WO2022156597A1 - 新型介入导管及介入手术机器人 - Google Patents

新型介入导管及介入手术机器人 Download PDF

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Publication number
WO2022156597A1
WO2022156597A1 PCT/CN2022/071945 CN2022071945W WO2022156597A1 WO 2022156597 A1 WO2022156597 A1 WO 2022156597A1 CN 2022071945 W CN2022071945 W CN 2022071945W WO 2022156597 A1 WO2022156597 A1 WO 2022156597A1
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WIPO (PCT)
Prior art keywords
worktable
catheter
base
clamping part
thin tube
Prior art date
Application number
PCT/CN2022/071945
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English (en)
French (fr)
Inventor
王利
刘征
王锐
汪忠镐
Original Assignee
王利
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Publication date
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Publication of WO2022156597A1 publication Critical patent/WO2022156597A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires

Definitions

  • the invention belongs to the technical field of medical equipment, and in particular relates to a novel interventional catheter and an interventional operation robot.
  • Surgical robots can complete the operation through precise control and stable operation, replacing the current situation of doctors relying on experience to perform surgery. and can effectively reduce human error.
  • Existing doctor's surgical operations depend on the doctor's work experience and on-the-spot judgment, and may also cause surgical errors due to the lack of energy of the doctor.
  • surgical robots can be used for medical diagnosis and treatment equipment. Provide a new research direction, so that with the help of the development of science and technology, medicine can make new breakthroughs.
  • the purpose of the present invention is to solve the above-mentioned problems and deficiencies, and to provide a new type of interventional catheter and interventional operation robot, which has a reasonable structure design, and can effectively realize the orderly arrangement and control of different catheters or guidewires, so that the operation can be carried out through the operation.
  • the robot realizes a complete surgical operation and provides technical support for the further development of surgical robots in the medical field.
  • a new type of interventional catheter comprising:
  • a rotating conduit which is coaxially arranged with the fixed conduit, and the rotating conduit is sealed and rotatably arranged at the front end of the fixed conduit;
  • the guide part is arranged at the front end of the rotating catheter, and the channel of the guide part is arc-shaped;
  • a branch conduit, at least one of the branch conduits is arranged on the side wall of the fixed conduit.
  • a control valve is provided on the branch catheter, a control valve is provided on the branch catheter, or two control valves are provided at intervals on the branch catheter.
  • An interventional surgery robot comprising a base, the above-mentioned novel interventional catheter, a pushing unit and a control system, the fixed catheter is fixedly arranged on the base, and the base is provided with a rotation driving part for driving the rotating catheter; at least A group of the pushing units are arranged on the base, and the pushing units are arranged corresponding to the fixed conduit or the branch conduit;
  • the push unit includes:
  • the first rotary drive part is arranged on the base;
  • the first rotation driving part drives the first clamping part to rotate
  • the first workbench is slidably arranged on the base, and the base is provided with a first sliding driving part that drives the movement of the first workbench;
  • the second clamping part is provided on the first table
  • the third clamping part is arranged on the base, and the first clamping part, the second clamping part and the third clamping part are correspondingly arranged in sequence.
  • the first rotary drive part is disposed on the base through a second worktable, the second worktable is slidably disposed on the base, and the base is provided with a drive The second sliding drive part of the second table.
  • the interventional surgery robot of the present invention preferably, it further comprises a thin tube, a third worktable is provided on the base, a third sliding driving part for driving the third worktable is provided on the base, and the third worktable is provided on the base.
  • the third worktable is provided with a fourth clamping portion corresponding to the thin tube, the first end of the thin tube is supported on the first worktable, and the second end of the thin tube is matched to wear
  • a second rotation driving part is arranged on the third table, and the second rotation driving part drives the fourth clamping part to rotate.
  • the thin tube comprises a fixed thin tube and a rotating thin tube rotatably arranged at one end of the fixed thin tube; the fixed thin tube is fixedly supported on the first worktable; At least one branched thin tube is arranged on the side wall of the fixed thin tube.
  • the branch thin tube is provided with a control valve
  • the branch thin tube is provided with one control valve
  • the branch thin tube is provided with two control valves at intervals.
  • an auxiliary guiding unit is correspondingly provided on the thin branch tube, and the auxiliary guiding unit includes:
  • the third rotary drive part is arranged on the base
  • the third rotation driving part drives the first auxiliary clamping part to rotate
  • the auxiliary workbench is slidably arranged on the base, and the base is provided with a sixth sliding driving part that drives the movement of the auxiliary workbench;
  • the second auxiliary clamping part is provided on the auxiliary table
  • the third auxiliary clamping part is arranged on the base, and the first auxiliary clamping part, the second auxiliary clamping part and the third auxiliary clamping part are correspondingly arranged in sequence.
  • a fourth worktable is slidably arranged on the first worktable, and a fourth sliding driving part for driving the fourth worktable is provided on the first worktable, so the second clamping part is arranged on the fourth worktable;
  • the third worktable is provided with a fifth worktable, the third worktable is provided with a fifth sliding drive part for driving the fifth worktable, and the second rotary drive part is provided on the first worktable.
  • the fixed conduit is fixedly arranged on the third worktable.
  • the interventional surgery robot of the present invention preferably, it further includes an auxiliary guide support part, the auxiliary guide support part is arranged on the base or/and each worktable, and the auxiliary guide support part includes a base and is arranged on the base The two side limit plates on the upper side and the opening and closing driving part that drives the opening and closing actions of the two side limit plates.
  • the overall structure design of the present application is reasonable, and the alignment setting of each worktable and each clamping part can effectively realize the orderly arrangement and orderly control of different catheters or guide wires, and then realize a complete operation through the surgical robot.
  • Surgical operations provide technical support for the further development of surgical robots in the medical field.
  • the alignment arrangement of the first worktable and the second worktable of the present application in cooperation with the first clamping part, the second clamping part and the first rotary drive part, can realize the forward and backward movement and rotation of the guide wire or the catheter, so as to satisfy the The basic action requirements of the guide wire and the catheter; the application can also change the direction of the guide wire or catheter after entering the sheath through the setting of the new interventional catheter, so as to more effectively simulate the operation technique of the doctor.
  • the novel interventional catheter of the application And the push unit can realize passive and active adjustment of the guide wire or catheter, which is more helpful to realize the action of the robot, and improves the accuracy and controllability of the operation.
  • the fixed catheter of the present application is provided with a branch catheter, and the thin pipe is provided with a branch thin pipe.
  • the design of the above structure can enable multiple guide wires or catheters with different functions to be controlled in sequence without interference, so as to realize the entire complete Surgical operation is more conducive to the remote control and automatic control of the entire surgical operation, which can effectively reduce the operation time, improve the effect of the operation, and reduce errors.
  • the present application can effectively avoid exposing medical personnel to a radioactively harmful environment, and avoid serious injuries such as radiation to the bodies of personnel who have been engaged in related medical and nursing work for a long time.
  • FIG. 1 is a schematic structural diagram of a novel interventional catheter according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of an interventional surgery robot according to an embodiment of the present invention.
  • FIG. 3 is a schematic cross-sectional view of an interventional surgery robot according to an embodiment of the present invention.
  • FIG. 4 is an enlarged schematic view of the structure of section A in FIG. 3 .
  • FIG. 5 is an enlarged schematic structural diagram of the B section in FIG. 3 .
  • FIG. 6 is an enlarged structural schematic diagram of the C section in FIG. 3 .
  • 100 is a new type of interventional catheter, 110 is a fixed catheter, 111 is a branch catheter, 112 is a control valve, 120 is a rotating catheter, and 121 is a guiding part;
  • 200 is the base, 210 is the sheath;
  • 310 is the first workbench
  • 320 is the second workbench
  • 330 is the third workbench
  • 340 is the fourth workbench
  • 350 is the fifth workbench
  • 410 is a rotary drive part
  • 411 is a first rotary drive motor
  • 412 is a first gear
  • 413 is a second gear
  • 420 is a first rotary drive part
  • 430 is a second rotary drive part
  • 510 is the first clamping part
  • 520 is the second clamping part
  • 530 is the third clamping part
  • 540 is the auxiliary guide support part
  • 541 is the base
  • 542 is the side limiting plate
  • 550 is the fourth clamping part ;
  • 600 is a thin tube, 610 is a fixed thin tube, 611 is a branched thin tube, and 620 is a rotating thin tube;
  • 700 is a guide wire or catheter.
  • the present application discloses a novel interventional catheter, including a fixed catheter 110 , a rotating catheter 120 , a guide portion 121 and a branch catheter 111 .
  • the rotating catheter 120 is coaxially disposed with the fixed catheter 110 , and the rotating catheter is The sealing rotation is arranged at the front end of the fixed catheter; the guide part is arranged at the front end of the rotating catheter, and the channel of the guiding part 121 is arc-shaped, so that after the guide wire or catheter is protruded from the rotating catheter, The protruding direction can be laterally offset, and the direction can be changed by rotating the rotating catheter 120 , which has a guiding effect on the guide wire or the catheter 700 ;
  • the fixed catheter is relatively fixed and used to guide the guide wire or catheter.
  • the rotating catheter and the fixed catheter are coaxially arranged, which is more helpful for the guidance of the guide wire or catheter.
  • the doctor can manually rotate the guide wire and the catheter during the operation, which indirectly changes the direction of the guide wire and the catheter, and does not directly cause the guide wire or the catheter to rotate.
  • the catheter is rotated, the two will not interfere and can work relatively independently.
  • the present application provides a branch catheter on the fixed catheter, and the branch catheter can be used to arrange other guide wires or catheters.
  • the branch catheter in this embodiment is arranged at an angle with the fixed catheter.
  • the included angle between the axis direction of the branch catheter and the axis direction of the fixed catheter is small, which prevents the guide wire or the catheter from having an excessive turning angle, and further helps to improve the sensitivity and accuracy of its reflection.
  • a control valve 112 is arranged on the branch conduit, one control valve 112 is arranged on the branch conduit 111, or two control valves 112 are arranged on the branch conduit 111 at intervals.
  • the liquid in the branch duct 110 is blocked, and on the other hand, it is more helpful for cleaning the liquid in the branch duct 111 and maintains the flow of the liquid in the branch duct 111 .
  • the present embodiment also discloses an interventional surgical robot, which includes a base 200 , the above-mentioned novel interventional catheter 100 , a pushing unit and a control system, and the fixed catheter 110 is fixedly arranged on the base through a support base
  • the base 200 is provided with a rotary drive portion for driving the rotating conduit.
  • the rotary drive portion 410 in this embodiment includes a first gear 412 disposed on the rotating conduit, a first rotating drive motor 411 disposed on the base, and
  • the second gear 413 provided at the output end of the first rotary drive motor, the first gear and the second gear are bevel gears, which are matched and meshed with each other, so as to realize the driving action of the rotating conduit, or the rotary drive part can use a hollow shaft motor , the rotating conduit is penetrated in the hollow shaft motor, and the rotating shaft of the hollow shaft motor is fixedly connected or clamped to the rotating conduit; at least one group of the pushing unit is arranged on the base, and the pushing unit is The fixed catheter or the branch catheter is set correspondingly, and the push unit is arranged on the corresponding fixed catheter and the branch catheter according to the needs of the operation, so as to realize the push and rotation actions of the corresponding guide wire or catheter;
  • the unit includes a first rotary driving part 420 , a first clamping part 510 , a first table 310 ,
  • the conduit passes through the middle of the rotating shaft of the hollow shaft motor, and a first clamping part 510 is provided at the end of the rotating shaft.
  • the first clamping part can be supported on the base through the bearing seat, and the first clamping part can rotate freely in the bearing seat.
  • the first clamping part is connected with the output end of the hollow shaft motor through a coupling; when the guide wire or catheter needs to be rotated, the first clamping part clamps the guide wire or catheter, and the first rotary drive part drives the first clamp
  • the holding part rotates and drives the guide wire or catheter to rotate.
  • both the second clamping part 520 and the third clamping part 530 play a guiding and supporting role, and will not generate a holding force on the guide wire or catheter;
  • a worktable 310 is slidably arranged on the base 200, and the base is provided with a first sliding driving part that drives the action of the first worktable 310;
  • the second clamping part 510 is arranged on the first worktable 310;
  • the third clamp The holding portion 530 is arranged on the base 200 , the first holding portion 510 , the second holding portion 520 and the third holding portion 530 are correspondingly arranged in sequence, and the function of the third holding portion 530 is mainly to change steps.
  • the guide wire or catheter is prevented from being affected by factors such as friction and moves with the second clamping part; when it needs to move back and forth, the first clamping part and the third clamping part are released, and the second clamping part is clamped , the first worktable is driven to slide forward by the first sliding drive part, so as to realize the advance and push of the guide wire or the catheter. After a certain distance is pushed, the second clamping part is released, and the third clamping part is clamped.
  • the present application is also provided with auxiliary guide support parts 540, and pairs of auxiliary guide support parts are arranged on the base or/and each workbench , the auxiliary guide support part includes a base 541, two side limit plates 542 arranged on the base, and an opening and closing drive part that drives the opening and closing actions of the two side limit plates.
  • the auxiliary guide support part 540 can also use U-shaped groove-shaped guide grooves are sufficient, and no opening and closing actions are required.
  • the opening and closing driving parts in this embodiment are set to cooperate with the corresponding clamping parts when pushing or pulling back, so as to improve the performance of the guide wire or catheter in some actions.
  • an auxiliary guide support part with a clamping function in a suitable position can replace the third clamping part.
  • the drawings of this application do not show the positional structure diagram of the third clamping part provided on the base, but only show the position and structure of the third clamping part.
  • the auxiliary guide support part is used to replace the position structure diagram of the third clamping part.
  • the third clamping part for clamping the guide wire or catheter.
  • the first rotary drive part in this embodiment is disposed on the base 200 through the second worktable 320, and the second worktable 320 is slidably disposed on the base 200,
  • the base 200 is provided with a second sliding driving part for driving the second working table 320, so that it can be determined whether the first rotating driving part 420 and the first clamping part 510 need to slide back and forth according to needs, and more It is helpful for the coordinated action of the whole system, ensuring the stability of the whole operation process, and avoiding the overhang of the guide wire or catheter in some sections at different stages of the operation.
  • the present application is further provided with a thin tube 600, a third workbench 330 is provided on the base, a third sliding driving part for driving the third workbench 330 is provided on the base 200, and the third workbench 330 is provided on the base.
  • the third worktable 330 is provided with a fourth clamping portion 550 corresponding to the thin tube.
  • the first end of the thin tube 600 is supported on the first worktable 310. The two ends are matched and penetrated in the novel interventional catheter.
  • the third worktable 330 is provided with a second rotary driving part 430 , and the second rotary driving part drives the fourth clamping part 550 to rotate.
  • the specific structure of the second rotary drive part 430 can be the same as that of the first rotary drive part or the same as the structure of the rotary drive part; during the operation, when the new type of interventional catheter cannot pass through the blood vessel with a small inner diameter, the thin tube can be pushed through To achieve further advancement in the blood vessel, when the inner diameter of the blood vessel is further reduced, so that the thin tube cannot continue to advance forward, it is advanced through a guide wire or a thinner catheter, thereby completing surgical operations such as angiography and drug injection.
  • the thin tube 600 can also be thinned in structure.
  • the thin tube 600 includes a fixed thin tube 610 and a rotating thin tube 620 that is sealed and rotated at one end of the fixed thin tube; the fixed thin tube is fixed and supported on the fixed thin tube. At least one branched thin tube 611 is arranged on the side wall of the fixed thin tube.
  • the disposition of the second rotary driving part 430 is mainly to realize the synchronous rotation of the first rotary driving part and the second rotary driving part, so as to avoid the twisting of the thin tube when the rotating catheter is rotated, which reduces the operation accuracy.
  • the branch thin pipe 611 is provided with a control valve, the branch thin pipe is provided with one control valve, or the branch thin pipe is provided with two control valves at intervals.
  • the setting of the control valve at this position is basically the same as the function of the control valve on the branch conduit, which can block the internal liquid, which is more helpful for cleaning the liquid in the branch conduit, and maintains the flow of the liquid in the branch thin tube.
  • An auxiliary guide unit is correspondingly connected to the branch thin tube in this embodiment, and the auxiliary guide unit includes a third rotary drive part, a first auxiliary clamping part, an auxiliary worktable, a second auxiliary clamping part and a third auxiliary clamp
  • the third rotary driving part is arranged on the base; the third rotary driving part drives the rotation of the first auxiliary clamping part, and the structure of the third rotary driving part can be the same as that of the first rotary driving part;
  • the auxiliary work The table is slidably arranged on the base, and the base is provided with a sixth sliding driving part for driving the action of the auxiliary table; the second auxiliary clamping part is arranged on the auxiliary table; the third auxiliary The clamping part is arranged on the base, and the first auxiliary clamping part, the second auxiliary clamping part and the third auxiliary clamping part are arranged correspondingly in sequence.
  • the arrangement of the above structure is mainly used for the rotating action of the guide wire or the catheter in the branch thin tube, and the pushing and pulling action back and forth.
  • the arrangement of the third rotary driving part, the first auxiliary clamping part, the auxiliary table, the second auxiliary clamping part and the third auxiliary clamping part in this embodiment is the same as that of the first rotary driving part, the first rotary driving part and the first auxiliary clamping part of the push unit.
  • the arrangement of the clamping portion, the first worktable, the second clamping portion, and the third clamping portion may be the same, and therefore the specific structure will not be repeatedly described with reference to the accompanying drawings.
  • the present application slides on the first workbench with a fourth The worktable 340, the first worktable 310 is provided with a fourth sliding driving part for driving the fourth worktable 340, and the second clamping part 520 is provided on the fourth worktable 340.
  • the third clamping part can be provided on the first worktable; the third worktable 330 is provided with a fifth worktable 350, and the third worktable 330 is provided with a fifth sliding driving part for driving the fifth worktable , the second rotary drive part is arranged on the fifth workbench 350 , and the fixed conduit 110 is fixedly arranged on the third workbench 330 .
  • the arrangement of the above structure can realize the compound action, that is, the compound action of the first worktable 310 and the fourth worktable 340, the compound action of the third worktable 330 and the fifth worktable 350, so that it can be operated according to different operation segments. , using the actions of multiple workbenches in different combinations to complete the operation to avoid interference between multiple workbenches before and after.
  • the forward, backward, and rotation can be completed by the cooperative action of the fourth table 340; for example, when the operation of the thin tube 600 is performed, the first table 310 and the fifth table 350 can be used.
  • the relative position of each worktable on the base can be changed according to the length of the guide wire after being pushed, the length of the thin tube, etc., which is more helpful to protect the guide wire or catheter. , and the stability of the thin tube.
  • the first sliding driving part, the second sliding driving part, the third sliding driving part, the fourth sliding driving part, the fifth sliding driving part, and the sixth sliding driving part can all use air cylinders , any one of hydraulic cylinder, electric push rod, screw nut or rack and pinion structure, the sliding connection between each worktable and the base, the sliding connection between the worktable and the worktable can adopt the sliding rail structure or
  • the slide rail type structure when the slide rail type structure is adopted, the slider is arranged at the bottom of the worktable; when the chute type structure is adopted, the dovetail groove structure can be used.
  • the first clamping part, the second clamping part, the third clamping part, and the fourth clamping part in this embodiment can adopt the structure of two clamping plates arranged opposite each other and a power push rod that drives the two clamping plates.
  • Claw-type clamping fixtures can also be used for clamping, or other structures that can achieve axial unhindered and can be clamped by radial holding action. Since the first clamping part and the fourth clamping part are both Rotation action is required, so it is preferable to use a three-jaw caliper structure for clamping.
  • the control valve in this embodiment adopts a disposable medical three-way valve.

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Abstract

一种新型介入导管（100），包括固定导管（110）、旋转导管（120）、导引部（121）和分支导管（111），旋转导管（120）与固定导管（110）同轴设置，且旋转导管（120）密封回转设置在固定导管（110）的前端部；导引部（121）设置在旋转导管（120）的前端，导引部（121）的通道呈弧状；至少一个分支导管（111）设置在固定导管（110）的侧壁上。一种介入手术机器人，结构设计合理，能够有效的实现不同的导管或导丝的有序布置和有序操控，从而通过手术机器人实现一场完整的手术操作，为手术机器人在医疗领域的进一步发展提供技术支持。

Description

新型介入导管及介入手术机器人 技术领域
本发明属于医疗设备技术领域，具体涉及一种新型介入导管及介入手术机器人。
背景技术
随着医学的不断进步，对于疾病的治疗、诊断设备的研究越来越受到关注，手术机器人能够通过精确的控制、稳定的操作完成手术，代替了医生凭借经验进行手术的现状，不仅能够解决地域性限制，而且能够有效的降低人为操作的失误。现有的医生手术操作，依赖于医生的工作经验和临场判断，还有可能会因为医生的精力不济导致手术操作失误，而手术机器人借助于可视化和可控性的特点，能够为医学诊断治疗设备提供一个新的研究方向，从而借助于科学技术的发展，促使医学能够有新的突破。
针对血管介入手术，其主要通过导丝或导管的前进、后退、旋转等动作完成在血管中的行进，操作过程中，根据具体的手术流程，需要频繁的进行不同的输液导管或者导丝的更换，现有的技术中无法实现不同的输液导管或者导丝依次作业，无法实现整个手术流程的系统化操控，仅仅只能对整个手术环节中的局部一个或两个手术操作节段通过手术机器人控制。因此，现有技术的不足对于手术机器人的系统化作业存在较大的制约，对于如何通过手术机器人完成一场完整的手术操作是现阶段需要克服的一个技术难题。
发明内容
本发明目的是针对上述存在的问题和不足，提供一种新型介入导管及介入手术机器人，其结构设计合理，能够有效的实现不同的导管或导丝的有序布置和有序操控，从而通过手术机器人实现一场完整的手术操作，为手术机器人在医疗领域的进一步发展提供技术支持。
为实现上述目的，所采取的技术方案是：
一种新型介入导管，包括：
固定导管；
旋转导管，其与所述固定导管同轴设置，且所述旋转导管密封回转设置在所述固定导管的前端部；
导引部，所述导引部设置在所述旋转导管的前端，所述导引部的通道呈弧状；以及
分支导管，至少一个所述分支导管设置在所述固定导管的侧壁上。
根据本发明新型介入导管，优选地，所述分支导管上设置有控制阀，所述分支导管 上设置有一个控制阀、或所述分支导管上间隔设置有两控制阀。
一种介入手术机器人，包括底座、上述的新型介入导管、推送单元和控制系统，所述固定导管固定设置在所述底座上，所述底座上设置有驱动所述旋转导管的旋转驱动部；至少一组所述推送单元设置在所述底座上，所述推送单元与所述固定导管或所述分支导管对应设置；
所述推送单元包括：
第一回转驱动部，所述第一回转驱动部设置在所述底座上；
第一夹持部，所述第一回转驱动部驱动所述第一夹持部回转动作；
第一工作台，所述第一工作台滑动设置在所述底座上，所述底座上设置有驱动所述第一工作台动作的第一滑移驱动部；
第二夹持部，所述第二夹持部设置在所述第一工作台上；以及
第三夹持部，其设置在所述底座上，所述第一夹持部、第二夹持部和第三夹持部前后依次对应设置。
根据本发明介入手术机器人，优选地，所述第一回转驱动部通过第二工作台设置在所述底座上，所述第二工作台滑动设置在所述底座上，所述底座上设置有驱动所述第二工作台的第二滑移驱动部。
根据本发明介入手术机器人，优选地，还包括细管，所述底座上设置有第三工作台，所述底座上设置有驱动所述第三工作台的第三滑移驱动部，所述第三工作台上设置有与所述细管对应的第四夹持部，所述细管的第一端部支撑设置在所述第一工作台上，所述细管的第二端部匹配穿设在所述固定导管内，所述第三工作台上设置有第二回转驱动部，所述第二回转驱动部驱动所述第四夹持部回转动作。
根据本发明介入手术机器人，优选地，所述细管包括固定细管和回转设置在所述固定细管其中一端的旋转细管；所述固定细管固定支撑在所述第一工作台上；所述固定细管侧壁上设置有至少一个分支细管。
根据本发明介入手术机器人，优选地，所述分支细管上设置有控制阀，所述分支细管上设置有一个控制阀、或所述分支细管上间隔设置有两控制阀。
根据本发明介入手术机器人，优选地，所述分支细管上对应设置有辅助导送单元，所述辅助导送单元包括：
第三回转驱动部，所述第三回转驱动部设置在所述底座上；
第一辅助夹持部，所述第三回转驱动部驱动所述第一辅助夹持部回转动作；
辅助工作台，所述辅助工作台滑动设置在所述底座上，所述底座上设置有驱动所述辅助工作台动作的第六滑移驱动部；
第二辅助夹持部，所述第二辅助夹持部设置在所述辅助工作台上；以及
第三辅助夹持部，其设置在所述底座上，所述第一辅助夹持部、第二辅助夹持部和第三辅助夹持部前后依次对应设置。
根据本发明介入手术机器人，优选地，所述第一工作台上滑动设置有第四工作台，所述第一工作台上设置有驱动所述第四工作台的第四滑移驱动部，所述第二夹持部设置在所述第四工作台上；
所述第三工作台上设置有第五工作台，所述第三工作台上设置有驱动所述第五工作台的第五滑移驱动部，所述第二回转驱动部设置在所述第五工作台上，所述固定导管固定设置在所述第三工作台上。
根据本发明介入手术机器人，优选地，还包括辅助导向支撑部，所述辅助导向支撑部布设在底座或/和各工作台上，所述辅助导向支撑部包括基座、设置在所述基座上的两侧限位板和驱动两侧限位板开合动作的开合驱动部。
采用上述技术方案，所取得的有益效果是：
本申请整体结构设计合理，能够通过各工作台和各夹持部的对位设置，从而有效的实现不同的导管或导丝的有序布置和有序操控，进而通过手术机器人实现一场完整的手术操作，为手术机器人在医疗领域的进一步发展提供技术支持。本申请的第一工作台和第二工作台的对位布置，配合第一夹持部、第二夹持部和第一回转驱动部能够实现导丝或导管的前后移动和旋转动作，从而满足导丝和导管的基本动作要求；本申请还通过新型介入导管的设置，能够对进入鞘管后的导丝或导管进行变向，从而更有效的模拟医生的操作手法，本申请的新型介入导管和推送单元能够实现导丝或导管的被动和主动调节，更有助于实现机器人的动作，提高了操作的准确性和可控性。
本申请的固定导管上设置有分支导管、细管上设置有分支细管，上述结构的设计，能够使得多个不同功能的导丝或导管能够实现依次连续不干扰的操控，从而实现整个完整的手术操作，更有助于整个手术操作实现远程操控，自动化操控，有效的缩减手术时间，提高手术的效果，减小失误。
本申请能够有效的避免将医护人员置身于具有放射性有害环境下，避免长期从事相关医护工作的人员身体受到辐射等较为严重的损伤。
附图说明
为了更清楚地说明本发明实施例的技术方案，下文中将对本发明实施例的附图进行简单介绍。其中，附图仅仅用于展示本发明的一些实施例，而非将本发明的全部实施例限制于此。
图1为根据本发明实施例的新型介入导管的结构示意图。
图2为根据本发明实施例的介入手术机器人的结构示意图。
图3为根据本发明实施例的介入手术机器人的剖视示意图。
图4为图3中A区段的放大结构示意图。
图5为图3中B区段的放大结构示意图。
图6为图3中C区段的放大结构示意图。
图中序号：
100为新型介入导管、110为固定导管、111为分支导管、112为控制阀、120为旋转导管、121为导引部；
200为底座、210为鞘管；
310为第一工作台、320为第二工作台、330为第三工作台、340为第四工作台、350为第五工作台；
410为旋转驱动部、411为第一旋转驱动电机、412为第一齿轮、413为第二齿轮；420为第一回转驱动部、430为第二回转驱动部；
510为第一夹持部、520为第二夹持部、530为第三夹持部、540为辅助导向支撑部、541为基座、542为侧限位板、550为第四夹持部；
600为细管、610为固定细管、611为分支细管、620为旋转细管；
700为导丝或导管。
具体实施方式
下文中将结合本发明具体实施例的附图，对本发明实施例的示例方案进行清楚、完整地描述。除非另作定义，本发明使用的技术术语或者科学术语应当为所属领域内具有一般技能的人士所理解的通常意义。
在本发明的描述中，需要理解的是，“第一”、“第二”的表述用来描述本发明的各个元件，并不表示任何顺序、数量或者重要性的限制，而只是用来将一个部件和另一个部件区分开。
应注意到，当一个元件与另一元件存在“连接”、“耦合”或者“相连”的表述时，可以意味着其直接连接、耦合或相连，但应当理解的是，二者之间可能存在中间元件；即涵 盖了直接连接和间接连接的位置关系。
应当注意到，使用“一个”或者“一”等类似词语也不必然表示数量限制。“包括”或者“包含”等类似的词语意指出现该词前面的元件或物件涵盖出现在该词后面列举的元件或者物件及其等同，而不排除其他元件或者物件。
应注意到，“上”、“下”、“左”、“右”等指示方位或位置关系的术语，仅用于表示相对位置关系，其是为了便于描述本发明，而不是所指装置或元件必须具有特定的方位、以特定的方位构造和操作；当被描述对象的绝对位置改变后，则该相对位置关系也可能相应的改变。
参见图1，本申请公开了一种新型介入导管，包括固定导管110、旋转导管120、导引部121和分支导管111，旋转导管120与所述固定导管110同轴设置，且所述旋转导管密封回转设置在所述固定导管的前端部；所述导引部设置在所述旋转导管的前端，所述导引部121的通道呈弧状，从而使得导丝或导管从旋转导管伸出后，伸出方向能够发生侧向偏移，进而通过转动旋转导管120实现方向的改变，对导丝或导管700有引导作用；至少一个所述分支导管111设置在所述固定导管110的侧壁上。在工作过程中固定导管相对固定不动，用于引导导丝或导管，旋转导管与固定导管同轴设置，更有助于导丝或导管的导向，当需要导丝或导管进行一定的角度变向时，通过转动旋转导管，从而实现医生在手术过程中的手动旋转动作，该动作间接的对导丝和导管进行了变向，并不会直接导致导丝或导管进行转动，当导丝或导管的旋转操作时，二者不会发生干扰，能够相对独立工作。为了作业的便捷性，保障整个手术过程不会中断，提高手术操作的效率和质量，减少手术持续时间，本申请在固定导管上设置了分支导管，分支导管可以用于布置其他导丝或导管，当其中一个导丝或导管在进行操作时，其他导丝或导管退出固定导管和旋转导管，从而不会发生干扰，如图所示，本实施例中的分支导管与固定导管呈夹角布置，且分支导管的轴线方向与固定导管的轴线方向夹角较小，避免导丝或导管存在过大的转折角度，更有助提高其反映的灵敏性和精准度。
进一步地，在分支导管上设置有控制阀112，所述分支导管111上设置有一个控制阀112、或所述分支导管111上间隔设置有两控制阀112，控制阀112一方面能够对固定导管110中的液体进行阻隔，另一方面更有助于分支导管111内液体的清洗，保持分支导管111内液体的流动。
参见图1-图6，本实施例还公开了一种介入手术机器人，包括底,200、如上述的新型介入导管100、推送单元和控制系统，固定导管110通过支撑座固定设置在所述底座上，底座200上设置有驱动所述旋转导管的旋转驱动部，本实施例中的旋转驱动部410包括设置在 旋转导管上的第一齿轮412、设置在底座上的第一旋转驱动电机411和设置在第一旋转驱动电机的输出端的第二齿轮413，所述第一齿轮和第二齿轮为锥齿轮，彼此匹配啮合，从而实现对旋转导管的驱动动作，或者旋转驱动部可以采用空心轴电机，旋转导管穿设在所述空心轴电机中，空心轴电机的与转轴与旋转导管固定连接或夹持固定；至少一组所述推送单元设置在所述底座上，所述推送单元与所述固定导管或所述分支导管对应设置，根据手术的需要在相应的固定导管和分支导管上布置推送单元，进而实现相应的导丝或导管的推送和旋转动作；具体地，本实施例中的推送单元包括第一回转驱动部420、第一夹持部510、第一工作台310、第二夹持部520和第三夹持部530，其中第一回转驱动部420设置在所述底座200上；所述第一回转驱动部420驱动所述第一夹持部510回转动作，其中第一回转驱动部420可以采用空心轴电机或锥齿轮传动结构，本实施例优选采用空心轴电机，导丝或导管穿过空心轴电机的转轴中部，在转轴的端部设置第一夹持部510，第一夹持部可以通过轴承座支撑在底座上，第一夹持部能够在轴承座内自由转动，第一夹持部与空心轴电机的输出端通过联轴器连接；当需要对导丝或导管旋转时，第一夹持部夹紧导丝或导管，第一回转驱动部驱动第一夹持部旋转并带动导丝或导管旋转，此时第二夹持部520和第三夹持部530均起到导向支撑作用，不会对导丝或导管产生加持力；本实施例中的第一工作台310滑动设置在所述底座200上，底座上设置有驱动第一工作台310动作的第一滑移驱动部；第二夹持部510设置在第一工作台310上；第三夹持部530设置在底座200上，所述第一夹持部510、第二夹持部520和第三夹持部530前后依次对应设置，第三夹持部530的作用主要是在进行换步过程中，避免导丝或者导管受到摩擦力等因素的影响随第二夹持部动作；当需要前后移动时，第一夹持部和第三夹持部松开，第二夹持部夹紧，由第一滑移驱动部驱动第一工作台向前滑动，从而实现导丝或导管的前进推送，推送一定距离后，第二夹持部松开，第三夹持部夹紧，通过第一滑移驱动部将第一工作台和第二夹持部拉回复位，根据设定的推送长度，再次重复上述动作持续进行推送动作；回拉动作与上述的操作方式相反即可。本实施例的附图中，由于在第一工作台中新增了第四工作台，且第二夹持部设置在第四工作台上，因此，相应的可以将第三夹持部设置在第一工作台上，从而也不会影响操作动作。
由于导丝或导管较细且较长，如果跨距过大，很容易造成下坠，因此本申请还设置有辅助导向支撑部540，对组辅助导向支撑部布设在底座或/和各工作台上，所述辅助导向支撑部包括基座541、设置在所述基座上的两侧限位板542和驱动两侧限位板开合动作的开合驱动部，辅助导向支撑部540还可以采用U型槽状的导向槽即可，无需进行开合动作，本实施例中的开合驱动部的设置为了在推送或者回拉时配合相应的夹持部应用，提高导丝或导 管在一些动作过程中的夹持效果和稳定性，更有助于保障导丝或导管的精确推送动作。上述结构中位置适当的具有夹紧功能的辅助导向支撑部可以代替第三夹持部，本申请的附图中没有示出设置在底座上的第三夹持部的位置结构图，仅示出了当在第一工作台上布置有第四工作台时，用辅助导向支撑部代替第三夹持部的位置结构图，根据实际情况，也可以在第一工作台后侧的底座上设置用于夹持导丝或导管的第三夹持部。
为了提高整体的灵活性和实用性，本实施例中的第一回转驱动部通过第二工作台320设置在所述底座200上，所述第二工作台320滑动设置在所述底座200上，所述底座200上设置有驱动所述第二工作台320的第二滑移驱动部，由此根据需要可以确定第一回转驱动部420和第一夹持部510是否需要前后滑移动作，更有助于整个系统的协调动作，保障整个作业过程中的稳定性，避免在手术的不同阶段导致某些区段的导丝或导管悬空过长。
进一步地，本申请还设置有细管600，所述底座上设置有第三工作台330，所述底座200上设置有驱动所述第三工作台330的第三滑移驱动部，所述第三工作台330上设置有与所述细管对应的第四夹持部550，所述细管600的第一端部支撑设置在所述第一工作台310上，所述细管600的第二端部匹配穿设在所述新型介入导管内，所述第三工作台330上设置有第二回转驱动部430，所述第二回转驱动部驱动所述第四夹持部550回转动作，第二回转驱动部430的具体结构可以与第一回转驱动部的结构相同或者旋转驱动部的结构相同；在进行手术操作时，当新型介入导管无法通过内径较细的血管时，通过推送细管实现进一步的在血管内行进，当血管内径进一步缩小，导致细管无法继续向前推进时，通过导丝或更细的导管向前推进，由此完成造影、注药等手术作业。
同时，还可以将细管进行结构细化，具体地，细管600包括固定细管610和密封回转设置在所述固定细管其中一端的旋转细管620；所述固定细管固定支撑在所述第一工作台上；所述固定细管侧壁上设置有至少一个分支细管611。第二回转驱动部430的设置主要是能够实现第一回转驱动部和第二回转驱动部的同步旋转，进而避免在旋转导管转动时，细管发生扭动，造成操作精准度降低。
分支细管611上设置有控制阀，所述分支细管上设置有一个控制阀、或所述分支细管上间隔设置有两控制阀。该位置的控制阀的设置与分支导管上的控制阀的功能基本相同，能够对内部液体进行阻隔，更有助于分支导管内液体的清洗，保持分支细管内液体的流动。
本实施例的分支细管上对应连接设置有辅助导送单元，辅助导送单元包括第三回转驱动部、第一辅助夹持部、辅助工作台、第二辅助夹持部和第三辅助夹持部，第三回转驱动部设置在底座上；第三回转驱动部驱动所述第一辅助夹持部回转动作，第三回转驱动部的结 构可以与第一回转驱动部相同；所述辅助工作台滑动设置在所述底座上，所述底座上设置有驱动所述辅助工作台动作的第六滑移驱动部；所述第二辅助夹持部设置在所述辅助工作台上；第三辅助夹持部设置在所述底座上，第一辅助夹持部、第二辅助夹持部和第三辅助夹持部前后依次对应设置。上述结构的设置主要是用于分支细管内的导丝或导管的旋转动作、前后推送回拉动作。本实施例中的第三回转驱动部、第一辅助夹持部、辅助工作台、第二辅助夹持部、第三辅助夹持部的布置方式与推送单元的第一回转驱动部、第一夹持部、第一工作台、第二夹持部、第三夹持部的布置方式相同即可，因此具体的结构不再通过附图重复说明。
进一步地，在上述结构的基础上为了便于实现不同的外径尺寸的细管或导丝、导管的推送动作，避免相互之间的干扰，本申请在在第一工作台上滑动设置有第四工作台340，第一工作台310上设置有驱动第四工作台340的第四滑移驱动部，第二夹持部520设置在所述第四工作台340上，正如前文所述，此时第三夹持部可以设置在第一工作台上；第三工作台330上设置有第五工作台350，第三工作台330上设置有驱动所述第五工作台的第五滑移驱动部，所述第二回转驱动部设置在所述第五工作台350上，所述固定导管110固定设置在所述第三工作台330上。上述结构的设置，能够实现复合动作，即第一工作台310与第四工作台340的复合动作，第三工作台330与第五工作台350的复合动作，从而能够根据不同的手术操作节段，采用不同组合的多个工作台的动作完成操作，避免前后多个工作台相互之间发生干扰。如在进行导丝或导管的操作时，可以通过第四工作台340的配合动作，完成前进后退和旋转；如进行细管600的动作时，可以采用第一工作台310和第五工作台350的动作；当进行到不同的阶段，根据导丝的推送后的长度、细管的长度变化等，可以进行各工作台在底座上的相对位置的进行改变，更有助于保障导丝或导管、以及细管的稳定性。
本实施例中的第一滑移驱动部、第二滑移驱动部、第三滑移驱动部、第四滑移驱动部、第五滑移驱动部、第六滑移驱动部均可以采用气缸、液压缸、电动推杆、丝杠丝母或齿轮齿条结构中的任一种，各工作台与底座的滑移连接、工作台与工作台的滑移连接均可以采用滑轨式结构或滑槽式结构，当采用滑轨式结构时，在工作台底部设置滑块；当采用滑槽式结构时，可以采用燕尾槽结构。本实施例的第一夹持部、第二夹持部、第三夹持部、第四夹持部可以采用相对设置的两夹持板和驱动两夹持板的动力推杆的结构形式，也可以采用爪钳式的夹持夹具进行夹紧，或其他能够实现轴向无阻碍，通过径向的加持动作完成夹持的结构均可，由于第一夹持部和第四夹持部均需要旋转动作，因此优选采用三爪卡钳结构进行夹持。本实施例中的控制阀采用一次性的医用三通阀。
本文中术语“和/或”表示可以存在三种关系。例如，A和/或B可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”一般表示前后关联对象是一种“或”的关系。
上文已详细描述了用于实现本发明的较佳实施例，但应理解，这些实施例的作用仅在于举例，而不在于以任何方式限制本发明的范围、适用或构造。本发明的保护范围由所附权利要求及其等同方式限定。所属领域的普通技术人员可以在本发明的教导下对前述各实施例作出诸多改变，这些改变均落入本发明的保护范围。

Claims (10)

  1. 一种新型介入导管，其特征在于，包括：
    固定导管；
    旋转导管，其与所述固定导管同轴设置，且所述旋转导管密封回转设置在所述固定导管的前端部；
    导引部，所述导引部设置在所述旋转导管的前端，所述导引部的通道呈弧状；以及
    分支导管，至少一个所述分支导管设置在所述固定导管的侧壁上。
  2. 根据权利要求1所述的新型介入导管，其特征在于，所述分支导管上设置有控制阀，所述分支导管上设置有一个控制阀、或所述分支导管上间隔设置有两控制阀。
  3. 一种介入手术机器人，其特征在于，包括底座、如权利要求1或2所述的新型介入导管、推送单元和控制系统，所述固定导管固定设置在所述底座上，所述底座上设置有驱动所述旋转导管的旋转驱动部；至少一组所述推送单元设置在所述底座上，所述推送单元与所述固定导管或所述分支导管对应设置；
    所述推送单元包括：
    第一回转驱动部，所述第一回转驱动部设置在所述底座上；
    第一夹持部，所述第一回转驱动部驱动所述第一夹持部回转动作；
    第一工作台，所述第一工作台滑动设置在所述底座上，所述底座上设置有驱动所述第一工作台动作的第一滑移驱动部；
    第二夹持部，所述第二夹持部设置在所述第一工作台上；以及
    第三夹持部，其设置在所述底座上，所述第一夹持部、第二夹持部和第三夹持部前后依次对应设置。
  4. 根据权利要求3所述的介入手术机器人，其特征在于，所述第一回转驱动部通过第二工作台设置在所述底座上，所述第二工作台滑动设置在所述底座上，所述底座上设置有驱动所述第二工作台的第二滑移驱动部。
  5. 根据权利要求3所述的介入手术机器人，其特征在于，还包括细管，所述底座上设置有第三工作台，所述底座上设置有驱动所述第三工作台的第三滑移驱动部，所述第三工作台上设置有与所述细管对应的第四夹持部，所述细管的第一端部支撑设置在所述第一工作台上，所述细管的第二端部匹配穿设在所述固定导管内，所述第三工作台上设置有第二回转驱动部，所述第二回转驱动部驱动所述第四夹持部回转动作。
  6. 根据权利要求5所述的介入手术机器人，其特征在于，所述细管包括固定细管和回转设置在所述固定细管其中一端的旋转细管；所述固定细管固定支撑在所述第一工作台上，所述 固定细管侧壁上设置有至少一个分支细管。
  7. 根据权利要求6所述的介入手术机器人，其特征在于，所述分支细管上设置有控制阀，所述分支细管上设置有一个控制阀、或所述分支细管上间隔设置有两控制阀。
  8. 根据权利要求6所述的介入手术机器人，其特征在于，所述分支细管上对应设置有辅助导送单元，所述辅助导送单元包括：
    第三回转驱动部，所述第三回转驱动部设置在所述底座上；
    第一辅助夹持部，所述第三回转驱动部驱动所述第一辅助夹持部回转动作；
    辅助工作台，所述辅助工作台滑动设置在所述底座上，所述底座上设置有驱动所述辅助工作台动作的第六滑移驱动部；
    第二辅助夹持部，所述第二辅助夹持部设置在所述辅助工作台上；以及
    第三辅助夹持部，其设置在所述底座上，所述第一辅助夹持部、第二辅助夹持部和第三辅助夹持部前后依次对应设置。
  9. 根据权利要求6所述的介入手术机器人，其特征在于，所述第一工作台上滑动设置有第四工作台，所述第一工作台上设置有驱动所述第四工作台的第四滑移驱动部，所述第二夹持部设置在所述第四工作台上；
    所述第三工作台上设置有第五工作台，所述第三工作台上设置有驱动所述第五工作台的第五滑移驱动部，所述第二回转驱动部设置在所述第五工作台上，所述固定导管固定设置在所述第三工作台上。
  10. 根据权利要求3-9任一所述的介入手术机器人，其特征在于，还包括辅助导向支撑部，所述辅助导向支撑部布设在底座或/和各工作台上，所述辅助导向支撑部包括基座、设置在所述基座上的两侧限位板和驱动两侧限位板开合动作的开合驱动部。
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