A catheter rotating device for an interventional surgery robot

Abstract

The present invention relates to a catheter rotation device for an interventional surgical robot, comprising: a box body, a sterile box bottom shell mounted on its top; a Y-valve bracket assembly disposed on the sterile box bottom shell; a pressure wheel in a friction wheel assembly that can abut and rotate with a Y-valve in the Y-valve bracket assembly; a rotary motor fixed to one end of the front side wall of the box body, which drives the pressure wheel to rotate via a transmission pair, thereby driving the Y-valve to rotate; and a driver disposed at the other end of the front side wall of the box body, which is electrically connected to the rotary motor, and the driver is communicatively connected to an external controller. The Y-valve of the present invention is driven to rotate by the pressure wheel, which in turn is driven to rotate by the rotary motor and the transmission pair. The rotation is manually controlled by a doctor using a controller outside the operating room, thereby achieving precise catheter rotation control and preventing slippage. Furthermore, the pressure wheel is a disposable consumable and can be replaced with a new one for each surgery, thereby resolving the problem of inconvenient disinfection of control components.

Description

Technical Field

[0001] The present invention relates to the technical field of microvascular interventional surgery, and more particularly to a catheter rotating device for an interventional surgery robot. Background Art

[0002] Minimally invasive cardiovascular interventional therapy is a primary treatment for cardiovascular and cerebrovascular diseases. Compared to traditional surgical procedures, it offers significant advantages, including smaller incisions and shorter postoperative recovery times. Cardiovascular interventional surgery involves a physician manually inserting devices such as catheters, guidewires, and stents into the patient's body to complete the treatment.

[0003] Interventional procedures generally present two challenges. First, during the procedure, DSA emits X-rays, which rapidly deplete the physician's physical strength, concentration, and stability. This can lead to decreased precision and potentially life-threatening accidents such as vascular endothelial damage and vascular perforation and rupture caused by improper thrust. Second, the cumulative harm of long-term ionizing radiation exposure can significantly increase a physician's risk of leukemia, cancer, and acute cataracts. The continuous accumulation of radiation exposure by physicians during interventional procedures has become a significant issue that harms their careers and hinders the development of interventional surgery. Robotic technology can effectively address this issue, significantly improving surgical precision and stability while effectively reducing radiation exposure to interventional physicians and lowering the risk of intraoperative accidents. Catheter rotation control is a critical step in interventional procedures.

[0004] There are several problems with the domestic catheter rotation control of interventional surgical robots: (1) It is inconvenient to fix the catheter clamping parts; (2) It is inconvenient to disinfect the control parts; (3) The catheter rotation control is only applicable to specific Y valves; (4) The catheter rotation control is not accurate and is prone to slipping.

[0005] Therefore, how to provide an interventional surgical robot catheter rotation device is an urgent problem that those skilled in the art need to solve. Summary of the Invention

[0006] The present invention aims to solve one of the above-mentioned technical problems in the prior art at least to a certain extent.

[0007] To this end, one purpose of the present invention is to provide an interventional surgical robot catheter rotation device.

[0008] The present invention provides an interventional surgical robot catheter rotation device, comprising:

[0009] A box body, with a sterile box bottom shell installed on the top of the box body;

[0010] A Y-valve bracket assembly, the Y-valve bracket assembly is arranged on the bottom shell of the sterile box;

[0011] A friction wheel assembly, wherein the pressure wheel in the friction wheel assembly and the Y-valve in the Y-valve bracket assembly can abut and rotate;

[0012] A rotating motor, the rotating motor being fixed to one end of the front side wall of the box body, driving the pressing wheel to rotate through a transmission pair, and the pressing wheel driving the Y valve to rotate, the pressing wheel being a disposable consumable; and

[0013] The driver is arranged at the other end of the front side wall of the box body, is electrically connected to the rotating motor, and is communicatively connected to an external controller.

[0014] It can be seen from the above technical solution that compared with the prior art, the present invention discloses a catheter rotation device for an interventional surgical robot. The Y valve is driven to rotate by a pressure wheel, and the pressure wheel is driven to rotate by a rotating motor and a transmission pair. The rotation is manually operated by the doctor through a controller outside the operating room. As a result, the catheter rotation is precisely controlled and not easy to slip. At the same time, the pressure wheel is a disposable consumable and a new one is replaced for each operation, which solves the problem of inconvenient disinfection of control components.

[0015] Furthermore, the friction wheel assembly includes: a friction output shaft, a pressure wheel shaft, an annular magnet and a synchronous pulley; the friction output shaft is a stepped shaft, and the synchronous pulley, the annular magnet, and the pressure wheel shaft are sequentially sleeved on the stepped shaft from one end to the other end, and the pressure wheel is fixed on the pressure wheel shaft.

[0016] Another object of the present invention is to further include a pressure arm, which includes a pressure arm forearm, a force sensor and a pressure arm rear arm; one end of the pressure arm forearm is a circular sleeve, and the synchronous pulley is matched with the output shaft through a flat wire form. A large bearing is provided on the outside of the connecting sleeve of the synchronous pulley, and the circular sleeve is fixed on the outer ring of the large bearing; the other end of the pressure arm forearm is fixed to one side of the force sensor, and the other side of the force sensor is fixed to one end of the pressure arm rear arm; the other end of the pressure arm rear arm is connected to the first gear.

[0017] Furthermore, the output end of the rotating motor is connected to a second gear, the second gear is engaged with a third gear, the third gear, the pulley and the first gear are coaxially arranged, the pulley is connected to the synchronous pulley by a belt, a fourth gear is engaged below the first gear, the middle part of the fourth gear is connected to the positioning shaft through a bearing, the positioning shaft is fixed to the mounting mainboard, the mounting mainboard is fixed to the front wall of the box body through a support frame, and is located in front of the rotating motor.

[0018] This solution rotates the motor to control the support arm to press the Y-valve, solving the problem of inconvenient fixation of the catheter clamping component.

[0019] Furthermore, the mounting main board includes a base plate, on which a motor fixing plate, a connecting plate and a positioning shaft bracket are fixed, and the positioning shaft passes through the positioning shaft bracket; a screw stepper motor is fixed to the motor fixing plate, and a track is fixed to the front top of the base plate, on which a slider slides, and a rack plate is fixed to the top of the slider, and the rack plate is located below the fourth gear and is meshed with the fourth gear for transmission; the nut of the screw stepper motor is installed at the end of the rack plate; the screw stepper motor controls the rack plate to move back and forth by rotating, thereby driving the rear arm of the pressure arm to rotate; the screw stepper motor is electrically connected to the driver.

[0020] Furthermore, the pressing wheel is made of silicone. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0022] Figure 1 The accompanying drawing is a schematic structural diagram of a catheter rotating device for an interventional surgery robot provided by the present invention;

[0023] Figure 2 The accompanying drawing is an exploded view of the catheter rotating device of the interventional surgery robot provided by the present invention;

[0024] Figure 3 The accompanying drawing shows a schematic structural diagram of the friction wheel;

[0025] In the figure: 101-box body; 102-rotating motor; 103-Y valve bracket; 104-sterile box bottom shell; 105-synchronous pulley; 106-Y valve bracket assembly; 107-Y valve; 108-large bearing; 109-driver; 110-ring magnet; 111-friction output shaft; 112-pressure arm forearm; 113-pressure wheel shaft; 114-pressure wheel; 115-screw stepper motor; 116-force sensor; 117-mounting main board; 118-slider; 119-rack plate; 120-fourth gear; 121-positioning shaft; 122-pressure arm rear arm; 123-pulley; 124-shaft; 125-small bearing; 126-second gear; 127-motor fixing frame; 128-support frame. DETAILED DESCRIPTION

[0026] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0027] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0029] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0030] See attached Figure 1-3In one embodiment of the present invention, a catheter rotating device for an interventional surgical robot is provided, comprising: a box body 101, a sterile box bottom shell 104 is mounted on the top of the box body 101; a Y-valve bracket assembly 106, the Y-valve bracket assembly 106 is arranged on the sterile box bottom shell 104; a friction wheel assembly, a pressure wheel 114 in the friction wheel assembly and a Y-valve 107 in the Y-valve bracket assembly 106 can abut and rotate, the Y-valve bracket assembly 106 is connected to the sterile box bottom shell 104, the Y-valve 107 is connected to the Y-valve bracket assembly 106, and the Y-valve bracket 103 is connected to the box body 101 for The sterilization box bottom shell 104 is supported; a motor mounting bracket 127 is connected to the box body 101, and the motor mounting bracket 127 is fixed to the rotary motor 102; the rotary motor 102 is fixed to one end of the front side wall of the box body 101, and drives the pressure wheel 114 to rotate through a transmission pair, and the pressure wheel 114 drives the Y-valve 107 to rotate. The pressure wheel 114 is a disposable consumable and has been sterilized; and a driver 109 is provided at the other end of the front side wall of the box body 101, and is electrically connected to the rotary motor 102. The driver 109 is in communication with an external controller. When the rotary motor 102 rotates, it can transmit output force to the pressure wheel 114. After being pressed, the pressure wheel 114 can be in contact with the front rotating part of the Y-valve. When the pressure wheel 114 is rotated, the front rotating part of the Y-valve can rotate accordingly, thereby driving the guide catheter to rotate accordingly, thereby achieving rotational control of the guide catheter. The catheter rotation operation is controlled by the doctor outside the operating room through a controller or control box, which is easy to operate. The guide catheter can be rotated clockwise and counterclockwise at any time to meet the surgical operation requirements.

[0031] Advantageously, the friction wheel assembly includes: a friction output shaft 111, a pressure wheel shaft 113, an annular magnet 110, and a synchronous pulley 105; the friction output shaft 111 is a stepped shaft, on which the synchronous pulley 105, the annular magnet 110, the pressure wheel shaft 113 are sequentially mounted from one end to the other, and the pressure wheel 114 is fixed to the pressure wheel shaft 113. The friction wheel can be assembled and disassembled without tools. The installation method is plug-in. The pressure wheel is connected to the friction output shaft 111, and the annular magnet 110 is mounted on the friction output shaft 111, so that the pressure wheel can be tightly attracted to the device.

[0032] The present invention also includes a pressure arm, which includes a pressure arm forearm 112, a force sensor 116 and a pressure arm rear arm 122; one end of the pressure arm forearm 112 is a circular ring sleeve, and the synchronous pulley 105 is matched with the output shaft 111 through a flat wire form. A large bearing 108 is sleeved on the outside of the connecting sleeve of the synchronous pulley 105, and the circular ring sleeve is fixed on the outer ring of the large bearing 108; the other end of the pressure arm forearm 112 is fixed to one side of the force sensor 116, and the other side of the force sensor 116 is fixed to one end of the pressure arm rear arm 122; the other end of the pressure arm rear arm 122 is connected to the first gear.

[0033] Specifically, the output end of the rotating motor 102 is connected to a second gear 126, which is meshed with a third gear. The third gear, pulley 123, and first gear are arranged coaxially 124. The pulley 123 is connected to the synchronous pulley 105 via a belt. A fourth gear 120 is meshed below the first gear. The middle of the fourth gear 120 is connected to a positioning shaft 121 via a small bearing 125. The positioning shaft 121 is fixed to the mounting mainboard 117. The mounting mainboard 117 is fixed to the front wall of the box body 101 via a support frame 128 and is located in front of the rotating motor 102. The motor fixing frame 127 is connected to the mounting mainboard 117.

[0034] See attached Figure 2 The mounting main board 117 includes a bottom plate, on which a motor fixing plate, a connecting plate and a positioning shaft bracket are fixed, and the positioning shaft 121 passes through the positioning shaft bracket; a screw stepper motor 115 is fixed to the motor fixing plate, and a track is fixed to the front top of the bottom plate, on which a slider 118 slides, and a rack plate 119 is fixed to the top of the slider 118, and the rack plate 119 is located below the fourth gear 120 and meshes with the fourth gear 120 for transmission; the nut of the screw stepper motor 115 is installed at the end of the rack plate 119; the screw stepper motor 115 controls the rack plate 119 to move back and forth by rotating, thereby driving the pressure arm rear arm 122 to rotate; the screw stepper motor 115 is electrically connected to the driver 109. Because the pressure arm rear arm 122 and the pressure arm forearm 112 are connected through the force sensor 116. When the pressure wheel presses the Y valve, the force sensor 116 changes value, and when the specified force is reached, the screw stepper motor 115 stops moving. When the screw stepper motor reverses, the pressure arm can be lifted to release the Y valve.

[0035] In the above embodiment, the pressing wheel 114 is made of silicone.

[0036] When the present invention is used, the device adopts an automatic initialization method, which is convenient for doctors to use. At the beginning of the operation, first, place the Y valve in the Y valve mounting assembly and tighten the knob. The pressure arm of the device returns to a nearly vertical position. Then, the doctor places a new pressure wheel on the friction output shaft. The lid of the sterilization box is then closed, and after the system receives the sterilization box closing signal, the system will automatically complete the clamping of the pressure wheel Y valve. The doctor then controls the rotation of the guide catheter through the controller or control box outside the operating room, and can rotate clockwise and counterclockwise. After the operation is completed, when the lid of the sterilization box is opened, the system will automatically lift the friction wheel to a nearly vertical position. Finally, the doctor removes the pressure wheel and recycles it uniformly.

[0037] Existing technologies use a rotating portion at the front end of a Y-valve to control the catheter's rotation. Because different Y-valve shapes vary, the diameter and size of this rotating portion also vary. While using a fixed Y-valve facilitates structural design, it significantly limits practical clinical use. There are dozens of different Y-valve types on the market, and using a different Y-valve might not be able to achieve rotational control of the catheter for other devices.

[0038] The present invention utilizes a pressure arm and friction wheel to compress the front end of a Y-valve from top to bottom. A force sensor on the pressure arm detects the pressure applied by the pressure wheel to the front end of the Y-valve in real time, controlling the motor to ensure that the pressure arm maintains constant pressure on the front end of the Y-valve. This approach is not limited to specific Y-valves; regardless of the diameter or shape of the rotating portion at the front end of the Y-valve, the device can compress the front end of the Y-valve, ensuring that the pressure rod does not slip or otherwise interfere with the rotation of the Y-valve front end. This device is applicable to all Y-valves.

[0039] For details, see the attached Figure 1 In the figure, the rear arm 122 of the pressure arm, the force sensor 116, the front arm 112 of the pressure arm, and the corresponding pressure wheel 114 cooperate with the front end of the Y-valve 107. When the pressure wheel hits the Y-valve downward, the force sensor 116 (using a pressure sensor) detects the change in force. When the clamping force reaches a certain value, the pressure arm stops moving downward to complete the clamping action.

[0040] The present invention solves the problems that there is currently no rotation control device for the guiding catheter of an interventional surgical robot, the disinfection of the rotation control device is cumbersome, the catheter rotation control device is not applicable to the general Y-valve, and the catheter rotation control is not accurate. The device described in the present invention is specifically suitable for the catheter rotation control of an interventional surgical robot, and can be applied to most general Y-valves on the market, with a wide range of applications. The present invention uses a disposable consumable that is easy to install and remove to control the rotation of the catheter, effectively solving the problem of cumbersome disinfection of the device in actual clinical practice. The overall structure is simple, stable, and a modular approach is adopted, which is convenient for assembly and debugging. The present invention adopts an automatic clamping Y-valve and an automatic release after use, which is simple and convenient to use, simple to operate, and highly practical.

[0041] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0042] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A catheter rotating device for an interventional surgery robot, characterized in that: include: A box body (101), wherein a sterile box bottom shell (104) is installed on the top of the box body (101); a Y-valve bracket assembly (106), the Y-valve bracket assembly (106) being arranged on the sterile box bottom shell (104); A friction wheel assembly, wherein the pressure wheel (114) in the friction wheel assembly and the Y valve (107) in the Y valve bracket assembly (106) are rotatable in abutment with each other; A rotating motor (102), the rotating motor (102) being fixed to one end of the front side wall of the box body (101), driving the pressing wheel (114) to rotate through a transmission pair, the pressing wheel (114) driving the Y valve (107) to rotate, the pressing wheel (114) being a disposable consumable; and A driver (109), the driver (109) being arranged at the other end of the front side wall of the box body (101), being electrically connected to the rotating motor (102), and the driver (109) being communicatively connected to an external controller; The friction wheel assembly comprises: a friction output shaft (111), a pressure wheel shaft (113), an annular magnet (110) and a synchronous pulley (105); It also includes a pressure arm, the pressure arm including a pressure arm front arm (112) and a pressure arm rear arm (122); one end of the pressure arm front arm (112) is a circular ring sleeve, the synchronous pulley (105) is matched with the output shaft (111) in the form of a flat wire, the connecting sleeve of the synchronous pulley (105) is provided with a large bearing (108) on the outside, and the circular ring sleeve is fixed on the outer ring of the large bearing (108); the other end of the pressure arm rear arm (122) is connected to the first gear; The output end of the rotating motor (102) is connected to a second gear (126), the second gear (126) is meshed with a third gear, the third gear, the pulley (123) and the first gear are coaxially arranged (124), the pulley (123) and the synchronous pulley (105) are connected via a belt, and a fourth gear (120) is meshed below the first gear.

2. The catheter rotation device for an interventional surgery robot according to claim 1, characterized in that: The friction output shaft (111) is a stepped shaft, on which the synchronous pulley (105), the annular magnet (110), and the pressure wheel shaft (113) are sequentially sleeved from one end to the other end, and the pressure wheel (114) is fixed on the pressure wheel shaft (113).

3. The catheter rotation device for an interventional surgery robot according to claim 2, characterized in that: The pressure arm further includes a force sensor (116); one end of the pressure arm forearm (112) is a circular sleeve, the synchronous pulley (105) cooperates with the output shaft (111) in the form of a flat wire, a large bearing (108) is sleeved on the outside of the connecting sleeve of the synchronous pulley (105), and the circular sleeve is fixed on the outer ring of the large bearing (108); the other end of the pressure arm forearm (112) is fixed to one side of the force sensor (116), and the other side of the force sensor (116) is fixed to one end of the pressure arm rear arm (122).

4. The catheter rotation device for an interventional surgery robot according to claim 3, characterized in that: The middle portion of the fourth gear (120) is connected to the positioning shaft (121) via a bearing. The positioning shaft (121) is fixed to the mounting mainboard (117). The mounting mainboard (117) is fixed to the front wall of the box body (101) via a support frame (128) and is located in front of the rotating motor (102).

5. The catheter rotating device for an interventional surgery robot according to claim 4, characterized in that: The mounting main board (117) includes a base plate, on which a motor fixing plate, a connecting plate and a positioning shaft bracket are fixed, and the positioning shaft (121) penetrates into the positioning shaft bracket; a screw stepper motor (115) is fixed to the motor fixing plate, a track is fixed to the front of the top of the base plate, a slider (118) slides on the track, a rack plate (119) is fixed to the top of the slider (118), and the rack plate (119) is located below the fourth gear (120) and is meshed with the fourth gear (120) for transmission; the nut of the screw stepper motor (115) is installed at the end of the rack plate (119); the screw stepper motor (115) controls the rack plate (119) to move forward and backward by rotating, thereby driving the pressure arm rear arm (122) to rotate; the screw stepper motor (115) is electrically connected to the driver (109).

6. The catheter rotation device for an interventional surgery robot according to any one of claims 1 to 5, characterized in that: The pressing wheel (114) is made of silica gel.

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