RU2803871C1 - Slave device for intervention robot - Google Patents

Abstract

FIELD: medical equipment.

SUBSTANCE: invention relates to a slave device for an interventional robot. The slave device for the interventional robot comprises a body, a first drive mechanism, a second drive mechanism, a third drive mechanism, and a front jig closest to the first drive mechanism, which are mounted in series on the body. The first drive mechanism is configured to clamp and rotate the first catheter and the second catheter. The second drive mechanism is configured to clamp and rotate the second catheter and the third catheter. The third drive mechanism is configured to clamp and rotate the first wire conductor and the second wire conductor. When the first guidewire enters the second catheter, the second catheter enters the first catheter and the first guidewire, the second catheter and the first catheter, respectively, are clamped by the third drive mechanism, the second drive mechanism and the first drive mechanism and move along one axial direction on the body to the front clamp to the required position. The first catheter, the second catheter and the first guidewire are respectively retracted from the first drive mechanism, the second drive mechanism and the third drive mechanism, the front jig and the first drive mechanism take over the clamping of the first catheter and the second catheter. The entry of the third catheter into the second catheter is caused, the entry of the second guidewire into the third catheter is caused, and the third catheter and the second guidewire are clamped, respectively, by the second drive mechanism and the third drive mechanism and move along one axial direction on the body to the front clamping device.

EFFECT: provision of a slave device for an interventional robot that assists a doctor in interventional procedures.

17 cl, 6 dwg

Description

[0001] This application is based on and claims priority to Chinese Patent Application No. 202110759048.0, filed July 5, 2021, Chinese Patent Application No. 202110759062.0, filed July 5, 2021, Chinese Patent Application No. 202111009735.7, filed August 31, 2021 g., and Chinese Patent Application No. 202111009755.4, filed August 31, 2021, the disclosures of which are incorporated herein by reference in their entirety.

TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of medical robots, applies to master-slave vascular interventional robots, and in particular relates to a slave device for an interventional robot.

BACKGROUND

[0003] Minimally invasive vascular intervention means that the physician, guided by a digital subtraction angiography (DSA) system, manipulates the movement of the catheter and guide wire in the human blood vessels to treat pathological changes to achieve the goal of embolization of pathological vessels, thrombolysis, dilatation of narrow vessels and things like that. Currently, interventional therapy has played an important role in the diagnosis and treatment of hundreds of diseases, such as tumors, peripheral vascular diseases, large vessel diseases, digestive tract diseases, nervous system diseases and non-vascular diseases. Interventional therapy covers all diseases from head to toe of the human body and has become the optimal choice for several diseases. Interventional therapy can treat a variety of diseases that could not be treated in the past, or that were unsatisfactory in curing without cutting human tissue. In interventional therapy, the incision (puncture site) is only the size of a grain of rice. The characteristic features of interventional therapy are the absence of an incision, small damage, rapid recovery and satisfactory therapeutic effects, which have been highly praised by domestic and foreign medical circles.

[0004] Currently, robots to facilitate minimally invasive vascular interventions are rapidly developing due to the involvement of high-end medical equipment and robotic technologies. We also contributed to this research and development.

BRIEF DESCRIPTION OF THE INVENTION

[0005] The technical problem to be solved by the present invention is the provision of a slave device for an interventional robot to assist a physician in interventional procedures.

[0006] In order to solve the above technical problem, the present invention provides a slave device for an intervention robot. This device includes: a housing, a first drive mechanism, a second drive mechanism, a third drive mechanism, and a front clamp closest to the first drive mechanism, which are sequentially mounted on the housing; wherein

[0007] the first drive mechanism is configured to clamp and rotate the first catheter and the second catheter, the second drive mechanism is configured to clamp and rotate the second catheter and the third catheter, and the third drive mechanism is configured to clamp and rotate the first guidewire and the second guidewire ; And

[0008] when the first guidewire enters the second catheter, the second catheter enters the first catheter and the first guidewire, the second catheter and the first catheter are respectively clamped by the third drive mechanism, the second drive mechanism and the first drive mechanism and are moved along one axial direction by body to the front clamping device in the desired position, the first catheter, the second catheter and the first guide wire are respectively retracted from the first driving mechanism, the second driving mechanism and the third driving mechanism, the front clamping device and the first driving mechanism assume the clamping of the first catheter and the second catheter, the third catheter is caused to enter into the second catheter, the second guide wire is caused to enter the third catheter, and the third catheter and the second guide wire are clamped, respectively, by the second drive mechanism and the third drive mechanism and are moved along one axial direction on the body to the front clamping device.

[0009] In addition, the device further comprises: a plurality of front clamping devices; wherein the plurality of first catheters are advanced one at a time by the first drive mechanism to the desired positions and are accordingly clamped by the plurality of front clamping devices.

[0010] In addition, the second drive mechanism is configured to clamp and rotate, in conjunction with the first drive mechanism, the first catheter and the second catheter.

[0011] In addition, the second drive mechanism includes: a first assembly configured to clamp and rotate the first catheter and the second catheter, and a second assembly configured to clamp and rotate the second catheter and the third catheter.

[0012] In addition, the first assembly of the second drive mechanism is configured to clamp a Y-piece connected to the first catheter and the second catheter to clamp the first catheter and the second catheter, and rotate the Luer connector of the Y-piece to drive rotation of the first catheter and a second catheter.

[0013] In addition, the third drive mechanism is configured to clamp and rotate, in conjunction with the second drive mechanism, the second catheter and the third catheter.

[0014] In addition, the third drive mechanism includes: a first assembly configured to clamp and rotate the second catheter and the third catheter, and a second assembly configured to clamp and rotate the first adapter wire and the second adapter wire.

[0015] In addition, the first assembly of the third drive mechanism is configured to clamp a Y-piece connected to the second catheter and the third catheter to clamp the second catheter and the third catheter, and rotate the Luer connector of the Y-piece to drive rotation of the second catheter and a third catheter.

[0016] In addition, the second assembly is a slave guidewire and catheter coiling device for the interventional robot.

[0017] In addition, the device further comprises: a rear clamping device; wherein, in the case where the third driving mechanism is moved to an extreme position and needs to be returned to its original position to release the second guide wire, the rear clamping device is configured to clamp the second guide wire to prevent its movement.

[0018] In addition, the front clamping device and the rear clamping device are installed at a certain position, respectively, at the front part and the rear part of the housing; wherein

[0019] both the front clamp and the rear clamp are mounted on the housing and are movable relative to the housing; or

[0020] one of the front clamp and the rear clamp is mounted on the housing and is movable relative to the housing, and the other of the front clamp and the rear clamp is mounted separately from the housing; or

[0021] both the front clamp and the rear clamp are mounted separately from the housing.

[0022] In addition, the device further comprises: a fourth drive mechanism mounted on the housing; wherein the fourth drive mechanism is configured to clamp and rotate, together with the first drive mechanism, the first catheter and the second catheter.

[0023] In addition, in the case where the first drive mechanism is moved to an extreme position and needs to be returned to its original position to release the first catheter and the second catheter, the fourth drive mechanism is configured to clamp the first catheter and the second catheter to prevent them from moving.

[0024] In addition, the fourth drive mechanism is mounted at a certain position between the first drive mechanism and the second drive mechanism.

[0025] In addition, the device further comprises: a fifth drive mechanism mounted on the housing; wherein the fifth drive mechanism is configured to clamp and rotate, together with the second drive mechanism, the second catheter and the third catheter.

[0026] In addition, in a case where the second drive mechanism is moved to an extreme position and needs to be returned to its original position to release the second catheter and the third catheter, the fifth drive mechanism is configured to clamp the second catheter and the third catheter to prevent them from moving.

[0027] In addition, the fifth drive mechanism is mounted at a certain position between the second drive mechanism and the third drive mechanism.

[0028] In addition, the fourth drive mechanism and the fifth drive mechanism move along the same axial direction as the first drive mechanism, the second drive mechanism, and the third drive mechanism.

[0029] In addition, the device further comprises: a replacement mechanism; wherein the replacement mechanism is a quick replacement mechanism or a coaxial replacement mechanism.

[0030] In addition, the replacement mechanism is removably attached to the third drive mechanism, or the replacement mechanism and the third drive mechanism are integrally formed.

[0031] According to the present invention, a physician can remotely manipulate the first drive mechanism, the second drive mechanism, and the third drive mechanism to move them along a single axial direction on the housing to collectively move the plurality of catheters and the plurality of guidewires to desired positions. When replacing the catheter and guidewire, the anterior clamp clamps the first catheter to prevent movement. This blocks x-ray radiation and protects human health. Additionally, the robot can more accurately control the catheter and guide wire, as well as perform more complex operations, which not only reduces the intensity of work, but also avoids gross errors.

BRIEF DESCRIPTION OF GRAPHIC MATERIALS

[0032] In FIG. 1 is a schematic view of a slave device for an intervention robot according to a first embodiment of the present invention;

[0033] in FIG. 2 is another schematic view of the slave device shown in FIG. 1;

[0034] in FIG. 3 is a schematic view of a slave device for an intervention robot according to a second embodiment of the present invention;

[0035] in FIG. 4 is another schematic view of the slave device shown in FIG. 3;

[0036] in FIG. 5 is a schematic view of the slave device shown in FIG. 3, to which two drive mechanisms are added; And

[0037] in FIG. 6 is a schematic view of the slave device shown in FIG. 3, in which only two drive mechanisms remain.

DETAILED DESCRIPTION

[0038] For clarity of description and a better understanding of the technical problem to be solved, the technical solutions and advantages of the present invention, the present invention is further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments described herein are only exemplary embodiments to illustrate the present invention, and they are not intended to limit the present invention.

[0039] It should be noted that in the description of the present invention, unless otherwise stated or defined, the terms "installed", "associated", "connected", "attached" and derivative forms thereof are to be understood in the broad sense that can be understood , for example, as a permanent connection, a detachable connection, an integral connection or even as a connection with the possibility of relative movement; can be understood as a mechanical connection or an electrical connection, or understood as a direct connection, an indirect connection through an intermediate means, or as a communication between the internal parts of two elements, or as an interaction between two elements. Those of ordinary skill in the art may understand the specific meanings of the above terms in this application according to the actual circumstances and contexts.

[0040] In the description of the present invention, the terms “length”, “diameter”, “above”, “below”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal” “top” , “bottom”, “inner”, “outer”, etc. indicate orientations or relative positions that are based on illustrations in the accompanying graphics, and these terms are intended for simplicity and brevity of description only and are not intended to indicate or suggest that these devices or items should have a particular orientation or be constructed and operated on basis of this particular orientation. Accordingly, these terms should not be construed as limiting the present invention.

[0041] The term "distant from" indicates a direction facing the patient, and the term "proximal to" indicates a direction away from the patient. The terms "up" and "top" indicate a direction away from the direction of gravity, and the terms "down", "down" and "bottom" indicate a direction away from the direction of gravity. The term "forward" indicates the direction along which the guide wire or catheter moves towards the patient's body. The term "backwards" indicates the direction along which the guide wire or catheter moves out of the patient's body. The term "internally" indicates the internal part of the feature. The term "outside" indicates the outer part of the feature. The term "rotation" includes "forward rotation" and "reverse rotation", with "forward rotation" indicating the direction along which the guidewire or catheter is rotated to move into the patient's body, and "reverse rotation" indicating the direction along which the guidewire or catheter the catheter rotates to move out of the patient's body.

[0042] Additionally, the terms “first” and “second” are used for description only, but should not be understood as indicating or suggesting the relative importance or implicitly indicating the number of specific technical features. Therefore, the features defined by the terms “first” and “second” may explicitly or implicitly include one or more of these features. Additionally, as used herein, the term “several,” “more,” or “multiple” refers to at least two unless otherwise specified.

[0043] It should be noted that, in the absence of contradiction, embodiments of the present invention and features in these embodiments can be combined, and all are within the scope of protection of the present invention. Additionally, all or part of the steps of the method may be performed on a computing system containing a group of instructions executable by a computing device. In addition, although these steps are in some cases listed in the sequence 1, 2, 3..., these steps may also be performed in a sequence that differs from the sequence listed herein.

[0044] "Guide wire" as used herein, without limitation, includes a guide wire, microwire, stent, or the like that guides and supports interventional medical instruments. "Catheter" includes, but is not limited to, a guiding catheter, a microcatheter, an angiographic catheter, a multifunctional catheter (also called a midline catheter), a thrombolytic catheter, a balloon dilatation catheter, a balloon-expandable stent catheter, and the like. interventional medical instruments for treatment.

[0045] As shown in FIG. 1 and fig. 2, in the first embodiment, a slave device for the intervention robot is provided. This device includes: a housing 10, drive mechanisms 12, 14 and 16 movably mounted on the housing 10, a front clamp 18 and a rear clamp (not shown).

[0046] The housing 10 is elongated and is provided with a linear guide 102. The drive mechanisms 12, 14 and 16 are sequentially mounted on the guide 102 and are movable along the guide 102.

[0047] Each of these drive mechanisms is configured to clamp, advance (including forward and backward movement) and rotate (including forward rotation and reverse rotation) the catheter and the guidewire or to simultaneously clamp, advance (including forward and reverse movement) ) and rotation (including forward rotation and reverse rotation) of both the catheter and the guidewire to move the plurality of catheters and the plurality of guidewires together. The particular designs of the drive mechanisms 12, 14 and 16 are not necessarily the same and may differ from one another as long as the catheter and guidewire can be clamped, advanced and/or rotated. In this embodiment, the specific designs of the drive mechanisms 14 and 16 are the same, but the drive mechanism 12 has a different design. The drive mechanism 14 includes: a first assembly configured to assist the drive mechanism 12 in clamping and rotating one catheter, and a second assembly configured to assist the drive mechanism 12 in clamping and rotating the other catheter. The drive mechanism 16 includes: a first assembly configured to assist the second drive mechanism assembly 14 in clamping and rotating the other catheter, and a second assembly configured to assist the second drive mechanism assembly 14 in clamping and rotating the guidewire. The drive mechanism 16 includes a quick change mechanism 162 configured to assist the first assembly of the drive mechanism 16.

[0048] In this embodiment, the drive mechanism 12 and the second drive mechanism assemblies 14 and 16 may be a slave guidewire and a catheter coiling device for an interventional robot disclosed in Chinese Patent Application No. 202110674959.3, the disclosure of which is incorporated herein by reference in in its entirety.

[0049] The front jig 18 is mounted at the front portion of the housing 10 proximal to the drive mechanisms 12 and 14. The rear jig is mounted at a specific position in the rear portion of the housing 10. For details, refer to the description of the rear jig 70. In this embodiment the front clamp 18 and the rear clamp are mounted on the housing 10 and may be movable relative to the housing 10 if desired. In other embodiments, the front clamp 18 and the rear clamp may also be mounted separately from the housing 10.

[0050] Some preparation must be done before the operation. In particular, the first catheter, the second catheter and the first guide wire that are suitable (eg, with suitable lengths and diameters), and the first catheter and the second catheter are washed with isotonic saline and emptied. The second catheter is guided into the first catheter so that it extends some distance behind the first catheter, and the first guide wire is guided into the second catheter so that it extends some distance behind the second catheter. For example, the head portion of the first guidewire extends behind the second catheter by approximately 10 cm. The drive mechanisms 12, 14 and 16 are positioned in the appropriate positions, the first catheter, the second catheter and the guidewire are collectively positioned and guided into the introducer (eg, femoral artery, radial artery, etc.) of the patient to be operated on, the first drive mechanism assemblies 12 and 14 are brought into interaction to clamp the first catheter, the second drive mechanism assembly 14 and the first drive mechanism assembly 16 are brought into interaction to clamp the second catheter, and cause the second catheter to be clamped the drive mechanism assembly 16 of the first wire conductor. Thus, the first catheter, the second catheter and the first guide wire are stationary.

[0051] At the beginning of the operation on the operating table, the main console (for example, the main operating handle for the intervention robot disclosed in Chinese Patent Application No. 202110654379.8 and the control side control module disclosed in Chinese Patent Application No. 202110649908.5, the disclosures of which are included herein by reference in its entirety) are engaged for remote manipulation to move the drive mechanisms 12, 14 and 16. The main console is spatially isolated from the catheterization room, and the main console and the catheterization room are in different areas. In particular, the drive mechanisms 12, 14 and 16 cooperate to clamp the first catheter, the second catheter and the first guidewire, and move along the guide 102 to drive the first catheter, the second catheter and the first guidewire forward, and the drive mechanisms 12, 14 and 16 simultaneously or non-simultaneously rotate the first catheter, the second catheter and the first guidewire to move the first catheter, the second catheter and the first guidewire forward together. In this method, it is necessary to constantly ensure that the second catheter passes some distance behind the first catheter, as well as the first guide wire passes some distance behind the second catheter. When the first catheter, the second catheter and the first guidewire reach certain positions of the vessel, the drive mechanisms 12, 14 and 16 must be remotely manipulated using the main console to repeatedly drive the first catheter, the second catheter and the first guidewire in forward and backward motion, as well as forward and reverse rotation for fine adjustment.

[0052] In this embodiment, the first actuator assemblies 14 and 16, respectively, clamp, by means of a Y-shaped adapter, the first catheter and the second catheter. That is, both the first catheter and the second catheter are connected to the Y-piece; The Y-shaped adapter is fixed to the drive mechanisms 14 and 16; the first drive assemblies 14 and 16 clamp the Y adapter and rotate the Luer connector of the Y adapter; and, upon interaction of the second drive units 12 and 14, the first catheter and the second catheter rotate.

[0053] As the first catheter is moved forward to the desired position, the first catheter is removed from the first drive assemblies 12 and 14; and the front clamping device 18 clamps the first catheter to prevent it from moving. The second catheter is removed from the second drive mechanism assembly 14 and the first drive mechanism assembly 16, and the drive mechanisms 12 and 14 are driven rearward along the guide 102 to clamp the second catheter. The drive mechanism 16 can be manipulated remotely by the main console to drive the first guide wire rearward, or the first guide wire can be moved rearward. As the first guidewire is moved back into the introducer, the first guidewire is removed from the second drive assembly 16 and soaked in an aqueous heparin solution. It should be noted that in this method, the first catheter should not be advanced to avoid movement of the head of the first catheter in the vessel.

[0054] The drive mechanism 16 is driven back to a suitable position. Select a third catheter (eg, a microcatheter) and a second guidewire that are thinner (eg, 0.014 inches in diameter). The second guidewire is guided into the third catheter, which is then guided into the second catheter, and the third catheter and the second guidewire are respectively clamped by the second drive assembly 14, the first drive assembly 16, and the second drive assembly 16. Thus, the third catheter and the second wire conductor is stationary. In this embodiment, the third catheter is connected to a Y-piece; The Y-shaped adapter is secured to the drive mechanism 16 and is clamped by the first assembly of the drive mechanism 16; and the Luer lock of the Y-piece rotates in cooperation with the second drive assembly 14 to drive the third catheter into rotation. With respect to the front clamp 18 configured to clamp the first catheter, the front clamp 18 can also rotate the first catheter by rotating the Luer lock of the Y-piece.

[0055] In addition, the drive mechanisms 12, 14 and 60 are further remotely manipulated to move them using the main console. For details regarding a specific method, reference may be made to the forward movement of the first catheter, the second catheter and the first guidewire, and are therefore not further described herein. Movement of the second catheter to more distant locations in the vessel is accomplished to assist in advancing the third catheter and second guidewire to the site of the patient's lesion to be operated on (the vascular bottleneck) which is further away. In this method, the first catheter must be rotated using the anterior clamping device 18. The position of the second guide wire is determined using contrast radiography. When the second guidewire reaches the intended position (usually the second guidewire needs to pass through the site of the patient's lesion to be operated on, except for possible treatment by embolization of the aneurysm), the anterior clamp 18 and the drive mechanisms 12, 14 and 16, respectively, secure the first catheter, a second catheter, a third catheter and a second guide wire. In the event that the second guide wire fails to reach the intended position, the drive mechanisms 12, 14 and 16 are manually manipulated repeatedly to move them until the second guide wire reaches the intended position.

[0056] When the second guidewire reaches its intended position, the drive mechanism 16 is remotely manipulated by using the main console to drive the third catheter backward. At this time, the second conductor wire is supported as stationary. For example, the rear clamping device takes over the clamping of the second conductor wire to prevent it from moving. When moving the head part of the third catheter back into the introducer, in the catheterization room, the third catheter is removed from the drive mechanisms 14 and 16 and soaked in an aqueous solution of heparin. In this case, the drive mechanism 16 may receive the clamp of the second guidewire and support the front clamp, the drive mechanisms 12 and 14, and the drive mechanism 16 as securing the first catheter, the second catheter, and the second guidewire, respectively.

[0057] In other embodiments, in the case where the front clamp 18 clamps the first catheter to prevent its movement, the drive mechanisms 12, 14 and 16 can be remotely manipulated using the main console to jointly drive the second catheter and the first guidewire backwards. . If the heads of the second catheter and the first guidewire are moved back into the introducer, in the catheterization room, the second catheter and the first guidewire are removed from the drive mechanisms 14 and 16 and soaked in an aqueous heparin solution. Two catheters and one guidewire are selected that are suitable, and these catheters and the guidewire are placed together in the first catheter. The actuators 12, 14 and 16 are caused to be in suitable positions, and the actuators 12, 14 and 16 are brought into interaction to clamp the two catheters and one guidewire. Thus, these two catheters and one guide wire are stationary. Details regarding the subsequent forward movement method may be referred to the forward movement of the first catheter, the second catheter and the first guidewire, so they are not further described herein.

[0058] In other embodiments, the front portion of the housing 10 is provided with a plurality of front clamping devices 18, in which case the first catheter can be advanced multiple times. When moving the catheter to the required position, the catheter is clamped with one of the front clamping devices 18.

[0059] In the catheterization room, the tail portion of the second guidewire is again induced to enter the quick-change balloon dilatation catheter. The quick-change balloon dilatation catheter is moved forward along with the second guidewire. In this case, the quick change mechanism 162 clamps the quick change balloon dilatation catheter.

[0060] Additionally, using the main console, the quick change mechanism 162 is remotely manipulated such that the quick change balloon dilatation catheter is advanced toward the patient's lesion site for surgery (without extending beyond the head portion of the second guidewire). In this method, the position and angle of the second guide wire should be carefully adjusted by forward rotation, reverse rotation, forward movement and backward movement according to the actual need. When the quick-change balloon dilatation catheter reaches the patient's lesion to be operated on, the quick-change balloon dilatation catheter in the catheterization room is filled with pre-dilation contrast agent, and the effect of vasodilation is determined using contrast radiography. When the effect of vasodilation is achieved, the contrast agent is removed from the quick-change catheter for balloon dilatation. Additionally, the quick change mechanism 162 is remotely manipulated using the main console to move it back into the introducer. As the quick-change balloon dilatation catheter is moved back, the position of the second guidewire remains unchanged. For some operations, vasodilation must be performed several times. Therefore, the quick-change balloon dilatation catheter can be moved back and forth several times.

[0061] In addition, in the catheterization room, the quick change balloon dilatation catheter is again removed from the quick change mechanism 162, and then the balloon dilation catheter is driven into the second clamp guidewire on the quick change mechanism 162. For details regarding a specific method, reference may be made to the above-described method for a quick-change balloon dilatation catheter and will therefore not be further described herein.

[0062] In addition, using the main console, the quick change mechanism 162 is remotely manipulated such that the quick change balloon dilatation catheter is advanced along the second guidewire to the site of the patient's lesion to be operated on (the bottleneck of the vessel that is being dilated). In this method, the position and angle of the second conductor wire should be finely adjusted by forward rotation, reverse rotation, forward movement and backward movement according to the actual need. When the quick-change balloon-expandable stent catheter reaches the patient's lesion to be operated on (the side of the vessel to be dilated), the position of the quick-change balloon-expandable stent catheter is precisely adjusted after determining whether the quick-change balloon-expandable stent catheter is filled with contrast agent in the catheterization room so that the stent takes shape . The correct placement of the balloon-expandable stent is confirmed using contrast radiography, i.e. the contrast agent can be removed and the quick change mechanism 162 manipulated to drive the quick change catheter for the balloon-expandable stent back into the introducer while the balloon-expandable stent remains in the lesion site of the patient to be operated on. In the catheterization room, the quick-change catheter for the balloon-expandable stent is removed from the quick-change mechanism 162 and placed in an aqueous heparin solution.

[0063] Additionally, the movement of the actuators 12, 14 and 16 is remotely manipulated using the main console to move the second catheter and second guidewire back into the introducer. Finally, in the catheterization room, the first catheter is pulled into the introducer, the first catheter, the second catheter and the second guide wire are removed from the anterior clamp 18 and the drive mechanisms 12, 14 and 16, soaked in an aqueous heparin solution, and then the introducer is removed and postoperative treatment is carried out. to complete the operation.

[0064] The above method uses a quick change catheter, so the catheter needs to be clamped, advanced and rotated by the quick change mechanism 162. When using a spin-change catheter, when the tail of a second guidewire is induced to enter the spin-change catheter, the spin-change catheter is clamped, advanced and rotated by the spin-change catheter to move the spin-change catheter forward to the appropriate position along the second guidewire. or moving back into the introducer. Regardless of whether the quick change mechanism 162 or the coaxial change mechanism is used, the clamping, advancement and rotation of the quick change catheter and the coaxial change catheter can in practice be accomplished using a roller screw.

[0065] For details on how to remotely manipulate the movement of the driving mechanisms 12, 14 and 16 and the quick change mechanism 162 using the main console, please refer to the control side control module for the intervention robot disclosed in Chinese Patent Application No. 202110649908.5. The control module includes two control levers, wherein one control lever is configured to manipulate the drive mechanisms 12 and 14, as well as the quick change mechanism 162, and with the help of this control lever, the drive mechanisms 12 and 14, as well as the quick change mechanism 162 can be manipulated in a manner time-shared, and the other control lever is configured to remotely manipulate the drive mechanism 16. Optionally, the main console includes more than two control levers, for example four control levers, which are suitably configured to remotely manipulate the drive mechanisms 12, 14 and 16, as well as the mechanism 162 quick replacements.

[0066] In the above description, the movement and control method of the present invention has been described using the example of "angioplasty using a balloon-expandable stent". In fact, the present invention can also be used in various procedures including contrast radiography, embolization, thrombectomy and the like. The driving mechanisms 12, 14 and 16 as well as the front clamping device 18 can be freely adjusted according to the actual needs of the operation, i.e. the drive mechanisms 12, 14 and 16 as well as the front clamp 18 can be easily disassembled and reassembled. For more complex applications, more drive mechanisms and front clamps can be used. In the case where a larger number of drive mechanisms and anterior clamping devices are involved, it may be practical to move multiple catheters corresponding to a single guidewire or multiple guidewires together. Each drive mechanism is provided with a quick-change mechanism that permanently clamps the catheter and is either movably mounted on the drive mechanism or integrally formed with the drive mechanism. When performing simple inspection procedures, only two of the drive mechanisms are used, such as drive mechanisms 12 and 16 (or drive mechanisms 12 and 14, and the quick change mechanism can be located on the drive mechanism 14 according to actual need), as well as the front clamp fixture 162. In this case, the other drive mechanisms are removed from the housing 10.

[0067] A control method in which, in the present invention, two catheters and one guidewire together drive only two drive mechanisms 12 and 16 as well as the front clamp 162 will be described below.

[0068] In preparation for surgery, two catheters (a thick catheter and a thin catheter) and two guide wires (a thick guide wire and a thin guide wire) with suitable diameters and lengths are selected according to the position of the vascular lesion site, and these two catheters are washed with isotonic solution and empty. The operating robot is launched to perform the initial setting. To perform the operation, an introducer is placed on the patient. The thick guide wire is guided into the thick catheter and driven some distance out of the thick catheter, and then the thick guide wire and the thick catheter are placed together into the introducer. The first assemblies of the drive mechanism 12 and the drive mechanism 16 are driven together to clamp the thick catheter (connected to the Y-piece), and cause the thick guidewire to be clamped by the second assembly of the drive mechanism 16. Thus, the thick catheter and thick guidewire are stationary.

[0069] At the beginning of the operation, using the main console, the drive mechanisms 12 and 16 are remotely manipulated to move them. A thick catheter and a thick guide wire, respectively, jointly drive forward towards the narrow point of the vessel. For details about this method, you can refer to the above-mentioned “angioplasty with balloon stent”. The thick catheter and thick guidewire heads are held within the imaging field of view. In this case, the thick catheter is removed from the first units of the drive mechanisms 12 and 16; and the front clamping device 18 clamps the thick catheter to prevent it from moving. It should be noted that in this method, the thick catheter should not be advanced to avoid movement of the head of the thick catheter in the vessel. The drive mechanism 16 can be manipulated remotely by the main console to drive the thick conductor wire rearward, or the thick conductor wire can be moved rearward. When moving the thick guidewire back into the introducer, the thick guidewire is removed from the second drive assembly 16 and soaked in an aqueous heparin solution.

[0070] The drive mechanisms 12 and 16 are driven back to a suitable position. The thin guidewire is guided into the thin catheter, which is then guided into the thick catheter, and the thin catheter and the thin guidewire are jointly clamped by the drive mechanisms 12 and 16. Thus, the thin catheter and the thin guidewire are stationary. In this embodiment, a thin catheter is connected to a Y-piece; The Y-shaped adapter is secured to the drive mechanism 16 and is clamped by the first assembly of the drive mechanism 16; and in interaction with the drive mechanism 14, the Luer lock of the Y-piece rotates to rotate the thin catheter.

[0071] In addition, using the main console, the drive mechanisms 12 and 16 are remotely manipulated to move them. For details regarding a specific method, reference may be made to the forward movement of the thick catheter and thick guidewire and are therefore not further described herein. A thin catheter and thin guide wire are advanced to the patient's lesion to be operated on (target bottleneck), which is further away. The positions of the thin catheter and thin guide wire are determined using contrast radiography. When the thin catheter and thin guidewire reach their intended position (usually the thin guidewire should pass through the lesion of the patient undergoing surgery, except for possible treatment by embolization of an aneurysm), the thin catheter and thin guidewire, respectively, are secured by the drive mechanisms 12 and 16.

[0072] Additionally, in the catheterization room, the tail portion of the thin guide wire is caused to insert into the quick-change catheter for the balloon-expandable stent. The quick-change balloon-expandable stent catheter moves forward with a thin guidewire and fits into the thin catheter, particularly the Y-piece to which the thin catheter is connected. In this case, the quick change mechanism 162 clamps the quick change catheter for the balloon expandable stent.

[0073] In addition, using the main console, the quick change mechanism 162 is remotely manipulated such that the quick change balloon dilatation catheter is advanced toward the lesion site of the patient to be operated on (without extending beyond the head portion of the thin guide wire). In this method, the position and angle of the thin catheter and thin guide wire should be finely adjusted by forward rotation, reverse rotation, forward movement and backward movement according to the actual need. When the quick-change balloon-expandable stent catheter reaches the lesion site of the patient to be operated on, the position of the quick-change balloon-expandable stent catheter is precisely adjusted after determining that the quick-change balloon-expandable stent catheter is filled with contrast agent in the catheterization room so that the stent takes shape. The correct placement of the balloon-expandable stent is confirmed using contrast radiography, i.e. the contrast agent can be removed and the quick change mechanism 162 manipulated to drive the quick change catheter for the balloon-expandable stent back into the introducer while the balloon-expandable stent remains in the lesion site of the patient to be operated on. During the rearward movement of the quick-change balloon-expandable stent catheter, the positions of the thick catheter, thin catheter, and thin guidewire remain unchanged. In the catheterization room, the quick-change catheter for the balloon-expandable stent is removed from the quick-change mechanism 162 and placed in an aqueous heparin solution.

[0074] In addition, using the main console, the movement of the drive mechanisms 12 and 16 is remotely manipulated to move the thin catheter and thin guidewire back into the introducer. Finally, in the catheterization room, the thick catheter is pulled out into the introducer, the thick catheter, the thin catheter and the thin guide wire are removed from the anterior clamp 18 and the drive mechanisms 12, 14 and 16, soaked in an aqueous heparin solution, and then the introducer is removed and postoperative treatment is carried out. to complete the operation.

[0075] In the above-described method, when using the alignment catheter, when the tail portion of the thin guide wire is caused to enter the alignment catheter, the alignment catheter is clamped, advanced and rotated by the alignment mechanism to move the alignment catheter forward towards appropriate position along a thin wire guide or moving back into the introducer.

[0076] As shown in FIG. 3 and fig. 4, in a second embodiment of the present invention, a slave device for an intervention robot is provided. This device includes: a housing 19, drive mechanisms 20, 30, 40, 50 and 60, a rear clamp 70, a quick change mechanism 80 and a front clamp 82, which are movably mounted on the housing 19.

[0077] The housing 19 is elongated and is provided with a linear channel 192. The drive mechanisms 20, 30, 40, 50 and 60 are sequentially located on the channel 192 and are movable along this channel. In this embodiment, the drive mechanisms 20, 30, 40, 50 and 60 can move directly on the housing 19. For example, a linear guide is mounted on the housing 19, and all drive mechanisms 20, 30, 40, 50 and 60 can move on this guide.

[0078] Each of these drive mechanisms is configured to clamp, advance (including forward and backward movement) and rotate (including forward rotation and reverse rotation) the catheter and the guidewire or to simultaneously clamp, advance (including forward and reverse movement) ) and rotation (including forward rotation and reverse rotation) of both the catheter and the guidewire to move multiple catheters and a single guidewire together. Each of the drive mechanisms contains: a clamping unit configured to clamp the catheter or guidewire, and a rotation unit configured to rotate the catheter or guidewire. The rotation unit may be an active rotation unit or a passive rotation unit. All rotation nodes may be active rotation nodes, or they may be some active rotation nodes and some passive rotation nodes. Clamping the catheters by the drive mechanisms 20 and 40 does not impede the rotation of the catheters.

[0079] The clamping assemblies and rotational assemblies of the driving mechanisms 20, 30, 40, 50 and 60 may be a slave guidewire and a catheter twisting device for an interventional robot disclosed in Chinese Patent Application No. 202110674959.3, the disclosure of which is incorporated herein by reference. in its entirety.

[0080] In other embodiments, the particular designs of the drive mechanisms 20, 30, 40, 50, and 60 are not necessarily the same and may differ from one another as long as the catheter and guidewire can be clamped, advanced, and/or rotated. Optionally, the clamping units may be the same, but the rotation units may be different; or the clamping units may be different, but the rotation units may be the same; or some of the clamping assemblies and rotating assemblies may be the same, and others of the clamping assemblies and rotating assemblies may be different.

[0081] In this embodiment, the drive mechanisms 20 and 30 are spaced apart from each other and are configured to cooperate with each other to clamp, advance, and rotate one guide catheter 90 (i.e., the first catheter) to prevent bending of the guide catheter 90. In fact, it is preferable to synchronously advance the guide catheter 90 with the drive mechanisms 20 and 30 to straightly stretch the drive catheter 90 without bending it. Likewise, the drive mechanisms 40 and 50 are spaced apart from each other and are configured to interact with each other to clamp, advance, and rotate the same multifunction catheter 91 (ie, the second catheter, also called the mid catheter). The drive mechanism 60 is configured to clamp, advance, and rotate the guide wire 92. The rear clamp 70 is configured to clamp and advance the guide wire 92. The quick change mechanism 80 and the drive mechanism 50 can be removably attached to each other and are configured to clamp and advancement of the quick-change catheter.

[0082] A rear jig 70 is mounted at a position in the rear portion of the housing 19. A front jig 82 is mounted at the front portion of the housing 19 proximal to the drive mechanisms 20 and 30. In this embodiment, the front jig 82 and the rear jig 70 are secured on the housing 19 and may be movable relative to the housing 19 if desired. In other embodiments, the front clamp 82 and the rear clamp 70 may also be mounted separately from the housing 19.

[0083] In preparation for surgery, it is necessary to select a guide catheter 90, multifunction catheter 91 and guide wire 92 that are suitable (eg, with suitable lengths and diameters), and the selected guide catheter 90 and multifunction catheter 91 are washed with isotonic saline and emptied. The multifunction catheter 91 is directed into the guide catheter 90 to pass some distance beyond the guide catheter 90, the guide wire 92 is directed into the multifunction catheter 91 to pass some distance behind the multifunction catheter 91, for example, the head of the guide wire 92 passes behind the multifunction catheter 91 at approximately 10 cm. The drive mechanisms 20, 30, 40, 50 and 60 are positioned in the appropriate positions, the guide catheter 90, the multifunctional catheter 91 and the guide wire 92 are jointly positioned and guided into the introducer (eg, femoral artery, radial artery, etc. .) of the patient to be operated on, the guide catheter 90 is clamped by the drive clamp assemblies 20 and 30, the multifunction catheter 91 is clamped by the drive clamp assemblies 40 and 50, and the guide wire 92 is clamped by the drive clamp assembly 60 and the rear clamp 70. Thus, the guide catheter 90, the multifunction catheter 91 and the guide wire 92 are fixed.

[0084] At the beginning of the operation, the main console (for example, the operating control arm for the intervention robot disclosed in Chinese Patent Application No. 202110654379.8 and the control side control module disclosed in Chinese Patent Application No. 202110649908.5, the disclosures of which are incorporated herein by reference in in its entirety) are engaged to remotely manipulate to move the drive mechanisms 20, 30, 40, 50 and 60 of the rear clamp 70 and the quick change mechanism 80. Specifically, the drive mechanisms 20 and 30 jointly clamp the guide catheter 90 and move along the channel 192 to drive the guide catheter 90 forward, and the rotational assemblies of the drive mechanisms 20 and 30 simultaneously or non-simultaneously rotate the guide catheter 90. In the case where the drive mechanism 20 moves to its extreme position (eg, the actuator 20 moves to the distal end of the channel 192) and must be returned to its original position to release the guide catheter 90, the actuator 30 clamps the guide catheter 90 to prevent its movement. When the drive mechanism 20 is returned to its original position closest to the drive mechanism 30, the clamp assembly of the drive mechanism 20 again clamps the guide catheter 90, and the drive mechanisms 20 and 30 jointly drive the guide catheter 90 forward and rotate the drive assemblies 20 and 30. simultaneously or non-simultaneously rotate the guide catheter 90. Such actions are repeated until the guide catheter 90 moves to the desired position.

[0085] In this method, the drive mechanisms 40 and 50 simultaneously or non-simultaneously clamp the multi-function catheter 91 and move along the channel 192 to drive the multi-function catheter 91 forward, and the rotational assemblies of the drive mechanisms 40 and 50 simultaneously or non-simultaneously rotate the multi-function catheter 91. B When the actuator 40 moves to an extreme position (for example, the distance from the actuator 40 to the actuator 30 approaches a threshold value) and needs to be returned to its original position to release the multifunctional catheter 91, the actuator 50 clamps the multifunctional catheter 91 to prevent his movements. When the drive mechanism 40 returns to its original position closest to the drive mechanism 50, the clamp assembly of the drive mechanism 40 again clamps the multi-function catheter 91, causing the drive mechanisms 40 and 50 to jointly drive the multi-function catheter 91 forward, and rotating the drive mechanisms 40 and 50 simultaneously or non-simultaneously rotate the multifunctional catheter 91. Such actions are repeated until the multifunctional catheter 91 moves to the desired position.

[0086] In the above-described method, the drive mechanism 60 and the rear clamp 70 simultaneously or non-simultaneously jointly clamp the guide wire 92 and move along the channel 192 to drive the guide wire 92 forward, and the rotation assembly of the drive mechanism 60 simultaneously or non-simultaneously rotates the guide wire 92. In the event that the drive mechanism 60 moves to its extreme position (for example, the distance from the drive mechanism 60 to the drive mechanism 50 approaches a threshold value) and needs to be returned to its original position to release the guide wire 92, the rear clamping device 70 clamps the guide wire 92 to prevent it from moving. When the drive mechanism 60 returns to its original position, the drive mechanism clamp assembly 60 again clamps the guide wire 92, and the drive mechanism 60 and the rear clamp 70 jointly drive the guide wire 92 forward, and the rotational drive mechanism assembly 60 simultaneously or non-simultaneously rotates the guide wire conductor 92. Such actions are repeated until the wire conductor 92 moves to the required position. In other embodiments, the guide wire 92 initially clamps only the drive mechanism 60, and the rear clamp 70 does not clamp the guide wire 92. When the drive mechanism 60 is returned to its original position, the guide wire 92 clamps the rear clamp 70. In the case where the drive mechanism 60 returns to its original position and again clamps the guide wire 92, the rear clamp 70 releases the guide wire 92. These actions are repeated so that the drive mechanism 60 and the rear clamp 70 alternately clamp the guide wire 92.

[0087] For details on how to remotely manipulate the movement of the actuators 20, 30, 40, 50 and 60, as well as the rear clamp 70 and the replacement mechanism 80 using the main console, please refer to the Interventional Control Side Control Module robot disclosed in Chinese Patent Application No. 202110649908.5. The control module contains two control levers, wherein one control lever is configured to manipulate the drive mechanisms 20, 30, 40 and 50, as well as the quick change mechanism 80, and with the help of this lever controls the drive mechanisms 20 and 30, the drive mechanisms 40 and 50 as well as the quick change mechanism 80 can be manipulated in a time-sharing manner, and the other control lever is configured to manipulate the drive mechanism 60 and the rear clamp 70. Optionally, the main console includes more than two control levers, such as four control levers, which are suitably configured with the ability to remotely manipulate the drive mechanisms 20 and 30, the drive mechanisms 40 and 50, the drive mechanism 60 and the rear clamp 70, and the quick change mechanism 80.

[0088] In other embodiments, the actuators 30 and 50 clamp the guide catheter 90 and the multifunction catheter 91, respectively, via a Y-piece. That is, both the guide catheter 90 and the multifunction catheter 91 are respectively connected to the Y-piece; The Y adapter is attached to the drive mechanisms 30 and 50; and the drive mechanism clamp assemblies 30 and 50 clamp the Y-piece, and the drive mechanism rotational assemblies 30 and 50 rotate the Luer connector of the Y-piece to rotate the guide catheter 90 and the multifunction catheter 91.

[0089] As the guide catheter 90, the multifunction catheter 91, and the guidewire 92 advance together, it is necessary to constantly ensure that the multifunction catheter 91 passes some distance beyond the guide catheter 90 and that the guidewire 92 passes some distance behind the multifunction catheter 91. When the guide catheter 90 reaches , the multifunction catheter 91 and guidewire 92 for certain vessel positions, the actuators 20, 30, 40, 50 and 60, and the rear clamp 70 must be remotely manipulated using the main console to repeatedly drive the guide catheter 90, multifunction catheter 91 and guidewire 92 in forward motion for forward and backward movement, as well as forward and reverse rotation for fine adjustment.

[0090] When moving the guide catheter 90 forward to the desired position, the guide catheter 90 is stationary. To drive the conductor wire 92 backward, the drive mechanism 60 and the rear clamp 70 are remotely manipulated by the main console. The method of moving backward is the same as the method of moving forward described above. When moving the head of the guidewire 92 back into the introducer in the catheterization room, remove the guidewire 92 from the clamp assembly of the drive mechanism 60 and the rear clamp 70 and soak the guidewire 92 in an aqueous heparin solution.

[0091] The guide catheter 90 is removed from the clamping assemblies of the drive mechanisms 20 and 30; and the guide catheter 90 is clamped to prevent movement by the front clamp 82. It should be noted that in this method, the guide catheter 90 should not be advanced to prevent the head of the guide catheter 90 from moving in the vessel. The multifunctional catheter 91 is removed from the clamping assemblies of the driving mechanisms 40 and 50, and the clamping of the multifunctional catheter 91 is received by the clamping assemblies of the driving mechanisms 20 and 30.

[0092] In other embodiments, the front clamp 82 may be telescoping and extend from a hidden space to where the catheter needs to be clamped. With respect to the anterior clamp 82 configured to clamp the guide catheter 90, the anterior clamp 82 can also rotate the guide catheter 90 by rotating the Luer lock of the Y-piece. In other embodiments, the front portion of the housing 19 is provided with a plurality of forward clamping devices 82, in which case the catheter can be advanced multiple times. As each catheter is advanced to the required position, the catheter is clamped with one of the front clamping devices 82.

[0093] The drive mechanisms 40, 50 and 60, as well as the rear clamping device 70, are brought to suitable positions. Select microcatheter 94 and microwire 96 that are thinner (eg, 0.014 inches in diameter). The microwire 96 is guided into the microcatheter 94, and the microwire 96 and the microcatheter 94 are guided into the multifunctional catheter 91, and the microcatheter 94 and the microwire 96 are clamped, respectively, by the drive clamp assemblies 40 and 50, the drive clamp assembly 60, and the back clamp 70. Thus, the microcatheter 94 and the microwire guide 96 are stationary. In other embodiments, microcatheter 94 is connected to a Y-piece. The Y adapter is attached to the drive mechanism 50. The drive mechanism clamp assembly 50 clamps the Y adapter, and the rotation assembly of the drive mechanism 50 rotates the Luer connector of the Y adapter to rotate the microcatheter 94.

[0094] In addition, the rotation of the drive mechanisms 20, 30, 40, 50 and 60, as well as the rear clamping device 70, is remotely manipulated using the main console. For details regarding a specific method, refer to forward movement of the guide catheter 90, multifunction catheter 91 and conductor wire 92, so they are not further described herein. The multifunctional catheter 91 is driven forward further into the vessel. As the microcatheter 94 and microwire 96 are moved forward to the head of the multifunctional catheter 91, the microcatheter 94 and microwire 96 are further advanced toward the lesion site (ie, the site of vessel stenosis) of the patient to be operated on. The position of the microwire 96 is determined using contrast radiography. When microwire 96 reaches its intended position (usually for surgery, microwire 96 needs to pass through the lesion site of the patient undergoing surgery, except for possible treatment by embolization of an aneurysm), drive mechanisms 20 and 30, drive mechanisms 40 and 50, drive mechanism 60 and rear The clamping device 70 is secured, respectively, by the multifunction catheter 91, the microcatheter 94 and the microwire guide 96. In the case where the microwire guide 96 fails to reach the intended position, the drive mechanisms 20, 30, 40, 50 and 60, as well as the rear clamping device 70 repeatedly remotely manipulated manually to move them so that the microwire 96 reaches the intended position.

[0095] In other embodiments, the drive mechanisms 40, 50, and 60, as well as the rear jig 70, can be manipulated remotely using the main console to jointly move the multifunction catheter 91 and guidewire 92 rearward. When moving the head parts of the multifunctional catheter 91 and the guidewire 92 back into the introducer, in the catheterization room, the multifunctional catheter 91 and the guidewire 92 are removed from the clamping units of the drive mechanisms 40, 50 and 60, as well as from the rear clamping device 70, and soaked in an aqueous solution heparin. The guide catheter 90 is then removed from the clamping assemblies of the drive mechanisms 20 and 30; and the guide catheter 90 is clamped to prevent movement by the front clamp 82. It should be noted that in this method, the guide catheter 90 should not be advanced to prevent the head of the guide catheter 90 from moving in the vessel. Two catheters and one guidewire are selected that are suitable, and the catheters and guidewire are placed together in the guide catheter 90. The actuators 20, 30, 40, 50 and 60 are caused to be in the appropriate positions and the clamping devices clamp the actuators 20 and 30 one catheter, the clamping assemblies of the drive mechanisms 40 and 50 of the other catheter, and the clamping of the guidewire by the clamping assembly of the drive mechanism 60 and the rear clamping device 70. Thus, the two catheters and one guidewire are stationary. For details regarding the subsequent forward movement method, reference can be made to the forward movement of the guide catheter 90, the multifunction catheter 91 and the guide wire 92, so they are not further described herein.

[0096] When the microwire 96 reaches its intended position, the drive mechanisms 40 and 50 are remotely manipulated using the main console to drive the microcatheter 94 rearward. At this time, the microwire 96 is held stationary. For example, as the drive mechanism 60 moves rearward, the microwire clamp 96 is taken over by the rear clamp 70 to prevent its movement. As the microcatheter head 94 is moved back into the introducer, the catheterization room removes the microcatheter 94 from the drive mechanisms 40 and 50 and soaks in an aqueous solution of heparin. In this case, the drive mechanism 60 may receive the clamp of the microwire guide 96 and support the front clamp 82, the drive mechanisms 20 and 30, and the drive mechanism 60 as securing the guide catheter 90, the multifunction catheter 91, and the microwire guide 96, respectively.

[0097] Additionally, in the catheterization room, the tail portion of the microwire guide 96 is caused to insert into the quick-change balloon dilatation catheter 98. The quick change balloon dilatation catheter 98 moves forward along with the microwire guide 96. In this case, the quick change mechanism 80 clamps the quick change balloon dilatation catheter 98.

[0098] In addition, using the main console, the quick change mechanism 80 is remotely manipulated such that the quick change balloon dilatation catheter 98 is advanced toward the lesion site of the patient to be operated on (without extending beyond the head portion of the microwire guide 96). In this method, the position and angle of the microwire 96 should be carefully adjusted by forward rotation, reverse rotation, forward movement and backward movement according to the actual need. When the quick-change balloon dilatation catheter 98 reaches the patient's lesion to be operated on, the quick-change balloon dilatation catheter 98 in the catheterization room is filled with a pre-dilatation contrast agent, and the effect of vasodilation is determined using contrast radiography. When the effect of vasodilation is achieved, the contrast agent is removed from the quick-change catheter 98 for balloon dilatation. Additionally, using the main console, the quick change mechanism 80 is remotely manipulated to move it back into the introducer. As the quick-change balloon dilatation catheter 98 moves backward, the position of the microwire guide 96 remains unchanged. For some operations, vasodilation must be performed several times. Therefore, the quick-change balloon dilatation catheter can be moved back and forth several times.

[0099] In addition, again in the catheterization room, the quick change balloon dilatation catheter 98 is removed from the quick change mechanism 80, and then the balloon expandable stent catheter is driven into the microwire guide 96 for clamping on the quick change mechanism 80. For details regarding a specific method, reference may be made to the above-described method for the quick-change balloon dilatation catheter 98 and will therefore not be further described herein.

[0100] In addition, using the main console, the quick change mechanism 80 is remotely manipulated such that the quick change balloon dilatation catheter is advanced along the microwire 96 to the site of the patient's lesion to be operated on (the bottleneck of the vessel that is being dilated). In this method, the position and angle of the microwire 96 should be carefully adjusted by forward rotation, reverse rotation, forward movement and backward movement according to the actual need. When the quick-change balloon-expandable stent catheter reaches the patient's lesion to be operated on (the side of the vessel to be dilated), the position of the quick-change balloon-expandable stent catheter is precisely adjusted after determining whether the quick-change balloon-expandable stent catheter is filled with contrast agent in the catheterization room so that the stent takes shape . The correct placement of the balloon-expandable stent is confirmed using contrast radiography, i.e. the contrast agent may be withdrawn and the quick change mechanism 80 manipulated to drive the quick change catheter for the balloon-expandable stent back into the introducer while the balloon-expandable stent remains in the lesion site of the patient to be operated on. In the catheterization room, the quick-change catheter for the balloon-expandable stent is removed from the quick-change mechanism 80 and placed in an aqueous heparin solution.

[0101] In addition, using the main console, remotely manipulates the movement of the drive mechanisms 20, 30, 40, 50 and 60, as well as the rear clamp 70 to move the multifunction catheter 91 and microwire guide 96 back into the introducer. Finally, in the catheterization room, the multifunctional catheter 91 and the microwire guide 96 are removed from the clamping units of the drive mechanisms 20, 30 and 60, as well as from the rear clamping device 70, the guide catheter 90 is removed from the front clamping device 82, the multifunctional catheter 91, the microwire guide 96 are pulled out and the guide catheter 90 from the introducer and placed in an aqueous heparin solution, and then the introducer is removed and postoperative treatment is carried out to complete the operation.

[0102] The above method uses a quick change catheter, so the catheter needs to be clamped, advanced and rotated by the quick change mechanism 80. When using the spin-change catheter, when the tail of the microwire guide 96 is caused to enter the spin-change catheter, the spin-change catheter is clamped, advanced and rotated by the spin-change catheter to move the spin-change catheter forward to the corresponding position along the spin-change guide 96 or moving back into the introducer. Regardless of whether the quick change mechanism 80 or the coaxial change mechanism is used, the clamping, advancement and rotation of the quick change catheter and the coaxial change catheter can be practiced using a roller screw.

[0103] In the above description, the movement and control method of the present invention has been described using the example of "angioplasty using a balloon-expandable stent". In fact, the present invention can also be used in various procedures including contrast radiography, embolization, thrombectomy and the like. The driving mechanisms 20, 30, 40, 50 and 60, the rear clamping device 70 and the quick change mechanism 80 can be freely adapted according to the actual needs of the operation, i.e. the drive mechanisms 20, 30, 40, 50 and 60, the rear clamp 70 and the quick change mechanism 80 can be easily disassembled and assembled. For more complex surgical procedures, more drive mechanisms, back clamps and quick change mechanisms can be used. In the case where a larger number of drive mechanisms and rear clamping devices are involved, it may be practical to move multiple catheters corresponding to a single guidewire or multiple guidewires together. As shown in FIG. 5, two drive mechanisms are added to clamp and rotate more catheters. For more details, please refer to the above mentioned “Balloon Stent Angioplasty”. Each drive mechanism is provided with a quick-change mechanism that permanently clamps the catheter and is either movably mounted on the drive mechanism or integrally formed with the drive mechanism. In the case of performing simple examination procedures, such as an angiography procedure, only two of the drive mechanisms 20, 30, 40, 50 and 60 are used, such as the drive mechanisms 30 and 60. Referring to FIG. 6, the other drive mechanisms, the rear clamp 70 and the quick change mechanism 80 are removed from the housing 19.

[0104] In the above description, the main console and the operating table on which the main console is deployed are located outside the catheterization room. In fact, the main console and operating table can also be deployed in a separate space in the catheterization room as long as the x-ray radiation can be isolated and the physician is not exposed to x-ray radiation.

[0105] The above describes only how to replace the catheter and guide wire in some cases. In fact, the replacement of catheter and guide wire can be completely determined according to the actual needs of the operation and personal working habits. Placement is not limited to the above catheter and guidewire replacement methods.

[0106] According to the present invention, the first drive mechanism and the second drive mechanism can be remotely manipulated to move along a single axial direction on the housing to collectively move the plurality of catheters and the plurality of guidewires to desired positions. When replacing the catheter and guidewire, the anterior clamp clamps the first catheter to prevent movement. This blocks x-ray radiation and protects human health. Additionally, the robot can more accurately control the catheter and guidewire, which not only reduces work intensity, but also avoids gross errors.

[0107] Those of ordinary skill in the art will appreciate that all or part of the steps of the method may be implemented by programs issuing commands to related software. These programs may be stored on a machine-readable storage medium, such as a read-only memory, a magnetic disk, or a CD-ROM. Alternatively, all or part of the steps of the above-described embodiments may be implemented using one or more integrated circuits. Accordingly, various modules/blocks in the above embodiments may be implemented in the form of hardware or in the form of software functional modules. The present invention is not limited to any particular form of hardware or software combination.

[0108] However, many other embodiments may also be available for practicing the present invention, and those skilled in the art will understand that various modifications and changes can be made without departing from the spirit and scope of the present invention. These modifications and changes are within the scope of protection set forth in the appended claims.

The above describes only illustrative embodiments of the present invention, but they are not intended to limit the present invention. Any modification, equivalent replacement and improvement made without departing from the spirit and principle of the present invention shall be within the scope of protection of the present invention.

Claims (19)

1. A slave device for an intervention robot, comprising: a housing, a first drive mechanism, a second drive mechanism, a third drive mechanism, and a front clamp closest to the first drive mechanism, which are sequentially mounted on the housing; wherein the first drive mechanism is configured to clamp and rotate the first catheter and the second catheter, the second drive mechanism is configured to clamp and rotate the second catheter and the third catheter, and the third drive mechanism is configured to clamp and rotate the first guidewire and the second guidewire; And when the first guidewire enters the second catheter, the second catheter enters the first catheter and the first guidewire, the second catheter and the first catheter are respectively clamped by the third drive mechanism, the second drive mechanism and the first drive mechanism and move along one axial direction on the body to the front the clamping device to the desired position, the first catheter, the second catheter and the first guide wire are respectively retracted from the first driving mechanism, the second driving mechanism and the third driving mechanism, the front clamping device and the first driving mechanism assume the clamping of the first catheter and the second catheter, is called insertion of the third catheter into the second catheter causes the second guidewire to enter the third catheter, and the third catheter and the second guidewire are clamped by the second drive mechanism and the third drive mechanism, respectively, and are moved along one axial direction on the body to the front clamping device. 2. The device according to claim 1, characterized in that it additionally contains: front clamping devices; wherein the first catheters, one at a time, are advanced by the first drive mechanism into the required positions and are respectively clamped by the first clamping devices. 3. The device according to claim 1, characterized in that the second drive mechanism is configured to clamp and rotate, together with the first drive mechanism, the first catheter and the second catheter. 4. The device according to claim 3, characterized in that the second drive mechanism comprises: a first assembly configured to clamp and rotate the first catheter and the second catheter, and a second assembly configured to clamp and rotate the second catheter and the third catheter. 5. The device according to claim 4, characterized in that the first assembly of the second drive mechanism is configured to clamp a Y-piece connected to the first catheter and the second catheter to clamp the first catheter and the second catheter and rotate the Luer connector of the Y-piece with the purpose of causing the first catheter and the second catheter to rotate. 6. Device according to any one of paragraphs. 3-5, characterized in that the third drive mechanism is configured to clamp and rotate, together with the second drive mechanism, the second catheter and the third catheter. 7. The device according to claim 6, characterized in that the third drive mechanism comprises: a first assembly configured to clamp and rotate the second catheter and the third catheter, and a second assembly configured to clamp and rotate the first guidewire and the second guidewire. 8. The device according to claim 7, characterized in that the first assembly of the third drive mechanism is configured to clamp the Y-piece connected to the second catheter and the third catheter to clamp the second catheter and the third catheter and rotate the Luer connector of the Y-piece with the purpose of bringing the second catheter and the third catheter into rotation. 9. The device according to claim 1, characterized in that it additionally contains: a fourth drive mechanism mounted on the housing; wherein the fourth drive mechanism is configured to clamp and rotate, together with the first drive mechanism, the first catheter and the second catheter. 10. The device according to claim 9, characterized in that in the case when the first drive mechanism moves to its extreme position and needs to be returned to its original position to release the first catheter and the second catheter, the fourth drive mechanism is configured to clamp the first catheter and the second catheter to prevent their movement. 11. The device according to claim 9, characterized in that the fourth drive mechanism is installed in a position between the first drive mechanism and the second drive mechanism. 12. The device according to claim 9, characterized in that it additionally contains: a fifth drive mechanism mounted on the housing; wherein the fifth drive mechanism is configured to clamp and rotate, together with the second drive mechanism, the second catheter and the third catheter. 13. The device according to claim 12, characterized in that in the case when the second drive mechanism moves to the extreme position and needs to be returned to its original position to release the second catheter and the third catheter, the fifth drive mechanism is configured to clamp the second catheter and the third catheter to prevent their movement. 14. The device according to claim 12, characterized in that the fifth drive mechanism is installed in a position between the second drive mechanism and the third drive mechanism. 15. The device according to claim 12, characterized in that the fourth drive mechanism and the fifth drive mechanism move along the same axial direction as the first drive mechanism, the second drive mechanism and the third drive mechanism. 16. The device according to claim 1, characterized in that it additionally contains: a replacement mechanism; wherein the replacement mechanism is a quick replacement mechanism or a coaxial replacement mechanism. 17. The device according to claim 16, characterized in that the replacement mechanism is detachably attached to the third drive mechanism, or the replacement mechanism and the third drive mechanism are made as one piece.