Vascular interventional surgical robot

A technology of interventional surgery and robotics, applied in the direction of surgical robots, etc., can solve problems such as complex operations, high risks, and restrictions on wide application

Pending Publication Date: 2020-08-28
SICHUAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There are many disadvantages of manual interventional catheters: (1) Doctors work in an X-ray environment, and long-term operation will cause great harm to the body; (2) Existing surgical methods are highly skilled and risky, and the training time for specialists is long, which limits The wide application of this technology; (3) Due to the complex operation, long operation time, doctor fatigue and unstable manual operation and other factors will directly affect the quality of operation, and then affect the quality of life of patients

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] combine figure 1 Explain the installation position of each module of the vascular interventional surgery robot: the delivery device of the interventional surgery robot is composed of 1. a propulsion device, 2. a twisting device, 3. a guide wire guiding device, 4. a wire pressing device and 5. a bedside positioning device. The twisting device is installed on the sliding table of the propulsion device, the guide wire guide device is installed at the front end of the sliding guide rail of the propulsion device at the same height as the twisting device, and the wire pressing device is located on the side at the same height as the guide wire guiding device and the twisting device. One end of the bedside positioning device is connected to the working part of the surgical robot and the other end is connected to the side of the operating table. Through the coordinated action of each functional module, the guide wire catheter can be effectively implemented to intervene in blood ...

Embodiment 2

[0033] Embodiment 2 is on the basis of Embodiment 1, combining figure 2Explain the structure of the propulsion device: the driving motor 1-9 rotates forward, drives the coupling 1-3 to rotate, the coupling 1-3 drives the ball screw 1-1 to rotate, and the screw 1-1 rotates to drive the screw nut and slide The block 1-5 and the sliding table 1-8 move forward to realize the action of pushing the guide wire. The sliding table 1-8 is installed on the sliding block 1-5 through screw connection, and the sliding block 1-5 cooperates with the linear guide rail 1-2. , to ensure that the sliding table 1-8 moves along a straight line; the driving motor 1-9 reverses, and the sliding table 1-8 moves backward to realize the action of pulling back the guide wire. The propulsion device uses a stepping motor to drive the rotation of the ball screw to drive the movement of the slide table, and uses a linear guide rail for circumferential limit and axial guidance, which can realize the accurate ...

Embodiment 3

[0035] Embodiment 3 is on the basis of embodiment 2, image 3 and Figure 4 The installation position and external structure of the twisting device are illustrated: the twisting device 2 is connected with the sliding table 1-8 of the propulsion device, and the connecting base is installed on the sliding table 1-8 using long bolts, and the casing 2-1 and the The lower packaging shells 2-2 are all plastic structures connected by bayonet sockets. The twisting device 2 is installed on the slide table 1-8 and can move back and forth synchronously with the propulsion device in space.

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Abstract

The invention discloses a vascular interventional surgical robot, and belongs to the field of medical equipment. The robot is used to replace human hands for vascular interventional surgery, and comprises five modules: a pushing device, a twisting device, a guide suture guide device, a suture pressing device and a bedside positioning device. The pushing device drives the twisting device to clamp aguide suture catheter to move linearly. The twisting device drives a two-finger chuck coaxial with a big gear to clamp the guide suture catheter to rotate, and the two-finger chuck clamps the guide suture catheter by opening and closing. The guide suture guide device drives a cam to adjust distance of guide wheels to adapt to the diameter of the guide suture catheter. The suture pressing device is controlled by an electromagnet, two moving fingers are closed when being electrified to clamp and fix the position of a guide suture. When power is cut off, the moving fingers are separated, and theguide suture can move freely. The bedside positioning device comprises an X-axis moving device and a Y-axis moving device, and the X-axis moving device drives the Y-axis moving device to move linearly through a ball screw. The Y-axis moving device drives the vascular interventional surgical robot to move and position through the ball screw.

Description

technical field [0001] The invention relates to a minimally invasive vascular interventional operation robot, which belongs to the field of medical equipment. Background technique [0002] Vascular interventional surgery means that under the guidance of digital subtraction angiography (DSA), doctors manipulate catheters to move in human blood vessels to treat lesions, so as to embolize malformed blood vessels, dissolve thrombus, and dilate narrow blood vessels. Compared with traditional "open" surgery, this method has the advantages of less trauma, safety and effectiveness, faster postoperative recovery, and fewer complications. The main steps of vascular interventional surgery are to push the catheter to the location of the lesion and perform corresponding diagnosis and treatment. Therefore, whether the catheter can be sent to the precise lesion position directly affects the quality of the entire operation and the health of the patient. There are many disadvantages of man...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30
CPCA61B34/30A61B2034/303
Inventor 刁燕杨韶勇李嘉晟罗华田兴国
Owner SICHUAN UNIV
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