WO2023142488A1

WO2023142488A1 - Interventional surgery robot provided with operating dual guide wires and interventional surgery robot system

Info

Publication number: WO2023142488A1
Application number: PCT/CN2022/117301
Authority: WO
Inventors: 任文永; 杨伟南
Original assignee: 深圳市爱博医疗机器人有限公司
Priority date: 2022-01-29
Filing date: 2022-09-06
Publication date: 2023-08-03
Also published as: CN115517766A

Abstract

An interventional surgical robot provided with operating dual guide wires and a system. After a first guide wire penetrates into a second catheter, the second catheter penetrates into a first catheter, and the two are separately clamped by a third driving mechanism (16), a second driving mechanism (14) and a first driving mechanism (12) and move into position on a main body (10) in the direction of a front clamp (18), switching is performed such that the front clamp (18) clamps the first catheter and the first driving mechanism (12) clamps the second catheter; after a second guide wire penetrates into a third catheter, the third catheter penetrates into the second catheter, and the two are separately clamped by the third driving mechanism (16) and the second driving mechanism (14) and move into position on the main body (10) in the direction of the front clamp (18), switching is performed such that a middle clamp clamps the third catheter and the second guide wire; the third guide wire penetrates into a fourth catheter, the fourth catheter penetrates into the second catheter, and the two are separately clamped by the third driving mechanism (16) and the second driving mechanism (14) and move into position on the main body (10) in the direction of the front clamp (18).

Description

An interventional surgery robot and an interventional surgery robot system operating double guide wires

This application claims the priority of the Chinese patent application submitted to the China Patent Office on January 29, 2022, with the application number 202210111636.8, and the title of the invention is "An Interventional Surgery Robot and Interventional Surgery Robot System Operating Double Guide Wires", all of which The contents are incorporated by reference in this application.

technical field

The present application relates to the field of medical robots, and is applied to a master-slave vascular interventional surgery robot, in particular to an interventional surgery robot and an interventional surgery robot system operating a double guide wire.

Background technique

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

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

technical problem

The technical problem to be solved in this application is to provide an interventional surgery robot and an interventional surgery robot system for assisting doctors in performing interventional surgery by operating double guide wires.

technical solution

In order to solve the above problems, the application provides an interventional surgical robot for operating double guide wires, which includes a main body, a first drive mechanism, a second drive mechanism, a third drive mechanism, and a drive mechanism close to the first drive mechanism. Mechanism's front gripper and middle gripper;

The first drive mechanism is used to clamp and rotate the first conduit and the second conduit, the second drive mechanism is used to clamp and rotate the second conduit, the third conduit and the fourth conduit, and the third drive mechanism is used to clamp and rotate a first guidewire, a second guidewire and a third guidewire;

When the first guide wire penetrates the second catheter, the second catheter penetrates the first catheter and is respectively clamped on the third drive mechanism, the second drive mechanism and the first drive mechanism and clamps forward on the main body After moving in the direction in place, the first catheter, the second catheter and the first guide wire are removed from the first driving mechanism, the second driving mechanism and the third driving mechanism respectively, and the first catheter, the second guiding wire are replaced by the front gripper. a driving mechanism clamps the second conduit;

Let the second guide wire pass through the third guide wire, the third guide wire pass through the second guide wire and be clamped by the third drive mechanism and the second drive mechanism respectively, and move in the direction of the front clamper on the main body to be in place , the second guide wire and the third guide wire are respectively removed from the third drive mechanism and the second drive mechanism, and the third guide wire and the second guide wire are clamped by the intermediate holder;

Let the third guide wire pass through the fourth conduit, the fourth conduit pass through the second conduit, be clamped by the third driving mechanism and the second driving mechanism respectively, and move in the direction of the front clamper on the main body.

Further, the interventional surgery robot for manipulating double guide wires includes at least two intermediate grippers respectively holding the third guide wire and the second guide wire.

Further, the middle clamper is provided with clamping mechanisms for clamping the third catheter and the second guide wire respectively.

Further, the intermediate holder is a magnetic holder.

Further, the intermediate holder is a disposable consumable.

Further, the interventional surgery robot for operating double guide wires also includes a fourth driving mechanism installed on the main body, and the fourth driving mechanism is used to clamp the first catheter and the second catheter together with the first driving mechanism. .

Further, the interventional surgery robot for operating double guide wires further includes a fifth driving mechanism installed on the main body, and the fifth driving mechanism is used to clamp and rotate the second catheter, the fifth driving mechanism together with the second driving mechanism. Three conduits and a fourth conduit.

Further, the main body is long and narrow, and a linear passage is provided in the main body, and the first driving mechanism, the second driving mechanism and the third driving mechanism are successively placed in the passage and can be moved along the Channel moves.

Further, the two ends of the first driving mechanism and the second driving mechanism are provided with distances for clamping, pushing and rotating the first guide tube.

Further, the middle clamper is arranged on the same axis as the front clamper.

Further, the front clamper is arranged at the front of the main body, and the clamper is close to the first driving mechanism and the second driving mechanism.

Further, the front clamper and the middle clamper are installed separately from the main body.

Further, the front and rear ends of the fourth drive mechanism and the fifth drive mechanism are respectively provided with a distance for clamping, pushing and rotating the first guide tube.

Further, the front clamp adopts a telescopic setting.

Further, the second drive mechanism includes a first component that cooperates with the first drive mechanism to clamp the same conduit, and a second component that clamps and rotates another conduit with the first drive mechanism.

This application allows the doctor to remotely control the first drive mechanism, the second drive mechanism and the third drive mechanism and move the forward gripper on the main body, so that multiple catheters and multiple guide wires can be moved in place cooperatively, and the robot control The movement of catheter and guide wire is more precise, and more complicated operations can be performed, the work intensity can be reduced, and major mistakes can also be avoided.

The present application also provides an interventional surgery robot system, which includes a main body, a first drive mechanism, a second drive mechanism, a third drive mechanism, a fourth drive mechanism, a fifth drive mechanism and a front gripper of the drive mechanism;

The first driving mechanism is used to clamp and rotate the first catheter and the second catheter, the second driving mechanism is used to clamp and rotate the second catheter and the third catheter, and the third driving mechanism is used to clamp and rotate the first guide wire , the second guide wire, the fourth drive mechanism is used to clamp and rotate the fourth catheter, and the fifth drive mechanism is used to clamp and rotate the third guide wire;

When the first guide wire penetrates the second catheter, the second catheter penetrates the first catheter and is respectively clamped on the third drive mechanism, the second drive mechanism and the first drive mechanism and clamps forward on the main body After the direction of movement is in place, the first catheter, the second catheter and the first guide wire are respectively removed from the first driving mechanism, the second driving mechanism and the third driving mechanism, and replaced by the front gripper and the first driving mechanism respectively. Hold the first conduit and the second conduit;

Let the second guide wire pass through the third conduit, the third conduit penetrate the second conduit and be respectively clamped by the third drive mechanism and the second drive mechanism and move in the direction of the front clamper on the main body, so that The third guide wire penetrates into the fourth conduit, and the fourth conduit penetrates into the second conduit and is respectively clamped by the fifth driving mechanism and the fourth driving mechanism and moves on the main body in the direction of the front clamper.

Further, the interventional surgery robot system further includes a sixth driving mechanism installed on the main body, and the sixth driving mechanism is used to drive the first catheter and the second catheter together with the first driving mechanism.

Further, the interventional surgery robot system further includes a seventh driving mechanism installed on the main body, and the seventh driving mechanism is used to drive the second catheter and the third catheter together with the second driving mechanism.

Further, the fifth driving mechanism and the seventh driving mechanism respectively clamp the first conduit and the multi-functional tube through the Y valve.

Further, the interventional surgery robot system further includes an eighth driving mechanism installed on the main body, and the eighth driving mechanism is used to drive the fourth catheter together with the fourth driving mechanism.

Beneficial effect

The present application allows the physician to remotely manipulate the first drive mechanism, the second drive mechanism, the third drive mechanism, the fourth drive mechanism, and the fifth drive mechanism and move the forward gripper on the main body to allow multiple catheters, The coordinated movement of multiple guide wires is in place, and the robot-controlled catheter and guide wire movement are more precise, allowing more complex operations to be performed, reducing work intensity, and avoiding major mistakes.

Description of drawings

Fig. 1 is a schematic diagram of an interventional surgical robot operating double guide wires in the present application;

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

Fig. 3 is another schematic diagram of Fig. 1;

Fig. 4 is another schematic diagram of Fig. 1;

Fig. 5 is a schematic diagram of an interventional surgery robot system of the present application;

Fig. 6 is another schematic diagram of an interventional surgery robot system of the present application.

BEST MODE FOR CARRYING OUT THE 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 direction of gravity. The term "advance" refers to the direction in which the guidewire or catheter is displaced into the body of the surgical patient. The term "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.

As shown in Figure 1, the present application provides an interventional surgical robot for operating double guide wires, including a main body 10, driving mechanisms 12, 14, 16 movably mounted on the main body 10, a front gripper 18, a middle gripper device (not shown), rear gripper (not shown).

The main body 10 is long and narrow, and a linear guide rail 102 is arranged on it. These driving mechanisms 12 , 14 , 16 are successively fixed on the guide rail 102 and can slide along the guide rail 102 .

Each driving mechanism is used to clamp, push (including forward and backward) and rotate (including forward and reverse) catheter or guide wire, and can also be used to simultaneously clamp, push (including forward and backward) and rotate (including Forward rotation and reverse rotation) catheters and guide wires to realize coordinated movement of multiple catheters and multiple guide wires. The specific structures of the driving mechanisms 12, 14, 16 are not limited to be the same, and may also be different, as long as they can realize the clamping, pushing and/or rotating of the catheter and the guide wire. In this embodiment, the specific structures of the driving mechanisms 14 and 16 are the same, and the specific structures of the driving mechanism 12 are different.

As an embodiment, the driving mechanism 14 includes a first component that cooperates with the driving mechanism 12 to clamp and rotate the same catheter, and a second component that clamps and rotates another catheter. The driving mechanism 16 includes a first component that cooperates with the second component of the driving mechanism 14 to clamp and rotate the other catheter, and a second component that clamps and rotates the guide wire. In this embodiment, the driving mechanism 12 and the second component of the driving mechanisms 14 and 16 are a guide wire catheter rubbing device for an interventional surgery robot as described in Chinese patent application CN202111009814.8, the entire content of which is incorporated into this application.

A front gripper 18 is located at the front of the body 10 , adjacent to the drive mechanisms 12 , 14 . The middle clamper is located on the main body 10, for example, it can be arranged linearly on the side wall of the main body 10, and can also be arranged on the same axis as the front clamper 18, and is located between the first component and the second component of the driving mechanism 14. between. The rear clamp is located at the rear of the main body 10 , for details, please refer to the description of the rear clamp 73 below. In this embodiment, the front clamper 18 , the middle clamper and the rear clamper are fixed to the main body 10 and can move relative to the main body 10 when needed. In other embodiments, the front clamper 18 , the middle clamper and the rear clamper may also be installed separately from the main body 10 .

When preparing for surgery, the doctor comes to the cath lab for preoperative preparation. Select appropriate (such as length, diameter) first catheter, second catheter and first guide wire, and flush and exhaust the first catheter and the second catheter with physiological saline. Manually thread the second catheter into the first catheter and protrude a certain distance from the first catheter, and pass the first guide wire into the second catheter and protrude from the second catheter for a certain distance, such as the head of the first guide wire protruding from the second catheter by about About 10cm. Make the driving mechanism 12, 14, 16 be in a reasonable position, put the first catheter, the second catheter and the first guide wire into the puncture sheath (such as penetrating into the femoral artery, radial artery or others) of the patient, and let the driving mechanism The mechanism 12 cooperates with the first assembly of the drive mechanism 14 to clamp the first conduit, the second assembly of the drive mechanism 14 cooperates with the first assembly of the drive mechanism 16 to clamp the second conduit, and the second assembly of the drive mechanism 16 clamps The first guide wire, so as to realize the fixation of the first guide wire, the second guide wire and the first guide wire.

When starting the operation, the doctor comes to the operating table outside the catheter, and uses the main console (such as the main operating handle of the interventional surgery robot described in Chinese patent application CN202111009835.X and the main end control module of the interventional surgery robot described in CN202111009832.6 , the entire content of which is introduced into this application) to remotely operate the drive mechanism 12, 14, 16 to move. Specifically, the driving mechanism 12, 14, 16 cooperates with clamping the first catheter, the second catheter and the first guide wire to move along the guide rail 102 to drive the first catheter, the second catheter and the first guide wire to advance, drive them simultaneously or not at the same time Mechanisms 12, 14, 16 rotate the first catheter, the second catheter, and the first guidewire, thereby advancing the first catheter, the second catheter, and the first guidewire cooperatively. During this process, it is necessary to keep the second catheter protruding from the first catheter by a certain distance and the first guide wire protruding from the second catheter by a certain distance. When the first catheter, the second catheter and the first guide wire reach some parts of the blood vessel, it may be necessary to remotely control the driving mechanism 12, 14, 16 through the main console, so that the first catheter, the second catheter and the first guide wire Perform forward, backward, forward and reverse rotations many times for fine-tuning.

In this embodiment, the first components of the driving mechanisms 14 and 16 clamp the first conduit and the second conduit respectively through the Y valve. That is, the first conduit and the second conduit are respectively connected to the Y valve, and the Y valve is fixed to the driving mechanism 14, 16. The first assembly of the driving mechanism 14, 16 clamps the Y valve and rotates the Y valve Luer connector. , and the second assembly of the driving mechanism 14 to drive the first conduit and the second conduit to rotate.

After the first guide tube and the second guide tube advance into place, the doctor comes to the catheter room and manually removes the first guide tube from the first assembly of the drive mechanism 12 and the drive mechanism 14, and the second guide tube is removed from the second assembly of the drive mechanism 14, The first assembly of the driving mechanism 16 is removed; the first catheter is clamped by the front clamper 18, and the first assembly of the driving mechanism 12 and the driving mechanism 14 clamps the second catheter; then, the doctor comes to the operating table outside the catheter room Beforehand, the driving mechanism 16 is controlled remotely through the console at the main end or the first guide wire is retracted manually. When retreating to the puncture sheath, the first guide wire is taken out from the second component of the driving mechanism 16 and soaked in heparin water. Note that during this process, do not push the first catheter and the second catheter, and avoid the head of the first catheter and the second catheter moving in the blood vessel.

Allow the second assembly of the drive mechanism 14, the drive mechanism 16, to retreat to a reasonable position. Choose a thinner third catheter (a microcatheter in this embodiment) and a second guide wire (a 0.014 in micro guide wire in this embodiment). Manually thread the second guide wire into the third guide wire and pass through the second guide wire together, allowing the third guide wire to be clamped on the second component of the driving mechanism 14 and the first component of the driving mechanism 16, and the second guide wire is clamped on the drive The second component of the mechanism 16; the doctor comes to the operating table outside the catheter room again, and uses the main console to remotely control the movement of the driving mechanisms 14 and 16. The specific process is the same as the above-mentioned advancing process of the first catheter, the second catheter and the first guide wire, and will not be repeated here. During this process, if the third catheter and the second guide wire reach the position required by the doctor, the doctor will drive the third catheter and the second guide wire respectively from the second assembly of the drive mechanism 14, the first assembly of the drive mechanism 16, and the second assembly of the drive mechanism 16. The second assembly of the mechanism 16 is removed, and the third guide wire and the second guide wire are fixed by an intermediate holder, thereby realizing the fixing of the third guide wire and the second guide wire. That is to say, the first catheter is fixed by the front clamper 18, the second catheter is fixed by the first assembly of the driving mechanism 12 and the driving mechanism 14, and the third catheter and the second guide wire are fixed by the middle clamper. If the specified position is not reached, the remote control drive mechanism 12, 14, 16 moves repeatedly until the third guide wire and the second guide wire reach the specified position. It can be understood that the intermediate holder can also include a clamping mechanism for respectively clamping the third catheter and the second guide wire, then when the third catheter and the second guide wire reach the position required by the doctor, the third catheter and the second guide wire The wires are respectively clamped by the corresponding clamping mechanism, which is convenient for the doctor to perform fine-tuning and other operations.

Allow the second assembly of the driving mechanism 14, the driving mechanism 16 to retreat to a reasonable position again. A thinner fourth catheter (a microcatheter in this embodiment) and a third guide wire (a 0.014 in micro guide wire in this embodiment) were selected. Manually thread the third guide wire into the fourth guide wire and pass through the second guide wire together, so that the fourth guide wire is clamped on the second component of the drive mechanism 14 and the first component of the drive mechanism 16, and the third guide wire is clamped on the drive The second component of the mechanism 16; the doctor comes to the operating table outside the catheter room again, and uses the main console to remotely control the movement of the driving mechanisms 14 and 16. The specific process is the same as the above-mentioned advancing process of the first catheter, the second catheter and the first guide wire, and will not be repeated here. During this process, it may be necessary to remotely control the driving mechanisms 14 and 16 through the console at the main end, so that the third catheter, the fourth catheter, the second guide wire and the third guide wire can be advanced, retreated, rotated forward, and reversed multiple times. Make minor adjustments. When the third catheter, the fourth catheter, the second guide wire and the third guide wire reach the position required by the doctor, the doctor uses the third catheter, the second guide wire, the fourth guide wire and the third guide wire to perform surgery to eliminate the aneurysm. Surgery as an example, the doctor electrolyzes the second guide wire to place a self-expandable stent at the opening of the aneurysm; then electrolyzes the third guide wire to place a coil in the aneurysm, and after completion, the doctor then comes out of the cath room In front of the console, the driving mechanism 16 can be controlled remotely through the console at the main end or the second guide wire and the third guide wire can be retreated manually. The second component was removed and soaked in heparinized water. And the movement of the driving mechanisms 12, 14, 16 is remotely controlled by the console at the main end, so that the first catheter, the second catheter, the third catheter and the fourth catheter are retreated to the puncture sheath. The doctor finally returns to the catheterization room, manually pulls out the first catheter to the puncture sheath, and connects the first catheter, the second catheter, the third catheter, and the fourth catheter from the front holder 18, the middle holder, the driving mechanism 12, 14 and 16 were taken out, put into heparin water, and then the puncture sheath was pulled out and treated after the operation to complete the operation.

How to remotely control the movement of the drive mechanisms 12, 14, and 16 from the main console can be the same as the main control module of the interventional surgery robot described in Chinese patent application CN202111009832.6, which includes two joysticks, one of which is used for The driving mechanism 12, 14 is controlled, and the operating lever can control the driving mechanism 12, 14 in time through the switching device, and the other operating lever is used to control the driving mechanism 16. It may also be that the main console includes more than two operating rods, such as four operating rods, which are used to remotely control the driving mechanisms 12 , 14 , and 16 respectively.

In this embodiment, an intermediate holder is arranged on the side wall of the main body; or the intermediate holder is arranged on the same axis as the front holder 18 to hold the third catheter and the second guide wire. It can be understood that the catheter and the guide wire are elongated medical devices. In order to ensure a better clamping effect, at least two intermediate holders can also be linearly arranged on the main body to facilitate fixing the third catheter and the second clamp on the main body. The guide wire can also hold the third guide wire and the second guide wire respectively. Further, each intermediate holder is a magnetic holder; the main body is provided with installation parts equal to the number of intermediate holders, and the installation parts are used for adsorption by the magnetic holder. Therefore, doctors can simply Quickly install the magnetic holder, and the position of the magnetic holder can be adjusted at any time, and the operation is simple. In this embodiment, the intermediate holder is a disposable consumable.

The above uses "aneurysm treatment operation" as an example to illustrate the motion and control process of the present application. In fact, this application can also be used in various operations such as angiography, embolization, thrombectomy, bifurcation of lesions, and the like. The driving mechanisms 12, 14, 16, and the front gripper 18 can be freely allocated by the doctor according to the actual needs of the operation, that is, the driving mechanisms 12, 14, 16, and the front gripper 18 can be easily disassembled. For example, when performing more complex operations, more driving mechanisms and front grippers can be added, such as adding more driving mechanisms and front grippers, it can be realized that multiple catheters correspond to one guide wire or multiple catheters correspond to multiple Coordinated movement of guidewires.

As shown in Figures 2 to 4, in the second embodiment, an interventional surgical robot for operating double guide wires of the present application includes a main body 19, and driving mechanisms 20, 30, 40, 50, 60 movably mounted on the main body 19 , the front clamper 71, the middle clamper 72 and the rear clamper 73.

The main body 19 is narrow and long, and has a straight channel 192 . These driving mechanisms 20 , 30 , 40 , 50 , 60 are successively placed in the channel 192 and can move along the channel 192 . In this embodiment, these driving mechanisms 20, 30, 40, 50, 60 can slide directly on the main body 19, such as fixing a linear guide rail on the main body 19, these driving mechanisms 20, 30, 40, 50, 60 can be Slide along the rails.

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

The clamping assembly and the rotating assembly of the driving mechanism 20, 30, 40, 50, 60 can be an interventional surgery robot guide wire catheter rubbing device as described in Chinese patent application CN202111009814.8, the entire content of which is incorporated into this application.

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

In this embodiment, the driving mechanisms 20 and 30 are spaced at a certain distance back and forth, and are used to clamp, push and rotate the same guiding catheter 90 (ie, the first catheter) so as not to bend. In fact, drive mechanisms 20 and 30 preferably move guide catheter 90 synchronously so that it straightens and does not bend. Likewise, the driving mechanisms 40 and 50 are spaced at a certain distance back and forth, and are used to clamp, push and rotate the same multi-functional tube 91 (that is, the second conduit, also called the middle conduit). The driving mechanism 60 is used to clamp, push and rotate the guide wire 92 . The rear gripper 73 is used to grip and push the guide wire 92 .

When preparing for surgery, the doctor comes to the cath lab for preoperative preparation. If the guide catheter 90 , the multifunctional tube 91 and the guide wire 92 are selected as appropriate (such as length and diameter), the guide catheter 90 and the multifunctional tube 91 are flushed with physiological saline and exhausted. Manually thread the multifunctional tube 91 into the guide catheter 90 and extend the guide catheter 90 for a certain distance, and guide the guide wire 92 into the multifunctional tube 91 and extend the multifunctional tube 91 for a certain distance, such as the head of the guide wire 92 It is about 10cm beyond the multifunctional tube 91. Make the driving mechanism 20, 30, 40, 50, 60 in a reasonable position, put the guide catheter 90, the multifunctional tube 91 and the guide wire 92 into the puncture sheath of the patient for surgery (such as penetrating into the femoral artery, radial artery or Others), let the clamping assembly of the driving mechanism 20 and 30 clamp the guide tube 90, the clamping assembly of the driving mechanism 40 and 50 clamp the multifunctional tube 91, the clamping assembly of the driving mechanism 60 and the rear clamper 73 The guiding wire 92 is clamped, so that the guiding catheter 90 , the multifunctional tube 91 and the guiding wire 92 are fixed.

When starting the operation, the doctor comes to the operating table outside the catheter 90, and uses the main end console (such as the main end operation handle of the interventional surgery robot described in Chinese patent application CN202111009835.X and the main end control module of the interventional surgery robot described in CN202111009832. group, the entire contents of which are incorporated into this application) to remotely operate the drive mechanism 20, 30, 40, 50, 60 and the rear gripper 73 to move. Specifically, the driving mechanisms 20 and 30 clamp the guide tube 90 together and move along the channel 192 to drive the guide tube 90 to advance, while or not at the same time, the rotating components of the drive mechanisms 20 and 30 rotate the guide tube 90, when the drive mechanism 20 moves When the guiding catheter 90 is released after reaching the limit position (for example, the driving mechanism 20 moves to the distal end of the channel 192 ), the driving mechanism 30 clamps the guiding catheter 90 and does not move. When the driving mechanism 20 is reset to a position closer to the driving mechanism 30, the clamping assembly of the driving mechanism 20 clamps the guiding catheter 90 again, so that the driving mechanisms 20 and 30 together drive the guiding catheter 90 forward, simultaneously or not at the same time. The rotating assembly of 20 and 30 rotates the guide tube 90, and so on, until advancing into place.

During this process, simultaneously or not at the same time, the driving mechanisms 40 and 50 clamp the multifunctional tube 91 and move along the channel 192 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 rotate the multifunctional tube 91 , when the driving mechanism 40 moves to a limit position (for example, the distance from the driving mechanism 30 is close to the threshold) to be reset and the multifunctional tube 91 is released, the driving mechanism 50 clamps the multifunctional tube 91 and does not move. When the driving mechanism 40 is reset to a position closer to the driving mechanism 50, the clamping assembly of the driving mechanism 40 clamps the multifunctional tube 91 again, so that the driving mechanism 40 and 50 together drive the multifunctional tube 91 forward, simultaneously or not at the same time. The rotating assembly of 40 and 50 rotates the multi-functional pipe 91, so reciprocating, until advancing in place.

During the above process, simultaneously or not at the same time, the driving mechanism 60 and the rear gripper 73 together clamp the guide wire 92 and move along the channel 192 to drive the guide wire 92 forward, and at the same time or not at the same time, the rotating assembly of the driving mechanism 60 rotates the guide wire. silk92. 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 rear clamp 73 clamps the guide wire 92 so that it 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 rear clamp 73 together drive the guide wire 92 forward, and the rotating assembly of the drive mechanism 60 simultaneously or not simultaneously Rotate guide wire 92, so reciprocate, until advance in place. In other embodiments, initially, only the guide wire 92 is gripped by the drive mechanism 60, and then the gripper 73 is not gripped. When the driving mechanism 60 is to be reset, the guide wire 92 is clamped by the rear clamper 73 instead. When the driving mechanism 60 is reset and clamps the guide wire 92 again, the rear clamper 73 releases the guide wire 92 , so reciprocating, the driving mechanism 60 and the rear clamper 73 alternately clamp the guide wire 92 .

How to remotely control the movement of the drive mechanism 20, 30, 40, 50, 60 and the rear gripper 73 from the main console can be the same as the main control module of the interventional surgery robot described in Chinese patent application CN202111009832.6, which includes two One operating lever, wherein one operating lever is used to control the driving mechanism 20, 30, 40, 50, and the operating lever can control the driving mechanism 20, 30, driving mechanism 40, 50 in time through the switching device, and the other operating lever is used to control the driving mechanism 20, 30, 40, 50 The drive mechanism 60 and the rear gripper 73 are manipulated. It is also possible that the main console includes more than two operating levers, such as four operating levers, which are used to remotely control the driving mechanisms 20, 30, 40, 50, the driving mechanism 60 and the rear clamper 73 respectively.

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

In the process of moving the guiding catheter 90, the multifunctional tube 91 and the guiding wire 92 together, it is necessary to keep the multifunctional tube 91 protruding from the guiding catheter 90 by a certain distance, and the guiding wire 92 extending from the multifunctional tube 91 by a certain distance. . When the guide catheter 90, the multifunctional tube 91 and the guide wire 92 reach some parts of the blood vessel, it may be necessary to remotely control the driving mechanism 20, 30, 40, 50, 60 and the rear gripper 73 through the console at the main end, so that The guide catheter 90, the multi-functional tube 91 and the guide wire 92 are repeatedly advanced, retreated, forward rotated and reversed.

After the guiding catheter 90 and the multifunctional catheter 91 are advanced into place, the fixed guiding catheter 90 and the multifunctional catheter 91 do not move. The driving mechanism 60 and the rear gripper 73 are remotely controlled through the console at the main end to make the guide wire 92 retreat, and the retreat process is basically similar to the above-mentioned forward process. When the head of the guide wire 92 retreated to the puncture sheath, the doctor came to the catheter room and manually took out the guide wire 92 from the clamping assembly of the driving mechanism 60 and the rear holder 73 and soaked in heparin water.

The doctor manually takes out the guiding catheter 90 from the clamping assembly of the driving mechanism 20, 30, and is clamped by the front clamper 71 so that it does not move. Note that during this process, do not push the guide catheter 90 to prevent the head of the guide catheter 90 from moving in the blood vessel. Manually take out the multifunctional tube 91 from the clamping assembly of the driving mechanism 40,50, and replace it with the clamping assembly of the driving mechanism 20,30.

In other embodiments, the front gripper 71 can be made telescopic, extending out from the hidden space when the catheter needs to be gripped. For the front gripper 71 that grips the guide catheter 90 , it can also rotate the guide catheter 90 by turning the Y-valve Luer connector of the guide catheter 90 . In addition, if a plurality of front clampers 71 are provided at the front of the main body 19, the above catheter moving process can be performed multiple times. After each conduit has been pushed into place, a front gripper 71 holds the conduit.

As shown in Fig. 3, the adjustment drive mechanism 40, 50, 60 is in a reasonable position. Select the first set of microcatheter 94 and microguide wire 96 (for example, 0.014 in). Manually thread the micro-guide wire 96 into the micro-catheter 94 and together into the multi-functional tube 91, so that the micro-catheter 94 and the micro-guide wire 96 are respectively clamped on the clamping components of the driving mechanism 40, 50 and the clamping component of the driving mechanism 60, Thereby, the fixation of the microcatheter 94 and the microguide wire 96 is realized. In other embodiments, the microcatheter 94 is connected to the Y valve, the Y valve is fixed to the driving mechanism 50 and clamped by its clamping component, and the rotating component rotates the Luer connector of the Y valve to drive the microcatheter 94 to rotate. During this process, if the third guide wire and the second guide wire reach the position required by the doctor, the doctor will remove the micro guide wire 96 and the micro catheter 94 from the driving mechanisms 40, 50, 60 respectively, and replace them with the intermediate holder 72. The micro guide wire 96 and the micro catheter 94 are fixed, so that the micro guide wire 96 and the micro catheter 94 are fixed. That is, at this time, the first catheter is fixed by the front holder 71 , the second catheter is fixed by the driving mechanism 20 , 30 , and the third catheter and the second guide wire are fixed by the middle holder 72 . If the specified position is not reached, the movement of the remote control driving mechanism 40, 50, 60 is repeated until the third catheter and the second guide wire reach the specified position.

As shown in FIG. 4 , let the driving mechanism 40 , 50 , 60 retreat to a reasonable position again. Select a thinner fourth catheter (such as a microcatheter 95) and a fourth guide wire (such as a micro guide wire 97). Manually thread the micro-guide wire 97 into the micro-catheter 95 and pass it into the second catheter together, let the fourth catheter be clamped by the drive mechanism 40, 50, and the third guide wire be clamped by the drive mechanism 60; the doctor comes to the operation outside the catheter again In front of the stage, the movement of the driving mechanism 40, 50, 60 is remotely controlled by the console at the main end. The specific process is the same as the above-mentioned advancing process of the first catheter, the second catheter and the first guide wire, and will not be repeated here. During this process, it may be necessary to remotely control the driving mechanisms 40, 50, and 60 through the console at the main end, so that the third catheter, the fourth catheter, the second guide wire, and the third guide wire can advance, retreat, rotate forward, Invert for fine-tuning. When the third catheter, the fourth catheter, the second guide wire and the third guide wire reach the position required by the doctor, the doctor uses the third catheter, the second guide wire, the fourth guide wire and the third guide wire to perform surgery to eliminate the aneurysm. Surgery as an example, the doctor electrolyzes the second guide wire to place a self-expandable stent at the opening of the aneurysm; then electrolyzes the third guide wire to place a coil in the aneurysm, and after completion, the doctor then comes out of the cath room In front of the operating table, the driving mechanism 60 can be controlled remotely through the console at the main end or the second guide wire and the third guide wire can be retreated manually. Take it out and soak it in heparin water. And the movement of the driving mechanisms 40, 50, 60 is remotely controlled by the console at the main end, so that the first catheter, the second catheter, the third catheter and the fourth catheter are retreated to the puncture sheath. The doctor finally returns to the catheterization room, manually pulls out the first catheter to the puncture sheath, and connects the first catheter, the second catheter, the third catheter, and the fourth catheter from the front clamper 71, the middle clamper 72, and the drive mechanism 40. , 50, and 60 were taken out, put into heparin water, and then the puncture sheath was pulled out and treated after the operation to complete the operation.

It can be seen that this application allows doctors to remotely control the driving mechanism 20, 30, 40, 50, 60 and move on the main body, so that the coordinated movement of multiple catheters and multiple guide wires can be in place, and when the catheters and guide wires are replaced At the same time, the first catheter is clamped by the front gripper and does not move, which not only protects the health from X-ray radiation, but also controls the movement of the catheter and guide wire more accurately, reducing work intensity and avoiding major mistakes.

The third embodiment, as shown in Fig. 5 and Fig. 6, an interventional surgery robot system of the present application includes a main body 19, and a drive mechanism 20, 30, 40, 50, 60, 70, 80 movably mounted on the main body 19 , 90, front clamper 71 and at least one rear clamper 73.

The main body 19 is narrow and long, and has a straight channel 192 . These driving mechanisms 20, 30, 40, 50, 60, 70, 80, 90 are successively placed in the channel 192 and can move along the channel. In this embodiment, these driving mechanisms 20, 30, 40, 50, 60, 70, 80, 90 can slide directly on the main body 19, such as fixing a linear guide rail on the main body 19, these driving mechanisms 20, 30, 40 , 50, 60, 70, 80, 90 can slide along the guide rail. Exemplarily, as shown in Figure 5, when there are two rear clampers 73, the front clamper 71, the driving mechanism 20, 30 are coaxially arranged, and the driving mechanism 40, 50, 60 and a rear clamper 73 are coaxially arranged. Shaft setting, drive mechanism 70,80,90 and another back gripper 73 coaxial settings, namely drive mechanism 20,30, drive mechanism 40,50,60, drive mechanism 70,80,90 is Y-shaped setting. Exemplarily, as shown in Figure 6, the driving mechanism 40, 50, 60 and the driving mechanism 70, 80, 90 are arranged oppositely, so that the driving mechanism 20, 30, 40, 50, 60, 70, 80, 90 and the rear clip Holder 73 is on the same axis.

The clamping assembly and rotating assembly of the driving mechanism 20, 30, 40, 50, 60, 70, 80, 90 can be a device for rubbing the guide wire catheter from the end of the interventional robot as described in Chinese patent application CN202111009814.8, which The entire content is incorporated into this application.

In other embodiments, the specific structures of the driving mechanisms 20, 30, 40, 50, 60, 70, 80, and 90 are not limited to the same, and can 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.

A rear clamp 73 is located at the rear of the main body 19 . A front gripper 71 is located at the front of said body 19 , close to the drive mechanism 20 , 30 . In this embodiment, the front clamper 71 and the rear clamper 73 are fixed on the main body 10 and can move relative to the main body 10 when needed. In other embodiments, the front clamper 71 and the rear clamper 73 can also be installed separately from the main body 10 .

When starting the operation, the doctor comes to the operating table outside the catheter, and uses the main console (such as the main operating handle of the interventional surgery robot described in Chinese patent application CN202111009835.X and the main end control module of the interventional surgery robot described in CN202111009832.6 , the entire content of which is incorporated into this application) remotely operates the drive mechanism 20, 30, 40, 50, 60 and the rear gripper 73 to move. Specifically, the driving mechanisms 20 and 30 clamp the guide tube 90 together and move along the channel 192 to drive the guide tube 90 to advance, while or not at the same time, the rotating components of the drive mechanisms 20 and 30 rotate the guide tube 90, when the drive mechanism 20 moves When the guiding catheter 90 is released after reaching the limit position (for example, the driving mechanism 20 moves to the distal end of the channel 192 ), the driving mechanism 30 clamps the guiding catheter 90 and does not move. When the driving mechanism 20 is reset to a position closer to the driving mechanism 30, the clamping assembly of the driving mechanism 20 clamps the guiding catheter 90 again, so that the driving mechanisms 20 and 30 together drive the guiding catheter 90 forward, simultaneously or not at the same time. The rotating assembly of 20 and 30 rotates the guide tube 90, and so on, until advancing into place.

Adjust the drive mechanism 40, 50, 60 to be in a reasonable position. The first group of microcatheters 94 and microguide wires 96 (for example, 0.014 in) are selected. Manually thread the micro-guide wire 96 into the micro-catheter 94 and together into the multi-functional tube 91, so that the micro-catheter 94 and the micro-guide wire 96 are respectively clamped on the clamping components of the driving mechanism 40, 50 and the clamping component of the driving mechanism 60, Thereby, the fixation of the microcatheter 94 and the microguide wire 96 is realized. In other embodiments, the microcatheter 94 is connected to the Y valve, the Y valve is fixed to the driving mechanism 50 and clamped by its clamping component, and the rotating component rotates the Luer connector of the Y valve to drive the microcatheter 94 to rotate.

At the same time, adjust the driving mechanism 70, 80, 90 to be in a reasonable position. Select the second set of microcatheter 95 and microguide wire 97 (for example, 0.014 in). Manually thread the micro-guide wire 97 into the micro-catheter 95 and together into the multifunctional tube 91, so that the micro-catheter 95 and the micro-guide wire 97 are respectively clamped on the clamping components of the driving mechanism 70, 80 and the clamping component of the driving mechanism 90, Thereby, the fixation of the microcatheter 95 and the microguide wire 97 is realized. In other embodiments, the microcatheter 95 is connected to the Y valve, the Y valve is fixed to the driving mechanism 80 and clamped by its clamping assembly, and the rotating assembly rotates the Luer connector of the Y valve to drive the microcatheter 95 to rotate.

The doctor comes to the operating table outside the catheter room again, and uses the main console to remotely control the movement of the driving mechanism 40, 50, 60, 70, 80, and 90. The specific process is the same as that of the guide catheter 90 , the multifunctional tube 91 and the guide wire 92 described above, and will not be repeated here. During this process, it may be necessary to remotely control the driving mechanisms 40, 50, 60, 70, 80, and 90 through the main console, so that the microcatheter 94, the microguidewire 96, the microcatheter 95, and the microguidewire 97 are advanced multiple times. , backward, forward and reverse for fine adjustment. When the microcatheter 94 and the microguide wire 96 arrive at the position required by the doctor, and the microcatheter 95 and the microguide wire 97 arrive at the position required by the doctor, the doctor utilizes the microcatheter 94, the microguidewire 96, the microcatheter 95 and the microguidewire 97 For surgery, taking aneurysm surgery as an example, the doctor electrolyzes the micro guide wire 95 to place a self-expandable stent at the opening of the aneurysm; then electrolyzes the micro guide wire 97 to place a coil in the aneurysm. After completion, The doctor returns to the console at the main end, and uses the console at the main end to remotely control the movement of the driving mechanisms 40, 50, 60, 70, 80, and 90, so that the guide catheter 90, the multifunctional tube 91, the microcatheter 94, and the microcatheter 95 are moved back to At the puncture sheath, take out the guide catheter 90, the multifunctional tube 91, the microcatheter 94, and the microcatheter 95, put them into heparin water, then pull out the puncture sheath and perform postoperative treatment to complete the operation.

The above uses "aneurysm treatment operation" as an example to illustrate the motion and control process of the present application. In fact, the application can also be used in various operations such as angiography, embolization, thrombectomy, bifurcation in lesion, and the like. The driving mechanism 20, 30, 40, 50, 60, 70, 80, 90, the front clamper 71, and the rear clamper 73 can be freely allocated by the doctor according to the actual needs of the operation, that is, the driving mechanism 20, 30, 40, 50, 60, 70, 80, 90, front clamper 71, rear clamper 73 all can be disassembled easily. For example, when performing more complex operations, more driving mechanisms, rear grippers, and quick exchange mechanisms can be added. After adding more driving mechanisms and rear grippers, multiple catheters can correspond to one guide wire or multiple A catheter corresponds to the coordinated movement of multiple guide wires.

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 20, 30, 40, 50, 60, 70, 80, 90 to move axially along the front holder of the main body, so that the coordination of multiple catheters and multiple guide wires The movement is in place. When the catheter and guide wire are replaced, the first catheter is clamped by the front holder and does not move. Avoid big mistakes.

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.

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

Claims

An interventional surgery robot for operating double guide wires, which includes a main body, a first driving mechanism installed on the main body in sequence, a second driving mechanism, a third driving mechanism, a front gripper close to the first driving mechanism, and a middle Holder;

The first drive mechanism is used to clamp and rotate the first conduit and the second conduit, the second drive mechanism is used to clamp and rotate the second conduit, the third conduit and the fourth conduit, and the third drive mechanism is used to clamp and rotate a first guidewire, a second guidewire and a third guidewire;

When the first guide wire penetrates the second catheter, the second catheter penetrates the first catheter and is respectively clamped on the third drive mechanism, the second drive mechanism and the first drive mechanism and clamps forward on the main body After moving in the direction in place, the first catheter, the second catheter and the first guide wire are removed from the first driving mechanism, the second driving mechanism and the third driving mechanism respectively, and the first catheter, the second guiding wire are replaced by the front gripper. a driving mechanism clamps the second conduit;

Let the second guide wire pass through the third guide wire, the third guide wire pass through the second guide wire and be clamped by the third drive mechanism and the second drive mechanism respectively, and move in the direction of the front clamper on the main body to be in place , the second guide wire and the third guide wire are respectively removed from the third drive mechanism and the second drive mechanism, and the third guide wire and the second guide wire are clamped by the intermediate holder;

Let the third guide wire pass through the fourth conduit, the fourth conduit pass through the second conduit, be clamped by the third driving mechanism and the second driving mechanism respectively, and move in the direction of the front clamper on the main body.
The interventional surgical robot for operating double guide wires according to claim 1, wherein the interventional surgical robot for operating double guide wires comprises at least two intermediate grippers for respectively holding the third guide wire and the second guide wire .
The interventional surgical robot for manipulating double guide wires according to claim 1, wherein the middle clamper is provided with clamping mechanisms for clamping the third guide wire and the second guide wire respectively.
The interventional surgical robot for manipulating double guide wires according to any one of claims 1-3, wherein the intermediate gripper is a magnetic gripper.
The interventional surgical robot for operating double guide wires according to any one of claims 1-3, wherein the intermediate holder is a disposable consumable.
The interventional surgical robot for operating double guide wires according to claim 1, wherein the interventional surgical robot for operating double guide wires further comprises a fourth driving mechanism installed on the main body, and the fourth driving mechanism is used for cooperating with the The first driving mechanism clamps the first conduit and the second conduit together.
The interventional surgical robot for operating double guide wires according to claim 6, wherein the interventional surgical robot for operating double guide wires further comprises a fifth driving mechanism installed on the main body, and the fifth driving mechanism is used for cooperating with the The second driving mechanism clamps and rotates the second conduit, the third conduit and the fourth conduit together.
The interventional surgical robot for operating double guide wires according to claim 7, wherein, the front and rear ends of the fourth driving mechanism and the fifth driving mechanism are respectively provided with a distance for clamping, pushing and rotating the first catheter.
The interventional surgical robot for operating double guide wires according to claim 1, wherein the main body is long and narrow, and a linear channel is arranged in the main body, and the first driving mechanism, the second driving mechanism and the third driving mechanism Mechanisms are sequentially placed within and movable along the passage.
The interventional surgical robot for operating double guide wires according to claim 1, wherein the two ends of the first driving mechanism and the second driving mechanism are provided with a distance for clamping, pushing and rotating the first catheter .
The interventional surgical robot for manipulating double guide wires according to claim 1, wherein the middle gripper and the front gripper are arranged on the same axis.
The interventional surgical robot for manipulating double guide wires according to claim 1, wherein the front gripper is arranged at the front of the main body, and the gripper is close to the first driving mechanism and the second driving mechanism.
The interventional surgical robot for operating double guide wires according to claim 1, wherein the front gripper and the middle gripper are installed separately from the main body.
The interventional surgery robot for operating double guide wires according to claim 1, wherein the front gripper adopts a retractable setting.
The interventional surgical robot for operating double guide wires according to claim 1, wherein the second driving mechanism includes a first component that cooperates with the first driving mechanism to clamp the same catheter, and clamps with the first driving mechanism The second assembly of the other catheter that holds the rotation.
An interventional surgery robot system, which includes a main body, a first drive mechanism, a second drive mechanism, a third drive mechanism, a fourth drive mechanism, a fifth drive mechanism and front gripper;

The first driving mechanism is used to clamp and rotate the first catheter and the second catheter, the second driving mechanism is used to clamp and rotate the second catheter and the third catheter, and the third driving mechanism is used to clamp and rotate the first guide wire , the second guide wire, the fourth drive mechanism is used to clamp and rotate the fourth catheter, and the fifth drive mechanism is used to clamp and rotate the third guide wire;

When the first guide wire penetrates the second catheter, the second catheter penetrates the first catheter and is respectively clamped on the third drive mechanism, the second drive mechanism and the first drive mechanism and clamps forward on the main body After the direction of movement is in place, the first catheter, the second catheter and the first guide wire are respectively removed from the first driving mechanism, the second driving mechanism and the third driving mechanism, and replaced by the front gripper and the first driving mechanism respectively. Hold the first conduit and the second conduit;

Let the second guide wire pass through the third conduit, the third conduit penetrate the second conduit and be respectively clamped by the third drive mechanism and the second drive mechanism and move in the direction of the front clamper on the main body, so that The third guide wire penetrates into the fourth conduit, and the fourth conduit penetrates into the second conduit and is respectively clamped by the fifth driving mechanism and the fourth driving mechanism and moves on the main body in the direction of the front clamper.
The interventional surgery robot system according to claim 16, wherein the interventional surgery robot system further comprises a sixth driving mechanism installed on the main body, the sixth driving mechanism is used to drive the first driving mechanism together with the first driving mechanism. A conduit, a second conduit.
The interventional surgery robot system according to claim 16, wherein the interventional surgery robot system further comprises a seventh driving mechanism installed on the main body, and the seventh driving mechanism is used to drive the first driving mechanism together with the second driving mechanism. Second conduit, third conduit.
The interventional surgery robot system according to claim 16, wherein the fifth driving mechanism and the seventh driving mechanism hold the first conduit and the multifunctional tube through the Y valve respectively.
The interventional surgery robot system according to claim 16, wherein, the interventional surgery robot system further comprises an eighth driving mechanism installed on the main body, the eighth driving mechanism is used to drive the fourth driving mechanism together with the fourth driving mechanism. Four conduits.