An interventional medical instrument auxiliary device

Abstract

The application discloses an interventional medical instrument auxiliary device which comprises a guide rail, a fixed base which is slidably arranged on the guide rail and drives a catheter to exit, and a clamping group which is arranged on the fixed base and is used for clamping a guide wire which penetrates into the catheter and moving relative to the guide wire with the fixed base. During the process that the interventional medical instrument auxiliary device drives the catheter to exit, the clamping group is in rolling cooperation with the guide wire, and the guide wire is kept stationary. The application can quickly drive the catheter to exit from a patient's body, and effectively improves the efficiency of an interventional operation.

Description

Technical Field

[0001] This invention relates to a device in the field of medical robots, and more particularly to an auxiliary device for interventional medical devices. 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] During surgical procedures, multiple medical devices (such as guidewires and catheters) are used in coordination to deliver them to the lesion. With the rapid development of interventional surgery techniques, interventional surgery can now perform more complex procedures than before. The requirements for medical devices used in these procedures have also evolved from single-tube and single-wire or two-tube and single-wire to three-tube and single-wire or even multi-tube and multi-wire modes. However, when using a multi-tube and multi-wire mode, more drive devices are needed to control each medical device. Due to the increased number of drive devices, higher demands are placed on the stroke control of these drive devices.

[0004] When delivering the catheter, the first half of the catheter is manually inserted through a guide tube already inserted into the patient's body, and the second half of the catheter is then delivered by the drive device of the surgical robot. When the catheter and guidewire are delivered in place, if it is necessary to replace it with another type of treatment catheter, the guidewire still needs to guide the subsequently introduced treatment catheter and cannot be removed. If only the drive device is used to remove the catheter, the drive device may not have enough stroke when removing the catheter due to the position of other drive devices. Summary of the Invention

[0005] Therefore, it is necessary to provide a novel interventional medical device auxiliary device to address the shortcomings of existing technologies.

[0006] An interventional medical device auxiliary device includes a guide rail, a fixed seat slidably mounted on the guide rail and driving the catheter out of the device, and a clamping group mounted on the fixed seat. The clamping group is used to clamp a guidewire inserted into the catheter and move relative to the guidewire with the fixed seat. When the fixed seat moves to drive the catheter out of the device, the interaction between the clamping group and the guidewire is only rolling contact. The clamping group does not generate a driving force on the guidewire in the backward direction so as to keep the guidewire stationary.

[0007] Furthermore, the clamping assembly includes a drive wheel assembly, a driven wheel assembly that abuts against and is separable from the drive wheel assembly, and a drive assembly that drives the drive wheel assembly to rotate and cooperates with the guide rail drive.

[0008] Furthermore, the guide rail includes an elongated main body and teeth arranged on the main body, and the drive assembly is a gear set meshing on the teeth.

[0009] Furthermore, the clamping assembly also includes a movable plate and an elastic return member for pushing the movable plate back into position. The driven wheel assembly is mounted on the movable plate, and the movable plate moves relative to the fixed seat to separate the driven wheel assembly from the driving wheel assembly.

[0010] Furthermore, a connecting shaft is provided on the fixed base. One end of the connecting shaft is located on the top surface of the fixed base to install the driving roller of the driving wheel assembly, and the other end extends from the bottom of the fixed base to install the gear of the gear assembly.

[0011] Furthermore, the fixed base has two functional plates arranged opposite to the clamping assembly, and the fixed base also has a sliding groove between the two functional plates for accommodating the movable plate. The clamping assembly also includes a guide rod that slides through the movable plate, with both ends of the guide rod respectively mounted on the two functional plates.

[0012] Furthermore, one end of the elastic return member presses against the movable plate, and the other end presses against the functional plate away from the support plate.

[0013] Furthermore, the bottom of the fixed base is provided with a first support foot and a second support foot arranged opposite to each other, and the first support foot and the second support foot are used to guide the fixed base to slide along the guide rail.

[0014] Furthermore, the interventional medical device auxiliary device also includes a base for mounting the guide rail, wherein the first support foot and the second support foot are both provided with slots, and the base is provided with an edge that is engaged in the slots of the first support foot and the second support foot.

[0015] Furthermore, the fixing seat is provided with a limiting part, and the limiting part is provided with a mounting groove for installing a hemostatic valve connected to the catheter.

[0016] Furthermore, the interventional medical device auxiliary device also includes a cover plate that can be opened and closed onto the fixing base, so that the clamping assembly can be accommodated in the space formed by the fixing base and the cover plate.

[0017] In summary, during the catheter withdrawal process, the clamping assembly and guidewire roll in coordination, keeping the guidewire stationary. This invention can quickly withdraw the catheter from the patient's body, effectively improving the efficiency of interventional surgery. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the interventional medical device auxiliary device of the present invention after the installation of the hemostatic valve, guidewire, and catheter.

[0019] Figure 2 for Figure 1 The side view of the interventional medical device auxiliary device after the hemostatic valve, guidewire, and catheter are installed;

[0020] Figure 3 for Figure 1 A schematic diagram of the mounting base of the interventional medical device auxiliary device shown;

[0021] Figure 4 for Figure 1 The diagram shows the structure of the clamping assembly of the interventional medical device auxiliary device. Detailed Implementation

[0022] 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.

[0023] In the description of this invention, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0024] In this invention, the direction "far" refers to the direction towards the patient, and the direction "near" refers to the direction away from the patient. The terms "upper" and "upper part" refer to the direction away from gravity, while the terms "bottom," "lower," and "lower part" refer to the direction of gravity. "Inner side" refers to the horizontal direction close to the guidewire 100 and catheter 200, while "outer side" refers to the horizontal direction away from the guidewire 100 and catheter 200. "Front" refers to the side facing the user, and "back" refers to the side away from the user.

[0025] like Figures 1 to 4 As shown, the present invention provides an interventional medical device auxiliary device for assisting in the withdrawal of a catheter from the patient's body during interventional surgery. During the withdrawal of the catheter 200, the guidewire 100 remains stationary. The interventional medical device auxiliary device can be installed on the operating table and can be freely installed and removed from the operating table. The installation direction of the interventional medical device auxiliary device on the operating table is consistent with the direction in which the patient lies flat on the operating table. Preferably, the interventional medical device auxiliary device is installed at the bedside position on one side of the operating table.

[0026] The interventional medical device auxiliary device includes a base 60, a guide rail 10 mounted on the base 60, a fixed seat 20 mounted on the guide rail 10 and slidable along the axial direction of the guide rail 10, a clamping assembly 30 mounted on the fixed seat 20 and driven to cooperate with the guide rail 10, and a cover plate 40 movably mounted on the fixed seat 20 and linked with the clamping assembly 30. The cover plate 40 can be opened from the fixed seat 20 or closed on the fixed seat 20 so that the clamping assembly 30 can be accommodated in the space formed by the fixed seat 20 and the cover plate 40.

[0027] The base 60 is elongated and includes a base plate 61 and several reinforcing ribs 62 connected to the bottom of the base plate 61. The guide rail 10 is connected to the top surface of the base 60 facing away from the reinforcing ribs 62 along the extending direction of the base 60. In this embodiment, the guide rail 10 is integrally formed and fixed to the base 60. In other embodiments, the guide rail 10 can also be installed and fixed to the base 60 as a single component.

[0028] The guide rail 10 includes an elongated main body 11 extending along the base 60, a locking tooth 13 disposed on the side of the main body 11, and a guide plate 12 connected to the top of the main body 11. The locking tooth 13 is arranged along the extension direction of the main body 11, and the guide plate 12 also extends along the extension direction of the main body 11. Both sides of the guide plate 12 extend out from above on both sides of the guide plate 12.

[0029] The fixing base 20 has a limiting part 21 at its distal end. The limiting part 21 has a mounting groove 211 corresponding to the shape of the hemostatic valve 300 (such as a T valve or a Y valve). The fixing base 20 has several support plates 22 distributed along the exit path of the guide wire 100 near its distal end. The support plates 22 have V-shaped support grooves 221 with a narrow inner edge and a wide outer edge, facing the mounting grooves 211, for placing the guide wire 100 passing through the hemostatic valve 300. An installation space 222 is formed between two adjacent support plates 22. The fixing base 20 has two functional plates 23 arranged opposite each other at its rear side, facing the support plates 22. The fixing base 20 also has a sliding groove 24 between the two functional plates 23, which is opposite to the functional plates 23. The bottom of the sliding groove 24 has a first receiving groove 25. The functional plates 23 have through holes 231, which are arranged opposite each other on the two functional plates 23. The fixed base 20 is also provided with two adjusting plates 26 arranged opposite each other at the rear side. The adjusting plates 26 are provided with adjusting holes 261, and the adjusting holes 261 on the two adjusting plates 26 are also arranged opposite each other. The function plate 23 and the slide groove 24 are located between the two adjusting plates 26.

[0030] The clamping assembly 30 includes a guide rod 31, a movable plate 32 slidably mounted on the guide rod 31, a driven wheel assembly 33 rotatably mounted on the movable plate 32, a driving wheel assembly 34 opposite to the driven wheel assembly 33 and rotatably mounted on the fixed base 20, an elastic return member 37 for pushing the movable plate 32 back into position, and a gear assembly 36 that rotates synchronously with the driving wheel assembly 34 and drives the guide rail 10. The driving wheel assembly 34 and the driven wheel assembly 33 are respectively located on the front and rear sides of the guide wire 100 exit path. The driving wheel assembly 34 includes several driving wheels, which are respectively arranged in different installation spaces 222 and separated by the support plate 22. In this embodiment, the fixed base 20 is equipped with a connecting shaft 35. One end of the connecting shaft 35 extends into the installation space 222 to install the driving wheel, and the other end extends from the bottom of the fixed base 20 to fix the gear of the gear set 36. Thus, the driving wheel set 34 is fixedly installed on the connecting shaft 35. The movable plate 32 is provided with a support rod 324, and the driven wheel set 33 is mounted on the support rod through a bearing. The gears of the gear set 36 mesh with the corresponding teeth 13. The movable plate 32 is disposed in the slide groove 24, and the guide rod 31 passes through the bottom of the movable plate 32 and is respectively placed in the two first receiving grooves 25. The two ends of the guide rod 31 are respectively installed in the through holes 231 on the two functional plates 23. In this embodiment, both the driving wheel set 34 and the driven wheel set 33 are roller sets, and the elastic return member 37 is a return spring. Hereinafter, the return spring refers to the elastic return member 37.

[0031] The bottom of the movable plate 32 is provided with a second receiving groove 321 extending inward. The return spring is located in the space enclosed by the first receiving groove 25 and the second receiving groove 321. One end of the return spring abuts against the inner wall of the space enclosed by the first receiving groove 25 and the second receiving groove 321, that is, the bottom of the movable plate 32, and the other end of the return spring abuts against the outer functional plate 23. When the movable plate 32 is pushed outward, the movable plate 32 moves outward, and the return spring further contracts elastically. The movable plate 32 drives the driven wheel assembly 33 to move outward synchronously, thereby forming a gap between the driving wheel assembly 34 and the driven wheel assembly 33. The guide wire 100, which passes through the hemostatic valve 300, is placed in the V-shaped support groove 221 between the driving wheel assembly 34 and the driven wheel assembly 33, directly opposite the V-shaped support groove 221 of the support plate 22. Then the movable plate 32 is released, and the return spring squeezes the movable plate 32 and the driven wheel assembly 33 on the movable plate 32, thereby clamping the guide wire 100 between the driven wheel assembly 33 and the driving wheel assembly 34.

[0032] To further improve the stability of the fixed base 20 when sliding on the guide rail 10, the bottom of the fixed base 20 is provided with a first support foot 27 and a second support foot 28 arranged opposite to each other. The inner sides of the first support foot 27 and the second support foot 28 are provided with slots 271 and 281. The slots 271 and 281 of the first support foot 27 and the second support foot 28 are respectively engaged with the opposite edges of the base plate 61 and the guide plate 12 and can slide along the base 60.

[0033] The cover plate 40 has a foot 41 at its near end and a foot 41 at its far end. The two feet 41 of the cover plate 40 are pivotally connected to the adjustment holes 261 of the two adjustment plates 26 by a locking pin 411. The cover plate 40 can rotate on the fixed base 20 to flip open to the rear or close on the fixed base 20. When the cover plate 40 is closed on the fixed base 20, the cover plate 40 simultaneously limits the hemostatic valve 300 and guide wire 100 installed on the fixed base 20.

[0034] To ensure a more secure fit between the cover plate 40 and the fixing base 20, the cover plate 40 and the fixing base 20 are respectively provided with a first fixing block 71 and a second fixing block 72. In this embodiment, one of the first fixing block 71 and the second fixing block 72 is a magnet, and the other is a magnet or an iron block. Through the attraction force of the first fixing block 71 and the second fixing block 72, the cover plate 40 is securely placed on the fixing base 20. It can be understood that, in addition to the first fixing block 71 and the second fixing block 72 using a magnet-magnet / iron method for auxiliary fixation, in other embodiments, the first fixing block 71 and the second fixing block 72 can also be fixed using similar buckles, threaded locking, or other detachable structures.

[0035] The cover plate 40 is also provided with a number of cards 42 and a first linkage piece 43. The cards 42 are staggered along the direction of the cover plate 40 covering the fixed base 20. The cards 42 cooperate with the support groove 221 of the support plate 22 to limit the guide wire 100 from both the upper and lower directions.

[0036] The first linkage plate 43 has a protruding post 431 at its end. The axis of the protruding post 431 is not on the same axis as the axis of the locking pin 411, so that when the cover plate 40 is flipped open, the protruding post 431 rotates around the axis of the locking pin 411 and moves outward at the same time, instead of just rotating around its own axis in the original position. The movable plate 32 also has a protruding second linkage plate 322, the extension direction of which is consistent with the installation direction of the return spring. The inner side of the second linkage plate 322 has a stop surface 323 that cooperates with the protruding post 431. Under the action of the return spring, the stop surface 323 abuts against the protruding post 431 from the outside.

[0037] During interventional surgery, when the guidewire 100 (such as a microguidewire) and catheter 200 (such as a microcatheter) are inserted into the lesion and it is necessary to replace it with another type of catheter (such as a balloon catheter) while the guidewire 100 remains stationary, the interventional surgical robot will first move the catheter 200 backward.

[0038] When the interventional surgical robot moves to the limit of its travel, if the catheter 200 is still inside the patient's body and the interventional surgical robot can no longer remove the catheter 200 from the patient's body, then the hemostatic valve 300, the catheter 200 connected to the hemostatic valve 300, and the guide wire 100 are removed from the interventional surgical robot together.

[0039] Place the interventional medical device auxiliary device on the operating table or other suitable location. Flip the cover plate 40 outward. During the flipping process, the protrusion 431 on the cover plate 40 pushes the second linkage plate 322 of the movable plate 32 outward, thereby causing the driven wheel assembly 33 connected to the movable plate 32 to move outward, separating the driven wheel assembly 33 from the driving wheel assembly 34. Place the hemostatic valve 300 into the mounting groove 211, and then place the guide wire 100 between the driven wheel assembly 33 and the driving wheel assembly 34 and support it by the support groove 221 of the support plate 22. Cover the cover plate 40, and at the same time, the protrusion 431 moves inward. Under the action of the return spring, the return spring pushes the movable plate 32 to move inward. The stop surface 323 of the second linkage plate 322 moves inward with the protrusion 431, thereby bringing the driving wheel assembly 34 and the driven wheel assembly 33 closer together and clamping the guide wire 100. Finally, hold the guidewire 100 still with one hand, and push the fixation seat 20 proximally with the other hand. As the fixation seat 20 moves backward along the guide rail 10, it drives the catheter 200 out of the patient's body through the hemostasis valve 300. The locking teeth 13 on the guide rail 10 drive the drive wheel on the drive wheel assembly 34 to rotate synchronously through the gear set 36. The drive wheel contacts the guidewire 100 in a rolling manner. The drive wheel does not generate driving force on the guidewire 100 in the backward direction, and the guidewire 100 remains stationary in the patient's body.

[0040] Understandably, in this embodiment, the cover plate 40 and the clamping assembly 30 are linked. When the cover plate 40 flips outward, it simultaneously separates the driven wheel assembly 33 and the driving wheel assembly 34 connected to the clamping assembly 30. In other embodiments, the cover plate 40 and the clamping assembly 30 may not be linked; they may be independent, and the movable plate 32 can be manually pushed outward to separate the driven wheel assembly 33 and the driving wheel assembly 34. Furthermore, in this embodiment, an interventional medical device auxiliary device is used to withdraw the catheter 200 via the hemostatic valve 300. In other embodiments, other types of fasteners can be used to fix the catheter 200 to the fixing seat 20, assisting in the withdrawal of the catheter 200.

[0041] In summary, during the withdrawal of the catheter 200, the clamping assembly 30 and the guidewire 100 roll together, with the clamping assembly 30 moving relative to the guidewire 100 while the guidewire 100 remains stationary. This allows for convenient and quick withdrawal of the catheter 200 from the patient's body, effectively improving the efficiency of interventional surgery and reducing the workload of doctors.

[0042] 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. An interventional medical device auxiliary device, characterized in that, The device includes a guide rail, a fixed seat slidably mounted on the guide rail and driving the catheter out of the device, and a clamping assembly mounted on the fixed seat. The clamping assembly is used to clamp the guide wire inserted into the catheter and move relative to the guide wire with the fixed seat. When the fixed seat moves to drive the catheter out of the device, the interaction between the clamping assembly and the guide wire is only rolling contact. The clamping assembly does not generate a driving force on the guide wire in the backward direction so as to keep the guide wire stationary.

2. The interventional medical device auxiliary device as described in claim 1, characterized in that: The clamping assembly includes a drive wheel assembly, a driven wheel assembly that abuts against and is separable from the drive wheel assembly, and a drive assembly that drives the drive wheel assembly to rotate and cooperates with the guide rail drive.

3. The interventional medical device auxiliary device as described in claim 2, characterized in that: The guide rail includes an elongated main body and teeth arranged on the main body, and the drive assembly is a gear set meshing on the teeth.

4. The interventional medical device auxiliary device as described in claim 2, characterized in that: The clamping assembly also includes a movable plate and an elastic return member for pushing the movable plate back into position. The driven wheel assembly is mounted on the movable plate, and the movable plate moves relative to the fixed seat to separate the driven wheel assembly from the driving wheel assembly.

5. The interventional medical device auxiliary device as described in claim 3, characterized in that: A connecting shaft is mounted on the fixed base. One end of the connecting shaft is located on the top surface of the fixed base to install the driving roller of the driving wheel assembly, and the other end extends from the bottom of the fixed base to install the gear of the gear assembly.

6. The interventional medical device auxiliary device as described in claim 4, characterized in that: The fixed base is provided with two functional plates opposite to the clamping assembly. The fixed base is also provided with a sliding groove between the two functional plates for accommodating the movable plate. The clamping assembly also includes a guide rod that slides through the movable plate, with both ends of the guide rod respectively mounted on the two functional plates.

7. The interventional medical device auxiliary device as described in claim 6, characterized in that: The fixed base is provided with a support plate, and one end of the elastic return member presses against the movable plate, while the other end presses against the functional plate away from the support plate.

8. The interventional medical device auxiliary device as described in claim 1, characterized in that: The bottom of the fixed base is provided with a first support foot and a second support foot that are arranged opposite to each other. The first support foot and the second support foot are used to guide the fixed base to slide along the guide rail.

9. The interventional medical device auxiliary device as described in claim 8, characterized in that: The interventional medical device auxiliary device also includes a base for mounting the guide rail. Both the first support leg and the second support leg are provided with slots. The base is provided with an edge that is engaged in the slots of the first support leg and the second support leg.

10. An interventional medical device auxiliary device as described in claim 2, characterized in that: The fixing seat is provided with a limiting part, and the limiting part is provided with a mounting groove for installing a hemostatic valve connected to the catheter.

11. An interventional medical device auxiliary device as described in claim 1, characterized in that: The interventional medical device auxiliary device also includes a cover plate that can be opened and closed onto the fixing base, so that the clamping assembly can be accommodated in the space formed by the fixing base and the cover plate.

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