configured to receive the elongated medical device and limit bending of a shaft of the elongated medical device toward a second direction different from the first direction;
an engagement mechanism for engaging the elongated medical device and being movable relative to the base, the engagement mechanism being at least partially receivable in the guide when moved;
and the driving mechanism is used for driving the joint mechanism to move along the first direction.
In a preferred embodiment, the engagement mechanism is configured to maintain the elongated medical device in a substantially straight condition by the guide portion when moved in the first direction.
As a preferred embodiment, the engagement mechanism includes: the sliding table and the clamping piece detachably connected with the sliding table are used for clamping the slender medical instrument.
As a preferred embodiment, the apparatus comprises: the sliding rail is arranged on the base, the lengthwise extending direction of the sliding rail is parallel to the first direction, and the sliding rail is connected with the sliding table in a matched mode.
As a preferred embodiment, the holder includes: the elastic ring comprises a body and a ring-shaped component which is connected with the body and is provided with an opening, wherein the ring-shaped component has elasticity.
As a preferred embodiment, the inner surface of the annular member is provided with a plurality of protrusions along the circumferential direction thereof.
As a preferred embodiment, the guide portion comprises a groove structure in which the annular member is received when moved.
As a preferred embodiment, the guide portion includes: the guide table is used for constructing the groove structure and is detachably arranged on the base, a stopping portion matched with the groove structure is arranged on the guide table, and the stopping portion is located above the groove structure to limit the slender medical instrument to bend towards the second direction.
In a preferred embodiment, the guide portion has a guide block at an end thereof adjacent to the patient's body along the first direction, and the elongated medical device can be passed through the guide block.
As a preferred embodiment, the drive mechanism includes: the lead screw is arranged on the base, the lengthwise extension direction of the lead screw is parallel to the first direction, and the lead screw is in transmission connection with the sliding table through a sliding block; and the motor is connected with the lead screw.
Has the advantages that:
according to the vascular intervention operation robot propulsion device provided by the embodiment of the application, when elongated medical equipment such as a catheter or a guide wire advances, the elongated medical equipment is restrained in the guide part, and the bending of the elongated medical equipment is limited, so that the bending deformation of the catheter or the guide wire in the propulsion process can be reduced, and the propulsion safety is improved.
Specific embodiments of the present application are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the application may be employed. It should be understood that the embodiments of the present application are not so limited in scope.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive labor.
Fig. 1 is a schematic structural diagram of a robot propulsion device for vascular intervention provided in an embodiment of the present specification;
fig. 2 is a side view of a robot propulsion device for vascular intervention provided in an embodiment of the present description;
fig. 3 is a schematic structural diagram of a clamping member provided in an embodiment of the present disclosure.
Description of reference numerals:
1. a base; 2. a guide portion; 21. a guide table; 211. a stopper portion; 3. an elongated medical device; 4. an engagement mechanism; 41. a sliding table; 42. a threaded hole; 43. a clamping member; 431. an annular member; 432. a body; 5. a slide rail; 51. connecting blocks; 6. a guide block; 7. a lead screw; 8. a bearing seat; 9. a coupling; 10. a motor fixing plate; 11. an electric motor.
Detailed Description
While the utility model will be described in detail with reference to the drawings and specific embodiments, it is to be understood that these embodiments are merely illustrative of and not restrictive on the broad invention, and that various equivalent modifications can be effected therein by those skilled in the art upon reading the disclosure.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
The vascular interventional surgical robot propulsion device according to the embodiment of the present specification will be explained and explained with reference to fig. 1 to 3. It should be noted that, in the embodiments of the present invention, like reference numerals denote like components. And for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments, and the descriptions of the same components may be mutually referred to and cited.
As used herein, the terms "forward", "front end" refer to the side of the propulsion device facing the patient. The terms "rearward" and "rearward" refer to the side of the propulsion device that is distal from the patient. The terms "advancing", "pushing" or "delivering" refer to the process of moving from the side away from the patient towards the side facing the patient. The term "withdrawal" or "withdrawal" refers to the process of movement from the side facing the patient toward the side away from the patient.
The specification provides a vascular intervention surgical robot propulsion device used for propelling a slender medical instrument. The slender medical device is provided with a shaft body, and the slender medical device is different types of devices under different application scenes, such as guide wires, guide catheters, micro-catheters, embolism coils, balloon catheters and other working catheters, suction catheters, atherectomy catheters and the like.
As shown in fig. 1 to 3, the robot propulsion device for vascular intervention surgery includes: a base 1; and a guide part 2 arranged on the base 1 along a first direction, wherein the guide part 2 is configured to accommodate the long and thin medical device 3 and limit the shaft body of the long and thin medical device 3 from bending towards a second direction different from the first direction, so that the bending deformation of the shaft body of the long and thin medical device 3 such as a catheter or a guide wire during the propelling process can be reduced, and the propelling safety can be improved.
For engaging the elongated medical device 3, the apparatus comprises: an engagement mechanism 4 for engaging the elongated medical device 3 and being movable relative to the base 1, the engagement mechanism 4 being at least partially receivable in the guide 2 when moved; and the driving mechanism is used for driving the joint mechanism 4 to move along the first direction.
In general, the elongated medical device 3 causes the resistance of the front end to become large during delivery, especially when a part of the elongated medical device has entered the body of a patient, so that when the rear end is pushed forward, the middle section of the elongated medical device 3 between the front end and the rear end is inevitably bent, the shaft body of the bent elongated medical device is oriented in a direction perpendicular to the first direction, such as the second direction, and the guide part 2 is used for limiting the bending of the elongated medical device in the second direction, which may be perpendicular to the shaft body and upward in the orientation shown in fig. 1.
In this description, the engagement mechanism 4 is held in a substantially straight state by the guide portion 2 when moved in the first direction. The substantially straight condition is defined as a condition in which the elongated medical device 3 is substantially free from buckling during delivery, the elongated medical device 3 being approximately straight.
In the present specification, as shown in fig. 2, the engagement mechanism 4 includes: the sliding table 41 and the clamping piece 43 detachably connected with the sliding table 41, wherein the clamping piece 43 is used for clamping the elongated medical device 3. Because slender type medical instrument 3 is disposable, in order to guarantee the security, holder 43 can dismantle with slip table 41 and be connected to in time change holder 43 and slender type medical instrument 3 after having carried out a operation. Preferably, the clamping member 43 is in threaded connection with the sliding table 41, and the sliding table 41 and the clamping member 43 are provided with corresponding threaded holes 42. Of course, in some possible embodiments, the sliding table 41 and the clamping member 43 are of a unitary structure, and the whole of the engagement mechanism 4 can be detachably replaced.
In this specification, the apparatus comprises: the sliding rail 5 is arranged on the base 1, the lengthwise extending direction of the sliding rail 5 is parallel to the first direction, and the sliding rail 5 is connected with the sliding table 41 in a matching mode. Specifically, the sliding rail 5 is connected with the sliding table 41 through a connecting block 51 to ensure the stability of the operation of the sliding table 41.
In this specification, the drive mechanism includes: the lead screw 7 is arranged on the base 1, the longitudinal extension direction of the lead screw 7 is parallel to the first direction, and the lead screw 7 is in transmission connection with the sliding table 41 through a sliding block; and the motor 11 is connected with the lead screw 7. Further, the motor 11 is connected with the lead screw 7 through the coupler 9, and when the motor 11 is started, the slider and the sliding table 41 connected with the slider can be driven to move linearly under the power transmission of the lead screw 7.
Further, in order to fix the motor 11, a motor fixing plate 10 and a bearing seat 8 are further arranged on the base 1, and the motor fixing plate 10, the bearing seat 8 and the motor 11 are arranged at the rear end of the sliding table 41. In order to ensure the stability of the device, the lead screw 7 and the slide rail 5 are respectively arranged at the left side and the right side of the guide part 2.
In the present specification, as shown in fig. 3, the holder 43 includes: a body 432, and a ring member 431 having an opening connected to the body 432, the ring member 431 having elasticity. So that elongated medical devices 3 of different sizes (diameters) can be accommodated.
When a surgery is completed, the clamping piece 43 can be detached and replaced through the sliding table 41 and the threaded hole 42 on the clamping piece 43, and a new instrument needs to be replaced. A new instrument is then inserted from the side opening of the annular member 431. Since catheters or guidewires tend to be long, installation of the catheter or guidewire can be facilitated by the detachable clamp 43 and the ring member 431 with an opening, which does not facilitate insertion from the end along the shaft of the catheter or guidewire.
Further, the inner surface of the annular member 431 is provided with a plurality of protrusions along the circumferential direction thereof to increase the friction force with the shaft body of the catheter or the guide wire and maintain the clamping force.
In this specification, the guide portion 2 includes a groove structure in which the ring member 431 is received when moving. Wherein, the groove structure may be a recess directly disposed on the base 1, or in some embodiments, the groove structure is formed by a guide platform 21 disposed on the base 1, and the guide platform 21 is a boss structure.
In a preferred embodiment, the guide 2 comprises: the guide table 21 is used for constructing the groove structure, the guide table 21 is detachably arranged on the base 1, the guide table 21 is provided with a stopping part 211 matched with the groove structure, and the stopping part 211 is positioned above the groove structure so as to limit the slender medical device 3 to bend towards the second direction.
Further, in the present embodiment, when the annular member 431 is received in the groove structure of the guide table 21, the body 432 and the stopping portion 211 cooperate to form a clamping mechanism, so as to facilitate the assembly between the clamping member 43 and the guide portion 2.
In this embodiment, the guide table 21 is detachably arranged to form a groove structure, so that the guide table 21 can be replaced after a surgery is finished, thereby ensuring the safety of the surgery.
In this specification, along the first direction, a guide block 6 is disposed at one end of the guide part 2 close to the body of the patient, and the elongated medical device 3 can penetrate through the guide block 6 to guide a catheter or a guide wire at the front end of the guide part 2 into the body of the patient. Further, the guide block 6 may be detachably connected to the base 1 for safety.
The above embodiments are merely illustrative of the technical concepts and features of the present application, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present application and implement the present application, and not to limit the protection scope of the present application. All equivalent changes and modifications made according to the spirit of the present application should be covered in the protection scope of the present application.
All articles and references disclosed, including patent applications and publications, are hereby incorporated by reference for all purposes. The term "consisting essentially of …" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not materially affect the basic novel characteristics of the combination. The use of the terms "comprising" or "including" to describe combinations of elements, components, or steps herein also contemplates embodiments that consist essentially of such elements, components, or steps. By using the term "may" herein, it is intended to indicate that any of the described attributes that "may" include are optional.
A plurality of elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, ingredient, component or step is not intended to foreclose other elements, ingredients, components or steps.
It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided will be apparent to those of skill in the art upon reading the above description. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes.
Claims (10)
1. A robotic vascular interventional procedure advancement device for advancing an elongated medical device having a shaft, the device comprising:
a base;
a guide portion disposed on the base along a first direction, the guide portion configured to receive the elongated medical device and limit bending of a shaft of the elongated medical device toward a second direction different from the first direction;
an engagement mechanism for engaging the elongated medical device and being movable relative to the base, the engagement mechanism being at least partially receivable in the guide when moved;
and the driving mechanism is used for driving the joint mechanism to move along the first direction.
2. The advancing device of claim 1, wherein the engagement mechanism is maintained in a substantially straight condition by the guide when moved in the first direction.
3. The propulsion device of claim 1, wherein the engagement mechanism comprises: the sliding table and the clamping piece detachably connected with the sliding table are used for clamping the slender medical instrument.
4. A propulsion device as claimed in claim 3 wherein the device comprises: the sliding rail is arranged on the base, the lengthwise extending direction of the sliding rail is parallel to the first direction, and the sliding rail is connected with the sliding table in a matched mode.
5. A propulsion device as in claim 3 wherein the clamp comprises: the elastic ring comprises a body and a ring-shaped component which is connected with the body and is provided with an opening, wherein the ring-shaped component has elasticity.
6. The propulsion device of claim 5, wherein the inner surface of the annular member is provided with a plurality of protrusions along its circumference.
7. A propulsion device as claimed in claim 5 wherein the guide portion includes a recess formation in which the annular member is received during movement.
8. The propulsion device of claim 1, wherein the guide comprises: the guide table is used for constructing a groove structure and detachably arranged on the base, and is provided with a stopping part matched with the groove structure, and the stopping part is positioned above the groove structure to limit the slender medical instrument to bend towards the second direction.
9. The propulsion device according to claim 1, wherein the guide portion has a guide block at an end thereof adjacent to the patient's body in the first direction, the elongated medical device being capable of passing therethrough.
10. A propulsion device as in claim 3 wherein the drive mechanism comprises: the lead screw is arranged on the base, the lengthwise extension direction of the lead screw is parallel to the first direction, and the lead screw is in transmission connection with the sliding table through a sliding block; and the motor is connected with the lead screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122883996.3U CN216675903U (en) | 2021-11-23 | 2021-11-23 | Vascular intervention operation robot propulsion device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122883996.3U CN216675903U (en) | 2021-11-23 | 2021-11-23 | Vascular intervention operation robot propulsion device |
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| Publication Number | Publication Date |
|---|---|
| CN216675903U true CN216675903U (en) | 2022-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122883996.3U Active CN216675903U (en) | 2021-11-23 | 2021-11-23 | Vascular intervention operation robot propulsion device |
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| CN (1) | CN216675903U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115475008A (en) * | 2022-08-05 | 2022-12-16 | 上海神玑医疗科技有限公司 | Multiplication mechanism and blood vessel intervention equipment |
-
2021
- 2021-11-23 CN CN202122883996.3U patent/CN216675903U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115475008A (en) * | 2022-08-05 | 2022-12-16 | 上海神玑医疗科技有限公司 | Multiplication mechanism and blood vessel intervention equipment |
| CN115475008B (en) * | 2022-08-05 | 2023-10-27 | 上海神玑医疗科技有限公司 | Multiplication mechanism and vascular intervention equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231018 Address after: Room 801, Building 4, No. 169 Changhong North Road, Luzhi Town, Wuzhong District, Suzhou City, Jiangsu Province, 215000 Patentee after: Suzhou Runmaide Intelligent Technology Development Co.,Ltd. Address before: Room nw-05-502, Northwest District, Suzhou nano City, No.99 Jinjihu Avenue, Suzhou Industrial Park, Jiangsu Province Patentee before: SUZHOU RAINMED MEDICAL TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room 801, Building 4, No. 169 Changhong North Road, Luzhi Town, Wuzhong District, Suzhou City, Jiangsu Province, 215000 Patentee after: Suzhou Shengke Intelligent Technology Co.,Ltd. Address before: Room 801, Building 4, No. 169 Changhong North Road, Luzhi Town, Wuzhong District, Suzhou City, Jiangsu Province, 215000 Patentee before: Suzhou Runmaide Intelligent Technology Development Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |