CN218420031U - Multi-guide-rail interventional operation robot slave-end operation device - Google Patents

Abstract

The utility model provides a many guide rails intervene operation robot from end operating means, its includes the main part, is used for centre gripping first elongated medical instrument's first actuating mechanism and second actuating mechanism and is used for centre gripping second elongated medical instrument's third actuating mechanism and fourth actuating mechanism simultaneously, be provided with at least first guide rail and second guide rail in the main part, first actuating mechanism and second actuating mechanism slidable mounting in first guide rail, third actuating mechanism and fourth actuating mechanism slidable mounting in the second guide rail, first guide rail and second guide rail are linear guide rail, or first guide rail and second guide rail are nonlinear guide rail. Therefore, the single long guide rail used in the prior art can be shortened, the problem that the driving mechanism slides unsmoothly when the guide rail is too long and deforms in use is avoided, and the long and thin medical equipment is controlled more accurately.

Description

Multi-guide-rail interventional operation robot slave-end operation device

Technical Field

The utility model relates to a medical robot field is applied to master-slave mode blood vessel and intervenes surgical robot, especially relates to a many guide rails intervene surgical robot from end operating means.

Background

The minimally invasive vascular interventional operation refers to that a doctor controls a guide wire of a catheter to move in a blood vessel of a human body under the guidance of a digital subtraction angiography imaging (DSA) system to treat a focus, so that the aims of embolizing a malformed blood vessel, dissolving thrombus, expanding a narrow blood vessel and the like are fulfilled. The interventional operation treatment plays an important role in diagnosis and treatment of hundreds of diseases such as tumors, peripheral blood vessels, large blood vessels, digestive tract diseases, nervous systems, non-blood vessels and the like, so that the interventional operation treatment range covers all diseases from head to foot of a human body, and the interventional operation treatment is a preferred scheme for treating partial diseases. The interventional operation does not need to cut human tissues, and the cut (puncture point) of the interventional operation only has the size of rice grains, so that the interventional operation can treat a plurality of diseases which cannot be treated or have poor curative effect in the past, has the characteristics of no operation, small wound, quick recovery and good curative effect, and is highly valued by the medical field at home and abroad.

At present, the minimally invasive vascular interventional operation auxiliary robot is developed rapidly due to the fact that high-end medical equipment and robot technology are involved. We have also invested in research and development.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a many guide rails that assist the doctor to intervene the operation intervene operation robot from end operating means.

In order to solve the above problem, the utility model provides a pair of many guide rails intervene surgical robot from end operating means includes:

the medical instrument clamping device comprises a main body, a first driving mechanism and a second driving mechanism which are used for clamping a first elongated medical instrument at the same time, and a third driving mechanism and a fourth driving mechanism which are used for clamping a second elongated medical instrument at the same time, wherein at least a first guide rail and a second guide rail are arranged on the main body, the first driving mechanism and the second driving mechanism are slidably arranged on the first guide rail, the third driving mechanism and the fourth driving mechanism are slidably arranged on the second guide rail, the first guide rail and the second guide rail are linear guide rails, or the first guide rail and the second guide rail are nonlinear guide rails.

Further, when the first and second rails are linear rails, the first and second rails are parallel to each other.

Further, when the first guide rail and the second guide rail are non-linear guide rails, the first guide rail and the second guide rail are distributed on the same circumference or different circumferences.

Further, the multi-guide-rail interventional surgical robot slave-end operation device further comprises a fifth driving mechanism used for clamping a third elongated medical device.

Further, the fifth driving mechanism is slidably mounted on the second guide rail, and the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism and the fifth driving mechanism are sequentially arranged along the main body.

Further, a third guide rail is arranged on the main body, the fifth driving mechanism is slidably mounted on the third guide rail, and when the first guide rail and the second guide rail are linear guide rails, the third guide rail is a linear guide rail, or when the first guide rail and the second guide rail are non-linear guide rails, the third guide rail is a non-linear guide rail.

Further, when the first, second and third rails are linear rails, the first, second and third rails are parallel to each other.

Further, when the first guide rail, the second guide rail and the third guide rail are non-linear guide rails, the first guide rail, the second guide rail and the third guide rail are distributed on the same circumference or different circumferences.

The utility model discloses let actuating mechanism install on the guide rail of difference with sliding to avoided leading to actuating mechanism to slide not smooth and easy problem when in use takes place to warp because the guide rail overlength, made slender type medical instrument's control more accurate.

Drawings

Fig. 1 is a schematic view of a first embodiment of a slave operation device of a multi-guide-rail interventional surgical robot according to the present invention;

FIG. 2 is another schematic view of FIG. 1;

FIG. 3 is a schematic view of FIG. 1 with the addition of two drive mechanisms;

FIG. 4 is a schematic illustration of FIG. 1 with only three of the drive mechanisms removed;

fig. 5 is a schematic view of a second embodiment of the slave manipulator of the multi-guide-rail interventional surgical robot of the present invention;

FIG. 6 is a schematic view of the drive mechanisms shown in FIG. 5 slidable to a distal-most end;

fig. 7 is a schematic diagram of a second embodiment of a slave manipulator of the multi-guide-rail interventional surgical robot according to the present invention;

fig. 8 is a schematic view of a third embodiment of the slave operation device of the multi-guide-rail interventional surgical robot of the present invention;

fig. 9 is a schematic diagram of a modification of the third embodiment of the slave-end operation device of the multi-guide-rail interventional surgical robot of the present invention.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, an integral connection, or even a connection that is movable relative to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. 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 of the present invention, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in 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.

The utility model discloses the direction "far" that uses is the direction towards the patient, and direction "near" is the direction of keeping away from the patient. The terms "upper" and "upper" refer to a invar direction away from the direction of gravity, and the terms "bottom", "lower" and "lower" refer to an invar (common) direction of gravity. The term "forward" refers to the side of the interventional surgical robot facing the user from the end device, "forward" refers to the direction of displacement of a guide wire or catheter into the body of the surgical patient. The term "posterior" refers to the side of the interventional surgical robot facing away from the user from the end device, "retrograde" refers to the direction of displacement of the guide wire or catheter out of the body of the surgical patient. The term "inwardly" refers to the interior portion of a feature. The term "outwardly" refers to the outer portion of a feature. The term "rotation" includes "forward rotation" and "reverse rotation," where "forward rotation" refers to a direction in which a guide wire or catheter is rotated into the body of a patient being operated, and "reverse rotation" refers to a direction in which a guide wire or catheter is rotated out of the body of a patient being operated.

Furthermore, the terms "first", "second", etc. 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," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "plurality" or "a plurality" means two or more.

Finally, it should be noted that, if there is no conflict, the embodiments of the present invention and various features in the embodiments may be combined with each other, and all are within the scope of the present invention. Additionally, all or a portion of the steps of the above-described methods may be performed in a computer system, such as a set of computer-executable instructions, and while the steps are listed in the order 1, 2, 3, 8230a, in some cases the steps shown or described may be performed in an order different than here.

The guide wire includes but is not limited to guide wires, micro guide wires, stents and other guide and support interventional medical devices, and the catheter includes but is not limited to guide catheters, micro catheters, contrast catheters, multifunctional tubes (also called middle catheters), thrombolysis catheters, balloon dilatation catheters, balloon stent catheters and other therapeutic interventional medical devices.

As shown in fig. 1 and 2, an embodiment of the present invention of a slave-end operation device for a multi-guide-rail interventional surgical robot includes a main body 10, a driving mechanism 20, 30, 40, 50, 60 movably mounted on the main body 10, a gripper 70, and a quick-change mechanism 80.

The main body 10 is elongated and has a linear channel 102. These drive mechanisms 20, 30, 40, 50, 60 are successively disposed within the channel 102 and are movable along the channel 102. In the present embodiment, the driving mechanisms 20, 30, 40, 50, 60 can slide directly on the main body 10, for example, a guide rail, such as a linear guide rail in the drawing, is fixed on the main body 10, and all of the driving mechanisms 20, 30, 40, 50, 60 can slide along the same guide rail.

In other embodiments, as shown in fig. 5 to 6, the main body 10 is provided with guide rails 103 and 104, wherein the guide rails 103 and 104 are linear guide rails. Wherein the driving mechanism 20 is fixedly installed on the main body 10, the driving mechanism 30 can slide along the guide rail 103, the driving mechanisms 40, 50, 60 can slide along the guide rail 104, preferably, the length of the guide rail 104 is greater than or equal to the length of the guide rail 103, and the farthest end of the guide rail 104 does not exceed the farthest position where the driving mechanism 30 can slide on the guide rail 103. The guide rails 103 and 104 are shown parallel to each other, which ensures that the catheter and guide wire they grip, push and/or rotate are in the same axial direction. In addition, the guide rails 103 and 104 may not be parallel to each other, i.e., they may intersect each other, so that they may also grip, push and/or rotate the catheter or guide wire, except that the catheter or guide wire does not move in the same axial direction.

Each driving mechanism is used for clamping, pushing (including advancing and retreating) and rotating (including forward rotation and reverse rotation) the catheter or the guide wire (generally called as a slender medical device), and the like, and can also be used for simultaneously clamping, pushing (including advancing and retreating) and rotating (including forward rotation and reverse rotation) the catheter or the guide wire to realize the cooperative motion of a plurality of catheters and one guide wire or the cooperative motion of a plurality of catheters and a plurality of guide wires. Each drive mechanism includes a clamping assembly for clamping the catheter or guidewire, a rotating assembly for rotating the catheter or guidewire, the rotating assembly can be either of an active drive type or a passive follow-up type, or of an active drive type in its entirety, or of an active drive type in part, or of a passive follow-up type, and the clamping of the catheter by the drive mechanisms 20, 40 does not affect the rotation of the catheter.

The clamping component and the rotating component of the driving mechanism 20, 30, 40, 50, 60 may be a guide wire conduit twisting device of an interventional surgical robot described in chinese patent application 202111010071.6, the entire contents of which are introduced to the present invention.

In other embodiments, the specific configurations of the drive mechanisms 20, 30, 40, 50, 60 are not limited to the same, and may be different so long as clamping, pushing, and/or rotating of the catheter, guidewire is achieved. Or the clamping components and the rotating components are the same, or the clamping components and the rotating components are different, or a plurality of clamping components and rotating components are the same, and other clamping components and rotating components are different. In other embodiments, the drive mechanism 20 may preferably be only a follower mechanism, such as a follower roller set, for example, as shown in fig. 5-9, that supports and cooperates with the drive mechanism 30 to move and/or rotate the catheter or guidewire, which may reduce equipment costs.

In this embodiment, the drive mechanisms 20 and 30 are spaced back and forth and are adapted to hold, push and/or rotate the same guide catheter 90 (i.e., the first catheter) without bending. Preferably, drive mechanisms 20 and 30 preferably simultaneously advance and/or rotate guide catheter 90 to straighten it without bending. Likewise, the drive mechanisms 40 and 50 are coupled at a distance back and forth for cooperatively gripping, preferably simultaneously advancing and/or rotating the same multi-function tube 91 (i.e., the second conduit, also referred to as the intermediate conduit). The drive mechanism 60 is used to grip, push and/or rotate the guide wire 92. The gripper 70 serves to grip and/or advance the guide wire 92 synchronously with the drive mechanism 60. The rapid exchange mechanism 80 is removably secured to the drive mechanism 50 for gripping and advancing the rapid exchange catheter.

In other embodiments, the drive mechanism 20 is fixed to the body 10 at a distance back and forth from the drive mechanism 30 disposed on the guide track 103 for cooperating with clamping, pushing and/or rotating the same guide catheter 90 (i.e., the first catheter) without bending. Preferably, drive mechanism 20 acts as a follower mechanism that can synchronously move and/or rotate guide catheter 90 with drive mechanism 30 to straighten it without bending. Similarly, drive mechanisms 40 and 50 are disposed on rail 104 and spaced back and forth for moving and/or rotating the same multi-function tube 91 (i.e., the second conduit, also referred to as the intermediate conduit) preferably synchronously in conjunction with the clamping. The drive mechanism 60 is also disposed on the rail 104 and is used to grip, push, and/or rotate the guide wire 92.

In preparation for surgery, the physician goes to the catheter suite for pre-operative preparation. If the guiding catheter 90, the multifunctional tube 91 and the guiding guide wire 92 are selected to be suitable (such as length and diameter), the guiding catheter 90 and the multifunctional tube 91 are flushed with the physiological saline and exhausted. The multifunctional tube 91 is manually inserted into the guiding catheter 90 and extended out of the guiding catheter 90 for a certain distance, and the guiding wire 92 is manually inserted into the multifunctional tube 91 and extended out of the multifunctional tube 91 for a certain distance, for example, the head of the guiding wire 92 exceeds the multifunctional tube 91 by about 10 cm. The driving mechanisms 20, 30, 40, 50, 60 are positioned reasonably, the guiding catheter 90, the multifunctional tube 91 and the guiding guide wire 92 are placed into a puncture sheath (such as a femoral artery, a radial artery or other) which is penetrated into a surgical patient, and the clamping components of the driving mechanisms 20 and 30 clamp the guiding catheter 90, the clamping components of the driving mechanisms 40 and 50 clamp the multifunctional tube 91, the clamping component of the driving mechanism 60 and the clamping component 70 clamp the guiding guide wire 92 simultaneously, so that the clamping fixation of the guiding catheter 90, the multifunctional tube 91 and the guiding guide wire 92 is realized.

In other embodiments, the driving mechanism 20 is fixed at the most distal end of the main body 10, and only the driving mechanisms 30, 40, 50, 60 need to be adjusted to a proper position, and the guiding catheter 90, the multifunctional tube 91 and the guiding guidewire 92 are placed into the puncture sheath of the surgical patient together, so that the clamping components of the driving mechanisms 20 and 30 simultaneously clamp the guiding catheter 90, the clamping components of the driving mechanisms 40 and 50 simultaneously clamp the multifunctional tube 91, and the clamping components of the driving mechanism 60 clamp the guiding guidewire 92, thereby realizing the coaxial clamping fixation of the guiding catheter 90, the multifunctional tube 91 and the guiding guidewire 92, and also keeping the guiding catheter 90, the multifunctional tube 91 and the guiding guidewire 92 moving along the same axial direction during work.

When the surgeon comes to the operation table outside the catheter room, he or she uses the master console (e.g. the master console of the interventional surgical robot described in chinese patent application 202111009835.X and the master console of the interventional surgical robot described in 202111009832.6, all the contents of which are incorporated into the present invention) to remotely operate the driving mechanisms 20, 30, 40, 50, 60, the gripper 70, and the quick-change mechanism 80. Specifically, drive mechanisms 20 and 30 together grip guide catheter 90 and advance guide catheter 90, either simultaneously or not, the rotating components of drive mechanisms 20 and 30 rotate guide catheter 90, and drive mechanism 30 grips guide catheter 90 against movement when drive mechanism 20 is moved to an extreme position (e.g., the distal-most end of body 10) to reset and release guide catheter 90. When the driving mechanism 20 is returned to a position closer to the driving mechanism 30, the holding assembly of the driving mechanism 20 holds the guiding catheter 90 again, so that the driving mechanisms 20 and 30 drive the guiding catheter 90 forward together, and the rotating assemblies of the driving mechanisms 20 and 30 rotate the guiding catheter 90 at the same time or at different times, and the process is repeated until the guiding catheter is advanced to the proper position.

In other embodiments, drive mechanism 20 is stationary and drive mechanisms 20 and 30 together grip guide catheter 90, drive mechanism 30 is moving on rail 103 alone to advance guide catheter 90, and drive mechanism 30 alone rotates guide catheter 90, and drive mechanism 20 supports guide catheter 90 only in cooperation with drive mechanism 30 so that it does not bend and smoothly completes delivery and rotation.

During this process, the driving mechanisms 40 and 50 simultaneously or not simultaneously grip the multi-function tube 91 and move along the channel 102 to advance the multi-function tube 91, and the driving mechanisms 40 and 50 rotate the multi-function tube 91 at the same time or not, and when the driving mechanism 40 moves to an extreme position (for example, the distance from the driving mechanism 30 is close to the threshold value) to be reset to release the multi-function tube 91, the driving mechanism 50 grips the multi-function tube 91 and does not move. When the driving mechanism 40 is reset to a position closer to the driving mechanism 50, the clamping assembly of the driving mechanism 40 clamps the multifunctional pipe 91 again, so that the driving mechanisms 40 and 50 drive the multifunctional pipe 91 to advance together, and simultaneously or not drive the rotating assemblies of the driving mechanisms 40 and 50 to rotate the multifunctional pipe 91, and the operation is repeated until the multifunctional pipe is advanced in place.

During the above process, the driving mechanism 60 and the holder 70 hold the guide wire 92 and advance the guide wire 92 at the same time or at different times, and the rotating component of the driving mechanism 60 rotates the guide wire 92 at the same time or at different times. When the drive mechanism 60 is moved to an extreme position (e.g., a distance from the drive mechanism 50 approaching a threshold) to reset and release the guidewire 92, the guidewire 92 is held against movement by the holder 70. After the driving mechanism 60 is reset, the clamping assembly of the driving mechanism 60 clamps the guide wire 92 again, so that the driving mechanism 60 and the clamp 70 drive the guide wire 92 to advance, and at the same time or at different times, the rotating assembly of the driving mechanism 60 rotates the guide wire 92, and the process is repeated until the guide wire is advanced in place.

In other embodiments, the gripper 70 is not required, and the drive mechanism 60 can be operated to advance the guide wire 92, with or without simultaneously rotating the rotating components of the drive mechanism 60 to rotate the guide wire 92. When the drive mechanism 60 is moved to an extreme position (e.g., a distance from the drive mechanism 50 approaching a threshold) for repositioning, only the guidewire 92 needs to be released for repositioning. After resetting, the clamping assembly of the driving mechanism 60 clamps the guide wire 92 again, and the driving mechanism 60 drives the guide wire 92 to advance again, and simultaneously or not simultaneously, the rotating assembly of the driving mechanism 60 rotates the guide wire 92, so that the reciprocating operation is carried out until the guide wire is advanced in place.

As to how the main-end console remotely controls the motions of the driving mechanisms 20, 30, 40, 50, 60, the holder 70 and the quick-exchange mechanism 80, it can be the same as the main-end control module of the interventional surgical robot described in chinese patent application 202111009832.6, which includes two operation levers, one of which is used for controlling the driving mechanisms 20, 30, 40, 50 and the quick-exchange mechanism 80, and the operation lever can control the driving mechanisms 20, 30, the driving mechanisms 40, 50 and the quick-exchange mechanism 80 by time sharing through a switching device, and the other operation lever is used for controlling the driving mechanism 60 and the holder 70. It is also possible that the master end console includes more than two levers, such as four levers, for remotely operating the driving mechanisms 20, 30, the driving mechanisms 40, 50, the driving mechanism 60, the clamper 70, and the quick-change mechanism 80, respectively.

In other embodiments, the drive mechanisms 30, 50 clamp the guide catheter 90, respectively the multi-function tubing 91, through the Y-valve. That is, the guiding catheter 90 and the multi-functional tube 91 are connected to the Y valve, the Y valve is fixed to the driving mechanism 30, 50, and the clamping component of the driving mechanism 30, 50 clamps the Y valve and the rotating component rotates the Y valve luer connector to drive the guiding catheter 90 and the multi-functional tube 91 to rotate.

In the above-described cooperative pushing of the guide catheter 90, the multifunctional tube 91, and the guide wire 92, it is desirable to always keep the multifunctional tube 91 extending a certain distance from the guide catheter 90 and the guide wire 92 extending a certain distance from the multifunctional tube 91. When the guiding catheter 90, the multifunctional tube 91 and the guiding wire 92 reach some part of the blood vessel, the driving mechanism 20, 30, 40, 50, 60 and the clamper 70 may need to be remotely operated by the main console to allow the guiding catheter 90, the multifunctional tube 91 and the guiding wire 92 to be exchanged for advancing, retreating, forward rotating and reverse rotating for many times.

After the guiding catheter 90 advances to the proper position, the guiding catheter 90 is fixed and does not move, the driving mechanisms 40, 50 and 60 and the holder 70 are remotely operated by the main end console, so that the multifunctional tube 91 and the guiding wire 92 retreat, the retreating process can be similar to the advancing process, or the driving mechanism 40 does not move and only the driving mechanism 50 pulls the multifunctional tube 91 to retreat, and the driving mechanism 60 does not move and only the holder 70 pulls the guiding wire 92 to retreat. When the head of the multi-functional tube 91 and the guide wire 92 are retracted to the puncture sheath, the physician enters the catheterization room to manually remove the multi-functional tube 91 and the guide wire 92 from the clamping assembly of the driving mechanism 40, 50, 60 and the clamp 70 and immerse the tube in heparin water.

A thinner microcatheter 94 and a microcatheter 96 (e.g., 0.014 in) are selected. The micro-wire 96 is manually threaded into the micro-catheter 94 and together into the guiding catheter 90, with the micro-wire 96 extending a distance beyond the micro-catheter 94. According to the requirements of the microcatheter 94 and the microcatheter 96, the driving mechanisms 40, 50, 60 and the clamper 70 are in reasonable positions, and the microcatheter 94 and the microcatheter 96 are respectively clamped on the clamping components of the driving mechanisms 40 and 50 and the clamping components of the driving mechanism 60 and the clamper 70, so that the microcatheter 94 and the microcatheter 96 are clamped and fixed. Preferably, microcatheter 94 is connected to the Y-valve, which is attached to drive mechanism 50 and rotated by its clamping assembly clamping the Y-valve and rotating assembly rotating the Y-valve luer connector.

The surgeon again goes to the console outside the catheter room and remotely manipulates the drive mechanisms 40, 50, 60 and gripper 70 with the master console. The process is similar to the process of pushing and/or rotating the multifunctional tube 91 and the guide wire 92. When the microcatheter 94 and the microcatheter 96 are advanced to the head of the guiding catheter 90, the microcatheter 94 and the microcatheter 96 are further pushed to the focus of the operation patient (also called the target angiostenosis). The position of the micro-guidewire 96 is confirmed by imaging, and the micro-catheter 94 and the micro-guidewire 96 are fixed against movement by the driving mechanisms 40, 50, 60 and the holder 70, respectively, if the micro-guidewire 96 reaches the designated position (generally, the micro-guidewire 96 is to pass through the lesion of the surgical patient, except for possible treatment of aneurysm embolization). If the desired location is not reached, the teleoperational drive mechanisms 40, 50, 60 and gripper 70 movement are repeated until the micro-wire 96 reaches the desired location.

After the micro-wire 96 reaches the desired position, the drive mechanisms 40, 50 are remotely operated by the master console to retract the micro-catheter 94 while keeping the micro-wire 96 stationary, e.g., the drive mechanism 60 holds the micro-wire 96 stationary by the holder 70 instead of moving as it retracts. When the tip of the microcatheter 94 is retracted back into the puncture sheath, the physician enters the catheter room to manually remove the microcatheter 94 from the drive mechanism 40, 50 and immerse it in heparin water. At this time, the driving mechanism 60 may alternatively hold the micro-wire 96, and the driving mechanisms 20 and 30 and the driving mechanism 60 may be kept fixed to the guide catheter 90 and the micro-wire 96, respectively, without movement.

The physician again enters the catheter room and manually inserts the tail of the micro-guidewire 96 into the rapid exchange balloon dilation catheter 98, and the rapid exchange balloon dilation catheter 98 is advanced over the micro-guidewire 96, at which time the rapid exchange balloon dilation catheter 98 is held by the rapid exchange mechanism 80.

The physician again goes to the console outside the catheter room and remotely operates the rapid exchange mechanism 80 using the master console to advance the rapid exchange balloon dilation catheter 98 to the lesion of the surgical patient (not over the head of the micro-guidewire 96). In this process, the position and angle of the micro-wire 96 are constantly noticed, and the adjustment can be performed by forward rotation, reverse rotation, forward movement and backward movement in time. When the rapid exchange balloon dilatation catheter 98 reaches the lesion of the patient, the rapid exchange balloon dilatation catheter 98 is filled with a contrast medium in the catheter chamber for pre-dilatation, and the vasodilatation effect is confirmed by contrast. If the vasodilator effect is achieved, the contrast agent is withdrawn from the rapid exchange balloon dilation catheter 98. Before the physician arrives at the operation table outside the catheter chamber, the main-end operation table is used to remotely control the rapid exchange mechanism 80, so that the rapid exchange balloon dilatation catheter 98 is retracted to the puncture sheath. During the retraction of the rapid exchange balloon dilation catheter 98, the position of the micro-guidewire 96 is maintained. For some procedures, multiple vasodilations may be required, and thus the rapid exchange balloon dilation catheter 98 described above may be advanced and retracted multiple times.

The doctor comes to the catheter room again, manually takes off the rapid exchange balloon dilatation catheter 98 from the rapid exchange mechanism 80, and then manually inserts the rapid exchange balloon dilatation stent catheter into the micro-guide wire 96 and clamps the rapid exchange mechanism 80, and the specific process is the same as the process of pushing and/or rotating the rapid exchange balloon dilatation catheter 98, which is not described again.

The physician again goes to the console outside the catheter room and remotely operates the quick-exchange mechanism 80 using the main console, thereby pushing the quick-exchange balloon stent-expanding catheter along the micro-guidewire 96 to the lesion (expanded blood vessel) of the surgical patient. In this process, the position and angle of the micro-wire 96 are constantly noticed, and the adjustment can be performed by forward rotation, reverse rotation, forward movement and backward movement in time. When the rapid exchange ball expanding bracket catheter reaches the focus (the expanded blood vessel) of the operation patient, the position of the rapid exchange ball expanding bracket catheter is finely adjusted, and after the position is determined, the rapid exchange ball expanding bracket catheter is filled with contrast medium in a catheter chamber to form the bracket. After confirming the correct placement of the balloon expandable stent by radiography, the contrast agent can be pumped out and the rapid exchange mechanism 80 is controlled to drive the rapid exchange balloon expandable stent catheter to retreat to the puncture sheath, while the balloon expandable stent is left at the focus of the operation patient. The physician enters the catheterization room to manually remove the quick-exchange balloon stent catheter from the quick-exchange mechanism 80 and place it in heparin water. This concludes the treatment process.

The physician then goes to the operating table outside the catheter room and remotely operates the driving mechanism 20, 30, 40, 50, 60 and the holder 70 to move by using the main-end operating table, so that the guiding catheter 90 and the micro-guide wire 96 move back to the puncture sheath. When withdrawing, the driving mechanism 20 may pull the guide catheter 90 together with the driving mechanism 30 to withdraw, or may pull the guide catheter 90 by only the driving mechanism 30 without moving. The physician finally returns to the catheter room and manually removes the guiding catheter 90, the micro-guidewire 96 from the holding assembly of the driving mechanism 20, 30, 60 and the holder 70, and withdraws from the puncture sheath into the heparin water, and then performs puncture sheath withdrawal and post-operative treatment to complete the operation.

The above is selected for rapid exchange of the catheter, and therefore, the rapid exchange mechanism 80 is required to hold, push and/or rotate. If the catheter is a coaxial exchange catheter, the tail of the micro-guidewire 96 is inserted into the coaxial exchange catheter, and then the coaxial exchange catheter is clamped, pushed and/or rotated by the coaxial exchange mechanism, so that the coaxial exchange catheter advances to a proper position along the micro-guidewire 96 or retreats to the puncture sheath. Either the rapid exchange mechanism 80 or the coaxial exchange mechanism may be roller driven to clamp, push and/or rotate the rapid exchange catheter and the coaxial exchange catheter.

In other embodiments, drive mechanism 60 is disposed on another rail, such as linear rail 105 shown in FIG. 7, and drive mechanism 20 is slidably mounted on rail 103, as is drive mechanism 30. At this time, the driving mechanisms 20 and 30, the driving mechanisms 40 and 50, and the driving mechanism 60 slide along three different linear guides, respectively. In addition, these rails may be non-linear rails, as shown in fig. 8 and 9, three rails are distributed on the same circumference or different circumferences, and in this case, the catheters and guide wires on the driving mechanisms 30, 40, 50, 60 are not delivered along the same axial direction. As shown in fig. 3, when two driving mechanisms are added, the two driving mechanisms may slide along the same guide rail as the driving mechanisms 20 and 30, the driving mechanisms 40 and 50, or the driving mechanism 60, or may slide along another separate guide rail, and so on.

As mentioned above, only the drive mechanism 20, 30, 40, 50, 60, the gripper 70 are mentioned to move along the guide rail of the body 10. In fact, in order to drive the driving mechanisms 20, 30, 40, 50, 60 and the clamper 70 to move, the main body 10 is further provided with a transmission mechanism such as a timing belt, a cable, a slider rail, a rack and pinion, etc. which is matched with the rail to realize the movement of the driving mechanisms 20, 30, 40, 50, 60 and the clamper 70 along the main body 10.

The movement and control process of the present invention is described above by taking "balloon stent forming operation" as an example. In fact, the utility model can also be used for various operation types such as radiography, embolism, thrombus taking and the like. The driving mechanism 20, 30, 40, 50, 60, the holder 70 and the quick-change mechanism 80 can be freely adjusted by the doctor according to the actual needs of the operation, i.e. the driving mechanism 20, 30, 40, 50, 60, the holder 70 and the quick-change mechanism 80 can be conveniently assembled and disassembled. For example, when performing a more complicated operation, more driving mechanisms, holders and fast exchanging mechanisms may be added, for example, after adding more driving mechanisms and holders, the coordinated movement of one guide wire corresponding to a plurality of catheters or a plurality of guide wires corresponding to a plurality of catheters may be realized, for example, two driving mechanisms (which may be the driving mechanisms 20, 30, or the driving mechanisms 40, 50) are added in fig. 3 to clamp, synchronously move and/or rotate a plurality of catheters, which may be referred to the "ball expanding stent forming operation" described above; a quick-change mechanism is provided for each drive mechanism (e.g., drive mechanisms 30, 50) that is configured to hold the conduit at all times, and is removably mounted to the drive mechanism or is formed as an integral unit with the drive mechanism. While in performing a simple examination procedure, such as an angiographic procedure, only a portion of the drive mechanisms 20, 30, 40, 50, 60, such as the drive mechanisms 20, 30, and 60 (or the drive mechanisms 40, 50, and 60), referring to fig. 4, the other drive mechanisms, the holder 70, and the quick-exchange mechanism 80 are removed from the body 10. The following describes the coordinated movement and control of a catheter and a guidewire with only the drive mechanisms 20 (or 40), 30 (or 50), and 60, using an angiographic procedure as an example:

when the operation is prepared, a guide catheter, a guide wire and a contrast catheter with proper diameter and length are selected according to the position of a blood vessel focus, and the guide catheter and the contrast catheter are flushed with physiological saline and exhausted. And starting the interventional operation robot to complete initialization. The puncture sheath is arranged for the operation patient. The guide wire is manually inserted into the guide catheter and extends out of the guide catheter for a certain distance, for example, the head of the guide wire exceeds the guide catheter by about 10cm, and the guide wire and the guide catheter are placed into the puncture sheath together. The clamping components of the driving mechanisms 20 (or 40), 30 (or 50) and 60 clamp the guide catheter and the guide wire respectively, so that the guide catheter and the guide wire are clamped and fixed.

To begin the procedure, the surgeon moves to a console outside the catheter room and remotely operates the drive mechanisms 20 (or 40), 30 (or 50), 60 using the master console. The guide catheter and the guide wire are advanced to the target blood vessel in a coordinated manner. The process is referred to the above-mentioned "balloon stent forming operation". The head of the guide catheter and the guide wire are kept in the image visual field range. At this time, the driving mechanism 20 (or 40) or 30 (or 50) is not moved to hold the guiding catheter, and the remote operation driving mechanism 60 is retracted to withdraw the guiding guidewire to the puncture sheath.

The physician enters the catheterization laboratory and manually removes the guide wire from the gripping assembly of the drive mechanism 60 and bathes it in heparin water. A contrast medium is introduced into the guide tube, and radiographic imaging is performed to acquire complete image information at different angles of the target blood vessel.

If image information of a plurality of target blood vessels needs to be acquired, another guide wire is selected to penetrate into the guide tube and advance to the puncture sheath, and the guide wire is clamped on the clamping component of the driving mechanism 60. At this time, the patient is moved to the operation table outside the catheter chamber, and the drive mechanisms 20 (or 40), 30 (or 50), and 60 are remotely operated by the main console to advance the guide catheter and the guide wire to the other target blood vessel in cooperation, respectively, at this time, the drive mechanisms 20 (or 40), and 30 (or 50) hold the guide catheter without moving, the guide wire is retracted to the puncture sheath and is taken out, the contrast medium is again introduced into the guide catheter, and radiography is performed to obtain complete image information of the other target blood vessel at different angles. This is repeated until the complete image information of all target vessels is obtained. The above procedure can also be advanced to another target vessel by first withdrawing the guiding catheter and using another guiding catheter in conjunction with the other guiding wire.

The doctor remotely controls the driving mechanism 20 (or 40) and 30 (or 50) to retreat, and the guiding catheter is driven to withdraw to the puncture sheath. The physician enters the catheterization laboratory and manually removes the guide catheter and the last used guide wire from the gripping assembly of the drive mechanism 20 (or 40), 30 (or 50), 60, respectively, and withdraws it from the puncture sheath.

In other embodiments, the guide wire 92 may be initially held by the drive mechanism 60 and advanced and/or rotated along with the guide wire 92 without being held by the holder 70. When the driving mechanism 60 moves to a certain position and needs to be reset, the guide wire 92 is clamped by the clamp holder 70, and the driving mechanism 60 releases the guide wire 92. When the guide wire 92 is gripped again after the drive mechanism 60 is reset, the gripper 70 releases the guide wire 92, and thus the drive mechanism 60 and the gripper 70 alternately grip the guide wire 92. At this time, preferably, the holder 70 is fixedly mounted at the proximal end of the body 10 for supporting the guide wire 92 without sliding together with the drive mechanism 60. With the support of the guide wire 92 by the holder 70, the drive mechanism 60 can more smoothly advance and/or rotate the guide wire 92. That is, the guidewire 92 can be advanced and/or rotated even without the gripper 70, by merely gripping the guidewire 92 by the drive mechanism 60.

In other embodiments, the rapid exchange mechanism 80 may rotate the rapid exchange catheter or may rotate the rapid exchange catheter while pushing the rapid exchange catheter.

As mentioned above, although synchronously pushing and/or rotating is the best option, it is not excluded: for example, the guide catheters 90 and 91 are pushed by the driving mechanisms 20 and 40, respectively, faster than the driving mechanisms 30 and 50, respectively, so that the guide catheters 90 and 91 can be straightened without bending. 2. The driving mechanisms 20 and 40 make the rotation speed of the guiding catheters 90 and 91 different from (e.g. smaller than or larger than) the rotation speed of the guiding catheters 90 and 91 by the driving mechanisms 30 and 50, respectively, so long as the maximum allowable distortion of the guiding catheters 90 and 91 is satisfied, although a certain distortion of the guiding catheters 90 and 91 is caused; it is even possible that only the drive mechanism 30, 50 grips the guide catheter 90, 91 and allows the guide catheter 90, 91 to rotate, and that the drive mechanism 20, 40 only grips the guide catheter 90, 91 and does not drive the guide catheter 90, 91 to rotate.

In the above description, the main-end console and the console on which the main-end console is placed are located outside the duct chamber. In fact, they can also be placed in an independent space in the catheter chamber, as long as the X-ray radiation can be isolated, and the doctor is free from the X-ray radiation.

The above only describes how to replace the guide wire of the catheter in some cases. In fact, the replacement of the guide wire of the catheter can be completely determined by doctors according to the actual needs of the operation and the personal operation habits. And is not limited by the way of replacing the guide wire of the catheter.

Therefore, the utility model discloses can let doctor remote control actuating mechanism, holder and quick switching mechanism to drive the pipe seal wire and move in coordination, not only avoid X-ray radiation and influence healthily, it is more accurate with the help of interveneeing operation robot control pipe seal wire motion moreover, alleviate working strength, also can avoid misoperation.

It will be understood by those skilled in the art that all or part of the steps of the above methods may be implemented by instructing the relevant hardware through a program, and the program may be stored in a computer readable storage medium, such as a read-only memory, a magnetic or optical disk, and the like. Alternatively, all or part of the steps of the above embodiments may be implemented using one or more integrated circuits. Accordingly, each module/unit in the above embodiments may be implemented in the form of hardware, and may also be implemented in the form of a software functional module. The present invention is not limited to any specific form of combination of hardware and software.

Naturally, the present invention can also be embodied in other various forms without departing from the spirit and the essence of the present invention, and those skilled in the art should understand that various corresponding changes and modifications can be made according to the present invention, but these corresponding changes and modifications should fall within the scope of the claims of the present invention.

Claims (6)

1. A multi-guide-rail interventional operation robot slave-end operation device is characterized in that: the medical instrument clamping device comprises a main body, a first driving mechanism and a second driving mechanism which are used for clamping a first elongated medical instrument at the same time, and a third driving mechanism and a fourth driving mechanism which are used for clamping a second elongated medical instrument at the same time, wherein at least a first guide rail and a second guide rail are arranged on the main body, the first driving mechanism and the second driving mechanism are slidably arranged on the first guide rail, and the third driving mechanism and the fourth driving mechanism are slidably arranged on the second guide rail; the first guide rail and the second guide rail are nonlinear guide rails, and the first guide rail and the second guide rail are distributed on the same circumference or different circumferences.

2. A multi-guide-rail interventional surgical robotic slave-end effector as claimed in claim 1, wherein: the multi-guide-rail interventional surgical robot slave-end operation device further comprises a fifth driving mechanism used for clamping a third slender medical instrument.

3. A multi-guide-rail interventional surgical robotic slave-end manipulating device according to claim 2, wherein: the fifth driving mechanism is slidably mounted on the second guide rail, and the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism and the fifth driving mechanism are sequentially arranged along the main body.

4. A multiple guide rail interventional surgical robotic slave end effector as set forth in claim 2, wherein: the main body is provided with a third guide rail, and the fifth driving mechanism is slidably mounted on the third guide rail.

5. A multi-guide-rail interventional surgical robotic slave-end manipulating device according to claim 4, wherein: the first, second and third rails are non-linear rails.

6. A multi-guide-rail interventional surgical robot end-effector as set forth in claim 5, wherein: the first guide rail, the second guide rail and the third guide rail are distributed on the same circumference or different circumferences.

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