XMR Image-Guided Cardiovascular Intervention Surgical Robot

Abstract

The present invention provides an XMR image-guided cardiovascular interventional surgery robot, comprising a guidewire conveying mechanism, a guidewire rotating mechanism, a catheter conveying mechanism, and a support structure; the guidewire conveying mechanism is rotatably mounted on the support structure, and drives the guidewire to advance or retract; the guidewire rotating mechanism is positioned and mounted on the support structure, and drives the guidewire conveying device to rotate; the catheter conveying mechanism is fixedly mounted on the support structure, and drives the catheter to advance or retract. The guidewire conveying mechanism drives the guidewire to advance or retract, and the guidewire rotating mechanism drives the guidewire conveying mechanism to rotate 360 degrees, thereby achieving a combination of guidewire advancement or retraction and guidewire rotation. The catheter conveying mechanism is then used to drive the catheter to advance or retract, thereby achieving a synchronous composite motion of guidewire delivery, guidewire rotation at any angle, and catheter delivery.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an XMR image-guided cardiovascular interventional surgery robot. Background Art

[0002] Vascular interventional surgery involves a physician manipulating an interventional device within the human blood vessels under the guidance of a direct subtraction angiography (DSA) device, ultimately precisely targeting the lesion and delivering treatment. Common interventional devices include intravenous catheters, guidewires, filters, and spring embolic devices. Vascular interventional surgery has become an important treatment for cardiovascular diseases, offering smaller incisions, faster recovery, and better outcomes than traditional surgical procedures.

[0003] The existing Chinese patent application document with publication number CN113633382A discloses a guidewire / catheter delivery device for a vascular interventional surgical robot and a vascular interventional surgical robot. The delivery device includes: a driving part, including a first driving unit and a second driving unit; at least one set of advance and retreat wire modules, the first driving unit is used to drive the advance and retreat wire modules to realize the movement of the guidewire / catheter along its axial direction; a wire rotating module, further including a clamping assembly, the clamping assembly is used to clamp the guidewire / catheter, the second driving unit is connected to the clamping assembly, and is used to drive the clamping assembly to rotate along the axis of the guidewire / catheter, thereby driving the guidewire / catheter to rotate.

[0004] In the prior art, both the wire advancing and retracting module and the wire rotating module act directly on the guide wire or catheter, making it difficult to perform the wire advancing and retracting and rotating at the same time, and there is room for improvement. Summary of the Invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide an XMR image-guided cardiovascular interventional surgery robot.

[0006] According to the present invention, an XMR image-guided cardiovascular interventional surgical robot includes a guidewire conveying mechanism, a guidewire rotation mechanism, a catheter conveying mechanism and a support structure; the guidewire conveying mechanism is rotatably arranged on the support structure, and the guidewire conveying mechanism drives the guidewire to advance or retract; the guidewire rotation mechanism is positioned and installed on the support structure, and the guidewire rotation mechanism drives the guidewire conveying device to rotate; the catheter conveying mechanism is fixedly installed on the support structure, and the catheter conveying mechanism drives the catheter to advance or retract.

[0007] Preferably, the support structure allows both the guide wire delivery mechanism and the guide wire rotation mechanism to rotate freely, and the guide wire delivery mechanism and the guide wire rotation mechanism are both arranged linearly on the support structure.

[0008] Preferably, the guide wire conveying mechanism includes a guide wire conveying base, a driving wheel assembly and a driven wheel assembly; both the driving wheel assembly and the driven wheel assembly are installed on the guide wire conveying base, a gap is formed between the driven wheel assembly and the driving wheel assembly for the guide wire to pass through, both the driven wheel assembly and the driving wheel assembly clamp the guide wire, and both the driven wheel assembly and the driving wheel assembly rotate in cooperation with the guide wire.

[0009] Preferably, the driving wheel assembly includes a driving wheel, a synchronous pulley, a connecting shaft, a synchronous belt and a first driving device; the connecting shaft is rotatably mounted on the guide wire conveying base, the driving wheel is fastened mounted on the side of the connecting shaft extending out of the guide wire conveying base, the synchronous pulley is fastened mounted on the other side of the connecting shaft extending out of the guide wire conveying base, and the synchronous belt transmission connects the output shaft and the synchronous pulley of the first driving device.

[0010] Preferably, a driving wheel mounting base is provided in the middle of the connecting shaft, the connecting shaft passes through the driving wheel mounting base, the connecting shaft is rotatably connected to the driving wheel mounting base through a ceramic bearing, and the driving wheel mounting base is firmly connected to the guide wire delivery base.

[0011] Preferably, the driven wheel assembly includes a driven wheel, the driven wheel and the driving wheel are located on the same side of the guide wire delivery base, and the distance between the driven wheel and the guide wire delivery base is equal to the distance between the driving wheel and the guide wire delivery base.

[0012] Preferably, the guide wire rotation mechanism includes a guide wire rotation output connecting plate, a rotation mechanism fixed shaft, a rotation output sleeve, a transmission gear pair and a second drive device; a channel for allowing the guide wire to pass through is provided in the rotation mechanism fixed shaft, the rotation mechanism fixed shaft is fixedly connected to the support structure, the rotation output sleeve is rotatably connected to the rotation mechanism fixed shaft, the guide wire rotation output connecting plate is fastened to the rotation output sleeve and the guide wire conveying mechanism; the second drive device is fastened to the support structure, and the output shaft of the second drive device is transmission-connected to the rotation output sleeve via a transmission gear pair.

[0013] Preferably, the guide wire conveying mechanism and the catheter conveying mechanism are located on the same side of the support structure; one end of the support structure close to the guide wire conveying mechanism and the catheter conveying mechanism is detachably connected to a guide plate, and a guide wire guide groove and a catheter guide groove are provided on the guide plate; the guide wire guide groove is parallel to or intersects with the catheter guide groove to merge into one guide groove.

[0014] Preferably, the interventional surgical robot uses materials that meet magnetic resonance compatibility requirements, and the materials used by the interventional surgical robot include polymer materials, copper alloys, ceramics, and titanium alloys.

[0015] Preferably, a guide wire guide cylinder is provided on the support structure of the guide wire rotating mechanism at one end away from the guide wire conveying mechanism, and the central axis of the guide wire guide cylinder is colinear with the rotation axis of the guide wire conveying device.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention drives the guide wire to advance or retreat through the guide wire conveying mechanism and drives the guide wire conveying mechanism to rotate 360 degrees through the guide wire rotation mechanism, thereby realizing the combination of guide wire advancement or retreat and guide wire rotation, and then uses the catheter conveying mechanism to drive the catheter to advance or retreat, thereby realizing the synchronous composite movement of guide wire transportation, guide wire rotation at any angle and catheter transportation.

[0018] 2. The present invention can complete the adaptation and interventional operation of two types of guidewire catheters, coaxial and Y-shaped, by installing a guide plate with different catheter guide grooves and guidewire guide grooves.

[0019] 3. The present invention uses a gas-driven guide wire clamping device to push the driven wheel group towards or away from the driving wheel group, thereby achieving stable clamping of the guide wire, convenient loading and unloading, and achieving consistent pressure on the guide wire or catheter when multiple driven wheels move simultaneously.

[0020] 4. The present invention solves the rotation and entanglement problem of the connecting air pipe of the guide wire rotation mechanism by adopting a gas slip ring structure, thereby achieving the effect of rotating the guide wire at any angle.

[0021] 5. By utilizing materials that meet MRI compatibility, the present invention enables the robotic system to operate under XMR imaging guidance, meaning it can perform surgical procedures under the guidance of X-rays, direct scan angiography (DSA), computed tomography (CT), or magnetic resonance imaging (MR). The material selection of the robotic system reduces interference from external magnetic fields and minimizes the impact on MRI imaging quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0023] Figure 1 This is an axial schematic diagram of the overall structure of the interventional surgical robot mainly embodied in the present invention;

[0024] Figure 2 This is a schematic diagram of the overall structure of the interventional surgery robot mainly embodied in the present invention;

[0025] Figure 3 This is a schematic diagram mainly showing the overall structure of the guide wire delivery mechanism of the present invention;

[0026] Figure 4 This is a schematic diagram of the back side of the overall structure of the guide wire delivery device mainly embodied in the present invention;

[0027] Figure 5 This is a schematic diagram of the front side of the overall structure of the guide wire delivery device of the present invention;

[0028] Figure 6 This is a schematic diagram of the side surface of the overall structure of the guide wire delivery device of the present invention;

[0029] Figure 7 This is a half-section view of the overall structure of the drive shaft of the present invention;

[0030] Figure 8 This is a half-section view of the overall structure of the first driving device of the present invention;

[0031] Figure 9 This is a half-section view of the overall structure of the driven shaft of the present invention;

[0032] Figure 10 This is a side view schematic diagram of the overall structure of the driven shaft mainly embodied in the present invention;

[0033] Figure 11 This is a schematic diagram mainly showing the overall structure of the guide wire clamping device of the present invention.

[0034] Figure 12 This is a side view schematic diagram mainly showing the overall structure of the guide wire rotating mechanism of the present invention;

[0035] Figure 13 This is an axial side schematic diagram of the overall structure of the guide wire rotation mechanism of the present invention;

[0036] Figure 14 This is a half-section schematic diagram of the guide wire rotation mechanism of the present invention;

[0037] Figure 15 This is a schematic diagram mainly showing the overall structure of the catheter delivery mechanism of the present invention.

[0038] As shown in the figure:

[0039] Guide wire conveying mechanism 100 First synchronous pulley 1163 Mounting bracket 1211

[0040] Guidewire delivery device 110 Drive wheel mounting base 1165 Guidewire rotation mechanism 200

[0041] Synchronous belt 111 connecting shaft 1166 guide wire rotation output connecting plate 201

[0042] Ceramic bearing 1121 First connecting screw 1167 Rotating output sleeve 2021

[0043] First motor mounting base 1122 Guidewire delivery base 117 Air ring 2022

[0044] Transmission shaft 1123 Guide groove 1171 Rotating mechanism fixed shaft 2024

[0045] Second synchronous pulley 1124 Mounting screw 1172 O-ring 2026

[0046] First air motor 1125 slide rail 1173 air inlet 2027

[0047] Guide boss 1126 Guide wire guide column 118 Bearing pressure plate 2029

[0048] Tensioning screw 113 Synchronous belt guide column 119 Inlet connector 203

[0049] Cover plate 114 First air motor air inlet 1127 Second air motor air inlet 204

[0050] Driven wheel assembly 115 Guide wire clamping device 120 Second pneumatic motor 205

[0051] Driven wheel 1151 Left air pipe joint 1201 Second motor mounting seat 206

[0052] Install shaft 1152 Left main air intake duct 1202 Transmission gear pair 207

[0053] Driven wheel mounting base 1153 Left air inlet 1203 Air outlet connector 208

[0054] Compression screw 1155 Valve body 1204 Catheter delivery mechanism 300

[0055] Guide mounting groove 1156 Operating handle 1205 Catheter delivery device 310

[0056] Second connecting screw 1157 Right tracheal joint 1206 Catheter clamping device 320

[0057] Connecting hole 1158 Right main air intake duct 1207 Support structure 400

[0058] Drive wheel assembly 116 Piston 1208 Guide wire guide cylinder 403

[0059] Drive wheel 1161 Right air intake 1209 Guide plate 501

[0060] Locking screw 1162 Piston rod 1210 Guide wire 601

[0061] Catheter 602 DETAILED DESCRIPTION

[0062] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0063] like Figure 1 As shown, an XMR image-guided cardiovascular interventional surgery robot provided according to the present invention includes a guidewire conveying mechanism 100, a guidewire rotating mechanism 200, a catheter conveying mechanism 300 and a support structure 400.

[0064] like Figure 1 and Figure 2 As shown, the guidewire delivery mechanism 100 is rotatably mounted on the support structure 400, and the guidewire delivery mechanism 100 drives the guidewire 601 to advance or retract. The guidewire rotation mechanism 200 is positioned and mounted on the support structure 400, and the guidewire rotation mechanism 200 drives the guidewire delivery mechanism 100 to rotate. The catheter delivery mechanism 300 is fixedly mounted on the support structure 400, and the catheter delivery mechanism 300 drives the catheter 602 to advance or retract. It should be noted that the support structure 400 allows both the guidewire delivery mechanism 100 and the guidewire rotation mechanism 200 to rotate freely, and the guidewire delivery mechanism 100 and the guidewire rotation mechanism 200 are both arranged linearly on the support structure 400.

[0065] The catheter conveying mechanism 300 drives the catheter 602 to advance or retract the wire. The guidewire 601 passes through the guidewire rotating mechanism 200 and the guidewire conveying mechanism 100 in sequence, wherein the guidewire conveying mechanism 100 directly acts on the guidewire 601, driving the guidewire 601 to advance or retract, and the guidewire rotating mechanism 200 drives the guidewire conveying mechanism 100 to rotate, and also realizes the rotation of the guidewire 601. When the guidewire conveying mechanism 100 operates alone, it can realize the advancement or retraction of the guidewire 601. When the guidewire rotating mechanism 200 operates alone, it can realize the rotation of the guidewire 601. When the guidewire conveying mechanism 100 and the guidewire rotating mechanism 200 operate together, they can realize the synchronous composite motion of advancing or retracting the guidewire 601, rotating the guidewire 601, and conveying the catheter 602.

[0066] Specifically, the support structure 400 serves as the installation basis for the guidewire delivery mechanism 100 , the guidewire rotation mechanism 200 and the catheter delivery mechanism 300 , and has a certain structural strength. Its material and strength can adapt to the requirements of the use environment of the interventional surgical robot.

[0067] like Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 as well as Figure 10 As shown, the guidewire delivery mechanism 100 includes a guidewire delivery base 117, a guidewire delivery device 110, and a guidewire clamping device 120. Both the guidewire delivery device 110 and the guidewire clamping device 120 are mounted on the guidewire delivery base 117. The guidewire delivery device 110 includes a driving wheel assembly 116 and a driven wheel assembly 115. Both the driving wheel assembly 116 and the driven wheel assembly 115 are mounted on the guidewire delivery base 117. A gap is formed between the driven wheel assembly 115 and the driving wheel assembly 116 for the guidewire 601 to pass through. The driven wheel assembly 115 and the driving wheel assembly 116 both clamp the guidewire 601, and both the driven wheel assembly 115 and the driving wheel assembly 116 rotate in conjunction with the guidewire 601.

[0068] A cover plate 114 is mounted on the guidewire delivery base 117. The cover plate 114 is closable and mounted on the side of the guidewire delivery base 117 where the guidewire passes. When the cover plate 114 is closed, a space is formed between the cover plate 114 and the guidewire delivery base 117 to protect the driven wheel assembly 115 and the driving wheel assembly 116.

[0069] A guide wire guide post 118 is fixedly mounted on the guide wire delivery base 117. The guide wire guide post 118 is located in the gap formed between the driven wheel assembly 115 and the driving wheel assembly 116 for the guide wire 601 to pass through. A guide wire guide groove is provided on the end of the guide wire guide post 118 facing away from the guide wire delivery base 117. The guide wire guide groove opens in a direction away from the guide wire delivery base 117. When the cover 114 is closed, the cover 114 cooperates with the guide wire guide groove on the guide wire guide post 118 to form a guide hole, which helps to improve the stability of guide wire delivery.

[0070] More specifically, the drive wheel assembly 116 includes a drive wheel 1161, a first synchronous pulley 1163, a connecting shaft 1166, a synchronous belt 111, and a first drive device. A drive wheel mounting base 1165 is disposed in the middle of the connecting shaft 1166. The drive wheel mounting base 1165 is fastened to the guidewire delivery base 117 via screws. The connecting shaft 1166 coaxially passes through the drive wheel mounting base 1165 and is rotatably connected to the drive wheel mounting base 1165 via a ceramic bearing 1121. This provides a rotatable connection between the connecting shaft 1166 and the guidewire delivery base 117, thereby enabling the connecting shaft 1166 to be rotatably mounted on the guidewire delivery base 117.

[0071] The drive wheel 1161 is fastened to the side of the connecting shaft 1166 extending from the guide wire delivery base 117 via a first connecting screw 1167. The first synchronous pulley 1163 is fastened to the other side of the connecting shaft 1166 extending from the guide wire delivery base 117 via a locking screw 1162. The synchronous belt 111 drives and connects the output shaft of the first drive device and the first synchronous pulley 1163. The output shaft of the first drive device rotates, driving the first synchronous pulley 1163 to rotate via the synchronous belt 111, thereby driving the connecting shaft 1166 to rotate, and further driving the drive wheel 1161 to rotate.

[0072] The first drive device includes a first pneumatic motor 1125, a first motor mount 1122, a second synchronous pulley 1124, and a drive shaft 1123. The first motor mount 1122 is securely connected to the first pneumatic motor 1125 assembly via bolts. The first motor mount 1122 is a hollow structure with one side open, and the output shaft of the first pneumatic motor 1125 extends into the motor mount. Both the second synchronous pulley 1124 and the drive shaft 1123 are mounted within the hollow structure of the first motor mount 1122. One end of the drive shaft 1123 is coaxially secured to the output shaft of the first pneumatic motor 1125, while the other end of the drive shaft 1123 is rotatably connected to the first motor mount 1122 via a ceramic bearing 1121. The second synchronous pulley 1124 is coaxially secured to the drive shaft 1123 via screws.

[0073] The second synchronous pulley 1124 and the first synchronous pulley 1163 are located on the same side of the guidewire conveyor base 117 and are connected to the first synchronous pulley 1163 via the synchronous belt 111. A tensioning screw 113 is threadedly connected to the first motor mount 1122. The threaded end of the tensioning screw 113 extends into the first motor mount 1122 and abuts the synchronous belt 111. The tension of the synchronous belt 111 can be adjusted by rotating the tensioning screw 113. A guide boss 1126 is formed on the end of the first motor mount 1122 facing away from the first pneumatic motor 1125. The guidewire conveyor base 117 has a guide groove 1171 formed therein. The guide boss 1126 extends into the guide groove 1171 and is securely connected to the guidewire conveyor base 117 via a mounting screw 1172. This ensures that the first drive device is securely mounted on the guidewire conveyor base 117 and is positioned as intended.

[0074] One feasible implementation of the present application is as follows: four first synchronous pulleys 1163 are installed at intervals on the guide wire conveying base 117, and the second synchronous pulley 1124 is connected to the four first synchronous pulleys 1163 via a synchronous belt. The rotation of the second synchronous pulley 1124 can simultaneously drive the rotation of the four first synchronous pulleys 1163, and further simultaneously drive the rotation of the four drive wheels.

[0075] A synchronous belt guide column 119 is fixedly mounted on the guide wire conveying base 117 , and the number of teeth meshing between the synchronous belt 111 and the four first synchronous pulleys 1163 is increased by the synchronous belt guide column 119 , thereby ensuring the reliability of the transmission.

[0076] The driven wheel assembly 115 includes a driven wheel 1151, which is located on the same side of the guide wire conveying base 117 as the driving wheel 1161. The driven wheel 1151 and the driving wheel 1161 correspond one to one and are arranged opposite to each other, and the distance between the driven wheel 1151 and the guide wire conveying base 117 is equal to the distance between the driving wheel 1161 and the guide wire conveying base 117.

[0077] The driven wheel assembly 115 also includes a mounting shaft 1152 and a driven wheel mounting base 1153. The driven wheel 1151 is securely connected to one end of the mounting shaft 1152 via a second connecting screw 1157. The other end of the mounting shaft 1152 is rotationally connected to the driven wheel mounting base 1153 via a ceramic bearing 1121. A guide mounting groove 1156 is provided on the driven wheel mounting base 1153, and a slide rail 1173 is provided on the guide wire feed base 117. The length of the slide rail 1173 is aligned with the direction in which the driven wheel 1151 moves toward or away from the drive wheel 1161. The slide rail 1173 is adapted to fit within the guide mounting groove 1156 and allows the driven wheel mounting base 1153 to pass through.

[0078] like Figure 11 As shown, the guidewire clamping device 120 is disposed on a side of the driven wheel assembly 115 away from the driving wheel assembly 116. The guidewire clamping device 120 drives the driven wheel assembly 115 toward or away from the driving wheel assembly 116. The guidewire clamping device 120 includes a valve body 1204, a piston rod 1210, a piston 1208, and left and right air inlet passages. The valve body 1204 serves as the mounting base for the guidewire clamping device 120. The valve body 1204 is approximately rectangular in shape and has a certain structural strength and sealing performance.

[0079] The left and right air inlet ducts 2027 and 2027 are respectively provided on either side of the valve body 1204. A piston rod 1210 is provided on the valve body 1204. The piston rod 1210 enters the valve body 1204 from the side where the left air inlet duct 2027 is located and exits the valve body 1204 from the side where the right air inlet duct 2027 is located. Both ends of the piston rod 1210 extend out of the valve body 1204. The piston rod 1210 passes through the left and right air inlet ducts 2027, respectively, and the piston rod 1210 and the valve body 1204 are slidably engaged. A gap exists between the hole in the valve body 1204 through which the piston rod 1210 passes and the piston rod 1210, thereby enabling the piston rod 1210 to slide with the valve body 1204. The gap between the valve body 1204 and the piston rod 1210 communicates with the left and right air inlet ducts 2027, respectively.

[0080] Piston 1208 is mounted in the middle of piston rod 1210. Piston 1208 is located in the gap between valve body 1204 and piston rod 1210. Piston 1208 slides against the sidewalls of the gap, sealing the gap and preventing gas from passing through. It's important to note that piston 1208 is located between the connection between the gap and the left intake duct 2027 and the connection between the gap and the right intake duct 2027. When high-pressure gas is introduced into the left intake duct 2027, it enters the gap and pushes piston 1208 toward the right intake duct 2027, thereby driving the movement of piston rod 1210.

[0081] Furthermore, the left air intake duct 2027 is integrated on the valve body 1204. The left air intake duct includes a left air pipe joint 1201, a left main air intake duct 1202, and a left air intake hole 1203. The left air pipe joint 1201, the left main air intake duct 1202, and the left air intake hole 1203 are connected in sequence. The left air pipe joint 1201 is connected to an external pipeline, and the left air intake hole 1203 is connected to the pore formed by the valve body 1204 and the piston rod 1210, thereby achieving communication between the left air intake duct 2027 and the pore formed by the valve body 1204 and the piston rod 1210.

[0082] The right air intake duct is integrated on the valve body 1204. The right air intake duct includes a right air pipe connector 1206, a right main air intake duct 1207 and a right air intake hole 1209. The right air pipe connector 1206, the right main air intake duct 1207 and the right air intake hole 1209 are connected in sequence. The right air pipe connector 1206 is connected to the external pipeline, and the right air intake hole 1209 is connected to the gap formed by the valve body 1204 and the piston rod 1210, thereby realizing the connection between the right air intake duct 2027 and the gap formed by the valve body 1204 and the piston rod 1210.

[0083] More specifically, mounting brackets 1211 are fastened to the valve bodies 1204 at both ends of the left and right air inlet ducts. Both mounting brackets are fastened to the guidewire delivery base 117 via screws. The number of piston rods 1210 is equal to and corresponds to the number of driven wheels 1151. The length direction of the piston rods 1210 is in the same direction as the direction of movement, and is also in the same direction as the direction in which the driven wheels 1151 approach or move away from the driving wheel 1161. A connecting hole 1158 is provided on the driven wheel mounting base 1153 of any driven wheel 1151, and an adjustment gap is provided on one side of the connecting hole 1158. The piston rod 1210 extends into the connecting hole 1158 at one end close to the corresponding driven wheel 1151. A clamping screw 1155 is threadedly connected to the driven wheel mounting base 1153, and the clamping screw 1155 is threaded through the adjustment gap. The size of the adjustment gap is controlled by adjusting the tightness of the clamping screw 1155, thereby realizing a fastening connection between the piston rod 1210 and the driven wheel mounting base 1153.

[0084] A preferred embodiment is that the end of any piston rod 1210 that passes through the valve body 1204 away from the driven wheel assembly 115 is connected to an operating handle 1205. The staff can control the piston rod 1210 to move away from or close to the driven wheel assembly 115 through the operating handle 1205, which helps to improve the convenience of operation.

[0085] One feasible implementation is that four driven wheels 1151 are arranged at equal intervals, and four piston rods 1210 are also arranged at equal intervals on the valve body 1204. When high-pressure gas is introduced into the left air pipe joint 1201, it enters the gap between the piston rod 1210 and the valve body 1204 through the left main air inlet 1202 and the four left air inlet holes 1203, pushing the piston 1208 to the right, thereby moving the piston rod 1210 to the right, and then pushing the driven wheel 1151 along the slide rail 1173 toward the driving wheel assembly 116 until the driven wheel 1151 and the driving wheel 1161 cooperate to clamp the guide wire 601, thereby driving the guide wire 601 to advance or retract. At the same time, the piston 1208 pushes the gas on the right side of the gap through the right air inlet hole 1209, enters the right main air inlet 1207, enters the right air pipe joint 1206, and enters the pipeline circuit. Similarly, the introduction of high-pressure gas from the right tracheal connector 1206 can cause the piston rod 1210 to move leftward, driving the driven wheel to move along the slide rail 1173 away from the driving wheel assembly 116 to facilitate the loading and unloading of the guide wire.

[0086] like Figure 12 、 Figure 13 as well as Figure 14 As shown, the guidewire rotation mechanism 200 includes a guidewire rotation output connecting plate 201, a rotation mechanism fixed shaft 2024, a rotation output sleeve 2021, a transmission gear pair 207, and a second drive device. The rotation mechanism fixed shaft 2024 is provided with a channel for allowing the guidewire to pass through. The rotation mechanism fixed shaft 2024 is fixedly connected to the support structure 400 via bolts. The rotation output sleeve 2021 is rotationally connected to the rotation structure fixed shaft. The guidewire rotation output connecting plate 201 is fastened to the rotation output sleeve 2021 and the guidewire delivery base 117. The end of the guidewire delivery base 117 away from the guidewire rotation mechanism 200 is rotationally connected to the support structure 400. The second drive device is fastened to the support structure 400, and the output shaft of the second drive device is transmission-connected to the rotation output sleeve 2021 via the transmission gear pair 207.

[0087] Specifically, the rotating output sleeve 2021 is coaxially sleeved with the rotating mechanism fixed shaft 2024 , and the rotating output sleeve 2021 is rotationally connected to the rotating mechanism fixed shaft 2024 through two front and rear ceramic bearings 1121 , and is installed and fixed using a bearing pressure plate 2029 .

[0088] The second drive device includes a second pneumatic motor 205, which has a second motor mounting base 206. The second motor mounting base 206 is fastened to the support structure 400 via bolts, thereby ensuring stable installation of the second pneumatic motor 205 on the support structure 400. The second pneumatic motor 205 is located at the end of the rotating mechanism fixed shaft 2024 away from the guidewire delivery base 117. The output shaft of the second pneumatic motor 205 is coaxially fastened to one gear of the transmission gear pair 207, and the other gear of the transmission gear pair 207 is fastened to the rotating output sleeve 2021. As a result, the rotation of the second pneumatic motor 205 drives the transmission gear pair 207, thereby driving the rotation of the rotating output sleeve 2021, and further driving the rotation of the guidewire delivery base 117, thereby achieving 360-degree rotation of the guidewire delivery mechanism 100.

[0089] A guide wire guide cylinder 403 is provided on the support structure 400 at one end of the guide wire rotating mechanism 200 away from the guide wire conveying mechanism 100. The central axis of the guide wire guide cylinder 403 is collinear with the rotation axis of the guide wire conveying device 110. The guide wire guide cylinder 403 is connected to a channel provided in the fixed shaft 2024 of the rotating mechanism to allow the guide wire to pass through.

[0090] Furthermore, the guidewire rotating mechanism 200 is provided with a communicating air path, which includes an air inlet connector 203, an air outlet connector 208, an air inlet duct 2027, an air ring 2022, and an O-ring 2026. The air inlet duct 2027 is located within the rotating mechanism's fixed shaft. The air inlet connector 203 is mounted on the end of the rotating mechanism's fixed shaft 2024 away from the guidewire delivery base 117, and the air inlet connector 203 is connected to the air inlet duct 2027. Another feasible embodiment of the present application is: the air inlet duct 2027 is located between the rotating mechanism's fixed shaft 2024 and the rotating output sleeve 2021.

[0091] The outlet connector 208 is mounted on the rotating output sleeve 2021 and communicates with the air inlet 2027 via an air ring 2022. The air ring 2022 is located on the rotating output sleeve 2021 or can be located on the rotating mechanism fixed shaft 2024 or the rotating output sleeve 2021. Multiple outlet connectors 208 are provided on the rotating output sleeve 2021. An O-ring 2026 seals between any two adjacent air rings 2022, ensuring a seal between each air path. The left and right air pipe connectors 1201, 1206, and the first pneumatic motor air inlet 1127 are each connected to the corresponding outlet connector 208 via air pipes, allowing the connected air pipes to rotate with the guidewire delivery mechanism 100 to any angle. The second pneumatic motor air inlet 204 is connected to an external air source via an air pipe.

[0092] like Figure 1 、 Figure 2 as well as Figure 15 As shown, catheter delivery mechanism 300 includes a catheter delivery device 310 and a catheter clamping device 320. Specifically, the structure, operating principle, and installation method of catheter delivery mechanism 300 are identical to those of guidewire delivery mechanism 100 and are not further described here. It should be noted that since catheter delivery device 310 does not have integrated rotational motion, the airway on catheter delivery mechanism 300 can be directly connected to an external air source.

[0093] It should be emphasized that the guidewire delivery mechanism 100 and the catheter delivery mechanism 300 are located on the same side of the support structure 400. A guide plate 501 is detachably connected to one end of the support structure 400, adjacent to the guidewire delivery mechanism 100 and the catheter delivery mechanism 300. The guide plate 501 is provided with guidewire and catheter guide grooves, which are parallel to or intersect with the catheter guide grooves to form a single guide groove. This allows for the adaptation of both coaxial and Y-shaped guidewires 601 and catheters 602, enabling interventional procedures.

[0094] It is important to further clarify that interventional surgical robots are constructed from materials that meet MRI compatibility requirements. These materials include polymers, copper alloys, ceramics, and titanium alloys. This allows the robotic system to operate under XMR imaging guidance, meaning it can perform surgeries under the guidance of X-rays, direct scan angiography (DSA), computed tomography (CT), or magnetic resonance imaging (MR). The material selection of the robotic system minimizes interference from external magnetic fields and reduces the impact on MRI and other imaging quality.

[0095] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0096] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. An XMR image-guided cardiovascular interventional surgery robot, characterized in that: It comprises a guidewire delivery mechanism (100), a guidewire rotation mechanism (200), a catheter delivery mechanism (300) and a support structure (400); The guide wire conveying mechanism (100) is rotatably arranged on the support structure (400), and the guide wire conveying mechanism (100) drives the guide wire (601) to advance or retract; The guide wire rotating mechanism (200) is positioned and installed on the support structure (400), and the guide wire rotating mechanism (200) drives the guide wire conveying device (110) to rotate; The catheter conveying mechanism (300) is fixedly mounted on the support structure (400), and the catheter conveying mechanism (300) drives the catheter (602) to advance or retract the wire; The guide wire delivery mechanism (100) comprises a guide wire delivery base (117), a driving wheel assembly (116) and a driven wheel assembly (115); The guide wire conveying mechanism (100) comprises a guide wire clamping device (120), and the guide wire clamping device (120) is mounted on a guide wire conveying base (117) of the guide wire conveying mechanism (100); The guide wire clamping device (120) comprises a valve body (1204), a piston rod (1210), a piston (1208), a left air inlet and a right air inlet; The left air inlet and the right air inlet are respectively arranged on both sides of the valve body (1204); a piston rod (1210) is arranged on the valve body (1204), the piston rod (1210) penetrates from the side of the valve body (1204) where the left air inlet is located, and penetrates from the side of the valve body (1204) where the right air inlet is located, and both ends of the piston rod (1210) extend out of the valve body (1204); a gap exists between the hole on the valve body (1204) through which the piston rod (1210) passes and the piston rod (1210), thereby realizing the sliding fit of the piston rod (1210) with the valve body (1204), and the gap between the valve body (1204) and the piston rod (1210) is respectively connected to the left air inlet and the right air inlet; The piston (1208) is installed in the middle of the piston rod (1210). The piston (1208) is located in the pore between the valve body (1204) and the piston rod (1210). The piston (1208) is slidably engaged with the side wall of the pore, and the piston (1208) closes the pore and does not allow gas to pass through. The piston (1208) is located between the connection point between the pore and the left air inlet and the connection point between the pore and the right air inlet. When high-pressure gas is introduced into the left air inlet, the high-pressure gas enters the pore and pushes the piston (1208) to move in the pore toward the right air inlet, thereby driving the piston rod (1210) to move. Mounting brackets (1211) are fixedly mounted on the valve bodies (1204) at both ends of the left air inlet and the right air inlet, and the two mounting brackets (1211) are directly fixedly connected to the guide wire delivery base (117) via screws; The length direction of the piston rod (1210) is in the same direction as the direction of movement, and is in the same direction as the direction in which the driven wheel (1151) approaches or moves away from the driving wheel (1161); a connecting hole (1158) is provided on the driven wheel mounting base (1153) of any driven wheel (1151), and an adjustment gap is provided on one side of the connecting hole (1158). The end of the piston rod (1210) close to the corresponding driven wheel (1151) extends into the connecting hole (1158), and a clamping screw (1155) is threadedly connected to the driven wheel mounting base (1153). The clamping screw (1155) is threaded through the adjustment gap. The size of the adjustment gap is controlled by adjusting the tightness of the clamping screw (1155), thereby achieving a fastened connection between the piston rod (1210) and the driven wheel mounting base (1153).

2. The XMR image-guided cardiovascular interventional surgery robot according to claim 1, characterized in that: The support structure (400) allows both the guide wire delivery mechanism (100) and the guide wire rotation mechanism (200) to rotate freely, and the guide wire delivery mechanism (100) and the guide wire rotation mechanism (200) are both arranged linearly on the support structure (400).

3. The XMR image-guided cardiovascular interventional surgery robot according to claim 1, characterized in that: The driving wheel assembly (116) comprises a driving wheel (1161), a first synchronous pulley (1163), a connecting shaft (1166), a synchronous belt (111) and a first driving device; The connecting shaft (1166) is rotatably mounted on the guide wire conveying base (117), the driving wheel (1161) is fixedly mounted on the side of the connecting shaft (1166) extending out of the guide wire conveying base (117), the first synchronous pulley (1163) is fixedly mounted on the other side of the connecting shaft (1166) extending out of the guide wire conveying base (117), and the synchronous belt (111) is transmission-connected to the output shaft of the first driving device and the first synchronous pulley (1163).

4. The XMR image-guided cardiovascular interventional surgery robot according to claim 3, characterized in that: A driving wheel mounting base (1165) is provided in the middle of the connecting shaft (1166), and the connecting shaft (1166) passes through the driving wheel mounting base (1165). The connecting shaft (1166) is rotatably connected to the driving wheel mounting base (1165) through a ceramic bearing (1121), and the driving wheel mounting base (1165) is tightly connected to the guide wire delivery base (117).

5. The XMR image-guided cardiovascular interventional surgery robot according to claim 3, characterized in that: The driven wheel assembly (115) includes a driven wheel (1151), wherein the driven wheel (1151) and the driving wheel (1161) are located on the same side of the guide wire delivery base (117), and the distance between the driven wheel (1151) and the guide wire delivery base (117) is equal to the distance between the driving wheel (1161) and the guide wire delivery base (117).

6. The XMR image-guided cardiovascular interventional surgery robot according to claim 1, wherein: The guidewire delivery mechanism (100) and the catheter delivery mechanism (300) are both located on the same side of the support structure (400); One end of the support structure (400) close to the guide wire delivery mechanism (100) and the catheter delivery mechanism (300) is detachably connected to a guide plate (501), and the guide plate (501) is provided with a guide wire guide groove and a catheter guide groove; The guide wire guiding groove and the catheter guiding groove are parallel to or intersect and merge into one guiding groove.

7. The XMR image-guided cardiovascular interventional surgery robot according to claim 1, characterized in that: The interventional surgical robot is made of materials that meet magnetic resonance compatibility requirements, and the materials used in the interventional surgical robot include polymer materials, copper alloys, ceramics, and titanium alloys.

8. The XMR image-guided cardiovascular interventional surgery robot according to claim 1, characterized in that: A guide wire guide cylinder (403) is provided on the support structure (400) at one end of the guide wire rotating mechanism (200) away from the guide wire conveying mechanism (100), and the central axis of the guide wire guide cylinder (403) is collinear with the rotation axis of the guide wire conveying device (110).

9. The XMR image-guided cardiovascular interventional surgery robot according to claim 1, wherein: The driving wheel assembly (116) and the driven wheel assembly (115) are both mounted on a guide wire delivery base (117); a gap is formed between the driven wheel assembly (115) and the driving wheel assembly (116) for the guide wire (601) to pass through; the driven wheel assembly (115) and the driving wheel assembly (116) both clamp the guide wire (601), and both the driven wheel assembly (115) and the driving wheel assembly (116) are in rotational cooperation with the guide wire (601); The guide wire rotating mechanism (200) comprises a guide wire rotating output connecting plate (201), a rotating mechanism fixed shaft (2024), a rotating output sleeve (2021), a transmission gear pair (207), and a second driving device; A hole for allowing the guide wire (601) to pass through is provided in the rotating mechanism fixed shaft (2024), the rotating mechanism fixed shaft (2024) is fixedly connected to the support structure (400), the rotating output sleeve (2021) is rotationally connected to the rotating mechanism fixed shaft (2024), and the guide wire rotating output connecting plate (201) is tightly connected to the rotating output sleeve (2021) and the guide wire conveying mechanism (100); The second driving device is tightly connected to the supporting structure (400), and the output shaft of the second driving device is transmission-connected to the rotating output sleeve (2021) via a transmission gear pair (207).

Images