An extracorporeal catheter anti-bending device for an intravascular interventional surgical robot

Abstract

The present invention discloses an extracorporeal anti-bending device for a catheter of an intravascular interventional surgical robot, which belongs to the technical field of surgical robots and comprises: a fixed mounting seat, a pushing mounting seat, a spring, a hose and a catheter; the fixed mounting seat is fixed on the surgical robot; one end of the hose is fixed in a through hole A of the fixed mounting seat, and the other end passes through a through hole B of the pushing mounting seat and is connected to an external tensioning mechanism; the spring is sleeved on the outside of the hose in a linearly taut state, and its two ends are respectively fixedly connected to the fixed mounting seat and the pushing mounting seat; the catheter passes through the hose, and its two ends extend out of the hose, and the head of the catheter is fixedly connected to the pushing mounting seat by a pull rod, and the tail of the catheter extends out of the fixed mounting seat; the device can prevent the catheter from being bent due to resistance when delivered in an extracorporeal environment, thereby realizing safe axial pushing of the catheter.

Description

Technical Field

[0001] The present invention belongs to the technical field of surgical robots, and in particular relates to an extracorporeal catheter anti-bending device for an intravascular interventional surgical robot. Background Art

[0002] Endovascular technology has become a basic means of vascular treatment, and most vascular reconstruction surgeries currently performed require the use of this technology. The operation of the guidewire-catheter is the core content of endovascular technology and determines the quality of the operation. At present, doctors in clinical practice use digital silhouette angiography (DSA) to manually complete the positioning operation of the guidewire-catheter in the patient's blood vessels. Conventional passive guidewires, guide catheters, and balloon catheters are the basic instruments used in surgery. The use of robotic devices for guidewire (catheter or other instruments, the same below) positioning operations is conducive to improving the accuracy of positioning operations, reducing doctor fatigue, and improving surgical quality.

[0003] The path restriction of the catheter during extracorporeal delivery is an important factor restricting the operation of the intravascular interventional surgical robot. During the process of the interventional surgical robot driving the catheter to deliver, the catheter will be easily bent and deformed due to the influence of the viscosity of the blood and the friction of the blood vessel wall in the blood vessel. Because the catheter body is restricted by the blood vessel wall, the catheter will not bend significantly even if it encounters resistance during delivery. However, the catheter of the extracorporeal blood vessel is not restricted by the blood vessel wall. If the path restriction is not performed, the extracorporeal part of the catheter will bend significantly when it encounters the above resistance, and the delivery of the catheter cannot be completed smoothly.

[0004] Currently, interventional surgical robots use a telescopic sleeve structure similar to a radio antenna, which is made of hard plastic. The head end of the extravascular catheter is fixed to one end of the telescopic sleeve. At the same time, the catheter passes through the telescopic sleeve, and the inner wall of the sleeve can limit the catheter from significantly bending, so as to achieve the purpose of normal delivery of the catheter during the interventional surgery.

[0005] The existing solutions for limiting the extracorporeal path of catheters in endovascular interventional surgery have the following problems:

[0006] 1. Currently, vascular cavity interventional surgery robots use telescopic sleeves or equally spaced clamps to prevent catheter bending. The telescopic sleeve is made of hard plastic, and even if the sleeve is fully retracted, a certain distance will still be retained. In this case, the catheter in the sleeve cannot be delivered into the blood vessel, reducing the effective length of the catheter. At the same time, the method of using clamps to prevent catheter bending is not reliable.

[0007] 2. The telescopic sleeve is a structure composed of multiple hard cylinders with different outer diameters. Due to the manufacturing process and hardness requirements, the outer diameter of the outermost cylinder is still very large. The catheter in this part of the sleeve is prone to large bending, which may cause catheter damage in the worst case, and cannot meet the clinical use requirements of vascular cavity interventional surgery robots.

[0008] 3. Difficulty in disinfection and sterilization. The telescopic sleeve is a semi-enclosed component, which is easy to contain tiny dust and is difficult to completely eliminate. These dusts may adhere to the catheter and enter the blood, endangering the life and health of the patient. Summary of the invention

[0009] In view of this, the present invention provides an extracorporeal anti-bending device for a catheter of an intravascular interventional surgical robot, which can prevent the catheter from bending due to resistance during delivery in an extracorporeal environment, thereby achieving safe axial pushing of the catheter; and the device adopts a hose and spring combination structure, which can effectively reduce the redundant length of the catheter outside the body and increase the effective use length of the catheter.

[0010] The present invention is achieved through the following technical solutions:

[0011] A catheter extracorporeal anti-bending device for an intravascular interventional surgical robot, comprising: a fixed mounting seat, a push mounting seat, a spring, a hose and a catheter;

[0012] The fixed mounting seat is provided with a through hole A for passing a conduit;

[0013] The push mounting seat is provided with a through hole B for passing a hose;

[0014] The outer circumferential surface of the hose is processed with an opening along its axial direction;

[0015] The overall connection relationship is as follows: the fixed mounting seat is fixed on the surgical robot; one end of the hose is fixed in the through hole A of the fixed mounting seat, and the other end passes through the through hole B of the pushing mounting seat and is connected to an external tightening mechanism. The tightening mechanism is used to tighten the hose so that the hose located between the fixed mounting seat and the pushing mounting seat is in a linear tight state, and the end of the hose extending from the pushing mounting seat is opened outward; the spring is sleeved on the outside of the hose in a linear tight state, and its two ends are respectively fixedly connected to the fixed mounting seat and the pushing mounting seat; the catheter passes through the hose, and its two ends extend out of the hose, and the head of the catheter is fixedly connected to the pushing mounting seat through a pull rod, and the tail of the catheter extends out of the fixed mounting seat.

[0016] Furthermore, the fixed mounting seat is composed of two split modules connected together, and the two split modules are respectively a fixed seat A and a fixed seat B; the fixed seat A is processed with a mounting groove A for passing a catheter. When the fixed seat A and the fixed seat B are connected as one, the open side of the mounting groove A is closed by the fixed seat B to form the through hole A.

[0017] Furthermore, the pushing mounting seat is composed of two split modules connected together, and the two split modules are respectively a pushing seat A and a pushing seat B; the pushing seat B is processed with a mounting groove B for passing a hose. When the pushing seat A and the pushing seat B are connected together, the opening side of the mounting groove B is closed by the pushing seat A to form the through hole B.

[0018] Beneficial effects: (1) The present invention adopts a structure in which a hose and a spring cooperate with each other. During the delivery process of the catheter, the catheter can be pushed forward and backward in the hose. The head of the catheter and the push mounting seat can also squeeze and stretch the spring, so that the catheter is always wrapped by the hose and the spring outside the body, preventing the catheter from escaping from the hose; the spring with high compression performance can be compressed to a very short length, thereby increasing the effective use length of the catheter; and the outer circumferential surface of the hose is provided with an opening along its axial direction, which can be thoroughly cleaned and disinfected, thereby solving the above problems existing in the use of the sleeve.

[0019] (2) In the process of catheter delivery of the present invention, the hose is always in a taut state to ensure that the catheter will not be excessively bent under the hose wrapping, and the spring wrapped hose can prevent the catheter between the push mounting seat and the fixed mounting seat from slipping out of the opening of the hose; therefore, the spring and the hose, as key components of the catheter anti-bending device, doubly protect the catheter from detaching from the catheter, greatly enhancing the stability of the catheter and ensuring that the catheter can efficiently, stably and accurately complete the extracorporeal delivery operation during use, making the vascular cavity interventional surgical robot more stable and safe.

[0020] (3) The present invention adopts a spring with high compression performance. During the process of catheter delivery, the spring with high compression performance can be compressed to a very short length, thereby reducing the length of the catheter between the push mounting seat and the fixed mounting seat, thereby reducing the length of the catheter outside the body and increasing the length of the catheter delivered into the blood vessel, that is, shortening the catheter that cannot be delivered into the blood vessel during surgery, increasing the effective use length of the catheter, and allowing the catheter to reach a farther lesion location in the human body.

[0021] (4) The outer circumferential surface of the hose of the present invention is provided with an opening along its axial direction, which enables the catheter behind the pushing mounting seat to be separated from the hose, ensuring the linear pushing of the catheter. At the same time, the opening is conducive to the disinfection and sterilization operation of the catheter.

[0022] (5) The fixed mounting seat and the pushing mounting seat of the present invention both adopt a split-mode docking structure, which facilitates the doctor's operation. The upper part can be opened to quickly remove the catheter for disinfection and sterilization, thereby improving the convenience of operating the vascular cavity interventional surgery robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural composition diagram of the present invention;

[0024] Figure 2 It is a structural schematic diagram of the fixed mounting seat of the present invention;

[0025] Figure 3 It is a structural schematic diagram of the push mounting seat of the present invention;

[0026] Among them, 1-fixed seat A, 2-fixed seat B, 3-spring, 4-pushing seat A, 5-pushing seat B, 6-hose, 7-conduit. DETAILED DESCRIPTION

[0027] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0028] This embodiment provides a catheter anti-bending device for use in an intravascular interventional surgery robot. Figure 1 , including: a fixed mounting seat, a push mounting seat, a spring 3, a hose 6 and a conduit 7;

[0029] See attached Figure 2 The fixed mounting seat is processed with a through hole A for passing the conduit 7; the fixed mounting seat is composed of two split modules connected together, and the two split modules are a fixed seat A1 and a fixed seat B2; the fixed seat A1 is processed with a mounting groove A for passing the conduit 7, and when the fixed seat A1 and the fixed seat B2 are connected as a whole, the open side of the mounting groove A is closed by the fixed seat B2 to form the through hole A;

[0030] See attached Figure 3 The push mounting seat is processed with a through hole B for passing the hose 6; the push mounting seat is composed of two split modules connected together, and the two split modules are a push seat A4 and a push seat B5; the push seat B5 is processed with a mounting groove B for passing the hose 6, and when the push seat A4 and the push seat B5 are connected as one, the open side of the mounting groove B is closed by the push seat A4 to form the through hole B;

[0031] The outer circumferential surface of the hose 6 is processed with an opening along its axial direction;

[0032] The overall connection relationship is as follows: the fixed mounting seat is fixed on the surgical robot; one end of the hose 6 is fixed in the through hole A of the fixed mounting seat, and the other end passes through the through hole B of the pushing mounting seat and is connected to the external tightening mechanism. The tightening mechanism is used to tighten the hose 6 so that the hose 6 located between the fixed mounting seat and the pushing mounting seat is in a linear tight state, and the end of the hose 6 extending out of the pushing mounting seat is opened outward, forming a certain angle with the hose 6 in a linear tight state; the spring 3 is sleeved on the outside of the hose 6 in a linear tight state, and its two ends are respectively fixedly connected to the fixed mounting seat and the pushing mounting seat; the catheter 7 passes through the hose 6, and its two ends extend out of the hose 6, and the head of the catheter 7 is fixedly connected to the pushing mounting seat through a pull rod, and the tail of the catheter 7 extends out of the fixed mounting seat.

[0033] Working principle: when the catheter 7 is pushed, the head of the catheter 7 is driven to move toward the fixed mounting seat by pushing the pushing mounting seat, and at the same time the spring 3 is compressed, and the pushing mounting seat and the hose 6 move relative to each other. Since the hose 6 is always in a straight line tight state, and the outer circumferential surface of the hose 6 is processed with an opening along its axial direction and the end of the hose 6 forms a certain angle with the hose 6 in a straight line tight state, it is ensured that the catheter 7 moving in the hose 6 can be pushed in a straight line; the opening on the hose 6 can ensure that there is no interference with the head of the catheter 7 during the movement of the catheter 7; the spring 3 is used to prevent the catheter 7 from detaching from the opening on the hose 6.

[0034] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A catheter anti-bending device for an intravascular interventional surgery robot, characterized in that: include: A fixed mounting seat, a push mounting seat, a spring (3), a hose (6) and a conduit (7); The fixed mounting seat is provided with a through hole A for passing the conduit (7); The push mounting seat is provided with a through hole B for passing a hose (6); The outer circumferential surface of the hose (6) is processed with an opening along its axial direction; The overall connection relationship is as follows: the fixed mounting seat is fixed on the surgical robot; one end of the hose (6) is fixed in the through hole A of the fixed mounting seat, and the other end passes through the through hole B of the push mounting seat and is connected to an external tensioning mechanism, the tensioning mechanism being used to tension the hose (6) so that the hose (6) located between the fixed mounting seat and the push mounting seat is in a linear tensioned state, and the end of the hose (6) extending out of the push mounting seat is outwardly opened to form an angle with the hose (6) in the linear tensioned state; the spring (3) is sleeved on the outside of the hose (6) in the linear tensioned state, and its two ends are respectively fixedly connected to the fixed mounting seat and the push mounting seat; the catheter (7) passes through the hose (6), and its two ends extend out of the hose (6), and the head of the catheter (7) is fixedly connected to the push mounting seat through a pull rod, and the tail of the catheter (7) extends out of the fixed mounting seat; When the catheter (7) is pushed, the push mounting seat is pushed to drive the head of the catheter (7) to move in the direction of the fixed mounting seat, and at the same time the spring (3) is compressed, and the push mounting seat and the hose (6) move relative to each other, so that the catheter (7) moving in the hose (6) is pushed linearly; the opening on the hose (6) is used to ensure that during the movement of the catheter (7), no interference is generated with the head of the catheter (7); the spring (3) is used to prevent the catheter (7) from detaching from the opening on the hose (6); The fixed mounting seat is composed of two split modules connected together, the two split modules are a fixed seat A (1) and a fixed seat B (2); the fixed seat A (1) is processed with a mounting groove A for passing a conduit (7); when the fixed seat A (1) and the fixed seat B (2) are connected together as a whole, the open side of the mounting groove A is closed by the fixed seat B (2) to form the through hole A; The push mounting seat is composed of two split modules connected together, the two split modules are respectively a push mounting seat A (4) and a push mounting seat B (5); a mounting groove B for passing a hose (6) is processed on the push mounting seat B (5); when the push mounting seat A (4) and the push mounting seat B (5) are connected together as a whole, the opening side of the mounting groove B is closed by the push mounting seat A (4) to form the through hole B.

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