A valve fixation assembly and interventional surgical robot having the same

Abstract

A valve fixing assembly includes a telescopic support frame and a fixing seat manually detachably fixed to the support frame. The application also provides an interventional surgery robot with the valve fixing assembly, which includes a slave end body and a valve fixing assembly telescopically arranged at the distal end of the slave end body. The valve fixing assembly is arranged on the delivery path of the elongated medical instrument between the slave end body and the surgery patient, and is used to fixedly mount the elongated medical instrument which has been delivered to the position and the function valve connected to the proximal end of the elongated medical instrument, so that the driving device on the slave end body can control more number of elongated medical instruments, the driving device is reduced while the delivery stroke is increased, and the control of the driving device on the slave end body is simplified.

Description

Technical Field

[0001] This invention relates to a device in the field of medical robots, and more particularly to a valve fixing assembly and an interventional surgical robot having the valve fixing assembly. Background Technology

[0002] Interventional therapy is a minimally invasive treatment that utilizes modern high-tech methods. Under the guidance of medical imaging equipment, specialized catheters, guidewires, and other precision instruments are introduced into the human body to diagnose and treat internal diseases locally.

[0003] Interventional surgical robots typically consist of two main parts: a transmission carriage mechanism and a main drive unit. During the procedure, the catheter and guidewire are held in place on the transmission carriage mechanism, and the main drive unit can adjust the position of the transmission carriage mechanism in a linear direction. With the rapid development of interventional surgical technology, interventional surgery can now perform more complex surgical procedures compared to the past. The requirements for medical instruments during surgical operations have also evolved from one catheter and one guidewire, or two catheters and one guidewire, to three catheters and one guidewire, or even multiple catheters and multiple guidewires. However, when using a multiple catheter and multiple guidewire mode, more transmission carriage mechanisms are needed to control each medical instrument.

[0004] Compared to the surgeon's operation, more transmission carriages are not necessarily better, provided the surgery can be completed. Surgical robots using multiple transmission carriages are limited by the movement space of these carriages; the more carriages used, the shorter the delivery stroke, which is detrimental to the delivery of catheters and guidewires to the lesion. Furthermore, traditional interventional surgical robots often have a pre-positioned Y-valve occupying a transmission carriage, requiring additional carriages to drive the catheters and guidewires. Therefore, there is an urgent need to improve the structure of traditional interventional surgical robots and provide a novel Y-valve fixing assembly. Summary of the Invention

[0005] Therefore, it is necessary to address the shortcomings of existing technologies by providing a novel valve fixation assembly and an interventional surgical robot incorporating the valve fixation assembly.

[0006] A valve fixing assembly includes a retractable support frame and a mounting base that is manually detachably fixed to the support frame.

[0007] Furthermore, the fixing base includes a main body fixed to the support frame and a guide portion connected to the main body for supporting the slender medical device.

[0008] Furthermore, the guide portion is a hollow sterile isolation cover, and the shape of the guide portion gradually shrinks away from the main body.

[0009] Furthermore, a guide groove is formed within the guide portion, and a through hole for the passage of a slender medical device is provided at one end of the guide groove away from the main body.

[0010] Furthermore, the main body is provided on the side with a first receiving groove, a second receiving groove, a through groove connecting the first receiving groove and the second receiving groove, a third receiving groove communicating with the through groove and located between the first receiving groove and the second receiving groove, and a fourth receiving groove communicating with the guide groove and the second receiving groove.

[0011] Furthermore, the valve fixing assembly also includes a limiting cover that is rotatably mounted on the fixing seat and covers the side of the body.

[0012] Furthermore, the limiting cover is fixed to the main body by magnetic attraction.

[0013] The present invention also provides an interventional surgical robot with a valve fixing assembly, which includes a slave body and the valve fixing assembly described above, wherein the valve fixing assembly is retractably disposed at the distal end of the slave body.

[0014] Furthermore, the valve fixing assembly is housed and hidden at the distal end of the slave body.

[0015] Furthermore, the valve fixing assembly is manually detachably disposed at the distal end of the slave body.

[0016] Furthermore, the support frame itself is telescopic.

[0017] Furthermore, the support frame extends from within the main body at the secondary end.

[0018] In summary, the valve fixing assembly of this invention is positioned on the delivery path of a slender medical device between the slave body and the surgical patient. It is used to fix the delivered slender medical device and the functional valve connected to the proximal end of the slender medical device, thereby enabling the drive device on the slave body to control a larger number of slender medical devices. Compared with traditional interventional surgical robots, in a single interventional procedure, since no additional drive device is needed to support the delivered functional valve, the interventional procedure can be completed with fewer drive devices. This reduces the number of drive devices while increasing the delivery stroke and simplifies the control of the drive device on the slave body. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the interventional surgical robot with valve fixing assembly according to the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of the valve fixing assembly of the present invention when it is installed in conjunction with the T-type valve and the guide tube;

[0021] Figure 3 for Figure 2 The diagram shows the structure of the valve fixing assembly.

[0022] Figure 4 for Figure 2 The diagram shows the structure of the T-type valve after it is installed with the guide tube. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the invention clearer, the 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 for illustrative purposes only and are not intended to limit the invention.

[0024] like Figures 1 to 4 As shown, this invention provides an interventional surgical robot with a valve fixing assembly. The distal end of the interventional surgical robot is the end closest to the patient, and the other end, opposite to the distal end and furthest from the patient, is the proximal end. The interventional surgical robot with the valve fixing assembly includes a slave-end body 10 and a valve fixing assembly 20 retractably disposed at the distal end of the slave-end body 10 (i.e., the distal end of the interventional surgical robot). The slave-end body 10 includes a housing 11 and several driving devices 12 disposed on the outside of the housing 11. The driving devices 12 are used to perform clamping, delivery, and rotation operations on multiple slender medical devices (such as guide tubes 100, microguidewires 300, or microcatheters 200). The valve fixing assembly 20 is disposed on the path of the slender medical devices being delivered forward, i.e., at the distal end of the interventional surgical robot, and is used to fixably install the guide tube 100 that has been delivered into place and a functional valve 30 (such as a T-valve or Y-valve) connected to the proximal end of the guide tube 100.

[0025] The functional valve 30 includes a valve body 31, a connector 33 mounted on the valve body 31, and a drive component 34 mounted on the connector 33. The valve body 31 includes a first tube 311, a second tube 312, and a third tube 313. In this embodiment, the first tube 311, the second tube 312, and the third tube 313 are arranged in a T-shape. The first tube 311 and the second tube 312 are connected. The third tube 313 is connected between the first tube 311 and the second tube 312 and is connected to the first tube 311 and the second tube 312. A slender medical device is introduced into the first tube 311 and extends out of the second tube 312. The end of the first tube 311 away from the second tube 312 is provided with an inlet end 32.

[0026] The connector 33 is installed on the second tube 312 at the end away from the first tube 311. The connector 33 is free to rotate on the second tube 312. The connector 33 is a male Luer connector. A female Luer connector 110 is provided on the proximal end of the guide tube 100. The guide tube 100 is installed with the connector 33 through the female Luer connector 110. The connector 33 is provided with several retaining strips 331, and the extension direction of the retaining strips 331 is consistent with that of the second tube 312. The drive member 34 is provided with a mounting hole 341 in the middle. The wall of the mounting hole 341 is provided with a slot 342. When the drive member 34 and the connector 33 are installed together, the connector 33 is inserted into the mounting hole 341. The retaining strips 331 on the connector 33 and the slots 342 on the mounting hole 341 are locked in place by an interference fit, so that the drive member 34 and the connector 33 can rotate synchronously. In this embodiment, the driving component 34 is a gear with straight teeth on its circumferential surface.

[0027] The valve fixing assembly 20 includes a support frame 28 retractably disposed at the far end of the slave body 10, a fixing seat 21 fixed to the support frame 25, and a limiting cover 22 movably mounted on the fixing seat 21. The functional valve 30 is placed on the fixing seat 21, and the guide tube 100 installed on the functional valve 30 extends from one end of the fixing seat 21. The limiting cover 22 can be flipped from the fixing seat 21 to cover the fixing seat 21, thereby limiting the functional valve 30 placed on the fixing seat 21, or the limiting cover 22 can be opened to install or remove the functional valve 30.

[0028] The fixing base 21 includes a body part 23 and a guide part 24 connected to one end of the body part 23. The body part 23 has a first receiving groove 231, a second receiving groove 232, a through groove 233 connecting the first receiving groove 231 and the second receiving groove 232, a third receiving groove 234 located between the first receiving groove 231 and the second receiving groove 232 and connected to the through groove 233, and a fourth receiving groove 235 connecting the internal space of the guide part 24 and the second receiving groove 232. The bottom of the first receiving groove 231 and the second receiving groove 232 are arc-shaped, respectively corresponding to the inlet end 32 and the connector 33 of the function valve 30. The guide portion 24 is generally hollow and conical in shape, gradually tapering away from the main body 23. It has a guide groove 241 that communicates with the second receiving groove 232. The space within the guide groove 241 also gradually tapers away from the main body 23, and a through hole 242 is formed at one end of the guide portion 24 away from the main body 23. The opening of the through hole 242 is aligned with the through groove 233. In this embodiment, the opening of the through hole 242 and the through groove 233 are on the same straight line.

[0029] The limiting cover 22 has protruding locking pins 222 on both sides, and the main body 23 has two opposing support columns 236 protruding on the mounting surface. Each support column 236 has a movable hole 237, and the locking pins 222 of the limiting cover 22 are inserted into the movable holes 237. Through the cooperation of the locking pins 222 and the movable holes 237, the limiting cover 22 can rotate on the fixed base 21. One of the limiting cover 22 and the main body 23 has a magnetic element 25, and the other has an iron-containing element or a magnetic element 26. When the limiting cover 22 is placed on the main body 23, it can be fixed by magnetic attraction.

[0030] In this embodiment, the fixing seat 21 of the valve fixing assembly 20 is connected to the housing 11 via a support frame 25. The support frame 25 can be a telescopic rod, meaning it is telescopic, similar to a telescopic antenna. It can also extend from the housing 11 during use and be hidden inside when not in use, making it convenient and space-saving. The fixing seat 21 is fixed to the support frame 25 via a snap-fit ​​structure or magnetic attraction. In this embodiment, the support frame 25 is approximately L-shaped. In other embodiments, the valve fixing assembly 20 can also be directly installed to the housing 11 via a snap-fit ​​structure or magnetic attraction, allowing it to be freely installed and removed from the housing 11. Alternatively, the valve fixing assembly 20 can be housed within the slave-end main body 10 and hidden, extending out from the slave-end main body 10 when needed.

[0031] During the interventional procedure, the drive device 12 on the end body 10 is first reset, connecting the guide tube 100 to the functional valve 30. Then, the functional valve 30 with the guide tube 100 is installed on the drive device 12, and the drive device 12 drives the guide tube 100 and the functional valve 30 forward. After the guide tube 100 is delivered into the patient's blood vessel, contrast agent is injected through the third tube 313 of the functional valve 30 to confirm the position of the guide tube 100. If the position is correct, the functional valve 30 connected to the guide tube 100 is removed from the drive device 12 and placed on the valve fixing assembly 20. When the functional valve 30 is installed with the valve fixing assembly 20, the limiting cover 22 is opened, and the valve body 31 and the third tube 313 on the functional valve 30 are respectively locked in the through groove 233 and the third receiving groove 234. At the same time, the inlet end 3 of the functional valve 30 is... 2. The connector 33 is accommodated in the first receiving groove 231 and the second receiving groove 232 on both sides of the through groove 233. The drive component 34 is accommodated in the fourth receiving groove 235 of the main body 23. The proximal end of the guide tube 100 connected to the functional valve 30 is housed in the guide groove 241, and the guide tube 100 passes through the guide groove 241 and extends out of the through hole 242. Then, the limiting cover 22 is placed on the main body 23. Under magnetic attraction, the limiting cover 22 limits the functional valve 30. After the guide tube 100 and the functional valve 30 are removed from the drive device 12 of the slave body 10, other guide tubes are installed on the drive device 12 of the slave body 10. For example, the guide tubes and guide wires installed on other drive devices 12 after the drive device 12 can be removed and replaced on the drive device 12, and thinner guide tubes can be installed on other drive devices 12. In this way, more guide tubes and guide wires can be clamped, delivered, and rotated.

[0032] In this embodiment, the guide portion 24 is open and extends to the structure for fixing the catheter sheath (i.e., the sheath inserted at the puncture point of the interventional procedure), and is fixed to the structure for fixing the catheter sheath by means of snap-fit ​​or magnetic attraction. In other embodiments, the guide portion 24 may be closed. These are all beneficial for achieving aseptic isolation.

[0033] In other embodiments, the guide tube 100 connected to the functional valve 30 can also be manually inserted into place and then fixed to the valve fixing assembly 20.

[0034] In other embodiments, the valve fixing assembly 20 may be installed at an angle relative to the interventional surgical robot, i.e., tilted toward the surgical patient, to facilitate control such as the delivery of catheters and guidewires.

[0035] In summary, the interventional surgical robot of the present invention, by setting a valve fixing component 20, which is set on the slender medical device delivery path between the slave body 10 and the surgical patient, is used to fix the delivered guide tube 100 and the functional valve 30 connected to one end of the guide tube 100. This allows the drive device 12 on the slave body 10 to control a larger number of catheters and guidewires. Compared with traditional interventional surgical robots, in the same type of interventional surgery, since there is no need to use an additional drive device 12 to support the delivered functional valve 30, the interventional surgery can be completed with a smaller number of drive devices 12, effectively increasing the delivery stroke of the drive device 12 and simplifying the control of the drive device 12 on the slave body 10.

[0036] The embodiments described above illustrate only one implementation of the invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept, and these all fall within the scope of protection of the invention. Therefore, the scope of protection of the invention patent should be determined by the appended claims.

Claims

1. A valve fixing assembly, installed on the slave end of an interventional surgical robot, characterized in that, It includes a retractable support frame and a fixing seat fixed to the support frame. The fixing seat is connected to the slave body through the support frame. In use, the valve fixing assembly extends from the slave body. The fixing seat is used to detachably fix the functional valve to cooperate with the drive device of the slave body to drive and fix the slender medical device.

2. The valve fixing assembly as described in claim 1, characterized in that: The mounting base includes a main body fixed to the support frame and a guide portion connected to the main body for supporting a slender medical device.

3. The valve fixing assembly as described in claim 2, characterized in that: The guide section is a hollow sterile isolation cover, and the shape of the guide section gradually tapers away from the main body.

4. The valve fixing assembly as described in claim 2, characterized in that: A guide groove is formed within the guide section, and a through hole for the passage of a slender medical device is provided at one end of the guide groove away from the main body.

5. The valve fixing assembly as described in claim 4, characterized in that: The main body is provided with a first receiving groove, a second receiving groove, a through groove connecting the first receiving groove and the second receiving groove, a third receiving groove connected to the through groove and located between the first receiving groove and the second receiving groove, and a fourth receiving groove connecting the guide groove and the second receiving groove on the side.

6. The valve fixing assembly as described in claim 5, characterized in that: The valve fixing assembly also includes a limiting cover that is rotatably mounted on the fixing seat and covers the side of the body.

7. The valve fixing assembly as described in claim 6, characterized in that: The limiting cover is fixed to the main body by magnetic attraction.

8. An interventional surgical robot with a valve fixation assembly, characterized in that: It includes a slave body and a valve fixing assembly as described in any one of claims 1 to 7, the valve fixing assembly being retractably disposed at the distal end of the slave body.

9. The interventional surgical robot with valve fixation assembly as described in claim 8, characterized in that: The valve fixing assembly is housed and hidden at the distal end of the slave body.

10. The interventional surgical robot with valve fixation assembly as described in claim 8, characterized in that: The valve fixing assembly is manually detachably mounted at the distal end of the slave body.

11. The interventional surgical robot with valve fixation assembly as described in claim 8, characterized in that: The support frame itself is telescopic.

12. The interventional surgical robot with valve fixation assembly as described in claim 8, characterized in that: The support frame extends from the main body at the secondary end.

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