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WO2023016121A1 - Dispositif d'entraînement d'extrémité esclave d'un robot chirurgical d'intervention doté d'une fonction d'isolation de protection - Google Patents

Dispositif d'entraînement d'extrémité esclave d'un robot chirurgical d'intervention doté d'une fonction d'isolation de protection Download PDF

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Publication number
WO2023016121A1
WO2023016121A1 PCT/CN2022/102252 CN2022102252W WO2023016121A1 WO 2023016121 A1 WO2023016121 A1 WO 2023016121A1 CN 2022102252 W CN2022102252 W CN 2022102252W WO 2023016121 A1 WO2023016121 A1 WO 2023016121A1
Authority
WO
WIPO (PCT)
Prior art keywords
clamping
protection
slave
driving device
surgery robot
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/CN2022/102252
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English (en)
Chinese (zh)
Inventor
邓海云
欧永红
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 WO2023016121A1 publication Critical patent/WO2023016121A1/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
    • A61B34/37—Leader-follower 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 a slave end drive device for an interventional operation robot with a function of protection and isolation.
  • Interventional therapy is a minimally invasive treatment using modern high-tech means. 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.
  • Interventional therapy expands the doctor's field of vision, and extends the doctor's hands with the help of catheters and guide wires. Its incision (puncture point) is only the size of a grain of rice, and it can treat many diseases that could not be treated in the past and must be treated without cutting human tissue. Surgical treatment or medical treatment of poor efficacy of disease, such as tumors, hemangiomas, various bleeding and so on. Interventional therapy has the characteristics of no surgery, less trauma, quick recovery and good results. 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 it outside the radiation environment.
  • the surgical robot In the process of rotating the guide wire (or catheter) from the end, the surgical robot needs to be driven by a corresponding transmission mechanism.
  • the transmission mechanism controls the guide wire (or catheter)
  • the inside of the transmission mechanism is easily exposed to the air or is exposed to air. Blood and other residual fluids are polluted during the operation.
  • the transmission mechanism after each operation needs to be discarded as a consumable to avoid the reuse of the contaminated transmission mechanism. Because the transmission mechanism The precision requirements for transmission and control are high, and the corresponding cost is also high.
  • the transmission mechanism is directly discarded as a consumable, which will undoubtedly increase the medical cost of the patient and increase the financial burden of the patient.
  • a slave end drive device for an interventional surgery robot with a protective isolation function which is installed on the slave end of the interventional surgery robot, and includes a rubbing mechanism and a frame, and the rubbing mechanism includes two oppositely arranged clamping groups and a drive
  • the two clamping groups clamp the driving assembly of the guide wire catheter
  • each of the clamping groups includes a clamping part and a positioning part
  • the frame includes a first housing for accommodating the driving assembly.
  • the first casing is protrudingly provided with two extension cylinders, and each of the extension cylinders is provided with a through hole penetrating to the inside, and the position adjustment parts of the two clamping groups respectively pass through the two through holes of the first casing and Cooperating with the drive assembly, the clamping parts of the two clamping groups are respectively wrapped around the outer sides of the two extension cylinders of the first housing.
  • clamping portion and the positioning portion of each clamping group are distributed in a T shape.
  • the clamping part is provided with a card slot extending inward, and the position adjustment part is detachably installed in the card slot.
  • a gap is formed between the outer surface of the position adjustment part and the locking groove.
  • the groove depth of the locking groove is greater than the length of the extension cylinder.
  • the frame and the rubbing mechanism are non-consumable parts.
  • the consumable part includes a cover, and the cover is sheathed on the outside of the clamping part.
  • the consumable part also includes a buffer, and the buffer is adhered to the outer cover.
  • the buffer is made of silica gel.
  • the consumable part also includes a second housing for accommodating the first housing, the second housing includes a receiving part and a docking part connected to one end of the receiving part, the receiving part is hollow, and the An opening is provided at the upper end of the docking part, and the clamping parts and the outer cover of the two clamping groups are placed in the opening of the docking part on the second housing.
  • the guide groove is arranged in a V shape, and the width of the guide groove gradually decreases from the edge to the inside.
  • the consumable part also includes a cover that can be freely disassembled from the second casing, and the cover is covered on the docking portion.
  • cover and the second casing are fixed by magnetic attraction.
  • the cover is provided with a clamping plate, and the clamping plate cooperates with the guide groove to limit the position of the guide wire or catheter.
  • an avoidance groove is provided at the bottom of the clamping plate.
  • the second casing is fixed to the first casing by means of magnetic attraction.
  • the rubbing mechanism is installed on the inner frame, and the frame is sheathed on the outer side of the inner frame and the rubbing mechanism.
  • a supporting foot is protruded from one side of the first casing.
  • the interventional surgery robot with protection and isolation function of the present invention is equipped with a positioning part and a clamping part on the clamping group, and an extension cylinder is provided on the first housing, and the two clamping parts
  • the position adjustment parts of the group respectively pass through the perforations of the two extension tubes on the first housing and are installed in cooperation with the first drive assembly.
  • the clamping part remains wrapped around the outside of the extension tubes to ensure The internal space is isolated from the outside world. After use, there is no need to replace the entire device, which effectively reduces the cost of using the product and reduces the economic burden of patients. It is also compact in structure, takes up less space, and has strong practicability, which has strong promotional significance.
  • Fig. 1 is the structural schematic diagram of the slave end drive device of the interventional surgery robot with protective isolation function of the present invention
  • Fig. 2 is an exploded view of the slave end drive device of the interventional surgery robot with protective isolation function shown in Fig. 1;
  • Fig. 3 is an exploded view from another angle of the end drive device of the interventional surgery robot with protective isolation function shown in Fig. 2;
  • Fig. 4 is a further exploded view of the slave end drive device of the interventional surgery robot with protective isolation function shown in Fig. 2;
  • Fig. 5 is an exploded view from another angle of the end drive device of the interventional surgery robot with protective isolation function shown in Fig. 4;
  • Fig. 6 is a structural schematic view of the interventional surgery robot with the protection and isolation function when the clamping group and the first drive assembly are installed in cooperation with the drive device at the slave end.
  • the present invention provides an interventional surgery robot slave end drive device with protection and isolation functions, which is installed on the interventional surgery robot slave end to push elongated medical instruments (guide wires or catheters) ) 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 drive device of the interventional surgery robot with protective isolation function 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 on the inner frame 20. And the outside of the rubbing mechanism, so that the outside world is isolated from the rubbing mechanism.
  • the rubbing mechanism includes two clamping groups 30, a first drive assembly 40 and a second drive assembly 50 which are arranged oppositely.
  • the first drive assembly 40 drives the two clamping groups 30 to approach or move away from each other along the first direction.
  • the driving assembly 50 drives the two clamping groups 30 clamping the guide wire catheter to move in opposite directions along a second direction different from the first direction, rubbing the guide wire catheter to rotate, and the first direction and the second direction are perpendicular to each other , the frame 10 supports the guide wire or catheter.
  • Both clamping groups 30 include a clamping portion 31 and a positioning portion 32, the clamping portion 31 and the positioning portion 32 are distributed in a T-shape, and the bottom surface of the clamping portion 31 is provided with an inwardly extending card.
  • Slot 35 the upper end of the positioning part 32 is detachably installed in the slot 35, a gap is formed between the outer surface of the positioning part 32 and the slot 35, and the bottom of the positioning part 32 is provided There are several adjusting slots extending inward.
  • the frame 10 includes a first housing 11, the first housing 11 is arranged in a hollow structure as a whole, and the top surface of the first housing 11 is protrudingly provided with two extension cylinders 111, and each of the extension cylinders has a A through hole 112 penetrating along the second direction is provided, and a supporting foot 113 protrudes from one side of the first housing 11 .
  • the first driving assembly 40, the second driving assembly 50 and the inner frame 20 of the rubbing mechanism are installed in the first housing 11, and the position adjustment parts 32 of the two clamping groups 30 respectively pass through the first
  • the perforations 112 of the two extension tubes 111 on the housing 11 are installed in cooperation with the corresponding first guide rods 44 on the first drive assembly 40 through their positioning grooves, so that the entire clamping group 30 can move along the two first guide rods 44 Slide back and forth in the second direction.
  • the second drive assembly 50 drives the two clamping groups 30 to slide along the corresponding first guide rod 44, and the clamping parts 31 of the two clamping groups 30 Keep wrapped on the outside of the extension tube 111 to ensure the isolation of the inner space from the outside world.
  • the frame 10, the inner frame 20 and the rubbing mechanism are non-consumable parts.
  • the present invention also includes a consumable part.
  • the consumable part includes an outer cover 33 and a buffer member 34.
  • the outer cover 33 is sleeved on the clamping part 31 outside, the buffer member 34 is bonded to the outer cover 33, and the buffer members 34 of the two clamping groups 30 are arranged oppositely.
  • the buffer member 34 has elasticity, which can prevent the clamping group 30 from clamping the catheter or guide wire If the force is too large, the catheter or guide wire will be damaged.
  • the buffer member 34 is made of silica gel.
  • the consumable part also includes a second housing 12 and a cover 13 for accommodating the first housing 11, the second housing 12 includes a receiving portion 121 and a docking portion 122 connected to the upper end of the receiving portion 121, the The accommodating portion 121 is hollow, and the upper end of the docking portion 122 is provided with an elongated opening 123 extending along the first direction.
  • the edge position of the opening 123 along the third direction is provided with two guide grooves 124 oppositely arranged.
  • the guide grooves 124 It is arranged in a V shape, and the groove width of the guide groove 124 gradually decreases from the edge to the inside.
  • the third direction is perpendicular to the first direction and the second direction.
  • the second housing 12 When in use, the second housing 12 is sheathed on the outside of the first housing 11 along the second direction, and the second housing 12 and the first housing 11 are provided with magnets and/or iron blocks, which are magnetically attracted.
  • the method is to ensure that the first shell 11 and the second shell 12 are not easy to loosen when they are matched, and can be disassembled freely.
  • the guide groove 124 By setting the guide groove 124, the guide wire catheter can be installed more conveniently, and the guide groove 124 can carry out the guide wire catheter support.
  • clamping parts 31 of the two clamping groups 30 and the outer cover 33 and the buffer member 34 sleeved thereon are placed in the opening 123 of the butt joint part 122 on the second housing 12, and their central positions are facing the two V-shaped Guide groove 124; cover the face cover 13 on the docking portion 122, the face cover 13 and the second housing 12 are also provided with magnets and/or iron blocks, and the face cover 13 is closed in place by magnetic attraction And it can be freely disassembled from the second housing 12.
  • the cover 13 is provided with a clamping plate 131, and the clamping plate 131 cooperates with the guide groove 124 to limit the guide wire or catheter, allowing it to rotate around the center of the axis, and for The matching effect is better, and the bottom of the clamping plate 131 is provided with an escape groove 132 .
  • the interventional surgery robot slave end drive device with protection and isolation function of the present invention sets the positioning part 32 and the clamping part 31 on the clamping group 30, and sets the extension cylinder 111 on the first housing 11,
  • the position adjustment parts 32 of the two clamping groups 30 respectively pass through the perforations 112 of the two extension cylinders 111 on the first housing 11 and are installed in cooperation with the first drive assembly 40.
  • clamp The holding part is kept wrapped on the outside of the extension tube 111 to ensure the isolation of the internal space from the outside world. After use, there is no need to replace the entire device, which effectively reduces the cost of use of the product and reduces the economic burden of the patient. It has a compact structure and takes up less space. Strong practicability and strong promotional significance.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Medical Informatics (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)
  • Endoscopes (AREA)

Abstract

L'invention concerne un dispositif d'entraînement d'extrémité esclave d'un robot chirurgical d'intervention doté d'une fonction d'isolation de protection. Le dispositif est monté au niveau d'une extrémité esclave d'un robot chirurgical d'intervention et comprend un mécanisme de frottement et un bâti de machine (10), le mécanisme de frottement comprenant deux ensembles de serrage (30) disposés à l'opposé l'un de l'autre et un élément d'entraînement, chaque ensemble de serrage (30) comprenant une partie de serrage (31) et une partie de réglage de position (32). Le bâti de machine (10) est pourvu de deux tubes d'extension (111), les parties de réglage de position (32) des ensembles de serrage (30) passent à travers les tubes d'extension (111) et sont ensuite ajustées et montées sur le composant d'entraînement et les parties de serrage (31) des ensembles de serrage (30) sont enroulées à l'extérieur des tubes d'extension (111) lorsque le composant d'entraînement fait travailler les ensembles de serrage (30). L'ensemble du dispositif n'a pas besoin d'être remplacé après avoir été utilisé, ce qui permet de réduire efficacement le coût d'utilisation d'un produit pour réduire la charge économique de patients. De plus, le dispositif a une structure compacte, un petit espace occupé, une aptitude à la mise en œuvre élevée et une importance de promotion relativement élevée.
PCT/CN2022/102252 2021-08-10 2022-06-29 Dispositif d'entraînement d'extrémité esclave d'un robot chirurgical d'intervention doté d'une fonction d'isolation de protection Ceased WO2023016121A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202110912452.7 2021-08-10
CN202110912452 2021-08-10
CN202111018209.7 2021-08-31
CN202111018209.7A CN113749782B (zh) 2021-08-10 2021-08-31 一种具有防护隔离功能的介入手术机器人从端驱动装置

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WO2023016121A1 true WO2023016121A1 (fr) 2023-02-16

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CN (1) CN113749782B (fr)
WO (1) WO2023016121A1 (fr)

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Publication number Priority date Publication date Assignee Title
CN113749782B (zh) * 2021-08-10 2023-05-16 深圳市爱博医疗机器人有限公司 一种具有防护隔离功能的介入手术机器人从端驱动装置
CN114391965B (zh) * 2021-12-31 2024-03-01 深圳爱博合创医疗机器人有限公司 一种无菌盒及具有该无菌盒的全防护式介入手术机器人从端驱动装置
CN114886570A (zh) * 2022-01-29 2022-08-12 深圳市爱博医疗机器人有限公司 一种介入手术机器人驱动装置用防菌罩及介入手术机器人驱动组件
CN115281746B (zh) * 2022-07-04 2023-10-31 中国科学院自动化研究所 柔性末端可控医疗器械进给系统和进给方法

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CN103157170A (zh) * 2013-02-25 2013-06-19 中国科学院自动化研究所 一种基于两点夹持的血管介入手术导管或导丝操纵装置
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CN113749782A (zh) * 2021-08-10 2021-12-07 深圳市爱博医疗机器人有限公司 一种具有防护隔离功能的介入手术机器人从端驱动装置

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