CN217472550U - Control system of interventional surgical instrument - Google Patents

Abstract

The utility model discloses a control system of intervention surgical instruments, include: the driving mechanism, the slender object supporting piece and the driving box comprise a fixed plate and a first sliding plate, wherein the first sliding plate is arranged on the fixed plate in a sliding mode, and a second supporting bracket is arranged at the front end of the fixed plate; the elongate object support is provided with an elongate object channel and an opening or slot for laterally inserting and removing the elongate object along the elongate object channel; the effective supporting section of the slender object supporting piece is lengthened or shortened along with the movement of the first sliding plate along the fixed plate; the driving box is connected with the first sliding plate; an active support segment of the elongate object support is positioned between the drive cassette and the second support bracket. By applying the technical scheme, the length of the slender object extending out of the slender object channel can be automatically adjusted, and the operation effect is favorably improved.

Description

Control system of interventional surgical instrument

Technical Field

The utility model relates to an intervene surgical instruments technical field, in particular to intervene surgical instruments's control system.

Background

In the related technology, a doctor inserts a sheath into a specific blood vessel for operation (an internal and external channel inlet for interventional therapy is established) through blood vessel puncture, then inserts a catheter and a guide wire into a specific focus position through the sheath, and then carries out therapy or places the catheter and the guide wire into a stent and the like, and the rear end of the sheath is connected with a Y valve so as to be convenient for injecting liquid for examination or therapy, such as contrast fluid and the like. The existing executing device for interventional operation has obtained certain application in interventional operation, but has some disadvantages, for example, the whole position of the manual positioning device and the patient or the length of the extending sheath tube is needed, the manual consumption is large, and the accurate positioning is not facilitated, thereby affecting the operation effect.

SUMMERY OF THE UTILITY MODEL

The present invention aims at solving at least one of the technical problems in the related art to a certain extent. Therefore, an object of the present invention is to provide a control system for an interventional surgical device with a driving mechanism and a slender object supporting member, which can automatically adjust the length of the slender object extending out of the slender object channel, and is beneficial to improving the surgical effect.

According to the utility model discloses intervene surgical instruments's control system, include: the driving mechanism, the slender object supporting piece and the driving box comprise a fixed plate and a first sliding plate, wherein the first sliding plate is arranged on the fixed plate in a sliding mode, and a second supporting bracket is arranged at the front end of the fixed plate; the elongate object support is provided with an elongate object channel and an opening or slot for laterally inserting and removing the elongate object along the elongate object channel; the effective supporting section of the slender object supporting piece is lengthened or shortened along with the movement of the first sliding plate along the fixed plate; the driving box is connected with the first sliding plate; an active support segment of the elongate object support is positioned between the drive cassette and the second support bracket.

According to the utility model discloses intervene surgical instruments's control system, can automatically regulated stretch out the length of the outer slender thing of slender thing passageway, do benefit to and improve the operation effect.

In addition, the control system of the interventional surgical instrument according to the above embodiment of the present invention may also have the following additional technical features:

in some embodiments, the driving mechanism further comprises a second sliding plate and a driving device, the fixed plate, the first sliding plate and the second sliding plate are arranged in a stacked manner, the second sliding plate is slidably arranged on the first sliding plate, and the driving box is fixed on the second sliding plate; the driving device is respectively connected with the fixed plate, the first sliding plate and the second sliding plate so as to drive the first sliding plate and the second sliding plate to move; the front end of the first sliding plate is connected with a first support bracket for supporting the effective support section of the slender object support.

In some embodiments, the first support bracket and the second support bracket are located on one side of the driving mechanism, the driving box is arranged on the side of the driving mechanism through the driving box mounting seat, and the driving device is arranged on the other side of the driving mechanism.

In some embodiments, the drive cartridge mounting seat includes a first mounting plate mounted on the second sliding plate, a second mounting plate bent and extended from an edge of the first mounting plate toward the fixed plate, and a third mounting plate bent and extended from an edge of the second mounting plate in a direction away from the driving mechanism, and the drive cartridge is fixed to the third mounting plate.

In some embodiments, one of the third mounting plate and the drive cartridge is provided with a positioning projection, and the other is provided with a positioning groove, the positioning projection and the positioning groove being engaged to mount the drive cartridge to the third mounting plate; and a power mechanism of the driving box is arranged below the third mounting plate, an output shaft of the power mechanism penetrates out of the third mounting plate from bottom to top, the driving box is mounted on the third mounting plate, and an output shaft of the power mechanism is connected with an input shaft of the driving box so as to provide power for the driving box.

In some embodiments, the control system further comprises an operating handle formed through the third mounting plate and the housing of the power mechanism.

In some embodiments, the elongated object supporting member is a telescopic member, and the front end of the elongated object supporting member is provided with a first connecting frame, and the rear end of the elongated object supporting member is provided with a second connecting frame; the first connecting frame is used for connecting the front end of the second supporting bracket; the second connecting frame is connected with the second sliding plate.

In some embodiments, the first and second support brackets each comprise a bearing portion supported below the elongate object support.

In some embodiments, the support portion of the second support bracket is elongated extending in a fore-aft direction, and a sum of effective support lengths of the first support bracket and the second support bracket matches a shortest length of the elongate support member.

In some embodiments, the elongated object support comprises: a support, a plurality of elongate object carriers, the support being retractable in a fore-aft direction; the plurality of elongated object brackets are connected to the support and arranged on the support along the front-back direction, and when the support stretches and retracts along the front-back direction, the plurality of elongated object brackets approach or separate from each other along the front-back direction along with the support, wherein the elongated object channel is formed by positioning spaces of the plurality of elongated object brackets.

In some embodiments, the stent comprises: the telescopic unit comprises a first connecting rod and a second connecting rod which are mutually crossed and hinged; the plurality of telescopic units are sequentially connected, in two adjacent telescopic units, the end parts of two connecting rods of one telescopic unit are respectively hinged with the end parts of two connecting rods of the other telescopic unit, and the hinged rotating surfaces are horizontally arranged.

In some embodiments, the elongated object carrier has a positioning slot with an opening, and the positioning slots of a plurality of elongated object carriers are adapted to face in a front-to-back direction and form the elongated object channel.

In some embodiments, the elongated object carrier comprises: the cylindrical part is horizontally arranged, one side of the cylindrical part is connected with the bracket, and the other opposite side of the cylindrical part is provided with the opening; the flanging part is connected to the edge of the opening of the cylindrical part, the flanges at the edges of two sides of the opening of the cylindrical part are in arc shapes which are far away from each other in the direction extending towards the outer side of the cylindrical part, and the flanging part and the cylindrical part are in arc transition.

In some embodiments, the elongated member support is a flexible support tube having an open seam extending through the conduit channel therein, the front end of one of the second slide plate and the drive box having a third connection, the front end of the second support bracket having a fourth connection; the third connecting portion is inserted into the catheter channel from the opening seam to partially prop open the opening seam, so that the elongated object can enter the catheter channel, the front end of the flexible supporting tube is fixed to the fourth connecting portion, and the third connecting portion slides along the flexible supporting tube along with the movement of the first sliding plate and the second sliding plate.

Drawings

Fig. 1 is a schematic diagram of a control system for an interventional surgical instrument according to some embodiments of the present invention.

Fig. 2 is an exploded schematic view of fig. 1.

Fig. 3 is a schematic view of the driving mechanism according to some embodiments of the present invention (showing the driving mechanism in an extended state).

Fig. 4 is a cross-sectional view of fig. 3.

Fig. 5 is a schematic view of the drive mechanism in some embodiments of the invention (showing the drive mechanism in a retracted position).

Fig. 6 is an enlarged view of circle a in fig. 5 (showing the structure of the platen base).

Fig. 7 is a cross-sectional view of circle a in fig. 5.

Fig. 8 is a schematic view of an elongated object support according to some embodiments of the present invention (showing the elongated object mounted on the elongated object support and the elongated object support in a retracted position).

Fig. 9 is a bottom view of an elongated object support in some embodiments of the invention.

Fig. 10 is a side view of an elongated object support member in accordance with some embodiments of the present invention.

Fig. 11 is an exploded view of an elongate member support member (in a retracted state) according to some embodiments of the present invention.

Fig. 12 is a schematic view of an elongated object support member according to some embodiments of the present invention (the elongated object support member is in an extended position).

Fig. 13 is a block diagram of an elongate object carrier coupled to an articulation shaft according to some embodiments of the present invention.

Fig. 14 is a block diagram of an alternative embodiment of the invention in which an elongated object carrier is connected to a hinge shaft.

Fig. 15 is a block diagram of an elongated object carrier coupled to an articulated shaft according to some embodiments of the invention.

Reference numerals:

a control system 100 for an interventional surgical device,

the drive mechanism (1) is provided with a drive mechanism,

a first slide plate 11, a first support bracket 111,

the second slide plate (12) is provided with a slide plate,

the fixed plate 13, the second supporting bracket 131, the inserting hole 101, the supporting surface 1a,

drive assembly 15, driven pulley 153, drive belt 151,

the position of the drive member 16 is such that,

a first pressure belt seat 17a, a second pressure belt seat 17b, a positioning part 17c, a pressing part 17d, a mounting part 17e,

a first guide rail 181a, a first guide block 181b, a second guide rail 182a, a second guide block 182b,

the position of the position sensor 19 is,

the support for the elongated object 2 is,

a telescopic unit 21, a first link 211, a second link 212, a mounting hole 201, a hinge shaft 23,

a first connecting frame 24a, a second connecting frame 24b, a connecting base 241, a plugging part 242, a projection 2421,

an elongated object carrier 25, a positioning groove 250, a cylindrical portion 251, a first side 251a, a second side 251b, a flange portion 252, an elastic portion 253,

a drive box mounting base 3, a first mounting plate 31, a second mounting plate 32, a third mounting plate 33,

the cartridge 4 is driven in such a manner that,

sheath 9, elongated object 91.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

Referring to fig. 1 to 15, a control system 100 for an interventional surgical device according to an embodiment of the present invention includes: the driving mechanism 1, slender thing support 2 and drive box 4, the driving mechanism 1 includes fixed plate 13 and first slide 11, the first slide 11 is slidably disposed on fixed plate 13, the front end of fixed plate 13 has second support bracket 131; the elongated object support 2 is provided with an elongated object channel and openings or slits for placing and removing the elongated object 91 transversely along the elongated object channel; as the first sliding plate 11 moves along the fixed plate 13, the effective support section of the elongated object support 2 becomes longer or shorter; the driving box 4 is connected with the first sliding plate 11; the active support section of the elongate object support 2 is positioned between the drive cassette 4 and the second support bracket 131. In particular, the elongated object channel on the elongated object support 2 is adapted to position and support the elongated object 91, into which the elongated object 91 is placed transversely, into which the elongated object 91 can be fitted from an opening or slit in the up-and-down direction with reference to fig. 1. The length of extension of the elongate object 91 out of the elongate object channel can be adjusted as the effective support length of the elongate object support 2 is lengthened or shortened. Further, the effective support section of the elongated object support 2 is adapted to be lengthened or shortened by the drive of the drive cassette 4 or the drive mechanism 1, thereby enabling adjustment of the length of the elongated object 91. The driving box 4 is connected with the first sliding plate 11 of the driving mechanism 1, the first sliding plate 11 can drive the driving box 4 to move when sliding, the effective supporting section of the slender object supporting piece 2 can be positioned between the second supporting bracket 131 and the driving box 4, and when the effective supporting section of the slender object supporting piece 2 is lengthened or shortened, the effective supporting section can be supported, and the installation efficiency and the structural stability can be improved.

According to the utility model discloses intervene surgical instruments's control system 100, the last long and thin thing passageway that is used for installing long and thin thing 91 that has set up of long and thin thing support piece 2 and can carry out the flexible effective support section of length, actuating mechanism 1 drive long and thin thing support piece 2 carries out the length and stretches out and draw back to can stretch out the length of the long and thin thing 91 outside the long and thin thing passageway by automatically regulated, do benefit to and improve the operation effect.

With reference to fig. 3, optionally, the driving mechanism 1 further includes a second sliding plate 12 and a driving device, the fixed plate 13, the first sliding plate 11 and the second sliding plate 12 are arranged in a stacked manner, the second sliding plate 12 is slidably disposed on the first sliding plate 11, and the second sliding plate 12 slides relative to the first sliding plate 11. The driving box 4 is fixed on the second sliding plate 12; the driving device is respectively connected with the fixed plate 13, the first sliding plate 11 and the second sliding plate 12 so as to drive the first sliding plate 11 and the second sliding plate 12 to move or stretch; a first support bracket 111 is attached to the front end of the first slide plate 11 for supporting the active support section of the elongate object support 2. That is, the second slide plate 12 is slidable with respect to the first slide plate 11, and the driving means is connected to the second slide plate 12. The second sliding plate 12 can be connected to a driven structure, and since the first sliding plate 11 can slide relative to the fixed plate 13 and the second sliding plate 12 can slide relative to the first sliding plate 11, the sliding distance between the fixed plate 13 and the second sliding plate 12 can be prolonged, and the telescopic range of the articles supported on the fixed plate 13 and the second sliding plate 12 can be prolonged.

Specifically, the guide wire driving box 4 may be fixedly connected to the second sliding plate 12, the sheath 9 is connected to the second support bracket 131, one end of the elongated object for guiding and supporting the guide wire is connected to the second sliding plate 12, and the other end is slidably inserted into the sheath 9, and during use, the driving device drives the first sliding plate 11, the second sliding plate 12 and the fixed plate 13 to move back and forth relatively to adjust the relative distance between the one end of the elongated object and the sheath 9, that is, to adjust the length of the elongated object between the second sliding plate 12 and the sheath 9, so as to achieve the purpose of adjusting the length of the elongated object extending out of the sheath 9. Further, both ends of the elongated object support 2 are respectively connected to the second slide plate 12 or the drive cassette 4 and the second support bracket 131, and are extended and contracted following adjustment of the relative distance between the second slide plate 12 and the second support blade, the first support bracket 111 and the second support bracket 131 may be used to support the elongated object support 2, and the elongated object support 2 may be used to support the elongated object 91.

As described above, after the second slide plate 12 is stacked on the first slide plate 11, the second slide plate 12 can be slid further on the first slide plate 11, and the length of the drive mechanism 1 can be extended, thereby constructing a multistage slide mechanism. In practical application, the driving device can drive the first sliding plate 11 and the second sliding plate 12 to slide simultaneously, so that the working efficiency of the driving mechanism 1 is improved.

In addition, the front end of the first sliding plate 11 is provided with a first support bracket 111, the front end of the fixed plate 13 is provided with a second support bracket 131, and when the first sliding plate 11 is overlapped with the fixed plate 13, the first support bracket 111 and the second support bracket 131 can be matched with each other; when the first sliding plate 11 slides, the first support bracket 111 is always located between the fixed plate 13 and the second sliding plate 12 to provide support in the middle of the driving mechanism 1, improving stability of operation and overall structure.

Alternatively, the driving mechanism 1 may be further provided with a third sliding plate, a fourth sliding plate, or the like to realize more stages of movement, so as to further improve the telescopic length of the driving mechanism.

In a specific application, the third supporting position may be directly disposed on the second sliding plate 12, or may be disposed on another object mounted thereon, so that the third supporting position, the first supporting bracket 111 and the second supporting bracket 131 realize supporting from three positions, and as the first sliding plate 11 and the second sliding plate 12 slide relative to the fixed plate 13, the effective supporting length is variable. When applied to a control system for an interventional surgical instrument, the other object may be a drive cartridge.

Alternatively, the first support bracket 111 and the second support bracket 131 are located at one side of the driving mechanism 1, the driving cartridge 4 is disposed at the side of the driving mechanism 1 through the driving cartridge mounting seat 3, and the driving device is disposed at the other side of the driving mechanism 1, so as to facilitate the spatial arrangement and simplify the structure of the control system. Specifically, when the driving mechanism 1 is applied to the control system 100 of the interventional surgical instrument, the driving box 4 can be installed at one side of the second sliding plate 12, so that the design space is increased, and the space arrangement efficiency is improved. Specifically, the drive cassette 4 may be provided in line with the support portion so that the elongated object 91 may linearly extend to the support portion in the front-rear direction, facilitating spatial arrangement and simplifying the structure. In practical applications, the slender object supporting member 2 may be directly connected to the second sliding plate 12 or the driving box mounting seat 3, or may be indirectly connected to the driving box 4 disposed on the driving box mounting seat 3.

Referring to fig. 1 and 2, the drive box mounting base 3 may alternatively include a first mounting plate 31 mounted on the second sliding plate 12, a second mounting plate 32 bent and extended from an edge of the first mounting plate 31 toward the fixed plate 13, and a third mounting plate 33 bent and extended from an edge of the second mounting plate 32 in a direction away from the drive mechanism 1, and the drive box 4 may be fixed to the third mounting plate 33. Specifically, the second sliding plate 12 is located on the first sliding plate 11, the first sliding plate 11 is located on the fixed plate 13, the first mounting plate 31, the second mounting plate 32 and the third mounting plate 33 of the mounting base extend from the second sliding plate 12 to the fixed plate 13 and then extend to the direction away from the driving mechanism 1, a step-type structure is constructed, and the second mounting plate 32 and the third mounting plate 33 construct an "L" -shaped structure, so that a placement space is provided for the driving box 4, and the spatial arrangement is facilitated.

Alternatively, the first, second and third mounting plates 31, 32, 33 may be constructed as an integral unit, facilitating manufacturing and assembly, and facilitating improved structural stability.

Optionally, one of the third mounting plate 33 and the driving box 4 is provided with a positioning protrusion, the other is provided with a positioning groove, and the positioning protrusion is matched with the positioning groove to mount the driving box 4 on the third mounting plate 33, so that the connection stability can be improved, and the structural strength is improved. A power mechanism of the driving box 4 is arranged below the third mounting plate 33, an output shaft of the power mechanism penetrates out of the third mounting plate 33 from bottom to top, the driving box 4 is mounted on the third mounting plate 33, and an output shaft of the power mechanism is connected with an input shaft of the driving box 4 to provide power for the driving box 4.

Optionally, the control system further includes an operating handle formed through the third mounting plate 33 and the housing of the power mechanism, so as to facilitate operation and improve convenience of use.

With reference to fig. 3, optionally, the driving means comprises: the transmission assembly 15, a first belt pressing seat 17a, a second belt pressing seat 17b and a driving piece 16. Specifically, drive assembly 15 includes the action wheel, follows driving wheel 153 and drive belt 151, and the action wheel is located first slide 11 front and back both ends with following driving wheel 153 branch, and drive belt 151 is connected with the action wheel with follow driving wheel 153 transmission, and from this, the action wheel rotation can drive belt 151 and rotate. The first belt pressing seat 17a is respectively connected with the transmission belt 151 and the second sliding plate 12; the second belt pressing seat 17b is respectively connected with the transmission belt 151 and the fixed plate 13, and the driving member 16 is in transmission connection with the driving wheel and drives the driving wheel to rotate. Namely, the first press belt seat 17a can enable the first sliding plate 11 to slide relative to the fixed plate 13, and the second press belt seat 17b can enable the second sliding plate 12 to slide relative to the first sliding plate 11, so as to improve the running stability. During use, when the driving wheel rotates, the transmission belt 151 drives the first pressing belt seat 17a and the second pressing belt seat 17b to move in opposite directions, and thus drives the second sliding plate 12 and the fixed plate 13 to slide in opposite directions relative to the first sliding plate 11. As described above, since the driving case 4 and the sheath tube 9 are connected to the second slide plate 12 and the fixed plate 13, respectively, the driving device can increase the speed of the relative movement of the driving case 4 and the sheath tube 9, thereby achieving the purpose of double-speed driving.

For example, as shown in fig. 2, the second sliding plate 12 and the fixed plate 13 are respectively disposed on the upper and lower sides of the first sliding plate 11, and the first belt pressing seat 17a can drivingly connect the second sliding plate 12 and the first sliding plate 11 through a transmission belt 151; the second belt pressing seat 17b can drive and connect the fixed plate 13 and the first sliding plate 11 through a transmission belt 151. When the driving member 16 drives the driving wheel to rotate, the driving wheel rotates to drive the first sliding plate 11 connected with the driving wheel to slide, and the transmission belt 151 can drive the first belt pressing seat 17a connected with the transmission belt 151 to move, so as to move the second sliding plate 12 connected with the first belt pressing seat 17 a. That is, when the driving member 16 provides power, the transmission moves between the driving wheel and the driven wheel 153, and the first sliding plate 11 and the second sliding plate 12 can be driven to slide synchronously, so as to increase the sliding speed, and realize double speed sliding, so as to move the second sliding plate 12 to the target position quickly.

Optionally, the transmission assembly can be in the form of flat belt transmission, triangular belt transmission, poly V-belt transmission or synchronous belt transmission, and the transmission form can be changed according to actual conditions, the utility model is not limited to this. According to the utility model discloses an actuating mechanism 1, drive assembly are flat belt drive, and the cross sectional shape is the flat belt of rectangle promptly, and simple structure stability is good, is convenient for assemble and maintain.

Referring to fig. 5, optionally, the first pressing belt seat 17a is connected to the front end of the second sliding plate 12, and the second pressing belt seat 17b is connected to the rear end of the fixed plate 13, so as to extend the sliding distance and improve the transmission efficiency. Specifically, the second sliding plate 12 can move backward along with the driving belt 151, and the first pressing base 17a is connected to the front end of the second sliding plate 12, so that the backward sliding distance of the second sliding plate 12 can be extended. In other words, when the belt 151 moves the first pressing block 17a, the first pressing block 17a can move from the front end to the rear end of the first sliding plate 11, the first pressing block 17a can have a larger moving range, and the second sliding plate 12 will also have a larger moving distance. Similarly, the second belt pressing seat 17b is connected to the rear end of the fixed plate 13, and when the driving wheel rotates, the first sliding plate 11 is driven to slide relative to the fixed plate 13.

Referring to fig. 3 and 5, fig. 5 shows a state where the first and second sliding plates 11 and 12 are not slid, and fig. 3 shows a state where the first and second sliding plates 11 and 12 are slid. It can be seen that the driving device is located on the side surface of the first sliding plate 11, the first belt pressing seat 17a and the second belt pressing seat 17b are respectively located on the side surfaces of the second sliding plate 12 and the fixed plate 13, the upper part of the transmission belt 151 is in transmission connection with the first belt pressing seat 17a, the lower part of the transmission belt 151 is in transmission connection with the second belt pressing seat 17b, and when the transmission belt 151 rotates, the first belt pressing seat 17a located at the front end of the second sliding plate 12 is driven to move back and forth, so that the second sliding plate 12 is driven to slide back and forth on the first sliding plate 11; at the same time, the lower portion of the belt 151 and the upper portion of the belt 151 move in opposite directions, so that the second belt pressing base 17b slides the first sliding plate 11 back and forth on the fixed plate 13.

Referring to fig. 6, each of the first and second belt pressing seats 17a and 17b includes a mounting portion 17e, a positioning portion 17c connected to the mounting portion 17e, and a pressing portion 17d for pressing the timing belt in cooperation with the positioning portion 17 c.

With reference to fig. 5 and 6, according to the driving mechanism 1 of the embodiment of the present invention, the mounting portion 17e and the positioning portion 17c are L-shaped, and may be an integral structure, wherein the mounting portion 17e is a vertical section and is adapted to be fixedly connected to the side surface of the second sliding plate 12 or the fixed plate 13, for example, by screws. The positioning portion 17c is a horizontal section and is suitable for being vertically matched with the pressing portion 17d, the transmission belt 151 is located between the pressing portion 17d and the horizontal section, wherein the upper surface of the pressing portion 17d is provided with corrugated bulges and grooves, friction force between the transmission belt and the pressing portion 17d can be improved, and stability of matching of the transmission belt seat and the transmission belt 151 is improved.

The transmission belt 151 can be a synchronous belt, and the driving wheel and the driven wheel 153 are gears matched with the synchronous belt; the pressing portion 17d is provided with positioning teeth which are inserted into a tooth gap with the timing belt. Will set up on compressing tightly portion 17d with the tooth complex flank of tooth of hold-in range, not only can firm location conveyer belt, prevent that the relative first pressure band seat 17a of drive belt and second pressure band seat 17b from removing, improve driven stability, can also improve the convenience of installation, location portion 17c is fixed in on first slide 11 through installation department 17e, the tooth that will compress tightly portion 17d cooperates with the tooth of drive belt 151, the position that compresses tightly portion 17d is adjusted through promoting to compress tightly portion 17d conveniently, thereby it is fixed in order to press from both sides tight drive belt 151 to be convenient for compress tightly portion 17d and location portion 17 c.

Referring to fig. 4, optionally, a first linear guide rail is disposed between the second sliding plate 12 and the first sliding plate 11, the first linear guide rail includes a first guide rail 181a and a first guide block 181b, the first guide rail 181a extends in the front-rear direction, the first guide block 181b is slidably connected to the first guide rail 181a in the front-rear direction, one of the first guide rail 181a and the first guide block 181b is connected to the second sliding plate 12, and the other is connected to the first sliding plate 11. For example, the lower end of the second sliding plate 12 may be provided with a first guide rail 181a, a first guide block 181b is connected to the first sliding plate 11, and the first guide block 181b is matched with the first guide rail 181a so that the second sliding plate 12 can slide relative to the first sliding plate 11, thereby improving the running stability.

Optionally, a second linear guide is disposed between the first sliding plate 11 and the fixed plate 13, the second linear guide includes a second guide rail 182a and a second guide block 182b, the second guide rail 182a extends along the front-back direction, the second guide block 182b is slidably connected to the second guide rail 182a along the front-back direction, one of the second guide rail 182a and the second guide block 182b is connected to the first sliding plate 11, and the other is connected to the fixed plate 13. For example, the lower end of the first sliding plate 11 may be provided with a second guide rail 182a, the second guide block 182b is connected to the fixed plate 13, and the second guide block 182b is matched with the second guide rail 182a so that the first sliding plate 11 can slide relative to the fixed plate 13, thereby improving the running stability.

With reference to fig. 1 and 3, optionally, the second sliding plate 12, the first sliding plate 11 and the fixed plate 13 are sequentially stacked from top to bottom, and the first support bracket 111 and the second support bracket 131 each include a support portion. Wherein, the supporting portion is provided at one side of the second sliding plate 12, and the driving device is provided at the other side of the second sliding plate 12, therefore, when the driving mechanism 1 is applied to the control system 100 of the interventional surgical instrument, the driving box 4 can be installed at one side of the second sliding plate 12, the design space is large, and the space arrangement efficiency is improved. Specifically, the drive cassette 4 may be provided in line with the support portion so that the guide tube 91 or the guide wire may extend straight to the support portion in the front-rear direction, facilitating spatial arrangement and simplifying the structure.

With reference to fig. 5 and 7, optionally, each of the first support bracket 111 and the second support bracket 131 includes a support surface 1a, the support surfaces 1a are horizontal, and the support surfaces 1a of the first support bracket 111 and the second support bracket 131 are flush. Specifically, the horizontal support surface 1a may improve the supporting effect so that an object placed thereon may come into surface contact with the support portion, and the support surfaces 1a of the first support bracket 111 and the second support bracket 131 are flush so that both may be supported together, improving stability.

For example, referring to fig. 3, since the first and second support brackets 111 and 131 are used for supporting the object on the second sliding plate 12, the first and second support brackets 111 and 131 may be configured to extend upward out of the support surface 1a along the fixed plate 13, for example, the second support bracket 131 may be configured to extend upward and then forward. The first support bracket 111 may be configured to extend upward along the front end of the first slide board 11 in a stepped manner, and the support surfaces 1a of the first support bracket 111 and the second support bracket 131 are flush, which is beneficial to improve the support effect.

Optionally, the second support bracket 131 is arranged at the front side of the first support bracket 111, and the support part of the second support bracket 131 is in a long shape extending along the front-back direction, so that the support surface can be enlarged, and the support stability can be improved; and the upper surface of the front end of the support part of the second support bracket 131 is provided with an insertion hole 101. That is to say, second support bracket 131 can outwards extend to place or connect longer object, and be equipped with spliced eye 101 at the front end of second support bracket 131, spliced eye 101 can be used for carrying out the grafting location with the object, realizes quick location, improves the reliability of placing.

With reference to fig. 3 and 5, optionally, a position sensor 19 is disposed on the fixed plate 13, and the position sensor 19 is opposite to the driving device to detect the moving position of the fixed plate 13, so as to improve the operation stability and protect the driving mechanism 1.

The fixed plate 13 is provided with a plurality of position sensors 19, and the plurality of position sensors 19 are disposed at intervals in the front-rear direction to detect the driving position of the driving device, which can be reflected on the relative position between any two of the first slide plate 11, the second slide plate 12, and the fixed plate 13, or the position of the first tape holder 17a, the second tape holder 17b, or the like.

With reference to fig. 7 and 9, optionally, the slender object supporting member 2 is a telescopic member, and the slender object supporting member 2 is provided with a first connecting frame 24a at the front end and a second connecting frame 24b at the rear end; the first connecting bracket 24a is used for connecting the front end of the second supporting bracket 131; the second attachment bracket 24b is attached to the second slide 12 so as to position the effective support end of the elongate object support 2 between the drive cassette 4 and the second support bracket 131. Specifically, the second slide plate 12 or the driving box 4 may be connected to the second connecting frame 24b, and the second slide plate 12 may drive the second connecting frame 24b to approach or separate from the second support bracket 131 when sliding, thereby achieving the extension and contraction of the elongated object support 2. The first and second attachment brackets 24a and 24b may facilitate quick assembly of the elongate member support 2, improving stability of the connection.

Referring to fig. 8, optionally, the first and second connection frames 24a and 24b each include: a connecting base 241 and a plugging part 242, the connecting base 241 being used for connecting a bracket; the inserting part 242 is connected with the connecting seat 241 and extends downwards, and therefore the connecting seat 241 can be connected with the support, the inserting part 242 extends downwards to be inserted into the device from top to bottom, the inserting stability can be improved by the self gravity of the support, and the support is connected onto the device through the connecting frame. Further, a protrusion 2421 is disposed on the upper end of the insertion part 242 to limit the insertion length of the insertion part 242. According to the above, the connecting seat 241 is hinged to the bracket to improve the stability of the connection.

Optionally, the connecting base 241 is connected with two insertion parts 242 spaced from left to right to improve the stability of insertion and facilitate simplifying the structure. With reference to fig. 12, the two insertion parts 242 may be integrally formed; or the connection holder 241 and the insertion part 242 are constructed as an integrally formed structure to facilitate manufacturing and assembly.

With reference to fig. 3 and 5, optionally, the first support bracket 111 and the second support bracket 131 each comprise a support portion, which is supported below the elongated object support 2, to improve the supporting effect. In particular, the bearing portion may improve the bearing effect and increase the contact area between the elongated object support 2 and the bearing portion, wherein the bearing portions of the first and second bearing brackets 111 and 131 are substantially flush, which facilitates the common bearing and improves the stability.

Alternatively, the support portion of the second support bracket 131 is elongated and extends in the front-rear direction, so that the support surface can be increased and the support stability can be improved. The sum of the effective support lengths of the first support bracket 111 and the second support bracket 131 matches the shortest length of the elongate object support 2, which is beneficial to improve the support effect and structural stability.

With reference to fig. 1 and 12, optionally, the elongated object support 2 comprises: a plurality of elongated object brackets 25, which are retractable in the front-rear direction; the plurality of elongated object brackets 25 are connected to the support and arranged in the front-rear direction on the support, and when the support is extended and retracted in the front-rear direction, the plurality of elongated object brackets 25 approach or separate from each other in the front-rear direction along with the support, wherein the positioning spaces of the plurality of elongated object brackets 25 constitute an elongated object channel, and the elongated object 91 can be placed in the elongated object channel. That is, the elongated object 91 can be positioned and supported by the elongated object brackets 25, the plurality of elongated object brackets 25 can improve the supporting and supporting effect on the elongated object 91, and the plurality of elongated object brackets 25 are connected to the support and can position the elongated object 91 along the extending direction of the support so as to improve the stability of the movement of the elongated object 91. Two adjacent elongated object carriers 25 are spaced apart when the frame is extended and close when the frame is retracted, yet still provide stable positioning and support by the plurality of elongated object carriers 25 as the length of the elongated object 91 varies between the ends of the elongated object 91 support frame.

With reference to fig. 12, optionally, the stent comprises: a plurality of telescopic units 21, the telescopic units 21 including a first link 211 and a second link 212 crossing each other and hinged; the plurality of telescopic units 21 are connected in sequence, in two adjacent telescopic units 21, two connecting rod end parts of one are respectively hinged with two connecting rod end parts of the other, and the hinged rotating surface is horizontally arranged. First connecting rod 211 and second connecting rod 212 intersect and form "X" shape structure, and articulate at the intersection and construct flexible unit 21, from this, can improve the equilibrium and the structural strength of support, can realize the support along the flexible of fore-and-aft direction through setting up a plurality of flexible units 21, and flexible scope is great, simple structure, easily structure, and stability is high.

Referring to fig. 12, each of the first connecting rods 211 and the second connecting rods 212 may be configured as a straight rod, a diamond structure is formed between each expansion unit 21 and the adjacent expansion unit 21, and a plurality of expansion units 21 formed by a plurality of first connecting rods 211 and a plurality of second connecting rods 212 may jointly form a plurality of diamond structures. For example, as shown in fig. 9, when the plurality of telescopic units 21 are contracted, in a diamond structure configured between two adjacent telescopic units 21, the diagonal dimension along the front-back direction is reduced, the diagonal dimension along the left-right direction is increased, and the intersection points of two adjacent telescopic units 21 are close to each other, so as to achieve the purpose of reducing the dimension of the stent along the front-back direction; fig. 12 shows a state when the plurality of telescopic units 21 are extended, in the rhombic structure configured between two adjacent telescopic units 21, the diagonal dimension along the front-back direction is increased, the diagonal dimension along the left-right direction is decreased, and at this time, the intersection points of two adjacent telescopic units 21 are far away from each other, so that the purpose of extending the dimension of the stent along the front-back direction is achieved. By providing the plurality of telescopic units 21, an effect of double extension can be achieved to improve the extension range of the stent, and in addition, each intersection point is composed of the first connecting rod 211 and the second connecting rod 212 which are hinged to each other, so that the supporting strength of the stent can be effectively improved.

The articulated rotating surface level sets up in the support, and second slide 12, first support bracket 111 and second support bracket 131 three parts are effectively supported from the below of support, are convenient for set up great holding surface, improve the stability of supporting. When the bracket is retracted to the shortest, the bracket can be smoothly laid on the first support bracket 111 and the second support bracket 131.

Specifically, with reference to fig. 9 and 11, a hinge shaft 23 is disposed at an intersection of the first link 211 and the second link 212 corresponding to each other, so as to facilitate relative rotation of the first link 211 and the second link 212, improve flexibility of extension and retraction of the bracket, and improve connection stability of the first link 211 and the second link 212, wherein the elongated object bracket 25 is fixedly connected to the hinge shaft 23, and in addition, the elongated object bracket 25 may be integrally formed with the hinge shaft 23. In other words, the hinge shaft 23 may hinge both the first link 211 and the second link 212 and may be used to connect the elongated object bracket 25, which is advantageous to simplify the structure. Specifically, one end of hinge shaft 23 is connected to elongated object bracket 25, and hinge shaft 23 may extend downward and be connected to the hinge of first link 211 and second link 212, thereby achieving stable hinge between corresponding first link 211 and second link 212 and improving the stability of elongated object bracket 25 in supporting and positioning the elongated object.

With reference to fig. 10 and 11, according to an embodiment of the present invention, the first connecting rod 211 and the second connecting rod 212 of the telescopic unit 21 located in the middle region of the plurality of telescopic units 21 are crossed with each other, and the crossing position is located at the middle point of the first connecting rod 211 and the second connecting rod 212, the end portion and the middle point of the first connecting rod 211 are respectively provided with a mounting hole 201 for being hinged to the second connecting rod 212, and the end portion and the middle point of the second connecting rod 212 are respectively provided with a mounting hole 201 for being hinged to the first connecting rod 211; the end parts of the first connecting rod 211 and the second connecting rod 212 in the telescopic units 21 at the front end and the rear end are crossed, the end part of the first connecting rod 211 is provided with a mounting hole 201 for being hinged with the second connecting rod 212, and the end part of the second connecting rod 212 is provided with a mounting hole 201 for being hinged with the first connecting rod 211. The plurality of first links 211 are parallel to each other and the plurality of second links 212 are parallel to each other.

Referring to fig. 12 and 13, optionally, positioning slots 250 with openings are configured on the elongated object carrier 25, the elongated object 91 can be put into or taken out from the opening or gap of the elongated object carrier 25, and the positioning slots 250 of a plurality of elongated object carriers 25 are adapted to face each other in the front-back direction and form an elongated object channel, so that the elongated object 91 can be put into the elongated object channel quickly, and the positioning effect and the positioning accuracy of the elongated object 91 can be improved. And the positioning grooves 250 of the plurality of elongated object brackets 25 are aligned in the front-rear direction to facilitate positioning of the elongated objects extending in the front-rear direction to reduce the tangential force to the elongated objects.

Alternatively, as shown in fig. 14 and 15, at least one side of the opening is provided with an elastic portion 253 to facilitate the insertion or removal of the elongated object, in fig. 14, both sides of the opening are the elastic portions 253, and in fig. 15, one side of the opening is the elastic portion 253. Specifically, an inward pressure is applied to the elastic portion 253, the elongated object is put in when the elastic portion 253 is bent inward, an outward pressure is applied to the elastic portion 253, and the elongated object is taken out when the elastic portion 253 is bent outward. In addition, the elastic portion 253 may also improve flexibility of the positioning groove 250 to protect the elongated object. Alternatively, the positioning groove 250 may be made of a flexible material, and the elongated object may be inserted into the positioning groove 250 by applying a slight force during installation, and may be taken out of the positioning groove 250 by slightly lifting the elongated object outward.

In one embodiment, the elastic portion 253 may be made of an elastic material such as silicone rubber or rubber, or the elastic portion 253 may be an elastic structure such as a metal sheet or a plastic sheet. So that the elongated object can be placed in the elongated object holder 25 by pressing with the operator's hand and can be removed from the elongated object holder 25 by pulling the elongated object up towards the opening.

Optionally, the elongated object carrier 25 comprises: the device comprises a cylindrical part 251 and a flanging part 252, wherein the cylindrical part 251 is horizontally arranged, one side of the cylindrical part 251 is connected with a bracket, and the other opposite side of the cylindrical part 251 is provided with an opening; the flanging part 252 is connected to the edge of the opening of the cylindrical part 251, the flanging at the two side edges of the opening of the cylindrical part 251 are in an arc shape which is far away from each other in the direction extending to the outer side of the cylindrical part 251, and the flanging part 252 and the cylindrical part 251 are in arc transition. Specifically, cylindrical portion 251 is adapted to receive elongated object 91, and cuff portion 252 is adapted to receive elongated object 91. Specifically, the axis of the cylindrical portion 251 extends in the front-rear direction to be suitable for positioning the elongated object 91 in the left-right direction, the cylindrical portion 251 has a first side 251a and a second side 251b opposite to each other, the first side 251a of the cylindrical portion 251 is connected to the bracket, and an opening is provided at the second side 251b of the cylindrical portion 251. The flanging parts 252 are connected to the opening edge of the cylindrical part 251, and the flanging parts 252 on both sides of the opening of the cylindrical part 251 are away from each other in the direction extending outside the cylindrical part 251, that is, the opening is opened towards both sides, so that the assembly of the elongated object 91 can be facilitated, the elongated object 91 is positioned at the top end of the cylindrical part 251, and the elongated object 91 enters the positioning groove 250 from the opening downwards. The flanging part 252 is arc-shaped, and the arc-shaped structure can improve the structural strength and toughness of the flanging part 252; and the circular arc transition of the cylindrical part 251 is beneficial to the sliding of the slender object 91 out of or into the positioning groove 250, so that the slender object 91 can be protected. In this case, the cylindrical portion 251 and the cuff portion 252 may be formed integrally to improve structural stability.

It should be noted that the elongated member 91 may be a catheter, a guidewire, or a guide wire for a therapeutic stent. For example, the elongate member passage may be for supporting a catheter, and the elongate member may be delivered to the body by an interventional control system, although the invention is not limited thereto.

According to the utility model discloses intervene surgical instruments's control system, at the in-process that sheath 9 removed along the fore-and-aft direction, can adjust the length that long and thin thing stretches out sheath 9, simultaneously through long and thin thing support piece's supporting role, can stretch out the length adjustment in-process for sheath 9 at long and thin thing, provide stable support for long and thin thing. The position relation between the slender object supporting piece 2 and the patient can be adjusted, so that the quick and accurate positioning is facilitated, and the operation effect is improved.

In one embodiment (not shown), the elongated object support 2 is a flexible support tube with an opening slot extending through the conduit channel, the front end of one of the second slide 12 and the drive box is provided with a third connection portion, and the front end of the second support bracket 131 is provided with a fourth connection portion. The third connecting part is inserted into the conduit channel from the opening slot to partially open the opening slot, so that the elongated object 91 can enter the elongated object channel, the front end of the flexible supporting tube is fixed to the fourth connecting part, and the third connecting part slides along the flexible supporting tube along with the movement of the first sliding plate 11 and the second sliding plate 12. The third connecting part can be a bulge which can go deep into the conduit channel, or the third connecting part is provided with two positioning sheets which can respectively expand two sides of the opening seam. In the process of pushing the elongated object 91, the elongated object 91 is supported on the elongated object channel section between the third connecting part and the fourth connecting part, and the supporting effect is stable.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims (14)

1. A control system for an interventional surgical instrument, comprising:

the driving mechanism comprises a fixed plate and a first sliding plate, the first sliding plate is slidably arranged on the fixed plate, and a second supporting bracket is arranged at the front end of the fixed plate;

an elongate object support provided with an elongate object channel and an opening or slot for insertion and removal of the elongate object laterally along the elongate object channel;

the effective supporting section of the slender object supporting piece is lengthened or shortened along with the movement of the first sliding plate along the fixed plate;

the driving box is connected with the first sliding plate;

an effective support section of the elongate object support is positioned between the drive cartridge and the second support bracket.

2. The control system of an interventional surgical instrument of claim 1, wherein the drive mechanism further comprises a second slide plate and a drive device, the fixed plate, the first slide plate and the second slide plate being arranged in a stack, the second slide plate being slidably disposed on the first slide plate, the drive cassette being secured to the second slide plate;

the driving device is respectively connected with the fixed plate, the first sliding plate and the second sliding plate so as to drive the first sliding plate and the second sliding plate to move;

the front end of the first sliding plate is connected with a first support bracket for supporting the effective support section of the slender object support.

3. The control system of an interventional surgical instrument of claim 2, wherein the first and second support brackets are located on one side of the drive mechanism and a drive cartridge is disposed on the side of the drive mechanism by a drive cartridge mount, the drive device being disposed on the other side of the drive mechanism.

4. The control system of claim 3, wherein the drive cartridge mounting plate comprises a first mounting plate mounted to the second slide plate, a second mounting plate bent and extended from an edge of the first mounting plate in a direction toward the fixed plate, and a third mounting plate bent and extended from an edge of the second mounting plate in a direction away from the driving mechanism, and the drive cartridge is fixed to the third mounting plate.

5. The control system of an interventional surgical instrument of claim 4, wherein one of the third mounting plate and the drive cartridge is provided with a positioning protrusion and the other is provided with a positioning groove, the positioning protrusion cooperating with the positioning groove to mount the drive cartridge to the third mounting plate;

and a power mechanism of the driving box is arranged below the third mounting plate, an output shaft of the power mechanism penetrates out of the third mounting plate from bottom to top, the driving box is mounted on the third mounting plate, and an output shaft of the power mechanism is connected with an input shaft of the driving box so as to provide power for the driving box.

6. The control system of an interventional surgical device of claim 5, further comprising an operating handle formed through the third mounting plate and a housing of the power mechanism.

7. The interventional surgical instrument control system of claim 2, wherein the elongated object support member is a telescopic member, the elongated object support member having a first link at a front end thereof and a second link at a rear end thereof;

the first connecting frame is used for connecting the front end of the second supporting bracket;

the second connecting frame is connected with the second sliding plate.

8. The control system of an interventional surgical instrument of claim 2, wherein the first and second support brackets each include a bearing portion supported below the elongated object support.

9. The interventional surgical instrument control system of claim 8, wherein the support portion of the second support bracket is elongated extending in a fore-aft direction, a sum of effective support lengths of the first support bracket and the second support bracket matching a shortest length of the elongate support member.

10. The control system of an interventional surgical instrument of claim 1, wherein the elongate member support comprises:

the bracket is telescopic along the front-back direction;

a plurality of elongated object brackets that are connected to the support and arranged on the support in the front-rear direction, and that move toward and away from each other in the front-rear direction along with the support when the support is extended and retracted in the front-rear direction,

wherein the positioning spaces of the plurality of elongated object holders constitute the elongated object passage.

11. The control system of an interventional surgical instrument of claim 10, wherein the stent comprises:

the telescopic unit comprises a first connecting rod and a second connecting rod which are mutually crossed and hinged;

the plurality of telescopic units are sequentially connected, in two adjacent telescopic units, the end parts of two connecting rods of one telescopic unit are respectively hinged with the end parts of two connecting rods of the other telescopic unit, and the hinged rotating surfaces are horizontally arranged.

12. The interventional surgical instrument of claim 10, wherein the elongated member carrier has a detent formed thereon having an opening, and wherein the detents of a plurality of the elongated member carriers are adapted to face in a front-to-back direction and define the elongated member channel.

13. The control system of the interventional surgical instrument of claim 10, wherein the elongated object carrier comprises:

a cylindrical part horizontally arranged, one side of the cylindrical part is connected with the bracket, and the other opposite side of the cylindrical part is provided with the opening;

the flanging part is connected to the edge of the opening of the cylindrical part, the flanges on two side edges of the opening of the cylindrical part are in arc shapes which are far away from each other in the direction extending towards the outer side of the cylindrical part, and the flanging part and the cylindrical part are in arc transition.

14. The control system of an interventional surgical instrument of claim 2, wherein the elongated member support is a flexible support tube having an open seam through its interior conduit passage, the front end of one of the second slide plate and the drive cassette having a third connection, the front end of the second support bracket having a fourth connection;

the third connecting part is inserted into the conduit channel from the opening seam to partially open the opening seam, so that the elongated object can enter the conduit channel conveniently, the front end of the flexible supporting tube is fixed to the fourth connecting part, and the third connecting part slides along the flexible supporting tube along with the movement of the first sliding plate and the second sliding plate.

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