Interventional surgery robot and interventional surgery system

Abstract

The application relates to the technical field of medical devices, and discloses an interventional surgery robot and an interventional surgery system. The interventional surgery robot is provided with a mounting module fixed to a mounting base, one side of the mounting module is rotatably connected with the mounting base, and the other side is provided with a fixing structure which is detachably connected with the mounting base. Therefore, the mounting module can be completely fixed to the mounting base, so that a Y-shaped valve arranged on the mounting module can be kept relatively static during the whole surgery process, and the problem that the surgery fails due to movement of the Y-shaped valve does not occur. Before the surgery, the fixing structure needs to be separated from the mounting base, and the mounting module needs to be rotated by a certain angle around a rotating mechanism to a height at which a surgeon can conveniently install an instrument; after the instrument is installed, the fixing structure needs to be fixed to the mounting base, so that the mounting module and the Y-shaped valve are stably fixed to the mounting base, and the interventional surgery can be conveniently completed.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an interventional surgical robot and interventional surgical system. Background Technology

[0002] In recent years, interventional vascular therapy has developed rapidly. Guided by medical imaging, doctors insert specialized precision medical instruments into the body to precisely treat internal conditions. Interventional vascular therapy has opened up new treatment avenues for many previously considered intractable diseases, offering advantages such as being non-surgical, minimally invasive, allowing for rapid recovery, and providing effective treatment. However, interventional vascular therapy also has certain limitations. Prolonged exposure to radiation from X-rays and CT scans can harm doctors' health. The limitations of hand movements and the need to accurately handle surgical instruments for extended periods can lead to significant fatigue. Fatigue and unstable hand movements can severely impact the quality of the procedure, requiring highly experienced surgeons. Therefore, the use of robotic-assisted interventional procedures has become an important direction for the development of interventional vascular therapy.

[0003] Interventional surgical robots include a delivery module and a rotation module. They need to drive instruments (including guidewires, catheters, etc.) to move along their axial direction and rotate around their own axis to perform designated actions within the body. However, in existing interventional surgical robots, after passing through the delivery module, a Y-valve is used to combine the instruments with fluids used for cooling or angiography. Because a stable surgical environment is required during the procedure, the Y-valve needs to be fixed to the interventional surgical robot. However, this can lead to situations where instruments are inconvenient to install by passing through the Y-valve.

[0004] Therefore, there is an urgent need for an interventional surgical robot to solve the above-mentioned technical problems. Summary of the Invention

[0005] One object of the present invention is to provide an interventional surgical robot, comprising:

[0006] Mounting base;

[0007] A delivery module, disposed on the upper surface of the mounting base, is capable of driving the instrument to reciprocate; and

[0008] The mounting module is arranged side by side with the delivery module along the travel path of the instrument. The bottom of the mounting module on the side away from the delivery module is provided with a rotating mechanism connected to the mounting base. The mounting module rotates relative to the mounting base around the rotating mechanism. The bottom of the mounting module on the side facing the delivery module is provided with a fixing structure. The fixing structure is detachably connected to the mounting base. A Y-type valve is provided on the mounting module.

[0009] Furthermore, an assembly module is provided between the installation module and the mounting base. The assembly module is provided with the fitting corresponding to the position of the fixing structure. The fixing structure and the fitting are detachably connected.

[0010] Furthermore, the assembly module includes an assembly body, an assembly cavity is provided inside the assembly body, the assembly component is disposed in the assembly cavity, a baffle is fixedly provided at the bottom of the assembly cavity, a first elastic member is provided between the assembly component and the baffle, and the first elastic member can abut against the assembly component and engage with the fixed structure in a naturally extended state.

[0011] Furthermore, the assembly module also includes an enclosure frame slidably disposed within the assembly cavity, the assembly component is disposed on the enclosure frame, the first elastic element is disposed between the baffle plate and the enclosure frame, and the inner wall of the assembly cavity is provided with a plurality of assembly protrusions for limiting the enclosure frame.

[0012] Furthermore, the baffle has a first side and a second side facing each other. The mounting protrusion is located on the first side of the baffle. An oblique protrusion is provided on the inner wall of the enclosure frame on the second side of the baffle. The height of the oblique protrusion gradually decreases from the second side of the baffle to the first side of the baffle. A separation button is provided above the oblique protrusion. A second elastic element for supporting the separation button is provided below the separation button. When the separation button is pressed, the enclosure frame moves in the direction from the first side of the baffle to the second side of the baffle.

[0013] Furthermore, a third elastic element is provided between the mounting module and the mounting base, the third elastic element being used to lift the side of the mounting base facing the delivery module.

[0014] Furthermore, the assembly module has a receiving cavity for installing the third elastic element, and a limiting protrusion is provided at the bottom of the receiving cavity for fixing the third elastic element.

[0015] Furthermore, the top of the installation module is also provided with a plug-in corresponding to the position of the third elastic member, and one end of the third elastic member is sleeved on the outside of the plug-in.

[0016] Furthermore, the mounting base has a rotating hole corresponding to the position of the rotating mechanism. The rotating mechanism includes a rotating shaft passing through it and extending into the inner wall of the rotating hole. The rotating mechanism is capable of rotating about the rotating shaft as its axis.

[0017] This invention discloses an interventional surgical robot for delivering and rotating instruments, comprising a mounting base and a delivery module. The mounting base is used to mount and support the delivery module, which drives the instrument to reciprocate along a predetermined stroke, thereby delivering the instrument to the patient's lesion. By setting a mounting module fixed to the mounting base, with one side rotatably connected to the mounting base and the other side having a fixing structure detachably connected to the mounting base, the mounting module can be completely fixed to the mounting base. This ensures that the Y-type valve mounted on the mounting module remains relatively stationary throughout the procedure, preventing surgical malfunctions caused by Y-type valve movement. Before surgery, the fixing structure needs to be separated from the mounting base, and the mounting module needs to be rotated around the rotating mechanism to a height convenient for the surgeon to install the instrument. After the instrument is installed, the fixing structure needs to be fixed back to the mounting base, ensuring that the mounting module and Y-type valve are stably fixed to the mounting base, facilitating the completion of the interventional surgery.

[0018] Another object of the present invention is to provide an interventional surgical system, including the interventional surgical robot described above.

[0019] The interventional surgery system of the present invention employs the aforementioned interventional surgery robot. Before surgery, the robot can separate the fixing structure from the mounting base and rotate the mounting module around the rotating mechanism at a certain angle to a height convenient for the surgeon to install the instruments. After the instruments are installed, the fixing structure needs to be fixed to the mounting base to ensure that the mounting module and the Y-type valve are stably fixed on the mounting base, facilitating the completion of the interventional surgery. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the interventional surgical robot provided in a specific embodiment of the present invention;

[0021] Figure 2 This is a structural schematic diagram of the installation module and assembly module provided in a specific embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the installation module provided in a specific embodiment of the present invention. Figure 1 ;

[0023] Figure 4 This is a schematic diagram of the installation module provided in a specific embodiment of the present invention. Figure 2 ;

[0024] Figure 5 This is a schematic diagram of the assembly module provided in a specific embodiment of the present invention;

[0025] Figure 6 This is a partial structural diagram of the assembly module provided in a specific embodiment of the present invention. Figure 1 ;

[0026] Figure 7 This is a schematic diagram of the enclosure frame provided in a specific embodiment of the present invention;

[0027] Figure 8 This is a partial structural diagram of the assembly module provided in a specific embodiment of the present invention. Figure 2 .

[0028] In the picture:

[0029] 10—Mounting base;

[0030] 20—Delivery module;

[0031] 30—Mounting module; 31—Rotating mechanism; 32—Fixed structure; 33—Y-type valve;

[0032] 34—Connector;

[0033] 40—Assembly module; 41—Assembly parts; 42—Assembly body; 421—Assembly cavity;

[0034] 422—Barrier; 4221—First side; 4222—Second side; 423—First elastic element;

[0035] 424—Assembly protrusion; 425—Angled protrusion; 43—Enclosure frame; 44—Separation button;

[0036] 45—Second elastic element; 46—Third elastic element; 47—Receiving cavity. Detailed Implementation

[0037] The present invention will now be described in further detail 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 scope of the invention. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention and not the entire structure.

[0038] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0040] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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 the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0041] It should be noted that the instruments mentioned in this article are all guidewires and / or catheters used for interventional procedures.

[0042] like Figure 1 and Figure 2 As shown, this application provides an interventional surgical robot, including: a mounting base 10, a delivery module 20, and a mounting module 30;

[0043] The delivery module 20 is disposed on the upper surface of the mounting base 10, and the delivery module 20 can drive the instrument to reciprocate. The mounting module 30 is disposed parallel to the delivery module 20 along the instrument's travel path. Specifically, the instrument's travel path is such that it passes through the delivery module 20 and then is inserted into the Y-type valve 33. The placement of the delivery module 20 and the mounting module 30 along the instrument's travel path can effectively reduce the probability of the instrument bending. When the instrument is in its naturally extended state, the delivery and rotation effects are more direct and accurate. The bottom of the mounting module 30 on the side away from the delivery module 20 is provided with a rotating mechanism 31 connected to the mounting base 10. The mounting module 30 rotates relative to the mounting base 10 around the rotating mechanism 31. The bottom of the mounting module 30 on the side facing the delivery module 20 is provided with a fixing structure 32, which is detachably connected to the mounting base 10. The Y-type valve 33 is disposed on the mounting module 30. Specifically, the Y-type valve 33 is positioned close to the delivery module 20, and the mounting module 30 can rotate around the relatively farther rotating mechanism 31, so that the Y-type valve 33 close to the delivery module 20 can be lifted up, and the angle of the Y-type valve 33 at this time is more suitable for mounting the instrument.

[0044] An interventional surgical robot according to an embodiment of this application is used for delivering and rotating instruments. It includes a mounting base 10 and a delivery module 20. The mounting base 10 is used to mount and support the delivery module 20. The delivery module 20 can drive the instruments to reciprocate along a predetermined stroke, thereby delivering the instruments to the patient's lesion. By setting a mounting module 30 fixed to the mounting base 10, with one side of the mounting module 30 rotatably connected to the mounting base 10 and the other side having a fixing structure 32 detachably connected to the mounting base 10, the mounting module 30 can be completely fixed to the mounting base 10. This ensures that the Y-type valve 33 mounted on the mounting module 30 remains relatively stationary throughout the entire surgical procedure, preventing the Y-type valve 33 from moving and causing surgical malfunctions. Before the operation, the fixing structure 32 needs to be separated from the mounting base 10, and the mounting module 30 needs to be rotated around the rotating mechanism 31 at a certain angle to a height that is convenient for the operator to install the instrument. After the instrument is installed, the fixing structure 32 needs to be fixed to the mounting base 10 so that the mounting module 30 and the Y-type valve 33 are stably fixed on the mounting base 10, which facilitates the completion of the interventional operation.

[0045] Specifically, in one embodiment, the interventional surgical robot also includes a rotation module for adjusting the rotating instruments to align them towards the branch vessel where the lesion is located. Since the interventional surgical robot primarily delivers and rotates the instruments, it is sufficient that the robot also includes a delivery module 20 and a rotation module. The distribution of the rotation module and delivery module 20 on the interventional surgical robot can be configured according to different models of different interventional surgical robots. Therefore, the mounting module 30 is positioned after the delivery module 20 and the rotation module along the instrument's travel path, but it is not limited to being placed after either the delivery module 20 or the rotation module.

[0046] Furthermore, in one embodiment, such as Figures 5-8 As shown, an assembly module 40 is also provided between the installation module 30 and the mounting base 10. Specifically, the assembly module 40 is located below the side of the mounting base 10 near the delivery module 20. The assembly module 40 is provided with an accessory 41 corresponding to the position of the fixing structure 32. The fixing structure 32 and the accessory 41 are detachably connected. By providing the accessory 41 in the assembly module 40, the accessory 41 and the fixing structure 32 can be configured to be detachably connected in a locking or snap-fit ​​manner, so that the installation module 30 can be opened and closed according to the actual surgical needs.

[0047] Furthermore, in one embodiment, such as Figure 5 , Figure 6 as well as Figure 8As shown, the assembly module 40 includes an assembly body 42, an assembly cavity 421 is provided within the assembly body 42, an assembly component 41 is disposed within the assembly cavity 421, a baffle plate 422 is fixedly provided at the bottom of the assembly cavity 421, and a first elastic member 423 is provided between the assembly component 41 and the baffle plate 422. In its naturally extended state, the first elastic member 423 can abut against the assembly component 41 and engage the fixing structure 32. By providing an assembly cavity 421 within the assembly body 42, and a baffle plate 422 within the assembly cavity 421, with the first elastic member 423 positioned between the baffle plate 422 and the assembly component 41, and by ensuring that the first elastic member 423 can abut against the assembly component 41 and engage the fixing structure 32 in its naturally extended state, when it is necessary to disassemble the assembly component 41 and the fixing structure 32, it is only necessary to press the first elastic member 423 with the assembly component 41 to disengage the assembly component 41 from the fixing structure 32. Furthermore, the assembly cavity 421 forms an installation space, and the first elastic member 423, which abuts against the assembly part 41 and the baffle plate 422, is confined within the assembly cavity 421.

[0048] Furthermore, in one embodiment, such as Figures 5-8 As shown, the assembly module 40 also includes an enclosure frame 43 slidably disposed within the assembly cavity 421. The assembly component 41 is disposed on the enclosure frame 43. A first elastic element 423 is disposed between the baffle plate 422 and the enclosure frame 43. The inner wall of the assembly cavity 421 is provided with multiple assembly protrusions 424 for limiting the enclosure frame 43. A sliding groove for sliding the enclosure frame 43 can be formed at the bottom of the assembly cavity 421, serving as a sliding guide and confining the enclosure frame 43 within the groove. Furthermore, the enclosure frame 43 is relatively large in size and weight, effectively securing the assembly component 41. That is, before the enclosure frame 43 presses against the first elastic element 423, the assembly component 41 can effectively engage with the fixing structure 32 and ensure it does not fall off.

[0049] Furthermore, in one embodiment, such as Figure 8As shown, the baffle 422 has a first side 4221 and a second side 4222 opposite to each other. The mounting protrusion 424 is located on the first side 4221 of the baffle 422. The inner wall of the enclosure frame 43 of the second side 4222 of the baffle 422 is provided with an oblique protrusion 425. The height of the oblique protrusion 425 gradually decreases from the second side 4222 of the baffle 422 to the first side 4221 of the baffle 422. A separation button 44 is provided above the oblique protrusion 425. A second elastic member 45 for supporting the separation button 44 is provided below the separation button 44. When the separation button 44 is pressed, the enclosure frame 43 moves in the direction from the first side 4221 of the baffle 422 to the second side 4222 of the baffle 422. When the assembly module 40 is in the closed state, the second elastic element 45 is fixed to the bottom of the assembly cavity 421 and is not connected to the enclosure frame 43. When the separation button 44 located above the second elastic element 45 is in the reset state, it will not exert pressure on the oblique protrusion 425, or the pressure will be insufficient to drive the enclosure frame 43 to move. When it is necessary to separate the assembly part 41 of the assembly module 40 from the fixing structure 32 of the installation module 30, pressing the separation button 44 will cause the lower edge of the separation button 44 to contact the oblique protrusion 425 and apply pressure. Since the oblique protrusion 425 is set so that its height gradually decreases from the second side 4222 of the baffle 422 to the first side 4221 of the baffle 422, pressing the separation button 44 will cause the enclosure frame 43 to move from the first side 4221 to the second side 4222. In this way, the fixing structure 32 and the assembly part 41 will be separated, and the surgeon can separate the installation module 30 and the assembly module 40 to facilitate the installation of instruments.

[0050] Furthermore, in one embodiment, such as Figure 2 As shown, a third elastic element 46 is provided between the mounting module 30 and the mounting base 10. The third elastic element 46 is used to lift the side of the mounting base 10 facing the delivery module 20. After the surgeon presses the separation button 44, the mounting module 30 and the assembly module 40 separate, and the third elastic element 46 can lift the mounting module 30, making it easier for the surgeon to install the instrument.

[0051] Specifically, in one embodiment, such as Figure 6 and Figure 7As shown, the height of the accessory 41 gradually decreases from the second side 4222 of the baffle 422 towards the first side 4221 of the baffle 422, and the bottom is set to be parallel to the upper surface of the mounting base 10. In this way, after the operator installs the instrument, he can directly press the mounting module 30. The fixing structure 32 of the mounting module 30 will exert pressure on the top of the accessory 41. At this time, the first elastic element 423 of the accessory 41 is compressed by the pressure from the first side 4221 toward the second side 4222 until the fixing structure 32 is located below the accessory 41. After the operator releases the pressure on the mounting module 30, the first elastic element 423 pops the accessory 41 out, so that the fixing structure 32 and the accessory 41 are engaged.

[0052] Furthermore, in one embodiment, such as Figure 3 — Figure 8 As shown, the assembly module 40 has a receiving cavity 47 for installing the third elastic element 46. A limiting protrusion 471 is provided at the bottom of the receiving cavity 47 to fix the third elastic element 46. The top of the mounting module 30 also has a connector 34 corresponding to the position of the third elastic element 46, with one end of the third elastic element 46 sleeved on the outside of the connector 34. Since the assembly module 40 and the mounting module 30 need to be separated, there is a risk that the third elastic element 46 may fall off or fail to be properly seated. Therefore, the connector 34 and the limiting protrusion 471 are provided to fix the third elastic element 46 within them, avoiding unnecessary surgical risks during the procedure.

[0053] Furthermore, in one embodiment, such as Figure 2 , Figure 3 or Figure 4 As shown, the mounting base 10 has a rotating hole corresponding to the position of the rotating mechanism 31. The rotating mechanism 31 includes a rotating shaft passing through it and extending into the inner wall of the rotating hole. The rotating mechanism 31 can rotate about the rotating shaft as its axis. By setting the rotating mechanism 31 of the mounting module 30 as a rotating shaft, the mounting module 30 can rotate about the axis of the rotating mechanism 31. Specifically, the rotating mechanism 31 can be a stepless rotating shaft, allowing the operator to adjust the height of the mounting module 30 according to their installation habits to facilitate instrument installation.

[0054] Another object of the present invention is to provide an interventional surgical system, including the interventional surgical robot described above.

[0055] The interventional surgery system of the present invention employs the aforementioned interventional surgery robot. Before surgery, the robot can separate the fixing structure 32 from the mounting base 10 and rotate the mounting module 30 around the rotating mechanism 31 at a certain angle to a height convenient for the surgeon to install the instruments. After the instruments are installed, the fixing structure 32 needs to be fixed to the mounting base 10 again, so that the mounting module 30 and the Y-type valve 33 are stably fixed on the mounting base 10, facilitating the completion of the interventional surgery.

[0056] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those skilled in the art, based on the concept of the present invention, there will be changes in specific implementation methods and application scope. The content of this specification should not be construed as a limitation of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the claims of the present invention.

Claims

1. An interventional surgical robot, characterized in that, include: Mounting base; A delivery module is disposed on the upper surface of the mounting base, and the delivery module is capable of driving the instrument to reciprocate; as well as An installation module is arranged side-by-side with the delivery module along the travel path of the instrument. The bottom of the installation module on the side away from the delivery module is provided with a rotating mechanism connected to the mounting base. The installation module rotates relative to the mounting base around the rotating mechanism. The bottom of the installation module on the side facing the delivery module is provided with a fixing structure, which is detachably connected to the mounting base. A Y-type valve is provided on the installation module. An assembly module is provided between the installation module and the mounting base. The assembly module is provided with an assembly part corresponding to the position of the fixing structure. The fixing structure and the assembly part are detachably connected. The assembly module includes an assembly body, an assembly cavity is provided inside the assembly body, the assembly component is disposed in the assembly cavity, a baffle is fixedly provided at the bottom of the assembly cavity, and a first elastic element is provided between the assembly component and the baffle. The first elastic element can abut against the assembly component and engage with the fixed structure in a naturally extended state. The assembly module further includes an enclosure frame that is slidably disposed in the assembly cavity, the assembly parts are disposed on the enclosure frame, the first elastic element is disposed between the baffle and the enclosure frame, and the inner wall of the assembly cavity is provided with a plurality of assembly protrusions for limiting the enclosure frame.

2. The interventional surgical robot as described in claim 1, characterized in that, The baffle has a first side and a second side facing each other. The mounting protrusion is located on the first side of the baffle. An oblique protrusion is provided on the inner wall of the enclosure frame on the second side of the baffle. The height of the oblique protrusion gradually decreases from the second side of the baffle to the first side of the baffle. A separation button is provided above the oblique protrusion. A second elastic element for supporting the separation button is provided below the separation button. When the separation button is pressed, the enclosure frame moves in the direction from the first side of the baffle to the second side of the baffle.

3. The interventional surgical robot according to claim 2, characterized in that, A third elastic element is provided between the installation module and the mounting base, the third elastic element being used to lift the side of the mounting base facing the delivery module.

4. The interventional surgical robot according to claim 3, characterized in that, The assembly module has a cavity for installing the third elastic element, and a limiting protrusion is provided at the bottom of the cavity for fixing the third elastic element.

5. The interventional surgical robot as described in claim 4, characterized in that, The top of the installation module is also provided with a plug-in corresponding to the position of the third elastic member, and one end of the third elastic member is sleeved on the outside of the plug-in.

6. The interventional surgical robot as described in claim 5, characterized in that, The mounting base has a rotating hole corresponding to the position of the rotating mechanism. The rotating mechanism includes a rotating shaft passing through it and extending into the inner wall of the rotating hole. The rotating mechanism is capable of rotating about the rotating shaft as its axis.

7. An interventional surgical system, characterized in that, Including the interventional surgical robot as described in any one of claims 1 to 6.

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