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WO2023016119A1 - Dispositif d'entraînement de robot chirurgical d'intervention avec fonction d'identification de diamètre de fil-guide et cathéter - Google Patents

Dispositif d'entraînement de robot chirurgical d'intervention avec fonction d'identification de diamètre de fil-guide et cathéter Download PDF

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Publication number
WO2023016119A1
WO2023016119A1 PCT/CN2022/102243 CN2022102243W WO2023016119A1 WO 2023016119 A1 WO2023016119 A1 WO 2023016119A1 CN 2022102243 W CN2022102243 W CN 2022102243W WO 2023016119 A1 WO2023016119 A1 WO 2023016119A1
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WO
WIPO (PCT)
Prior art keywords
catheter
guide wire
diameter
identifying
function
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/102243
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English (en)
Chinese (zh)
Inventor
邓海云
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Institute of Advanced Biomedical Robot Co Ltd
Original Assignee
Shenzhen Institute of Advanced Biomedical Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Institute of Advanced Biomedical Robot Co Ltd filed Critical Shenzhen Institute of Advanced Biomedical Robot Co Ltd
Publication of WO2023016119A1 publication Critical patent/WO2023016119A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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

Definitions

  • the invention relates to a device in the field of medical equipment and robots, in particular to an interventional operation robot driving device with the function of identifying the diameter of a catheter guide wire.
  • Intervention therapy is a kind of minimally invasive treatment using modern high-tech means—that is, under the guidance of medical imaging equipment, special catheters, guide wires and other precision instruments are introduced into the human body to diagnose and locally treat pathological conditions in the body.
  • Intervention therapy uses digital technology to expand the doctor's field of vision. With the help of the catheter, the guide wire extends the doctor's hands. Its incision (puncture point) is only the size of a grain of rice. It can treat many diseases that could not be treated in the past without cutting human tissue. Diseases that require surgical treatment or medical treatment are not effective, such as tumors, hemangiomas, various hemorrhages, etc. Interventional therapy has the characteristics of no surgery, less trauma, quick recovery and good effect. It is the development trend of future medicine.
  • vascular interventional surgery doctors need to receive X-ray radiation for a long time. For this reason, a master-slave vascular interventional surgery robot with remote operation has been developed.
  • the master-slave vascular interventional surgery robot can work in the environment of strong radiation, and the doctor controls the slave end from the master end outside the radiation environment.
  • the surgical robot In the process of advancing, retreating and rotating the guide wire (or catheter) from the end, the surgical robot needs to be driven by the corresponding transmission mechanism, and during the operation, the doctor needs to replace the guide wire or catheter with different types and functions according to the treatment needs , due to differences in the outer diameters of guide wires of different types and functions, after replacing the guide wire or catheter, there may be differences in the number of turns of the guide wire or catheter at the slave end and the actual control of the master end, which is not conducive to the doctor's operation.
  • An interventional surgery robot driving device with the function of identifying the diameter of the catheter guide wire, which is installed on the slave end of the interventional surgery robot to realize the clamping and driving of the guide wire catheter which includes an inner frame, a rubbing mechanism, a first stroke detection device, the rubbing mechanism includes two opposite clamping groups, a first drive assembly, the first drive assembly includes movably mounted on the inner frame and respectively connected to the two clamping groups Two first underframes, a driver that drives the two first underframes to approach or move away from each other, the first stroke detection device is used to detect that the driver drives the two first underframes to approach each other until the two clamping groups clamp
  • the catheter guidewire diameter is obtained according to the displacement of the guidewire catheter.
  • the first stroke detection device is a grating sensor
  • the grating sensor includes a grating ruler mounted on a first chassis and a reading head mounted on the inner frame.
  • the driver is an electromagnetic driver or a first driving motor.
  • the first drive assembly also includes a first linkage wheel connected to the two first underframes at the same time, the two first underframes are opposite to each other, and the first linkage wheel is placed between the two first underframes. between the chassis.
  • the inner sides of the two first chassis are provided with locking teeth, and the outer surface of the first linkage wheel is provided with locking teeth, and the first linkage wheel is engaged with the two clamping groups at the same time through the locking teeth. on the first chassis.
  • a pressure sensor is provided between the first base frame and the driver for detecting whether the two clamping groups have clamped the guide wire or catheter.
  • the first driving assembly further includes two sets of first guide rods, and the two first base frames are respectively installed in cooperation with the two clamping groups through the two sets of first guide rods.
  • the inner frame is provided with two sets of bearings corresponding to the two first underframes, and the two first underframes are mounted on the two bearings respectively.
  • a second driving assembly is also included, and the second driving assembly drives the two clamping groups to move in opposite directions along the first direction.
  • the second driving assembly includes two sliding seats, a second linkage wheel placed between the two sliding seats and allowing the two sliding seats to move away from or approach each other synchronously along a second direction perpendicular to the first direction .
  • a second drive motor connected to the second linkage wheel, the second drive motor drives the two clamping groups to move in opposite directions along the second direction to rub the guide wire catheter to rotate.
  • the inner surfaces of the two sliding seats of the second driving assembly are provided with locking teeth, and the outer peripheral surface of the second linkage wheel is provided with locking teeth, and the two sliding seats of the second driving assembly are engaged in the On the second linkage wheel, the second linkage wheel is driven by the second driving motor to rotate. Under the action of the second linkage wheel, the two sliding seats are driven to move in the opposite direction to each other, thereby driving the two clamping groups to rub the guide wire or catheter to rotate forward or reverse.
  • each clamping group is provided with a locking groove, and the upper level of the sliding seat connected to it is level with the locking groove, and a clip bar is provided, and the clip bar is clipped into the lock In the buckle slot.
  • it also includes a second stroke detecting device for detecting whether the stroke of the two clamping groups in the second direction reaches the limit position.
  • the second stroke detection device is a photoelectric sensor.
  • the number of the photoelectric sensors is two, and the two photoelectric sensors are installed on the inner frame, and the two sliding seats are protrudingly provided with retaining strips, and the retaining strips on the two sliding seats are respectively connected with the two Photoelectric sensor fits.
  • a frame is also included, and the frame is sheathed on the outer side of the inner frame and the rubbing mechanism.
  • the interventional surgery robot driving device with the function of identifying the diameter of the catheter guide wire in the present invention is provided with a first stroke detection device, which detects that the driver drives the two first chassis close to each other until Let the two clamping groups clamp the displacement of the guide wire catheter to obtain the diameter of the guide wire catheter.
  • the second drive assembly drives the guide wire catheter to rotate, the second drive assembly can accurately control the diameter of the guide wire catheter according to the acquired diameter information.
  • the number of rotations of the guide wire catheter makes the command issued by the master end control consistent with the slave end control, so that the doctor operating the master end can effectively and quickly control the guide wire catheter to enter the lesion position.
  • Fig. 1 is a structural schematic diagram of an interventional surgery robot driving device with the function of identifying the diameter of a catheter guide wire according to the present invention
  • Fig. 2 is a schematic diagram of the structure of the interventional surgery robot drive device shown in Fig. 1 with the function of identifying the diameter of the catheter guide wire after removing the frame;
  • Fig. 3 is a structural schematic diagram of another angle of the interventional surgery robot drive device shown in Fig. 2 with the function of identifying the diameter of the catheter guide wire;
  • Figures 4 and 5 are structural schematic diagrams after omitting the second drive motor, inner frame and photoelectric sensor in Figure 3;
  • the present invention provides an interventional surgery robot driving device with the function of identifying the diameter of the catheter guide wire.
  • ) 100 performs clamping, forward rotation, and reverse operations, and pushes the slender medical device 100, that is, the forward rotation of the guide wire or catheter refers to the direction in which the guide wire or catheter rotates into the patient's body, and the reverse refers to the direction in which the guide wire or catheter enters the patient's body.
  • the catheter is rotated out of the direction of the surgical patient's body.
  • the interventional surgery robot driving device with the function of identifying the diameter of the catheter guide wire includes a frame 10, an inner frame 20 and a rubbing mechanism, the rubbing mechanism is installed on the inner frame 20, and the frame 10 is sleeved in the inner frame 20.
  • the outside of frame 20 and rubbing mechanism allows the outside world to be isolated from rubbing mechanism.
  • the rubbing mechanism includes two opposite clamping groups 30, a first driving assembly 40 and a second driving assembly 50.
  • the first driving assembly 40 drives the two clamping groups 30 to approach or move away from each other along the first direction.
  • a driving assembly 40 drives the two clamping groups 30 to approach along the first direction
  • the two clamping groups 30 clamp the guide wire catheter
  • the second driving assembly 50 drives the two clamping groups 30 along a second direction different from the first direction.
  • the directions are opposite to each other, and the guide wire catheter is rotated by rubbing, and the first direction and the second direction are perpendicular to each other.
  • the first driving assembly 40 includes two first underframes 43 installed on the inner frame 20, a first linkage wheel 42 connected to the two first underframes 43 at the same time, and mounted on the two first underframes 43 respectively. Two groups of first guide rods 44 on the top, and a driver 41 for driving the two first undercarriages 43 to move along the first direction.
  • the two first underframes 43 are arranged opposite to each other.
  • the first interlocking wheel 42 is placed between the two first chassis 43 and allows the two first chassis 43 to approach or move away from each other synchronously along a first direction.
  • the inner sides of the two first chassis 43 are provided with locking teeth, and the outer surface of the first linkage wheel 42 is provided with locking teeth, and the first linkage wheel 42 is engaged with the two clamping groups at the same time through the locking teeth. 30 on the first chassis 43.
  • the driver 41 is connected to one of the first chassis 43 , and under the action of the first linkage wheel 42 , the driver 41 simultaneously drives the two first chassis 43 to move oppositely along the first direction.
  • the two clamping groups 30 are respectively installed on two groups of the first guide rods 44, and the two clamping groups 30 are driven to approach or move away from the first direction, and the two clamping groups 30 are driven to perform the clamping or loosening action.
  • the driver 41 may be an electromagnetic driver or a first driving motor.
  • the two first underframes 43 of the first driving assembly 40 are respectively installed in cooperation with the two clamping groups 30 through two groups of first guide rods 44 .
  • the entire clamping group 30 can reciprocally slide along the first guide rod 44 in the second direction, so as to rub the guide wire or catheter.
  • the inner frame 20 is also provided with two sets of bearings 22 corresponding to the two first underframes 43, the bearings 22 extend along the first direction, and the two first underframes 43 of the first driving assembly 40 are installed on the two bearings 22 respectively , and, the first chassis 43 slides on the bearing 22 along the first direction.
  • the interventional surgery robot driving device with the function of identifying the diameter of the catheter guide wire also includes a first stroke detection device 60 .
  • the first stroke detection device 60 is a grating sensor
  • the grating sensor includes a grating ruler 62 and a grating reading head 61
  • the grating ruler 62 is installed on a first chassis 43 along the first direction
  • the grating reading head 61 is arranged above the grating ruler 62 and fixedly mounted on the inner frame 20 .
  • the two first chassis 43 move along the first direction until the two clamping groups 30 clamp the catheter guide wire
  • the grating sensor acquires the displacement of the movement, and transmits the measurement result to the system controller, which is converted into a guide wire.
  • the diameter of the wire or catheter is a grating sensor.
  • a pressure sensor 70 is also provided between the first chassis 43 and the driver 41, and the driver 41 drives the two clamping groups 30 to squeeze the guide wire catheter.
  • Pressure sensor 70 when the pressure value of pressure sensor 70 reaches a set value, it means that the two clamping groups 30 have clamped the guide wire or catheter.
  • the form of pressure sensor 70 may not be used, only need to clamp each time When connecting wires or catheters, the driver 41 outputs a fixed value of driving force.
  • the second drive assembly 50 includes two sliding seats 53 respectively connected to the two clamping groups 30, placed between the two sliding seats 53, and allowing the two sliding seats 53 to move away from each other in the second direction synchronously or
  • the inner surfaces of the two sliding seats 53 of the second driving assembly 50 are provided with locking teeth, and the outer peripheral surface of the second linkage wheel 52 is provided with locking teeth, and the two sliding seats 53 of the second driving assembly 50 are simultaneously Engaging on the second linkage wheel 52, the second linkage wheel 52 is driven to rotate by the second drive motor 51. Under the action of the second linkage wheel 52, the two sliding seats 53 are synchronously driven to move oppositely to each other, thereby driving the two clamping groups 30 rub the guide wire or catheter forward or reverse.
  • each clamping group 30 is provided with a locking groove 31, and the upper horizontal height of the sliding seat 53 connected to it is flush with the locking groove 31.
  • the interventional surgery robot driving device with the function of identifying the diameter of the catheter guide wire also includes a second stroke detection device 63, and the second stroke detection device 63 is used to detect whether the stroke of the two clamping groups 30 in the second direction reaches the limit position .
  • the second stroke detection device 63 is a photoelectric sensor, and there are two photoelectric sensors, and the two photoelectric sensors are installed on the splint 21 .
  • the two sliding seats 53 are also protrudingly provided with retaining bars 55, and the retaining bars 55 on the two sliding seats 53 respectively correspond to two photoelectric sensors.
  • One of the clamping groups 30 moves, so that the bar 55 on the corresponding sliding seat 53 moves to the position of the light outlet of the photoelectric sensor corresponding thereto, and the system controller judges the position of the clamping group 30 according to the light information change of the photoelectric sensor.
  • the two clamping groups 30 release the guide wire catheter, and then reset to start the next drive.
  • the interventional surgery robot driving device with the function of identifying the diameter of the catheter guide wire in the present invention is provided with the first stroke detection device 60, and the first stroke detection device 60 detects that the driver drives the two first chassis 43 Close to each other until the displacement of the guide wire catheter is clamped by the two clamping groups 30 to obtain the guide wire diameter of the guide wire.
  • the second drive assembly 50 can accurately control the number of rotations of the guide wire catheter, so that the instructions issued by the master end control are consistent with the slave end control, so that the master operator can control the guide wire more effectively and quickly Catheter into the lesion site.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Media Introduction/Drainage Providing Device (AREA)

Abstract

L'invention concerne un dispositif d'entraînement de robot chirurgical d'intervention doté d'une fonction d'identification de diamètre de fil-guide et cathéter. Le dispositif d'entraînement est monté au niveau d'une extrémité esclave du robot chirurgical d'intervention et est utilisé pour serrer et entraîner un fil-guide et un cathéter et le dispositif d'entraînement comprend un cadre interne (20), un mécanisme de frottement et un premier dispositif de mesure de course (60). Le mécanisme de frottement comprend deux ensembles de serrage (30) disposés en regard l'un de l'autre et un premier ensemble d'entraînement (40). Le premier ensemble d'entraînement (40) comprend : deux premiers cadres inférieurs (43), qui sont montés mobiles sur le cadre interne (20) et sont respectivement reliés aux deux ensembles de serrage (30) ; et un dispositif d'entraînement (41), qui est utilisé pour amener les deux premiers cadres inférieurs (43) à se rapprocher ou à s'éloigner l'un de l'autre. Le premier dispositif de mesure de course (60) est configuré pour mesurer la quantité de déplacement du fil-guide et du cathéter pendant un processus du dispositif d'entraînement (41) amenant les deux premiers cadres inférieurs (43) à se rapprocher l'un de l'autre jusqu'à ce que le fil-guide et le cathéter soient serrés par les deux ensembles de serrage (30), ce qui permet d'obtenir un diamètre du cathéter et du fil-guide. Le diamètre du cathéter et du fil-guide peut être obtenu, de telle sorte qu'un médecin opérant au niveau d'une extrémité maîtresse puisse manœuvrer efficacement et rapidement le fil-guide et le cathéter pour qu'ils entrent dans une lésion pendant un processus d'administration de fil-guide ou de cathéter.
PCT/CN2022/102243 2021-08-10 2022-06-29 Dispositif d'entraînement de robot chirurgical d'intervention avec fonction d'identification de diamètre de fil-guide et cathéter Ceased WO2023016119A1 (fr)

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CN202110912448 2021-08-10
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CN202111010010.X 2021-08-31
CN202111010010.XA CN113749774B (zh) 2021-08-10 2021-08-31 具有识别导管导丝直径功能的介入手术机器人驱动装置

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CN113749774B (zh) * 2021-08-10 2023-05-16 深圳市爱博医疗机器人有限公司 具有识别导管导丝直径功能的介入手术机器人驱动装置
CN114983495A (zh) * 2022-05-31 2022-09-02 深圳睿心智能医疗科技有限公司 旋转装置及血管介入系统
CN118078449A (zh) * 2024-02-20 2024-05-28 深圳爱博合创医疗机器人有限公司 一种介入机器人从端
CN120022507B (zh) * 2025-01-16 2025-09-16 中国医学科学院阜外医院 一种血管介入导管导丝递送装置

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