WO2023030255A1

WO2023030255A1 - Interventional surgical robot slave end device

Info

Publication number: WO2023030255A1
Application number: PCT/CN2022/115517
Authority: WO
Inventors: 欧永红
Original assignee: 深圳市爱博医疗机器人有限公司
Priority date: 2021-07-05
Filing date: 2022-08-29
Publication date: 2023-03-09
Also published as: CN113729962A; CN113729962B

Abstract

An interventional surgical robot slave end device, comprising a main body (10) and a first driving mechanism and a second driving mechanism mounted on the main body (10). The first driving mechanism is configured to clamp and rotate a catheter, and the second driving mechanism is configured to clamp and rotate a guide wire (92); when the guide wire (92) passes through the catheter, and the catheter and the guide wire (92) are respectively clamped by the first driving mechanism and the second driving mechanism, the first driving mechanism and the second driving mechanism move along the same axial direction on the main body (10) to drive the catheter and the guide wire (92) to move. A doctor can remotely control the robot, thereby protecting the body from X-ray radiation. Moreover, the first catheter (90) and the guide wire (92) are controlled to move more accurately, not only reducing the working intensity, but also avoiding a large error.

Description

A slave device for interventional surgery robot

This application claims the priority of the Chinese patent application with the application number 202111009999.2 submitted to the China Patent Office on August 31, 2021, and the title of the invention is "a slave device for interventional surgery robot", the entire content of which is incorporated in this application by reference middle.

technical field

The present application relates to the field of medical robots, and is applied to a master-slave vascular interventional surgery robot, in particular to a slave end device of an interventional surgery robot.

Background technique

Minimally invasive vascular interventional surgery means that under the guidance of the digital subtraction angiography (DSA) system, the doctor manipulates the catheter guide wire to move in the human blood vessel, treats the lesion, and achieves embolization of malformed blood vessels, dissolution of thrombus, and expansion of narrow blood vessels. etc. purpose. At present, interventional surgery has played an important role in the diagnosis and treatment of hundreds of diseases such as tumors, peripheral blood vessels, large blood vessels, digestive tract diseases, nervous system, and non-vascular diseases. The scope of interventional surgery can be said to cover the human body "from head to toe". "The treatment of all diseases, and has become the first choice for the treatment of some diseases. Interventional surgery does not need to cut human tissue, and its incision (puncture point) is only the size of a grain of rice. It can treat many diseases that could not be treated or had poor curative effect in the past. It has the characteristics of no surgery, small trauma, fast recovery, and good curative effect. Medical circles at home and abroad attach great importance to it.

At present, minimally invasive vascular interventional surgery assisting robots are developing rapidly due to the involvement of high-end medical equipment and robotic technology. We also invest in research and development.

technical problem

The technical problem to be solved in this application is to provide a slave device for an interventional surgery robot that assists doctors in performing interventional surgery.

technical solution

In order to solve the above problems, the present application provides a slave device for an interventional surgery robot, which includes:

a main body and a first driving mechanism and a second driving mechanism installed on the main body;

The first drive mechanism is used to hold and rotate the catheter, and the second drive mechanism is used to hold and rotate the guide wire;

When the guide wire is inserted into the catheter and the catheter and the guide wire are respectively clamped by the first driving mechanism and the second driving mechanism, the first driving mechanism and the second driving mechanism move along the same axis on the main body to drive Catheter, guidewire movement.

Beneficial effect

This application allows the doctor to remotely control the first driving mechanism and the second driving mechanism to move along the same axis on the main body, thereby driving the catheter and the guide wire to move in coordination, preventing X-ray radiation from affecting health, and the robot controls the catheter , The movement of the guide wire is more precise, which not only reduces the work intensity, but also avoids major mistakes.

Description of drawings

Fig. 1 is a schematic diagram of an embodiment of an interventional surgery robot slave device of the present application;

Fig. 2 is another schematic diagram of Fig. 1;

Fig. 3 is the schematic diagram when adding two driving mechanisms in Fig. 1;

Fig. 4 is a schematic diagram when only two driving mechanisms are left in Fig. 1 .

BEST MODE FOR CARRYING OUT THE INVENTION

As shown in Figures 1 and 2, an embodiment of a slave device for an interventional surgical robot in the present application includes a main body 10, a drive mechanism 20, 30, 40, 50, 60 movably mounted on the main body 10, and a gripper 70 and rapid exchange mechanism 80.

The main body 10 is narrow and long, and has a straight channel 102 . These driving mechanisms 20, 30, 40, 50, 60 are successively placed in the channel 102 and can move along the channel. In this embodiment, these driving mechanisms 20, 30, 40, 50, 60 can slide directly on the main body 10, such as fixing a linear guide rail on the main body 10, these driving mechanisms 20, 30, 40, 50, 60 can be Slide along the rails.

Each driving mechanism is used to clamp, push (including forward and backward) and rotate (including forward and reverse) catheter or guide wire, and can also be used to simultaneously clamp, push (including forward and backward) and rotate (including Forward rotation and reverse rotation) catheters and guide wires to realize coordinated movement of multiple catheters and one guide wire. Each drive mechanism includes a clamping assembly for clamping the catheter or guidewire, a rotating assembly for rotating the catheter or guidewire, and the rotating assembly can be either actively driven or passively followed, or all actively driven , or some are actively driven, and the other is passively followed, and the clamping of the catheter by the driving mechanism 20, 40 does not affect its rotation.

The clamping assembly and the rotating assembly of the driving mechanism 20, 30, 40, 50, 60 can be an interventional surgery robot guide wire catheter rubbing device as described in Chinese patent application 202110674959.3, the entire content of which is incorporated into this application.

In other embodiments, the specific structures of the driving mechanisms 20 , 30 , 40 , 50 , 60 are not limited to being the same, and may also be different, as long as they can realize the clamping, pushing and/or rotating of the catheter and guide wire. It is also possible that only the clamping components are the same and the rotating components are different, or the clamping components are different and the rotating components are the same, or multiple clamping components and rotating components are the same, and other clamping components and rotating components are different.

In this embodiment, the driving mechanisms 20 and 30 are spaced at a certain distance back and forth, and are used to clamp, push and rotate the same guiding catheter 90 (ie, the first catheter) so as not to bend. In fact, drive mechanisms 20 and 30 preferably move guide catheter 90 synchronously so that it straightens and does not bend. Likewise, the driving mechanisms 40 and 50 cooperate with each other at a certain distance, and are used to clamp, push and rotate the same multifunctional tube 91 (that is, the second conduit, also called the middle conduit). The driving mechanism 60 is used to clamp, push and rotate the guide wire 92 . The holder 70 is used to hold and push the guide wire 92 . The quick exchange mechanism 80 is detachably fixed together with the driving mechanism 50, and is used for clamping and pushing the quick exchange catheter.

When preparing for surgery, preoperative preparations are required, including selecting appropriate (such as length and diameter) guiding catheter 90, multifunctional tube 91, and guiding wire 92, and flushing and draining the guiding catheter 90 and multifunctional tube 91 with normal saline. gas. Manually thread the multifunctional tube 91 into the guide catheter 90 and extend the guide catheter 90 for a certain distance, and guide the guide wire 92 into the multifunctional tube 91 and extend the multifunctional tube 91 for a certain distance, such as the head of the guide wire 92 It is about 10cm beyond the multifunctional tube 91. Make the driving mechanism 20, 30, 40, 50, 60 in a reasonable position, put the guide catheter 90, the multifunctional tube 91 and the guide wire 92 into the puncture sheath of the patient for surgery (such as penetrating into the femoral artery, radial artery or Others), let the clamping assembly of the driving mechanism 20 and 30 clamp the guide tube 90, the clamping assembly of the driving mechanism 40 and 50 clamp the multifunctional tube 91, the clamping assembly of the driving mechanism 60 and the rear clamper 70 The guiding wire 92 is clamped, so that the guiding catheter 90 , the multifunctional tube 91 and the guiding wire 92 are fixed.

After the preoperative preparation is completed, use the main console (such as the main operating handle of the interventional surgery robot described in Chinese patent application 202110654379.8 and the main control module of the interventional surgery robot described in 202110649908.5, the entire content of which is incorporated into this application) to remotely operate the drive mechanism 20, 30, 40, 50, 60, gripper 70 and quick exchange mechanism 80 movement. Specifically, the driving mechanisms 20 and 30 clamp the guide tube 90 together and move along the channel 102 to drive the guide tube 90 to advance, while or not at the same time, the rotating components of the drive mechanisms 20 and 30 rotate the guide tube 90, when the drive mechanism 20 moves When the guiding catheter 90 is released after reaching the limit position (for example, the driving mechanism 20 moves to the distal end of the channel 102 ), the driving mechanism 30 clamps the guiding catheter 90 and does not move. When the driving mechanism 20 is reset to a position closer to the driving mechanism 30, the clamping assembly of the driving mechanism 20 clamps the guiding catheter 90 again, so that the driving mechanisms 20 and 30 together drive the guiding catheter 90 forward, simultaneously or not at the same time. The rotating assembly of 20 and 30 rotates the guide tube 90, and so on, until advancing into place.

During this process, simultaneously or not at the same time, the driving mechanisms 40 and 50 clamp the multifunctional tube 91 and move along the channel 102 to drive the multifunctional tube 91 forward, and at the same time or not at the same time, the rotating components of the driving mechanisms 40 and 50 rotate the multifunctional tube 91 , when the driving mechanism 40 moves to a limit position (for example, the distance from the driving mechanism 30 is close to the threshold value) to be reset and the multifunctional tube 91 is released, the driving mechanism 50 clamps the multifunctional tube 91 and does not move. When the driving mechanism 40 is reset to a position closer to the driving mechanism 50, the clamping assembly of the driving mechanism 40 clamps the multifunctional tube 91 again, so that the driving mechanism 40 and 50 together drive the multifunctional tube 91 forward, simultaneously or not at the same time. The rotating assembly of 40 and 50 rotates the multi-functional pipe 91, so reciprocating, until advancing in place.

During the above process, simultaneously or not at the same time, the driving mechanism 60 and the clamper 70 clamp the guide wire 92 and move along the channel 102 to drive the guide wire 92 forward, and at the same time or at different time, the rotating assembly of the driving mechanism 60 rotates the guide wire 92. When the driving mechanism 60 moves to a limit position (for example, the distance from the driving mechanism 50 is close to the threshold) to be reset and the guide wire 92 is released, the guide wire 92 is clamped by the clamper 70 and does not move. After the drive mechanism 60 is reset, the clamping assembly of the drive mechanism 60 clamps the guide wire 92 again, so that the drive mechanism 60 and the clamper 70 together drive the guide wire 92 forward, and the rotating assembly of the drive mechanism 60 rotates at the same time or at different times. The guide wire 92 reciprocates in this way until it advances in place. In other embodiments, initially, only the guide wire 92 is gripped by the drive mechanism 60 and the gripper 70 is not gripped. When the driving mechanism 60 is to be reset, the guide wire 92 is clamped by the clamper 70 instead. When the driving mechanism 60 is reset and clamps the guide wire 92 again, the clamper 70 releases the guide wire 92 , so reciprocating, the driving mechanism 60 and the clamper 70 clamp the guide wire 92 alternately.

How to remotely control the movement of the drive mechanism 20, 30, 40, 50, 60, the gripper 70 and the quick exchange mechanism 80 by the main console can be the same as the main control module of the interventional surgery robot described in Chinese patent application 202110649908.5. It includes two operating levers, one of which is used to control the driving mechanism 20, 30, 40, 50 and the quick exchange mechanism 80, and the operating lever can control the driving mechanism 20, 30, and the driving mechanism 40, 50 in time through the switching device and quick exchange mechanism 80 , another lever is used to manipulate drive mechanism 60 and gripper 70 . It may also be that the main console includes more than two operating levers, such as four operating levers, which are used to remotely control the driving mechanism 20, 30, the driving mechanism 40, 50, the driving mechanism 60 and the gripper 70, the fast switching mechanism 80 .

In other embodiments, the driving mechanisms 30 and 50 respectively clamp the guiding catheter 90 and the multifunctional tube 91 through the Y valve. That is, the guide tube 90 and the multifunctional tube 91 are respectively connected to the Y valve, and the Y valve is fixed to the driving mechanism 30, 50, and the clamping assembly of the driving mechanism 30, 50 clamps the Y valve, and the rotating assembly rotates the Y valve Luer connector. Drive guide tube 90, multifunctional tube 91 to rotate.

In the process of moving the guiding catheter 90, the multifunctional tube 91 and the guiding wire 92 together, it is necessary to keep the multifunctional tube 91 protruding from the guiding catheter 90 by a certain distance, and the guiding wire 92 extending from the multifunctional tube 91 by a certain distance. . When the guide catheter 90, the multifunctional tube 91 and the guide wire 92 reach certain parts of the blood vessel, it may be necessary to remotely control the driving mechanism 20, 30, 40, 50, 60 and the holder 70 through the console at the main end, so that the guide The guide tube 90, the multifunctional tube 91 and the guide wire 92 are forwarded, retreated, forward rotated and reversed for many times.

After the guiding catheter 90 is advanced to the right position, the guiding catheter 90 is fixed and does not move, and the driving mechanism 40, 50, 60 and the holder 70 are remotely controlled through the console at the main end, so that the multifunctional tube 91 and the guiding wire 92 are moved back and forth. The process is similar to the above-mentioned forward process. When the heads of the multifunctional tube 91 and the guide wire 92 retreated to the puncture sheath, the multifunctional tube 91 and the guide wire 92 were manually taken out from the clamping assembly of the driving mechanism 40, 50, 60 and the holder 70 and Soak in heparin water.

Select finer microcatheter 94 and microguide wire 96 (such as 0.014 in). Manually thread the micro guide wire 96 into the micro catheter 94 and the guide catheter 90 together, and the micro guide wire 96 extends out of the micro catheter 94 for a certain distance, so that the micro catheter 94 and the micro guide wire 96 are respectively clamped on the driving mechanism 40, 50 The clamping assembly of the driving mechanism 60 and the clamper 70, so as to realize the fixation of the microcatheter 94 and the micro guide wire 96. In other embodiments, the microcatheter 94 is connected to the Y valve, the Y valve is fixed to the driving mechanism 50 and clamped by its clamping component, and the rotating component rotates the Luer connector of the Y valve to drive the microcatheter 94 to rotate.

Further, the movement of the driving mechanisms 40 , 50 , 60 and the holder 70 is remotely controlled by the console at the main end. The specific process is the same as that of the multifunctional tube 91 and the guide wire 92 described above, and will not be repeated here. When the microcatheter 94 and the microguidewire 96 advance to the head of the guide catheter 90, the microcatheter 94 and the microguidewire 96 are further pushed to the lesion of the surgical patient (also called the stenosis of the target vessel). Angiography confirms the position of the micro-guide wire 96, and if it reaches the designated position (generally, the micro-guide wire 96 has to pass through the lesion of the surgical patient, except for the possible treatment of aneurysm embolism), then the driving mechanisms 50 and 60 fix the micro-catheter 94 and the micro-guide wire respectively. Wire 96 does not move. If the specified position is not reached, the remote control driving mechanism 40 , 50 , 60 and the gripper 70 are repeatedly moved until the micro guide wire 96 reaches the specified position.

After the micro-guide wire 96 reaches the designated position, the driving mechanism 40, 50 is controlled remotely through the console at the main end to make the micro-catheter 94 retreat while keeping the micro-guide wire 96 from moving. The device 70 clamps the micro guide wire 96 and does not move. When the microcatheter head retreats to the puncture sheath, the microcatheter 94 is manually taken out from the driving mechanism 40, 50 and soaked in heparin water. At this time, the micro guide wire 96 can be clamped by the driving mechanism 60, and the driving mechanisms 20, 30 and the driving mechanism 60 can be fixed to fix the guide catheter 90 and the micro guide wire 96 respectively so that they do not move.

Further, the tail of the micro guide wire 96 is manually inserted into the rapid exchange balloon dilation catheter 98, and the rapid exchange balloon dilation catheter 98 advances along the micro guide wire 96, at this time, the rapid exchange balloon dilation catheter is clamped by the rapid exchange mechanism 80 98.

The rapid exchange mechanism 80 is remotely controlled by the console at the main end, so that the rapid exchange balloon dilation catheter 98 is advanced to the lesion of the surgical patient (not beyond the head of the micro guide wire 96 ). During this process, pay attention to the position and angle of the micro-guide wire 96 at all times, and adjust it in time through forward rotation, reverse rotation, forward and backward rotation if necessary. When the rapid exchange balloon dilation catheter 98 arrives at the lesion of the surgical patient, the rapid exchange balloon dilation catheter 98 is filled with a contrast agent in the catheter room for pre-dilation, and angiography is performed to confirm the vasodilation effect. If the vasodilation effect is achieved, the contrast medium is extracted from the rapid exchange balloon dilation catheter 98 . Use the console at the main end to remotely control the fast exchange mechanism 80 to retreat to the puncture sheath. During the retraction process of the rapid exchange balloon dilatation catheter 98, the position of the microguide wire 96 is kept unchanged. For some operations, multiple blood vessel dilations may be required, so the above-mentioned rapid exchange balloon dilation catheter 98 advances and retreats multiple times.

It is necessary to manually remove the rapid exchange balloon dilation catheter 98 from the rapid exchange mechanism 80, and then manually pass the rapid exchange balloon expansion catheter through the micro guide wire 96 and clamp it to the rapid exchange mechanism 80. The specific process is the same as the above rapid exchange The balloon dilatation catheter 98 will not be described in detail.

The rapid exchange mechanism 80 is remotely controlled by the console at the main end, so as to push the rapid exchange ball expansion stent catheter along the micro-guide wire 96 to the patient's lesion (extended blood vessel). During this process, pay attention to the position and angle of the micro-guide wire 96 at all times, and adjust it in time through forward rotation, reverse rotation, forward and backward rotation if necessary. When the rapid exchange ball expansion stent catheter reaches the patient's lesion (extended blood vessel), the position of the rapid exchange ball expansion stent catheter is fine-tuned, and after confirmation, the rapid exchange ball expansion stent catheter is filled with contrast medium in the catheterization room to allow the stent to form. After angiography confirms that the ball expansion stent is placed correctly, the contrast agent can be drawn out and the rapid exchange mechanism 80 is controlled to drive the rapid exchange ball expansion stent catheter back to the puncture sheath, while the ball expansion stent remains at the lesion of the surgical patient. The rapid exchange balloon dilator catheter is manually removed from the rapid exchange mechanism 80 and placed in heparinized water.

The movement of the driving mechanism 20, 30, 40, 50, 60 and the holder 70 is remotely controlled by the console at the main end, so that the guide catheter 90 and the micro guide wire 96 are retracted to the puncture sheath. Finally, the guide catheter 90 and the micro guide wire 96 are manually taken out from the clamping assembly of the driving mechanism 20, 30, 60 and the holder 70, and withdrawn from the puncture sheath and placed in heparin water, and then the puncture sheath is pulled out And post-operative treatment to complete the operation.

What is selected above is the quick-exchange catheter, so the quick-exchange mechanism 80 needs to be used to clamp, push and rotate. If it is a coaxial exchange catheter, after the tail of the micro guide wire 96 is inserted into the coaxial exchange catheter, the coaxial exchange mechanism clamps, pushes and rotates the coaxial exchange catheter, so that the coaxial exchange catheter advances along the micro guide wire 96 to the proper position or back to the puncture sheath. Regardless of the quick exchange mechanism 80 or the coaxial exchange mechanism, the roller driving method can be used to realize the clamping, shifting and rotation of the quick exchange catheter and the coaxial exchange catheter.

The above is to illustrate the motion and control process of the present application by taking the "ball expansion stent forming operation" as an example. In fact, the application can also be used in various operations such as radiography, embolization, and thrombectomy. The driving mechanism 20, 30, 40, 50, 60, the holder 70 and the quick exchange mechanism 80 can be freely deployed according to the actual needs of the operation, that is, the driving mechanism 20, 30, 40, 50, 60, the holder 70 and the quick exchange mechanism The exchange mechanism 80 can be easily disassembled. For more complicated operations, more driving mechanisms, holders and quick exchange mechanisms can be added. For example, after adding more driving mechanisms and holders, multiple catheters can correspond to one guide wire or multiple catheters. Corresponding to the coordinated movement of multiple guide wires, as shown in Figure 3, two driving mechanisms are added to clamp and rotate more catheters. For details, please refer to the above-mentioned "ball expansion stent forming operation"; corresponding to each driving mechanism that always clamps catheters All are provided with a quick exchange mechanism, which is detachably mounted on the driving mechanism or made into an integrated mechanism with the driving mechanism. And when implementing simple inspection operations such as angiography, only two of the driving mechanisms 20, 30, 40, 50, 60 are used, such as the driving mechanisms 30 and 60, referring to Fig. 4, then the other driving mechanisms, clamping The device 70 and the quick exchange mechanism 80 are removed from the main body 10. Taking angiographic surgery as an example, the following describes the cooperative movement and control process of a catheter and a guide wire when only the driving mechanisms 30 and 60 are used in this application:

When preparing for the operation, select a guide catheter, guide wire, and contrast catheter with an appropriate diameter and length according to the location of the vascular lesion, and flush and exhaust the guide catheter and contrast catheter with normal saline. Start the interventional surgery robot and complete the initialization. Insertion of the puncture sheath in surgical patients. Manually thread the guide wire into the guide catheter and extend out of the guide catheter for a certain distance, for example, the head of the guide wire exceeds the guide catheter by about 10 cm, and put them together into the puncture sheath. Let the clamping components of the driving mechanisms 30 and 60 respectively clamp the guide catheter and the guide wire, so as to realize the fixation of the guide catheter and the guide wire.

When starting the operation, use the console at the main end to remotely operate the drive mechanism 30, 60 to move. The guiding catheter and the guiding wire are respectively advanced to the target blood vessel in coordination. Refer to the aforementioned "ball expansion stent forming operation" for the process. Keep the head of the guiding catheter and guiding wire within the imaging field of view. At this time, the driving mechanism 30 is allowed to clamp the guiding catheter without moving, and the driving mechanism 60 is remotely operated to retreat, so that the guiding wire is withdrawn to the puncture sheath.

The guide wire is manually removed from the clamp assembly of the drive mechanism 60 and soaked in heparinized water. The contrast agent is injected into the guiding catheter, and radiographic imaging is performed to obtain complete image information at different angles of the target blood vessel.

If image information of multiple target blood vessels needs to be acquired, another guide wire is selected to be inserted into the guide catheter and advanced to the puncture sheath, and the guide wire is clamped to the clamping assembly of the driving mechanism 60 . At this time, come to the operating table outside the catheter room, and then use the main console to remotely operate the driving mechanisms 30 and 60 to move the guiding catheter and guiding wire respectively to the other target blood vessel, and then retract the guiding wire to the puncture position. The sheath is taken out, and the contrast agent is injected into the guiding catheter again, and radiographic imaging is performed to obtain complete image information at different angles of another target vessel. So many times, until the complete image information of all target blood vessels is obtained.

The remote control driving mechanism 30 retreats, driving the guiding catheter to withdraw to the puncture sheath. Manually take out the guide catheter and the guide wire used for the last time respectively from the clamping assembly of the driving mechanism 30, 60, and withdraw from the puncture sheath.

If in order to guide the guide catheter, the guide wire does not bend during the advancement process, the driving mechanism 20 can be pushed and rotated together with the drive mechanism 30 to guide the guide catheter, and the holder 70 can be pushed and rotated together with the drive mechanism 60 to guide the guide wire. .

In the above description, the console at the main end and the console for placing the console at the main end are located outside the catheterization chamber. In fact, they can also be placed in a separate space in the catheterization room, as long as they can isolate X-ray radiation and allow doctors to avoid X-ray radiation.

The above only describes how to replace the catheter guide wire in some cases. In fact, the removal and replacement of the catheter guide wire can be completely determined by the doctor according to the actual needs of the operation and personal operating habits. It is not limited to the above-mentioned replacement methods of the catheter guide wire.

It can be seen that the application can remotely control the driving mechanism, the gripper and the quick exchange mechanism, so as to drive the catheter guide wire to move cooperatively, not only avoid X-ray radiation from affecting health, but also the robot controls the catheter guide wire movement more accurately, reducing work Intensity can also avoid big mistakes.

Those skilled in the art can understand that all or part of the steps in the above method can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium, such as a read-only memory, a magnetic disk or an optical disk, and the like. Optionally, all or part of the steps in the foregoing embodiments may also be implemented using one or more integrated circuits. Correspondingly, each module/unit in the foregoing embodiments may be implemented in the form of hardware, or may be implemented in the form of software function modules. This application is not limited to any specific form of combination of hardware and software.

Of course, the present application can also have other various embodiments. Without departing from the spirit and essence of the present application, those skilled in the art can make various corresponding changes and deformations according to the present application, but these corresponding Changes and deformations should fall within the protection scope of the claims of the present application.

The above descriptions are only preferred embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the application should be included in the protection of the application. within range.

Claims

A slave device for an interventional surgery robot, including a main body and a first drive mechanism and a second drive mechanism installed on the main body;

The first drive mechanism is used to hold and rotate the catheter, and the second drive mechanism is used to hold and rotate the guide wire;

When the guide wire is inserted into the catheter and the catheter and the guide wire are respectively clamped by the first driving mechanism and the second driving mechanism, the first driving mechanism and the second driving mechanism move along the same axis on the main body to drive Catheter, guidewire movement.
The slave device of an interventional surgery robot according to claim 1, further comprising a third driving mechanism installed on the main body, and the third driving mechanism cooperates with the first driving mechanism to drive the catheter to move.
A slave end device of an interventional surgery robot according to claim 2, wherein, when the third driving mechanism moves to the limit position to be reset and the catheter is released, the first driving mechanism is used to clamp the catheter and not move .
The slave device of an interventional surgery robot according to claim 2, wherein the third driving mechanism moves along the same axis as the first driving mechanism and the second driving mechanism.
A slave device for an interventional surgery robot according to claim 2, wherein the third drive mechanism is located on a side of the first drive mechanism away from the second drive mechanism.
A slave device for an interventional surgery robot according to claim 2, wherein the first drive mechanism, the second drive mechanism and the third drive mechanism are all active drive types.
A slave device for an interventional surgery robot according to claim 2, wherein the first driving mechanism and the second driving mechanism are active driving, and the third driving mechanism is passive following.
The slave device of an interventional surgery robot according to claim 1, wherein the first driving mechanism comprises a clamping assembly, and the clamping assembly is used to clamp a Y valve connected to the catheter to clamp the catheter.
The slave end device of an interventional surgery robot according to claim 8, wherein the first driving mechanism further comprises a rotating assembly, and the rotating assembly is used to rotate the Y-valve Luer connector to drive the catheter to rotate.
The slave end device of an interventional surgery robot according to claim 1, further comprising a clamper, when the second drive mechanism moves to the limit position to be reset and the guide wire is released, the clamper is used for The clamping wire does not move.
The slave device of an interventional surgery robot according to claim 1, further comprising a switching mechanism, the switching mechanism being a fast switching mechanism or a coaxial switching mechanism.
A slave device for an interventional surgery robot according to claim 11, wherein the exchange mechanism is detachably fixed to the first drive mechanism, or the exchange mechanism and the first drive mechanism are designed integrally .
The slave end device of an interventional surgery robot according to claim 11, wherein the switching mechanism adopts a roller driving method to realize clamping, pushing and rotating of the catheter.
A slave device for an interventional surgery robot according to claim 1, wherein a channel is provided on the main body, and the first driving mechanism and the second driving mechanism are placed in the channel and can be moved along the channel move.
The slave device of an interventional surgery robot according to claim 14, wherein the channel is a straight channel.
The slave device of an interventional surgery robot according to claim 10, wherein the holder is a detachable structure.