CN114732528A

CN114732528A - Intervene operation robot from end device

Info

Publication number: CN114732528A
Application number: CN202210326352.0A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Aibo Medical Robot Co Ltd
Current assignee: Shenzhen Aibo Medical Robot Co Ltd
Priority date: 2022-03-30
Filing date: 2022-03-30
Publication date: 2022-07-12
Also published as: WO2023184827A1

Abstract

A slave device of an interventional surgery robot, comprising a main body, a fixed driving device and a first moving driving device are mounted on the main body, the fixed driving device is fixedly installed on the most distal end of the main body, and the first moving The driving device moves in the direction of the main body, the first moving driving device includes a first supporting unit, a first delivering unit and a first rotating part, the first supporting unit is used for clamping together with the fixed driving device , delivering and rotating the first elongated medical instrument, the first delivery unit and the first rotating part are used for gripping, delivering and rotating the second elongated medical instrument, when the first movement driving means moves, The first delivery unit releases the second elongated medical device. This interventional surgical robot slave device can precisely deliver slender medical instruments to the appropriate position of the lesion in the patient, and can avoid the bending and bending of the slender medical instruments during the delivery process, and also avoid the long-term exposure of doctors to X-rays. The positive effect of the radiation on the doctor's body caused by the radiation.

Description

Intervene operation robot from end device

Technical Field

The invention relates to a device in the field of medical instrument robots, in particular to a slave end device of an interventional operation robot.

Background

Interventional operation treatment is a minimally invasive treatment carried out by modern high-tech means, and under the guidance of medical imaging equipment, special precise instruments such as catheters, guide wires and the like are introduced into a human body to diagnose and locally treat internal diseases.

In order to reduce the radiation hazard of long-term exposure of doctors to X-rays in the medical process of the vascular interventional operation, a master-slave vascular interventional operation robot which is operated remotely is developed for the engineering. The slave end device of the master-slave type vascular interventional surgical robot can work in a radiation environment, and a doctor operates and controls the slave end device through a master end in a workbench which can prevent X-ray radiation or a special isolation working room which can prevent X-ray radiation, so that interventional surgical treatment is completed, and the doctor is prevented from being harmed by the radiation of the X-ray.

During operation, the interventional operation robot clamps a catheter, a guide wire and other slender medical devices from the proximal end to the distal end of the elongated medical devices from an operation device of the end device, and the catheter and the guide wire are driven to advance and delivered to a focus in a body (such as an intravascular) of a patient through the cooperative motion of the devices, so that a doctor can conveniently perform subsequent related treatments such as radiography, embolization of malformed blood vessels, thrombolysis, dilation of stenotic blood vessels and the like. In general, these interventions require catheters, guide wires, dilatation balloons, dilatation stents and other medical devices of very large length, diameter and type. In general, many of these slender medical devices such as catheters and guide wires are made of soft materials and are coiled together, and they are also slightly bent in the unfolded state due to their own weight. Particularly during long distance delivery, the distal end of an elongated medical device such as a catheter, a guide wire, etc. is more prone to buckling due to the force applied to the distal end.

Disclosure of Invention

Based on the above, the invention provides a novel slave end device of an interventional operation robot, which can accurately transfer elongated medical devices such as catheters, guide wires and the like to a proper position in a patient body in the interventional operation process and can avoid the meandering of the elongated medical devices such as catheters, guide wires and the like in the delivery process.

An interventional surgical robot slave end device, comprising a main body, wherein a fixed driving device and a first moving driving device are arranged on the main body, the fixed driving device is fixedly arranged at the most far end of the main body, the first moving driving device moves along the direction of the main body, the first moving driving device comprises a first supporting unit, a first delivery unit and a first rotating part, the first supporting unit is used for clamping, delivering and rotating a first elongated medical device together with the fixed driving device, the first delivery unit and the first rotating part are used for clamping, delivering and rotating a second elongated medical device, and when the first moving driving device moves, the first delivery unit releases the second elongated medical device.

Further, the fixed driving device is provided with a fixed delivery unit and a fixed rotating member, and the first support unit is used for delivering and rotating the first elongated medical device synchronously with the fixed delivery unit and the fixed rotating member.

Further, first supporting unit includes first connecting element, the front end of first connecting element have with first slim type medical instrument fixed connection's cooperation mechanism, the cooperation mechanism facial make-up is equipped with first rotation gear, works as first rotation gear can drive when rotating cooperation mechanism rotates, cooperation mechanism first rotation gear with the coincidence of the axial lead of fixed rotating part.

Furthermore, a through long hole is formed in the first connecting component, and the axis of the long hole is overlapped with the axis of the first rotating gear.

Further, the first support unit further comprises a first motor, and an output gear of the first motor is meshed with the first rotating gear.

Further, the main body is provided with a clamp used for clamping the first elongated medical device or/and the second elongated medical device.

Further, the interventional surgical robotic slave device further comprises an exchange mechanism for gripping, delivering or rotating a rapid exchange catheter.

A slave end device of an interventional operation robot comprises a main body, wherein a fixed driving device, a first moving driving device and a second moving driving device are arranged on the main body, the fixed driving device is fixedly arranged at the most far end of the main body, the first moving driving device and the second moving driving device can move along the direction of the main body, the first moving driving device comprises a first supporting unit, a first delivery unit and a first rotating part, the second moving driving device comprises a second supporting unit, a second delivery unit and a second rotating part, the first supporting unit is used for clamping, delivering and rotating a first elongated medical appliance together with the fixed driving device, and the first delivery unit, the first rotating part and the second supporting unit are used for clamping, delivering and rotating a second elongated medical appliance, the second delivery unit and the second rotating member are used for clamping, delivering and rotating the third elongated medical device, and when the second movement driving device moves, the second delivery unit releases the third elongated medical device.

Further, the second support unit is used for delivering and rotating the first elongated medical device synchronously with the first delivery unit and the first rotating component.

Further, the second supporting unit comprises a first connecting assembly, the front end of the second connecting assembly is provided with a matching mechanism fixedly connected with the second slender type medical device, a second rotating gear is arranged on the matching mechanism, and when the second rotating gear rotates, the matching mechanism can be driven to rotate, and the axis of the matching mechanism coincides with the axis of the first rotating component.

Furthermore, a through long hole is formed in the second connecting component, and the axis of the long hole is overlapped with the axis of the second rotating gear.

Further, the second supporting unit further includes a second motor, and an output gear of the second motor is engaged with the second rotating gear.

Furthermore, a holder for holding the first elongated medical device, the second elongated medical device or/and the third elongated medical device is mounted on the main body.

In summary, the interventional surgical robot slave end device provided by the invention can accurately deliver the long medical instrument to a proper position of a focus in a patient body, can avoid bending and bending of the long medical instrument in the delivery process, and also has the positive effect of avoiding the harm to the body of a doctor caused by the long-term exposure of the doctor to the radiation of X-rays.

Drawings

FIG. 1 is a schematic structural diagram of a slave-end device of an interventional surgical robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a fixing driving device according to the present invention;

FIG. 3 is a schematic view of a first movement driving device according to the present invention;

FIG. 4 is a schematic structural diagram of a second mobile driving device according to the present invention;

fig. 5 is a schematic view of a second embodiment of the slave device of the interventional surgical robot of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As used herein, the direction "distal" is toward the patient and the direction "proximal" is away from the patient. The terms "distal", "leading" and "trailing" refer to the end proximal to the patient and the end distal to the patient. The terms "upper" and "upper" refer to the general direction away from the direction of gravity, and the terms "bottom", "lower" and "lower" refer to the general direction of gravity. The term "forward" refers to the side of the interventional surgical robot facing the user from the end device, "forward" refers to the direction of displacement of a guide wire or catheter into the body of the surgical patient. The term "posterior" refers to the side of the interventional surgical robot facing away from the user from the end device, "retrograde" refers to the direction of displacement of the guide wire or catheter out of the body of the surgical patient. The term "delivery" includes "push" and "withdraw". The term "moving" includes "forward" and "backward". The term "rotation" includes "forward rotation" and "reverse rotation," where "forward rotation" refers to a direction in which a guide wire or catheter is rotated into the body of a patient being operated, and "reverse rotation" refers to a direction in which a guide wire or catheter is rotated out of the body of a patient being operated.

As shown in fig. 1 to 4, a slave device of an interventional surgical robot according to an embodiment of the present invention includes a main body 10, a fixed driving device 11, a first moving driving device 12, a second moving driving device 13, and at least one gripper (not shown in the drawings) are disposed on the main body 10, the fixed driving device 11 is fixedly mounted on the main body 10, and the first moving driving device 12 and the second driving device 13 are movable on the main body 10. The holder is detachably mounted to the body 10, and the mounting position of the holder on the body 10 can be determined according to the needs of the interventional procedure. Specifically, when the fixed driving means 10 and the first moving driving means 12 are used only for the interventional procedure, the gripper is located at a position close to the first moving driving means 12, and when the fixed driving means 10, the first moving driving means 12 and the second moving driving means 13 are required for the interventional procedure, the gripper is located at a position close to the second moving driving means 13.

The fixed driving device 11 is provided with a fixed delivery unit 111, a fixed rotating part 112 and an antibacterial cover (not shown in the figure), the fixed delivery unit 111 can clamp and deliver catheters or guide wires of different types such as various lengths, diameters and the like, and the fixed rotating part 112 can drive the fixed delivery unit 111 to integrally rotate so as to drive the catheters or the guide wires to rotate.

The first mobile driving device 12 is provided with a first supporting unit 120, a first delivering unit 121, a first rotating part 122, a first exchanging mechanism 125 and a bacteria-proof cover (not shown), the first supporting unit 120 includes a first motor (not shown) and a first connecting assembly 123 detachably mounted thereon, the front end of the first connecting assembly 123 has a matching structure (generally a luer male connector) fixedly connected with various types of catheters, the matching structure is fixedly mounted with a first rotating gear 124, an output end gear of the first motor is meshed with the first rotating gear 124, and when the first motor is operated, the first rotating gear 124 is driven to rotate, so as to drive the catheter connected to the front end of the first connecting assembly 123 to rotate; the first connection member 123 also has an elongated hole through which a catheter or guide wire is passed. The first delivery unit 121 can clamp and deliver different types of catheters or guide wires with different lengths, diameters and the like, and the first rotating part 122 can drive the first delivery unit 121 to integrally rotate so as to drive the catheter or the guide wire to rotate, so that the catheter or the guide wire can be delivered and rotated simultaneously. The first exchange mechanism 125 holds a rapid exchange-type catheter, such as a rapid exchange balloon dilation catheter or the like, and delivers and/or rotates the rapid exchange-type catheter as needed to effect a corresponding surgical treatment procedure.

The second mobile driving device 13 is provided with a second supporting unit 130, a second delivering unit 131, a second rotating part 132, a second exchanging mechanism 135 and an antibacterial cover (not shown in the figures), the second supporting unit 130 includes a second motor (not shown in the figures) and a second connecting assembly 133 detachably mounted thereon, a front end of the second connecting assembly 133 has a fitting structure (generally, a luer male connector) fixedly connected with various types of catheters, a second rotating gear 134 is fixedly mounted on the fitting structure, an output end gear of the second motor is engaged with the second rotating gear 134, and when the second motor operates, the second rotating gear 134 is driven to rotate, so that the catheter connected to the front end of the second connecting assembly 133 is driven to rotate; the second connecting member 133 also has an elongated hole through which a catheter or guide wire is passed. The second delivery unit 131 can clamp and deliver catheters or guide wires of different lengths, diameters and the like, and the second rotating part 132 can drive the second delivery unit 131 to integrally rotate, so as to drive the catheter or the guide wire to rotate, so that the catheter or the guide wire can be simultaneously rotated during delivery. The second exchange mechanism 135 holds a rapid exchange-type catheter, such as a rapid exchange balloon dilation catheter or the like, and delivers and/or rotates the rapid exchange-type catheter as needed to perform a corresponding surgical treatment procedure.

The fixed delivery unit 111, the fixed rotation member 112 of the fixed driving device 11, the first delivery unit 121 and the first rotation member 122 of the first mobile driving device 12, and the second delivery unit 131 and the second rotation member 132 of the second mobile driving device 13 may be a slave guide wire catheter operation device of an interventional operation robot as described in chinese patent application 202111009813.3, or a slave driving device of a multifunctional interventional operation robot as described in chinese patent application 202111329455.4, the entire contents of which are incorporated herein.

The fixed rotating member 112, the first rotating gear 124, the first rotating member 122, the second rotating gear 134 and the second rotating member 132 have a common rotation axis, so that the fixed driving device 11, the first moving driving device 12 and the second moving driving device 13 do not twist the first catheter 14, the second catheter 15 and the guide wire 16 during the clamping, rotating and delivering of the first catheter 14, the second catheter 15 and the guide wire 16.

Before the medical procedure is started, the doctor prepares for operation, puts a puncture sheath into the operation patient, selects a first catheter 14, a second catheter 15 and a guide wire 16 with proper (such as length, diameter, material and type) and flushes and exhausts the physiological saline for the first catheter 14 and the second catheter 15. The physician manually attaches the tail portion of the first catheter 14 to the front end of the first connecting assembly 123, attaches the tail portion of the second catheter 15 to the front end of the second connecting assembly 133, and then passes the head portion of the second catheter 15 through the elongated hole of the first connecting assembly 122 until the head portion of the first catheter 14 is exposed for a certain length, such as about 10cm, and then passes the head portion of the guidewire 16 through the elongated hole of the second connecting assembly 132 until the head portion of the second catheter 15 is exposed for a certain length, such as about 10 cm; then adjusting the first movement driving device 12 and the second movement driving device 13 to be at the proper position on the main body 10, and placing the first catheter 12, the second catheter 13 and the guide wire 14 together into a puncture sheath (such as a femoral artery, a radial artery or the like) of a surgical patient; then, the first guide tube 14 is supported by the fixed delivery unit 111 of the fixed driving means 11, the first coupling member 123 is mounted to the first support unit 120 while ensuring that the first rotation gear 124 is gear-engaged with the output terminal of the first motor of the first support unit 120, the second guide tube 15 is supported by the first delivery unit 121, and then the second coupling member 132 is mounted to the second support unit 130 while ensuring that the second rotation gear 134 is gear-engaged with the output terminal of the second motor of the second support unit 130, and the guide wire 16 is supported by the second delivery unit 131. Finally, after confirming that the first catheter 14, the second catheter 15, and the guide wire 16 are mounted in place, the fixing drive unit 11, the first movement drive unit 12, and the second movement drive unit 13 are covered with the antibacterial covers. The first and second connecting

components

123, 133 may be a medical Y valve, a medical T valve, or a medical three-way valve device with similar functions and structures, and preferably a medical Y valve.

During the medical treatment, a doctor comes to the front of a main end working table with X-ray radiation protection or a special operation room to operate. For example, the present embodiment may specifically include the following operations:

1. the catheter or guidewire is manipulated to deliver and rotate simultaneously (either separately or rotationally) or not:

(1) the fixed delivery unit 111 is operated to clamp the catheter 14 and the first delivery unit 121 is operated to clamp the second catheter 15, the first and second

movement driving devices

12 and 13 are controlled not to move, and the second delivery unit 131 and the second rotating member 132 are operated to deliver and rotate the guide wire 16 simultaneously or not.

(2) Operating the fixed delivery unit 111 to clamp the catheter 14 and operating the second delivery unit 131 to release the guide wire 16, switching to clamping the guide wire 16 by a clamp on the body 10, controlling the first movement driving device 12 not to move, operating the first delivery unit 121 and the first rotating member 122 to deliver and rotate simultaneously or not, operating the second driving device 13 to move synchronously with the first delivery unit 121 and/or operating the second rotating gear 134 to rotate synchronously with the first rotating member 122, to deliver and rotate the second catheter 15 simultaneously or not.

At this time, the catheter 14 may be delivered and rotated simultaneously or not with the first support unit 120, or may be detached from the first support unit 120 in exchange for being fixed by being held by a holder on the body 10.

(3) Operating the first delivery unit 121 to release the second catheter 15, clamping the second catheter 15 by the clamp on the body 10 instead of moving, controlling the second movement driving means 13 not to move, operating the fixed delivery unit 111 and the fixed rotating member 112 to deliver and rotate simultaneously or not, operating the fixed delivery unit 111 and the fixed rotating member 112 in cooperation, moving the first driving means 12 in synchronization with the fixed delivery unit 111 and/or rotating the first rotating gear 124 in synchronization with the fixed rotating member 112 to deliver and rotate the first catheter 14 simultaneously or not.

2. Co-operating catheters and guidewires, catheters and catheters delivering and rotating simultaneously or not:

(1) controlling the first driving means 12 not to move, the first delivery unit 121 and the first rotating member 122 to deliver and rotate simultaneously or not simultaneously in cooperation, the second driving means 13 to deliver and rotate simultaneously or not simultaneously following the first delivery unit 121 and/or the second rotating gear 134 to rotate synchronously following the first rotating member 122, the second delivery unit 131 and the second rotating member 132 to deliver and rotate simultaneously or not simultaneously in cooperation to deliver and rotate the guide wire 16 and the second catheter 15.

(2) Controlling the second driving device 13 not to move, cooperatively operating the fixed delivery unit 111 and the fixed rotating member 112 to deliver and rotate simultaneously or not, the first driving device 12 synchronously moving with the fixed delivery unit 111 and/or the first rotating gear 124 synchronously rotating with the fixed rotating member 112, and the first delivery unit 121 and the first rotating member 122 simultaneously or not to deliver and rotate so as to cooperatively deliver and rotate the first catheter 14 and the guide wire 16 simultaneously or not.

At this time, the guide tube 15 may be delivered and rotated simultaneously or not with the second supporting unit 130, or may be detached from the second supporting unit 130 in order to hold the guide tube 15 by a holder on the body 10.

(3) Operating the second delivery unit 131 to release the guide wire 16, and controlling the fixed delivery unit 111 and the fixed rotating member 112 cooperatively, in a manner that the guide wire is clamped by the clamp on the main body 10 and fixed, the first delivery unit 121 and the first rotating member 122 are delivered and rotated simultaneously or not, the first driving device 12 and the second driving device 13 move synchronously, the first rotating gear 124 rotates synchronously with the fixed rotating member 112, and the second rotating gear 134 rotates synchronously with the first rotating member 122, so as to cooperatively deliver and rotate the second catheter 15 and the first catheter 14 simultaneously or not.

In other embodiments, the first support unit 120 may release the first conduit 14 instead of clamping the first conduit 14 by a clamp. In other embodiments, the first movement driving means 12 may move faster or slower than the second movement driving means 13.

The above operations do not constitute a limitation to the specific operation sequence and combination, and a doctor may perform the above operations partially or completely according to the specific situation and treatment needs of a patient in an actual interventional operation treatment, and may also need to perform the above operations partially or completely repeatedly, only by ensuring that the guide wire 16 always exceeds the head of the second catheter 15 by a certain length and the second catheter 15 exceeds the head of the first catheter 14 by a certain length when delivering the guide wire of the catheter until the guide wire 16, the second catheter 15 and the first catheter 14 are delivered to the proper position of the internal blood vessel of the patient, and then performing the corresponding subsequent operation until the operation is successfully finished. After the surgical treatment is finished, the catheter and the guide wire are withdrawn, and when the guide wire 16, the second catheter 15 and the first catheter 14 are withdrawn to the puncture sheath, the guide wire 16, the second catheter 15 and the first catheter 14 can be manually and rapidly withdrawn, which is particularly described in relation to a slave-end device of an interventional surgical robot described in Chinese patent application 202111009755.4, and the content of which is fully introduced into the invention.

In other embodiments, as shown in fig. 5, the surgical operation may be relatively simple and may only require the first catheter 14 and the guide wire 16, and the corresponding pre-operative preparation may only require the preparation related to the first catheter 14 and the guide wire 16, and the corresponding surgical procedure may only require the corresponding operation related to the first catheter 14 and the guide wire 16, which will not be described in detail herein.

The above-mentioned embodiments only express one embodiment of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims

1. A slave end device of an interventional surgery robot, comprising a main body on which a fixed driving device and a first moving driving device are mounted, the fixed driving device being fixedly installed on the farthest end of the main body, and the first moving driving device; A moving driving device moves along the direction of the main body, characterized in that: the first moving driving device comprises a first supporting unit, a first delivering unit and a first rotating part, and the first supporting unit is used for connecting with the The stationary drive unit holds, delivers and rotates the first elongated medical instrument together, the first delivery unit and the first rotating member are used to clamp, deliver and rotate the second elongated medical instrument, when the first elongated medical instrument is When the movement drive is moved, the first delivery unit releases the second elongated medical device.

2 . The slave end device of an interventional surgery robot according to claim 1 , wherein the fixed driving device is provided with a fixed delivery unit and a fixed rotating part, and the first support unit is used for connecting with the fixed delivery unit. 3 . The unit and the stationary rotating member deliver and rotate the first elongated medical instrument synchronously.

3 . The slave end device of an interventional surgery robot according to claim 2 , wherein the first support unit comprises a first connecting component, and the front end of the first connecting component has a length that is the same as that of the first slender component. 4 . A matching mechanism that is fixedly connected to a type of medical device, the matching mechanism is provided with a first rotating gear, and when the first rotating gear rotates, the matching mechanism can be driven to rotate, and the matching mechanism, the first rotating gear and the The axis lines of the stationary rotating parts are coincident.

4 . The slave end device of an interventional surgery robot according to claim 3 , wherein the first connecting component has a through-slotted hole inside, the axis of the elongated hole and the first rotating gear The axes coincide.

5 . The slave device of an interventional surgery robot according to claim 4 , wherein the first support unit further comprises a first motor, and an output gear of the first motor meshes with the first rotating gear. 6 . .

6. The slave-end driving device of an interventional surgical robot according to claim 1, wherein the main body is provided with a clamping device for clamping the first elongated medical instrument or/and the second elongated medical instrument device.

7 . The device for driving the interventional surgery robot from the end of claim 1 , further comprising an exchange mechanism for clamping, delivering or rotating the rapid exchange catheter. 8 .

8. A slave end device of an interventional surgery robot, comprising a main body on which a fixed driving device, a first moving driving device and a second moving driving device are mounted, and the fixed driving device is fixedly installed on the most important part of the main body. At the distal end, the first moving driving device and the second moving driving device can move along the direction of the main body, and it is characterized in that: the first moving driving device includes a first support unit, a first delivery unit and a first a rotating part, the second moving driving device includes a second supporting unit, a second delivering unit and a second rotating part, the first supporting unit is used for clamping, delivering and rotating the first supporting unit together with the fixed driving device An elongated medical device, the first delivery unit, the first rotation member and the second support unit are used to grip, deliver and rotate a second elongated medical device, the second delivery unit and the second rotation The components are used to grip, deliver and rotate the third elongated medical instrument, and the second delivery unit releases the third elongated medical instrument when the second movement drive is moved.

9 . The slave device of an interventional surgical robot according to claim 8 , wherein the second support unit is used for delivering and rotating the first thin film synchronously with the first delivery unit and the first rotating part. 10 . Long medical devices.

10 . The slave end device of an interventional surgical robot according to claim 9 , wherein the second support unit comprises a first connecting component, and the front end of the second connecting component has the same length as the second elongated component. 11 . A matching mechanism that is fixedly connected to a type medical device, the matching mechanism is provided with a second rotating gear, and when the second rotating gear rotates, the matching mechanism can be driven to rotate, and the matching mechanism, the second rotating gear and the The axes of the first rotating parts are coincident.

11 . The slave end device of an interventional surgical robot according to claim 10 , wherein the second connecting component has a through long hole inside, the axis of the long hole and the second rotating gear. 12 . The axes coincide.

12 . The slave device of an interventional surgery robot according to claim 11 , wherein the second support unit further comprises a second motor, and an output gear of the second motor meshes with the second rotating gear. 13 . .

13. The device for driving an interventional surgical robot from the end according to claim 8, wherein the main body is provided with a device for clamping the first elongated medical instrument, the second elongated medical instrument or/and the third elongated medical instrument. Holders for elongated medical devices.