A sheath tube driving device adapted to a catheter manipulator

Abstract

The present invention discloses a sheath driving device adapted to a catheter manipulator. The sheath driving device of the present invention can jointly push a sheath to move back and forth through a sheath rotating shaft and a telescopic device, realizing automatic and on-demand movement of the sheath, thereby improving the success rate of positioning a target.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a sheath driving device adapted to a catheter manipulator arm. Background Art

[0002] In radiofrequency ablation surgery, when it is difficult to precisely position the target during the operation of the catheter, it is often necessary to operate the catheter and the sheath simultaneously or separately. By rotating or advancing / retreating the sheath, the catheter is assisted to reach the target with difficult positioning. Currently, the linkage operation of such a catheter and a sheath can only be achieved by manual manipulation of the operator, and in necessary cases, the surgical assistant is also required to assist in completion. That is to say, the existing catheter manipulator arm needs to manually operate the sheath to assist in positioning the target, and due to the large human factor in manual operation, it will directly affect the accuracy of positioning the target. Summary of the Invention

[0003] The present invention provides a sheath driving device adapted to a catheter manipulator arm to solve the problem of low success rate of positioning when manually manipulating the sheath to assist in positioning the target in the prior art.

[0004] The present invention provides a sheath driving device adapted to a catheter manipulator arm, including: a sheath rotating shaft, a telescopic device, and a sheath connector; the sheath rotating shaft is connected to the catheter manipulator arm and sleeved outside the catheter rotating shaft of the catheter manipulator arm; one end of the telescopic device is connected to the sheath rotating shaft, and the other end is connected to the sheath connector. The catheter passes through the telescopic device, and a sheath is fixed on the sheath connector; the sheath is pushed to move back and forth through the sheath rotating shaft and the telescopic device.

[0005] Optionally, the sheath driving device further includes: a first driver;

[0006] The first driver drives the sheath rotating shaft to move back and forth along the central axis direction of the catheter rotating shaft according to the received first trigger signal to push the sheath to move back and forth.

[0007] Optionally, the sheath driving device further includes: a transmission mechanism; the power of the first driver is transmitted to the sheath rotating shaft through the transmission mechanism.

[0008] Optionally, the transmission mechanism is a spur gear, and the spur gear is arranged outside the catheter rotating shaft.

[0009] Optionally, the sheath driving device further includes: a second driver;

[0010] The second driver drives the telescopic device to move back and forth along the central axis direction of the catheter rotating shaft according to the received second trigger signal to push the sheath to move back and forth.

[0011] Optionally, the expander is a telescopic hollow connecting rod with multiple sections sleeved together.

[0012] Optionally, the expander is a telescopic hollow connecting rod with two sections sleeved together, namely a female rod and a male rod;

[0013] The first end of the female rod is connected to the sheath tube rotation axis. The interior of the female rod is a hollow structure. The first end of the male rod is inserted into the hollow structure through the second end of the female rod, and the second end of the male rod is connected to the sheath tube connector;

[0014] By the telescoping of the male rod within the female rod, the movement of the sheath tube is promoted.

[0015] Optionally, the expander is two symmetrically arranged connecting rods.

[0016] Optionally, the sheath tube driving device further includes: an infusion tube support rod; one end of the infusion tube support rod is fixed on the sheath tube connector, and the other end is fixed on the catheter robotic arm. The infusion tube support rod is bound to the infusion tube to support the infusion tube.

[0017] Optionally, the infusion tube support rod is a flexible steel wire.

[0018] Optionally, the sheath tube connector is a snap member, and the sheath tube is snapped at the end through the snap member.

[0019] The beneficial effects of the present invention are as follows:

[0020] The present invention provides a sheath tube driving device. Through the sheath tube rotation axis and the expander of the sheath tube driving device, the sheath tube is jointly promoted to move back and forth, realizing the automatic and on-demand movement of the sheath tube, thereby effectively solving the problem of low success rate of manual control of the sheath tube for auxiliary positioning of the target target in the prior art. Brief Description of the Drawings

[0021] Figure 1 is a schematic structural diagram of a sheath tube driving device adapted to a catheter robotic arm provided by an embodiment of the present invention;

[0022] Figure 2 is a schematic structural diagram of another sheath tube driving device adapted to a catheter robotic arm provided by an embodiment of the present invention;

[0023] Figure 3 is a schematic structural diagram of still another sheath tube driving device adapted to a catheter robotic arm provided by an embodiment of the present invention;

[0024] Figure 4 is a schematic structural diagram of the tail of the sheath tube provided by an embodiment of the present invention.

[0025] Description of reference numerals: 1 catheter, 2 catheter manipulator arm, 3 catheter rotating shaft, 4 sheath tube rotating shaft, 5 expander, 5-1 mother rod, 5-2 son rod, 6 sheath tube connector, 7, sheath tube tail, 8 sheath tube, 9 infusion tube, 10, measuring tube, 11 measuring tube tee, 12 infusion tube support rod, 13 binding member, 14 button, 15 first driver, 16 transmission mechanism, 17 inlet sealing film. Detailed implementation manners

[0026] In an embodiment of the present invention, the sheath tube rotating shaft and the expander of the sheath tube driving device are used to jointly push the sheath tube to move back and forth, so as to realize the automatic and on-demand movement of the sheath tube, thereby effectively solving the problem of low success rate of manually controlling the sheath tube to assist in positioning the target target in the prior art. The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not limit the present invention.

[0027] An embodiment of the present invention provides a sheath tube driving device adapted to a catheter manipulator arm. Refer to Figure 1 , this device includes: a sheath tube rotating shaft 4, an expander 5 and a sheath tube connector 6;

[0028] The sheath tube rotating shaft 4 is connected to the catheter manipulator arm 2 and sleeved outside the catheter rotating shaft 3 of the catheter manipulator arm 2;

[0029] One end of the expander 5 is connected to the sheath tube rotating shaft 4, and the other end is connected to the sheath tube connector 6. The catheter 1 passes through the expander 5;

[0030] The sheath tube connector 6 is used to connect to the sheath tube 8;

[0031] Specifically, in an embodiment of the present invention, the sheath tube connector 6 is a snap member. The snap member snaps the tail of the sheath tube 7 to the sheath tube driving device, and a button 14 is also provided on the snap member. The sheath tube connector 6 can be conveniently disassembled and installed through the button 14.

[0032] The sheath tube 8 is pushed to move back and forth through the sheath tube rotating shaft 4 and the expander 5.

[0033] That is to say, in an embodiment of the present invention, the sheath tube 8 is pushed to move back and forth through the sheath tube rotating shaft 4 and the expander 5, so as to realize the automatic and on-demand movement of the sheath tube 8, and finally improve the success rate of positioning the target target assisted by the sheath tube 8.

[0034] Such as Figure 2 and Figure 3As shown, in specific implementation, the sheath tube driving device according to the embodiment of the present invention further includes: a first driver. In the embodiment of the present invention, the first driver drives the sheath tube rotating shaft 4 to move back and forth along the central line direction of the catheter rotating shaft 3 according to a first trigger signal, so as to push the sheath tube 8 to move back and forth.

[0035] That is, in the embodiment of the present invention, the first driver is used to drive the sheath tube rotating shaft 4 to reciprocate along the catheter rotating shaft 3, and finally drive the movement of the sheath tube 8 through the sheath tube rotating shaft 4.

[0036] In specific implementation, in the embodiment of the present invention, a transmission mechanism is used to transmit the power of the driver to the sheath tube rotating shaft 4.

[0037] For example, in specific implementation, those skilled in the art can set a spur gear outside the catheter rotating shaft 3, and transmit the power of the first driver to the sheath tube rotating shaft 4 through the spur gear, so that the rotating shaft moves back and forth along the central line direction of the catheter rotating shaft 3, and finally realizes the reciprocating movement of pushing the sheath tube 8.

[0038] In specific implementation, in the embodiment of the present invention, the sheath tube driving device further includes: a second driver;

[0039] The second driver drives the expander 5 to move back and forth along the central line direction of the sheath tube rotating shaft 4 according to a second trigger signal, so as to push the sheath tube 8 to move back and forth.

[0040] Specifically, in the embodiment of the present invention, a driver is used to push the expander 5 to expand and contract, so as to push the sheath tube 8 to move back and forth.

[0041] Generally speaking, in the embodiment of the present invention, the coarse adjustment of the sheath tube driving is realized through the expansion and contraction of the expander 5. That is, the second driver drives the expander 5 to move relatively large dimensions along the central line direction of the sheath tube rotating shaft 4, and then controls the sheath tube rotating shaft 4 to move relatively small dimensions along the central line direction of the sheath tube rotating shaft 4, so as to realize the fine adjustment of the sheath tube 8 driving. Through the above-mentioned coarse adjustment and fine adjustment, the automatic and on-demand movement of the sheath tube 8 is finally realized, thereby improving the positioning success rate of the sheath tube 8 for assisting in positioning the target.

[0042] It should be noted that the first driver and the second driver in the embodiment of the present invention can be various driving motors, as long as they can realize the movement of the sheath tube rotating shaft 4 and the expander 5, and the present invention does not make specific limitations in this regard. In addition, the transmission mechanism in the embodiment of the present invention can be various devices capable of transmitting the power of the driver. For example, the transmission mechanism can be set as a spur gear and a screw connection, etc., as long as the driven part can be controlled by the driver to move back and forth.

[0043] In specific implementation, those skilled in the art can set the positions of each driver and transmission mechanism according to the actual situation. For example, the first driver and the spur gear in the embodiment of the present invention are both arranged in the sheath rotation shaft 4, and a trigger signal is sent to the first driver by means of wire or wireless through a host or a dedicated controller, and so on. Correspondingly, those skilled in the art can also set the second driver and its corresponding transmission mechanism according to the above method. For example, the second driver and its corresponding transmission mechanism are both arranged on the sheath rotation shaft 4 or the robotic arm, and a trigger signal is sent to the second driver by means of wire or wireless through a host or a dedicated controller. The embodiment of the present invention does not elaborate on this in detail.

[0044] Further, in the embodiment of the present invention, the expander 5 is a telescopic hollow connecting rod formed by multiple sections sleeved together, and the connecting rods are sleeved together in the order of decreasing or increasing diameter of the connecting rods.

[0045] That is to say, the expander 5 in the embodiment of the present invention is composed of multiple connecting rods with different diameters cascaded together, that is, the connecting rod with a smaller diameter is sleeved inside the connecting rod with a larger diameter, and by controlling the telescoping of the connecting rod, the coarse adjustment of the driving of the sheath 8 is realized.

[0046] In specific implementation, in order to maintain the stability of control, two connecting rods are provided for the expander 5 in the embodiment of the present invention, as Figure 1 and 2 shown. The two connecting rods are symmetrically arranged for better precise positioning.

[0047] As Figure 2 shown, in specific implementation, the connecting rod in the embodiment of the present invention can be two sections, namely a mother rod 5-1 and a son rod 5-2;

[0048] The first end of the mother rod 5-1 is connected to the sheath rotation shaft 4. The inside of the mother rod 5-1 is a hollow structure. The first end of the son rod 5-2 is sleeved into the hollow structure through the second end of the mother rod 5-1, and the second end of the son rod 5-2 is connected to the sheath connector 6; by the telescoping of the son rod 5-2 inside the mother rod 5-1, the movement of the sheath 8 is promoted.

[0049] Specifically, in the embodiment of the present invention, the telescoping of the connecting rod is controlled by the second driver, so as to realize the coarse adjustment of the driving of the sheath 8.

[0050] It should be noted that, in order to enhance the stability of the connecting rod, two sets of connecting rods are symmetrically arranged, and the catheter 1 passes through the middle of the two sets of connecting rods. The two sets of connecting rods realize synchronous telescoping movement through the control of the second driver.

[0051] Of course, in specific implementation, those skilled in the art can also set up a cascaded sleeve, that is, cascade multiple sleeves with different diameters together, and the catheter 1 passes through the inside of the sleeve. By controlling the expansion and contraction of the sleeve through a driver, coarse adjustment of the drive of the sheath 8 can also be achieved.

[0052] In specific implementation, in the embodiment of the present invention, the sheath driving device further includes: an infusion tube support rod;

[0053] One end of the infusion tube support rod is fixed on the sheath connector 6, and the other end is fixed on the catheter robotic arm 2. The infusion tube support rod and the infusion tube 9 are bound together by a binding member to support the infusion tube 9.

[0054] In specific implementation, the infusion tube support rod in the embodiment of the present invention is a flexible steel wire. That is, the two ends of the flexible steel wire are respectively fixed to the sheath connector 6 and the catheter robotic arm 2 through a connecting member, and the infusion tube 9 and the flexible steel wire are bound together by a binding member, so as to support the infusion tube 9 through the flexible steel wire and control the movement of the infusion tube 9 through the flexible steel wire to prevent the infusion tube 9 from winding around the sheath driving device.

[0055] As Figure 4 shown, the sheath 8 in the embodiment of the present invention includes: a sheath tail 7, a sheath 8, a measuring tube 10, a measuring tube tee 11, and an inlet sealing film 17. Since those skilled in the art can obtain the current structure of the sheath, the embodiment of the present invention will not elaborate on this.

[0056] In summary, the sheath driving device in the embodiment of the present invention can jointly push the sheath to move back and forth through the rotating shaft and the telescopic device, realize the automatic and on-demand movement of the sheath, and thus improve the success rate of positioning the target.

[0057] Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will realize that various improvements, additions, and substitutions are also possible. Therefore, the scope of the present invention should not be limited to the above embodiments.

Claims

1. A sheath tube driving device adapted to a catheter manipulator, characterized in that Comprising: A sheath tube rotating shaft, a telescopic device, and a sheath tube connector; The sheath tube rotating shaft is connected to the catheter robotic arm and sleeved outside the catheter rotating shaft of the catheter robotic arm; One end of the telescopic device is connected to the sheath tube rotating shaft, and the other end is connected to the sheath tube connector. The catheter passes through the telescopic device, and a sheath tube is fixed on the sheath tube connector; The sheath tube is pushed to move back and forth through the sheath tube rotating shaft and the telescopic device; Wherein, the telescopic device is a multi-section telescopable hollow connecting rod sleeved together; The sheath tube driving device further includes: a first driver; the first driver drives the sheath tube rotating shaft to move back and forth along the central axis direction of the catheter rotating shaft according to the received first trigger signal, so as to push the sheath tube to move back and forth; The sheath tube driving device further includes: a second driver; the second driver drives the telescopic device to move back and forth along the central axis direction of the catheter rotating shaft according to the received second trigger signal, so as to push the sheath tube to move back and forth.

2. The sheath tube driving device according to claim 1, wherein The sheath tube driving device further includes: a transmission mechanism; The power of the first driver is transmitted to the sheath tube rotating shaft through the transmission mechanism.

3. The sheath tube driving device according to claim 1, wherein The transmission mechanism is a spur gear, and the spur gear is arranged outside the catheter rotating shaft.

4. The sheath tube driving device according to claim 1, wherein The telescopic device is two telescopable hollow connecting rods sleeved together, namely a female rod and a male rod; The first end of the female rod is connected to the sheath tube rotating shaft, the inside of the female rod is a hollow structure, the first end of the male rod is sleeved into the hollow structure through the second end of the female rod, and the second end of the male rod is connected to the sheath tube connector; The movement of the sheath tube is pushed by the telescopic movement of the male rod in the female rod.

5. The sheath tube driving device according to claim 1, wherein The telescopic device is two symmetrically arranged connecting rods.

6. The sheath tube driving device according to any one of claims 1-2, characterized in that, The sheath tube driving device further includes: an infusion tube support rod; One end of the infusion tube support rod is fixed on the sheath tube connector, and the other end is fixed on the catheter robotic arm. The infusion tube support rod is bound to the infusion tube to support the infusion tube.

7. The sheath tube driving device according to claim 6, wherein The infusion tube support rod is a flexible steel wire.

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