WO2023109191A1

WO2023109191A1 - Simple slave-side operating device for interventional surgery robot

Info

Publication number: WO2023109191A1
Application number: PCT/CN2022/116115
Authority: WO
Inventors: 欧永红
Original assignee: 深圳市爱博医疗机器人有限公司
Priority date: 2021-12-14
Filing date: 2022-08-31
Publication date: 2023-06-22
Also published as: CN114391961A; CN114391961B

Abstract

The present application relates to the field of medical robots, and provides a simple slave-side operating device for an interventional surgery robot, comprising a main body, a first driving mechanism used for clamping a first elongate medical instrument, and a second driving mechanism. The first driving mechanism is fixedly installed on the main body, and when the second driving mechanism slides along the main body to drive the first elongate medical instrument to move, the first driving mechanism is only used for supporting the first elongate medical instrument and cooperating with the second driving mechanism to enable the first elongate medical instrument to move synchronously, such that the driving mechanism and the control process thereof are simpler and less costly while the delivery of the elongate medical instrument is guaranteed to be smoother.

Description

A simple operating device for interventional surgery robot from the end

This application claims the priority of a Chinese patent application with an application date of December 14, 2021, an application number of 202111529468.6, and an invention titled "A Simple Slave Operating Device for Interventional Surgery Robot". The entire content of this Chinese patent application Incorporated in this application by reference.

technical field

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

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, the assisting robot for minimally invasive vascular interventional surgery is developing rapidly due to the involvement of high-end medical equipment and robot technology. A simple slave-side operating device has become a technical problem to be solved urgently.

technical problem

There is a problem of complex structure in the slave operating device of the existing minimally invasive vascular interventional surgery assisting robot.

technical solution

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

In order to solve the above problems, a simple interventional surgery robot slave operation device provided by this application includes:

A main body, a first driving mechanism and a second driving mechanism for clamping a first elongated medical instrument, the first driving mechanism is fixedly mounted on the main body, and when the second driving mechanism moves along the main body When sliding to drive the first elongated medical device to move, the first driving mechanism makes the first elongated medical device move synchronously.

Further, the first driving mechanism is a follower mechanism that supports and cooperates with the second driving mechanism to drive the first elongated medical device.

Further, the first drive mechanism is provided with a set of follower rollers, the set of follower rollers is used to clamp the first elongated medical instrument and cooperate with the second drive mechanism to synchronously drive the first elongate medical instrument sports.

Further, the main body is provided with a first guide rail, and the second driving mechanism slides along the first guide rail to drive the first elongated medical device to move.

Further, the simple interventional surgery robot slave end operating device also includes a third drive mechanism and a fourth drive mechanism slidably installed on the main body, and the third drive mechanism and the fourth drive mechanism are used for clamping The second elongated medical device slides along the body to drive the second elongated medical device to move.

Further, the simple slave-end manipulator for interventional surgery robot also includes a quick exchange mechanism, and the quick exchange mechanism is detachably fixed together with the fourth driving mechanism.

Further, a second guide rail is provided on the main body, and the third driving mechanism and the fourth driving mechanism slide along the second guide rail to drive the second elongated medical device to move.

Further, the length of the second guide rail is not less than that of the first guide rail.

In some embodiments, the second guide rail is parallel to the first guide rail.

Further, the simple interventional surgery robot slave end operating device further includes a fifth driving mechanism, which is used to clamp the third elongated medical instrument and can slide along the main body to drive the third elongated medical instrument. Long medical device movement.

Further, the fifth driving mechanism slides along the second guide rail to drive the third elongated medical device to move.

Further, a third guide rail is provided on the main body, and the fifth drive mechanism slides along the third guide rail to drive the third elongated medical device to move.

In some embodiments, the first rail and the second rail are not parallel to each other.

Further, the first guide rail, the second guide rail and the third guide rail are all nonlinear guide rails.

Further, the first guide rail, the second guide rail and the third guide rail are distributed on different circumferences.

Further, the simple interventional surgery robot slave end manipulator also includes a gripper, which is used to grip the third elongated medical instrument, and/or synchronously drives the third medical instrument with the fifth drive mechanism. Slender medical devices.

Further, the first drive mechanism, the second drive mechanism, the third drive mechanism, the fourth drive mechanism and the fifth drive mechanism are sequentially arranged along the main body.

Beneficial effect

This application allows doctors to remotely control the corresponding second drive mechanism to move on the guide rail of the main body, while the first drive mechanism only supports the first elongated medical device and cooperates with the second drive mechanism to make the first elongated medical device The devices move synchronously, and while ensuring smoother delivery of the slender medical devices, the driving mechanism and its control process are simpler and lower in cost.

Description of drawings

Fig. 1 is a schematic diagram of the first embodiment of a simple interventional surgery robot from the end operating 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 three driving mechanisms are removed in Fig. 1;

Fig. 5 is a schematic diagram of a second embodiment of a simple interventional surgery robot slave-side operating device of the present application;

Fig. 6 is a schematic diagram showing that each driving mechanism shown in Fig. 5 can slide to the farthest end;

Fig. 7 is a schematic diagram of the second embodiment of a simple interventional surgery robot operating device from the end of the present application;

Fig. 8 is a schematic diagram of the third embodiment of a simple interventional surgery robot slave-end manipulation device of the present application;

FIG. 9 is a schematic diagram of a modification of the third embodiment of a slave-end manipulator for a simple interventional surgery robot of the present application.

BEST MODE FOR CARRYING OUT THE INVENTION

As shown in Fig. 1 and Fig. 2, an embodiment of a simple interventional surgery robot slave operation device of the present application includes a main body 10, a drive mechanism 20, 30, 40, 50, 60 movably mounted on the main body 10, Holder 70 and quick 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 102 .

As shown in Figures 5 to 6, guide rails 103, 104 are provided on the main body 10, and in the figure, the guide rails 103, 104 are linear guide rails. Wherein the drive mechanism 20 is fixedly installed on the main body 10, the drive mechanism 30 can slide along the guide rail 103, and the drive mechanisms 40, 50, 60 can slide along the guide rail 104, preferably, the length of the guide rail 104 is greater than or equal to the guide rail 103 length, and the farthest end of the guide rail 104 does not exceed the furthest position where the drive mechanism 30 can slide on the guide rail 103.

Embodiments of the present invention

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

In this application, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixation" and so on should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, Or into one, or even a connection that can move relative to each other; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the mutual connection of two components role relationship. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

In the description of this application, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", " The orientations or positional relationships indicated by "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying the It should not be construed as limiting the application to indicate that a device or element must have a particular orientation, be constructed, and operate in a particular orientation.

As used herein, the direction "distal" is a direction toward the patient, and the direction "proximal" is a direction away from the patient. The terms "upper" and "upper" refer to an Yin direction away from the direction of gravity, and the terms "bottom", "lower" and "lower" refer to an Yin (general) direction of gravity. The term "front" refers to the side of the interventional surgical robot facing the user from the end device, and "advance" refers to the direction in which the guidewire or catheter is displaced into the surgical patient's body. The term "posterior" refers to the side of the interventional surgical robot that faces away from the user from the end device, and "backward" refers to the direction in which the guidewire or catheter is displaced out of the surgical patient's body. The term "inwardly" refers to the interior portion of a feature. The term "outwardly" refers to the outer portion of a feature. The term "rotation" includes "forward rotation" and "reverse rotation", where "forward rotation" refers to the direction that the guidewire or catheter is rotated into the body of the surgical patient, and "reverse rotation" refers to the direction that the guidewire or catheter is rotated Exit the orientation of the surgical patient's body.

In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, a feature defined as "first", "second", etc. may expressly or implicitly include one or more of that feature. In the description of this application, "many" or "plurality" means two or more.

Finally, it should be noted that, if there is no conflict, the embodiments of the present application and various features in the embodiments can be combined with each other, and all are within the protection scope of the present application. In addition, all or part of the steps in the above method can be executed in a computer system such as a set of computer-executable instructions, and although the steps are listed in order of 1, 2, 3..., in some cases, it can be The steps shown or described are performed in an order different than here.

The guide wires here include but not limited to guide wires, micro guide wires and stents to guide and support interventional medical devices, and catheters include but not limited to guide catheters, micro catheters, contrast catheters, multifunctional tubes (also known as intermediate catheters) , thrombolytic catheters, balloon dilatation catheters and ball expansion stent catheters and other therapeutic interventional medical devices.

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 102 . In this embodiment, these driving mechanisms 20, 30, 40, 50, 60 can slide directly on the main body 10, such as fixing a guide rail on the main body 10, such as a linear guide rail in the figure, these driving mechanisms 20, 30, 40, 50, 60 all can slide along this same guide rail.

In other embodiments, as shown in FIGS. 5 to 6 , guide rails 103 , 104 are provided on the main body 10 , and in the figures, the guide rails 103 , 104 are linear guide rails. Wherein the drive mechanism 20 is fixedly installed on the main body 10, the drive mechanism 30 can slide along the guide rail 103, and the drive mechanisms 40, 50, 60 can slide along the guide rail 104, preferably, the length of the guide rail 104 is greater than or equal to the guide rail 103 length, and the farthest end of the guide rail 104 does not exceed the furthest position where the drive mechanism 30 can slide on the guide rail 103. As shown in the figure, the guide rails 103 and 104 are parallel to each other, so as to ensure that the catheters and guide wires that they clamp, push and/or rotate are in the same axial direction. In addition, the guide rails 103 and 104 may not be parallel to each other, that is, they may be intersected, so that they can also hold, push and/or rotate the catheter or the guide wire, but the catheter and the guide wire do not move along the same axis.

Each drive mechanism is used to clamp, push (including forward and backward) and rotate (including forward rotation and reverse rotation) catheter or guide wire (collectively referred to as "slender medical devices", the same below), and can also be used to simultaneously clamp Hold, advance (including forward and backward) and rotate (including forward rotation and reverse rotation) catheters and guide wires to realize the coordinated movement of multiple catheters and one guide wire or the coordinated movement of multiple catheters and multiple guide wires. Each drive mechanism includes a clamping assembly for clamping the catheter or guide wire, a rotating assembly for rotating the catheter or guide wire, and the rotating assembly can be either actively driven or passively followed, or all actively driven type, or part of it is active driving type, and the other is passive following type. The clamping of the catheter by the driving mechanism 20, 40 does not affect the rotation of the catheter.

The clamping assembly and the rotating assembly of the drive mechanism 20, 30, 40, 50, 60 can be an interventional surgery robot guide wire catheter rubbing device as described in Chinese patent application 202111010071.6, 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 another embodiment, preferably, the driving mechanism 20 can only support and cooperate with the driving mechanism 30 to push and/or rotate the follower mechanism of the catheter or guide wire, such as a follower roller set, as shown in FIGS. 5 to 9 , like this Equipment cost can be reduced.

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/or rotate the same guide catheter 90 (ie, the first catheter) so as not to bend. Preferably, drive mechanisms 20 and 30 advance and/or rotate guide catheter 90, preferably synchronously, so that it straightens without bending. Likewise, the driving mechanisms 40 and 50 cooperate with a certain distance back and forth, and are used to cooperatively clamp, preferably synchronously push and/or rotate the same multifunctional tube 91 (ie, the second conduit, also known as the intermediate conduit). The drive mechanism 60 is used to clamp, push and/or rotate the guide wire 92 . The gripper 70 is used to grip and/or move the guide wire 92 synchronously with the drive mechanism 60 . 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.

In other embodiments, the driving mechanism 20 is fixed on the main body 10, and is spaced from the driving mechanism 30 arranged on the guide rail 103 at a certain distance, and is used to clamp, push and/or rotate the same guide tube 90 (i.e. first conduit) so that it does not bend. Preferably, the driving mechanism 20 acts as a follower mechanism and can move and/or rotate the guiding catheter 90 synchronously with the driving mechanism 30 so as to straighten it without bending. Similarly, the driving mechanisms 40 and 50 are arranged on the guide rail 104 and spaced at a certain distance back and forth, and are used to push and/or rotate the same multi-functional tube 91 (that is, the second guide tube, also called the middle guide tube) preferably synchronously with clamping. . The drive mechanism 60 is also disposed on the rail 104 and is used to clamp, push and/or rotate the guide wire 92 .

When preparing for the operation, it is necessary to select suitable (such as length and diameter) guide catheter 90, multifunctional tube 91 and guide wire 92, and flush and exhaust the guide catheter 90 and multifunctional tube 91 with physiological saline. Afterwards, the multifunctional tube 91 is inserted into the guide tube 90 and stretches out the guide tube 90 for a certain distance, and the guide wire 92 is penetrated into the multifunctional tube 91 and stretches out for a certain distance, such as the guide wire 92 head About 10cm beyond the multifunctional tube 91, this process is completed in the catheterization laboratory. 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 components of the driving mechanisms 20 and 30 simultaneously clamp the guiding catheter 90, the clamping components of the driving mechanisms 40 and 50 simultaneously clamp the multifunctional tube 91, the clamping components and the clamping device of the driving mechanism 60 70 clamps the guiding wire 92 at the same time, thereby realizing the clamping and fixing of the guiding catheter 90 , the multifunctional tube 91 and the guiding wire 92 .

In other embodiments, the driving mechanism 20 is fixed at the farthest end of the main body 10. It is only necessary to adjust the driving mechanism 30, 40, 50, 60 to be in a reasonable position, and guide the guide catheter 90, the multifunctional tube 91 and the guide catheter. The guide wire 92 is put together into the puncture sheath of the surgical patient, so that the clamping components of the driving mechanisms 20 and 30 clamp the guiding catheter 90 at the same time, and the clamping components of the driving mechanisms 40 and 50 simultaneously clamp the multifunctional tube 91, The clamping assembly of the driving mechanism 60 clamps the guiding wire 92, thereby realizing the coaxial clamping and fixing of the guiding catheter 90, the multifunctional tube 91 and the guiding wire 92, and the guiding catheter 90 and the multifunctional tube can also be kept in operation. 91 and guide wire 92 move along the same axis.

When the operation is started, the main terminal control console (such as the main terminal operating handle of the interventional surgery robot described in Chinese patent application 202111009835.X and the main terminal control module of the interventional surgery robot described in 202111009832.6, the entire content of which is incorporated into this application) will be used to remotely operate the drive The mechanisms 20 , 30 , 40 , 50 , 60 , the holder 70 and the quick exchange mechanism 80 move, and the console at the main end and the catheterization room are spaced apart from each other and are located in different areas. Specifically, the driving mechanisms 20 and 30 clamp the guide tube 90 together and drive the guide tube 90 to advance, and at the same time or not at the same time, the rotating components of the drive mechanisms 20 and 30 allow the guide tube 90 to rotate. When the drive mechanism 20 moves to the limit position (For example, at the farthest end of the main body 10 ) when the guiding catheter 90 is to be reset and the guiding catheter 90 is released, 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 allows the guide tube 90 to rotate, and so on, until it advances into place.

In other embodiments, the driving mechanism 20 is fixed and does not move, the driving mechanisms 20 and 30 clamp the guiding tube 90 together, and the driving mechanism 30 has been moving on the guide rail 103 to drive the guiding tube 90 to advance alone, simultaneously or not at the same time. The rotating assembly of the mechanism 30 makes the guiding catheter 90 rotate, and the driving mechanism 20 only cooperates with the driving mechanism 30 to support the guiding catheter 90 so that it does not bend and can smoothly complete delivery and rotation.

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 at different times, the rotating components of the driving mechanisms 40 and 50 allow the multifunctional tube 91 to move forward. Rotate, when the driving mechanism 40 moves to the limit position (for example, the distance from the driving mechanism 30 is close to the threshold) to reset and release the multifunctional tube 91, 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 allows the multi-functional tube 91 to rotate, so reciprocating, until advancing in place.

During the above process, the driving mechanism 60 and the holder 70 clamp the guide wire 92 and drive the guide wire 92 forward simultaneously or at different times, and the rotating assembly of the driving mechanism 60 rotates the guide wire 92 at the same time or at different times. 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 drive the guide wire 92 to advance together, or simultaneously or not at the same time. Guide wire 92 rotates, and so reciprocates, until advanced in place.

In other embodiments, the holder 70 is not needed, and the guiding wire 92 can be driven forward only by operating the driving mechanism 60 , and the rotating assembly of the driving mechanism 60 can rotate the guiding wire 92 at the same time or not at the same time. When the driving mechanism 60 moves to a limit position (for example, the distance from the driving mechanism 50 is close to the threshold) and needs to be reset, only the guide wire 92 needs to be released to reset. After resetting, the clamping assembly of the driving mechanism 60 clamps the guiding wire 92 again, and the driving mechanism 60 drives the guiding wire 92 to advance again, and at the same time or not at the same time, the rotating assembly of the driving mechanism 60 allows the guiding wire 92 to rotate, so reciprocating until Advance in place.

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 202111009832.6. 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 cooperating the guide catheter 90, the multifunctional tube 91 and the guide wire 92, preferably, it is necessary to keep the multifunctional tube 91 protruding from the guide catheter 90 for a certain distance, and the guide wire 92 to extend out of the multifunctional tube. 91 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 can be similar to the above-mentioned forward process, and it can also be that the driving mechanism 40 does not move and only the multifunctional tube 91 is pulled by the driving mechanism 50 to retreat, and the driving mechanism 60 does not move and only the guide wire 92 is pulled by the holder 70. withdraw. 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 would be removed from the clamping assembly of the driving mechanism 40, 50, 60 and the holder 70 in the catheter room. removed and soaked in heparinized water.

Select finer microcatheter 94 and microguide wire 96 (such as 0.014 in). The microguide wire 96 is manually threaded into the microcatheter 94 and together into the guide catheter 90 with the microguidewire 96 protruding out of the microcatheter 94 for a certain distance. According to the needs of the microcatheter 94 and the microguide wire 96, the driving mechanism 40, 50, 60 and the holder 70 are in a reasonable position, and the microcatheter 94 and the microguiding wire 96 are respectively clamped in the clamping position of the driving mechanism 40, 50. Components and the clamping component of the driving mechanism 60 and the clamper 70, so as to realize the clamping and fixing of the microcatheter 94 and the microguide wire 96. Preferably, the micro-catheter 94 is connected to the Y-valve, and the Y-valve is fixed to the driving mechanism 50 and clamped by its clamping assembly, and the rotating assembly rotates the Luer connector of the Y-valve to rotate the micro-catheter 94 .

Further, the movement of the driving mechanisms 40 , 50 , 60 and the holder 70 is remotely controlled through the console at the main end. The specific process is similar to the process of moving and/or rotating the multifunctional tube 91 and the guide wire 92 described above. 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 will pass through the lesion of the surgical patient, except for the possible treatment of aneurysm embolism), the driving mechanism 40, 50, 60 and the holder 70 will respectively The fixed microcatheter 94 and the microguide wire 96 do not move. If the specified position is not reached, the remote control drive 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 head of the microcatheter 94 retreated to the puncture sheath, the doctor came to the catheter room to manually take out the microcatheter 94 from the driving mechanism 40, 50 and soak it 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, in the catheter room, the tail of the micro guide wire 96 is inserted into the rapid exchange balloon dilation catheter 98, and the rapid exchange balloon dilation catheter 98 advances along the micro guide wire 96, and at this time, the rapid exchange ball is clamped by the rapid exchange mechanism 80 Balloon dilation catheter 98 .

Further, the rapid exchange mechanism 80 is controlled remotely through the console at the main end, so that the rapid exchange balloon dilation catheter 98 is advanced to the patient's lesion (not exceeding the head of the micro guide wire 96 ). During this process, the position and angle of the micro-guide wire 96 are adjusted in time by forward rotation, reverse rotation, forward movement and backward movement as required. 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 . Then, the rapid exchange mechanism 80 is remotely controlled through the console at the main end, so that the rapid exchange balloon dilation catheter 98 is retreated 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.

Further, in the catheter room, the rapid exchange balloon dilation catheter 98 is removed from the rapid exchange mechanism 80, and then the rapid exchange balloon expansion stent catheter is passed through the micro guide wire 96 and clamped to the rapid exchange mechanism 80. The specific process The process of advancing and/or rotating the above-mentioned rapid exchange balloon dilation catheter 98 will not be repeated.

Further, the rapid exchange mechanism 80 is controlled remotely through 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, the position and angle of the micro-guide wire 96 are adjusted in time by forward rotation, reverse rotation, forward movement and backward movement as required. 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. In the cath lab the rapid exchange balloon dilator catheter will be removed from the rapid exchange mechanism 80 and placed in heparinized water. So far the treatment process is over.

Further, the movement of the driving mechanisms 20, 30, 40, 50, 60 and the holder 70 is remotely controlled through the console at the main end, so that the guide catheter 90 and the micro guide wire 96 are retracted to the puncture sheath. When withdrawing, the driving mechanism 20 can pull the guiding catheter 90 to retreat together with the driving mechanism 30 , or it can not move but only the driving mechanism 30 pulls the guiding catheter 90 to retreat. Finally, guide catheter 90 and microguide wire 96 will be taken out from the clamping assembly of driving mechanism 20, 30, 60 and clamper 70 in the catheterization room, and withdrawn from the puncture sheath and put into heparin water, and then puncture The sheath is pulled out and the post-operative treatment is completed to complete the operation.

The quick-exchange catheter is selected above, so the quick-exchange mechanism 80 needs to be used to clamp, push and/or 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/or rotates the coaxial exchange catheter, so that the coaxial exchange catheter runs along the micro guide wire 96 advance to a suitable position or retreat to the puncture sheath place. Whether it is the quick exchange mechanism 80 or the coaxial exchange mechanism, the roller driving method can be used to realize the clamping, shifting and/or rotation of the quick exchange catheter and the coaxial exchange catheter.

In other embodiments, the driving mechanism 60 is disposed on another guide rail, such as the linear guide rail 105 shown in FIG. 7 , and the driving mechanism 20 is slidably mounted on the guide rail 103 like the driving mechanism 30 . At this time, the driving mechanisms 20, 30, the driving mechanisms 40, 50 and the driving mechanism 60 slide along three different linear guide rails respectively. In addition, these guide rails can also be non-linear guide rails. As shown in FIGS. 8 and 9, the three guide rails are distributed on the same circumference or different circumferences. Not delivered along the same axis. When adding two drive mechanisms as in Fig. 3 again, two described drive mechanisms can slide along the same guide rail with drive mechanism 20,30, drive mechanism 40,50 or drive mechanism 60, also can slide along another independent guide rail, There is no limit here, and so on.

In the above, only the driving mechanisms 20 , 30 , 40 , 50 , 60 and the holder 70 move along the guide rail of the main body 10 . In fact, in order to drive the driving mechanism 20, 30, 40, 50, 60, and the holder 70 to move, the main body 10 is also provided with transmission mechanisms such as a synchronous belt, a cable, a slider guide rail, and a rack and pinion, which cooperate with the guide rail to The movement of the driving mechanism 20 , 30 , 40 , 50 , 60 and the holder 70 along the main body 10 is realized.

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 surgical procedures 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 by the doctor according to the actual needs of the operation, that is, the driving mechanism 20, 30, 40, 50, 60, and the holder 70 And fast exchange mechanism 80 all 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 drive mechanisms (which can be drive mechanisms 20, 30, or drive mechanisms 40, 50) are added to clamp, synchronously push and/or rotate more Catheter, for details, please refer to the above-mentioned "ball expansion stent forming operation"; corresponding to each driving mechanism (such as the driving mechanism 30, 50) that always clamps the catheter, a quick exchange mechanism is provided, and the quick exchange mechanism is detachably installed on the driving mechanism or connected to the driving mechanism. The driving mechanism is made into an integrated mechanism. However, when implementing simple inspection operations such as angiography, only parts of the drive mechanisms 20, 30, 40, 50, and 60 are needed, such as drive mechanisms 20, 30, and 60 (or drive mechanisms 40, 50, and 60). As shown in FIG. 4 , the other driving mechanisms, the holder 70 and the quick exchange mechanism 80 are removed from the main body 10 . Taking angiography as an example, the following describes the cooperative movement and control process of a catheter and a guide wire when only the driving mechanisms 20 (or 40), 30 (or 50) 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 20 (or 40), 30 (or 50) and 60 respectively clamp the guide catheter and the guide wire, so as to realize the clamping and fixing of the guide catheter and the guide wire.

When starting the operation, the movement of the driving mechanism 20 (or 40), 30 (or 50), and 60 is remotely operated through the console at the main end. 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, let the driving mechanism 20 (or 40), 30 (or 50) clamp the guide catheter and not move, and remotely operate the driving mechanism 60 to retreat, so that the guide wire is withdrawn to the puncture sheath.

Further, in the catheterization room, the guide wire will be taken out from the holding assembly of the driving mechanism 60 and soaked in heparin 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, use the main terminal console to remotely operate the driving mechanism 20 (or 40), 30 (or 50), and 60 to move the guiding catheter and guiding wire respectively to another target blood vessel. At this time, let the driving Mechanisms 20 (or 40), 30 (or 50) clamp the guide catheter without moving, back the guide wire to the puncture sheath and take it out, inject contrast agent into the guide catheter again, perform radiographic contrast, and obtain the image of another target vessel. Complete image information from different angles. So many times, until the complete image information of all target blood vessels is obtained. In the above process, the guiding catheter can also be withdrawn first, and another guiding catheter is used to cooperate with the other guiding wire to advance to another target blood vessel.

Further, the driving mechanism 20 (or 40 ), 30 (or 50 ) is remotely controlled to retreat through the console at the main end, and the guiding catheter is driven to withdraw to the puncture sheath. Afterwards in the catheterization room, the guide catheter and the guide wire used for the last time will be taken out from the clamping assemblies of the drive mechanism 20 (or 40 ), 30 (or 50 ), 60 respectively, and withdrawn from the puncture sheath.

In other embodiments, at the beginning, only the driving mechanism 60 can clamp the guide wire 92 and drive the guide wire 92 to advance and/or rotate, while the clamper 70 does not clamp. When the driving mechanism 60 moves to a certain position and needs to be reset, the guide wire 92 is clamped by the clamper 70 instead, and the driving mechanism 60 releases the guide wire 92 . When the driving mechanism 60 is reset and clamps the guide wire 92 again, the clamper 70 releases the guide wire 92 , so that the driving mechanism 60 and the clamper 70 clamp the guide wire 92 alternately. At this time, preferably, the holder 70 is fixedly installed at the proximal end of the main body 10 for supporting the guide wire 92 without sliding along with the driving mechanism 60 . With the support of the guide wire 92 by the holder 70 , the driving mechanism 60 can drive the guide wire 92 to advance and/or rotate more smoothly. That is, even without the holder 70 , merely holding the guide wire 92 by the drive mechanism 60 can advance and/or rotate the guide wire 92 .

In other embodiments, the rapid exchange mechanism 80 can also rotate the rapid exchange catheter or rotate the rapid exchange catheter while pushing the rapid exchange catheter.

As mentioned above, although it is the best choice to push and/or rotate synchronously, it does not rule out: For example, 1. The driving mechanisms 20, 40 move the guide tubes 90, 91 faster than the corresponding driving mechanisms 30, 50 respectively. Respectively move the speed of the guiding catheters 90, 91, so that the guiding catheters 90, 91 can be straightened without bending. 2. The driving mechanisms 20, 40 allow the rotational speeds of the guiding catheters 90, 91 to be different from (eg, less than or greater than) the rotational speeds of the driving mechanisms 30, 50 allowing the guiding catheters 90, 91 to rotate, although it will cause the guiding catheters 90, 91 91, but as long as the maximum permissible distortion of the guide tubes 90, 91 is satisfied; even the driving mechanism 30, 50 can clamp the guide tubes 90, 91 and allow the guide tubes 90, 91 to rotate, The driving mechanism 20 , 40 only clamps the guide tubes 90 , 91 and does not drive the guide tubes 90 , 91 to rotate.

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 this application allows doctors to remotely control the driving mechanism, gripper and quick exchange mechanism, thereby driving the catheter guide wire to move cooperatively, not only avoiding X-ray radiation from affecting health, but also controlling the movement of the catheter guide wire with the help of interventional surgery robots It is more precise, reduces work intensity, and avoids operational errors.

Those of ordinary skill in the art can understand that all or part of the steps in the above method can be completed by instructing related 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.

Claims

A simple operating device for an interventional surgery robot from the end, characterized in that it includes a main body, a first drive mechanism and a second drive mechanism for clamping a first elongated medical instrument, and the first drive mechanism is fixedly installed On the main body, when the second driving mechanism slides along the main body to drive the first elongated medical device to move, the first driving mechanism moves the first elongated medical device synchronously.
A simple slave operation device for interventional surgery robot according to claim 1, characterized in that: the first drive mechanism is a follower that supports and cooperates with the second drive mechanism to drive the first elongated medical instrument mechanism.
A simple slave-end operating device for interventional surgery robot according to claim 2, characterized in that: the first drive mechanism is provided with a follow-up roller set, and the follow-up roller set is used to clamp the first slender type medical instrument and synchronously drive the movement of the first elongated medical instrument in cooperation with the second driving mechanism.
A simple slave-end manipulator for interventional surgery robot according to claim 1, characterized in that: the main body is provided with a first guide rail, and the second drive mechanism slides along the first guide rail to drive the first actuator. Long medical device movement.
A simple slave-end manipulation device for interventional surgery robot according to claim 4, characterized in that: the simple slave-side manipulator for interventional surgery robot also includes a third drive mechanism and a third drive mechanism slidably mounted on the main body. The fourth driving mechanism, the third driving mechanism and the fourth driving mechanism are used to clamp the second elongated medical device and slide along the main body to drive the second elongated medical device to move.
A simple slave-end operating device for interventional surgery robot according to claim 5, characterized in that: the simple slave-end manipulator for interventional surgery robot also includes a quick exchange mechanism, the quick exchange mechanism and the fourth The drive mechanism is detachably fixed together.
A simple operating device for interventional surgery robot from the end according to claim 5, characterized in that: the main body is provided with a second guide rail, and the third drive mechanism and the fourth drive mechanism slide along the second guide rail driving the movement of the second elongated medical device.
A simple slave-end manipulator for an interventional surgery robot according to claim 7, wherein the length of the second guide rail is not less than that of the first guide rail.
According to claim 7 or 8, a simple operation device for an interventional surgery robot from the end, wherein the second guide rail and the first guide rail are parallel to each other.
A simple slave-side operating device for interventional surgery robot according to claim 7 or 8, characterized in that: the simple slave-side manipulator for interventional surgery robot also includes a fifth drive mechanism, and the fifth drive mechanism uses The third elongated medical device is clamped and can slide along the main body to drive the third elongated medical device to move.
A simple slave-end operating device for interventional surgery robot according to claim 10, characterized in that: the fifth driving mechanism slides along the second guide rail to drive the third elongated medical device to move.
A simple slave-end manipulator for interventional surgery robot according to claim 10, characterized in that: the main body is provided with a third guide rail, and the fifth driving mechanism slides along the third guide rail to drive the third armature. Long medical device movement.
A simple slave-end manipulator for interventional surgery robot according to claim 12, characterized in that: said first guide rail and said second guide rail are not parallel to each other.
A simple slave-end manipulator for interventional surgery robot according to claim 13, characterized in that: the first guide rail, the second guide rail and the third guide rail are all non-linear guide rails.
A simple slave-end manipulator for interventional surgery robot according to claim 14, characterized in that: said first guide rail, said second guide rail and said third guide rail are distributed on different circumferences.
A simple slave-side manipulator for interventional surgery robot according to claim 10, characterized in that: said simple slave-side manipulator for interventional surgery robot also includes a clamper, said clamper is used to clamp the third elongated medical equipment, and/or drive a third elongated medical equipment synchronously with the fifth driving mechanism.
A simple slave operation device for interventional surgery robot according to claim 10, characterized in that: the first drive mechanism, the second drive mechanism, the third drive mechanism, the fourth drive mechanism and the fifth drive mechanism are The bodies are arranged sequentially.