WO2022179617A1 - 介入手术递送装置及递送系统 - Google Patents

介入手术递送装置及递送系统 Download PDF

Info

Publication number
WO2022179617A1
WO2022179617A1 PCT/CN2022/077986 CN2022077986W WO2022179617A1 WO 2022179617 A1 WO2022179617 A1 WO 2022179617A1 CN 2022077986 W CN2022077986 W CN 2022077986W WO 2022179617 A1 WO2022179617 A1 WO 2022179617A1
Authority
WO
WIPO (PCT)
Prior art keywords
delivery
wheel
driven
interventional
delivery device
Prior art date
Application number
PCT/CN2022/077986
Other languages
English (en)
French (fr)
Inventor
谢晓亮
周小虎
刘市祺
Original Assignee
中国科学院自动化研究所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国科学院自动化研究所 filed Critical 中国科学院自动化研究所
Publication of WO2022179617A1 publication Critical patent/WO2022179617A1/zh

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/95—Instruments specially adapted for placement or removal of stents or stent-grafts
    • A61F2/958—Inflatable balloons for placing stents or stent-grafts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/95—Instruments specially adapted for placement or removal of stents or stent-grafts
    • A61F2/954—Instruments specially adapted for placement or removal of stents or stent-grafts for placing stents or stent-grafts in a bifurcation
    • 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
    • A61M25/09041—Mechanisms for insertion of guide wires

Definitions

  • the present invention relates to the field of medical devices, in particular to an interventional surgery delivery device and a delivery system.
  • Bifurcation lesions refer to vascular stenosis caused by intravascular plaques, blockages, etc., and exist in many parts of the blood vessels, especially the bifurcations of the blood vessels.
  • PCI percutaneous coronary intervention
  • the purpose of the present invention is to provide an interventional operation delivery device and delivery system to alleviate the technical problems that a single guide wire or catheter can only be pushed at a time in a PCI operation, resulting in low operation efficiency and long operation time.
  • the present invention provides an interventional operation delivery device, comprising: at least one driving wheel and a plurality of driven wheels; the driven wheels and the driving wheels are alternately distributed, and a supply supply is formed between the adjacent driven wheels and the driving wheels A delivery channel through which a guide wire or catheter travels, the interventional delivery device comprising a plurality of the delivery channels; the driven wheel is configured to be offset from or adjacent to the drive wheel, the drive wheel is configured to rotate in both directions.
  • the present invention provides an interventional operation delivery system, comprising: a plurality of support frames, a plurality of clamping devices and the above-mentioned interventional operation delivery device, one of the delivery channels corresponds to a group of the support frames and the clamping devices, so
  • the interventional delivery system is configured such that a guide wire or catheter enters the delivery channel through the gripping device and the scaffold.
  • a delivery channel is formed between the driven wheel and the driving wheel, and a guide wire/catheter with a balloon and a stent is passed through the delivery channel.
  • the guide wire/catheter in the delivery channel on that side is not clamped; bring the driven wheel on the other side close to the driving wheel, the guide wire/catheter in the delivery channel on that side is clamped by the driving wheel Clamping with the driven wheel, the driving wheel rotates to push the guide wire/catheter to move forward.
  • the interventional delivery device includes multiple delivery channels, so that multiple guide wires/catheters with balloons and stents can be pushed, and the guide wires/catheters with balloons and stents can be pushed to different lesion sites, Thereby, the operation efficiency is improved, the operation time is shortened, the exposure time in the radiation environment is reduced, the workload is reduced, the labor intensity of the doctor is reduced, and the bifurcation lesions are better handled.
  • FIG. 2 is a schematic structural diagram of a second embodiment of the interventional surgery delivery device provided by the present invention.
  • FIG. 3 is a schematic structural diagram of a third embodiment of the interventional surgery delivery device provided by the present invention.
  • FIG. 4 is a schematic structural diagram of a fourth embodiment of the interventional surgery delivery device provided by the present invention.
  • Figure 5 is a cross-sectional view of the interventional delivery device shown in Figure 1;
  • FIG. 6 is an axonometric view of an interventional surgery delivery device provided by the present invention.
  • FIG. 7 is a schematic structural diagram of a support frame in the interventional surgery delivery device provided by the present invention.
  • FIG. 9 is an exploded view of the clamping device in the interventional delivery device provided by the present invention.
  • FIG. 10 is a cross-sectional view of a clamping device in an interventional delivery device provided by the present invention.
  • Figure 11 is an enlarged exploded view of the clamping eccentric in the clamping device shown in Figure 9;
  • Figure 12 is a partial bottom view of the clamping device shown in Figure 9;
  • Figure 13 is a schematic structural diagram of the clamping eccentric shaft in the clamping device shown in Figure 9;
  • the interventional surgery delivery device includes: at least one driving wheel 10 and a plurality of driven wheels 20 ; the driven wheels 20 and the driving wheels 10 alternate Distribution, the adjacent driven wheel 20 and the driving wheel 10 form a delivery channel 100 for the guide wire 80 or the catheter to pass through, the interventional surgery delivery device includes a plurality of delivery channels 100; the driven wheel 20 is configured to be able to deviate from or be close to the driving wheel 10.
  • the driving wheel 10 is configured to rotate in both directions.
  • the driven wheel 20 corresponding to the delivery channel 100 is brought close to the driving wheel 10 and the rotation direction of the driving wheel 10 is adjusted, so as to push the guide wire/catheter in the delivery channel 100 guide wire/catheter.
  • the interventional delivery device includes a plurality of delivery channels 100, which can push multiple guide wires/catheters with balloons and stents to push the guide wires/catheters with balloons and stents to different lesion sites, Thereby, the operation efficiency is improved, the operation time is shortened, the exposure time in the radiation environment is reduced, the workload is reduced, the labor intensity of the doctor is reduced, and the bifurcation lesions are better handled.
  • the guide wire/catheter passes through the driving wheel 10 and the driven wheel 20 and then enters the Y valve 70, which guides the movement of the guide wire/catheter.
  • the guidewire/catheter extends along the delivery channel 100 toward the end of the Y valve 70 .
  • the delivery channel 100 is parallel to the tangent of the driving wheel 10, and the multiple delivery channels 100 all extend along the radial direction of the same ring.
  • the multiple delivery channels 100 are all along a circle centered on the end of the Y valve 70. The radial extension of the ring is convenient for the driving wheel 10 to push the guide wire/catheter to move toward the Y valve 70 smoothly and smoothly.
  • the number of driven wheels 20 and driving wheels 10 can be configured according to the number of guide wires/catheters to be operated, and a sufficient number of delivery channels 100 can be designed.
  • the center of each driven wheel 20 is close to the driving wheel 10. The centers of the circles lie on the same arc.
  • FIG. 5 shows how the interventional delivery device shown in FIG. 1 can realize the deviation of the driven wheel 20 or approach the driving wheel 10 , and the interventional delivery device shown in FIGS. 2-3 can adopt a similar structure to realize the deviation of the driven wheel 20 or It is close to the driving wheel 10 and will not be repeated here.
  • the driven wheel 20 includes an eccentric shaft 201 and a rubber-coated roller 202 sleeved outside the eccentric shaft 201.
  • the eccentric shaft 201 and the rubber-coated roller 202 are connected by a first bearing 203, and the axis of the first bearing 203 Coinciding with the axis of the driven wheel 20 itself, the driven motor 21 is connected to the eccentric shaft 201 .
  • the driven motor 21 drives the eccentric shaft 201 to rotate, the position of the driven wheel 20 is adjusted.
  • the driving wheel 10 rotates, and the rubber-coated roller 202 in the driven wheel 20 can also rotate along with it, thereby reducing the resistance of the driven wheel 20 to the guide wire/catheter. , which is conducive to the smooth movement of the guide wire/catheter.
  • the driven motor 21 is connected to the eccentric shaft 201 through the driven axle 23 , the driven axle 23 is mounted on the support plate 40 through the linear bearing 24 and the axle bearing 25 , and the driven motor 21 is mounted on the support plate 40 through the motor base 211 . As shown in FIG.
  • the interventional operation delivery device includes: a plurality of delivery mechanisms 30 ; the delivery mechanism 30 includes a driving wheel set 32 and a second driven wheel set 31 , and the driving wheel set 32
  • a delivery channel 100 for the guide wire 80 or the catheter to pass through is formed between the second driven wheel set 31;
  • the second driven wheel set 31 includes a plurality of driven wheels 20 distributed along the direction of the delivery channel 100, and the driving wheel set 32 includes a plurality of The driving wheels 10 distributed in the direction of the delivery channel 100;
  • the second driven wheel group 31 is configured to be able to deviate from or approach the driving wheel 10, and the driving wheel 10 is configured to be able to rotate in both directions.
  • each driven wheel 20 in the second driven wheel set 31 can be respectively set as an eccentric wheel, and adopts a structure similar to the structure shown in FIG. 5 above. , to make each eccentric wheel move eccentrically, so as to deviate from or approach the driving wheel 10 .
  • each driven wheel 20 in the second driven wheel set 31 can be mounted to a platform, and the platform can be driven to move, so that each driven wheel 20 in the second driven wheel set 31 can move together as a whole , to deviate from or approach the driving wheel 10 .
  • At least one driving wheel 10 in the driving wheel set 32 is connected to a motor, and the motor provides driving force to drive the driving wheel 10 in the driving wheel set 32 to rotate.
  • the driving wheel set 32 includes two driving wheels 10 , wherein one driving wheel 10 is connected with the motor. Since the two driving wheels 10 are connected together through the driving wheel belt 321 , under the driving of the motor , so that the two driving wheels 10 rotate together.
  • the number of delivery mechanisms 30 can be configured according to the number of guide wires/catheters to be operated, and a sufficient number of delivery channels 100 can be designed.
  • the guide wire/catheter is passed through the driving wheel set 32 and the second driven wheel set 31 and then enters the Y valve 70.
  • the Y valve 70 plays a guiding role for the movement of the guide wire/catheter.
  • the guide wire/catheter Extends toward the end of the Y valve 70 .
  • the delivery channels 100 in the plurality of delivery mechanisms 30 all extend in the radial direction of the same ring, specifically, the plurality of delivery channels 100 all extend in the radial direction of the ring with the end of the Y valve 70 as the center, In order to facilitate the driving wheel set 32 to push the guide wire/catheter along the delivery channel 100, it can move to the Y valve 70 smoothly and smoothly.
  • the present invention provides an interventional surgery delivery system, as shown in FIGS. 1-4 and 6 , the interventional surgery delivery system includes: a plurality of support frames 50 , a plurality of clamping devices 60 and the above-mentioned interventional surgery delivery device, One delivery channel 100 corresponds to a set of stents 50 and clamping devices 60 , and the interventional surgical delivery system is configured such that a guidewire 80 or catheter enters the delivery channel 100 through the clamping device 60 and the stent 50 .
  • the interventional operation delivery device in the interventional operation delivery system has the same structure, working principle and beneficial effect as the first and second embodiments, and will not be repeated here.
  • the support frame 50 is provided between the delivery device and the clamping device 60 . As shown in FIGS. 1-4 , one delivery channel 100 corresponds to multiple support frames 50 , and the multiple support frames 50 are distributed along the extension direction of the delivery channel 100 .
  • the support frame 50 includes a support base 52 and a support wheel 51 , the support wheel 51 is rotatably mounted on the support base 52 , and a torsion spring 53 is arranged between the support wheel 51 and the support base 52 ; the support base 52 is provided with a loading and unloading port 521 , the support wheel 51 is provided with a support groove 511 , and the torsion spring 53 is configured to drive the support wheel 51 to rotate, so that the support groove 511 deviates from the loading and unloading port 521 .
  • the operator can turn the support wheel 51 to rotate, so that the support groove 511 is aligned with the loading and unloading port 521 on the support base 52, so that the guide wire/catheter can be transferred into the support groove 511 through the loading and unloading port 521;
  • the support wheel 51 rotates back, and the support groove 511 deviates from the loading and unloading port 521 to confine the guide wire/catheter in the support groove 511 .
  • the center of the support wheel 51 is provided with a circular shaft 512
  • the torsion spring 53 is sleeved outside the circular shaft 512
  • the support wheel 51 is provided with a first groove 513
  • one end of the torsion spring 53 is embedded in the first groove 513.
  • the support base 52 is provided with a second groove 522
  • the other end of the torsion spring 53 is embedded in the second groove 522 .
  • the support base 52 includes a base body 523 and two clamping plates 524, the clamping plates 524 are fixed on the base body 523, the loading and unloading port 521 is arranged on the clamping plate 524, and the supporting wheel 51 is arranged between the two clamping plates 524; preferably One of the plywood 524 and the base body 523 is integrally formed, and the other plywood 524 is fixed to the base body 523 by bolts, so as to facilitate the assembly of the support frame 50 .
  • the clamping device 60 includes a clamping motor 61 , a clamping eccentric 62 and a clamping driven wheel 63 .
  • the clamping device 60 is configured as The guide wire 80 or the catheter is inserted between the clamping eccentric 62 and the clamping driven wheel 63, the clamping motor 61 is connected with the clamping eccentric 62, and the clamping motor 61 drives the clamping eccentric 62 to rotate to adjust the clamping eccentric The size of the distance between the wheel 62 and the clamping driven wheel 63 .
  • the clamping motor 61 drives the clamping eccentric wheel 62 to rotate to increase the distance between the clamping eccentric wheel 62 and the clamping driven wheel 63, so that the guide wire/catheter can be smoothly removed from the guide wire/catheter.
  • the clamping eccentric 62 and the clamping driven wheel 63 Pass between the clamping eccentric 62 and the clamping driven wheel 63 to avoid the clamping eccentric 62 and the clamping driven wheel 63 from producing resistance to the guide wire/catheter; when the guide wire/catheter is pushed in place or paused, the clamping
  • the motor 61 drives the clamping eccentric 62 to rotate so that the distance between the clamping eccentric 62 and the clamping driven wheel 63 is reduced, and the guide wire/catheter is clamped to ensure the stability of the guide wire/catheter position.
  • the delivery system includes a support plate 40 to which both the delivery device and the support frame 50 are mounted.
  • the support plate 40 includes an upper shell 41 and an upper plate 42, the upper plate 42 is detachably fixed on the upper surface of the upper shell 41, the clamping motor 61 is installed on the upper plate 42, and the clamping eccentric 62 is installed on the upper shell 41 through the second bearing 64;
  • the clamping device 60 includes a positioning block 65, the positioning block 65 is provided with a positioning boss 651, and the positioning block 65 is installed in the clamping On the output shaft of the motor 61 , the bottom surface of the clamping eccentric 62 is provided with a positioning groove 621 matched with the positioning boss 651 .
  • the clamping motor 61 drives the clamping eccentric 62 to rotate through the positioning block 65 .
  • the upper shell 41 is a one-time device, and the upper shell 41 and the upper plate 42 are detachably connected to facilitate the replacement of the upper shell 41 and the devices mounted on the upper shell 41 to ensure medical and health safety.
  • the clamp driven pulley 63 is fixed to the support plate 40 by clamp bolts 631 .
  • it includes a clamping stopper 66 and a bearing stopper 67 .
  • the clamping stopper 66 is sleeved outside the clamping eccentric 62 ; the bearing stopper 67 is fixed by screws for pressing
  • the second bearing 64 prevents the second bearing 64 from moving up and down.
  • the delivery system includes a Y-valve fixing device 71.
  • the Y-valve 70 When in use, the Y-valve 70 is installed on the Y-valve fixing device 71. After the guide wire/catheter is passed from the delivery device, it enters the To the Y valve 70, the Y valve 70 acts as a guide for the movement of the guide wire/catheter.
  • the structure of the Y valve 70 is in the prior art and will not be described in detail in the present invention.
  • the delivery system can be used as follows:
  • Step S10 the doctor inserts the guide wire/catheter into the Y valve 70 and then puts it into the Y valve fixing device 71, and then passes the end of the guide wire tube through the gap between the driving wheel 10 and the driven wheel 20, the support frame 50 and the clamping device 60 in turn;
  • step S20 the driven wheel 20 on one side is eccentrically rotated to be close to the driving wheel 10. Since the surfaces of the driving wheel 10 and the driven wheel 20 are coated with medical silica gel, the guide wire 80 is clamped by the silica gel deformation between the driving wheel 10 and the driven wheel 20. At the same time, the driving wheel 10 provides rotational power, and the driven wheel 20 and the driving wheel 10 on one side rotate at the same time, and the guide wire is pushed forward through the Y valve catheter according to the operation of the surgeon to reach the patient's lesion;
  • Step S30 the clamping device 60 clamps the guide wire, and the driven wheel 20 on one side rotates eccentrically to separate from the driving wheel 10;
  • Step S40 the next step is the same as installing the guide wire.
  • the other side driven wheel 20 is eccentrically rotated to be close to the driving wheel 10, and the catheter with the balloon and the stent is clamped.
  • the driving wheel 10 provides rotational power, and according to the operation of the surgeon, the catheter with the balloon and the stent is pushed forward through the Y valve catheter to reach the patient's lesion, and the stent is placed after releasing the balloon to dilate the blood vessel to complete the operation.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Cardiology (AREA)
  • Transplantation (AREA)
  • Vascular Medicine (AREA)
  • Hematology (AREA)
  • Pulmonology (AREA)
  • Biophysics (AREA)
  • Anesthesiology (AREA)
  • Media Introduction/Drainage Providing Device (AREA)

Abstract

本发明提供了一种介入手术递送装置及递送系统，该介入手术递送装置包括：至少一个主动轮和多个从动轮；所述从动轮与所述主动轮交替分布，相邻的所述从动轮与所述主动轮之间形成供导丝或导管穿行的递送通道，所述介入手术递送装置包括多个所述递送通道；所述从动轮被构造成能够偏离或者靠近所述主动轮，所述主动轮被构造成能够双向旋转。通过本发明，缓解了PCI手术一次只能进行单根导丝或导管的推送操作，导致手术工作效率低、手术时间长的技术问题。

Description

介入手术递送装置及递送系统
相关申请
本申请要求专利申请号为202110215666.9、申请日为2021.02.26、发明名称为“介入手术递送装置及递送系统”的中国发明专利的优先权。
技术领域
本发明涉及医疗器械领域，尤其涉及一种介入手术递送装置及递送系统。
背景技术
分叉病变是指由血管内斑块、堵塞等引起的血管狭窄，存在于血管内多个部位，尤其是血管分叉处。目前，冠脉分叉病变大多采用经皮冠状动脉介入治疗(Percutaneous Coronary Intervention，PCI)手术进行治疗，由于病变位置、分叉角度和类型较为复杂，技术操作难度大、手术时间长，成为PCI手术中的难题。
针对分叉病变，临床上主要使用双支架技术，这一技术关键在于保障主支血管和边支血管同时通畅，即需要主支与边支支架同时到位。现有PCI手术机器人一次只能进行单根导丝或导管的推送操作，导致手术工作效率低、工作量大、治疗时间久，使得分叉病变病人的手术时间长，辐射环境下暴露时间长，医生劳动强度较大。
发明内容
本发明的目的是提供一种介入手术递送装置及递送系统，以缓解PCI手术一次只能进行单根导丝或导管的推送操作，导致手术工作效率低、手术时间长的技术问题。
本发明的上述目的可采用下列技术方案来实现：
本发明提供一种介入手术递送装置，包括：至少一个主动轮和多个从动轮；所述从动轮与所述主动轮交替分布，相邻的所述从动轮与所述主动轮之间形成供导丝或导管穿行的递送通道，所述介入手术递送装置包括多个所述递送通道；所述从动轮被构造成能够偏离或者靠近所述主动轮，所述主动轮被构造成能够双向旋转。
本发明提供一种介入手术递送装置，包括：多个递送机构；所述递送机构包括主动轮组和第二从动轮组，所述主动轮组与所述第二从动轮组之间形成供导丝或导管穿行的 递送通道，所述介入手术递送装置包括多个所述递送通道；所述第二从动轮组包括多个沿所述递送通道的方向分布的从动轮，所述主动轮组包括多个沿所述递送通道的方向分布的主动轮；所述第二从动轮组被构造成能够偏离或者靠近所述主动轮，所述主动轮被构造成能够双向旋转。
本发明提供一种介入手术递送系统，包括：多个支撑架、多个夹紧装置和上述的介入手术递送装置，一个所述递送通道对应一组所述支撑架和所述夹紧装置，所述介入手术递送系统被构造成导丝或导管经所述夹紧装置和所述支撑架进入所述递送通道。
本发明的特点及优点是：
使用该介入手术递送装置时，从动轮与主动轮之间形成递送通道，导丝/带有球囊和支架的导管穿设于该递送通道中。使一侧的从动轮偏离主动轮，该侧递送通道中的导丝/导管未被夹紧；使另一侧的从动轮靠近主动轮，该侧的递送通道中的导丝/导管被主动轮和从动轮夹紧，主动轮旋转，实现推动导丝/导管向前运动。如上所述，需要推动一递送通道中的导丝/导管时，使该递送通道对应的从动轮靠近主动轮，并调整主动轮的旋转方向，能够实现推动该递送通道中的导丝/导管。
该介入手术递送装置包括多个递送通道，从而可以对多根导丝/带有球囊和支架的导管进行推动操作，将导丝/带有球囊和支架的导管推送至不同的病灶部位，从而提高手术工作效率，缩短手术时间，减少辐射环境下暴露时间，减少工作量，降低医生劳动强度，更好地处理分叉病变。
附图说明
以下附图仅旨在于对本发明做示意性说明和解释，并不限定本发明的范围。其中：
图1为本发明提供的介入手术递送装置第一种实施方式的结构示意图；
图2为本发明提供的介入手术递送装置第二种实施方式的结构示意图；
图3为本发明提供的介入手术递送装置第三种实施方式的结构示意图；
图4为本发明提供的介入手术递送装置第四种实施方式的结构示意图；
图5为图1所示的介入手术递送装置的剖视图；
图6为本发明提供的介入手术递送装置的轴测图；
图7为本发明提供的介入手术递送装置中的支撑架的结构示意图；
图8为图8所示的支撑架的分解图；
图9为本发明提供的介入手术递送装置中的夹紧装置的分解图；
图10为本发明提供的介入手术递送装置中的夹紧装置的剖视图；
图11为图9所示的夹紧装置中的夹紧偏心轮的放大分解图；
图12为图9所示的夹紧装置的局部仰视图；
图13为图9所示的夹紧装置中的夹紧偏心轴的结构示意图；
图14为图9所示的夹紧装置中的定位块的结构示意图。
具体实施方式
为了对本发明的技术特征、目的和效果有更加清楚的理解，现对照附图说明本发明的具体实施方式。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。
实施例一
本发明提供了一种介入手术递送装置，如图1-图3和图6所示，该介入手术递送装置包括：至少一个主动轮10和多个从动轮20；从动轮20与主动轮10交替分布，相邻的从动轮20与主动轮10之间形成供导丝80或导管穿行的递送通道100，介入手术递送装置包括多个递送通道100；从动轮20被构造成能够偏离或者靠近主动轮10，主动轮10被构造成能够双向旋转。
使用该介入手术递送装置时，从动轮20与主动轮10之间形成递送通道100，导丝/带有球囊和支架的导管穿设于该递送通道100中。使一侧的从动轮20偏离主动轮10，该侧递送通道100中的导丝/导管未被夹紧；使另一侧的从动轮20靠近主动轮10，该侧递送通道100中的导丝/导管被主动轮10和从动轮20夹紧，主动轮10旋转，实现推动导丝/导管向前运动。如上所述，需要推动一递送通道100中的导丝/导管时，使该递送通道100对应的从动轮20靠近主动轮10，并调整主动轮10的旋转方向，能够实现推动该递送通道100中的导丝/导管。
该介入手术递送装置包括多个递送通道100，可以对多根导丝/带有球囊和支架的导管进行推动操作，将导丝/带有球囊和支架的导管推送至不同的病灶部位，从而提高手术工作效率，缩短手术时间，减少辐射环境下暴露时间，减少工作量，降低医生劳动强度，更好地处理分叉病变。
使用该介入手术递送装置时，从动轮20与主动轮10之间形成递送通道100，导丝/带有球囊和支架的导管穿设于该递送通道100中。使一侧的从动轮20偏离主动轮10，该侧递送通道100中的导丝/导管未被夹紧；使另一侧的从动轮20靠近主动轮10，该侧 的递送通道100中的导丝/导管被主动轮10和从动轮20夹紧，主动轮10旋转，实现推动导丝/导管向前运动。如上所述，需要推动一递送通道100中的导丝/导管时，使该递送通道100对应的从动轮20靠近主动轮10，并调整主动轮10的旋转方向，能够实现推动该递送通道100中的导丝/导管。
该介入手术递送装置包括多个递送通道100，从而可以对多根导丝/带有球囊和支架的导管进行推动操作，将导丝/带有球囊和支架的导管推送至不同的病灶部位，从而提高手术工作效率，缩短手术时间，减少辐射环境下暴露时间，减少工作量，降低医生劳动强度，更好地处理分叉病变。
如图1-图3和图6所示，导丝/导管从主动轮10和从动轮20穿出后进入到Y阀70，Y阀70为导丝/导管的运动起到导向作用。如图1-图3所示，导丝/导管顺着递送通道100向Y阀70的端部延伸。进一步地，递送通道100平行于主动轮10的切线，多个递送通道100均沿同一圆环的径向延伸，具体地，多个递送通道100均沿以Y阀70的端部为圆心的圆环的径向延伸，以方便主动轮10推动导丝/导管平稳顺畅地向Y阀70运动。
在一实施方式中，该介入手术递送装置包括一个主动轮10和两个从动轮20，介入手术递送装置包括两个递送通道100，如图1所示，该介入手术递送装置可以对两根导丝/带有球囊和支架的导管进行推动操作，将导丝/带有球囊和支架的导管推送至不同的病灶部位，提高了手术工作效率，缩短了手术时间。
在另一实施方式中，该介入手术递送装置包括两个主动轮10和3个从动轮20，主动轮10与从动轮20依次地交替分布，介入手术递送装置包括4个递送通道100，如图3所示，该介入手术递送装置可以对4根导丝/带有球囊和支架的导管进行推动操作，将导丝/带有球囊和支架的导管推送至不同的病灶部位，提高了手术工作效率，缩短了手术时间。
可以根据所需要操作的导丝/导管的数量，来配置从动轮20与主动轮10的数量，设计足够数量的递送通道100。优选地，各个从动轮20在处于推送状态(即从动轮20靠近主动轮10，从动轮20与主动轮10将导丝/导管夹紧的状态)时，各个从动轮20的圆心与主动轮10的圆心位于同一圆弧线上。
在再一实施方式中，该介入手术递送装置包括多个第一从动轮组22，第一从动轮组22包括多个沿递送通道100的方向分布的从动轮20，第一从动轮组22与主动轮10交替分布，相邻的第一从动轮组22与主动轮10之间形成递送通道100，如图2所示，该 介入手术递送装置可以对两根导丝/带有球囊和支架的导管进行推动操作，将导丝/带有球囊和支架的导管推送至不同的病灶部位，提高了手术工作效率，缩短了手术时间。并且，第一从动轮组22包括多个从动轮20，对于一个递送通道100，多个从动轮20与主动轮10配合，增大了从动轮20和主动轮10与导丝/导管的接触面积，增大了摩擦力，有利于主动轮10更稳定地为导丝/导管提供驱动力。优选地，第一从动轮组22包括两个从动轮20。可以根据所需要操作的导丝/导管的数量，来配置第一从动轮组22与主动轮10的数量，设计足够数量的递送通道100。
通过驱动从动轮20运动，调整从动轮20相对于主动轮10的位置，以实现从动轮20偏离或者靠近主动轮10。在一实施方式中，从动轮20为偏心轮，从动轮20与从动电机21连接，从动电机21驱动从动轮20转动，以使从动轮20偏离或者靠近主动轮10，如图5所示，图5为图1所示的介入手术递送装置的剖视图，从动轮20在从动电机21的驱动下转动时，由于转动的轴线偏离从动轮20自身的轴线，从而实现从动轮20偏离或者靠近主动轮10，调整从动轮20与主动轮10之间间距的大小，以使从动轮20与主动轮10将导丝/导管夹紧或者松开。图5示出了图1所示的介入手术递送装置如何实现从动轮20偏离或者靠近主动轮10，图2-图3所示的介入手术递送装置可以采用类似的结构来实现从动轮20偏离或者靠近主动轮10，在此不再赘述。
如图5所示，从动轮20包括偏心轴201和套设于偏心轴201外的包胶滚轮202，偏心轴201与包胶滚轮202之间通过第一轴承203连接，第一轴承203的轴线与从动轮20自身的轴线重合，从动电机21与偏心轴201连接，从动电机21带动偏心轴201转动时，调整从动轮20的位置。从动轮20与主动轮10将导丝/导管夹紧时，主动轮10旋转，从动轮20中的包胶滚轮202也可以随着旋转，从而减小从动轮20对导丝/导管产生的阻力，有利于导丝/导管顺畅地运动。具体地，从动电机21通过从动轮轴23与偏心轴201连接，从动轮轴23通过直线轴承24和轮轴轴承25安装于支撑板40，从动电机21通过电机座211安装于支撑板40。如图5所示，从动轮轴23通过联轴器26与从动电机21连接；直线轴承24通过直线轴承座241安装于支撑板40，轮轴轴承25通过从动轴轴承座251安装于支撑板40。主动轮10通过主动轮轴11和齿轮与电机连接，如图5所示，主动轮轴11的下端连接有连接柱12，齿轮连接于连接柱12的下端。
实施例二
本发明提供了一种介入手术递送装置，如图4所示，该介入手术递送装置包括：多个递送机构30；递送机构30包括主动轮组32和第二从动轮组31，主动轮组32与第二 从动轮组31之间形成供导丝80或导管穿行的递送通道100；第二从动轮组31包括多个沿递送通道100的方向分布的从动轮20，主动轮组32包括多个沿递送通道100的方向分布的主动轮10；第二从动轮组31被构造成能够偏离或者靠近主动轮10，主动轮10被构造成能够双向旋转。
使用该介入手术递送装置时，第二从动轮组31与主动轮组32之间形成递送通道100，导丝/带有球囊和支架的导管穿设于该递送通道100中。使一侧的第二从动轮组31偏离主动轮组32，该侧递送通道100中的导丝/导管未被夹紧；使另一侧的第二从动轮组31靠近主动轮组32，该侧递送通道100中的导丝/导管被主动轮组32和第二从动轮组31夹紧，主动轮10旋转，实现推动导丝/导管向前运动。如上所述，需要推动一递送通道100中的导丝/导管时，使该递送通道100对应的第二从动轮组31靠近主动轮组32，并调整主动轮组32的旋转方向，能够实现推动该递送通道100中的导丝/导管。
该介入手术递送装置包括多个递送通道100，可以对多根导丝/带有球囊和支架的导管进行推动操作，将导丝/带有球囊和支架的导管推送至不同的病灶部位，从而提高手术工作效率，缩短手术时间，减少辐射环境下暴露时间，减少工作量，降低医生劳动强度，更好地处理分叉病变。
为了实现第二从动轮组31偏离或者靠近主动轮10，在一些情况下，第二从动轮组31中的各个从动轮20可以分别设置为偏心轮，采用与上述图5所示结构类似的结构，使各个偏心轮分别偏心运动，以实现偏离或者靠近主动轮10。在另一些情况下，可以将第二从动轮组31中的各个从动轮20安装至一个平台，驱使该平台运动，以使第二从动轮组31中的各个从动轮20作为一个整体，一起运动，实现偏离或者靠近主动轮10。
进一步地，主动轮组32包括套设于主动轮10外的主动轮皮带321，第二从动轮组31包括套设于从动轮20外的从动轮皮带311，递送通道100设于主动轮皮带321与从动轮皮带311之间，如图4所示，通过主动轮皮带321与从动轮皮带311来夹紧导丝/导管，增大了接触面积，有利于提供更大的摩擦驱动力，以更平稳地驱动导丝/导管运动。
主动轮组32中至少一个主动轮10与电机连接，电机提供驱动力，以驱使主动轮组32中的主动轮10旋转。优选地，如图4所示，主动轮组32包括两个主动轮10，其中，一个主动轮10与电机连接，由于两个主动轮10通过主动轮皮带321连接到了一起，在电机的驱动下，使两个主动轮10一起转动。可以根据所需要操作的导丝/导管的数量，来配置递送机构30的数量，设计足够数量的递送通道100。
如图4所示，导丝/导管从主动轮组32和第二从动轮组31穿出后进入到Y阀70， Y阀70为导丝/导管的运动起到导向作用，导丝/导管向Y阀70的端部延伸。进一步地，多个递送机构30中的递送通道100均沿同一圆环的径向延伸，具体地，多个递送通道100均沿以Y阀70的端部为圆心的圆环的径向延伸，以方便主动轮组32推动导丝/导管顺着递送通道100，平稳顺畅地向Y阀70运动。
实施例三
本发明提供了一种介入手术递送系统，如图1-图4和图6所示，该介入手术递送系统包括：多个支撑架50、多个夹紧装置60和上述的介入手术递送装置，一个递送通道100对应一组支撑架50和夹紧装置60，介入手术递送系统被构造成导丝80或导管经夹紧装置60和支撑架50进入递送通道100。该介入手术递送系统中的介入手术递送装置，与实施例一和实施例二的结构、工作原理和有益效果相同，在此不再赘述。
在一实施方式，支撑架50设于递送装置与夹紧装置60之间。如图1-图4所示，一个递送通道100对应多个支撑架50，多个支撑架50沿递送通道100的延伸方向分布。
如图7和图8所示，支撑架50包括支撑座52和支撑轮51，支撑轮51可转动地安装于支撑座52，支撑轮51与支撑座52之间设有扭簧53；支撑座52上设有装卸口521，支撑轮51设有支撑凹槽511，扭簧53被构造驱使支撑轮51转动，以使支撑凹槽511偏离装卸口521。使用时，操作人员可拨动支撑轮51转动，使支撑凹槽511与支撑座52上的装卸口521对准，以便于将导丝/导管通过装卸口521转入到支撑凹槽511中；操作人员松开支撑轮51后，在扭簧53的作用下，支撑轮51转动回位，支撑凹槽511偏离装卸口521，以将导丝/导管限定于支撑凹槽511内。
具体地，如图8所示，支撑轮51的中心设有圆轴512，扭簧53套设于该圆轴512外，支撑轮51设有第一凹槽513，扭簧53的一端嵌入第一凹槽513中；支撑座52上设有第二凹槽522，扭簧53的另一端嵌入第二凹槽522中。在一实施方式中，支撑座52包括座体523和两个夹板524，夹板524固定于座体523上，装卸口521设置于夹板524，支撑轮51设置于两个夹板524之间；优选地，一个夹板524与座体523为一体成型结构，另一个夹板524通过螺栓固定于座体523，以方便支撑架50的组装。
如图9和图10所示，夹紧装置60包括夹紧电机61、夹紧偏心轮62和夹紧从动轮63，如图10和图1-图4所示，夹紧装置60被构造成导丝80或导管穿设于夹紧偏心轮62与夹紧从动轮63之间，夹紧电机61与夹紧偏心轮62连接，夹紧电机61带动夹紧偏心轮62转动以调整夹紧偏心轮62与夹紧从动轮63之间的间距的大小。在递送装置推动导丝/导管运动时，夹紧电机61驱动夹紧偏心轮62转动以使夹紧偏心轮62与夹紧从 动轮63之间的间距增大，导丝/导管能够顺畅地从夹紧偏心轮62与夹紧从动轮63之间穿过，避免夹紧偏心轮62与夹紧从动轮63对导丝/导管产生阻力；在导丝/导管推送到位或者暂停推送时，夹紧电机61驱动夹紧偏心轮62转动以使夹紧偏心轮62与夹紧从动轮63之间的间距减小，将导丝/导管夹紧，保障导丝/导管位置的稳定性。
该递送系统包括支撑板40，递送装置和支撑架50均安装于支撑板40。如图9-图12所示，支撑板40包括上壳41和上板42，上板42可拆卸地固定于上壳41的上表面，夹紧电机61安装于上板42，夹紧偏心轮62通过第二轴承64安装于上壳41；如图11、图13和图14所示，夹紧装置60包括定位块65，定位块65设有定位凸台651，定位块65安装于夹紧电机61的输出轴上，夹紧偏心轮62的底面设有与定位凸台651相配合的定位凹槽621，夹紧电机61通过定位块65带动夹紧偏心轮62转动。上壳41为一次性器件，上壳41与上板42之间可拆卸地连接，方便对上壳41及安装于上壳41上的器件进行更换，保障医疗卫生安全。如图12所示，夹紧从动轮63通过夹紧螺栓631固定于支撑板40。如图10和图11所示，包括夹紧限位块66和轴承挡片67，夹紧限位块66套设于夹紧偏心轮62外；轴承挡片67通过螺钉固定，用于压紧第二轴承64，防止第二轴承64上下窜动。
如图1-图4和图6所示，该递送系统包括Y阀固定装置71，使用时，将Y阀70安装到Y阀固定装置71上，导丝/导管从递送装置穿出后，进入到Y阀70中，Y阀70为导丝/导管的运动起到导向作用。Y阀70的结构为现有技术，本发明不做详细介绍。
该递送系统可以按照以下步骤使用：
步骤S10，医生将导丝/导管穿入Y阀70后放入Y阀固定装置71后，将导丝管末端依次穿过主动轮10与从动轮20间隙，支撑架50和夹紧装置60；
步骤S20，将一侧的从动轮20偏心旋转与主动轮10靠紧，由于主动轮10与从动轮20表面使用了医用硅胶包层，导丝80被主动轮10与从动轮20靠硅胶形变夹紧，同时主动轮10提供旋转动力，一侧的从动轮20与主动轮10同时旋转，根据手术医生操作将导丝通过Y阀导管向前推进到达病人病灶；
步骤S30，夹紧装置60将导丝夹紧，一侧从动轮20偏心旋转脱离与主动轮10；
步骤S40，接下来与安装导丝相同，安装好带有球囊和支架的导管后，另一侧从动轮20偏心旋转与主动轮10靠紧，将带有球囊和支架的导管夹紧，主动轮10提供旋转动力，根据手术医生操作将带有球囊和支架的导管通过Y阀导管向前推进到达病人病灶，通过释放球囊扩张血管后放置支架完成手术。
以上所述仅为本发明示意性的具体实施方式，并非用以限定本发明的范围。任何本领域的技术人员，在不脱离本发明的构思和原则的前提下所作的等同变化与修改，均应属于本发明保护的范围。

Claims (14)

  1. 一种介入手术递送装置，其中，所述介入手术递送装置包括：至少一个主动轮和多个从动轮；所述从动轮与所述主动轮交替分布，相邻的所述从动轮与所述主动轮之间形成供导丝或导管穿行的递送通道，所述介入手术递送装置包括多个所述递送通道；
    所述从动轮被构造成能够偏离或者靠近所述主动轮，所述主动轮被构造成能够双向旋转。
  2. 如权利要求1所述的介入手术递送装置，其中，所述递送通道平行于所述主动轮的切线，多个所述递送通道均沿同一圆环的径向延伸。
  3. 如权利要求1或者2所述的介入手术递送装置，其中，所述介入手术递送装置包括一个所述主动轮和两个所述从动轮，所述介入手术递送装置包括两个所述递送通道。
  4. 如权利要求1或者2所述的介入手术递送装置，其中，所述介入手术递送装置包括两个所述主动轮和3个所述从动轮，所述主动轮与所述从动轮依次地交替分布，所述介入手术递送装置包括4个所述递送通道。
  5. 如权利要求1或者2所述的介入手术递送装置，其中，所述介入手术递送装置包括多个第一从动轮组，所述第一从动轮组包括多个沿所述递送通道的方向分布的所述从动轮，所述第一从动轮组与所述主动轮交替分布，相邻的所述第一从动轮组与所述主动轮之间形成所述递送通道。
  6. 如权利要求5所述的介入手术递送装置，其中，所述第一从动轮组包括两个所述从动轮。
  7. 如权利要求1所述的介入手术递送装置，其中，所述从动轮为偏心轮，所述从动轮与从动电机连接，所述从动电机驱动所述从动轮转动，以使所述从动轮偏离或者靠近所述主动轮。
  8. 如权利要求7所述的介入手术递送装置，其中，所述从动轮包括偏心轴和套设于所述偏心轴外的包胶滚轮，所述偏心轴与所述包胶滚轮之间通过第一轴承连接，所述第一轴承的轴线与所述从动轮自身的轴线重合，所述电机与所述偏心轴连接。
  9. 一种介入手术递送装置，其中，包括：多个递送机构；所述递送机构包括主动轮组和第二从动轮组，所述主动轮组与所述第二从动轮组之间形成供导丝或导管穿行的递送通道，所述介入手术递送装置包括多个所述递送通道；
    所述第二从动轮组包括多个沿所述递送通道的方向分布的从动轮，所述主动轮组包括多个沿所述递送通道的方向分布的主动轮；
    所述第二从动轮组被构造成能够偏离或者靠近所述主动轮，所述主动轮被构造成能够双向旋转。
  10. 如权利要求9所述的介入手术递送装置，其中，所述主动轮组包括套设于主动轮外的主动轮皮带，所述第二从动轮组包括套设于从动轮外的从动轮皮带，所述递送通道设于所述主动轮皮带与所述从动轮皮带之间。
  11. 如权利要求9所述的介入手术递送装置，其中，多个所述递送机构中的所述递送通道均沿同一圆环的径向延伸。
  12. 一种介入手术递送系统，其中，包括：多个支撑架、多个夹紧装置和权利要求1-11中任一项所述的介入手术递送装置，一个所述递送通道对应一组所述支撑架和所述夹紧装置，所述介入手术递送系统被构造成导丝或导管经所述夹紧装置和所述支撑架进入所述递送通道。
  13. 如权利要求12所述的介入手术递送系统，其中，所述支撑架包括支撑座和支撑轮，所述支撑轮可转动地安装于所述支撑座，所述支撑轮与所述支撑座之间设有扭簧；
    所述支撑座上设有装卸口，所述支撑轮设有支撑凹槽，所述扭簧被构造驱使所述支撑轮转动，以使所述支撑凹槽偏离所述装卸口。
  14. 如权利要求13所述的介入手术递送系统，其中，所述夹紧装置包括夹紧电机、夹紧偏心轮和夹紧从动轮，所述夹紧装置被构造成导丝或导管穿设于所述夹紧偏心轮与所述夹紧从动轮之间，所述夹紧电机与所述夹紧偏心轮连接，所述夹紧电机带动所述夹紧偏心轮转动以调整所述夹紧偏心轮与夹紧从动轮之间的间距的大小。
PCT/CN2022/077986 2021-02-26 2022-02-25 介入手术递送装置及递送系统 WO2022179617A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110215666.9 2021-02-26
CN202110215666.9A CN113509302A (zh) 2021-02-26 2021-02-26 介入手术递送装置及递送系统

Publications (1)

Publication Number Publication Date
WO2022179617A1 true WO2022179617A1 (zh) 2022-09-01

Family

ID=78060985

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/077986 WO2022179617A1 (zh) 2021-02-26 2022-02-25 介入手术递送装置及递送系统

Country Status (2)

Country Link
CN (1) CN113509302A (zh)
WO (1) WO2022179617A1 (zh)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113509302A (zh) * 2021-02-26 2021-10-19 中国科学院自动化研究所 介入手术递送装置及递送系统
CN114177482A (zh) * 2021-11-23 2022-03-15 生一科技(北京)有限公司 管腔介入系统
CN114522326B (zh) * 2022-02-24 2023-11-24 上海神玑医疗科技有限公司 导丝介入装置及血管介入手术机器人
CN114522325B (zh) * 2022-02-24 2023-11-28 上海神玑医疗科技有限公司 一种用于导丝的运动控制装置以及手术机器人

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060041245A1 (en) * 2001-05-06 2006-02-23 Ferry Steven J Systems and methods for medical device a dvancement and rotation
CN103083783A (zh) * 2013-02-25 2013-05-08 中国科学院自动化研究所 一种基于带夹持的血管介入手术导管或导丝操纵装置
CN104174109A (zh) * 2014-09-02 2014-12-03 中国科学院自动化研究所 血管介入手术送丝装置的导丝支撑和夹持装置
CN108704214A (zh) * 2018-04-28 2018-10-26 燕山大学 微创血管介入手术机器人导管/导丝旋转机构及推进装置
CN110652357A (zh) * 2019-09-19 2020-01-07 中国科学院自动化研究所 双导丝或球囊的血管介入器械操控装置
CN111110989A (zh) * 2018-10-31 2020-05-08 博联众科（武汉）科技有限公司 一种血管介入手术导丝导管推进装置
CN111529065A (zh) * 2020-05-09 2020-08-14 中国科学院自动化研究所 血管介入器械操控装置
CN111989064A (zh) * 2018-04-19 2020-11-24 Ln机器人股份有限公司 医疗机器人用辊轮模块、医疗机器人用驱动设备以及医疗机器人
WO2021011533A1 (en) * 2019-07-15 2021-01-21 Corindus, Inc. Manipulation of an elongated medical device
CN113509302A (zh) * 2021-02-26 2021-10-19 中国科学院自动化研究所 介入手术递送装置及递送系统
CN113893441A (zh) * 2021-08-26 2022-01-07 中国科学院自动化研究所 一种介入手术递送装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1782462A (zh) * 2005-05-05 2006-06-07 娜日斯 节能型齿轮传动机构
CN106545379B (zh) * 2016-10-21 2019-07-30 浙江吉利控股集团有限公司 一种气门升程连续可变装置

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060041245A1 (en) * 2001-05-06 2006-02-23 Ferry Steven J Systems and methods for medical device a dvancement and rotation
CN103083783A (zh) * 2013-02-25 2013-05-08 中国科学院自动化研究所 一种基于带夹持的血管介入手术导管或导丝操纵装置
CN104174109A (zh) * 2014-09-02 2014-12-03 中国科学院自动化研究所 血管介入手术送丝装置的导丝支撑和夹持装置
CN111989064A (zh) * 2018-04-19 2020-11-24 Ln机器人股份有限公司 医疗机器人用辊轮模块、医疗机器人用驱动设备以及医疗机器人
CN108704214A (zh) * 2018-04-28 2018-10-26 燕山大学 微创血管介入手术机器人导管/导丝旋转机构及推进装置
CN111110989A (zh) * 2018-10-31 2020-05-08 博联众科（武汉）科技有限公司 一种血管介入手术导丝导管推进装置
WO2021011533A1 (en) * 2019-07-15 2021-01-21 Corindus, Inc. Manipulation of an elongated medical device
CN110652357A (zh) * 2019-09-19 2020-01-07 中国科学院自动化研究所 双导丝或球囊的血管介入器械操控装置
CN111529065A (zh) * 2020-05-09 2020-08-14 中国科学院自动化研究所 血管介入器械操控装置
CN113509302A (zh) * 2021-02-26 2021-10-19 中国科学院自动化研究所 介入手术递送装置及递送系统
CN113893441A (zh) * 2021-08-26 2022-01-07 中国科学院自动化研究所 一种介入手术递送装置

Also Published As

Publication number Publication date
CN113509302A (zh) 2021-10-19

Similar Documents

Publication Publication Date Title
WO2022179617A1 (zh) 介入手术递送装置及递送系统
US11154689B2 (en) Vascular interventional instrument control device with double guide wires or balloons
CN113633383B (zh) 血管介入用的导丝/导管递送装置及其使用方法及血管介入手术机器人
CN108704214B (zh) 微创血管介入手术机器人导管/导丝旋转机构及推进装置
CN114404784B (zh) 一种血管介入手术机器人一次性无菌导丝控制器夹持机构
CN113633382B (zh) 血管介入手术机器人的导丝/导管输送装置及血管介入手术机器人
US8393821B2 (en) Single screw activated double axle locking mechanism
CN113974787B (zh) 血管介入器械搓捻装置及方法
WO2023093575A1 (zh) 快速交换球囊系统
CN106943662A (zh) 一种用于介入手术的微型驱动装置
CN113951946A (zh) 血管介入器械推送装置及方法
WO2023082612A1 (zh) 一种限位型介入手术机器人从端支撑装置
CN111729177B (zh) 一种血液透析室护理用床边固定装置
KR20170008203A (ko) 시술대
CN211381770U (zh) 一种外科手术辅助架
CN108478175A (zh) 一种呼吸科气管镜介入治疗装置
CN207657040U (zh) 紫外固化支架
CN217244796U (zh) 旋转装置和医疗设备
CN2914258Y (zh) 医用多野旋转准直器
CN212630810U (zh) 轴向送管机构
CN215537388U (zh) 一种冠脉介入治疗用手臂固定装置
CN208927379U (zh) 一种picc手部固定器
CN117838326A (zh) 同轴型血管介入手术器械递送盒、递送系统及递送方法
CN220237528U (zh) 一种人工肝管路固定扣
CN213554718U (zh) 一种介入治疗中导管固定装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22758981

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22758981

Country of ref document: EP

Kind code of ref document: A1