WO2023138394A1 - Auxiliary delivery device and controlled-end portion used for vascular interventional surgical robot - Google Patents

Abstract

An auxiliary delivery device for a vascular interventional surgical robot, comprising an opening device (81) and a C-shaped tube (82); the opening device (81) comprises a first C-shaped tube supporting part (801), a second C-shaped tube supporting part (802), a catheter supporting part (803) and a shuttle-type slideway (804); the first C-shaped tube supporting part (801) is provided with a first C-shaped tube channel (805), and the catheter supporting part (803) is located behind same and is provided with a catheter channel (806); the shuttle-type slideway (804) is arranged at a front end portion of the catheter supporting part (803), and is arranged inclined laterally and rearward relative to the catheter channel (806); and the second C-shaped tube supporting part (802) is arranged behind and to a side of the shuttle-type slideway (804) and is provided with a second C-shaped tube channel; in an assembled state, the front end and the rear end of the C-shaped tube (82) are secured to the front end and the rear end of the robot body, the C-shaped tube (82) extends rearwards from the front end, passes through the first C-shaped tube channel (805), is sleeved on the shuttle-type slideway (804), passes through the second C-shaped tube channel and extends rearwards to the rear end of the robot body (1); and the C-shaped tube (82) supports a part of the catheter located between a front-end outlet of the C-shaped tube (82) and a front-end outlet of the catheter channel (806).

Description

Delivery aid and slave end part for vascular interventional surgery robot technical field

The invention relates to the technical field of medical instruments, in particular to a delivery auxiliary device and a slave end part for a vascular interventional surgery robot.

Background technique

Minimally invasive vascular interventional surgery is the basic method for the diagnosis and treatment of cardiovascular and cerebrovascular diseases. Most of the current vascular disease diagnosis and vascular reconstruction operations require the help of this technology. The operation of guide wire and catheter is the core content of minimally invasive vascular interventional surgery, which determines the quality of surgery. At present, interventional doctors use digital silhouette angiography (DSA) to manually complete the positioning of guide wires and catheters in patients' blood vessels. Guidewires, catheters, and balloon catheters are the basic instruments used in surgery. The use of robotic devices for positioning operations of guide wires, catheters or other devices is beneficial to improve the accuracy and stability of positioning operations, liberate medical staff from radiation, avoid additional injuries caused by medical staff wearing heavy lead clothing, avoid unreliable intraoperative operations caused by fatigue of medical staff, improve the situation that traditional interventional surgery relies heavily on doctors' personal experience, reduce the learning curve of interventional surgery, and provide more precise operations for vascular interventional surgery.

The medical catheter is a hollow tubular structure, and the inner cavity is used as a contrast agent injection channel or a medical device delivery channel. Since the rigidity of the catheter makes it difficult to complete blood vessel selection, a solid guide wire with strong flexibility is used to guide the catheter into the targeted blood vessel. During the procedure, the doctor punctures a blood vessel in the femoral or radial artery and places a vascular sheath as an entrance for the catheter to enter the blood vessel. The catheter is inserted through a vascular sheath into a blood vessel in the patient's body, and a guide wire is passed through a channel inside the catheter into the blood vessel. Usually, the interventional doctor and his assistant complete the control operation on the advancement, withdrawal and rotation of the catheter and guide wire with two hands and four hands.

Catheter delivery and rotation are the core functions of interventional surgical robots. To realize the long-distance delivery function of catheters, it is necessary to provide long-distance passing channels for catheters, and the passing channels and catheters are non-concentric structures. Therefore, a support device must be required to provide favorable opening support for the delivery of catheters on the passing channels.

The catheter clamping controller in the domestic "Luban" interventional surgery robot uses a delivery auxiliary device, which is mainly composed of a spring and a C-shaped tube. The spring is placed on the periphery of the C-shaped tube to prevent the catheter from deviating from the C-shaped tube during delivery.

However, this kind of catheter delivery aid has a complex structure, the length of the delivery aid pipe is short, and the risk of the catheter deviating from the pipe is high. Therefore, there is a need in the industry for delivery assist devices with further improved structural properties

Contents of the invention

The purpose of the present invention is to overcome the defects of the traditional technology, and its purpose is to provide a delivery aid with a simple structure and low cost, which can provide a long-distance passing channel for the catheter.

In order to achieve the above object, according to the first aspect of the present invention, a delivery assisting device for a vascular interventional surgery robot is provided, the delivery assisting device includes a gag and a support tube;

The support tube has a C-shaped tube structure, forming a circumferentially extending slot, and the C-shaped tube can be self-shrinking, so that the two circumferential ends are butted with each other or staggered to form a closed "O" shape;

The gag includes a first C-shaped tube support, a second C-shaped tube support, a conduit support and a shuttle slideway;

The first C-shaped tube support portion is provided with a first C-shaped tube channel through which the C-shaped tube passes;

The conduit support portion is disposed adjacent to the first C-shaped tube support portion and longitudinally behind the first C-shaped tube support portion, and a conduit channel through which the conduit passes is provided on it;

The shuttle-type slideway is arranged on the front end of the catheter support part or a part close to the front end, and is arranged obliquely to the side and rear relative to the catheter channel and extends to one side of the robot body, so that the C-shaped tube deviates from the path of the catheter;

The second C-shaped tube support part is arranged behind the side of the shuttle-type slideway, and is located on one side of the robot body relative to the shuttle-type slideway. The second C-shaped tube support part is provided with a second C-shaped tube passage for the C-shaped pipe to pass through, and the channel opening on the longitudinal front end of the second C-shaped pipe passage is basically aligned with the shuttle-type slideway;

In the assembled state, the various components of the mouth gag are fixed in place on the front of the instrument operation box, the front end and the rear end of the C-shaped tube are respectively fixed to the front end and the rear end of the robot body, and are in a stretched state or a tensioned state. The C-shaped tube extends backward from the front end of the robot body, passes through the first C-shaped tube channel, is sleeved on the shuttle-type slideway, and then passes through the second C-shaped tube channel and continues to extend backward to the rear end of the robot body; the C-shaped tube is located between the shuttle-type slideway and the guide tube support The part at the connection position where the two parts are connected to each other is in the shape of a "C", and the part of the C-shaped tube in front of the outlet of the catheter channel front end of the catheter support part is in a closed "O" shape, and the part of the C-shaped tube behind the longitudinal rear end of the shuttle slide is also in a closed "O" shape;

The mouth gag can move back and forth with the instrument operation box relative to the C-shaped tube, the catheter can extend forward into the C-shaped tube through the catheter channel of the catheter support part and protrude through the front end outlet of the C-shaped tube, and the C-shaped tube supports the part of the catheter between the front end outlet of the C-shaped tube and the catheter channel front end outlet of the catheter support part.

According to another aspect of the present invention, there is provided a secondary end part of a robot for vascular interventional surgery, which includes a robot body and an instrument operation box, and the secondary end part is also provided with a delivery auxiliary device according to the first aspect of the present invention.

By adopting the technical scheme of the present invention, the delivery aid provided can provide a long-distance passing channel for the catheter, provide stable support for the catheter, and provide a guarantee for the long-distance delivery of the catheter; the use of a C-shaped tube to form a channel solves the problem of large bends in catheter delivery, and further improves the delivery accuracy; the delivery aid of the present invention is simple in structure, small in size, and low in cost, and can be used as a disposable product.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail, wherein

1 is a perspective view illustrating a partial structure of a slave end portion of a robot for vascular interventional surgery;

Fig. 2 is a perspective view illustrating the instrument operation box and the catheter delivery aid fixedly mounted on the instrument operation box;

Figure 3A is a perspective view of a C-shaped tube;

Figure 3B is a cross-sectional view of a C-shaped tube;

Fig. 3C is a plan view after the C-shaped tube is deployed;

Figure 4 is a perspective view illustrating one embodiment of the gag of the catheter delivery aid of the present invention;

Figure 5 is a perspective view of the gag of the catheter delivery aid shown in Figure 4, seen from the bottom side;

Fig. 6 is a partial perspective view, illustrating the front part of the instrument operation box and the opener fitted thereon;

Fig. 7 is a partial perspective view, illustrating the second C-shaped tube support portion fixed on the instrument operation box;

Fig. 8 is a perspective view illustrating the installation state of the gag on the instrument operation box;

Figure 9 is a perspective view illustrating another embodiment of the gag;

Fig. 10A illustrates yet another embodiment of the mouth gag of the present invention, wherein the first C-shaped tube support part is arranged on the instrument operation box;

Fig. 10B is a perspective view illustrating the structure of other parts of the gag used with the first C-shaped tube support portion provided on the instrument operation box;

Fig. 11A is a perspective view of the front end securing device in an assembled state;

Fig. 11B is a perspective view of the fixed plug of the front fixed device;

Fig. 11C is a sectional view taken along line A-A in Fig. 11B;

Figure 11D is a perspective view of a fixed receptacle of the front fixed device;

Figure 11E is a sectional view taken along line B-B in Figure 11A;

Fig. 12A is a perspective view of the rear fixing device before assembly, and the positioning cover is in an open state;

Fig. 12B is a perspective view of the assembled rear-end fixing device, and the positioning cover is in a closed state;

Figure 12C is a perspective view of the positioning mechanism of the rear end fixation device; and

Fig. 12D is a cross-sectional view taken along line C-C in Fig. 12C.

Detailed ways

The catheter delivery assisting device for a vascular interventional surgery robot of the present invention will be described in detail below. Here, it should be pointed out that the embodiments of the present invention are only illustrative, which are only used to explain the principle of the present invention rather than limit the present invention.

Referring first to FIG. 1 , it illustrates a partial structure of a slave end portion of a robot for vascular interventional surgery in a perspective view. As shown in FIG. 1 , the slave end part includes a robot body 1 and an instrument operation box 2 . The robot body 1 includes a base mechanism and a power unit 3, and the power unit 3 is installed on a slider arranged in the base mechanism and moves together with the slider. One lateral side of the instrument operation box 2 is laterally connected to an adjacent side of the power unit 3 , and the instrument operation box 2 moves longitudinally together with the power unit 3 .

For the convenience of description, in the following description and other parts of the application documents, the moving direction of the instrument operation box is defined as the longitudinal direction, and the width direction of the instrument operation box perpendicular to the longitudinal direction is defined as the transverse direction; the end of the instrument operation box facing the human blood vessel in use is called the front end, and the end facing away from the blood vessel is called the rear end; the side where the instrument operation box is located is called the upper side, and the side opposite to the instrument operation box is called the lower side.

Referring now to FIG. 2 , FIG. 2 is a perspective view illustrating the instrument operation box and the catheter delivery auxiliary device fixedly installed on the instrument operation box. As shown in FIG. 2 , the catheter delivery assisting device 80 includes an opener 81 and a support tube in the form of a C-shaped tube 82 whose two ends are respectively fixed on the front and rear ends of the robot body.

3A, 3B and 3C illustrate the C-shaped tube used in the catheter delivery aid of the present invention, wherein FIG. 3A is a perspective view of the C-shaped tube, FIG. 3B is a cross-sectional view of the C-shaped tube, and FIG. 3C is a plan view of the C-shaped tube after deployment. As shown in Fig. 3A and Fig. 3B, the C-shaped tube is formed with a circumferentially extending slot. The C-shaped tube is an open self-shrinking harness tube, which is in a closed "O" shape in a natural state. The two circumferential ends 85 and 86 of the tube are butted or staggered; and under the action of the expansion element or the two circumferential ends are under tension, the two circumferential ends are separated from each other to form an opening in a "C" shape.

C-tubes can take a variety of forms, the most common being a full circular tube formed with a circumferentially extending through slot. Fig. 3C illustrates a preferred embodiment of the C-shaped tube. As shown in Fig. 3C, in the plan view, the C-shaped tube of this embodiment has a plurality of intermediate slots 83 arranged in the center and spaced apart in the axial direction, and a plurality of edge slots 84 respectively arranged on both sides of the circumference and spaced apart in the axial direction. The intermediate slots 83 and the edge slots 84 are arranged alternately in the axial direction. The C-shaped tube of this embodiment has better flexibility and extensibility.

As a modification of the embodiment shown in Fig. 3C, the C-shaped pipe may also be provided with only one of the middle slot and the edge slot. Therefore, the illustrated embodiment is only used to illustrate a specific example of the C-shaped tube and not to limit its specific structure.

In use, the two ends of the C-shaped tube are fixed to the front and rear ends of the robot body by the fixing device, and the C-shaped tube is in a stretched state, preferably in a tensioned state. A portion of the catheter between the front end of the C-shaped tube and the tail end of the tube passes through the C-shaped tube, thereby being supported by the C-shaped tube.

Referring to Fig. 4-7 and Fig. 2, an embodiment of the gag of the catheter delivery aid of the present invention is illustrated. As shown in FIG. 4 , FIG. 7 and FIG. 2 , the gag 800 includes a first C-shaped tube support 801 , a second C-shaped tube support 802 (see FIGS. 2 and 7 ), a conduit support 803 and a shuttle slide 804 .

In the opener of the catheter delivery auxiliary device in this embodiment, the first C-shaped tube support part 801 , the catheter support part 803 and the shuttle slideway 804 are integrally formed.

As shown in FIG. 4 , the opener includes a main body 811, and a first C-shaped pipe support portion 801 is disposed at the front of the main body in the form of a tube, forming a first C-shaped pipe passage 805 through which the C-shaped pipe passes. During operation, the opener and thus the first C-tube channel 805 moves back and forth relative to the C-tube, therefore, the C-tube needs to be movably disposed in the first C-tube channel 805 . The cross -section of the first C -shaped pipe channel is preferably circular. Its diameter is not specially limited. As long as the relative motion between the first C -shaped pipe channel 805 and the C -shaped pipe can be achieved, and the C -shaped pipe can be positioned in the first C -shaped pipe channel 805. As a preferred solution, the diameter of the first C -shaped pipeline 805 is equal to or slightly larger than the C -shaped pipe tube under stretching or tension. On the one hand, the diameter is conducive to the positioning of the C -shaped pipe, and on the other hand, it is conducive to the C -shaped pipe through the first C -shaped pipe channel 805.

The conduit support part 803 is cylindrical, and its longitudinal rear end is fixed on the main body 811. The conduit support part 803 is arranged adjacent to the first C-shaped tube support part 801 and is positioned behind the first C-shaped tube support part 801 in the longitudinal direction. A conduit passage 806 through which the conduit passes is arranged on it. The conduit passage 806 is opposite to the first C-shaped pipe passage 805.

The shuttle-type slideway 804 is arranged on the catheter support part 803, and is connected with the front end of the catheter support part or a part close to the front end. The shuttle-type slideway 804 is arranged obliquely to the side and rear relative to the catheter channel 806 and extends to the side of the robot body, so that the C-shaped tube deviates from the path of the catheter. The junction where the shuttle slide and the conduit support interconnects can peel the C-tube apart so that the two circumferential ends of the C-tube sandwich the junction, in other words, the junction separates the two circumferential ends of the C-tube.

Please refer to FIG. 2 and FIG. 7 , the second C-shaped tube support part 802 is in the form of a bent tube, and is arranged behind the side and rear of the shuttle-type slideway, and is located on one side of the robot body. The second C-shaped pipe support portion defines a second C-shaped pipe passage through which the C-shaped pipe passes, including a first pipe section 812 and a second pipe section 813. The first pipe section 812 extends toward the shuttle slideway 804, and its passage opening is substantially aligned with the shuttle slideway. The second pipe section 813 extends longitudinally backward. The second C-shaped tube supporting portion 802 is used to position the C-shaped tube and limit the direction of the C-shaped tube. In the illustrated embodiment, the second C-shaped tube channel of the second C-shaped tube support part is a channel bent at an obtuse angle, and the channel part defined by the first tube segment 812 and the second tube segment 813 has a smooth transition. In the illustrated embodiment, the second C-shaped tube support 802 includes a first tube section 812 and a second tube section 813 in the form of bent tubes, but it should be noted that although this is a preferred solution, the second tube section 813 can also be omitted.

In the state of use, the components of the gag are fixedly installed on the instrument operation box. For this reason, as shown in Figure 5, two threaded holes 809 are formed on the bottom surface of the gag main body 811; In addition, as shown in FIG. 4 , an engaging groove 814 is formed on the bottom surface of the opener main body 811 for engaging on the front end wall 815 of the instrument operation box. The second C-shaped tube supporting part 802 can be fixed on the instrument operation box by screws.

Referring to Fig. 8 and Fig. 7 below, they illustrate the installation state of the gag on the instrument operation box. As shown in Figure 8, the main body 811 of the mouth gag is fixed on the instrument operation box 2, so that the first C-shaped tube support part 801, the catheter support part 803 and the shuttle slide 804 are fixed on the instrument operation box together with the gag main body 811, wherein the first C-shaped tube support part 801 is located in the notch 816 formed on the front wall of the instrument operation box; and the second C-shaped tube support part 802 is fixed on the instrument operation box by screws.

In the assembled state of the catheter delivery aid, please refer to FIG. 2 , FIG. 7 and FIG. 8 , the front end 816 and the rear end 817 of the C-shaped tube 82 are fixed to the front end 818 and the rear end 819 of the robot body 1 respectively, and are in a stretched state or a tensioned state. The C-shaped tube extends backward from the front end of the robot body, passes through the first C-shaped tube channel 805, is sleeved on the shuttle slide 804, then passes through the second C-shaped tube channel and continues to extend backward to the rear end of the robot body. The part of the C-shaped tube located at the connection site where the shuttle-type slideway and the catheter support part are connected to each other is peeled off by the connection site, and the part of the C-shaped tube located in front of the outlet at the front end of the catheter channel of the catheter support part is in a closed "O" shape, and the part of the C-shaped tube located at the longitudinal rear end of the shuttle-type slideway is also in a closed "O" shape. In addition, as shown in FIG. 8 , the catheter is inserted into the catheter channel of the catheter support part from the rear end, then extends into the C-shaped tube and extends all the way forward, protruding through the front end of the C-shaped tube.

The operating principle of the gag of the present invention is as follows.

As shown in Figures 2 and 7, when the instrument operation box and the gag move relative to the C-shaped tube along the longitudinal direction indicated by the arrow A or in the opposite direction, the connecting part of the shuttle-type slideway and the catheter support portion will peel off the corresponding part of the C-shaped tube. With the movement of the gag, the stripped part of the C-shaped tube will move backward relative to the gag. . Therefore, during operation, the C-shaped tube is always in a stretched state or a tensioned state, and the part of the C-shaped tube between the front end of the robot body and the front end outlet of the catheter channel of the catheter support part is in a closed "O" shape, forming a support tube, forming a stable support for the catheter part between the front end outlet of the C-shaped tube and the front end outlet of the catheter channel of the catheter support part.

In order to prevent the C-shaped tube from rolling inward at the circumferential edge of the C-shaped tube when it passes through the connecting portion where the shuttle-type slideway and the conduit support are connected, preferably, as shown in FIG. The connection part can be in the shape of a cylinder, an ellipse or other similar shapes, as long as the C-shaped tube can be stretched to form a "C" shape and can be reliably attached to the inner peripheral surface of the C-shaped tube.

As a preferred solution, the connecting portion 807 of the shuttle slideway connected to the conduit support portion 803 is approximately olive-shaped, and the olive-shaped portion includes a length whose outer contour size is set such that the C-shaped tube on the length is stretched by the shuttle slideway and fits the outer surface of the shuttle slideway to form a "C" shape. In addition, the shuttle-type slideway also includes tapered portions at both ends, preferably, the diameter of the free end of the tapered portion is smaller than the inner diameter of the C-shaped tube in a stretched or tensioned state, so as to guide the movement of the gag relative to the C-shaped tube. In addition, in order to facilitate the movement of the opener relative to the C-shaped pipe, as a preferred solution, the end of the opener shuttle slideway is rounded.

In order to prevent the C-shaped tube from laterally shifting relative to the shuttle slide and not cooperating properly with the shuttle slide, the opener further includes a stopper. 2, 7 and 8, since the channel opening of the first C-shaped tube channel 805 of the first C-shaped tube supporting part 801 and the channel opening of the first tube section 812 of the second C-shaped tube supporting part 802 are not aligned with each other, the connecting line of the two may not coincide with the shuttle slideway, so the C-shaped tube in a stretched state or a tensioned state tends to move to one side of the connecting line and deviates. If the deviation is too large, the operation of the catheter delivery auxiliary device will be affected. Therefore, as a preferred solution, a stop portion is provided on one side of the connecting line to prevent the C-shaped tube from shifting. As shown in Figures 7 and 8, in the illustrated embodiment, the blocking part 820 is integrally formed with the second C-shaped pipe support part 802, and is located at the front of the first pipe section 812, in the form of a circular arc plate, and its longitudinal front end is adjacent to the connecting part where the shuttle-type slideway and the conduit support part are connected to each other. As an option, the abutting portion may also be tubular, formed by the extension of the first pipe section 812; or, the abutting portion may also be an independent component, which is fixed on the instrument operation box during use.

Referring to Fig. 9, it illustrates another embodiment of the gag of the present invention. In the foregoing embodiments, the first C-shaped tube supporting portion 801 is in the form of a tube, but in the embodiment shown in FIG. 9 , the first C-shaped tube supporting portion 821 is in the form of a rectangular block, on which the first C-shaped tube channel 822 is formed. Other aspects of the gag of this embodiment are the same as those of the previous embodiment, and the description thereof is omitted here.

Referring to Fig. 10A and Fig. 10B, another embodiment of the mouth gag of the present invention is illustrated. In the previous embodiment, the first C-shaped tube support portion, the conduit support portion, and the shuttle slideway 804 are integrally formed, while in this embodiment, the conduit support portion 824 is integrally formed with the shuttle slideway 825, and the first C-shaped tube support portion 822 is disposed on the front wall of the instrument operation box. In the assembled state, the assembly composed of the catheter support part 824 and the shuttle slideway 82 is fixed on the instrument operation box, and cooperates with the first C-shaped tube support part 822 arranged on the instrument operation box. The working principle of the embodiment shown in FIG. 10A and FIG. 10B is the same as that of the previous embodiment, and will not be repeated for the sake of brevity.

The fixing device for fixing the front end and the rear end of the C-shaped pipe to the front end and the rear end of the robot body will be briefly described below in conjunction with the accompanying drawings. What needs to be emphasized here is that the specific fixing method and specific fixing device of the front end and rear end of the C-shaped tube on the front end and rear end of the robot body are not the invention point of the present invention, and the listed embodiments are only for the purpose of illustration.

Referring first to Fig. 11A-Fig. 11E, it illustrates the front end fixing device that the front end of C-shaped pipe is fixed on the robot body front end, and wherein Fig. 11A is the perspective view of the front end fixing device in the assembled state; Fig. 11B is the perspective view of the fixed plug of the front end fixing device;

As shown in Figure 11A, Figure 11B and Figure 11C, the front-end fixing device 830 includes a fixed plug 840 and a fixed socket 850, the fixed plug 840 is fixedly installed on the front end of the C-shaped pipe 82, and the fixed socket 850 is fixedly installed on the front end 818 of the robot body, by inserting the fixed plug 840 on the fixed socket 850, the front end of the C-shaped pipe is fixed on the front end of the robot body.

11B and 11C, the fixed plug 840 includes a main body 841 and a sleeve 842. The main body 841 includes two opposite plate portions 843 spaced apart from each other and an arc portion 844 connecting the two plate portions. One of the two plate portions is formed with a screw hole 845, and the other is formed with a threaded hole (not shown in the figure), and the free ends of the two plate portions are respectively provided with engagement protrusions 846 and 847. When fixing the fixed plug 840 on the end of the C-shaped tube, the sleeve 842 is installed in the hole defined by the arc portion, the C-shaped tube 82 is arranged between the arc portion and the sleeve 842, and then the two plate portions 843 are fastened together by screws, and then the C-shaped tube is fixed on the fixed plug by clamping force.

11D and 11E, the fixed socket 850 includes a button 851 and a housing 852. The front of the housing is formed with a socket 853 for inserting the fixed plug 840. The top of the housing 852 is formed with an aperture 855. The button 851 is inserted in the aperture and can move up and down. A spring 854 is arranged between the lower surface of the bottom wall 856 of the button 851 and the upper surface of the housing bottom wall. The bottom wall 856 of the button 851 extends forward and forms a protrusion 857. The inner side of the protrusion 857 forms an engaging surface 858 abutted against the engaging protrusion 847 of the fixed plug 840;

When the front end of the C-shaped tube is fixed to the front end of the robot body, the fixed plug 840 is inserted into the socket 853 of the fixed socket 850, the engaging protrusion 847 of the fixed plug abuts against the protrusion 857 on the button and the button is pressed down through the protrusion 857. After the engaging protrusion 847 passes over the protrusion 857, the button 851 moves upward under the action of the spring 854, so that the engaging protrusions 846 and 847 respectively contact the engaging surfaces 859 and 857 on the fixed socket. 858, thereby completing the connection and fixation of the fixed plug to the fixed socket. When disassembling, the fixing plug can be removed by pressing down the button 851 to release the abutment between the engaging protrusion and the engaging surface.

Referring to Fig. 12A-Fig. 12D below, it illustrates the rear end fixing device that the rear end of C-shaped tube is fixed on the rear end of the robot body, wherein Fig. 12A is a perspective view before assembly of the rear end fixing device, and the positioning cover is in an open state; Fig. 12B is a perspective view after the assembly of the end fixing device, and the positioning cover is in a closed state; Fig. 12C is a perspective view of the positioning mechanism of the rear end fixing device; Fig. 12D is a sectional view taken along line C-C in Fig. 12C.

Referring first to FIG. 12A and FIG. 12B , the rear-end fixing device 860 includes a positioning mechanism 861 fixed at the rear end of the robot body, and a blocking device 862 arranged at the rear end of the C-shaped tube. The stopper includes a sleeve member 863, a helical spring 864 and an end member 865. The sleeve member 863 is cylindrical and open toward one end of the end member 865. The other end includes an annular bottom wall 866. The annular bottom wall defines a circular hole 867 for the C-shaped tube to pass through. The inner diameter of the sleeve member is greater than or equal to the outer diameter of the helical spring 864. The diameter of the circular hole 867 is smaller than the outer diameter of the helical spring. The helical spring can be fixedly connected with the annular bottom wall 866; The longitudinal rear end of 864 and the C-shaped tube rear end are fixed to said end piece 865 . In an assembled state, the coil spring is sleeved on the C-shaped tube and located between the bottom wall 866 of the sleeve member and the end member 865 , the sleeve member is sleeved on the C-shaped tube, and the open end faces the side of the coil spring.

Referring to Fig. 12A, Fig. 12C and Fig. 12D below, the positioning mechanism 861 includes a positioning main body 868 and a positioning cover 869, the positioning main body is fixed to the rear end of the robot body, and a positioning channel 871 for placing a C-shaped pipe is provided on it; the front lower side of the positioning cover is hinged with the positioning main body through a pivot 870, so that it can pivot between an open position and a closed position. The positioning cover includes a pressing member 872 and an operating rod 873 . The pressing member 872 includes two side walls 874 spaced apart in the longitudinal direction. In addition, the lower part of the two side walls 874 of the pressing member 872 is provided with a pressing portion 878, when the positioning cover 869 is closed, it presses against the C-shaped tube disposed between the positioning channel 871 of the positioning body and the positioning cover with moderate pressure. An engaging protrusion 876 is provided at the inner lower end of the operating rod 873 for abutting against an engaging surface 877 provided on the positioning main body 868 to lock the positioning cover on the positioning main body. A biasing spring 879 is disposed between the pressing member 872 and the operating rod 873 , and the biasing spring biases the operating rod 873 toward the locking position.

When fixing the rear end of the C-shaped tube to the rear end of the robot body, firstly press the operating lever 873 to release the locking of the positioning cover, turn the positioning cover outwards, then place the C-shaped tube in the positioning channel 871 of the positioning body, and fit the front end of the sleeve member 863 of the blocking device against the rear end surface of the positioning body, and then buckle the positioning cover on the positioning body. Under the action of the compression spring 879, the locking position is maintained; thus, the pressing part 878 of the C-shaped tube is pressed against the positioning channel 871, and the coil spring 864 of the blocking device is pressed between the end part 865 and the sleeve part 863, and a longitudinal bias force is applied to the end part 865, so that the C-shaped tube is in a tensioned state.

The present invention has been described above in conjunction with specific embodiments with reference to the accompanying drawings, but this is for illustrative purposes only, and the present invention is not limited thereto. Therefore, it is obvious to those skilled in the art that various changes and modifications can be made within the technical spirit and scope of the present invention, and these changes and modifications should also be understood as belonging to the scope of the present invention, and the scope of the present invention is limited by the claimed technical solutions and equivalent solutions thereof.

Claims (13)

A delivery assisting device for a robot for vascular interventional surgery, the delivery assisting device includes a gag and a support tube; The support tube has a C-shaped tube structure, forming a circumferentially extending slot, and the C-shaped tube can be self-shrinking, so that the two circumferential ends are butted with each other or staggered to form a closed "O" shape; The gag includes a first C-shaped tube support, a second C-shaped tube support, a conduit support and a shuttle slideway; The first C-shaped tube support portion is provided with a first C-shaped tube channel through which the C-shaped tube passes; The conduit support portion is disposed adjacent to the first C-shaped tube support portion and longitudinally behind the first C-shaped tube support portion, and a conduit channel through which the conduit passes is provided on it; The shuttle-type slideway is arranged on the front end of the catheter support part or a part close to the front end, and is arranged obliquely to the side and rear relative to the catheter channel and extends to one side of the robot body, so that the C-shaped tube deviates from the path of the catheter; The second C-shaped tube support part is arranged behind the side of the shuttle-type slideway, and is located on one side of the robot body relative to the shuttle-type slideway. The second C-shaped tube support part is provided with a second C-shaped tube passage for the C-shaped pipe to pass through, and the channel opening on the longitudinal front end of the second C-shaped pipe passage is basically aligned with the shuttle-type slideway; In the assembled state, each component part of the mouth gag is fixed in place on the front of the instrument operation box, the front end and the rear end of the C-shaped tube are respectively fixed to the front end and the rear end of the robot body, and are in a stretched state or a tensioned state, and the C-shaped tube extends backward from the front end of the robot body, passes through the first C-shaped tube channel, is sleeved on the shuttle-type slideway, and then passes through the second C-shaped tube channel and continues to extend backward to the rear end of the robot body; the C-shaped tube is located between the shuttle-type slideway and the catheter support portion The part at the interconnecting connection position is in a "C" shape, and the part of the C-shaped tube in front of the outlet of the catheter channel front end of the catheter support part is in a closed "O" shape, and the part of the C-shaped tube behind the longitudinal rear end of the shuttle slideway is also in a closed "O" shape; The gag can move back and forth with the instrument operation box relative to the C-shaped tube, the catheter can extend forward into the C-shaped tube through the catheter channel of the catheter support part and protrude through the front end outlet of the C-shaped tube, and the C-shaped tube supports the part of the catheter between the front end outlet of the C-shaped tube and the catheter channel front end outlet of the catheter support part. The delivery auxiliary device for a vascular interventional surgery robot according to claim 1, wherein the connecting portion of the shuttle-type slideway connected to the catheter support part includes such a length, and the outer contour dimension of the length is set so that the C-shaped tube on this part is stretched by the shuttle-type slideway to form a "C" shape, and the inner peripheral surface of the C-shaped tube is attached to the outer surface of the shuttle-type slideway. The delivery assisting device for a vascular interventional surgery robot according to claim 2, wherein the connection site is olive-shaped. The delivery auxiliary device for a vascular interventional surgery robot according to any one of claims 1-3, wherein the second C-shaped tube support part is in the form of a pipe bent at an obtuse angle, including a first pipe section and a second pipe section, the first pipe section extends toward the shuttle-type slideway, its passage opening is basically aligned with the shuttle-type slideway, and the second pipe section extends longitudinally backward. The delivery assisting device for a vascular interventional surgery robot according to any one of claims 1-3, wherein the gag package further includes a stop part, the stop part is arranged on one side of the shuttle slideway, and its longitudinally front end is adjacent to the connecting part where the shuttle slideway and the catheter support part are connected to each other, and the C-shaped tube in the stretched or tensioned state in the assembled state tends to move toward the side of the shuttle slideway. The delivery auxiliary device for vascular interventional surgery robot according to claim 4, characterized in that, the opening device further comprises a stop part, the stop part is arranged on one side of the shuttle-type slideway, and its longitudinally front end is adjacent to the connecting part where the shuttle-type slideway and the catheter support part are connected to each other, and the C-shaped tube in the stretched state or tensioned state in the assembled state tends to move toward the said side of the shuttle-type slideway, the stopper part is in the form of an arc plate, integrally formed with the first pipe section, or the stopper A portion is formed by the first pipe segment. The delivery assisting device for a vascular interventional surgery robot according to claim 1, wherein the first C-shaped tube support part is integrally formed with the catheter support part. The delivery assisting device for a vascular interventional surgery robot according to claim 1, wherein the first C-shaped tube support part is integrally formed with the instrument operation box. The delivery auxiliary device for a vascular interventional surgery robot according to any one of claims 1-3, wherein the shuttle-type slideway includes tapered portions at both ends, and the diameter of the free end of the tapered portion is smaller than the inner diameter of the C-shaped tube in the stretched or tensioned state. The delivery auxiliary device for vascular interventional surgery robot according to claim 9, characterized in that, the end of the shuttle slideway is a rounded end. The delivery assisting device for a vascular interventional surgery robot according to claim 1, wherein the catheter support part is cylindrical. The delivery assisting device for a vascular interventional surgery robot according to claim 1, wherein, in a plan view, the C-shaped tube has a plurality of intermediate slots arranged in the center along the circumferential direction and spaced apart in the axial direction, and a plurality of edge slots respectively arranged on both sides of the circumferential direction and spaced apart in the axial direction, and the intermediate slots and the edge slots are arranged alternately in the axial direction. A slave end part of a robot for vascular interventional surgery, comprising a robot body and an instrument operation box, characterized in that the slave end part further includes the delivery assisting device according to any one of claims 1-12.

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