WO2023280048A1 - 一种介入手术机器人从端装置 - Google Patents
一种介入手术机器人从端装置 Download PDFInfo
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- WO2023280048A1 WO2023280048A1 PCT/CN2022/102910 CN2022102910W WO2023280048A1 WO 2023280048 A1 WO2023280048 A1 WO 2023280048A1 CN 2022102910 W CN2022102910 W CN 2022102910W WO 2023280048 A1 WO2023280048 A1 WO 2023280048A1
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- Prior art keywords
- catheter
- drive mechanism
- driving mechanism
- drive
- guide wire
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Images
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
Definitions
- the invention relates to the field of medical robots, and is applied to a master-slave vascular interventional surgery robot, in particular to a slave end device of an interventional surgery robot.
- Minimally invasive vascular interventional surgery means that under the guidance of the digital subtraction angiography (DSA) system, the doctor manipulates the movement of the catheter guide wire in the human blood vessel to treat the lesion, achieve embolization of malformed blood vessels, dissolve thrombus, and dilate narrow blood vessels. etc. purpose.
- DSA digital subtraction angiography
- 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 have 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.
- the technical problem to be solved by the present invention is to provide a slave device for an interventional surgery robot that assists doctors in performing interventional surgery.
- the present invention provides a slave device of an interventional surgery robot, which includes:
- the main body and the first driving mechanism and the third driving mechanism installed on the main body;
- the first driving mechanism is used to clamp and rotate the first catheter, and the third driving mechanism is used to clamp and rotate the guide wire;
- the first driving mechanism and the third driving mechanism are positioned along the same axis on the main body.
- the direction movement drives the first catheter and the guide wire to move.
- the slave device of the interventional surgery robot further includes a second drive mechanism, and the second drive mechanism is located between the first drive mechanism and the third drive mechanism;
- the second driving mechanism is used to clamp and rotate the second catheter
- the second catheter passes through the first catheter, and the first catheter, the second catheter and the guide wire are respectively clamped by the first driving mechanism, the second driving mechanism and the third driving mechanism, the The first driving mechanism, the second driving mechanism and the third driving mechanism move along the same axis on the main body to respectively drive the first catheter, the second catheter and the guide wire to move.
- the slave device of the interventional surgery robot further includes a sixth drive mechanism installed on the main body, the sixth drive mechanism is located between the second drive mechanism and the third drive mechanism;
- the sixth driving mechanism is used for clamping and rotating the third conduit
- the third catheter penetrates into the second catheter
- the second catheter penetrates into the first catheter and the first catheter
- the second catheter, the third catheter and the guide wire are respectively clamped by the first driving mechanism , the second drive mechanism, the sixth drive mechanism and the third drive mechanism, the first drive mechanism, the second drive mechanism, the sixth drive mechanism and the third drive mechanism move along the same axis on the main body and respectively Drive the first catheter, the second catheter, the third catheter and the guide wire to move.
- the slave device of the interventional surgery robot also includes a seventh drive mechanism installed on the main body, the seventh drive mechanism is located between the second drive mechanism and the sixth drive mechanism, and the seventh drive mechanism is connected to the first drive mechanism.
- the six driving mechanisms cooperate to drive the movement of the third conduit.
- the sixth driving mechanism is used to clamp the third conduit and not move.
- the slave end device of the interventional surgery robot further includes a fourth driving mechanism installed on the main body, and the fourth driving mechanism cooperates with the first driving mechanism to drive the first catheter to move.
- the fourth driving mechanism moves to a limit position to reset and release the first conduit
- the first driving mechanism is used to clamp the first conduit and not move.
- the fourth drive mechanism is located on a side of the first drive mechanism away from the second drive mechanism.
- the slave end device of the interventional surgery robot further includes a fifth drive mechanism installed on the main body, and the fifth drive mechanism cooperates with the second drive mechanism to drive the second catheter to move.
- the second driving mechanism is used to clamp the first catheter and not move.
- the fifth drive mechanism is located between the first drive mechanism and the second drive mechanism.
- the slave end device of the interventional surgery robot further includes a clamper, which is used to clamp the guide wire so that it does not move when the third drive mechanism moves to the limit position to be reset and the guide wire is released.
- the fourth driving mechanism and the fifth driving mechanism move along the same axial direction as the first driving mechanism, the second driving mechanism and the third driving mechanism.
- first drive mechanism, the second drive mechanism, the third drive mechanism, the fourth drive mechanism and the fifth drive mechanism are all active drive types.
- first drive mechanism, the second drive mechanism and the third drive mechanism are all of the active drive type, and the fourth drive mechanism and the fifth drive mechanism are of the passive follow-up type.
- first driving mechanism and the second driving mechanism include the same clamping assembly, and the clamping assembly is used to clamp the Y valve connected to the conduit to clamp the conduit.
- first driving mechanism and the second driving mechanism also include the same rotating assembly, and the rotating assembly is used to rotate the Y-valve Luer connector to drive the catheter to rotate.
- the fourth driving mechanism and the fifth driving mechanism include the same clamping assembly and the same rotating assembly.
- the third driving mechanism includes a clamping assembly and a rotating assembly, and the clamping assembly and rotating assembly of the third driving mechanism are the same as those of the fourth driving mechanism and the fifth driving mechanism. Or not the same.
- the interventional surgery robot slave device further includes a switching mechanism, and the switching mechanism is a fast switching mechanism or a coaxial switching mechanism.
- the exchange mechanism is detachably fixed to the second drive mechanism, or the exchange mechanism and the second drive mechanism are designed in one piece.
- the present invention allows the doctor to remotely control the first drive mechanism, the second drive mechanism and the third drive mechanism to move along the same axis on the main body, thereby driving the catheter and the guide wire to move in coordination to avoid X-ray radiation, and the robot Controlling the movement of catheters and guide wires is more precise, which not only reduces the work intensity, but also avoids major mistakes.
- Fig. 1 is a schematic diagram of an embodiment of an interventional surgery robot slave device of the present invention
- Fig. 2 is another schematic diagram of Fig. 1;
- Fig. 3 is the schematic diagram when adding two driving mechanisms in Fig. 1;
- Fig. 4 is a schematic diagram when only two driving mechanisms are left in Fig. 1 .
- connection In the present invention, unless otherwise specified and limited, the terms “installation”, “connection”, “connection” and “fixation” 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 the present invention according to specific situations.
- the direction “distal” is a direction toward the patient, and the direction “near” 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 “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.
- 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.
- a feature defined as “first”, “second”, etc. may expressly or implicitly include one or more of that feature.
- “multiple” or “plurality” means two or more.
- the guide wires here include but not limited to guide wires, micro guide wires and stents and other guidance and support interventional medical devices
- 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.
- an embodiment of a slave device for an interventional surgery robot in the present invention includes a main body 10, a drive mechanism 20, 30, 40, 50, 60 movably mounted on the main body 10, and a gripper 70 and rapid exchange mechanism 80.
- the main body 10 is narrow and long, and has a straight channel 102 .
- These driving mechanisms 20, 30, 40, 50, 60 are successively placed in the channel 102 and can move along the channel.
- these driving mechanisms 20, 30, 40, 50, 60 can slide directly on the main body 10, such as fixing a linear guide rail on the main body 10, these driving mechanisms 20, 30, 40, 50, 60 can be Slide along the rails.
- Each drive mechanism is used for clamping, pushing (including forward and backward) and rotating (including forward and reverse) catheter or guide wire, and can also be used for simultaneously clamping, pushing (including forward and backward) and rotating (including Forward rotation and reverse rotation) catheters and guide wires to realize coordinated movement of multiple catheters and one guide wire.
- Each drive mechanism includes a clamping assembly for clamping the catheter or guidewire, a rotating assembly for rotating the catheter or guidewire, and the rotating assembly can be either actively driven or passively followed, or all actively driven , or some are actively driven, and the other is passively followed, and the clamping of the catheter by the driving mechanism 20, 40 does not affect its rotation.
- the clamping assembly and the rotating assembly of the driving mechanism 20, 30, 40, 50, 60 can be an interventional surgery robot guide wire catheter rubbing device as described in Chinese patent application 202110674959.3, the entire content of which is incorporated into the present invention.
- 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.
- the driving mechanisms 20 and 30 are spaced at a certain distance back and forth for cooperating to clamp, push and rotate the same guiding catheter 90 (ie, the first catheter) so that it does not bend.
- drive mechanisms 20 and 30 preferably move guide catheter 90 synchronously so that it straightens and does not bend.
- the driving mechanisms 40 and 50 cooperate with each other at a certain distance back and forth, and are used for clamping, pushing and rotating 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 holder 70 is used to hold and push the guide wire 92 .
- the quick exchange mechanism 80 is detachably fixed together with the driving mechanism 50, and is used for clamping and pushing the quick exchange catheter.
- the doctor comes to the cath lab for preoperative preparation. If suitable (such as length, diameter) guide catheter 90, multifunctional tube 91 and guide wire 92 are selected, the guide catheter 90 and 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.
- suitable (such as length, diameter) guide catheter 90, multifunctional tube 91 and guide wire 92 are selected, the guide catheter 90 and 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
- the doctor comes to the operating table outside the catheter room, and uses the main console (such as the main end operation handle of the interventional surgery robot described in Chinese patent application 202110654379.8 and the main end control module of the interventional surgery robot described in 202110649908.5, all of which Introducing the present invention) remote operation drive mechanism 20, 30, 40, 50, 60, holder 70 and quick exchange mechanism 80 movement.
- main console such as the main end operation handle of the interventional surgery robot described in Chinese patent application 202110654379.8 and the main end control module of the interventional surgery robot described in 202110649908.5, all of which Introducing the present invention
- the driving mechanisms 20 and 30 clamp the guide tube 90 together and move along the channel 102 to drive the guide tube 90 to advance, while or not at the same time, the rotating components of the drive mechanisms 20 and 30 rotate the guide tube 90, when the drive mechanism 20 moves
- the drive mechanism 30 clamps the guide tube 90 and does not move.
- 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.
- 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 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.
- a limit position for example, the distance from the driving mechanism 30 is close to the threshold
- 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.
- the driving mechanism 60 and the clamper 70 clamp the guide wire 92 and move along the channel 102 to drive the guide wire 92 forward, and at the same time or at different time, the rotating assembly of the driving mechanism 60 rotates the guide wire 92.
- 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.
- the clamping assembly of the drive mechanism 60 clamps the guide wire 92 again, so that the drive mechanism 60 and the clamper 70 together drive the guide wire 92 forward, and the rotating assembly of the drive mechanism 60 rotates at the same time or at different times.
- the guide wire 92 reciprocates in this way until it advances in place. In other embodiments, initially, only the guide wire 92 is gripped by the drive mechanism 60 and the gripper 70 is not gripped.
- the driving mechanism 60 is to be reset, the guide wire 92 is clamped by the clamper 70 instead.
- the clamper 70 releases the guide wire 92 , so reciprocating, the driving mechanism 60 and the clamper 70 clamp the guide wire 92 alternately.
- How to remotely control the movement of the drive mechanism 20, 30, 40, 50, 60, the gripper 70 and the quick exchange mechanism 80 by the main console can be the same as the main control module of the interventional surgery robot described in Chinese patent application 202110649908.5. It includes two operating levers, one of which is used to control the driving mechanism 20, 30, 40, 50 and the quick exchange mechanism 80, and the operating lever can control the driving mechanism 20, 30, and the driving mechanism 40, 50 in time through the switching device and quick exchange mechanism 80 , another lever is used to manipulate drive mechanism 60 and gripper 70 . It may also be that the main console includes more than two operating levers, such as four operating levers, which are used to remotely control the driving mechanism 20, 30, the driving mechanism 40, 50, the driving mechanism 60 and the gripper 70, the fast switching mechanism 80 .
- 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.
- the multifunctional tube 91 and the guiding wire 92 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. .
- 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.
- the guiding catheter 90 After the guiding catheter 90 is advanced to the right position, the guiding catheter 90 is fixed and does not move, and the driving mechanism 40, 50, 60 and the holder 70 are remotely controlled through the console at the main end, so that the multifunctional tube 91 and the guiding wire 92 are moved back and forth.
- the process is similar to the above-mentioned forward process.
- the doctor came to the catheterization room to manually remove the multifunctional tube 91 and the guide wire 92 from the clamping assembly and the clamping assembly of the driving mechanism 40, 50, 60. Take it out from the container 70 and soak it in heparin water.
- microcatheter 94 and microguide wire 96 for use. Manually thread the micro guide wire 96 into the micro catheter 94 and the guide catheter 90 together, and the micro guide wire 96 extends out of the micro catheter 94 for a certain distance, so that the micro catheter 94 and the micro guide wire 96 are respectively clamped on the driving mechanism 40, 50 The clamping assembly of the driving mechanism 60 and the clamper 70, so as to realize the fixation of the microcatheter 94 and the micro guide wire 96.
- 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.
- the doctor comes to the operating table outside the catheter room again, and uses the main end console to remotely control the movement of the driving mechanisms 40, 50, 60 and the holder 70.
- the specific process is the same as that of the multifunctional tube 91 and the guide wire 92 described above, and will not be repeated here.
- 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 known as 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), then the driving mechanisms 50 and 60 will respectively fix the micro-catheter 94 and the micro-guide wire. Wire 96 does not move. If the specified position is not reached, the remote control driving mechanism 40 , 50 , 60 and the gripper 70 are repeatedly moved until the micro guide wire 96 reaches the specified position.
- 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.
- the doctor came to the catheterization room to manually take out the microcatheter 94 from the driving mechanism 40, 50 and soak it in the heparin water.
- 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.
- the doctor came to the catheterization room again, and manually let the tail of the micro guide wire 96 pass through the rapid exchange balloon dilation catheter 98, and the rapid exchange balloon dilation catheter 98 advanced along the micro guide wire 96. At this time, the rapid exchange mechanism 80 clamped the rapid exchange Balloon dilation catheter 98 .
- the doctor comes to the operating table outside the catheter room again, and uses the main terminal console to remotely control the rapid exchange mechanism 80, so that the rapid exchange balloon dilation catheter 98 is advanced to the operation patient's lesion (not beyond the head of the micro guide wire 96). During this process, pay attention to the position and angle of the micro-guide wire 96 at all times, and adjust it in time through forward rotation, reverse rotation, forward and backward rotation if necessary.
- 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.
- the contrast medium is extracted from the rapid exchange balloon dilation catheter 98 .
- the doctor comes to the operating table outside the catheter room, and uses the main terminal console to remotely control the quick exchange mechanism 80 to retreat to the puncture sheath.
- the position of the microguide wire 96 is kept unchanged.
- multiple blood vessel dilations may be required, so the above-mentioned rapid exchange balloon dilation catheter 98 advances and retreats multiple times.
- the doctor came to the catheterization room again, manually removed the rapid exchange balloon expansion catheter 98 from the rapid exchange mechanism 80, and then manually threaded the rapid exchange balloon expansion stent catheter on the micro guide wire 96 and clamped it to the rapid exchange mechanism 80, The specific process is the same as the rapid exchange balloon dilatation catheter 98 described above, and will not be repeated.
- the doctor comes to the operating table outside the catheter room again, and uses the main console to remotely control the rapid exchange mechanism 80, 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) .
- 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.
- the contrast agent can be drawn out and the rapid exchange mechanism 80 is controlled to drive the rapid exchange ball expansion stent catheter back to the puncture sheath, while the ball expansion stent remains at the lesion of the surgical patient.
- the doctor comes to the catheterization room to manually take out the quick exchange ball expansion stent catheter from the quick exchange mechanism 80 and put it into heparin water.
- the doctor then comes to the operating table outside the catheter room, and uses the main console to remotely control the movement of the driving mechanisms 20, 30, 40, 50, 60 and the holder 70, so that the guide catheter 90 and the micro guide wire 96 are retracted to the puncture sheath. Finally, the doctor returns to the catheterization room, manually removes the guide catheter 90 and the micro guide wire 96 from the clamping components of the driving mechanism 20, 30, 60 and the clamper 70, and withdraws them from the puncture sheath and puts them into heparin water. Then the puncture sheath is pulled out and the postoperative treatment is performed to complete the operation.
- the quick-exchange mechanism 80 needs to be used to clamp, push and rotate. If it is a coaxial exchange catheter, after the tail of the micro guide wire 96 is inserted into the coaxial exchange catheter, the coaxial exchange mechanism clamps, pushes and rotates the coaxial exchange catheter, so that the coaxial exchange catheter advances along the micro guide wire 96 to the proper position or back to the puncture sheath. Regardless of the quick exchange mechanism 80 or the coaxial exchange mechanism, the roller driving method can be used to realize the clamping, shifting and rotation of the quick exchange catheter and the coaxial exchange catheter.
- the above is to illustrate the motion and control process of the present invention by taking the "ball expansion stent forming operation" as an example.
- the present invention can also be used in various operations such as radiography, embolization, and thrombectomy.
- the driving mechanism 20, 30, 40, 50, 60, the holder 70 and the quick exchange mechanism 80 can be freely deployed 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.
- more driving mechanisms, holders and quick exchange mechanisms can be added.
- multiple catheters can correspond to one guide wire or multiple catheters.
- two driving mechanisms are added to clamp and rotate more catheters.
- a quick exchange mechanism which is detachably mounted on the driving mechanism or made into an integrated mechanism with the driving mechanism.
- only two of the driving mechanisms 20, 30, 40, 50, 60 are used, such as the driving mechanisms 30 and 60, referring to Fig. 4, then the other driving mechanisms, clamping
- the device 70 and the quick exchange mechanism 80 are removed from the main body 10. Taking angiography as an example, the following describes the cooperative movement and control process of a catheter and a guide wire when only the drive mechanisms 30 and 60 are present:
- the doctor comes to the operating table outside the catheter room, and uses the main terminal console to remotely operate the driving mechanism 30, 60 to move.
- the guiding catheter and the guiding wire are respectively advanced to the target blood vessel in coordination. Refer to the aforementioned "ball expansion stent forming operation" for the process. Keep the head of the guiding catheter and guiding wire within the imaging field of view.
- the driving mechanism 30 is allowed to clamp the guiding catheter without moving, and the driving mechanism 60 is remotely operated to retreat, so that the guiding wire is withdrawn to the puncture sheath.
- the doctor comes to the catheterization room, manually takes out the guide wire from the clamping assembly of the driving mechanism 60 and soaks it 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.
- 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 .
- the driving mechanisms 30 and 60 come to the operating table outside the catheter room, and then use the main console to remotely operate the driving mechanisms 30 and 60 to move the guiding catheter and guiding wire respectively to the other target blood vessel, and then retract the guiding wire to the puncture position.
- the sheath is taken out, and the contrast agent is injected into the guiding catheter again, and radiographic imaging is performed to obtain complete image information at different angles of another target vessel. So many times, until the complete image information of all target blood vessels is obtained.
- the doctor remotely controls the driving mechanism 30 to retreat, driving the guide catheter to withdraw to the puncture sheath.
- the doctor comes to the catheterization room, manually takes out the guide catheter and the guide wire used for the last time from the clamping assembly of the drive mechanism 30, 60 respectively, and withdraws them from the puncture sheath.
- the driving mechanism 20 can be pushed and rotated together with the drive mechanism 30 to guide the guide catheter, and the holder 70 can be pushed and rotated together with the drive mechanism 60 to guide the guide wire.
- 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 present invention allows the doctor to remotely control the driving mechanism, the gripper and the 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 more accurately. Reduce work intensity and avoid big mistakes.
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Abstract
Description
Claims (21)
- 一种介入手术机器人从端装置,包括主体及安装于主体上的第一驱动机构和第三驱动机构;第一驱动机构用于夹持和转动第一导管,第三驱动机构用于夹持和转动导丝;当导丝穿入第一导管且第一导管、导丝分别被夹持于第一驱动机构、第三驱动机构时,所述第一驱动机构和第三驱动机构在所述主体上沿同一轴向运动而带动第一导管、导丝运动。
- 如权利要求1所述的一种介入手术机器人从端装置,其特征在于,还包括安装于主体上的第二驱动机构,所述第二驱动机构位于所述第一驱动机构和所述第三驱动机构之间;第二驱动机构用于夹持和转动第二导管;当导丝穿入第二导管、第二导管穿入第一导管且第一导管、第二导管和导丝分别被夹持于第一驱动机构、第二驱动机构和第三驱动机构时,所述第一驱动机构、第二驱动机构和第三驱动机构在所述主体上沿同一轴向运动而分别带动第一导管、第二导管和导丝运动。
- 如权利要求2所述的一种介入手术机器人从端装置,其特征在于,还包括安装于主体上的第六驱动机构,所述第六驱动机构位于所述第二驱动机构和所述第三驱动机构之间;第六驱动机构用于夹持和转动第三导管;当导丝穿入第三导管、第三导管穿入第二导管、第二导管穿入第一导管且第一导管、第二导管、第三导管和导丝分别被夹持于第一驱动机构、第二驱动机构、第六驱动机构和第三驱动机构时,所述第一驱动机构、第二驱动机构、第六驱动机构和第三驱动机构在所述主体上沿同一轴向运动而分别带动第一导管、第二导管、第三导管和导丝运动。
- 如权利要求3所述的一种介入手术机器人从端装置,其特征在于,还包括安装于主体上的第七驱动机构,所述第七驱动机构位于第二驱动机构和第六驱动机构之间,所述第七驱动机构与第六驱动机构配合带动第三导管运 动。
- 如权利要求4所述的一种介入手术机器人从端装置,其特征在于,当所述第七驱动机构运动到极限位置要复位而松开第三导管时,所述第六驱动机构用于夹持第三导管不运动。
- 如权利要求2所述的一种介入手术机器人从端装置,其特征在于,还包括安装于主体上的第四驱动机构,所述第四驱动机构与第一驱动机构配合带动第一导管运动。
- 如权利要求6所述的一种介入手术机器人从端装置,其特征在于,当所述第四驱动机构运动到极限位置要复位而松开第一导管时,所述第一驱动机构用于夹持第一导管不运动。
- 如权利要求6所述的一种介入手术机器人从端装置,其特征在于,所述第四驱动机构位于第一驱动机构远离第二驱动机构的一侧。
- 如权利要求6-8任一项所述的一种介入手术机器人从端装置,其特征在于,还包括安装于主体上的第五驱动机构,所述第五驱动机构与第二驱动机构配合带动第二导管运动。
- 如权利要求9所述的一种介入手术机器人从端装置,其特征在于,当所述第五驱动机构运动到极限位置要复位而松开第二导管时,所述第二驱动机构用于夹持第一导管不运动。
- 如权利要求9所述的一种介入手术机器人从端装置,其特征在于,所述第五驱动机构位于第一驱动机构和第二驱动机构之间。
- 如权利要求1至3任一项所述的一种介入手术机器人从端装置,其特征在于,还包括夹持器,当所述第三驱动机构运动到极限位置要复位而松开导丝时,所述夹持器用于夹持导丝不运动。
- 如权利要求9所述的一种介入手术机器人从端装置,其特征在于,所述第四驱动机构和第五驱动机构与所述第一驱动机构、第二驱动机构和第三驱动机构沿同一轴向运动。
- 如权利要求9所述的一种介入手术机器人从端装置,其特征在于,所述第一驱动机构、第二驱动机构、第三驱动机构、第四驱动机构和第五驱 动机构均为主动驱动型。
- 如权利要求9所述的一种介入手术机器人从端装置,其特征在于,所述第一驱动机构、第二驱动机构和第三驱动机构均为主动驱动型,所述第四驱动机构和第五驱动机构为被动跟随型。
- 如权利要求2所述的一种介入手术机器人从端装置,其特征在于,所述第一驱动机构和第二驱动机构包括相同的夹持组件,所述夹持组件用于夹持连接于导管的Y阀来夹持导管。
- 如权利要求16所述的一种介入手术机器人从端装置,其特征在于,所述第一驱动机构和第二驱动机构还包括相同的转动组件,所述转动组件用于转动Y阀鲁尔连接器而带动导管转动。
- 如权利要求9所述的一种介入手术机器人从端装置,其特征在于,所述第四驱动机构和第五驱动机构包括相同的夹持组件和相同的转动组件。
- 如权利要求9所述的一种介入手术机器人从端装置,其特征在于,所述第三驱动机构包括夹持组件和转动组件,所述第三驱动机构的夹持组件和转动组件与所述第四驱动机构和第五驱动机构的夹持组件和转动组件相同或者不相同。
- 如权利要求2所述的一种介入手术机器人从端装置,其特征在于,还包括交换机构,所述交换机构为快速交换机构或者同轴交换机构。
- 权利要求20所述的一种介入手术机器人从端装置,其特征在于,所述交换机构可拆卸地固定于所述第二驱动机构,或者所述交换机构与所述第二驱动机构为一体化设计。
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JP2022555863A JP2023531852A (ja) | 2021-07-05 | 2022-06-30 | 介入手術ロボットスレーブ装置 |
EP22782652.6A EP4137089A4 (en) | 2021-07-05 | 2022-06-30 | SLAVE END DEVICE OF AN INTERVENTIONAL SURGICAL ROBOT |
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CN202111009777.0A CN113729957B (zh) | 2021-07-05 | 2021-08-31 | 一种介入手术机器人从端装置 |
CN202111009785.5A CN113729958B (zh) | 2021-07-05 | 2021-08-31 | 一种介入手术机器人从端装置 |
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