Slave end executing device and interventional operation system

Abstract

The invention relates to a slave end executing device and an interventional operation system. The slave end execution device is used for controlling pushing of the multi-stage slender assemblies and comprises multi-stage pushing units, each stage of pushing unit corresponds to each stage of slender assembly in a one-to-one mode and is provided with a pushing channel, and each stage of pushing unit moves relative to the adjacent previous stage of pushing unit; and the pushing channel of the pushing unit is in butt joint with the pushing channel of the adjacent pushing unit of the previous stage, so that the slender assembly of the corresponding stage can be pushed in the slender assembly of the previous stage. According to the slave end executing device, the catheter and the guide wire can be pushed in the operation process, the catheter and the guide wire can be replaced, butted, recycled and the like, manual replacement of the catheter and the guide wire in the midway is avoided, and the continuity of the operation is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a slave execution device and an interventional surgery system. Background Art

[0002] Vascular intervention surgery has become an important means of treating cardiovascular diseases due to its advantages such as less trauma and fewer complications. However, during the operation, doctors are exposed to X-ray radiation, the operation is complicated, and the degree of reliance on technical experience is high, which restricts the popularization and application of the surgery. In response to the above problems, vascular intervention robots have gradually emerged and developed. At present, robot systems generally adopt a master-slave remote operation method. The doctor controls the slave execution device on the master end to complete the corresponding operation. This has largely solved the problem of doctors being exposed to radiation and improved the efficiency and accuracy of the operation. However, the operation process still requires human participation, such as the replacement of the catheter, which affects the continuity of the operation. Summary of the invention

[0003] Based on this, it is necessary to provide a slave execution device and an interventional surgery system to address the above technical problems.

[0004] A slave-end execution device is used to control the pushing of a multi-stage slender component, characterized in that the slave-end execution device includes a multi-stage pushing unit, each stage of the pushing unit corresponds to each stage of the slender component one by one and has a pushing channel, and each stage of the pushing unit moves relative to the pushing unit of the adjacent previous stage so that its own pushing channel docks with the pushing channel of the pushing unit of the adjacent previous stage, thereby enabling the slender component of the corresponding stage to be pushed inside the slender component of the previous stage.

[0005] In one embodiment, the slave-end execution device further comprises a plurality of supporting units connected in sequence, and the supporting units of the adjacent subsequent stage can rotate around the axis of the supporting units of the adjacent previous stage, so that the pushing channels of the two adjacent pushing units are docked; or, the supporting units of the adjacent subsequent stage slide along the side of the supporting units of the adjacent previous stage to drive the pushing units of the corresponding stage to rotate, so that the pushing channels of the two adjacent stages are docked;

[0006] Wherein, when the adjacent subsequent support unit rotates relative to the previous support unit, at least part of the previous push unit and at least part of the subsequent push unit are respectively arranged on different sides of the two adjacent support units;

[0007] When the adjacent subsequent support unit slides relative to the side of the previous support unit, the number of the subsequent push units is at least two, and the two subsequent push units are respectively arranged close to the side of the previous support unit.

[0008] In one embodiment, each level of the elongated component includes a first elongated member and a second elongated member that can be inserted into the first elongated member; each level of the pushing unit includes a first friction wheel assembly, a Y-valve sliding assembly and a second friction wheel assembly, the pushing channel is formed between the valve cavity of the Y-valve sliding assembly and the gap between the wheels of the first friction wheel assembly to push the first elongated member of the corresponding level of the elongated component, and the second friction wheel assembly is used to push the second elongated member of the corresponding level of the elongated component;

[0009] Among them, the multi-stage pushing unit includes a primary pushing unit and a final pushing unit, in which at least the first friction wheel assembly of the primary pushing unit is arranged on the primary supporting unit, and the second friction wheel assembly of the primary pushing unit and the final pushing unit are respectively arranged on different sides of the final supporting unit.

[0010] In one embodiment, the multi-stage pushing unit further includes at least one intermediate pushing unit disposed between the primary pushing unit and the final pushing unit, and the first friction wheel assembly and the Y-valve assembly of each intermediate pushing unit are respectively disposed on different sides of the first intermediate supporting unit with the second friction wheel assembly of the adjacent previous pushing unit;

[0011] Moreover, the second friction wheel assembly of each intermediate pushing unit and the first friction wheel assembly and the Y-valve assembly of the adjacent subsequent pushing unit are respectively arranged on different sides of the second intermediate support unit or the final support unit, wherein the first intermediate support unit and the second intermediate support unit are adjacent.

[0012] In one embodiment, the Y-valve assembly in the primary pushing unit is selectively disposed on the primary supporting unit and is located on the same side of the primary supporting unit as the first friction wheel assembly;

[0013] Alternatively, when the primary pushing unit and the final pushing unit are adjacent, the Y-valve assembly in the primary pushing unit is selectively arranged on the final supporting unit and is located on the same side of the final supporting unit as the second friction wheel assembly of the primary pushing unit.

[0014] In one embodiment, the slave-end actuator also includes a multi-stage direct-acting unit, each stage of the direct-acting unit includes a first power member and a rack, the first power member is connected to the Y-valve sliding assembly of the pushing unit of the corresponding stage, and a first driving gear matching the rack is provided on the output shaft of the first power member, and the rack is arranged in the support unit of the corresponding stage or in the support units of two adjacent stages.

[0015] In one embodiment, the slave-end execution device also includes at least one level of rotation unit, and each level of rotation unit is arranged between the corresponding two adjacent levels of support units, so that the support unit of the next level can rotate at a preset angle in a preset direction relative to the support unit of the previous level, wherein each level of rotation unit includes a limit sleeve and a rotating shaft rotatably arranged in the limit sleeve.

[0016] In one of the embodiments, two limiting protrusions are arranged in the tube cavity of the limiting sleeve along the circumferential interval, and one end of the rotating shaft is in a straight line shape and extends into the gap between the two limiting protrusions; and / or, a fixed bracket is arranged in the support unit of the latter stage, and the fixed bracket has an open-loop connecting through hole, and the fixed bracket adjusts the aperture size of the connecting through hole through a locking piece to lock the limiting sleeve to the connecting through hole or release the locking of the limiting sleeve.

[0017] In one of the embodiments, the slave execution device further comprises a multi-level storage unit, each level of the storage unit comprises a first storage component and / or a second storage component;

[0018] Each level of the slender components includes a first slender member and a second slender member that can be inserted into the first slender member; before being pushed, the middle part of the first slender member of each level of the slender components is wound around the first storage component of the storage unit of the corresponding level, and the inlet end and the distal end are both arranged in the pushing channel of the pushing unit of the corresponding level; and / or, before being pushed, the distal end of the second slender member of each level of the slender components is arranged in the first slender member of the same level, and the remaining part is wound around the second storage component of the storage unit of the corresponding level.

[0019] In one of the embodiments, the first storage assembly includes a reel, a tube cover and a protective cover, the reel is rotatably disposed in the tube cover, the tube cover is disposed on a supporting unit of a corresponding level and has a window, the protective cover is detachably disposed in the window, and a tube penetration gap is provided between the protective cover and the tube cover when the protective cover is closed.

[0020] In one embodiment, the second storage component includes a wire pressing member and a rotatable retracting wheel, wherein the retracting wheel has intersecting guide wire fixing holes and pressing holes, and the wire pressing member can slide along the pressing holes until it extends into the fixing holes or detaches from the fixing holes.

[0021] An interventional surgery system, characterized in that the interventional surgery system comprises a control device and a slave end execution device as described in any one of the above, wherein the control device is communicatively connected to the slave end execution device and is configured to: control the pushing of a multi-stage elongated component according to a pushing instruction, wherein:

[0022] According to the primary pushing instruction, the first friction wheel assembly of the primary pushing unit is controlled to move to tension the first slender member of the primary slender member, and after the first slender member of the primary slender member is tensioned, the second friction wheel assembly of the primary pushing unit is controlled to push the second slender member of the primary slender member to move along the inner cavity of the first slender member of the primary slender member until the distal end of the second slender member of the primary slender member is close to the distal end of the first slender member of the primary slender member, and then the first friction wheel assembly, the Y-valve sliding assembly and the second friction wheel assembly of the primary slender member are controlled to push the second slender member and the first slender member of the primary slender member step by step in sequence, and after the first slender member and the second slender member of the primary slender member are pushed into place, the second friction wheel assembly of the primary pushing unit is controlled to move until the second slender member of the primary slender member is withdrawn;

[0023] According to the intermediate pushing instruction or the final pushing instruction, the intermediate pushing unit or the final pushing unit is controlled to move relative to the adjacent previous pushing unit until the first friction wheel assembly of the intermediate pushing unit or the final pushing unit docks with the Y-valve sliding assembly of the previous pushing unit, and then the intermediate pushing unit or the final pushing unit is controlled according to the pushing mode of the primary pushing unit so that the second slender member and the first slender member of the intermediate slender assembly or the final slender assembly are pushed step by step in sequence inside the first slender member of the previous slender assembly.

[0024] The above-mentioned slave-end execution device and interventional surgery system, in addition to pushing the catheter and guidewire during the operation, can also replace, dock and recycle the catheter and guidewire, avoiding manual replacement of the tube and wire in the middle of the operation, thus ensuring the continuity of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 , Figure 3 A schematic diagram of the three-dimensional structure of a slave-end actuator for a two-set catheter guidewire surgery scenario provided by one embodiment of the present application when the second-level support unit is in an initial position.

[0026] Figure 2 A schematic diagram of the installation of a slave execution device provided in one embodiment of the present application.

[0027] Figure 4 A schematic diagram of the three-dimensional structure of a slave-end execution device used in a three-tube and one-wire surgery scenario provided by an embodiment of the present application.

[0028] Figure 5 A schematic diagram of the three-dimensional structure of a first pushing component provided in one embodiment of the present application.

[0029] Figure 6 A schematic diagram of the three-dimensional structure of a second pushing component provided in one embodiment of the present application.

[0030] Figure 7 A schematic diagram of pushing a guide catheter by a slave end actuator provided in one embodiment of the present application.

[0031] Figure 8 A schematic diagram of the three-dimensional structure of a guide wire pushing unit provided in one embodiment of the present application.

[0032] Fig. 9 A schematic diagram of the internal structure of a slave-end execution device used in a two-tube-one-wire surgery scenario provided by an embodiment of the present application.

[0033] Fig.10 for Figure 1 A partial exploded diagram of the slave actuator is provided.

[0034] Fig.11 A schematic diagram of the connection relationship between adjacent level support units provided in one embodiment of the present application.

[0035] Fig.12 A schematic diagram of the three-dimensional structure of a first-level support unit with a pre-installed limiting sleeve provided in an embodiment of the present application.

[0036] Fig.13 A schematic diagram of the connection relationship between the limiting sleeve and the first-level support unit provided in one embodiment of the present application.

[0037] Fig.14 A schematic diagram of the three-dimensional structure of a second pushing component provided in another embodiment of the present application.

[0038] Fig.15 A schematic diagram of the docking of two adjacent push units provided in one embodiment of the present application.

[0039] Fig.16 A schematic diagram of a flow chart for controlling the docking of two adjacent push units provided in one embodiment of the present application.

[0040] Fig.17 A schematic diagram of the three-dimensional structure of a catheter storage unit storing catheters provided in one embodiment of the present application.

[0041] Fig.18 A schematic diagram of the control flow of alternately pushing catheter guidewires provided in one embodiment of the present application.

[0042] Fig.19 An exploded schematic diagram of a second storage component provided in one embodiment of the present application.

[0043] Fig. 20 A schematic diagram of the three-dimensional structure of a second storage component provided in another embodiment of the present application.

[0044] Fig.21 for Figure 1 A schematic diagram of the entire operation flow of the slave execution device is provided. DETAILED DESCRIPTION

[0045] It should be noted that the terms “distal end” and “proximal end” throughout the text are only used to indicate relative positional relationships. The “distal end” of a component refers to the end of the component that enters the patient's body first compared to the other end during normal operation and / or the end that is farther away from the operator, while the “proximal end” refers to the end that enters the patient's body later than the other end and / or the end that is closer to the operator.

[0046] See also Figure 1 A slave-end actuator 10 provided in an embodiment of the present application is used to control the pushing of a slender component. The slave-end actuator 10 includes a multi-stage pushing unit 200. Each stage of the pushing unit 200 corresponds to each stage of the slender component one by one and has a pushing channel. Each stage of the pushing unit 200 moves relative to the pushing unit 200 of the adjacent previous stage so that its own pushing channel docks with the pushing channel of the pushing unit 200 of the adjacent previous stage, thereby enabling the slender component of the corresponding stage to be pushed inside the slender component of the previous stage.

[0047] The slave end actuator 10 is applied in the field of interventional surgery, especially in the surgical scenario where multiple sets of catheter guidewires are required, such as Figure 1 The two-tube-one-wire interventional surgery scenario shown or Figure 4 The two-tube-one-wire interventional surgery scene shown can be operated accordingly through the control of the main control end, such as pushing and replacing the slender components such as the guidewire catheter. It can be understood that the number of levels of the slender components (i.e., the number of groups of catheter guidewires) is the same as that of the pushing unit 200, wherein each level of the slender components includes a first slender member (i.e., a catheter) and a second slender member (i.e., a guidewire) that can be passed through the first slender member.

[0048] Each stage of the pushing unit 200 may include a catheter pushing portion 210 and a guide wire pushing portion 220. The catheter pushing portion 210 is used to push the first elongated member and has a pushing channel for fixing the proximal end of the first elongated member. The guide wire pushing portion 220 is used to push the second elongated member. Figure 2 Before the operation, the slave-end actuator 10 can be placed on the operating table M, and an outer tube (not shown in the drawings) is connected between the pushing channel of the catheter pushing part 210 of the frontmost pushing unit 200 (i.e., the primary pushing unit mentioned below) in the slave-end actuator 10 and the sheath tube (not shown in the drawings) in the patient's blood vessel to form a catheter guidewire delivery passage.

[0049] The following describes how the master control end controls the slave execution device 10 by taking the two-tube and one-wire interventional surgery scenario as an example, wherein the slave execution device 10 is provided with two-stage push units 200, namely, a first-stage push unit 200a and a second-stage push unit 200b:

[0050] When the main control end (i.e., the control device mentioned below) receives the primary pushing instruction, it first controls the catheter pushing part 210 and the guide wire pushing part 220 of the first-level pushing unit 200a to push the guide catheter A1 and the guide wire B1 to the first preset position in sequence, and then controls the guide wire pushing part 220 of the first-level pushing unit 200a to remove the guide wire B1. Afterwards, when the main control end (i.e., the control device mentioned below) receives the final push instruction, the second-stage pushing unit 200b is controlled to move relative to the first-stage pushing unit 200a until the pushing channel of the second-stage pushing unit 200b is docked with the pushing channel of the first-stage pushing unit 200a, so that the distal end of the microcatheter A2 points to the proximal end of the guide catheter A1, and then the catheter pushing part 210 and the guide wire pushing part 220 of the second-stage pushing unit 200b are controlled to push the microcatheter A2 and the microguidewire B2 in the inner cavity of the guide catheter A to the second preset position in sequence, and finally the guidewire pushing part 220 of the second-stage pushing unit 200b is controlled to remove the microguidewire B2.

[0051] It can be seen that the slave-end execution device 10 of the present application can not only push the catheter and guidewire during the operation, but also replace and dock the catheter and guidewire, thereby avoiding manual replacement of the catheter and guidewire in the middle of the operation and ensuring the continuity of the operation.

[0052] See also Figure 1 In some embodiments of the present application, the slave execution device 10 also includes a multi-stage support unit 100 connected in sequence, and the support unit 100 of the adjacent subsequent stage can rotate around the axis of the support unit 100 of the adjacent previous stage to drive the push unit 200 of the corresponding stage to rotate, thereby making the push channels of the two adjacent push units 200 dock; wherein, when the support unit 100 of the adjacent subsequent stage rotates relative to the support unit 100 of the previous stage, at least part of the previous push unit 200 and at least part of the subsequent push unit 200 are respectively arranged on different sides of the two adjacent support units 100. It should be noted that the number of support units 100 is the same as the number of push units 200, that is, one support unit 100 corresponds to one push unit 200. wherein, as Figure 3As shown, for the two-tube and one-wire interventional surgery scenario, the slave end actuator 10 is provided with two-stage support units 100, namely, the first-stage support unit 100a and the second-stage support unit 100b. After the catheter A1 and the guide wire B1 are pushed into place, the second-stage support unit 100b rotates to drive the second-stage push unit 200b to rotate relative to the first-stage push unit 200a until the push channel of the second-stage push unit 200b docks with the push channel of the first-stage push unit 200a. Similarly, Figure 4 As shown, for the three-tube and one-wire interventional surgery scenario, the slave end actuator 10 is also provided with a third-level push unit 200c and a third-level support unit 100c. After the catheter A1, the guide wire B1, the microcatheter A2, and the microguidewire B2 are pushed into place, the third-level support unit 100c drives the third-level push unit 200c to rotate relative to the second-level push unit 200b by rotating until the push channel of the third-level push unit 200c is docked with the push channel of the second-level push unit 200b, so that the distal end of the microcatheter A3 is aligned with the proximal end of the microcatheter A2, and then the microcatheter A3 and the microguidewire B3 can be pushed in the microcatheter A2 by the third-level push unit 200c. The docking of the push channels of two adjacent push units 200 is achieved by rotation, which can reduce the axial length of the slave end actuator 100.

[0053] Of course, in some other embodiments of the present application, the adjacent rear-level support unit 100 may also slide along the side of the adjacent previous-level support unit 100 to drive the pushing unit 200 of the corresponding level to slide, thereby making the pushing channels of the two adjacent levels dock; wherein, when the adjacent rear-level support unit 100 slides relative to the side of the previous-level support unit 100, the number of the rear-level pushing units 200 is at least two, and the two rear-level pushing units 200 are respectively arranged close to the side of the previous-level support unit 200.

[0054] The position of the pushing unit 200 on the supporting unit 100 is mainly related to the specific structure of the pushing unit 200. As an example, see Figure 1The catheter push part 210 may include a Y-valve sliding component 211 and a first friction wheel component 212, wherein a push channel is formed between the valve cavity of the Y-valve sliding component 211 and the gap between the wheels of the first friction wheel component 212 to push the first slender member of the corresponding level slender component; the guide wire push part 220 includes a second friction wheel component, which is used to push the second slender member of the corresponding level slender component. The valve cavity of the Y-valve sliding component 211 is used to fix the proximal end of the first slender member, the gap between the wheels of the first friction wheel component 212 is used to allow the first slender member to pass through, the gap between the wheels of the second friction wheel component is used to allow the first slender member to pass through, and the gap between the wheels of the second friction wheel component is used to allow the second slender member to pass through. Before pushing, fix the proximal end of the first slender member in the valve cavity of the Y-valve sliding assembly 211 and pass the distal end of the first slender member through the gap between the wheels of the first friction wheel assembly 212, and pass the distal end of the second slender member through the gap between the wheels of the second friction wheel assembly, so that the first slender member is pushed forward by the Y-valve sliding assembly 211 and the first friction wheel assembly 212, and the second slender member is pushed forward by the second friction wheel assembly. The catheter pushing unit 210 facilitates the transmission of torque on the catheter and facilitates the pushing of the catheter through the cooperation between the Y-valve sliding assembly 211 and the first friction wheel assembly 212. Among them, in order to ensure that the catheter is always kept in a tensioned state and is not pulled and damaged during the pushing process, see Figure 7 The pushing speed V1 of the Y-valve sliding component 211 is slightly smaller than the pushing speed of the first friction wheel component 212, wherein the pushing speed of the first friction wheel component 212 is the same as the pushing speed V2 of the catheter.

[0055] For the pushing unit 200 of the above structure, see Figure 3 , when the number of the pushing unit 200 is equal to 2, that is, the multi-stage pushing unit 200 includes adjacent primary pushing units (i.e. Figure 3 The first-stage push unit 200a) and the final-stage push unit (i.e. Figure 3 The secondary pushing unit 200b shown in the figure, at least the first friction wheel assembly 212 in the primary pushing unit 200b is arranged on the primary supporting unit 100 (ie Figure 3 On the first-stage support unit 100 a shown, the second friction wheel assembly of the primary pushing unit 200 and the final-stage pushing unit 200 are respectively arranged on different sides of the final-stage support unit 100 .

[0056] The Y-valve assembly 211 in the primary pushing unit 210 is selectively arranged on the primary supporting unit 100 and is located on the same side of the primary supporting unit 100 as the first friction wheel assembly 212; or, when the primary pushing unit 200 and the final pushing unit 200 are adjacent, the Y-valve assembly 211 in the primary pushing unit 210 is selectively arranged on the final supporting unit 100 and is located on the same side of the final supporting unit 100 as the second friction wheel assembly of the primary pushing unit 100. That is, before pushing the guide catheter A1 and the guide wire B1, the Y-valve assembly 211 in the primary pushing unit 210 is either located on the primary supporting unit 100 and is located on the same side of the primary supporting unit 100 as the first friction wheel assembly 212; or the Y-valve assembly 211 in the final pushing unit 210 is either located on the final supporting unit 100 and is located on the same side of the final supporting unit 100 as the second friction wheel assembly of the primary pushing unit 100. It should be noted that after the guide catheter A1 and the guide wire B1 are pushed into place, the Y-valve assembly 211 in the primary pushing unit 210 must be located on the primary supporting unit 100 and on the same side of the primary supporting unit 100 as the first friction wheel assembly 212, so that after the final pushing assembly 200 rotates, the inter-wheel gap of the first friction wheel assembly 212 of the final pushing assembly 200 docks with the valve cavity of the Y-valve assembly 211 of the primary pushing unit 210.

[0057] See also Figure 4When the number of the pushing units 200 is greater than 2, the multi-stage pushing unit 200 further includes at least one intermediate pushing unit 200 arranged between the primary pushing unit 200 and the final pushing unit 200, and the first friction wheel assembly 212 and the Y-valve assembly 211 of each intermediate pushing unit 200 are respectively arranged on different sides of the first intermediate support unit 100 with the second friction wheel assembly of the adjacent previous pushing unit 200; and the second friction wheel assembly 212 and the Y-valve assembly 211 of each intermediate pushing unit 200 are respectively arranged on different sides of the second intermediate support unit 100 or the final support unit 100, wherein the first intermediate support unit and the second intermediate support unit are adjacent to each other. It should be noted that when the number of the pushing units 200 is equal to 3, the number of the intermediate pushing units 200 is 1, that is, a first intermediate support unit 100 is provided between the primary pushing unit 200 and the final pushing unit 200, and no second intermediate support unit is provided. At this time, the first friction wheel assembly 212 and the Y valve assembly 211 of the first intermediate support unit 100 are respectively provided on different sides of the final support unit 100; and when the number of the pushing units 200 is greater than 3, the number of the intermediate pushing units 200 is multiple. At this time, the first friction wheel assembly 212 and the Y valve assembly 211 of the first intermediate support unit 100 are respectively provided on different sides of the adjacent second intermediate support unit 100. It can be understood that the first intermediate support unit 100 and the second intermediate support unit 100 are support units 100 of intermediate levels in the multi-stage support unit 100.

[0058] Among them, the position setting principle of the Y-valve assembly 211 of the intermediate-level pushing unit 200 is the same as the position setting principle of the Y-valve assembly 211 in the primary pushing unit 210, either it is set on the support unit 100 of the same level and is located on the same side of the support unit 100 of the same level as the first friction wheel assembly 212; or, it is set on the adjacent next-level support unit 100 (the final-level support unit 100 or the adjacent intermediate-level pushing unit 200) and is located on the same side of the final-level support unit 100 as the second friction wheel assembly of the adjacent next-level support unit 100.

[0059] In this embodiment, see Figure 5 The Y-valve sliding assembly 211 includes a valve seat 2111 slidably disposed on the support unit 100 and a valve body 2112 disposed on the valve seat 2111. The end of the valve body 2112 close to the first friction wheel assembly 212 is rotatable and has a clamping port 211a, and the end of the valve body 2112 away from the first friction wheel assembly 212 has an insertion port 211b. When the end of the valve body 2112 close to the first friction wheel assembly 212 rotates, the catheter also rotates accordingly, so that the bending angle of the distal end of the catheter changes, which is conducive to the distal end of the catheter passing through a rugged and curved blood vessel.

[0060] Among them, see Figure 5 The end of the valve body 2112 close to the first friction wheel assembly 212 is provided with a second driving gear 2113, a second power member (not shown in the drawings) is provided in the valve seat 2111, and a third driving gear (not shown in the drawings) meshing with the second driving gear 2113 is provided on the output shaft of the second power member. When the output shaft of the second power member rotates, the third driving gear is driven to rotate, and the second driving gear 2113 is driven to rotate by the third driving gear. The second power member can be a motor.

[0061] A Luer interface is provided at the insertion port 211 b of the end of the valve body 2112 away from the first friction wheel assembly 212, so as to ensure a sealed connection between the valve body 2112 and the catheter.

[0062] The valve body 2112 can be Figure 5 The Y-valve structure shown, that is, the valve body 2112, in addition to the clamping port 211a and the insertion port 211b, also has a port for allowing air, contrast agent or other medical agents to pass through.

[0063] See also Figure 1 In order to be able to recycle the second slender member when withdrawing the second slender member, the slave-end execution device 10 also includes a multi-level storage unit, and each level of the storage unit includes a second storage component for storing the second slender member.

[0064] In order to facilitate the pushing and recovery of the guidewire, the Y-valve sliding assembly 211 can move with the second storage assembly 230 and the guidewire pushing unit 220 during the movement. Specifically, the guidewire pushing unit 220 is movably arranged on the support unit 110 of the corresponding level and connected to the second storage assembly 230; a connecting piece is arranged between the Y-valve sliding assembly 211 and the guidewire pushing unit 220, and the connecting piece can connect the Y-valve sliding assembly 211 with the guidewire pushing unit 220 when the connecting piece is powered on, and can disconnect the connection between the Y-valve sliding assembly 211 and the guidewire pushing unit 220 when the connecting piece is powered off. Continuing with the two-tube-one-wire interventional surgery scenario as an example, during the pushing process of the guide catheter A1, the connecting piece of the first-stage pushing unit 200a is in a powered-on state, so that the guide wire pushing unit 220 and the second storage component 230 of the first-stage pushing unit 200a move together with the Y-valve sliding component 211; after the distal end of the guide catheter A1 is delivered to the right position, the connecting piece of the first-stage pushing unit 200a is powered-off, so that the guide wire pushing unit 220 of the first-stage pushing unit 200a is not connected to the Y-valve sliding component 211, then the guide catheter A1 is completed. After the guidewire B1 is recovered, the second-stage support unit 110 can be rotated so that the catheter pushing channel 212a of the first friction wheel assembly 212 of the second-stage pushing unit 200b is aligned with the insertion port 211b of the Y-valve sliding assembly 211 of the first-stage pushing unit 200a. Then, the connecting part of the second-stage pushing unit 200b is powered on so that the guidewire pushing unit 220 and the second storage assembly 230 of the second-stage pushing unit 200b move together with the Y-valve sliding assembly 211 until the pushing of the microcatheter A2 is completed.

[0065] The connecting member may include an iron sheet 2131 and an electromagnet 2132 that can be powered; the electromagnet 2132 may be arranged on the Y-valve sliding assembly 211, and the iron sheet 2131 may be arranged on the guide wire pushing unit 220; or the electromagnet 2132 may be arranged on the guide wire pushing unit 220. Figure 8 As shown, the iron sheet 2131 is arranged on the guide wire pushing unit 220. Figure 5 As shown, it is arranged on the valve seat 2111 of the Y-valve sliding assembly 211.

[0066] Regarding how the Y-valve sliding assembly 211 moves on the support unit 110, see Fig. 9, the slave end actuator 10 is also provided with a multi-stage direct-acting module 300, through which the Y-valve sliding assembly 211 of each stage of the pushing unit 200 is driven to move. Among them, each stage of the direct-acting module 300 includes a first power member 310 and a rack 320, the first power member 310 is connected to the Y-valve sliding assembly 211 of the pushing unit 200 of the corresponding stage, and a first driving gear 330 matched with the rack 320 is provided on the output shaft of the first power member 310, and the rack 320 is arranged in the support unit 110 of the corresponding stage or in the support units 110 of the corresponding two adjacent stages. Of course, in some other embodiments, each stage of the direct-acting module 300 may also include a hydraulic / pneumatic cylinder, and the movement of the Y-valve sliding assembly 211 is achieved by the extension and contraction of the piston rod of the hydraulic / pneumatic cylinder.

[0067] It should be noted that the pushing speed V1 of the Y-valve sliding assembly 211 is the same as the linear speed of the first driving gear 330, wherein the linear speed v of the first driving gear 330 is v=π·D·n, D refers to the pitch circle diameter of the first driving gear 330, and n refers to the rotation speed.

[0068] Specifically, the rack 320 of the direct-acting module 300 corresponding to the first-stage pushing unit 200a is Fig. 9 The segmented racks shown are installed in the first-stage support unit 110a and the second-stage support unit 110b, respectively, wherein the two segments of the racks 320 leave a gap, so that the first drive gear 330 and the Y-valve sliding assembly 211 can pass through without obstruction without affecting the rotation of the second-stage support unit 110b relative to the first-stage support unit 110a; the rack 320 of the direct-acting module 300 corresponding to the second-stage push unit 200b is arranged in the second-stage support unit 110b, and can be aligned with the rack 320 corresponding to the first-stage push unit 200a in the first-stage support unit 110a through the rotation of the second-stage support unit 110b. That is, except for the rack 320 corresponding to the last-stage push unit 200 arranged in the last-stage support unit 110, the racks 320 corresponding to the remaining-stage push units 200 are arranged in the corresponding two adjacent-stage support units 110.

[0069] Understandably, see Figure 3 , the first-level and second-level support units 110 both have a slide groove P, which is used to slide the Y-valve sliding assembly 211, the guide wire pushing unit 220 and the second storage assembly 230 of the corresponding level push unit 200. Among them, the first-level support unit 110 has a slide groove P, and the two sides of the second-level support unit 110 each have a slide groove P, and each slide groove P can be aligned with the slide groove of the first-level support unit 110a by the rotation of the second-level support unit 110b, so that the Y-valve sliding assembly 211 of the first-level push unit 200a moves between the second-level support unit 110b and the first-level support unit 110a.

[0070] Among them, see Fig. 9 The Y-valve sliding assembly 211 of each level of the pushing unit 200 and the guide wire pushing unit 220 are respectively provided with a first slider 341 and a second slider 342, both of which pass through the corresponding slide slot P and extend into the supporting unit 110, and the first slider 341 is connected to the first power member 310. The first slider 341 and the second slider 342 facilitate the movement of the Y-valve sliding assembly 211 and the guide wire pushing unit 220.

[0071] To ensure that the first slider slides in a directional manner, see Fig. 9 , each level of direct-acting module 300 also includes a guide rail 350, which is arranged in the corresponding level of support unit 110 or in the corresponding two adjacent levels of support units 110. Among them, the guide rail of the direct-acting module 300 of the first-level pushing unit 200a corresponding level is a segmented guide rail, which is respectively installed in the first-level support unit 110a and the second-level support unit 110b, wherein the two sections of the guide rail leave a gap, which allows the first driving gear 330 and the Y-valve sliding assembly 211 to pass through without obstruction without affecting the rotation of the second-level support unit 110b relative to the first-level support unit 110a; the guide rail of the direct-acting module 300 of the second-level pushing unit 200b corresponding level is arranged in the second-level support unit 110b, and can be arranged relative to the guide rail corresponding to the first-level pushing unit 200a in the first-level support unit 110a through the rotation of the second-level support unit 110b.

[0072] In order to accurately position the rotation angle of the second-stage support unit 110b, so as to ensure that the push channel of the catheter push unit 210 on the second-stage support unit 110b is accurately docked with the push channel of the previous-stage push unit 200 after the second-stage support unit 110b rotates in a preset direction by a preset angle, and to ensure the docking accuracy of the segmented guide rail and the segmented rack 320 after the second-stage support unit 110b rotates to the initial position, so that the slider and the first driving gear 330 can move smoothly between the first-stage support unit 110a and the second-stage support unit 110b, see Fig. 9 In some embodiments of the present application, the slave actuator 10 further includes at least one level of rotation unit 400, each level of rotation unit 400 is disposed between two adjacent levels of support units 110, so that the support unit 110 of the next level rotates relative to the support unit 110 of the previous level in a preset direction and at a preset angle; see Fig.10 and Fig.11 As shown, each stage of the rotating unit 400 includes a limiting sleeve 410 and a rotating shaft 420 rotatably disposed in the limiting sleeve 410 .

[0073] Specifically, a first-stage rotating unit is disposed between the first-stage supporting unit 110a and the second-stage supporting unit 110b. It can be understood that the total number of rotating units 400 is 1 less than the total number of supporting units 100. For example, when the total number of supporting units 100 is 3, the total number of rotating units 400 is 3, that is, the slave end actuator 10 is provided with a first-stage rotating unit and a second-stage rotating unit, and the first-stage rotating unit is disposed between the first-stage supporting unit 100 and the second-stage supporting unit 100.

[0074] It should be noted that when the second-stage supporting unit 110 b is located at the initial position, the Y-valve sliding assembly 211 and the first friction wheel assembly 212 of the first-stage pushing unit 200 a are located on the same side of the supporting unit 100 .

[0075] The rotation direction and rotation angle of the second-stage support unit 110b are related to the positional relationship between the first-stage push unit 200a and the second-stage push unit 200b when the second-stage support unit 110b is in the initial position. For example, when the second-stage support unit 110b is in the initial position, the first-stage push unit 200a and the second-stage push unit 200b are located on two adjacent sides of the support unit 100 having an overall rectangular parallelepiped structure. Figure 4 As shown, the first-stage pushing unit 200a is arranged on the top surface of the supporting unit 100, and the second-stage pushing unit 200b is arranged on a side of the supporting unit 100 away from the patient, then the second-stage supporting unit 110b can be rotated 90° in the counterclockwise direction to the docking position, at which time the catheter delivery port 210b of the second-stage pushing unit 200b is docked with the catheter delivery port 210a of the first-stage pushing unit 200a; after the operation is completed, the second-stage supporting unit 110b is rotated 90° in the clockwise direction to the initial position.

[0076] In this application, see Fig.11 and Fig.12 , two limiting protrusions 411 are arranged in the lumen of the limiting sleeve 410 at intervals along the circumferential direction; see Fig.11 One end of the rotating shaft 420 is in a straight line shape and extends into the gap between the two limiting protrusions 411. Fig.12 The first limiting surface 411a and the second limiting surface 411b are shown. The first limiting surface 411a and the second limiting surface 411b of the two limiting protrusions 411 are alternately arranged along the circumference of the rotating shaft 420. When the second-level support unit 110b is in the initial position, one end of the rotating shaft 420 in a straight line abuts against the first limiting surface 411a of each limiting protrusion 411; when the second-level support unit 110b is in the docking position, one end of the rotating shaft 420 in a straight line abuts against the second limiting surface 411b of each limiting protrusion 411. It should be noted that Fig.11The dotted arrow in represents the rotation direction of the second-stage supporting unit 110 b.

[0077] It is understandable that the interval angle of the two limiting protrusions 411 is related to the preset rotation angle of the second-stage support unit 110b. For example, if the preset rotation angle of the second-stage support unit 110b is 90°, the interval angle of the two limiting protrusions 411 is 180°.

[0078] See also Fig.10 and Fig.13 , a fixing bracket 430 is provided in the support unit 110 of the next stage, and the fixing bracket 430 has an open-loop connection through hole 430a. The fixing bracket 430 adjusts the aperture size of the connection through hole 430a through the locking member 440 to lock the limiting sleeve 410 in the connection through hole 430a or unlock the limiting sleeve 410. By fixing the limiting sleeve 410 with the fixing bracket 430 of this structure, the positional relationship between the limiting sleeve 410 and the rotating shaft 420 can be adjusted to ensure the accurate rotation of the second-stage support unit 110b.

[0079] It should be noted that the fixing bracket 430 has a notch communicating with the connecting via hole 430 a , so that the connecting via hole 430 a forms an open-loop hole structure.

[0080] Among them, see Fig.10 and Fig.13 The end of the limiting sleeve 410 away from the first-stage support unit 110a may be provided with a thread, and the limiting sleeve 410 is prevented from rotating by cooperating with the nut 460 and the stop washer 450. The locking member 440 may be screwed.

[0081] When the second-stage support unit 110b is in the initial position, the installation process of the second-stage support unit 110b and the first-stage support unit 110a is as follows: Fig.10 The following can be described as follows: align the initial mounting surface Q2 of the second-stage support unit 110b with the mounting surface Q1 of the first-stage support unit 110a, sleeve the limiting sleeve 410 on the rotating shaft 420, and Fig.11As shown in the figure, the rotating shaft 420 is always kept in a state where it can rotate clockwise but not counterclockwise relative to the limiting sleeve 410, and then the second-level support unit 110b is connected to the first-level support unit 110a, so that the limiting sleeve 410 is inserted into the connecting hole 430a of the fixed bracket 430 in the first-level support unit 110a, and the first slider 341 is slid to the segmented guide rail 350, so that the first slider 341 is on the two-segment guide rail 350, and the limiting sleeve 410 is locked with the locking member 440. 10 is locked to prevent the limiting sleeve 410 from rotating, and then the threaded section of the limiting sleeve 410 is installed with a stop washer 450, and the nut 460 is tightened. Then the first slider 341 is checked to see if it can pass smoothly through the segmented guide rail. If it is blocked, the locking member 440 and the nut 460 are loosened, and the rotating shaft 420 and the limiting sleeve 410 are rotated for fine adjustment until the first slider 341 passes smoothly through the segmented guide rail, and then at least one movable edge of the stop washer 450 is buckled on the nut 460 to prevent it from loosening. In this way, the second-level support unit 110b can rotate clockwise by 90° normally, and can be limited by the rotating unit 400 when it rotates counterclockwise to restore the initial position, reaching the state during installation, so that the docking accuracy of the segmented guide rail and the rack 320 can allow the first slider 341 to pass smoothly.

[0082] It should be noted that the above is only an installation method of the slave end actuator 10 before leaving the factory, so that the first slider 341 can smoothly pass through the segmented guide rail and accurately rotate to the corresponding angle during use. During surgery, the rotation and docking of the slave end actuator 10 is still completed automatically.

[0083] Further, see Fig. 9 Each stage of the rotating unit 400 further includes a third power member 470, the output shaft of the third power member 470 is provided with a fourth driving gear 471, and the rotating shaft 420 is sleeved with a fifth driving gear 421 meshing with the fourth driving gear 471. It should be noted that after the rotating shaft 420 penetrates into the first stage supporting unit 110a, one end of the shaft section is still located outside the limiting sleeve 410 so as to be sleeved with the fifth driving gear 421 in the first stage supporting unit 110a.

[0084] The third power member 470 may be a motor. It is also possible to determine whether the second-stage support unit 110b has rotated to the proper position by detecting the magnitude of the motor's output current. Specifically, a safety threshold current is set, and the motor current is detected in real time. If the current suddenly increases to the set safety threshold current, it is determined that the second-stage support unit 110b has rotated to the proper position, and the motor brake is locked to avoid the influence of the gear backlash on the rotation accuracy, thereby ensuring that the second-stage support unit 110b has rotated to the proper position.

[0085] It should be noted that the rotation angle of the given motor must be greater than or equal to the preset angle (for example Fig.11 90° as shown). If the method of matching the limiting sleeve 410 with the rotating shaft 420 and the method of detecting the output current of the motor are used at the same time to determine whether the second-level support unit 110b is rotated to the right position, when the second-level support unit 110b rotates to the rotation angle given by the motor (for example, 90°), it has not yet abutted against the two limiting protrusions 411 in the limiting sleeve 410, then the detection of the output current of the motor is used as the basis to determine whether the second-level support unit 110b is rotated to the right position; when the rotation angle of the given motor is greater than the preset angle (for example, 90°), the method of matching the limiting sleeve 410 with the rotating shaft 420 is used as the basis to determine whether the second-level support unit 110b is rotated to the right position.

[0086] In some embodiments of the present application, see Figure 6 The first friction wheel assembly 212 includes a first base 2122 disposed on the corresponding level support unit 110 and a plurality of catheter friction wheels 2121 rotatably disposed on the first base 2122. The plurality of catheter friction wheels 2121 are spaced apart and divided into two rows along the width direction of the corresponding level support unit 110 to form a catheter pushing channel 212a; wherein the rotation directions of the two opposite catheter friction wheels 2121 are opposite. When one of the two opposite catheter friction wheels 2121 rotates clockwise and the other rotates counterclockwise, the catheter can be pushed and withdrawn. It should be noted that Figure 6 The dotted curved arrow in the figure represents the rotation direction of the catheter friction wheel 2121, and the dotted straight arrow represents the movement direction of the catheter.

[0087] The number of friction wheels 2121 in each row of catheters can be Figure 6 The one shown may also be two, three or more.

[0088] The two opposite catheter friction wheels 2121 can also reciprocate along their respective rotating shafts and move in opposite directions. When the two opposite catheter friction wheels 2121 reciprocate along their respective rotating shafts, the catheter can be twisted and rotated. It should be noted that when pushing the catheter, the catheter can be rotated by rotating the end of the valve body 2112 close to the first friction wheel assembly 212, or by reciprocating the two opposite catheter friction wheels 2121.

[0089] A plurality of fourth power members (not shown in the drawings) and a plurality of fifth power members (not shown in the drawings) are arranged in the first base 2122. The fourth power members are used to drive the corresponding catheter friction wheels 2121 to rotate, and the fifth power members are used to drive the corresponding catheter friction wheels 2121 to reciprocate along the rotating shaft.

[0090] like Fig.14 and Fig.15As shown, the first base 2122 may be provided with a guide tube 2123, which is in communication with the catheter pushing channel 212a and can be inserted into the catheter delivery port 210a of the previous stage pushing unit 200. The guide tube 2123 can be inserted into the catheter delivery port 210a of the first stage pushing unit 200a to provide guidance and support for the microcatheter A2, and assist the microcatheter A2 to enter the guide catheter A1 through the Y-valve sliding assembly 211 of the first stage pushing unit 200a.

[0091] It should be noted that when applied to three or more groups of catheter guidewire scenarios, except for the first friction wheel assembly 212 of the first-stage pushing unit 200a which is not provided with a guide tube 2123, the first friction wheel assemblies 212 of the other stages of pushing units 200 are all provided with a guide tube 2123.

[0092] The guide tube 2123 is a guide hose, and one end of the first friction wheel assembly 212 away from the same level push unit 200 is as shown in FIG. Fig.14 In order to facilitate the alignment of the guide tube 2123 with the guide tube push channel 212a of the first friction wheel assembly 212, Fig.14 A support plate 2124 is disposed on the first base 2122 of the first friction wheel assembly 212 shown, and the guide tube 2123 is disposed on the support plate 2124 .

[0093] Among them, see Fig.17 Continuing with the two-tube-one-wire interventional surgery application scenario as an example, the control process of catheter replacement and docking can be described as:

[0094] First, it is necessary to set the safety threshold current A of the third power member 470 for driving the second-stage support unit 110b to rotate and the rotation angle B required for docking according to the shape of the support unit 100 (ie, the preset angle at which the second-stage support unit 110b needs to rotate).

[0095] After that, after the distal end of the guide catheter A1 is pushed to the target tissue and the guide wire B1 is withdrawn, the connection between the guide wire pushing unit 220 of the first-stage pushing unit 200a and the Y-valve sliding assembly 211 is disconnected, and then the second-stage support unit 110b rotates. During the rotation process, the current and the rotation angle of the third power member 470 are detected in real time. If the real-time current exceeds the safety threshold or the rotation angle reaches the preset angle, the third power member 470 stops moving. At this time, the first friction wheel assembly 212 of the second-stage pushing unit 200b is aligned with the mounting surface of the Y-valve sliding assembly 211 of the first-stage pushing unit 200a, and the replacement of the catheter is completed.

[0096] Then, the Y-valve sliding assembly 211 of the first-stage pushing unit 200a moves toward the guide tube 2123 of the second-stage pushing unit 200b until the guide tube 2123 is inserted into the pushing channel of the first-stage pushing unit 200a. After that, the guide wire pushing module of the second-stage pushing unit 200b pushes the microcatheter A2, and the microcatheter A2 enters the Y-valve sliding assembly 211 of the first-stage pushing unit 200a through the guide tube 2123; after the microcatheter A2 enters the distance of one end of the Y-valve sliding assembly 211, the Y-valve sliding assembly 211 of the first-stage pushing unit 200a is moved in a direction away from the guide tube 2123 until it is separated from the guide tube 2123, and the docking of the microcatheter A2 and the guide catheter A1 is completed.

[0097] In some embodiments of the present application, see Figure 4 and Fig.16 , each level of storage unit also includes a catheter storage unit 240, which is arranged on the support unit 110 of the corresponding level and is located between the first friction wheel assembly 212 and the Y-valve sliding assembly 211; wherein the catheter storage unit 240 includes a rotatable catheter reel 241. Before pushing the catheter, the catheter can be wound on the catheter reel 241 of the catheter storage unit 240 for storage; when the catheter is pushed, the catheter can be released by rotating the catheter reel 241. The catheter storage unit 240 effectively shortens the length of the slave end actuator 10 required to install the catheter, and can reduce the size of the space occupied by the slave end actuator 10. It should be noted that, Fig.17 The dotted arrow in the figure represents the storage direction of the catheter, and the solid arrow represents the release direction of the catheter.

[0098] It should be noted that, since the release process of the catheter and the pushing process of the catheter occur simultaneously, the release speed of the catheter should be slightly lower than the pushing speed. In this way, when the catheter is released, the catheter reel 241 reverses, and both ends of the storage catheter are relaxed. However, at this time, the catheter friction wheel 2121 will push one end of the catheter forward. Since the release speed is lower than the pushing speed, the other relaxed end will slide on the catheter reel 241 due to the pulling of the friction wheel, thereby tightening the relaxed part of this end. After it is completely released, the slightly relaxed part of the catheter will come off the catheter reel 241 and then be completely straightened.

[0099] It should be noted that the length of the guide catheter A1 stored in the catheter storage unit 240 of the first-stage pushing unit 200a is smaller than the distance between the slave end actuator 10 and the sheath outlet inserted into the human body. When the guide catheter A1 is pushed between the slave end actuator 10 and the sheath outlet, since the guide catheter A1 is provided with an outer tube for guiding, it is not necessary to rotate the guide catheter A1; and when the guide catheter A1 is pushed to the sheath outlet, the guide catheter A1 has fallen off the catheter reel 241 and is straightened, and the guide catheter A1 can be rotated and pushed normally at this time, so it is not necessary to rotate the catheter storage unit 240 as a whole to meet the rotation requirements of the guide catheter A1.

[0100] The length of the microcatheter A2 stored in the catheter storage unit 240 of the second-stage pushing unit 200b is smaller than the distance between the distal end of the guide catheter A1 and the catheter delivery outlet 210b of the first-stage pushing unit 200a. When the microcatheter A2 is pushed between the distal end of the guide catheter A1 and the catheter delivery outlet 210b of the first-stage pushing unit 200a, since the microcatheter A2 is always located in the guide catheter A1, it is not necessary to rotate the microcatheter A2; and when the microcatheter A2 is pushed to the catheter delivery outlet 210b of the first-stage pushing unit 200a, the microcatheter A2 has fallen off the catheter reel 241 and has been straightened, and the microcatheter A2 can be rotated and pushed normally at this time, so it is not necessary to rotate the catheter storage unit 240 as a whole to meet the rotation requirement of the microcatheter A2.

[0101] The outer surface of the catheter reel 241 may be provided with a catheter hook 244. When storing the catheter, the middle of the catheter may be hung on the catheter hook 244, and the two ends of the catheter may be hung on the catheter hook 244. Fig.17 The storage direction shown is for wound storage.

[0102] The outer surface of the catheter reel 241 may also be provided with a slip-enhancing layer, which can reduce the friction between the catheter and the catheter reel 241 and protect the catheter. The slip-enhancing layer may be made of a slip-enhancing material such as polytetrafluoroethylene.

[0103] Further, see Fig.17 The catheter storage unit 240 further includes a tube cover 242, which is disposed on the supporting unit 110 of the corresponding level, and the catheter reel 241 is rotatably disposed in the tube cover 242. The tube cover 242 facilitates the installation of the catheter reel 241.

[0104] A sixth power member 245 for driving the catheter reel 241 to rotate is further disposed outside the bundle tube cover 242. The sixth power member 245 may be a motor, and the output shaft of the motor is coaxially connected to the catheter reel 241.

[0105] See also Fig.17The tube cover 242 has a window, and the catheter storage unit 240 further includes a protective cover 243, which is detachably arranged on the window, and a tube-through gap is formed between the protective cover 243 and the tube cover 242 after the protective cover 243 is closed. The protective cover 243 can protect the catheter in the tube cover 242.

[0106] In some embodiments of the present application, see Figure 8 The second friction wheel assembly includes a third base 222 disposed on the corresponding level support unit 110 and a plurality of wire guide friction wheels 221 rotatably disposed on the third base 222. The plurality of wire guide friction wheels 221 are spaced apart and divided into two rows along the width direction of the corresponding level support unit 110 to form a wire guide pushing channel 230a. The two relative wire guide friction wheels 221 rotate in opposite directions and can also reciprocate along their respective rotating shafts in opposite directions. The wire guide friction wheels 221 can realize pushing and rotating of the wire guide.

[0107] It should be noted that during operation, the guide wire and the catheter can be pushed alternately until the catheter reaches the target position. Since the Y-valve sliding assembly 211 of each level of the pushing unit 200 will move together with the guide wire pushing unit 220 when moving, in order to avoid the guide wire and the catheter being pushed at the same time, when the Y-valve sliding assembly 211 pushes the catheter, the guide wire friction wheel 221 of the guide wire pushing unit 220 is reversed, that is, the guide wire is withdrawn backward, so that the position of the guide wire remains unchanged, so that only the catheter is pushed; after the current round of catheter pushing is completed, the guide wire friction wheel 221 of the guide wire pushing unit 220 is turned forward to push the guide wire.

[0108] Among them, Fig.18 As shown, the alternate pushing control process of the guidewire catheter can be described as:

[0109] After the guide wire is inserted into the catheter and installed at the designated position, the catheter friction wheel 2121 clamps the catheter and rotates, and the catheter storage unit storing the catheter rotates to release the catheter. This process continues until the catheter is completely released and straightened, and then the catheter friction wheel 2121 and the catheter storage unit stop moving. At this time, the catheter and the guide wire inserted inside are pushed together for a distance. Depending on the different pushing catheters, this distance can be the distance between the end actuator 10 and the sheath outlet in the human blood vessel, or the distance between the distal end of the guide catheter A1 and the push channel of the first-stage push unit 200a.

[0110] Then, the catheter friction wheel 2121 and the catheter storage unit 240 stop moving, and the catheter friction wheel 2121 clamps the catheter, but the clamping force cannot affect the movement of the guide wire in the catheter. Then the guide wire friction wheel 221 clamps the guide wire and rotates, and the second storage component 230 synchronously releases the stored guide wire to achieve only pushing the guide wire; after advancing a certain distance, the guide wire friction wheel 221 and the second storage component 230 stop moving, the catheter friction wheel 2121 clamps the catheter and rotates, and the Y-valve sliding component 211 clamps the rear end of the catheter and follows the movement at a differential speed. However, since the Y-valve sliding component 211 is magnetically connected to the guide wire friction wheel 221 and the second storage component 230, the guide wire will also move forward when the catheter moves forward, so the guide wire friction wheel 221 needs to be reversed synchronously, and the second storage component 230 recycles the guide wire, so as to achieve only pushing the catheter. This process is performed alternately until the catheter is delivered to the target position.

[0111] Then, the catheter friction wheel 2121 clamps the catheter and the Y-valve sliding assembly 211 stops moving, the guide wire friction wheel 221 reverses to withdraw the guide wire from the catheter, and the second storage assembly 230 rotates to recycle the guide wire until the guide wire is completely withdrawn from the catheter, and then the guide wire friction wheel 221 and the second storage assembly 230 stop moving.

[0112] The driving method and the number of the guide wire friction wheel 221 can be the same as those of the catheter friction wheel 2121 .

[0113] In some embodiments of the present application, see Fig.19 The second storage assembly 230 includes a second base 231 and a guide wire retracting wheel 232. The second base 231 is disposed on the corresponding level support unit 110, and the guide wire retracting wheel 232 is rotatably disposed on the second base 231. The guide wire retracting wheel 232 can release and store the guide wire by rotating, so the second storage assembly 230 can effectively shorten the length of the slave end actuator 10 required for installing the guide wire, and can reduce the size of the space occupied by the slave end actuator 10.

[0114] Among them, Fig.19 As shown, the guide wire retracting wheel 232 can be rotatably arranged on the second base 231 by matching the support shaft 235 with the nut 236. The guide wire retracting wheel 232 may include a wheel body 2321 and a first rotating disk 2322 and a second rotating disk 2323 arranged at both ends of the wheel body 2321 in the axial direction, and the wheel body 2321 is used to wind the guide wire.

[0115] A sixth power member 237 is disposed on the second base 231, and an output shaft of the sixth power member 237 is provided with a sixth driving gear 2371 meshing with the second rotating disk 2323. The sixth power member 237 is a motor.

[0116] Furthermore, the guide wire retracting wheel 232 has intersecting guide wire fixing holes and press-fitting holes; see Fig.19 , the second storage assembly 230 also includes a wire pressing piece 233, which can slide along the press-fit hole until it extends into the guide wire fixing hole or detaches from the guide wire fixing hole. When installing the guide wire, a wire end of the guide wire can be first inserted into the guide wire fixing hole of the guide wire retracting wheel 232, and then the wire pressing piece 233 is pressed down until the wire pressing piece 233 extends from the press-fit hole into the guide wire fixing hole to press the guide wire, thereby achieving the fixation of the guide wire. As an example, the guide wire fixing hole is arranged along the radial direction of the guide wire retracting wheel 232, and the pressing hole is arranged along the direction parallel to the axial direction of the guide wire retracting wheel 232.

[0117] See also Fig.19 The end surface of the wire retracting wheel 232 away from the second base 231 is provided with a support frame 234, and the support frame 234 has a slot 234a; the wire pressing piece 233 is provided with a knob 2331. When the wire pressing piece 233 is inserted into the wire fixing hole, the knob 2331 passes through the slot 234a into the support frame 234 and can be misaligned with the slot 234a by its own rotation to position the wire pressing rod. The fixing of the wire pressing piece 233 can be achieved by the cooperation of the support frame 234 and the knob 2331.

[0118] Among them, knob 2331 is as follows Fig.19 As shown, the support frame 234 may be in a straight-line structure, and the slot 234a is also configured to be a straight-line slot structure that matches the knob 2331. When the knob 2331 is aligned with the slot 234a, the knob 2331 can pass through the slot 234a; when the knob 2331 is misaligned with the slot 234a, the knob 2331 cannot pass through the slot 234a. Fig.19 The shape shown is an inverted "U".

[0119] An elastic layer (not shown in the drawings) is provided on one end face of the wire pressing piece 233 extending into the guide wire fixing hole. The elastic layer not only protects the guide wire, but also applies a force to the wire pressing piece 233 due to pressure. The force causes the knob 2331 to abut against the top wall of the support frame 234, thereby locking the wire pressing piece 233.

[0120] In order to ensure the normal rotation of the guide wire, the second base 231 is rotatably arranged on the supporting unit 110 of the corresponding level. Fig. 20 , two rotating support plates 238 are arranged at intervals on the support unit 110 of the corresponding level, and the second base 231 is U-shaped and rotatably arranged between the rotating support plates 238 through the rotating shaft 2311. A seventh power member 239 is arranged on one of the rotating support plates 238, and the output shaft of the seventh power member 239 is coaxially connected to one of the rotating shafts, and the seventh power member 239 can be a motor. It should be noted that one of the rotating shafts 2311 is a hollow rotating shaft for passing a guide wire.

[0121] The following is Fig.21 For example, the entire working steps of the slave execution device 10 applied to the two-tube-one-wire interventional surgery application scenario are described as follows:

[0122] First, the guide wire B1 is inserted into the guide catheter A1, and the micro guide wire B2 is inserted into the micro catheter A2. Then, the guide catheter A1 and the micro catheter A2 are installed to the designated positions and the excess parts are stored. The second-level support unit 110b is rotated to the initial position.

[0123] First, the catheter friction wheel 2121 is used to push the guide catheter A1 and the internal guide wire B1, and the catheter storage unit 240 releases the stored guide catheter A1 until it is completely released. At this time, the guide catheter A1 between the catheter friction wheel 2121 and the Y-valve sliding assembly 211 is in a straightened state. Fig.21 As shown, the guide wire B1 and the guide catheter A1 are alternately pushed to the target tissue;

[0124] Disconnect the connection between the guidewire pushing unit 220 and the Y-valve sliding assembly 211, rotate the second-level support unit 110b, and align the catheter friction wheel 2121 of the microcatheter A2 with the Y-valve sliding assembly 211 on the first-level support unit 110a for docking;

[0125] After the microcatheter A2 is docked with the guide catheter A1, the microcatheter A2 and the microguidewire B2 are pushed in the same way as the guide catheter A1 and the guide wire B1 until the microcatheter A2 reaches the lesion location.

[0126] On the other hand, the present application also provides an interventional surgery system, which includes a control device and a slave end actuator 10 as described in any one of the above items, the control device is communicatively connected with the slave end actuator 10 and is configured to: control the pushing of the multi-stage elongated component according to the pushing instruction, wherein:

[0127] According to the primary pushing instruction, the first friction wheel assembly 212 of the primary pushing unit 200 is controlled to move to tension the first slender member of the primary slender member. After the first slender member of the primary slender member is tensioned, the second friction wheel assembly of the primary pushing unit 200 is controlled to push the second slender member of the primary slender member to move along the inner cavity of the first slender member of the primary slender member until the distal end of the second slender member of the primary slender member approaches the distal end of the first slender member of the primary slender member. Subsequently, the first friction wheel assembly 212, the Y-valve sliding assembly 211 and the second friction wheel assembly of the primary pushing unit are controlled to push the second slender member and the first slender member of the primary slender member in sequence and step by step. After the first slender member and the second slender member of the primary slender member are pushed into place, the second friction wheel assembly of the primary pushing unit 200 is controlled to move until the second slender member of the primary slender member is withdrawn.

[0128] According to the intermediate pushing instruction or the final pushing instruction, the intermediate pushing unit or the final pushing unit is controlled to move relative to the adjacent previous pushing unit 200 until the first friction wheel assembly 212 of the intermediate pushing unit 200 or the final pushing unit 200 docks with the Y-valve sliding assembly 211 of the previous pushing unit 200, and then the intermediate pushing unit 200 or the final pushing unit 200 is controlled according to the pushing mode of the intermediate pushing unit 200 so that the second slender member and the first slender member of the intermediate slender assembly or the final slender assembly are pushed step by step in sequence in the first slender member of the previous slender assembly.

[0129] In addition to pushing the catheter guidewire during the operation, this interventional surgery system can also replace, dock and recycle the catheter guidewire, avoiding manual replacement of the catheter and guidewire during the operation and ensuring the continuity of the operation.

[0130] It should be noted that when applied to an interventional surgery scenario with two tubes and one wire, the control device of the interventional surgery system should first operate the primary slender component accordingly based on the primary push instruction, and then operate the final slender component accordingly based on the final push instruction. When applied to an interventional surgery scenario with more catheters and guidewires, the control device also operates the intermediate slender component accordingly based on the intermediate push instruction.

[0131] On the other hand, the present application also provides a control method of the slave execution device 10, the control method comprising the following steps:

[0132] According to the primary pushing instruction, the first friction wheel assembly 212 of the primary pushing unit 200 is controlled to move to tension the first slender member of the primary slender member. After the first slender member of the primary slender member is tensioned, the second friction wheel assembly of the primary pushing unit 200 is controlled to push the second slender member of the primary slender member to move along the inner cavity of the first slender member of the primary slender member until the distal end of the second slender member of the primary slender member approaches the distal end of the first slender member of the primary slender member. Subsequently, the first friction wheel assembly 212, the Y-valve sliding assembly 211 and the second friction wheel assembly of the primary pushing unit 200 are controlled to push the second slender member and the first slender member of the primary slender member in sequence and step by step. After the first slender member and the second slender member of the primary slender member are pushed into place, the second friction wheel assembly of the primary pushing unit 200 is controlled to move until the second slender member of the primary slender member is withdrawn.

[0133] According to the final-stage pushing instruction, the final-stage pushing unit 200 is controlled to move relative to the primary pushing unit 200 until the first friction wheel assembly 212 of the final-stage pushing unit 200 docks with the Y-valve sliding assembly 211 of the primary pushing unit 200, and then the final-stage pushing unit 200 is controlled according to the pushing mode of the primary pushing unit 200 so that the second slender member and the first slender member of the final-stage slender member are pushed step by step in sequence inside the first slender member of the primary slender member.

[0134] The control method of the slave-end actuator 10 can not only push the catheter guidewire during the operation, but also replace, dock and recycle the catheter guidewire, thereby avoiding manual replacement of the catheter and wire in the middle of the operation and ensuring the continuity of the operation.

[0135] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0136] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A slave-end actuator for controlling the pushing of a multi-stage elongated component, characterized in that: The slave-end execution device includes a multi-stage pushing unit, each stage of the pushing unit corresponds to each stage of the slender component one by one and has a pushing channel, and each stage of the pushing unit moves relative to the pushing unit of the adjacent previous stage so that its own pushing channel docks with the pushing channel of the pushing unit of the adjacent previous stage, thereby enabling the slender component of the corresponding stage to be pushed inside the slender component of the previous stage.

2. The slave execution device according to claim 1, characterized in that: The slave-end execution device further includes a plurality of supporting units connected in sequence, wherein the supporting units of the adjacent subsequent stage can rotate around the axis of the supporting units of the adjacent previous stage, so that the pushing channels of the two adjacent pushing units are butted; or, the supporting units of the adjacent subsequent stage slide along the side of the supporting units of the adjacent previous stage to drive the pushing units of the corresponding stage to slide, so that the pushing channels of the two adjacent pushing units are butted; Wherein, when the adjacent subsequent support unit rotates relative to the previous support unit, at least part of the previous push unit and at least part of the subsequent push unit are respectively arranged on different sides of the two adjacent support units; When the adjacent subsequent support unit slides relative to the side of the previous support unit, the number of the subsequent push units is at least two, and the two subsequent push units are respectively arranged close to the side of the previous support unit.

3. The slave execution device according to claim 2, characterized in that: Each level of the elongated component includes a first elongated member and a second elongated member that can be inserted into the first elongated member; each level of the pushing unit includes a first friction wheel assembly, a Y-valve sliding assembly and a second friction wheel assembly, wherein the pushing channel is formed between the valve cavity of the Y-valve sliding assembly and the gap between the wheels of the first friction wheel assembly to push the first elongated member of the corresponding level of the elongated component, and the second friction wheel assembly is used to push the second elongated member of the corresponding level of the elongated component; Among them, the multi-stage pushing unit includes a primary pushing unit and a final pushing unit, in which at least the first friction wheel assembly of the primary pushing unit is arranged on the primary supporting unit, and the second friction wheel assembly of the primary pushing unit and the final pushing unit are respectively arranged on different sides of the final supporting unit.

4. The slave execution device according to claim 3, characterized in that: The multi-stage pushing unit further comprises at least one intermediate pushing unit arranged between the primary pushing unit and the final pushing unit, and the first friction wheel assembly and the Y-valve assembly of each intermediate pushing unit are respectively arranged on different sides of the first intermediate supporting unit with the second friction wheel assembly of the adjacent previous pushing unit; Moreover, the second friction wheel assembly of each intermediate pushing unit and the first friction wheel assembly and the Y-valve assembly of the adjacent subsequent pushing unit are respectively arranged on different sides of the second intermediate support unit or the final support unit, wherein the first intermediate support unit and the second intermediate support unit are adjacent.

5. The slave execution device according to claim 3, characterized in that: The Y-valve assembly in the primary pushing unit is selectively arranged on the primary supporting unit and is located on the same side of the primary supporting unit as the first friction wheel assembly; Alternatively, when the primary pushing unit and the final pushing unit are adjacent, the Y-valve assembly in the primary pushing unit is selectively arranged on the final supporting unit and is located on the same side of the final supporting unit as the second friction wheel assembly of the primary pushing unit.

6. The slave execution device according to any one of claims 3 to 5, characterized in that: The slave-end actuator also includes a multi-stage direct-acting unit, each stage of the direct-acting unit includes a first power member and a rack, the first power member is connected to the Y-valve sliding assembly of the pushing unit of the corresponding stage, and a first driving gear matching the rack is arranged on the output shaft of the first power member, and the rack is arranged in the support unit of the corresponding stage or in the support units of two adjacent stages.

7. The slave execution device according to any one of claims 3 to 5, characterized in that: The slave-end execution device also includes at least one level of rotation unit, and each level of rotation unit is arranged between the corresponding two adjacent levels of support units, so that the support unit of the next level can rotate at a preset angle in a preset direction relative to the support unit of the previous level, wherein each level of rotation unit includes a limit sleeve and a rotating shaft rotatably arranged in the limit sleeve.

8. The slave execution device according to claim 7, characterized in that: Two limiting protrusions are arranged in the tube cavity of the limiting sleeve along the circumferential interval, and one end of the rotating shaft is in a straight line shape and extends into the gap between the two limiting protrusions; and / or, a fixed bracket is arranged in the support unit of the latter level, and the fixed bracket has an open-loop connecting through hole, and the fixed bracket adjusts the aperture size of the connecting through hole through a locking piece to lock the limiting sleeve to the connecting through hole or release the locking of the limiting sleeve.

9. The slave execution device according to claim 1, characterized in that: The slave execution device further comprises a multi-level storage unit, each level of the storage unit comprises a first storage component and / or a second storage component; Each level of the slender components includes a first slender member and a second slender member that can be inserted into the first slender member; before being pushed, the middle part of the first slender member of each level of the slender components is wound around the first storage component of the storage unit of the corresponding level, and the inlet end and the distal end are both arranged in the pushing channel of the pushing unit of the corresponding level; and / or, before being pushed, the distal end of the second slender member of each level of the slender components is arranged in the first slender member of the same level, and the remaining part is wound around the second storage component of the storage unit of the corresponding level.

10. The slave execution device according to claim 9, characterized in that: The first storage assembly includes a reel, a tube cover and a protective cover. The reel is rotatably arranged in the tube cover. The tube cover is arranged on a supporting unit of a corresponding level and has a window. The protective cover is detachably arranged in the window, and a tube penetration gap is provided between the protective cover and the tube cover when the protective cover is closed.

11. The slave execution device according to claim 9, characterized in that: The second storage component includes a wire pressing member and a rotatable retracting wheel, wherein the retracting wheel has intersecting guide wire fixing holes and pressing holes, and the wire pressing member can slide along the pressing holes until it extends into the fixing holes or detaches from the fixing holes.

12. An interventional surgery system, characterized in that: The interventional surgery system comprises a control device and a slave-end actuator according to any one of claims 1 to 11, wherein the control device is communicatively connected with the slave-end actuator and is configured to: control the pushing of the multi-stage elongated component according to a pushing instruction, wherein: According to the primary pushing instruction, the first friction wheel assembly of the primary pushing unit is controlled to move to tension the first slender member of the primary slender member, and after the first slender member of the primary slender member is tensioned, the second friction wheel assembly of the primary pushing unit is controlled to push the second slender member of the primary slender member to move along the inner cavity of the first slender member of the primary slender member until the distal end of the second slender member of the primary slender member approaches the distal end of the first slender member of the primary slender member, and then the first friction wheel assembly, the Y-valve sliding assembly and the second friction wheel assembly of the primary pushing unit are controlled to push the second slender member and the first slender member of the primary slender member in sequence and step by step, and after the first slender member and the second slender member of the primary slender member are pushed into place, the second friction wheel assembly of the primary pushing unit is controlled to move until the second slender member of the primary slender member is withdrawn; According to the intermediate pushing instruction or the final pushing instruction, the intermediate pushing unit or the final pushing unit is controlled to move relative to the adjacent previous pushing unit until the first friction wheel assembly of the intermediate pushing unit or the final pushing unit docks with the Y-valve sliding assembly of the previous pushing unit, and then the intermediate pushing unit or the final pushing unit is controlled according to the pushing mode of the primary pushing unit so that the second slender member and the first slender member of the intermediate slender assembly or the final slender assembly are pushed step by step in sequence inside the first slender member of the previous slender assembly.

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