CN219681431U - Special adjustable curved catheter for vascular interventional robot - Google Patents
Special adjustable curved catheter for vascular interventional robot Download PDFInfo
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- CN219681431U CN219681431U CN202320731587.8U CN202320731587U CN219681431U CN 219681431 U CN219681431 U CN 219681431U CN 202320731587 U CN202320731587 U CN 202320731587U CN 219681431 U CN219681431 U CN 219681431U
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- 230000002792 vascular Effects 0.000 title claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 76
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000005452 bending Methods 0.000 abstract description 14
- 210000004204 blood vessel Anatomy 0.000 description 11
- 230000000694 effects Effects 0.000 description 11
- 230000001276 controlling effect Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 208000024172 Cardiovascular disease Diseases 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000007943 implant Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000007631 vascular surgery Methods 0.000 description 1
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Abstract
The utility model relates to the field of medical instruments, and discloses a special adjustable bent catheter for a vascular interventional robot, which comprises a first control part, a second control part, a first embedding shell and a second embedding shell, wherein the first embedding shell is sleeved on the periphery of the first control part and rotates synchronously with the first control part, the second embedding shell is sleeved on the periphery of the second control part and rotates synchronously with the second control part, a first transmission part is arranged on the first embedding shell, a second transmission part is arranged on the second embedding shell, an external device drives the first embedding shell to rotate through the first transmission part, and the external device drives the second embedding shell to rotate through the second transmission part. The adjustable bending catheter handle solves the problem of how to make the adjustable bending catheter handle more suitable for direct control of mechanical equipment on the basis of keeping the original structure of the adjustable bending catheter handle, and has the advantages of simple structure, easiness in implementation and reliability in operation.
Description
Technical Field
The utility model relates to the field of medical instruments, in particular to an adjustable bent catheter special for a vascular interventional robot.
Background
Cardiovascular disease is a major killer threatening the health of residents, and the incidence of cardiovascular disease is continuously rising with the improvement of living standard and the promotion of urbanization progress. One current approach to treating cardiovascular disease is to use catheters, guidewire delivery implants to dredge the blood vessel. The traditional minimally invasive vascular surgery mainly utilizes a skilled doctor to manually complete the insertion work of surgical instruments such as catheters, guide wires, micro-catheters, air bags and the like under the monitoring and guiding of X-ray images or other gray level images, and then manipulates the interventional instruments to move in the blood vessels of the human body, so that the interventional instruments can finally and accurately reach focus and treat the focus.
However, because the blood vessel in the human body has the characteristics of bending, long and narrow, irregular, multiple branches and the like, the head of the guide wire needs to swing horizontally and leftwards to a certain extent in the movement process of the guide wire in the blood vessel of the human body, and the guide wire can enter the blood vessels with different branches. Meanwhile, as the branches of the blood vessel are not necessarily in the horizontal direction, the guide wire also needs to rotate along the axis to a certain extent, namely, the angle of the guide wire head in the blood vessel is adjusted through rotation, the guide wire enters the blood vessel of different branches by matching with the swing of the guide wire head, and then the guide wire enters the blood vessel to reach the target position under the guide of the guide wire. During the current surgical procedure, the movement of the guidewire within the body vessel is typically controlled by a medical professional through the operating handle.
For example, chinese patent publication No. CN115068784a, which discloses an adjustable bending handle, comprising a catheter tube, on which a handle for adjusting the catheter tube is sleeved, the catheter tube penetrating through two ends of the handle; the three-way valve is arranged at one end of the handle and used for penetrating the catheter body; the bending adjusting mechanism is arranged in the handle, and is connected with one end, far away from the handle, of the catheter tube body, and comprises a limiting piece, the limiting piece is sleeved on the catheter tube body, a bending adjusting wire is arranged on the limiting piece, one end of the bending adjusting wire is connected with one end, far away from the handle, of the catheter tube body, and the other end of the bending adjusting wire is fixed on the limiting piece; the rotating mechanism is arranged on the handle and used for completing the rotation of the catheter tube.
In addition to the above-mentioned bending handles, there are many similar types of handles available on the market that can be used to manipulate the head of a guide wire to cause it to oscillate or rotate. An adjustable catheter handle as shown in fig. 1 comprises a first control part 11 and a second control part 12, wherein a guide wire 2 is arranged at the top end of the handle, and a rotating body 111 which is convenient for the pulling operation of a human hand is further arranged on the first control part 11. The head of the guide wire 2 can be controlled to swing left and right by rotating the first control part 11, and the whole axial rotation of the guide wire 2 can be controlled by rotating the second control part 12, so that the head of the guide wire 2 enters into blood vessels with different branches.
When a medical staff operates the adjustable catheter handle 1, due to the limitation of manual operation (easy fatigue, low operation precision, high error probability, etc.), the excellent effect of the adjustable catheter handle 1 on the accurate control of the guide wire 2 in the operation cannot be fully exerted. In recent years, with the development of robotics, vascular interventional surgery robots are rapidly developing as emerging industries in the field of minimally invasive vascular interventional surgery. The problem caused by the operation of the adjustable curved catheter handle 1 by hands in the operation process is effectively solved by using external machinery to operate the adjustable curved catheter handle 1.
When the adjustable catheter handle 1 is operated by using an external machine, the first control part 11 and the second control part 12 on the adjustable catheter handle are designed to be operated by a human hand, which is not beneficial to the direct control of mechanical equipment on the adjustable catheter handle 1. Therefore, how to make the adjustable bend catheter handle 1 more suitable for direct manipulation of external mechanical equipment on the basis of retaining the original structure of the adjustable bend catheter handle 1 is a problem to be solved by those skilled in the art.
Disclosure of Invention
Aiming at the defects existing in the prior art, the utility model aims to provide the special adjustable curved catheter for the vascular interventional robot, and the first control part and the second control part which are arranged on the handle of the adjustable curved catheter and are convenient for the manual operation on the basis of retaining the original structure of the handle of the adjustable curved catheter are also convenient for the direct control of mechanical equipment, so that the excellent effect of the mechanical equipment on the accurate control of the handle of the adjustable curved catheter in the operation is fully exerted, and the adjustable curved catheter has the advantages of simple structure, easiness in implementation, reliable work, strong applicability and the like.
In order to achieve the above purpose, the technical scheme of the utility model is as follows:
the utility model provides a special adjustable curved pipe of vascular intervention robot, includes first control portion and second control portion, still includes first nested shell and second nested shell, first nested shell is located first control portion periphery and is rotated with first control portion is synchronous, second nested shell locates second control portion periphery and is rotated with second control portion is synchronous, be provided with first drive portion on the first nested shell, be provided with second drive portion on the second nested shell, external equipment passes through first nested shell of first drive portion drive rotates, and external equipment passes through second drive portion drive second nested shell rotates.
Through adopting above-mentioned technical scheme, external mechanical equipment can drive first nested shell through first drive portion and rotate, because first nested shell cover locates the periphery of the first control portion of adjustable curved pipe handle and rotates with first control portion is synchronous, therefore external mechanical equipment also drives first control portion rotation promptly when driving first nested shell rotation to reach the purpose of controlling the wire guiding action. Similarly, the external mechanical equipment can drive the second nested shell to rotate through the second transmission part, and because the second nested shell is sleeved on the periphery of the second control part of the adjustable bending catheter handle and rotates synchronously with the second control part, the external mechanical equipment drives the second nested shell to rotate and simultaneously drives the second control part to rotate, thereby achieving the purpose of controlling the guide wire to generate corresponding actions. The first nested shell and the second nested shell convert the rotation operation of hands to the first control part and the second control part directly into the rotation of the first transmission part and the second transmission part directly driven by external mechanical equipment, and directly utilize the existing medical equipment in the market, thereby achieving the effect of robot control on the basis of retaining the original structure of the adjustable curved catheter handle and saving the cost.
The utility model is further provided with: the first transmission part is a first transmission toothed ring which is positioned on the outer side of the first sleeve and is arranged along the circumferential direction of the first sleeve.
By adopting the technical scheme, the external mechanical equipment is meshed with the first transmission toothed ring and drives the first transmission toothed ring to rotate, so that the first embedded shell can be driven to rotate along the axis of the first embedded shell. Meanwhile, the transmission mode of meshing between the toothed ring and external mechanical equipment has the characteristics of stable and accurate transmission and no slipping. The first transmission gear ring is used as the first transmission part, so that the accurate control effect of the mechanical equipment on the handle of the adjustable bent catheter can be fully exerted.
The utility model is further provided with: the second transmission part is a second transmission toothed ring, and the second transmission toothed ring is positioned on the outer side of the second sleeve and is arranged along the circumferential direction of the second sleeve.
By adopting the technical scheme, the external mechanical equipment is meshed with the second transmission toothed ring and drives the second transmission toothed ring to rotate, so that the second embedded sleeve shell can be driven to rotate along the axis of the second embedded sleeve shell. Meanwhile, the transmission mode of meshing between the toothed ring and external mechanical equipment has the characteristics of stable and accurate transmission and no slipping. The second transmission gear ring is used as the second transmission part, so that the accurate control effect of the mechanical equipment on the handle of the adjustable bent catheter can be fully exerted.
The utility model is further provided with: the first control part outer wall is circumferentially evenly distributed with a plurality of rotating bodies, the first nested shell inner wall is evenly distributed with a plurality of caulking grooves, the shape of each caulking groove is matched with that of each rotating body, and the quantity of the caulking grooves is the same as that of the rotating bodies.
Through adopting above-mentioned technical scheme, the caulking groove on the inner wall of the first nested shell can completely hold and wrap all the outsourcing rotator on the first control part to reached and eliminated the effect in clearance between first nested shell and the first control part under the prerequisite of not changing any structure on the adjustable curved catheter handle, make the connection between first nested shell and the first control part inseparabler.
The utility model is further provided with: the second embedded shell is provided with a positioning groove.
Through adopting above-mentioned technical scheme, the setting of constant head tank is convenient for carry out axial spacing to it in the work of adjustable curved pipe handle, prevents that it from producing axial dislocation.
The utility model is further provided with: the positioning groove is positioned at one end of the second embedded shell far away from the second transmission part.
By adopting the technical scheme, the interference between the limiting mechanism working in cooperation with the positioning groove and the position distribution of the driving mechanism driving the second embedded shell is effectively avoided.
The utility model is further provided with: the diameter of the addendum circle of the first transmission gear ring does not exceed the outer diameter of the first nested shell.
By adopting the technical scheme, the tooth top height of the first transmission gear ring does not exceed the height of the first embedded shell, so that the contact wear opportunity of the first transmission gear ring and the outside is reduced, and the service life of the first transmission gear ring is prolonged.
The utility model is further provided with: the diameter of the addendum circle of the second transmission gear ring does not exceed the outer diameter of the second nested shell.
By adopting the technical scheme, the tooth top height of the second transmission gear ring does not exceed the height of the second embedded shell, so that the contact wear opportunity of the second transmission gear ring and the outside is reduced, and the service life of the second transmission gear ring is prolonged.
In summary, the beneficial effects achieved by the utility model are as follows:
(1) The first embedding sleeve and the second embedding sleeve convert the rotation operation of hands on the first control part and the second control part directly into external mechanical equipment to drive the first transmission part and the second transmission part to rotate directly, and the existing medical equipment in the market is directly utilized, so that the effect of robot control is achieved on the basis of retaining the original structure of the adjustable bending catheter handle and saving the cost;
(2) The transmission mode of meshing between the first transmission toothed ring and the second transmission toothed ring and external mechanical equipment has the characteristics of stable transmission, accuracy and no slip, and is favorable for fully playing the accurate control effect of the mechanical equipment on the handle of the adjustable bent catheter;
(3) The caulking groove on the inner wall of the first nested shell completely accommodates and wraps all the outwards protruded rotating bodies on the first control part, so that the effect of eliminating a gap between the first nested shell and the first control part on the premise of not changing any structure on the adjustable bent catheter handle is achieved, and the first nested shell and the first control part are more tightly connected.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present utility model, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
FIG. 1 is a schematic view of a structure of an adjustable bend catheter handle in the background art;
FIG. 2 is a schematic view of the handle of the catheter robot with adjustable bend according to the present utility model;
FIG. 3 is a schematic view of a first sleeve;
FIG. 4 is a second schematic structural view of the first sleeve;
fig. 5 is a schematic structural view of the second sleeve.
In the figure:
1. an adjustable bend catheter handle; 11. a first control unit; 111. a rotating body; 12. a second control unit; 2. a guide wire; 3. a first sleeve; 31. a first drive ring gear; 32. a caulking groove; 4. a second sleeve; 41. a second drive ring gear; 42. and a positioning groove.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
For ease of description, the terms "vertical," "horizontal," "left," "right," "upper," "lower," "inner," "outer," "bottom," and the like as used herein refer to an orientation or positional relationship based on that shown in the drawings, merely to facilitate description of the utility model and to simplify description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus are not to be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1-5, the adjustable bending catheter special for the vascular interventional robot comprises a first embedded casing 3 and a second embedded casing 4 which are arranged independently.
The adjustable catheter handle 1 is a prior art for controlling the movement of the guidewire 2 within a blood vessel, and its detailed structure and function are not described here in detail. The adjustable catheter handle 1 is generally cylindrical in shape and comprises a first control portion 11 and a second control portion 12.
A plurality of rotating bodies 111 are uniformly distributed on the outer wall of the first control part 11 in the circumferential direction, and the rotating bodies 111 are strip-shaped bulges and are fixed on the outer wall of the first control part 11. The medical staff can rotate the first control part 11 by pulling the rotating body 111 when operating the bending-adjustable catheter handle 1.
The first sleeve 3 is a cylindrical housing, one end of which is sealed and the other end of which is open, and a circular opening is provided at a central position of one end of the seal of the first sleeve 3, so that the guide wire 2 can pass through, thereby enabling the first sleeve 3 to be sleeved on the periphery of the first control part 11.
The inner wall of the first sleeve housing 3 is uniformly provided with a plurality of caulking grooves 32, the shape of the caulking grooves 32 is matched with that of the rotating body 111, and the number of the caulking grooves 32 is the same as that of the rotating body 111, so that the caulking grooves 32 can completely accommodate and cover all the rotating bodies 111 protruding outwards on the first control part 11.
The first sleeve 3 is closely attached to the first control part 11 and rotates in synchronization with the first control part 11.
The second sleeve 4 is a cylindrical shell, and is sleeved on the periphery of the second control part 12 and closely attached to the second control part 12, so that the second sleeve 4 can rotate synchronously with the second control part 12.
The first sleeve 3 is provided with a first transmission part, and the external device drives the first sleeve 3 to rotate through the first transmission part. The second sleeve 4 is provided with a second transmission part, and the external device drives the second sleeve 4 to rotate through the second transmission part.
The first and second transmission parts may be rollers, and the external device drives the first and second sleeves 3 and 4 to rotate through the rollers. The first and second transmission parts may also be pulleys or sprockets, and the external device may drive the first and second sleeves 3, 4 to rotate by means of a belt or chain. In the present embodiment, the first transmission portion is a first transmission gear ring 31, and the second transmission portion is a second transmission gear ring 41. The first transmission gear ring 31 is located outside the first sleeve 3 and arranged along the circumferential direction of the first sleeve 3, and the second transmission gear ring 41 is located outside the second sleeve 4 and arranged along the circumferential direction of the second sleeve 4.
The external mechanical device is meshed with the first transmission toothed ring 31 and the second transmission toothed ring 41 respectively, and drives the first transmission toothed ring 31 and the second transmission toothed ring 41 to rotate, so that the first sleeve housing 3 and the second sleeve housing 4 can be driven to rotate along the axes of the first sleeve housing and the second sleeve housing respectively. The transmission mode of meshing between the toothed ring and external mechanical equipment has the characteristics of stable, accurate and non-slip transmission, and the adoption of the transmission mode is favorable for fully playing the accurate control effect of the mechanical equipment on the adjustable bending catheter handle 1.
In the design and manufacture, the tip circle diameter of the first transmission ring gear 31 may be made not to exceed the outer diameter of the first sleeve 3, while the tip circle diameter of the second transmission ring gear 41 may be made not to exceed the outer diameter of the second sleeve 4. Even if the tooth top height of the first transmission gear ring 31 does not exceed the height of the first sleeve 3, the tooth top height of the second transmission gear ring 41 does not exceed the height of the second sleeve 4, thereby reducing the chance of contact wear of the first transmission gear ring 31 and the second transmission gear ring 41 with the outside, and prolonging the service lives of the first transmission gear ring 31 and the second transmission gear ring 41.
The second sleeve 4 is provided with a positioning groove 42 at the end remote from the second driving ring gear 41. The positioning groove 42 is an annular groove on the second sleeve 4 and cooperates with external mechanical equipment. Because the second sleeve 4 is sleeved on the periphery of the second control part 12 and is tightly attached to the second control part 12, when external equipment is clamped into the positioning groove 42, the second sleeve can be axially limited in the working process of the adjustable catheter handle 1, and the dislocation caused by axial displacement is prevented.
The implementation principle of the embodiment is as follows:
after the first sleeve housing 3 is mounted on the first control part 11 and the second sleeve housing 4 is mounted on the second control part 12, the first sleeve housing 3 can be driven to rotate by external mechanical equipment through the first transmission gear ring 31, so that the first control part 11 is driven to rotate, and finally, the purpose of controlling the action of the guide wire 2 is achieved. Similarly, the external mechanical device can drive the second sleeve 4 to rotate through the second transmission gear ring 41, so as to drive the second control part 12 to rotate, and finally achieve the purpose of controlling the wire guide 2 to generate corresponding actions. According to the utility model, the rotation operation of a hand directly to the first control part 11 and the second control part 12 is converted into the rotation of the first transmission toothed ring 31 and the second transmission toothed ring 41 directly driven by external mechanical equipment through the first sleeve housing 3 and the second sleeve housing 4, and the existing adjustable bent catheter handle 1 in the market is directly utilized, so that the effect of robot control is realized on the basis of retaining the original structure of the adjustable bent catheter handle 1 and saving the cost.
While preferred embodiments of the present utility model have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the utility model. It will be apparent to those skilled in the art that various modifications and variations can be made to the present utility model without departing from the spirit or scope of the utility model. Thus, it is intended that the present utility model also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. The utility model provides a special adjustable curved pipe of vascular intervention robot, includes first control portion and second control portion, its characterized in that still includes first nested shell and second nested shell, first nested shell is located first control portion periphery and is rotated with first control portion is synchronous, second nested shell is located second control portion periphery and is rotated with second control portion is synchronous, be provided with first drive portion on the first nested shell, be provided with second drive portion on the second nested shell, external equipment passes through first nested shell of first drive portion drive rotates, and external equipment passes through second drive portion drive second nested shell rotates.
2. The vessel access robot-specific adjustable catheter of claim 1, wherein the first transmission portion is a first transmission gear ring located outside of the first sleeve and arranged along a circumferential direction of the first sleeve.
3. The vessel access robot-specific bendable catheter according to any of claims 1 or 2, wherein the second transmission part is a second transmission gear ring, which is located outside the second sleeve and arranged along the circumferential direction of the second sleeve.
4. The adjustable bent catheter special for vascular interventional robots according to claim 1, wherein a plurality of rotating bodies are uniformly distributed on the outer wall of the first control part in the circumferential direction, a plurality of caulking grooves are uniformly distributed on the inner wall of the first nested shell, the shape of each caulking groove is matched with the number of the rotating bodies, and the number of the caulking grooves is the same as the number of the rotating bodies.
5. The adjustable catheter special for vascular interventional robot according to claim 1, wherein a positioning groove is provided on the second sleeve.
6. The vessel access robot specific adjustable catheter as recited in claim 5, wherein the positioning slot is located at an end of the second sleeve distal from the second transmission portion.
7. The vessel access robot-specific adjustable catheter of claim 2, wherein a tip circle diameter of the first drive ring gear does not exceed an outer diameter of the first sleeve housing.
8. The vessel interventional robot dedicated adjustable catheter according to claim 3, wherein a tip circle diameter of the second transmission gear ring does not exceed an outer diameter of the second sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320731587.8U CN219681431U (en) | 2023-04-06 | 2023-04-06 | Special adjustable curved catheter for vascular interventional robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320731587.8U CN219681431U (en) | 2023-04-06 | 2023-04-06 | Special adjustable curved catheter for vascular interventional robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219681431U true CN219681431U (en) | 2023-09-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320731587.8U Active CN219681431U (en) | 2023-04-06 | 2023-04-06 | Special adjustable curved catheter for vascular interventional robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219681431U (en) |
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2023
- 2023-04-06 CN CN202320731587.8U patent/CN219681431U/en active Active
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