WO2023050342A1

WO2023050342A1 - Robot system for releasing cavity particle stents

Info

Publication number: WO2023050342A1
Application number: PCT/CN2021/122247
Authority: WO
Inventors: 钱程; 陈静涛; 周寿军
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2023-04-06

Abstract

A robot system for releasing cavity particle stents, comprising: a human-computer interaction (HCI) unit (100), a motion control unit (200) and a robot actuator (300); the HCI unit (100) is used for acquiring cholangiography images, and for sending instructions to the motion control unit (200); the motion control unit (200) is used for receiving control instructions, and controlling the movement of the robot actuator (300) on the basis of the control instructions; and the robot actuator (300) is used for transporting particle stents. The motion control unit (200) may control the robot actuator (300) to assist in remote particle stent interventional surgery, and images are acquired by means of the HCI unit (100), so that the movement process of the robot actuator (300) may be observed. By means of the remote control of the motion control unit (200) and the acquisition and display of images by the HCI unit (100), the present system may accurately move, in a safer operation environment, the robot actuator (300) to a lesion position to transport particle stents.

Description

A robotic system for cavity-oriented particle scaffold release

technical field

The application belongs to the technical field of medical devices, and in particular relates to a robot system for releasing particle stents facing the cavity.

Background technique

The particle stent is a combination of radioactive particles and the stent. Since the iodine 125 particles have the effect of brachytherapy, the implantation of this kind of stent also has the effect of brachytherapy while relieving obstruction. Radioactive seed implantation belongs to brachytherapy, which is post-installation interpolation technology, with uniform dose in the target area, little damage to the surrounding normal tissues during the operation, and definite therapeutic effect. Adenocarcinoma and malignant obstructive jaundice and other cavity malignant obstruction and an important means of treatment of tumors and other related diseases.

Interventional physicians can establish a channel between the cavity and the outside of the body through percutaneous puncture, use the guide wire to guide the particle stent device to the lesion, and release the self-expanding particle stent, so that the particle stent is close to the inner wall of the cavity at the lesion .

When the guide wire and the catheter with particle stent enter the human cavity, the doctor needs to use CT (computed tomography) images to guide the placement of the guide wire and catheter. During this process, the doctor will be exposed to the radiation released by the CT machine and the radioactive particles There is also radiation within a certain range, so when performing such operations, doctors wear heavy lead suits all over the body, especially the head and neck, to avoid radiation. In addition to this, radiation from radioactive particles accumulates on doctors over the years. The above two types of radiation increase the comprehensive burden of interventional doctors.

The existing clinical means to avoid radiation of doctors is mainly lead radiation protective clothing, but its weight greatly increases the burden on the whole body of doctors during operation. In order to solve the radiation caused by interventional doctors during the operation using CT images for real-time guidance. In the interventional operation of the biliary particle stent, once the intervention channel is established by puncture, the doctor needs to push the guide wire and the catheter encapsulated with the particle stent in sequence, and complete the release of the particle stent. Therefore, in robot-assisted particle stent interventional surgery, the robot actuator is required to help the doctor at least complete the following bases: a. Automatic push of the guide wire; b. Automatic push of the stent catheter; c. Automatic release of the particle stent.

Therefore, in view of the above problems, it is necessary to propose a robot system that can assist doctors in performing remote particle stent interventional surgery, so as to avoid close contact with CT machine radiation.

Contents of the invention

The present application provides a robot system for cavity-oriented particle stent release, through which a motion control unit can control a robot actuator to assist in remote particle stent interventional surgery.

In order to solve the above problems, the application provides the following technical solutions:

A robot system for cavity-oriented particle support release, including: a human-computer interaction unit, a motion control unit, and a robot actuator;

The human-computer interaction unit is used to collect cholangiography images and display images, and to send instructions to the motion control unit;

The motion control unit is used to receive control instructions, and control the movement of the robot actuator based on the control instructions;

Robotic actuators are used to transport particle holders.

The technical solution adopted in the embodiment of the present application also includes: the robot actuator includes:

Mechanical arm, the mechanical arm plays a supporting role;

The actuator, the actuator is set on the mechanical arm, and the position and angle of the actuator are adjusted through the mechanical arm;

The particle stent delivery conduit, the particle stent delivery conduit is arranged on the actuator, and the actuator is used to push the particle stent delivery conduit to a designated position so as to transport the particle stent;

The guide wire is arranged on the actuator and connected with the particle stent delivery catheter, and the actuator pushes the guide wire for intervention.

The technical solution adopted in the embodiment of the present application also includes: the actuator includes a casing and a guide wire pushing structure, a catheter pushing structure, and a support structure arranged on the casing;

The guide wire is arranged on the guide wire pushing structure, and the guide wire pushing structure is used to promote the movement of the guide wire;

The particle support conveying conduit is arranged on the conduit pushing structure, and the conduit pushing structure is movably mounted on the moving rail provided on the housing, and is used to push the movement of the particle support conveying conduit along the moving rail;

The support structure is installed on the shell, and is used to support the delivery catheter of the particle stent, so as to improve the rigidity of the delivery catheter of the particle stent.

The technical solution adopted in the embodiment of the present application also includes: the guide wire pushing structure includes two parallel and oblique friction wheels and two friction wheel motors correspondingly driving the two friction wheels;

The guide wire is installed between the two friction forces, and the two friction wheels are driven by two friction wheel motors to rotate in opposite directions to promote the forward or backward movement of the guide wire; the two friction wheels rotate in the same direction to promote Rotary motion of the guidewire.

The technical solution adopted in the embodiment of the present application also includes: the friction wheel is arranged obliquely on the housing, and the guide wire pushing structure further includes a guide wire limit box, which is installed on the housing, and the guide wire passes through the guide wire limit The guide wire limiting box restricts the upward or downward movement of the guide wire vertical housing to ensure that the guide wire can advance, retreat and rotate smoothly.

The technical solution adopted in the embodiment of the present application also includes: setting a guide wire limit cover and a groove on the guide wire limit box, the guide wire passes through the groove, and the guide wire limit cover is closed in the groove to limit the guide wire. bit.

The technical solution adopted in the embodiment of the present application also includes: the catheter pushing structure includes a first fixed structure and a second fixed structure, and the first fixed structure and the second fixed structure are respectively arranged on two moving rails provided on the shell, and the particles The stent delivery catheter is provided with an inner shaft handle and an outer sleeve handle;

The inner shaft handle is connected to the first fixed structure, the outer sleeve handle is connected to the second fixed structure, and the first fixed structure and the second fixed structure respectively control the inner shaft handle and the outer sleeve handle.

The technical solution adopted in the embodiment of the present application also includes: the housing is provided with screw guide rails corresponding to the number of the first fixed structure and the second fixed structure, each screw guide rail is equipped with a screw motor and a slider is installed, the second The first fixed structure and the second fixed structure are respectively connected to the screw guide rail through a slider;

The screw motor drives the screw guide rail, so that the slider moves on the screw guide rail, so that the first fixed structure and the second fixed structure move on the moving rail of the housing.

The technical solution adopted in the embodiment of the present application also includes: the first fixing structure is provided with an inner shaft handle locking structure for installing and locking the inner shaft handle;

The locking structure of the inner shaft handle includes a first locking cover and a first locking lever. One end of the first locking cover is installed on the first fixed structure, and the other end of the first locking cover is closed on the first fixed structure by rotating. A locking gear lever is rotatably mounted on the first fixed structure, and the first locking gear lever locks the first locking cover through rotation.

The technical solution adopted in the embodiment of the present application also includes: an extension piece is arranged on the second fixing structure, one end of the extension piece is set in the second fixing structure, and an outer sleeve handle locking structure is arranged on the other end of the extension piece, and the outer sleeve The handle locking structure is used to install and lock the handle of the outer sleeve;

The locking structure of the outer sleeve handle includes a second locking cover and a second locking lever. One end of the second locking cover is installed on the extension piece, and the other end of the second locking cover is closed on the extension piece by rotating. The second locking gear The rod is rotatably mounted on the extension piece, and the second locking lever locks the second locking cover through rotation.

The technical solution adopted in the embodiment of the present application also includes: the support structure includes a support plate, a telescopic sleeve and a conduit fixing piece, the support piece is installed in the support frame installation groove of the shell, the conduit fixing piece is installed on the support plate, and the conduit telescopic sleeve One end of the tube is installed on the fixed tube of the catheter, and the other end is connected with the particle support delivery catheter.

The technical solution adopted in the embodiment of the present application further includes: positioning armrests for armrests are arranged on the housing.

The technical solution adopted in the embodiment of the present application also includes: the human-computer interaction unit includes:

An image acquisition unit, configured to acquire cholangiography images;

The main operation terminal is used to display the image collected by the image acquisition unit;

The master-slave operation selection module is used to track the position of the guide wire of the robot actuator and the delivery catheter of the particle stent in real time, and display it through the master operation terminal.

The technical solution adopted in the embodiment of the present application also includes: the motion control unit includes:

The robotic arm control module is used to control the six-degree-of-freedom movement of the robot actuator;

The friction wheel control module is used to control the rotation direction and speed of the friction wheel, and then control the advance, retreat and rotation of the guide wire;

The catheter push and release control module is used to control the movement of the particle stent delivery catheter and the release of the particle stent.

Compared with the prior art, the beneficial effects produced by the embodiments of the present application are: the robot system for cavity-oriented particle stent release in the embodiments of the present application includes: a human-computer interaction unit, a motion control unit, and a robot actuator; The unit is used to collect cholangiography images, and is used to send instructions to the motion control unit; the motion control unit is used to receive control instructions, and control the movement of the robot actuator based on the control instructions; the robot actuator is used to transport the particle bracket. The motion control unit can control the robot actuator to assist in remote particle stent interventional surgery, and collect images through the human-computer interaction unit so that the movement process of the robot actuator can be observed; through the remote control of the motion control unit, and the man-machine The acquisition and display of images by the interactive unit enables the present application to accurately move the robot actuator to the lesion to deliver the particle stent in a safer operating environment.

Description of drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The schematic embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation to the application. In the attached picture:

Fig. 1 is the schematic diagram of the robot system for the release of the cavity particle stent according to the embodiment of the present application;

Fig. 2 is the structural diagram of the robot actuator of the embodiment of the present application;

FIG. 3 is a structural diagram of another robot actuator according to the embodiment of the present application;

FIG. 4 is an exploded view of the structure of the robot actuator in the embodiment of the present application;

Fig. 5 is a structural diagram of a guide wire limit box according to an embodiment of the present application;

FIG. 6 is a structural diagram of the first fixing structure of the embodiment of the present application;

Fig. 7 is a structural diagram of the second fixing structure of the embodiment of the present application;

Fig. 8 is a working flow chart of the robotic system for cavity-oriented particle stent release according to the embodiment of the present application.

Reference signs: 100-human-computer interaction unit, 200-motion control unit, 300-robot actuator, 101-mechanical arm, 102 actuator, 1021-guide wire pushing structure, 1022-guide rail pushing structure, 1023-support structure ;

1-support plate, 2-telescopic sleeve, 3-particle support conveying guide rail, 4-first fixed structure, 5-second fixed structure, 6-friction wheel, 7-guide wire limit box, 8-positioning handrail, 9-motor wiring, 10-fixed connector, 11-outer sleeve handle locking structure, 12-outer sleeve handle, 13-inner shaft handle locking structure, 14-inner shaft handle, 15-guide wire, 16-outer shell, 17-Emergency stop button, 18-Friction wheel motor, 19-Screw motor, 20-Friction wheel motor fixing part, 21-Slider connector, 22-Robot arm connector, 23-Base, 24-Photoelectric switch, 25 -slider, 26-screw guide rail, 27-support installation groove;

111-second locking cover, 112, second locking cover shaft, 113-second locking gear lever, 114-second gear lever rotating shaft, 115-second silicone part, 131-first locking cover, 132-first lock Cover shaft, 133-the first lock bar, 134-the first bar shaft, 135-the first silicone part, 401-the first fixed structure shell, 402-the first locking switch, 403-the first fixed structure base, 501-the second fixed structure shell, 502-the second locking switch, 503-the second fixed structure base, 504-extension piece, 701-guide wire limit cover, 702-magnet, 703-ball bearing.

Detailed ways

In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

According to an embodiment of the present application, there is provided a robot system for release of a cavity-oriented particle stent, as shown in FIG. 1 , including: a human-computer interaction unit 100, a motion control unit 200, and a robot actuator 300;

The human-computer interaction unit 100 is used for collecting cholangiography images and displaying images, and for sending instructions to the motion control unit 200;

The motion control unit 200 is used to receive control instructions, and control the movement of the robot actuator 300 based on the control instructions;

The robotic actuator 300 is used to deliver the particle scaffold.

In the embodiment of the present application, the robot system for the release of particle stents facing the cavity, the human-computer interaction unit 100, the motion control unit 200 and the robot actuator 300; the human-computer interaction unit 100 is used to collect cholangiography images and send instructions To the motion control unit 200; the motion control unit 200 is used to receive the control instruction, and control the movement of the robot actuator based on the control instruction; the robot actuator 300 is used to transport the particle bracket. The motion control unit 200 can control the robot actuator 300 to assist in the remote interventional operation of the particle stent, and the human-computer interaction unit 100 collects images so that the movement process of the robot actuator can be observed; through the remote control of the motion control unit 200 , and the acquisition and display of images by the human-computer interaction unit 100, so that the present application can accurately move the robot actuator 300 to the lesion to deliver the particle stent in a safer surgical environment.

At present, many studies and patents have proposed interventional surgery robots with different structures, mainly using master-slave teleoperation to remotely control surgical robots, so as to avoid radiation from CT machines and radioactive particles. However, existing interventional surgery robots are mainly used to complete the pushing of catheters and guide wires, and cannot be used for the delivery and release of particle stents.

In view of the above situation, with reference to Fig. 2, the present application proposes a cavity-oriented radioactive particle stent release robot system, the robot actuator 300 includes: a mechanical arm 101, an actuator 102, a particle stent delivery catheter 3 and a guide wire 15; The arm plays a supporting role; the actuator 102 is arranged on the mechanical arm 101, and the position and angle of the actuator 102 are adjusted through the mechanical arm 101; the particle support delivery conduit 3 is arranged on the actuator, and the actuator 102 is used to push the particle support delivery conduit 3 to the designated location for delivery of the particle stent; the guide wire 15 is set on the actuator 102 and connected to the particle stent delivery catheter 3, and the actuator 102 pushes the guide wire 15 for intervention.

The robot system of this application for the release of particle stents in the lumen can be used for the delivery and release of particle stents. It is not only compatible with the existing clinical radioactive particle stent delivery catheter 3, but also integrates the guide wire 15 pushing and rotating mechanism, and Using the master-slave operation structure to remotely control the advance and retreat of the guide wire, the overall push of the rotating particle stent delivery catheter 3 and the release of the particle stent, so that the doctor is completely separated from the radiation in the operation of radioactive particle stent implantation in the cavity . At the same time, the pushing function of the guide wire 15 and the radioactive particle stent delivery catheter 3 in the robot system proposed by the present application enables the movement of the guide wire 15 and the particle stent delivery catheter 3 to be controlled more precisely, thereby more accurately positioning the radioactive particle stent at the lesion. The release of particle stents is expected to improve the effect of cavity radioactive particle stent therapy.

Referring to Fig. 2, the actuator 102 includes a housing and a guide wire pushing structure 1021, a catheter pushing structure 1022, and a support structure 1023 arranged on the housing; the guide wire 15 is arranged on the guide wire pushing structure 1021, and the guide wire pushing structure 1021 is used for Promote the movement of the guide wire 15;

Specifically, the overall mechanical structure of the robot actuator includes a mechanical arm 101, an actuator 102, a particle stent delivery catheter 3, and a guide wire 15; wherein, the robotic arm 101 has six degrees of freedom for adjusting the spatial position of the actuator 102 and Angle; the actuator 102 is responsible for pushing the particle stent delivery catheter 3 packaged with the particle stent to a designated position.

The actuator 102 mainly includes three major modules: a guide wire pushing structure 1021, a catheter pushing structure 1022, and a support structure 1023; , the guide wire 15 is arranged on the guide wire pushing structure 1021, and the guide wire pushing structure 1021 is used to promote the movement of the guide wire 15; the particle stent delivery catheter 3 is arranged on the catheter pushing structure 1022, and the catheter pushing structure 1022 is movably installed on the shell 16 The moving rail provided on the top is used to push the movement of the particle scaffold delivery catheter 3 along the moving rail; the support structure 1023 is installed on the shell to support the particle scaffold delivery catheter 3 to improve the rigidity of the particle scaffold delivery catheter 3.

Referring to Figures 2 to 4, the support structure 1023 mainly includes components: a support plate 1, a telescopic sleeve 2, and a catheter fixing member 9; the catheter fixing member 9 is installed on the support plate 1 structure through the socket on the support plate 1; One end of the telescopic sleeve 2 is connected to the conduit fixing member 9 , and the other end is connected to the particle support delivery conduit 3 ; the support member 1023 is detachably connected to the shell 16 through the support member installation groove 27 .

Referring to FIG. 2 to FIG. 5 , the guide wire pushing structure 1021 mainly includes a friction wheel 6 and a guide wire limiting box 7 . The guide wire 15 is installed between the two friction wheels 6 , and the pushing of the guide wire 15 is mainly realized through the friction wheels 6 . The two friction wheels 6 are respectively driven by two friction wheel motors 18 , and are connected to the shafts of the friction wheel motors 18 through ball bearings 703 . Two friction wheels 6 are arranged obliquely on the housing 16, and the reverse rotation (one rotates clockwise and the other counterclockwise) of the two oblique friction wheels 6 realizes the advance or retreat of the guide wire, and the same rotation (two The two friction wheels 6 rotate counterclockwise or clockwise at the same time) to realize the rotation operation of the guide wire 15.

In this embodiment, two oblique friction wheels 6 are used to push the guide wire 15, and the two drive motors are obliquely placed with the upper friction wheels 6 and are at 45° with the cavity particle support intervention mechanism bottom shell; the oblique friction The opposite rotation of the wheel 6 can realize the advance/retreat of the guide wire, and the same rotation can provide the guide wire with an upward or downward frictional force to make the guide wire rotate; Including the vertical upward or downward component force, so the guide wire limit box 7 is set on the housing 16 to limit the vertical upward or downward movement of the guide wire 15, so as to ensure that the guide wire 15 can advance, retreat and rotate smoothly .

Guide wire limit box 7 is provided with guide wire limit cover 701 and groove, and guide wire limit box 7 is connected on 16 shells by jack, and guide wire 15 is placed on guide wire limit cover 701 (as shown in Figure 5 ) in the groove below, the 071 guide wire limit cover 701 plays the role of fixing the guide wire. Through the attraction of the magnet 702, the guide wire limit cover 701 can be opened and closed quickly, thereby facilitating the installation of the guide wire 15. In addition, the friction wheel motor 18 is fixed on the friction wheel motor fixing part 20, and the friction wheel motor fixing part 20 is connected to the base 23 by bolts.

2 to 4, the catheter pushing structure 1022 mainly includes a first fixing structure 4 and a second fixing structure 5, the inner shaft handle 14 is connected to the first fixing structure 4, and the outer sleeve handle 12 is connected to the second fixing structure 5, The first fixing structure 4 and the second fixing structure 5 respectively correspond to the inner shaft handle 14 and the outer sleeve handle 12 on the control particle stent catheter 3 .

The first fixing structure 4 and the second fixing structure 5 are respectively connected to the two fixing device connectors 10 provided on the housing 16 through elastic bolts, and the two fixing device connectors 10 are correspondingly connected to the two sliders through bolts. On the connecting piece 21 , the two slider connecting pieces 21 are respectively connected to the two sliders 25 in a threaded screw hole connection manner. The two sliders 25 move correspondingly on the two screw guide rails 26, thereby controlling the movement of the first fixed structure 4 and the second fixed structure 5, so that the first fixed structure 4 and the second fixed structure 5 can be positioned on the housing 16. Two screw guide rails 26 are respectively driven by two screw motors 19 and fixed on the base 23 by bolts.

The photoelectric switch 24 is used to limit the screw guide rail 26. Once the slider 25 moves to the position where the photoelectric switch 24 is located, the signal sent by the photoelectric switch 24 changes from 0 to 1, and instructs the control system to stop the screw. The rotation of the motor 19 makes the slider 25 stop moving. The motor connection 9 of the screw motor 19 and the friction wheel motor 18 is all connected with the external controller through the hole on the base 23 .

Referring to FIG. 3 , FIG. 4 and FIG. 6 , the first fixing structure 4 is equipped with an inner shaft handle locking structure 13 , and the inner shaft handle locking structure is used to install and lock the inner shaft handle 14 . The first fixed structure 4 mainly includes a first fixed structure base 403, a first fixed structure shell 401, and a first locking switch 402. The inner shaft handle locking structure 13 includes a first locking cover 131, a first locking cover rotating shaft 132, a first Lock the bar 133 , the first bar shaft 134 and the first silicone part 135 . The base 403 of the first fixing structure is provided with a first locking switch 402 , which is controlled by a spring and used for elastic connection with the connecting part 10 of the fixing device. The first locking lever shaft 134 is installed through the installation hole on the first fixed structure casing 401 for fixing the first locking lever 133; the first locking cover rotating shaft 132 is used to rigidly connect the first fixing structure casing 401 and the first locking cover 131 , the first silicone piece 135 is connected to the first locking cover 131 to increase the frictional force. After the inner shaft handle 14 on the particle stent delivery catheter 3 is installed in the groove of the first fixed structure 4, the first locking cover 131 is closed on the first fixed structure 4 by rotating, and the first locking gear lever is rotated manually by 133 The first locking cover 131 is pressed, so that the position of the inner shaft handle 14 is fixed.

Referring to FIG. 3 , FIG. 4 and FIG. 7 , the second fixing structure 5 is provided with an outer sleeve handle locking structure 11 , and the outer sleeve handle locking structure 11 is used to install and lock 12 outer sleeve handles. An extension piece 504 is arranged on the second fixing structure 5 , the outer sleeve handle locking structure 11 is connected to the extension piece 504 , and the extension piece 504 is fixed in the second fixing structure 5 by bolts. The second fixed structure 5 is composed of a second fixed structure base 503 and a second fixed structure shell 501 . A second locking switch 502 controlled by a spring is installed on the second fixing structure base 503 , and the second locking switch 502 is used to form a switch connection with the fixing device connector 10 .

The outer sleeve handle locking structure 11 includes a second locking cover 111, a second locking cover rotating shaft 112, a second locking bar 113, a second locking bar rotating shaft 114 and a second silicone piece 115. The outer sleeve handle locking structure 11 is provided with There is a mounting hole, and the second locking rod rotating shaft 114 is inserted into the mounting hole for fixing the second locking blocking rod 113; the second locking cover rotating shaft 112 is used to connect the outer cover with the base of the handle locking structure 11 and the second locking cover 111. The disilica gel piece 115 is disposed on the second locking cover 111 for increasing the friction force.

After the outer sleeve handle 12 of the particle stent delivery catheter 3 is installed in the groove of the outer sleeve and the handle locking structure 11, the second locking cover 111 is closed by rotating, and the second locking lever 113 is pressed against the second locking cover 111 by rotating. , so that the outer sleeve handle 12 is in a fixed position.

In the embodiment, during the operation of the robot system, when the slider 25 advances at the same time, the actuator 102 sends the particle scaffold delivery catheter 3 to the target position, and then the slider 25 connected to the second fixing structure 5 retracts, thereby controlling The outer sleeve handle 12 is retracted to complete the automatic release of the particle support. Finally, the two sliders 25 are withdrawn at the same time, and the particle stent delivery catheter 3 is withdrawn from the cavity of the human body. The mechanical arm connector 22 on the base 23 is used to connect with the mechanical arm 101 through bolts. An emergency stop button 17 is installed at the tail end of the shell 16, which is used to lock the movement of the robot actuator in an emergency, so as to ensure intraoperative safety. A positioning armrest 8 is provided on the housing 16 , and the positioning armrest 8 is convenient for the operator to manually adjust the initial position of the actuator 102 .

Referring to Figure 1 and Figure 2, the human-computer interaction unit includes an intraoperative image acquisition module and a master-slave operation selection module. During the operation, the image acquisition module is mainly used to acquire intraoperative cholangiography DSA (digital subtraction angiography) images, and display the images through the main operation terminal, so that the operator can observe the situation in the intervention path in real time so as to accurately deploy the particle stent . The master-slave operation selection module is used to track the position of the guide wire and the particle stent in the particle stent delivery catheter in real time, and display it to the operator through the master operation terminal.

The motion control unit mainly includes a mechanical arm control module, a friction wheel control module, and a catheter push and release control module. The mechanical arm control module mainly controls the six-degree-of-freedom mechanical arm 101, so that the entire mechanical structure at the end can move to a designated position, and can change the relative angle between the particle stent delivery catheter 3 and the human body when the advancement of the radioactive particle stent delivery catheter 3 is blocked, So that the catheter can enter the designated position in the patient's cavity more smoothly. The friction wheel control module is mainly used to control the rotation direction and speed of the friction wheel 6 . The catheter push and release control module is mainly used to control the synchronous and independent movement of the double screw guide rails 26, so as to control the push of the radioactive particle stent delivery catheter 3 and the release of the particle stent.

The robot system for cavity-oriented particle stent release of the present application will be described in detail below with reference to Fig. 1 to Fig. 4 in specific embodiments:

The doctor first chooses to operate the guide wire in the master-slave operation selection module in the human-computer interaction unit 100 . After the guide wire 15 enters the human body cavity along the channel established by the puncture needle, the image acquisition module in the human-computer interaction unit 100 will acquire the DSA image during the operation and present it to the main terminal for operation by the doctor for observation. The DSA image can clearly display the guide wire, so the operating doctor can judge the position of the guide wire 15 according to the shape of the guide wire 15 . The doctor continues to operate the haptic device at the main operating end according to the position of the guide wire 15, so as to complete the forward, backward and rotation actions of the guide wire 15, so as to reach the predetermined position. During the movement of the guide wire 15 , the master-slave operation selection terminal module sends corresponding commands on the master operation terminal equipment to the friction wheel control module, thereby controlling the rotational speed and steering of the friction wheel. With the forward direction of the particle stent delivery catheter 3 , when the left friction wheel 6 and the right friction wheel 6 rotate clockwise (based on the left and right sides of FIG. 3 ), the guide wire 15 advances. Conversely, when the left friction wheel 6 rotates clockwise and the right friction wheel 6 rotates counterclockwise, the guide wire 15 retreats. When the two friction wheels 6 rotate in the same direction, that is, rotate clockwise or counterclockwise simultaneously, the guide wire 15 rotates around its own axis.

When the guide wire 15 advances to the predetermined preoperative position, the doctor selects to operate the particle stent delivery catheter 3 in the master-slave operation selection module in the man-machine interaction unit 100 . At this time, when the doctor sends a signal to the catheter push and release module in the motion control unit 200 through the tactile device at the main operating end, the catheter push and release module controls the two screw motors 19 in real time, and the two screw motors 19 move in the same direction at the same time. Or reverse rotation to complete the advancement and retreat of the particle stent delivery catheter 3 . At the same time, the doctor also uses the DSA image collected by the image acquisition module in the human-computer interaction unit 100 to know the position reached by the head end of the particle stent delivery catheter 3 . During the advancement of the particle stent delivery catheter 3, since the lumen is curved, the angle formed by the initial cavity intervention actuator and the human body cavity may cause the advancement of the particle stent delivery catheter 3 to be blocked. At this time, the doctor passes the master-slave The operation selection module selects and manipulates the robotic arm 101 . The tactile device at the main operating end receives the doctor's movement instructions and transmits them to the robotic arm control module. The robotic arm control module controls the movement of the robotic arm 101 to an ideal position and angle considered by the doctor. At this time, in the master-slave operation selection module of the human-computer interaction unit 100, the doctor selects the particle delivery stent to push, and uses the haptic device at the master operation end to continue to control the particle delivery catheter 3 to advance. Once the particle stent delivery catheter 3 arrives at the preoperatively planned position, the doctor selects the particle stent release function in the master-slave operation selection module, and the device at the master operation end receives the doctor’s action instructions and transmits them to the catheter push and release control module to control the two Screw motor 19. When the particle stent delivery catheter 3 is released, the motor of the rear handle of the particle stent delivery catheter 3 is controlled to lock, and the motor movement of the front handle is controlled to complete the release of the particle stent. Then, the doctor switches to the catheter push mode in the human-computer interaction unit 100, and withdraws the particle stent delivery catheter 3 to complete the operation.

Specifically, the catheter pushing and releasing module includes a pair of parallel screw guide rails 26 and a catheter handle locking device. The catheter push and release module controls the outer sleeve handle 12 and the inner shaft handle 14 of the particle stent delivery catheter 3 respectively through two sliders 25 connected to the screw guide rail 26; Blocks 25 move forward at the same time, and the particle support delivery catheter 3 is pushed forward as a whole; once the particle support reaches the target position, the slider 25 corresponding to the outer sleeve handle 12 can move back independently to complete the automatic release of the particle support; finally, the two sliders 25 retreat at the same time to complete the retraction of the particle stent delivery catheter 3 . Due to the large size of the particle stent delivery catheter 3 and the flexible structure of about 640mm at the head end, it is easy to bend under force when pushed into the human body. Therefore, the actuator 102 adds a replaceable support module, which can The support module is the support structure 1023 mentioned above, which includes a support plate 1 and a telescopic sleeve 2 . During the preoperative preparation, it can be selectively installed according to the actual operation situation, and it can ensure that the particle stent delivery catheter 3 will not be bent under force during a long push stroke. The replaceable support module includes parts in direct contact with the guide wire 15 and the particle stent delivery catheter 3 in this application, all of which are replaceable sterile consumables, thus meeting the sterility requirements of surgical instruments. At present, interventional actuators are compatible with most commercial particle stent delivery catheters on the market3.

Referring to Fig. 1 to Fig. 4, and referring to Fig. 8, the structural principle and working process of the robotic system for cavity-oriented particle stent release of the present application will be described in detail below with specific embodiments.

Step 1, preoperative preparation: cover the actuator 102 and the mechanical arm 101 with a sterile protective film, and only expose the fixing device connector 10, the installation hole of the guide wire pushing structure 1021 on the shell 16 and the support installation groove 27 . The operator installs the first fixing structure 4 and the second fixing structure 5 on the fixing device connector 10, and the set of the friction wheel 6 and the guide wire limit box 7 is installed on the shell 16, and according to the implantation position or depth information of the stent Optionally install the support structure 1023 into the support installation groove 27 .

Step 2, installation of interventional devices: the operator puts the guide wire 15 into the particle stent delivery catheter 3, the particle stent is packaged in the particle stent delivery catheter 3 in advance, and then is installed on the actuator 102 as a whole; the guide wire 15 is installed on the guide wire In the consumables of the pushing structure 1021, the particle stent delivery catheter 3 is placed in the grooves on the first fixing structure 4 and the second fixing structure 5, and is locked by the inner shaft handle locking structure 13 and the outer sleeve handle locking structure 11 respectively, The hose part of the particle rack delivery conduit 3 is inserted into the telescopic sleeve 2 .

Step 3, the initial adjustment of the position of the mechanism: the operator moves the actuator 102 to the side of the patient through the positioning armrest 8 to complete the initial positioning, and the assistant doctor leaves the operating room.

Step 4, preoperative planning: the attending doctor activates the supporting software on the main operation terminal, selects patient information, and the planning display module in the human-computer interaction unit 100 displays the preoperative CT/MRI images of the patient's cavity to the doctor through the display.

Step 5, guide wire pushing: Before the guide wire 15 is pushed, a channel between the outside body and the human body cavity is usually established by the puncture needle, and the guide wire 15 can enter the body cavity along this channel. Afterwards, the doctor controls the advance, retreat and rotation of the guide wire 15 by remotely controlling the main hand, so as to put the guide wire 15 into the preoperatively planned position. The image acquisition module in the image processing unit can acquire intraoperative real-time DSA images, so that doctors can obtain the position of the guide wire in real time, so as to push the guide wire to the target position more accurately.

Step 6, pushing the particle stent delivery catheter: using the main operation terminal to remotely push the particle stent delivery catheter 3 . During the operation, the image acquisition module in the image processing unit also collects the intraoperative DSA image in real time, so that the doctor can observe the real-time position of the particle stent delivery catheter 3, so as to smoothly reach the target preoperative planning area.

Step 7, particle stent release: the doctor switches to the single motor mode, controls the withdrawal of the second fixing structure 5, and then controls the retraction of the outer sleeve handle 12, releases the particle stent, and determines whether the particle stent is complete through intraoperative real-time DSA images. release and whether to deploy at the intended location.

Step 8, withdrawing the particle stent delivery catheter: After the particle stent is released, the doctor switches to the dual-motor mode, controls the first fixing structure 4 and the second fixing structure 5 to withdraw simultaneously, and recovers the particle stent delivery catheter 3 .

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the present application will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

A robot system for cavity particle support release, characterized in that it includes: a human-computer interaction unit, a motion control unit and a robot actuator;

The human-computer interaction unit is used to collect cholangiography images and display images, and to send instructions to the motion control unit;

The motion control unit is used to receive the control instruction, and control the movement of the robot actuator based on the control instruction;

The robot actuator is used to transport the particle support.
The robot system for release of the cavity-oriented particle stent according to claim 1, wherein the robot actuator comprises:

a mechanical arm, the mechanical arm plays a supporting role;

an actuator, the actuator is arranged on the mechanical arm, and the position and angle of the actuator are adjusted through the mechanical arm;

A particle scaffold delivery catheter, the particle scaffold delivery catheter is arranged on the actuator, and the actuator is used to push the particle scaffold delivery catheter to a designated position so as to transport the particle scaffold;

A guide wire, the guide wire is arranged on the actuator and connected to the particle stent delivery catheter, and the actuator pushes the guide wire for intervention.
According to claim 2, the robotic system for release of particle stents facing the lumen, wherein the actuator comprises a casing and a guide wire pushing structure, a catheter pushing structure, and a support structure arranged on the casing;

The guide wire is arranged on the guide wire pushing structure, and the guide wire pushing structure is used to promote the movement of the guide wire;

The particle scaffold delivery catheter is arranged on the catheter pushing structure, and the catheter pushing structure is movably mounted on a moving rail provided on the housing, and is used to push the particle scaffold delivery catheter along the moving rail. sports;

The support structure is installed on the shell, and is used to support the delivery catheter of the particle scaffold, so as to improve the rigidity of the delivery catheter of the particle scaffold.
According to claim 3, the robot system for release of particle stents facing the cavity is characterized in that the guide wire pushing structure comprises two side-by-side oblique friction wheels and two friction wheel motors correspondingly driving the two friction wheels;

The guide wire is installed between the two friction wheels, and the two friction wheels are driven by the two friction wheel motors to rotate in opposite directions to promote the forward or backward movement of the guide wire; The friction wheels rotate in the same direction as each other to promote the rotational movement of the guide wire.
According to claim 4, the robotic system for release of particle stents facing the lumen, wherein the friction wheel is arranged on the housing obliquely, and the guide wire pushing structure also includes a guide wire limiting box, the The guide wire limiting box is installed on the housing, the guide wire passes through the guide wire limiting box, and the guide wire limiting box limits the upward or downward movement of the guide wire perpendicular to the housing, so as to Ensure that the guide wire can advance, retreat and rotate smoothly.
According to claim 5, the robot system for release of particle stents facing the cavity is characterized in that, the guide wire limit box is provided with a guide wire limit cover and a groove, and the guide wire passes through the groove, The guide wire limiting cover is closed on the groove to limit the guide wire.
According to claim 3, the robotic system for release of particle stents facing the lumen, wherein the catheter pushing structure comprises a first fixing structure and a second fixing structure, and the first fixing structure and the second fixing structure respectively correspond to It is arranged on the two moving rails provided on the shell, and the particle support delivery catheter is provided with an inner shaft handle and an outer sleeve handle;

The inner shaft handle is connected to the first fixed structure, the outer sleeve handle is connected to the second fixed structure, and the first fixed structure and the second fixed structure respectively control the inner shaft handle and outer sleeve handle.
According to claim 7, the robot system for release of the cavity-oriented particle support is characterized in that, the housing is provided with screw guide rails corresponding to the number of the first fixing structure and the number of the second fixing structure, and each The screw guide rails are equipped with a screw motor and a slider, and the first fixed structure and the second fixed structure are respectively connected to the screw guide rails through a slider;

The screw motor drives the screw guide rail, so that the slider moves on the screw guide rail, so that the first fixed structure and the second fixed structure pass on the moving rail of the housing move.
According to claim 8, the robot system for release of the cavity-oriented particle stent is characterized in that, the first fixing structure is provided with an inner shaft handle locking structure, which is used to install and lock the inner shaft handle;

The inner shaft handle locking structure includes a first locking cover and a first locking lever, one end of the first locking cover is installed on the first fixed structure, and the other end of the first locking cover is closed by rotating On the first fixed structure, the first locking lever is rotatably mounted on the first fixed structure, and the first locking lever locks the first locking cover through rotation.
According to claim 8, the robot system for release of the cavity-oriented particle stent is characterized in that, the second fixing structure is provided with an extension piece, and one end of the extension piece is set in the second fixing structure, so that The other end of the extension piece is provided with an outer sleeve handle locking structure, and the outer sleeve handle locking structure is used to install and lock the outer sleeve handle;

The outer sleeve handle locking structure includes a second locking cover and a second locking bar, one end of the second locking cover is installed on the extension piece, and the other end of the second locking cover is closed by rotating. On the extension piece, the second locking lever is rotatably mounted on the extension piece, and the second locking lever locks the second locking cover through rotation.
According to claim 3, the robot system for release of the cavity-oriented particle support is characterized in that, the support structure includes a support plate, a telescopic sleeve and a conduit fixing member, and the support member is installed on the support frame of the outer shell In the installation groove, the conduit fixing member is installed on the support plate, one end of the conduit telescoping sleeve is installed on the conduit fixing surface, and the other end is connected to the particle support conveying conduit.
According to claim 3, the robot system for release of the cavity-oriented particle stent is characterized in that, the housing is provided with positioning handrails for handrails.
According to claim 3, the robot system for release of the cavity-oriented particle stent is characterized in that, the human-computer interaction unit comprises:

An image acquisition unit, configured to acquire cholangiography images;

The main operation terminal is used to display the image collected by the image acquisition unit;

The master-slave operation selection module is used for real-time tracking of the position of the guide wire and the particle stent delivery catheter of the robot actuator, and displays it through the master operation terminal.
The robot system for releasing particle stents facing the cavity according to claim 3, wherein the motion control unit comprises:

A mechanical arm control module, configured to control the six-degree-of-freedom movement of the robot actuator;

The friction wheel control module is used to control the rotation direction and speed of the friction wheel, and then control the advance, retreat and rotation of the guide wire;

The catheter push and release control module is used to control the movement of the particle stent delivery catheter and the release of the particle stent.