Interventional robot slave end device for driving double guide wires and single catheter and use method of interventional robot slave end device

Abstract

The invention discloses an interventional robot slave end device for driving double guide wires and a single catheter, which is characterized in that a first port control module, a first clamping rotation and port control module and a second clamping rotation mechanism are sequentially arranged on a first linear rail group, and a third clamping rotation mechanism is arranged on a second linear rail group; the rear portion of the first guide pipe is arranged on the first port control module, the rear portion of the first port control module is connected with the orbital transfer pipe or the rear portion of the first port control module is aligned with the orbital transfer pipe, and the front portion of the second guide pipe is directly inserted into the first guide pipe or inserted into the first guide pipe through a forked section of the orbital transfer pipe. The rear end of the second catheter is installed on the first clamping rotation and port control module, the first guide wire is installed in the second clamping rotation mechanism, and simultaneous driving of the double guide wires and the single catheter is achieved through the orbital transfer guiding function of the orbital transfer pipe. Convergence of the guide wires and / or the guide pipes is achieved in an orbital transfer pipe mode, and therefore the multiple guide wires and the multiple guide pipes move in place in a coordinated mode.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an interventional robot slave device for driving double guidewires and a single catheter, and a method for using the same. Background Art

[0002] Minimally invasive interventional therapy is the primary treatment for cardiovascular and cerebrovascular diseases. Guided by fluoroscopic imaging equipment, it utilizes interventional devices to diagnose and treat diseases through physiological cavities. Compared to traditional surgical procedures, it offers significant advantages, including improved efficacy, increased safety, smaller incisions, and shorter postoperative recovery times.

[0003] Vascular interventional procedures primarily include femoral / radial artery puncture, coordinated advancement of a guidewire and angiography catheter, digital subtraction angiography (DSA), coordinated advancement of a therapeutic guidewire and balloon catheter, and stent placement. The coordinated advancement of the guidewire, catheter, and balloon catheter is a time-consuming step in these procedures and requires X-ray image navigation. Currently, vascular interventional procedures are typically performed manually by physicians. During the procedure, DSA emits X-rays, requiring the physician to wear a heavy lead vest. This rapidly degrades the physician's stamina, concentration, and stability, leading to decreased precision and a high risk of life-threatening accidents such as intimal damage and vascular perforation and rupture caused by improper thrust. Furthermore, prolonged wear of the lead vest can damage the physician's spine. Furthermore, the cumulative damage from long-term ionizing radiation exposure significantly increases the physician's risk of leukemia, cancer, and acute cataracts. Therefore, to ensure physician health and surgical quality, research and development of interventional surgical robots is intensifying, and a growing number of robots are now being used in clinical practice.

[0004] Existing interventional surgical robots mainly adopt a master-slave end operation structure to isolate doctors from the radioactive environment. The existing interventional robot slave end device needs to clamp slender medical devices such as catheters and guide wires and move them from their proximal end to the distal end. The coordinated movement of the device drives the catheter and guide wire forward and delivers them to the lesion in the patient's body (such as within the blood vessel), making it convenient for doctors to perform subsequent related treatments such as angiography, embolization of abnormal blood vessels, dissolution of blood clots, and dilation of narrowed blood vessels.

[0005] For example, the following patents applied for by Shenzhen Aibo Medical Robot Co., Ltd.: an interventional surgical robot slave end with application number 2022116787026; an interventional surgical robot slave end with application number 202211686818.4; an interventional surgical robot slave end guidewire catheter control device with application number 202210923132.6; an interventional surgical robot slave end device with application number 202210326352.0, etc.; it splits the power to control the catheter / guidewire and controls it through the catheter delivery mechanism. The delivery of the corresponding catheter is controlled by the catheter rotation mechanism, the rotation of the corresponding catheter is controlled by the catheter rotation mechanism, the delivery of the guidewire is controlled by the guidewire delivery mechanism, and the rotation of the guidewire is controlled by the guidewire rotation mechanism. Its shortcomings are as follows: (1) The structures of the catheter rotation mechanism and the guidewire rotation mechanism are relatively complex; (2) The balloon delivery mechanism applies frictional force to the balloon catheter through the synchronous rotation of the active roller and the driven roller. Under the action of the frictional force, the balloon is delivered forward. There is no force perception during the delivery process, so force feedback cannot be achieved and the safety of the operation cannot be guaranteed; (3) The coordinated delivery of multiple catheters and guidewires cannot be achieved.

[0006] Therefore, how to provide an interventional surgical robot slave device and a control method thereof that facilitates the movement and rotation control of one or more sets of catheters and guidewires is a problem that needs to be urgently solved by those skilled in the art. Summary of the Invention

[0007] The purpose of the present invention is to provide an interventional robot slave device for driving dual guidewires and a single catheter and a method of using the same, so as to solve the existing technical defects and unmet technical requirements.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] An interventional robot slave device for driving dual guidewires and a single catheter, wherein the linear track group is provided with two groups, namely a first linear track group and a second linear track group, the first linear track group is sequentially equipped with a first port control module, a first clamping rotation and port control module, and a second clamping rotation mechanism, the second linear track group is equipped with a third clamping rotation mechanism, the rear of the first catheter is mounted on the first port control module, and the rear of the first port control module is connected to a track change tube or the rear of the first port control module is aligned with the track change tube, and the front of the second catheter is directly inserted into the first catheter Or the first catheter is inserted into the bifurcated section of the track change tube, the rear end of the second catheter is installed on the first clamping rotation and port control module, the first guide wire is installed in the second clamping rotation mechanism, and the first guide wire can pass through the second catheter and the first catheter to the biological tissue, or the first guide wire can pass through the second catheter, the bifurcated section of the track change tube, and the first catheter to the biological tissue; the second guide wire is installed in the third clamping rotation mechanism, the second guide wire can pass through the track change tube and the first catheter to the biological tissue, and the track change guiding function of the track change tube is used to realize the simultaneous driving of the double guide wires and the single catheter.

[0010] An interventional robot slave device for driving double guidewires and a single catheter, wherein the linear track group is provided with two groups, namely a first linear track group and a second linear track group, the first linear track group is sequentially equipped with a first port control module, a first clamping rotation and port control module and a second clamping rotation mechanism, the second linear track group is equipped with a third clamping rotation mechanism, the rear portion of the first catheter is mounted on the first port control module, and the front portion of the second catheter is inserted into the first catheter, the rear portion of the second catheter is mounted on the first clamping rotation and port control module, the first clamping rotation and port control module The rear end of the module is connected to the track changing tube or the rear end of the first clamping rotation and port control module is aligned with the track changing tube; the first guide wire is installed in the second clamping rotation mechanism, and the first guide wire can pass through the second catheter and the first catheter to the biological tissue, or the first guide wire can pass through the bifurcation section of the track changing tube, the second catheter, and the first catheter in sequence to the biological tissue; the second guide wire is installed in the third clamping rotation mechanism, and the second guide wire can pass through the track changing tube, the second catheter, and the first catheter in sequence to the biological tissue. Through the track changing guiding function of the track changing tube, the simultaneous driving of the double guide wires and the single catheter is realized.

[0011] Preferably, the first clamping rotation and port control module includes a first clamping rotation mechanism and a second port control module, the first clamping rotation mechanism and the second port control module are respectively mounted on the first linear rail group through the module fixing seat a and the module fixing seat b, or the first clamping rotation mechanism and the second port control module are both mounted on a module fixing seat b, the module fixing seat b is mounted on the first linear rail group, the module fixing seat a and the module fixing seat b can slide independently on the first linear rail group, the first clamping rotation mechanism is used to clamp the second conduit for clamping and rotation, and the second port control module is used to support the inlet end of the second conduit.

[0012] Preferably, the body of the track change tube is a side-opening structure, and a buckle structure is provided on the body, which can quickly open or close the body of the track change tube, so that the first guide wire and / or the second guide wire can be quickly removed from the side of the tube body. The buckle structure is one or a combination of a snap, a lock, and a magnet.

[0013] Preferably, the track change tube is a Y-shaped bifurcated tube, and a portion of the second catheter can extend into the bifurcation of the track change tube. The bifurcated section of the track change tube can play a certain supporting role to prevent the clamping position of the second catheter from being too far away from the inlet end of the first catheter, causing it to bend during delivery.

[0014] Preferably, a second support assembly for guiding the movement of the first guide wire is installed on the first linear rail group and located between the second port control module and the second clamping and rotating mechanism; a third support assembly for guiding the movement of the second guide wire is installed on the second linear rail group and located between the third port control module and the third clamping and rotating mechanism, the first guide wire passes into the second support assembly, and the second guide wire passes into the third support assembly, the second support assembly and the third support assembly can be respectively telescopic or axially translated, for limiting the first guide wire and the second guide wire to a fixed axial direction, to avoid the first guide wire and the second guide wire from bending during delivery; the second support assembly and the third support assembly include at least one of a telescopic tube assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly, and the guide ring assembly is an openable and closable support ring, which is convenient for placing and clamping the first guide wire or the second guide wire from the top.

[0015] Preferably, the track-changing tube is a curved tube that changes from one track to another, and the rear end of the first conduit is installed in the first clamping rotation and port control module; one end of the curved tube is aligned with the rear end opening of the first conduit and / or the second conduit so that the curved tube is connected to the first conduit and / or the second conduit, and the second guide wire can smoothly enter the first conduit and / or the second conduit along the curved tube, and a third port control module is installed on the second linear track group and in front of the third clamping rotation mechanism, and the other end of the curved tube is installed on the third port control module.

[0016] A method for using a slave device of an interventional robot for driving dual guidewires and a single catheter comprises the following steps:

[0017] (1) Open the cover structures of the first port control module, the first clamping rotation and port control module, the third port control module, the second clamping rotation mechanism, and the third clamping rotation mechanism respectively, and connect or align the rear end of the first port control module or the first clamping rotation and port control module with the track change tube;

[0018] (2) inserting the second catheter into the first catheter through the bifurcated section of the track change tube, or directly inserting the second catheter into the first catheter, and inserting the first guidewire into the second catheter; the second guidewire is inserted into the first catheter or the second catheter under the guidance of the track change tube;

[0019] (3) Installing the first guide wire through the second clamping and rotating mechanism, installing the second guide wire through the third clamping and rotating mechanism, installing the second catheter on the first clamping and rotating and port control module, and installing the rear portion of the first catheter on the first port control module;

[0020] (4) Close the cover opening structures of the first port control module, the first clamping and rotating and port control module, the third port control module, the second clamping and rotating mechanism, and the third clamping and rotating mechanism respectively.

[0021] Preferably, when pushing the second catheter, when the first clamping and rotating mechanism and the second port control module reciprocate independently, the first clamping and rotating mechanism and the second port control module are respectively installed on the first linear rail group through the module fixing seat a and the module fixing seat b, the first port control module opens the channel, the first clamping and rotating mechanism clamps and rotates the second catheter and pushes the second catheter forward along the first linear rail group, and the second port control module clamps and rotates the second catheter and moves forward synchronously, thereby avoiding interference with the force sensing element of the first clamping and rotating mechanism; then when the first clamping and rotating mechanism moves forward close to the limit, the first port control module closes the channel, clamps the first catheter and the second catheter inside, and then the first clamping and rotating mechanism releases the second catheter and moves backward to reset, at which time the second port control module stops moving, and after the first clamping and rotating mechanism moves backward a certain distance, the first port control module opens the channel, the first clamping and rotating mechanism continues to clamp and rotate the second catheter, and cooperates with the second port control module to continue rotating and pushing the second catheter, and the process is repeated to achieve reciprocating unidirectional rotation delivery of the second catheter;

[0022] When pushing the second catheter, when the first clamping and rotating mechanism and the second port control module move synchronously, the first clamping and rotating mechanism and the second port control module are both installed on a module fixing seat b, and the module fixing seat b is installed on the first linear track group. The first port control module opens the channel, the first clamping and rotating mechanism clamps and rotates the second catheter and pushes the second catheter forward along the first linear track group, the second port control module supports the second catheter and the second port control module moves forward synchronously along the first linear track group together with the first clamping and rotating mechanism, thereby avoiding interference with the force sensing element of the first clamping and rotating mechanism, and the second catheter moves under the support and guidance of the external telescopic tube to realize unidirectional rotation delivery of the second catheter. The above process only needs to be reversed to realize the reverse unidirectional withdrawal of the second catheter.

[0023] The beneficial effects of the present invention are as follows:

[0024] 1. The doctor of the present invention can remotely control multiple groups of port control modules and multiple groups of clamping and rotating mechanisms, and clamp and / or rotate them forward or backward on the corresponding linear track groups, and realize the convergence of guidewires and / or catheters through the track change tube method, so that multiple guidewires and multiple catheters can move in place in coordination, and the robot can control the movement of guidewires and / or catheters more accurately, and can realize the coordinated movement of double guidewires and single catheters into place to enter the interior of the target object and work. More complex operations can be implemented, the workload can be reduced, and major mistakes can be avoided. The present invention can achieve the precise delivery of long medical devices to the appropriate location of the lesion in the patient's body, and also avoid the long-term exposure of doctors to X-ray radiation, which causes harm to the doctor's body.

[0025] 2. The port control module of the present invention can support a side port of a Y-valve and / or catheter, facilitating the clamping and rotating mechanism to clamp another guidewire extending from the port. The port control mechanism includes a port clamping mechanism and a port rotating mechanism. The port clamping mechanism controls the opening and closing of the port of the Y-valve and / or catheter through the differential rotation of a dual gear, thereby clamping the guidewire or catheter in the port or preventing blood or contrast agent from leaking out. The port rotating mechanism is used to drive the Y-valve and / or catheter to rotate. The Y-valve and / or catheter is connected to a spiral pipe joint or a straight pipe joint. When the spiral pipe joint is connected to other pipelines, when the port rotating mechanism drives the Y-valve to rotate, the other pipelines connected to the spiral pipe joint are stationary. At this time, the spiral pipe joint will be rotated outward to loosen or rotated inward to tighten as the Y-valve rotates, but it will not cause the pipeline to become tangled as the Y-valve rotates.

[0026] 3. The clamping and rotating mechanism of the present invention includes a clamping mechanism that can clamp or loosen the interventional consumable, a rotating mechanism that can drive the clamped interventional consumable to rotate, and a force sensing element that can detect the clamping force, axial force and torsional torque of the interventional consumable. The rotating shaft of the clamping mechanism can be quickly opened and closed, thereby facilitating the rapid installation and replacement of guidewires and catheters. The rotating mechanism can drive the clamping mechanism that clamps the interventional consumable to rotate as a whole, thereby clamping and rotating the interventional consumable to facilitate its delivery.

[0027] 4. The port control module and the clamping and rotating mechanism of the present invention respectively adopt an openable or closable cover structure, which completely exposes their respective internal installation positions, making it convenient to directly place the guidewire or catheter into these mechanisms from top to bottom, making the guidewire or catheter easy to install and disassemble, and easy to replace. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic structural diagram of an interventional robot slave device for driving dual guidewires and a single catheter according to Example 1;

[0029] Figure 2 This is a simplified structural diagram of the first clamping and rotating mechanism and the second port control module of the first clamping and rotating and port control module of Example 1 when they move independently;

[0030] Figure 3 This is a simplified structural diagram of the first clamping and rotating mechanism of the first clamping and rotating and port control module and the second port control module in synchronous motion according to Example 1;

[0031] Figure 4 This is a schematic structural diagram of an interventional robot slave device for driving dual guidewires and a single catheter according to Example 2;

[0032] Figure 5 This is a simplified structural diagram of the first clamping and rotating mechanism and the second port control module of the first clamping and rotating and port control module of Example 2 when they move independently;

[0033] Figure 6 This is a simplified structural diagram of the first clamping and rotating mechanism of the first clamping and rotating and port control module and the second port control module in synchronous motion according to Example 2;

[0034] Figure 7 This is a structural diagram of the track change support portion of Example 3;

[0035] Figure 8 This is a schematic structural diagram of the port control mechanism of Example 4;

[0036] Figure 9 Schematic diagram of the structure of the port drive mechanism of Example 4;

[0037] Figure 10Schematic diagram of the structure of the Y-valve of Example 4;

[0038] Figure 11 This is a schematic structural diagram of the rotating cover of the clamping rotating mechanism of Example 5 when it is open;

[0039] Figure 12 This is a schematic structural diagram of the clamping and rotating mechanism of Example 5 without a rotating shaft;

[0040] Figure 13 is a cross-sectional view of the rotary drive assembly of Example 5;

[0041] Figure 14 for Figure 12 Schematic diagram of the enlarged structure at A in the middle;

[0042] Figure 15 Schematic diagram of the structure of the rotating shaft of Example 5;

[0043] Figure 16 This is a schematic diagram of the structure of Example 5 after the rotating shaft is opened;

[0044] Figure 17 This is a schematic structural diagram of the rotating cover of the clamping rotating mechanism of Example 5 when closed;

[0045] Figure 18 is an internal cross-sectional view of the clamping and rotating mechanism of Example 5;

[0046] Figure 19 for Figure 18 A schematic diagram of the enlarged structure at position I in the middle;

[0047] Figure 20 Schematic diagram of the structure when the clamping mechanism and the rotating mechanism are connected via a force sensing element in Example 5;

[0048] Figure 21 Schematic diagram of the structure of the active clamping drive device of Example 5;

[0049] Figure 22 This is a schematic structural diagram of the clamping mechanism of the clamping jaws of Example 5. DETAILED DESCRIPTION

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0051] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0053] The guidewires here include but are not limited to filamentous interventional medical devices such as guide wires, micro guidewires, angiographic guidewires and loach guidewires; catheters include but are not limited to tubular interventional medical devices such as guide catheters, micro catheters, angiographic catheters, multifunctional tubes (also known as intermediate catheters), thrombolytic catheters, balloon dilatation catheters and balloon-expandable stent catheters.

[0054] Example 1

[0055] like Figures 1 to 3As shown, an interventional robot slave device for driving double guidewires and a single catheter comprises two sets of linear rail groups, the two sets of linear rail groups being a first linear rail group and a second linear rail group arranged in parallel or intersecting manner, the first linear rail group being sequentially provided with a first port control module 10271, a first clamping rotation and port control module, and a second clamping rotation mechanism 10274, the second linear rail group being provided with a third clamping rotation mechanism 10276, the rear portion of the first catheter 10279 being provided on the first port control module 10271, and the rear portion of the first port control module 10271 being connected to a track changing tube, or the rear portion of the first port control module 10271 being aligned with the track changing tube, the front portion of the second catheter 10280 being directly inserted into the first catheter 10279 or being inserted into the first catheter 10279 through the bifurcation section of the track changing tube 10282, and the second catheter 10280 being inserted into the first catheter 10279 The rear part of 280 is installed on the first clamping rotation and port control module, and the second catheter 10280 is delivered to the first catheter 10279 through the first clamping rotation and port control module. The first guide wire 10281 is installed in the second clamping rotation mechanism 10274, and the front part of the first guide wire 10281 is inserted into the second catheter 10280, and the first guide wire 10281 is delivered to the second catheter 10280 through the second clamping rotation mechanism 10274; the second guide wire 10283 is installed in the third clamping rotation mechanism 10276, and the front part of the second guide wire 10283 can pass through the track changing tube 10282 to the first catheter 10279, and the second guide wire 10283 is delivered to the first catheter 10279 through the third clamping rotation mechanism 10276, and the track changing guiding function of the track changing tube 10282 is used to realize the simultaneous driving of the double guide wires and the single catheter.

[0056] The first clamping rotation and port control module includes a first clamping rotation mechanism 10272 and a second port control module 10273. The first clamping rotation mechanism 10272 and the second port control module 10273 are respectively installed on the first linear rail group through the module fixing seat a and the module fixing seat b, or the first clamping rotation mechanism 10272 and the second port control module 10273 are both installed on the first linear rail group through a module fixing seat b. The module fixing seat a and the module fixing seat b can slide independently on the first linear rail group. The first clamping rotation mechanism 10272 is used to clamp the second catheter 10280 for clamping and rotation, and the second port control module 10273 is used to support the rear end port of the second catheter 10280.

[0057] A third port control module 10275 is mounted on the second linear rail assembly and in front of the third clamping and rotating mechanism 10276. The third port control module 10275 can independently reciprocate on the second linear rail assembly, or a linkage locking structure can be used to establish a linkage relationship between the third port control module 10275 and the first port control module 10271, so that the third port control module 10275 moves along with the first port control module 10271.

[0058] Or a third port support module is suspended on the second linear rail group and in front of the third clamping and rotating mechanism 10276, and also includes a track changing support part, one end of the track changing support part is connected to the first port control module 10271, and the other end of the track changing support part extends to the second linear guide rail group and is connected to the third port support module, and the third port control module 10275 moves together with the first port control module 10271.

[0059] The track-changing tube 10282 is a curved tube, one end of which is aligned with the rear end port of the first catheter 10279 to connect the curved tube to the first catheter 10279, and the other end of the curved tube is mounted on the third port control module 10275. The second guide wire 10283 can smoothly enter the first catheter 10279 along the curved tube.

[0060] Alternatively, the track-changing tube 10282 is a Y-shaped bifurcated tube, and a portion of the second catheter 10280 can extend into the bifurcated section of the track-changing tube 10282. The bifurcated section of the track-changing tube 10282 can provide a certain degree of support, thereby preventing the clamping position of the second catheter 10280 from being too far from the rear end port of the first catheter 10279, causing it to bend during delivery.

[0061] The first fork tube of the Y-shaped fork tube is aligned with the front end port of the first clamping rotation and port control module, and the second fork tube of the Y-shaped fork tube is installed in the third port control module 10275 through a threaded valve interface. The third port control module 10275 can control the locking and release of the second guide wire 10283 through the threaded valve interface.

[0062] A second support assembly for guiding the movement of the first guide wire 10281 is installed on the first linear track group and is located between the second port control module 10273 and the second clamping and rotating mechanism 10274; a third support assembly for guiding the movement of the second guide wire 10283 is installed on the second linear track group and is located between the third port control module 10275 and the third clamping and rotating mechanism 10276. The first guide wire 10281 penetrates into the second support assembly, and the second guide wire 10283 penetrates into the third support assembly. The second support assembly and the third support assembly can be telescopic or axially translated respectively, and are used to limit the first guide wire 10281 and the second guide wire 10283 to a fixed axial direction to prevent the first guide wire 10281 and the second guide wire 10283 from bending during delivery; the second support assembly and the third support assembly include at least one of a telescopic tube assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly, and the guide ring assembly is an openable and closable support ring, which is convenient for placing and clamping the first guide wire 10281 or the second guide wire 10283 from the top.

[0063] The body of the track-changing tube 10282 is a side-opening structure, and a buckle structure is provided on the body of the track-changing tube 10282, which can quickly open or close the body of the track-changing tube 10282, so that the first guide wire 10281 and / or the second guide wire 10283 can be quickly removed from the side of the tube body. The buckle structure is one or a combination of a snap, a lock, and a magnet.

[0064] A method for using a slave device of an interventional robot for driving dual guidewires and a single catheter comprises the following steps:

[0065] (1) Open the cover structures of the first port control module 10271, the first clamping rotation and port control module, the third port control module 10275, the second clamping rotation mechanism 10274, and the third clamping rotation mechanism 10276 respectively, and connect or align the rear end of the first port control module 10271 with or align it with the track change tube 10282;

[0066] (2) Insert the second catheter 10280 into the first catheter 10279 through the bifurcated section of the track-changing tube 10282, or directly insert the second catheter 10280 into the first catheter 10279, and insert the first guide wire 10281 into the second catheter 10280; and insert the second guide wire 10283 into the first catheter 10279 under the guidance of the track-changing tube 10282;

[0067] (3) Install the first guide wire 10281 through the second clamping and rotating mechanism 10274, install the second guide wire 10283 through the third clamping and rotating mechanism 10276, install the second catheter 10280 on the first clamping and rotating and port control module, and install the rear portion of the first catheter 10279 on the first port control module 10271;

[0068] (4) Close the cover structures of the first port control module 10271, the first clamping rotation and port control module, the third port control module 10275, the second clamping rotation mechanism 10274 and the third clamping rotation mechanism 10276 respectively.

[0069] The first port control module 10271 can clamp the first catheter 10279 and drive the first catheter 10279 to rotate and reciprocate along the first linear track group to achieve the delivery and reset of the first catheter 10279; the first clamping rotation and port control module can clamp the second catheter 10280 and drive the second catheter 10280 to rotate and reciprocate along the first linear track group to achieve the delivery and reset of the second catheter 10280, and the first clamping rotation and port control module can lock the second catheter 10280 and the first guide wire 10281; the second clamping rotation mechanism 10274 can clamp and rotate the first guide wire 10281 and reciprocate along the first linear track group to push the first guide wire 10281 forward or withdraw it backward; the third clamping rotation mechanism 10276 can clamp and rotate the second guide wire 10283 and reciprocate along the second linear track group to push the second guide wire 10283 forward or withdraw it backward.

[0070] like Figure 2 As shown, when pushing the second conduit 10280, when the first clamping and rotating mechanism 10272 and the second port control module 10273 reciprocate independently, at this time the first clamping and rotating mechanism 10272 and the second port control module 10273 are respectively installed on the first linear rail group through the module fixing seat a and the module fixing seat b, the first port control module 10271 opens the channel, the first clamping and rotating mechanism 10272 clamps and rotates the second conduit 10280 and pushes the second conduit 10280 forward along the first linear rail group, and the second port control module 10273 clamps and rotates the second conduit 10280 and moves forward synchronously, thereby avoiding interference with the force sensing element of the first clamping and rotating mechanism 10272; then when the first clamping and rotating mechanism 10272 When the holding and rotating mechanism 10272 moves forward close to its limit, the first port control module 10271 closes the channel, clamping the first catheter 10279 and the second catheter 10280 inside. Then, the first holding and rotating mechanism 10272 releases the second catheter 10280 and moves backward to reset. At this time, the second port control module 10273 stops moving. After the first holding and rotating mechanism 10272 moves backward a certain distance, the first port control module 10271 opens the channel, and the first holding and rotating mechanism 10272 continues to clamp and rotate the second catheter 10280, and cooperates with the second port control module 10273 to continue rotating and pushing the second catheter 10280. This process is repeated to achieve reciprocating unidirectional rotation delivery of the second catheter 10280.

[0071] Or as an alternative, Figure 3 As shown, when pushing the second catheter 10280, when the first clamping and rotating mechanism 10272 and the second port control module 10273 move synchronously, the first clamping and rotating mechanism 10272 and the second port control module 10273 are both installed on the first linear rail group through a module fixing seat b, the first port control module 10271 opens the channel, the first clamping and rotating mechanism 10272 clamps and rotates the second catheter 10280 and pushes the second catheter 10280 forward along the first linear rail group, the second port control module 10273 supports the second catheter 10280 and the second port control module 10273 moves forward synchronously along the first linear rail group together with the first clamping and rotating mechanism 10272, thereby avoiding interference with the force sensing element of the first clamping and rotating mechanism 10272, the second catheter 10280 moves under the support and guidance of the external telescopic tube, realizing unidirectional rotation delivery of the second catheter 10280, and the above process only needs to be reversed to realize the reverse unidirectional withdrawal of the second catheter 10280.

[0072] When the second support assembly and the third support assembly adopt the guide ring assembly, the support ring of the guide ring assembly needs to be opened in step (1), and the support ring of the guide ring assembly needs to be closed in step (4); when pushing the first guide wire 10281, the first clamping rotation and port control module opens the channel, the second clamping rotation mechanism 10274 clamps the first guide wire 10281 and rotates the first guide wire 10281 and pushes the first guide wire 10281 forward along the first straight track group, and when the second clamping rotation mechanism 10274 moves to near the limit, the first clamping rotation and port control module opens the channel, and the second clamping rotation mechanism 10274 clamps the first guide wire 10281 and rotates the first guide wire 10281 and pushes the first guide wire 10281 forward along the first straight track group. The control module closes the channel and clamps the first guide wire 10281 inside. Then the second clamping rotation mechanism 10274 releases the first guide wire 10281 and moves backward to reset. Then the first clamping rotation and port control module opens the channel again. The second clamping rotation mechanism 10274 continues to clamp the first guide wire 10281 and continues to rotate and push the first guide wire 10281. The process is repeated to realize the reciprocating unidirectional rotation delivery of the first guide wire 10281. The reciprocating unidirectional rotation delivery process of the second guide wire 10283 is the same as the reciprocating unidirectional rotation delivery process of the first monofilament.

[0073] Or as an alternative, when the second support assembly and the third support assembly adopt a guide ring assembly, the support ring of the guide ring assembly needs to be opened in step (1), and the support ring of the guide ring assembly needs to be closed in step (4); when pushing the first guide wire 10281, the position of the first clamping rotation and port control module is fixed, and the second clamping rotation mechanism 10274 always clamps the first guide wire 10281 to achieve unidirectional clamping and delivery of the guide wire. The middle part of the first guide wire 10281 is supported and guided by the second support assembly, the first clamping rotation and port control module opens the channel, and the second clamping rotation mechanism 10274 clamps the first guide wire 10281 and rotates the first guide wire 10281 and pushes the first guide wire 10281 forward along the first linear track group until the first guide wire 10281 is pushed into place, and then the first clamping rotation and port control module closes the channel, clamping the first guide wire 10281 inside, and then the second clamping rotation mechanism 10274 releases the first guide wire 10281 and moves backward to reset, realizing the unidirectional rotation delivery of the first guide wire 10281; the unidirectional rotation delivery process of the second guide wire 10283 is the same as the unidirectional rotation delivery process of the first guide wire 10281.

[0074] Example 2

[0075] The parts of this embodiment that have the same structure as that of embodiment 1 will not be described in detail. The differences are as follows:

[0076] like Figures 4-6As shown, an interventional robot slave device for driving double guidewires and a single catheter comprises two sets of linear rail groups, the two sets of linear rail groups being a first linear rail group and a second linear rail group arranged in parallel or intersecting manner, the first linear rail group being sequentially provided with a first port control module 10271, a first clamping rotation and port control module, and a second clamping rotation mechanism 10274, the second linear rail group being provided with a third clamping rotation mechanism 10276, the rear portion of the first catheter 10279 being provided on the first port control module 10271, and the front portion of the second catheter 10280 being inserted into the first catheter 10279, the rear end of the second catheter 10280 being provided on the first clamping rotation and port control module, the second catheter 10280 being delivered into the first catheter 10279 through the first clamping rotation and port control module, the first The rear part of the clamping rotation and port control module is connected to the track changing tube 10282, or the rear part of the first clamping rotation and port control module is aligned with the track changing tube 10282, the first guide wire 10281 is installed in the second clamping rotation mechanism 10274, and the front part of the first guide wire 10281 is inserted into the second catheter 10280, and the first guide wire 10281 is delivered to the second catheter 10280 through the second clamping rotation mechanism 10274; the second guide wire 10283 is installed in the third clamping rotation mechanism 10276, and the second guide wire 10283 can pass through the track changing tube 10282 to the second catheter 10280, and the second guide wire 10283 is delivered to the second catheter 10280 through the third clamping rotation mechanism 10276, and the track changing guiding function of the track changing tube 10282 is used to realize the simultaneous driving of the double guide wires and the single catheter.

[0077] A third port control module 10275 is mounted on the second linear rail assembly and in front of the third clamping and rotating mechanism 10276. The third port control module 10275 can independently reciprocate on the second linear rail assembly, or a linkage locking structure can be used to establish a linkage relationship between the third port control module 10275 and the first clamping, rotating and port control module, so that the third port control module 10275 moves along with the first clamping, rotating and port control module.

[0078] Alternatively, a third port support module is suspended on the second linear rail group and in front of the third clamping rotation mechanism 10276, and also includes a track changing support part, one end of the track changing support part is connected to the first clamping rotation and port control module, and the other end of the track changing support part extends to the second linear guide rail group and is connected to the third port support module, and the third port control module 10275 moves together with the first clamping rotation and port control module.

[0079] The track-changing tube 10282 is a curved tube, one end of which is aligned with the rear end port of the second catheter 10280 to connect the curved tube with the second catheter 10280, and the other end of the curved tube is mounted on the third port control module 10275, so that the second guide wire 10283 can smoothly enter the second catheter 10280 along the curved tube.

[0080] A method for using a slave device of an interventional robot for driving dual guidewires and a single catheter comprises the following steps:

[0081] (1) Open the cover structures of the first port control module 10271, the first clamping rotation and port control module, the third port control module 10275, the second clamping rotation mechanism 10274, and the third clamping rotation mechanism 10276 respectively, and connect or align the rear end of the first clamping rotation and port control module with the track change tube 10282;

[0082] (2) Insert the second catheter 10280 directly into the first catheter 10279, and insert the first guide wire 10281 into the second catheter 10280; and insert the second guide wire 10283 into the second catheter 10280 under the guidance of the track change tube 10282;

[0083] (3) Install the first guide wire 10281 through the second clamping and rotating mechanism 10274, install the second guide wire 10283 through the third clamping and rotating mechanism 10276, install the second catheter 10280 on the first clamping and rotating and port control module, and install the rear portion of the first catheter 10279 on the first port control module 10271;

[0084] (4) Close the cover structures of the first port control module 10271, the first clamping rotation and port control module, the third port control module 10275, the second clamping rotation mechanism 10274 and the third clamping rotation mechanism 10276 respectively.

[0085] The first port control module 10271 can clamp the first catheter 10279 and drive the first catheter 10279 to rotate and reciprocate along the first linear track group to achieve the delivery and reset of the first catheter 10279; the first clamping rotation and port control module can clamp the second catheter 10280 and drive the second catheter 10280 to rotate and reciprocate along the first linear track group to achieve the delivery and reset of the second catheter 10280, and the first clamping rotation and port control module can lock the second catheter 10280, the first guide wire 10281 and the second guide wire 10283; the second clamping rotation mechanism 10274 can clamp and rotate the first guide wire 10281 and reciprocate along the first linear track group to push the first guide wire 10281 forward or withdraw it backward; the third clamping rotation mechanism 10276 can clamp and rotate the second guide wire 10283 and reciprocate along the second linear track group to push the second guide wire 10283 forward or withdraw it backward.

[0086] like Figure 5 As shown, when the second conduit 10280 is pushed, when the first clamping and rotating mechanism 10272 and the second port control module 10273 reciprocate independently, the first clamping and rotating mechanism 10272 and the second port control module 10273 are respectively installed on the first linear track group through the module fixing seat a and the module fixing seat b, the first port control module 10271 opens the channel, the first clamping and rotating mechanism 10272 clamps and rotates the second conduit 10280 and pushes the second conduit 10280 forward along the first linear track group, and the second port control module 10273 clamps and rotates the second conduit 10280 and moves forward synchronously, thereby avoiding interference with the force sensing element of the first clamping and rotating mechanism 10272; then when the first When the clamping and rotating mechanism 10272 approaches the limit of forward movement, the first port control module 10271 closes the channel, clamping the first catheter 10279 and the second catheter 10280 inside. Then, the first clamping and rotating mechanism 10272 releases the second catheter 10280 and moves backward to reset. At this time, the second port control module 10273 stops moving. After the first clamping and rotating mechanism 10272 moves backward a certain distance, the first port control module 10271 opens the channel, and the first clamping and rotating mechanism 10272 continues to clamp and rotate the second catheter 10280, and cooperates with the second port control module 10273 to continue rotating and pushing the second catheter 10280. This process is repeated to achieve unidirectional rotation delivery of the second catheter 10280.

[0087] Or as an alternative, Figure 6As shown, when pushing the second catheter 10280, when the first clamping and rotating mechanism 10272 and the second port control module 10273 move synchronously, the first clamping and rotating mechanism 10272 and the second port control module 10273 are both installed on the first linear rail group through a module fixing seat b, the first port control module 10271 opens the channel, the first clamping and rotating mechanism 10272 clamps and rotates the second catheter 10280 and pushes the second catheter 10280 forward along the first linear rail group, the second port control module 10273 supports the second catheter 10280 and the second port control module 10273 moves forward synchronously along the first linear rail group together with the first clamping and rotating mechanism 10272, thereby avoiding interference with the force sensing element of the first clamping and rotating mechanism 10272, the second catheter 10280 moves under the support and guidance of the external telescopic tube, realizing unidirectional rotation delivery of the second catheter 10280, and the above process only needs to be reversed to realize the reverse unidirectional withdrawal of the second catheter 10280.

[0088] When the second support assembly and the third support assembly adopt the guide ring assembly, the support ring of the guide ring assembly needs to be opened in step (1), and the support ring of the guide ring assembly needs to be closed in step (4); when pushing the first guide wire 10281, the first clamping rotation and port control module opens the channel, the second clamping rotation mechanism 10274 clamps the first guide wire 10281 and rotates the first guide wire 10281 and pushes the first guide wire 10281 forward along the first straight track group, and when the second clamping rotation mechanism 10274 moves to near the limit, the first clamping rotation and port control module opens the channel, and the second clamping rotation mechanism 10274 clamps the first guide wire 10281 and rotates the first guide wire 10281 and pushes the first guide wire 10281 forward along the first straight track group. The control module closes the channel and clamps the first guide wire 10281 inside. Then the second clamping rotation mechanism 10274 releases the first guide wire 10281 and moves backward to reset. Then the first clamping rotation and port control module opens the channel again. The second clamping rotation mechanism 10274 continues to clamp the first guide wire 10281 and continues to rotate and push the first guide wire 10281. The process is repeated to realize the reciprocating unidirectional rotation delivery of the first guide wire 10281. The reciprocating unidirectional rotation delivery process of the second guide wire 10283 is the same as the reciprocating unidirectional rotation delivery process of the first monofilament.

[0089] Or as an alternative, when the second support assembly and the third support assembly adopt a guide ring assembly, the support ring of the guide ring assembly needs to be opened in step (1), and the support ring of the guide ring assembly needs to be closed in step (4); when pushing the first guide wire 10281, the position of the first clamping rotation and port control module is fixed, and the second clamping rotation mechanism 10274 always clamps the first guide wire 10281 to achieve unidirectional clamping and delivery of the guide wire. The middle part of the first guide wire 10281 is supported and guided by the second support assembly, the first clamping rotation and port control module opens the channel, and the second clamping rotation mechanism 10274 clamps the first guide wire 10281 and rotates the first guide wire 10281 and pushes the first guide wire 10281 forward along the first linear track group until the first guide wire 10281 is pushed into place, and then the first clamping rotation and port control module closes the channel, clamping the first guide wire 10281 inside, and then the second clamping rotation mechanism 10274 releases the first guide wire 10281 and moves backward to reset, realizing the unidirectional rotation delivery of the first guide wire 10281; the unidirectional rotation delivery process of the second guide wire 10283 is the same as the unidirectional rotation delivery process of the first guide wire 10281.

[0090] Example 3

[0091] like Figure 7 As shown, a third port control module 10275 is suspended on the second linear rail group and in front of the third clamping and rotating mechanism 10276, and also includes a track change support part 10291. One end of the track change support part 10291 is connected to the first port control module 10271 or the first clamping, rotating and port control module, and the other end of the track change support part extends to the second linear guide rail group and is connected to the third port control module 10275. The third port control module 10275 moves with the first port control module 10271 or the first clamping, rotating and port control module.

[0092] Specifically, taking the example of one end of the track change support part 10291 being connected to the first port control module 10271, the first port control module is mounted on the first linear guide rail group through the first module fixing seat. The first module fixing seat is provided with an isolation shell, and also includes a track change support part 10291. One end of the track change support part is connected to the isolation shell of the first module fixing seat, and the other end of the track change support part extends to the second linear guide rail group and is connected to the third port control module 10275. The track change support part establishes a linkage relationship between the third port control module 10275 and the first module fixing seat, and the position of the third port control module 10275 relative to the second linear guide rail group is determined by the position of the first module fixing seat relative to the first linear guide rail group, thereby judging the distance between the third clamping and rotating mechanism 10276 and the third port control module 10275 to avoid collision interference.

[0093] A first clamping portion is provided on the isolation shell outside the first module fixing seat, and a trigger switch or an induction switch is provided in the first clamping portion, which can detect whether the track change support portion is clamped on the isolation shell outside the first module fixing seat.

[0094] The track change support part 10291 is an inclined beam structure, which includes an inclined beam 1029101. The lower end of the inclined beam is provided with a second clamping part 1029102 integrally formed with the inclined beam, and the second clamping part can be clamped into the first clamping part. The upper end of the inclined beam is provided with a connecting seat 1029103 integrally formed with the inclined beam or fixedly connected to the inclined beam. The third port control module 10275 is installed on the connecting seat 1029103, and the connecting seat is provided with a support component locking mechanism 10330203 for supporting and fixing the third support component. The support component locking mechanism is a clamping claw structure or a clamp structure or a locking structure or a magnetic structure or a pressing structure. The connecting seat is also provided with a track change part locking mechanism for locking one end of the first track change part. The track change part locking mechanism adopts a snap structure or a threaded structure.

[0095] Example 4

[0096] The first port control module, the second port control module 10273 and the third port control module have the same structure. The first port control module is taken as an example to describe its specific structure.

[0097] like Figures 8-10 As shown, the first port control module can support one side port of the Y valve 10221, and the second port control module 10273 and the second port control module 10273 can respectively support the branch port of the track change tube 10282, so that the first clamping rotation mechanism 10272 and the third clamping rotation mechanism can respectively clamp the guide wire and extend it from the port; the first clamping rotation mechanism 10272 and the third clamping rotation mechanism can clamp or release the guide wire, and can drive the clamped guide wire to rotate.

[0098] The first port control module includes a port clamping mechanism for controlling the opening and closing of the port of the Y-valve and / or catheter, thereby clamping the guidewire or catheter in the port, or preventing blood or contrast agent from leaking out. The Y-valve and / or catheter is connected to a spiral pipe connector or a straight pipe connector.

[0099] The port control mechanism also includes a port rotation mechanism for driving the Y valve and / or catheter to rotate,

[0100] The port clamping mechanism clamps or loosens the interventional consumable by clamping the elastomer axially, and pushes and pulls the clamping block along the axis to squeeze the elastomer so that the elastomer is deformed and locks the interventional consumable, or rotates the locking block axially to move the elastomer axially under the guidance of the thread to squeeze the elastomer so that the elastomer is deformed and locks the interventional consumable, or pushes and pulls the locking block radially to move the elastomer axially under the guidance of the inclined surface to deform the elastomer and lock the interventional consumable.

[0101] The first port control module further includes a port drive mechanism (such as the motor B10215 and the gear A10216 in this embodiment), which can directly drive the port clamping mechanism, or flexibly drive the port clamping mechanism through a flexible sleeve or cable, or magnetically control the port clamping mechanism through an electromagnet.

[0102] The port rotation mechanism includes a port rotation driving element (such as the motor B10215 and gear B10217 in this embodiment) and a connector gear (such as the connector gear 10222 in this embodiment) or a connector friction wheel arranged at the catheter connector or Y-valve connector. The port rotation driving element drives the active gear or active friction wheel to rotate, and the active gear or active friction wheel drives the connector gear or connector friction wheel to rotate, thereby causing the catheter or Y-valve to rotate as a whole.

[0103] See Figures 8-10 , the figure includes: motor B10215, gear A10216, gear B10217, upper cover 10218, upper cover button 10219, fixed chamber 10220, Y valve 10221, connector gear 10222, valve gear 10223, and bearing 10224.

[0104] Two motors B 10215 are set inside the first port control module, one of which is connected to gear A 10216, and the other is connected to gear B 10217. The two gears are staggered inside the first port control module. A lock is provided in the upper cover 10218 to realize the closing, locking and opening of the upper cover 10218. The lock can be driven and controlled by the upper cover button 10219, and the lock can be replaced by electromagnetic attraction.

[0105] A gear set is installed at one end of the Y-valve 10221, and a spiral pipe joint is branched off on its side. The gear set includes a joint gear 10222 and a valve gear 10223. Rotating the valve gear 10223 controls the opening and closing of the channel (the channel closing mechanism is conventional and can be achieved by compressing the valve, etc., so it will not be described in detail). A bearing 10224 is installed on each side of the gear set. To connect the Y-valve 10221 using the first port control module, press the upper cover button 10219 to open the upper cover 10218, place the gear set joint into the fixed chamber 10220, and simultaneously, gear B 10217 engages with the joint gear 10222, and gear A 10216 engages with the valve gear 10223. After installation is complete, close the upper cover 10218.

[0106] Motor B 10215 controls the rotation of gear A 10216 or gear B 10217. Gear B 10217 controls the rotation of connector gear 10222, driving the entire Y-valve 10221. If the spiral tube connector of Y-valve 10221 is connected to other pipelines, when the first port control module drives Y-valve 10221 to rotate, the other pipelines connected to the spiral tube remain stationary. This causes the spiral tube to rotate outward to loosen or inward to tighten as the Y-valve rotates, but this prevents the tubes from becoming tangled as the Y-valve rotates. In practice, the spiral tube does not necessarily need to be a strict spiral; it can simply be wound around the Y-valve in turns. The differential rotation of gears A 10216 and B 10217 controls the opening and closing of the valve, thereby clamping the catheter or guidewire passing through the valve and preventing the leakage of blood and contrast agent.

[0107] Example 5

[0108] The first clamping and rotating mechanism 10272, the second clamping and rotating mechanism and the third clamping and rotating mechanism have the same structure. The first clamping and rotating mechanism is used as an example to describe its specific structure.

[0109] like Figures 11-22 The first clamping and rotating mechanism 10272 includes a clamping mechanism (such as the clamping mechanism 10225 in this embodiment) that can clamp or release the interventional consumable, a rotating mechanism that can drive the clamped interventional consumable to rotate, and a force sensing element that can detect the clamping force, axial force and torsional torque of the interventional consumable. The clamping mechanism and the rotating mechanism are connected through the force sensing element.

[0110] The rotating mechanism includes a clamping mechanism seat with an opening structure (such as the clamping mechanism seat 10226, the rotating cover 10227 and the buckle 10230 in this embodiment, and the buckle 10230 can also be replaced by an electromagnet to realize electric magnetic control) and a rotating shaft rotatably installed in the clamping mechanism seat. A rotating drive component capable of driving the rotating shaft to rotate (such as the motor C10232 and the gear C10231 in this embodiment) is installed inside or outside the clamping mechanism seat; the interventional consumable passes through the middle of the rotating shaft, and the clamping mechanism is installed inside or outside the front end of the rotating shaft.

[0111] See Figures 11-14 The first clamping and rotating mechanism 10272 includes a clamping mechanism capable of clamping or releasing the interventional consumable. The specific structure is as follows, including: a clamping mechanism 10225, a clamping mechanism seat 10226, a rotating cover 10227, a contact guide groove 10228, a signal contact 10229, a pressing buckle 10230, a gear C10231, and a motor C10232.

[0112] The first clamping and rotating mechanism 10272 includes a clamping mechanism 10225 and a clamping mechanism seat 10226. A motor C 10232 is provided inside the clamping mechanism seat 10226. The motor C 10232 is connected to the gear C 10231. A plurality of contact guide grooves 10228 are provided in the clamping mechanism seat 10226. A signal contact 10229 is provided in each contact guide groove 10228. A rotating cover 10227 is provided above the clamping mechanism seat 10226. The rotating cover 10227 can be locked by a press buckle 10232.

[0113] The motor C 10232 can also be replaced by an external rotating docking shaft to input rotational power. In this case, the motor is no longer provided in the clamping mechanism seat 10226, which is convenient for cleaning and disinfection.

[0114] The rotating shaft is a shell structure composed of an outer shell A (such as the outer shell A10233 in this embodiment) and an outer shell B (such as the outer shell B10234 in this embodiment) connected together in an openable and closable manner, which is convenient for loading and unloading interventional consumables; the outer shell A and the outer shell B of the rotating shaft are provided with a circle of driven gear (such as the ring gear 10235 in this embodiment) or a driven friction wheel, and the rotating drive assembly drives the rotating shaft to rotate through the transmission assembly, and the transmission assembly realizes power transmission by meshing with the driven gear or by friction between the driven friction wheel or the driven friction belt, and the transmission assembly is a transmission gear or a transmission friction wheel or a transmission friction belt.

[0115] The transmission components are provided in multiple groups. When the joint of a circle of transmission gears formed outside the shell A and the shell B is engaged with one group of transmission components and becomes stuck, the other groups of transmission components can still maintain engagement and smoothly drive the rotating shaft to rotate.

[0116] See Figures 15-19 The structure of the clamping mechanism 10225 is as follows. The figure includes: a housing A 10233, a housing B 10234, a gear ring 10235, and a conductive sheet 10236. A gear ring 10235 and multiple turns of conductive sheets 10236 are embedded on the outer surfaces of both housings A 10233 and B 10234. Housings A 10233 and B 10234 are connected by a hinge, allowing for quick opening and closing, facilitating the rapid installation and replacement of guidewires and catheters. When closed, the housings A 10233 and B 10234 form a rotating shaft. Once the rotating shaft is closed, it is installed into the clamping mechanism base 10226, where the gear ring 10235 on the housing surface meshes with gear C 10231 inside the clamping mechanism base 10226. The rotation of motor C 10232 drives the gear C 10232 connected thereto to rotate, and at the same time drives the meshing ring gear 10235 to rotate the rotating shaft as a whole.

[0117] The ring gear 10235 and gear C 10232 can be replaced by friction wheels. In this case, power transmission is achieved through friction between the friction wheels rather than tooth meshing. Multiple sets of gears C 10232 can be provided to prevent a single set of gears from becoming stuck when meshing at a joint, while allowing other sets of transmission components to remain meshed and smoothly drive the rotating shaft. The clamping mechanism base is provided with multiple contact guide slots (such as the contact guide slots 10228 of this embodiment), each of which is provided with multiple signal contacts (such as the signal contacts 10229 of this embodiment). Multiple circles of conductive sheets (such as the conductive sheets 10236 of this embodiment) are provided on the exterior of the rotating shaft's housings A and B. These sheets cooperate with the signal contacts to transmit signals from within the clamping mechanism base. This also prevents contact failure at the joint between the ring of gears formed on the exterior of housings A and B, while allowing other sets of conductive sheets to remain engaged with the signal contacts and transmit signals from within the clamping mechanism base.

[0118] The conductive sheet is embedded in the contact guide groove and cooperates with the signal contact. The signal contact is arranged on the side of the contact guide groove to prevent blood from contacting the signal contacts in different contact guide grooves at the same time and causing a short circuit.

[0119] The clamping mechanism seat is provided with an encoder assembly that can detect whether the interventional consumables slip when being clamped and can calculate the actual displacement of the interventional consumables. The encoder assembly includes an encoder wheel (such as the encoder wheel 10243 in this embodiment) and a driven wheel (such as the driven wheel 10244 in this embodiment) located on both sides of the interventional consumables and tangent to each other. The encoder wheel and the driven wheel are placed on the outer shell A and the outer shell B respectively, and the encoder wheel and the driven wheel are located behind the clamping mechanism to avoid interference with the force sensing element. An encoder (such as the encoder 10247 in this embodiment) is installed on one side of the encoder wheel, and the driven wheel is located in the driven wheel seat (such as the driven wheel seat 10245 in this embodiment). Any one or both of the driven wheel and the encoder wheels move toward each other to clamp the interventional consumables located therebetween. When the interventional consumable passes between the encoder wheel and the driven wheel, the encoder wheel and the driven wheel rotate with the movement of the interventional consumable, thereby utilizing the angle measurement of the encoder to achieve the measurement of the actual displacement of the interventional consumable.

[0120] The clamping mechanism includes an active clamping mechanism and a passive clamping mechanism. The active clamping mechanism drives the clamping claw clamping mechanism, the side clamping mechanism or the rotary clamping mechanism through an active clamping drive device to clamp the interventional consumables; the passive clamping mechanism is a passive automatic clamping mechanism or a passive clamping mechanism.

[0121] The clamping mechanism drives the clamping claw to actively clamp the interventional consumable through an active clamping drive device; the clamping claw is a two-claw structure or a multi-claw structure, and the movement of the clamping claw is guided by one or a combination of a hinge structure, a slide groove structure, and an elastic claw mechanism to achieve clamping of the interventional consumable;

[0122] The hinge structure is hinged at the bottom, with hinges a and b connected by a spring in the middle. A clamping claw is connected to the upper part of each hinge a and hinge b, and the two clamping claws are connected by a fixed shaft. When the hinge structure is pulled downward, hinges a and hinge b retract toward the inside of the spring, the fixed shaft remains stationary, and the two upper clamping claws move inward simultaneously to clamp the interventional consumables inside.

[0123] The chute structure is a guide chute plate with a chute hole as a guide. The two clamping claws are respectively installed in the chute holes and can slide inward along the chute holes to clamp the interventional consumables inside or slide outward to release the interventional consumables at the same time.

[0124] The elastic claw mechanism is a slider arranged in the circumferential direction of the channel, and the end of the slider is an elastic claw. The elastic claw expands outward in a free state. When multiple elastic claws enter the channel where the slider is located, they retract and clamp the interventional consumables, and when they extend out of the channel where the slider is located, they return to a free state and release the interventional consumables.

[0125] The rotary clamping mechanism drives the rotating member to rotate or bend through an active clamping drive device to clamp the interventional consumable to achieve rotary clamping. The interventional consumable passes through the middle of the clamping portion of the rotating member, and the clamping portion is a through hole or a through groove or two clamping columns.

[0126] The active clamping drive device includes a driving element, which is a driving wire structure, a hydraulic structure or a pneumatic structure. The driving element drives the clamping claw to clamp or release the interventional consumable. When the driving wire structure is adopted, the outer sleeve of the driving wire is provided with a driving wire sleeve. The relative movement between the driving wire and the driving wire sleeve is realized through the driving wire power part to transmit power to the clamping claw.

[0127] The clamping jaw includes a jaw a (such as the jaw A10238 in this embodiment) and a jaw b (such as the jaw B10240 in this embodiment), the middle parts of the jaw a and the jaw b are connected to each other through a fixed shaft (such as the fixed shaft 10252 in this embodiment), and the bottoms of the jaw a and the jaw b are connected by a spring (such as the spring A10239 in this embodiment), and the driving wire structure includes a driving wire (such as the connecting wire 10250 in this embodiment), a driving wire sleeve and a wire tube (such as the wire tube 10251 in this embodiment), one end of the driving wire is wound on the driving wire power part (such as the motor D10248 and the winding wheel 10249 in this embodiment), the driving wire passes through the driving wire sleeve, and the other end is connected to the jaw a and the jaw b through the wire tube, the driving wire power part directly pulls or pushes the driving wire to move, and the driving wire power part is a driving motor or a hydraulic pump or an air pump.

[0128] The force sensing element is one or a combination of a structure comprising an elastic structure and a strain gauge (such as the strain gauge 10242 in this embodiment), a structure comprising multiple force sensors, and a multi-dimensional force sensor structure.

[0129] When the force sensing element is a structure composed of an elastic structure and a strain gauge, the force sensing element is fixed on a fixed axis in the middle of jaws a and b. The force sensing element is S-shaped, and the middle section of the S-shape is a parallel beam structure. Thin-walled structures are provided at both ends of the parallel beam structure. Strain gauges are provided on the four sides of the thin-walled structure. The tensile pressure between jaws a and b will be transmitted to the thin-walled structure. Slight deformation of the thin-walled structure will cause the strain gauge to be stretched and compressed and feedback will be generated.

[0130] See Figures 20-22, including: clamping jaw A10238, spring A10239, clamping jaw B10240, pressure measuring module 10241, strain gauge 10242, encoder wheel 10243, driven wheel 10244, driven wheel seat 10245, spring B10246, encoder 10247, motor D10248, winding wheel 10249, connecting wire 10250, wire tube 10251, fixed shaft 10252, the front end of the housing A10233 of the clamping mechanism 10225 is provided with clamping jaw A 10238 and clamping jaw B 10240, clamping jaw A 10238 and clamping jaw B 10240 are connected to each other and rotate around the fixed shaft 10252, and a spring A10239 is provided at the bottom of clamping jaw A 10238 and clamping jaw B 10240, and the two ends of the spring are supported on clamping jaw A respectively. 10238 and clamping jaw B. The fixed shaft 10252 of the clamping jaw is fixed to one end of the pressure measuring module 10241. The pressure measuring module 10241 has an S-shaped shape, with a thinner wall in the middle section. Strain gauges 10242 are respectively provided around the middle section. At this time, if the clamping jaw is subjected to tension, pressure and torque, it will be transmitted to the pressure measuring module 10241. The thin-walled section in the middle of the pressure measuring module 10241 will undergo slight deformation. This deformation will cause the surface to stretch or contract. At the same time, the strain gauge 10242 will also be stretched or compressed and feedback will be provided.

[0131] The strain gauge 10242 can be replaced by other forms of force sensing elements, but the sensitivity is required to be high enough to detect thrust below 1N and torque below 0.1Nm. Specifically, it can be a combination of a force sensor and a torque sensor, a multi-axis force sensor, a pressure sensor, an FBG fiber optic sensor, or a thin film force sensor or a combination thereof.

[0132] A motor D 10248 is provided inside the housing A 10233 , and the motor D 10248 is connected to a winding wheel 10249 , which winds up one end of a connecting wire 10250 , and the other end of the connecting wire 10250 is connected to the bottom of the clamping claw through a wire tube 10251 . At the same time, one end of the wire tube 10251 will lean against the front end of the pressure measuring module 10241, and the rotation of the motor D 10248 will cause the connecting wire 10250 wound on the winding wheel 10249 to move, and the connecting wire 10250 will be pulled, and the clamping claw connected to the other end of the connecting wire 10250 will be pulled downward. When the fixed shaft 10252 does not move, the hinges on both sides of the bottom will shrink toward the inside of the spring A 10239, and the clamping claws on both sides of the top will move inward at the same time to clamp the object (i.e., a catheter or guide wire, etc.) between the clamping claw A 10238 and the clamping claw B 10240. When the motor D 10248 rotates, the connecting wire 10250 loses the tension and relaxes. At this time, the spring A 10239 rebounds, opening the clamping claw A 10238 and the clamping claw B 10240. When the connecting wire 10250 applies a pulling force to the clamping claw, since one end of the wire tube 10251 will press against the front end surface of the pressure measuring module 10241, the pulling force on the front end of the pressure measuring module 10241 will be offset by the pressure applied in the same direction by the wire tube 10251, and will not affect the strain gauge 10242 in the middle of the pressure measuring module 10241. The clamping claw mechanism can be replaced by other clamping mechanisms. Preferably, a small elastic claw mechanism can be used, which is a slider arranged on the circumference of the channel, and the end of the slider is an elastic claw. The elastic claw expands outward in a free state, and the multiple elastic claws are retracted and clamped when entering the channel where the slider is located, and return to a free state and release the interventional consumables when extending out of the channel where the slider is located.

[0133] The driving wire structure can also be replaced by a hydraulic or pneumatic structure. In this case, the motor D 10248 can be replaced by a small air pump or a hydraulic pump, and connected through a flexible hose and a claw mechanism. When the small air pump or hydraulic pump drives the gas or liquid to move relative to the flexible hose, the claw mechanism is driven to operate. The claw mechanism is various types of pneumatic claws or hydraulic claws. It is a conventional structure and therefore will not be described in detail. Since the flexible hose itself will not cause too much pulling force on the pressure measuring module 10241, it will not affect the strain gauge 10242 in the middle of the pressure measuring module 10241.

[0134] The housing A 10233 and the housing B 10234 do not contact the clamping claws and the pressure measuring module 10241 , thereby preventing them from causing measurement interference to the pressure measuring module 10241 .

[0135] By clamping the guidewire or catheter through the clamping claw, and coordinating with the rotation of the clamping claw around its own axis, the linear movement of the module fixing seat and the locking action of the port control mechanism, the axial rotation movement and axial forward and backward movement of the catheter or guidewire are realized, thereby replacing the doctor to complete the delicate operation of the guidewire and catheter in a radiation environment.

[0136] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, from all points of view, the embodiments should be regarded as illustrative and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and range of equivalents of the claims are included in the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

Claims

1. An interventional robot slave device for driving dual guidewires and a single catheter, characterized in that: The linear track group is provided with two groups, namely a first linear track group and a second linear track group. The first linear track group is sequentially equipped with a first port control module, a first clamping rotation and port control module, and a second clamping rotation mechanism. The second linear track group is equipped with a third clamping rotation mechanism. The rear part of the first catheter is installed on the first port control module, and the rear part of the first port control module is connected to the track change tube or the rear part of the first port control module is aligned with the track change tube. The front part of the second catheter is directly inserted into the first catheter or inserted into the first catheter through the bifurcation section of the track change tube. The rear end of the second catheter is installed on the first clamping rotation and port control module. The first guide wire is installed in the second clamping rotation mechanism, and the first guide wire can pass through the second catheter and the first catheter to the biological tissue or the first guide wire can pass through the second catheter, the bifurcation section of the track change tube, and the first catheter to the biological tissue; the second guide wire is installed in the third clamping rotation mechanism, and the second guide wire can pass through the track change tube and the first catheter to the biological tissue. The track change guiding function of the track change tube realizes the simultaneous driving of the double guide wires and the single catheter.

2. An interventional robot slave device for driving dual guidewires and a single catheter, characterized in that: The linear track group is provided with two groups, namely a first linear track group and a second linear track group. The first linear track group is sequentially equipped with a first port control module, a first clamping rotation and port control module, and a second clamping rotation mechanism. The second linear track group is equipped with a third clamping rotation mechanism. The rear portion of the first catheter is mounted on the first port control module, and the front portion of the second catheter is inserted into the first catheter. The rear portion of the second catheter is mounted on the first clamping rotation and port control module. The rear portion of the first clamping rotation and port control module is connected to the track change tube or the rear portion of the first clamping rotation and port control module is aligned with the track change tube. The first guide wire is mounted in the second clamping rotation mechanism, and the first guide wire can pass through the second catheter and the first catheter into the biological tissue, or the first guide wire can pass through the bifurcation section of the track change tube, the second catheter, and the first catheter in sequence into the biological tissue. The second guide wire is mounted in the third clamping rotation mechanism, and the second guide wire can pass through the track change tube, the second catheter, and the first catheter in sequence into the biological tissue. The track change guiding function of the track change tube realizes the simultaneous driving of the double guide wires and the single catheter.

3. An interventional robot slave device for driving dual guidewires and a single catheter according to claim 1 or 2, characterized in that: The first clamping rotation and port control module includes a first clamping rotation mechanism and a second port control module. The first clamping rotation mechanism and the second port control module are respectively installed on the first linear rail group through the module fixing seat a and the module fixing seat b, or the first clamping rotation mechanism and the second port control module are both installed on a module fixing seat b, the module fixing seat b is installed on the first linear rail group, the module fixing seat a and the module fixing seat b can slide independently on the first linear rail group, the first clamping rotation mechanism is used to clamp the second catheter for rotational delivery, and the second port control module is used to support the inlet end of the second catheter.

4. The interventional robot slave device for driving dual guidewires and a single catheter according to claim 3, characterized in that: The body of the track change tube is a side-opening structure, and a buckle structure is also provided on the body, which can quickly open or close the body of the track change tube, so that the first guide wire and / or the second guide wire can be quickly removed from the side of the tube body. The buckle structure is one or a combination of a snap, a lock, and a magnet.

5. The interventional robot slave device for driving dual guidewires and a single catheter according to claim 3, characterized in that: The track change tube is a Y-shaped bifurcated tube, and a portion of the second catheter can extend into the bifurcation of the track change tube. The bifurcated section of the track change tube can play a certain supporting role, preventing the clamping position of the second catheter from being too far away from the inlet end of the first catheter, causing it to bend during delivery.

6. The interventional robot slave device for driving dual guidewires and a single catheter according to claim 5, characterized in that: A third port control module is installed on the second linear rail group and in front of the third clamping and rotating mechanism. The first fork tube of the track change tube is installed on the first clamping, rotating and port control module or aligned with the entrance of the first clamping, rotating and port control module. The second fork tube of the track change tube is installed in the third port control module through a threaded valve interface. The third port control module can control the locking and release of the second guide wire through the threaded valve interface.

7. The interventional robot slave device for driving dual guidewires and a single catheter according to claim 6, characterized in that: A second support assembly for guiding the movement of the first guide wire is installed on the first linear rail group and located between the second port control module and the second clamping and rotating mechanism; a third support assembly for guiding the movement of the second guide wire is installed on the second linear rail group and located between the third port control module and the third clamping and rotating mechanism, the first guide wire passes into the second support assembly, and the second guide wire passes into the third support assembly, the second support assembly and the third support assembly can be respectively telescopic or axially translated, for limiting the first guide wire and the second guide wire to a fixed axial direction, to avoid bending of the first guide wire and the second guide wire during delivery; the second support assembly and the third support assembly include at least one of a telescopic tube assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly, and the guide ring assembly is an openable and closable support ring, which is convenient for placing and clamping the first guide wire or the second guide wire from the top.

8. An interventional robot slave device for driving dual guidewires and a single catheter according to claim 1 or 2, characterized in that: The track-changing tube is a curved tube that changes from one track to another. The rear end of the first conduit is installed in the first clamping rotation and port control module; one end of the curved tube is aligned with the rear end opening of the first conduit and / or the second conduit so that the curved tube is connected to the first conduit and / or the second conduit, and the second guide wire can smoothly enter the first conduit and / or the second conduit along the curved tube. A third port control module is installed on the second linear track group and in front of the third clamping rotation mechanism, and the other end of the curved tube is installed on the third port control module.

9. A method for using a slave device of an interventional robot for driving dual guidewires and a single catheter, characterized in that: The following steps are included: (1) Open the cover structures of the first port control module, the first clamping rotation and port control module, the third port control module, the second clamping rotation mechanism, and the third clamping rotation mechanism respectively, and connect or align the rear end of the first port control module or the first clamping rotation and port control module with the track change tube; (2) inserting the second catheter into the first catheter through the bifurcated section of the track change tube, or directly inserting the second catheter into the first catheter, and inserting the first guidewire into the second catheter; the second guidewire is inserted into the first catheter or the second catheter under the guidance of the track change tube; (3) Installing the first guide wire through the second clamping and rotating mechanism, installing the second guide wire through the third clamping and rotating mechanism, installing the second catheter on the first clamping and rotating and port control module, and installing the rear portion of the first catheter on the first port control module; (4) Close the cover opening structures of the first port control module, the first clamping rotation and port control module, the third port control module, the second clamping rotation mechanism, and the third clamping rotation mechanism respectively.

10. The method for using the interventional robot slave device for driving dual guidewires and a single catheter according to claim 9, characterized in that: When pushing the second catheter, when the first clamping and rotating mechanism and the second port control module reciprocate independently, the first clamping and rotating mechanism and the second port control module are respectively installed on the first linear rail group through the module fixing seat a and the module fixing seat b, the first port control module opens the channel, the first clamping and rotating mechanism clamps and rotates the second catheter and pushes the second catheter forward along the first linear rail group, and the second port control module clamps and rotates the second catheter and moves forward synchronously, thereby avoiding interference with the force sensing element of the first clamping and rotating mechanism; then when the first clamping and rotating mechanism moves forward close to the limit, the first port control module closes the channel, clamps the first catheter and the second catheter inside, and then the first clamping and rotating mechanism releases the second catheter and moves backward to reset, at this time the second port control module stops moving, after the first clamping and rotating mechanism moves backward a certain distance, the first port control module opens the channel, the first clamping and rotating mechanism continues to clamp and rotate the second catheter, and cooperates with the second port control module to continue rotating and pushing the second catheter, and the process is repeated to achieve reciprocating unidirectional rotation delivery of the second catheter; When pushing the second catheter, when the first clamping and rotating mechanism and the second port control module move synchronously, the first clamping and rotating mechanism and the second port control module are both installed on a module fixing seat b, and the module fixing seat b is installed on the first linear track group. The first port control module opens the channel, the first clamping and rotating mechanism clamps and rotates the second catheter and pushes the second catheter forward along the first linear track group, the second port control module supports the second catheter and the second port control module moves forward synchronously along the first linear track group together with the first clamping and rotating mechanism, thereby avoiding interference with the force sensing element of the first clamping and rotating mechanism, and the second catheter moves under the support and guidance of the external telescopic tube to realize unidirectional rotation delivery of the second catheter. The above process only needs to be reversed to realize the reverse unidirectional withdrawal of the second catheter.

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