A control device for an interventional instrument near a puncture site and an interventional instrument component near a puncture site

Abstract

The present invention discloses a control device for an interventional instrument near a puncture port and an interventional instrument assembly near a puncture port. The control device for an interventional instrument near a puncture port includes: a robotic arm; an actuator, suitable for being assembled to the mounting surface of the robotic arm and slidable relative to the robotic arm; a supporter, suitable for being mounted on the mounting surface of the actuator, the mounting surface of the actuator being perpendicular to the mounting surface of the robotic arm; the supporter is used to mount the interventional instrument, the axial direction of the interventional instrument being parallel to the sliding direction of the actuator; a transmission assembly, provided on the mounting surface of the actuator, the transmission assembly being used to drive the interventional instrument mounted on the supporter to move, the movement including rotation around the axis, and / or axial movement, and / or bending; a robotic arm bracket, used to mount the robotic arm; a remote controller, used to control the actuator and the transmission assembly. By adopting the present invention, the interventional instrument and the robotic arm are arranged on the left and right, which reduces the angle between the interventional instrument and the puncture port and allows for smoother entry into the blood vessel.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a control device for a near-puncture-port interventional device and a near-puncture-port interventional device assembly. Background Art

[0002] Interventional therapy is a minimally invasive treatment performed using modern high-tech methods. Guided by medical imaging equipment, specialized catheters, guidewires, and other precision instruments are introduced into the body to diagnose and locally treat internal conditions. Interventional procedures use smaller incisions, eliminating the need to cut into tissue, and can treat many conditions that require surgery or are ineffective with medical treatment, such as atrial fibrillation and hemangiomas. Interventional therapy is characterized by its non-invasive nature, minimal trauma, rapid recovery, and excellent results.

[0003] Interventional treatments must be performed under the guidance of medical imaging equipment (such as X-rays). Prolonged surgical operations under radiation can have adverse effects on the health of the surgeon. To reduce radiation exposure, doctors typically wear lead vests weighing dozens of kilograms during interventional procedures. Years of interventional surgery can cause occupational injuries such as lumbar spondylosis. To reduce or even eliminate the radiation hazards of X-ray exposure to doctors during interventional procedures, remotely operated interventional surgical robots have been developed. Doctors can remotely control the surgical robot while operating in a radiation environment, while the doctor controls it from outside the radiation environment, thus preventing the harm of X-ray radiation during surgery from harming the doctor's health.

[0004] When the interventional surgical instrument is controlled by a robotic arm, the patient generally lies flat on the operating table, the robotic arm is adjusted near the patient's percutaneous puncture point, the interventional surgical instrument is installed and placed directly above the robotic arm, and the interventional surgical instrument is delivered into the patient's body through blood vessel puncture. However, the base of the robotic arm itself has a certain thickness. When the surgical instrument is controlled by the robotic arm to enter the patient's blood vessel, the interventional instrument is required to enter from a certain angle. When the entry angle is too large, it will cause bleeding at the puncture site of the patient. The usual solution is to use special surgical instruments to lengthen the tube of the interventional surgical instrument, thereby appropriately reducing the angle at which the interventional surgical instrument enters the patient's blood vessel. However, this will also lead to excessively high costs for customized surgical instruments. The extended surgical instrument will also increase the energy loss during the transmission process of the robotic arm and reduce the control accuracy of the robotic arm over the head end of the surgical instrument. Summary of the Invention

[0005] The embodiments of the present invention provide a control device for an interventional instrument near a puncture site and an interventional instrument assembly near a puncture site, which are used to at least solve the problem in the prior art of difficulty in manually manipulating the interventional instrument to perform a surgical operation.

[0006] The first embodiment of the present invention provides a control device for an interventional instrument near a puncture site, comprising:

[0007] Robotic arm crane;

[0008] an actuator adapted to be mounted to a mounting surface of the robotic arm boom and slidable relative to the robotic arm boom;

[0009] A supporter, adapted to be mounted on the mounting surface of the actuator, wherein the mounting surface of the actuator is perpendicular to the mounting surface of the robotic arm; the supporter is used to mount an interventional instrument, wherein the axial direction of the interventional instrument is parallel to the sliding direction of the actuator;

[0010] a transmission assembly, provided on the mounting surface of the actuator, for driving the interventional instrument mounted on the support to move, the movement including rotation around an axis, and / or axial movement, and / or bending;

[0011] A mechanical arm bracket, used for mounting the mechanical arm boom;

[0012] A remote controller is used to control the actuator and the transmission assembly.

[0013] According to some embodiments of the present invention, a rotation assembly is provided on a surface of the robotic arm boom opposite to the mounting surface of the robotic arm boom, the rotation assembly being adapted to be rotatably connected to the robotic arm support, and a rotation axis of the rotation assembly being parallel to an axial direction of the interventional instrument;

[0014] The remote controller is also used to control the movement of the rotating assembly.

[0015] According to some embodiments of the present invention, the robotic arm boom is provided with a locking portion, the locking portion being adapted to lock the rotating assembly to prohibit the rotating assembly from rotating relative to the robotic arm bracket;

[0016] The remote controller is also used to control the locking portion.

[0017] According to some embodiments of the present invention, the support is a clamp;

[0018] The supporter is detachably connected to the actuator.

[0019] According to some embodiments of the present invention, the mounting surface of the actuator is provided with a slot, and the support is provided with a protrusion suitable for snapping into the slot.

[0020] According to some embodiments of the present invention, the interventional instrument includes a main body and at least one driving wheel, wherein the driving wheel is used to drive the main body to rotate around an axis, or to move axially, or to bend;

[0021] The transmission assembly includes a transmission wheel corresponding to the at least one driving wheel on a one-to-one basis, and the transmission wheel is suitable for driving the corresponding driving wheel to rotate.

[0022] According to some embodiments of the present invention, the robotic arm boom is suitable for mounting a plurality of the actuators, and the plurality of actuators are arranged in sequence along a sliding direction of the actuator.

[0023] According to some embodiments of the present invention, the robotic arm bracket is suitable for mounting a plurality of the robotic arm suspension arms, and the plurality of robotic arm suspension arms are arranged at intervals along a direction perpendicular to a sliding direction of the actuator.

[0024] According to some embodiments of the present invention, the interventional instrument is a sheath or a catheter.

[0025] A second embodiment of the present invention provides a near-puncture port interventional instrument assembly, comprising:

[0026] A control device for an interventional instrument near a puncture site, which is the control device for an interventional instrument near a puncture site according to any one of the embodiments of the first aspect;

[0027] The interventional instrument is suitable for being installed on the interventional instrument control device near the puncture port.

[0028] By adopting the technical solution of the present invention, the interventional instrument for surgery is installed on the mounting surface of the actuator, so that the interventional instrument and the actuator are arranged side by side in the puncture direction, thereby reducing the angle between the interventional instrument and the puncture port, so that it can enter the blood vessel more flatly, avoiding the problem of bleeding at the puncture port of the patient when the entry angle is too large, and reducing the difficulty of operation. The operator can use a remote controller to control the sliding of the actuator on the robotic arm to achieve axial movement of the interventional instrument, and control the actuator to drive the interventional instrument to rotate or bend around the axis to complete the surgical action. This not only improves the surgical accuracy, but also reduces the radiation hazards exposed to the operator by the imaging equipment.

[0029] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Various other advantages and benefits will become apparent to those skilled in the art by reading the detailed description of the embodiments below. The accompanying drawings are only for the purpose of illustrating preferred embodiments and are not to be considered as limiting the present invention. In the accompanying drawings:

[0031] Figure 1 2 is a schematic structural diagram of a control device for an interventional device near a puncture site according to an embodiment of the present invention;

[0032] Figure 2 is a schematic structural diagram of a transmission assembly in an embodiment of the present invention;

[0033] Figure 3 is a schematic structural diagram of an interventional device and a support device in an embodiment of the present invention;

[0034] Figure 4 is a schematic structural diagram of an interventional device and a support device in an embodiment of the present invention;

[0035] Figure 5 Schematic diagram of the distribution of the dual-manipulator boom in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art. In addition, in some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this specification.

[0037] The first embodiment of the present invention provides a control device for an interventional instrument near a puncture site, referring to Figure 1 ,include:

[0038] The robotic arm boom 1 comprises a top surface and a bottom surface opposite to each other, wherein the bottom surface serves as a mounting surface.

[0039] The actuator 2 is adapted to be assembled to the mounting surface of the robotic arm 1 and is slidable relative to the robotic arm 1. For example, the robotic arm 1 and the actuator 2 may be connected by any sliding connection method, such as a slide rail or a screw rod, which is not specifically limited herein.

[0040] The support 3 is adapted to be mounted on the mounting surface of the actuator 2, which is perpendicular to the mounting surface of the robotic arm 1. The support 3 is used to mount an interventional instrument, with the axial direction of the interventional instrument parallel to the sliding direction of the actuator 2.

[0041] Transmission assembly 5, reference Figure 2 , which is arranged on the mounting surface of the actuator 2, the transmission assembly 5 is used to drive the interventional instrument mounted on the support 3 to move, so that the interventional instrument can complete movements including rotation around the axis, and / or axial movement, and / or bending.

[0042] The robotic arm bracket is used to install the robotic arm boom 1.

[0043] The remote controller is communicatively connected to the actuator 2 and the transmission assembly 5. The remote controller is used to control the actuator 2 to slide on the robotic arm 1 by sending control signals to drive the interventional instrument to move, and to control the transmission assembly 5 to drive the interventional instrument to rotate around the axis or bend itself.

[0044] When performing surgery using the control device of this embodiment, the robotic arm bracket is placed near the puncture port, and the robotic arm boom is adjusted so that the interventional device on the actuator has a suitable angle with the puncture port. The doctor then controls the actuator to slide on the robotic arm boom and controls the interventional device to complete the rotation and bending movements around the axis through a remote controller, thereby completing the surgery.

[0045] The technical solution of the present invention allows the surgical interventional instrument to be mounted on the actuator's mounting surface, placing the instrument and actuator side by side in the puncture direction. This reduces the angle between the instrument and the puncture site, allowing for smoother entry into the blood vessel. The surgeon can use a remote controller to control the actuator's sliding motion on the robotic arm to achieve axial movement of the interventional instrument, controlling the actuator to drive the interventional instrument to rotate or bend around its axis to complete the surgical procedure. This eliminates the need for the surgeon to manually manipulate the interventional instrument during the surgical procedure, improving surgical precision and reducing the surgeon's exposure to radiation hazards from imaging equipment.

[0046] Based on the above embodiment, various modified embodiments are further proposed. It should be noted that, in order to simplify the description, only the differences from the above embodiment are described in each modified embodiment.

[0047] According to some embodiments of the present invention, reference Figure 1 A rotating assembly 4 is provided on the surface of the robotic arm boom 1 opposite to the mounting surface of the robotic arm boom 1 (i.e., the top surface of the robotic arm boom). The rotating assembly 4 is suitable for being rotatably connected to the robotic arm bracket, and the rotating axis of the rotating assembly 4 is parallel to the axial direction of the interventional instrument.

[0048] The remote controller is also connected to the rotating assembly 4 for communication, thereby controlling the movement of the rotating assembly 4 to realize the flipping action of the entire robotic arm boom 1 along the rotating axis, thereby adjusting the angle between the interventional instrument access path and the punctured blood vessel of the punctured patient by flipping, so that it can enter the blood vessel more flatly, thereby reducing bleeding from the puncture site.

[0049] According to some embodiments of the present invention, a locking portion is provided on the robotic arm 1, adapted to lock the rotating assembly 4 to prevent the rotating assembly 4 from rotating relative to the robotic arm support. A remote controller is communicatively coupled to the robotic arm 1 and configured to control the locking portion to lock the rotating assembly 4.

[0050] For example, the locking portion may be a pair of calipers symmetrically positioned on either side of the rotating shaft of the rotating assembly 4. Upon receiving a locking signal from a remote controller, the calipers clamp the rotating shaft, preventing it from rotating, thereby locking the rotating assembly 4. This prevents the robotic arm 1 from shifting in angle due to its own gravity during surgery, thereby affecting surgical accuracy. The locking portion in this embodiment can also be configured to automatically lock at several commonly used rotation angles of the robotic arm 1 to improve surgical efficiency.

[0051] According to some embodiments of the present invention, the support 3 is a clamp that fixes the interventional instrument to the mounting surface of the actuator 2 by clamping. The support 3 and the actuator 2 are detachably connected.

[0052] According to some embodiments of the present invention, different adaptation structures are set inside the support 3 according to different types of interventional instruments, so that when a different type of interventional instrument is needed, the actuator 2 can be directly replaced with a support 3 equipped with a corresponding type of interventional instrument, which can further improve the surgical efficiency.

[0053] According to some embodiments of the present invention, reference Figure 2 The mounting surface of the actuator 2 is provided with a card slot 6, and the support 3 is provided with a protrusion suitable for snapping into the card slot. The support 3 is installed on the mounting surface of the actuator 2 through the cooperation between the protrusion and the card slot 6.

[0054] According to some embodiments of the present invention, the mounting surface of the actuator 2 is provided with a limiting groove and a snap-fit structure. After the snap-fit structure is opened and the support 3 is installed in the limiting groove of the actuator 2, the snap-fit structure is snapped again to fix the support 3.

[0055] like Figure 1 As shown, according to some embodiments of the present invention, a robotic arm boom 1 is adapted to mount multiple actuators 2, which are sequentially arranged along the sliding direction of the actuators. The interventional instruments mounted on the multiple actuators 2 are coaxially arranged.

[0056] According to some embodiments of the present invention, the robotic arm can be equipped with three coaxially arranged actuators, namely a first actuator, a second actuator, and a third actuator. For example, in a cryoballoon ablation procedure, the three actuators respectively control the delivery sheath, the cryoballoon ablation catheter, and the circular mapping catheter. After the circular mapping catheter completes the mapping of the target lesion position, the target lesion can be ablated by the cryoballoon ablation catheter without withdrawing the circular mapping catheter. After the ablation is completed, the target lesion is mapped again by the circular mapping catheter to verify whether the target position has been completely ablated. A single robotic arm can complete the cryoballoon ablation procedure.

[0057] According to some embodiments of the present invention, the interventional instrument includes a main body and at least one driving wheel, the driving wheel being used to drive the main body to rotate around an axis, or to move axially, or to bend. The transmission assembly includes a transmission wheel corresponding to each driving wheel, and the transmission wheel is suitable for driving its corresponding driving wheel to rotate. For example, the transmission wheel is sleeved on the driving shaft of the servo motor, and the rotation of the servo motor drives the transmission wheel to rotate, thereby rotating the corresponding driving wheel.

[0058] According to some embodiments of the present invention, Figure 1-Figure 2 The robotic arm 1 is provided with a front end actuator 21 and a rear end actuator 22. The mounting surface of the front end actuator 21 is provided with a first transmission wheel 51 and a second transmission wheel 52. The mounting surface of the rear end actuator 22 is provided with a third transmission wheel 53. Figure 3 The interventional instrument installed in the front supporter 31 adapted for the front effector 21 is an adjustable sheath tube, the handle of which is provided with a first drive wheel 71 and a second drive wheel 72. The interventional instrument installed in the rear supporter 32 adapted for the rear effector 22 is a catheter, the handle of which is provided with a third drive wheel 8. When the front supporter 31 and the rear supporter 32 are respectively installed on the front effector 21 and the rear effector 22, the first drive wheel 71, the second drive wheel 72, and the third drive wheel 8 are respectively engaged with the first transmission wheel 51, the second transmission wheel 52, and the third transmission wheel 53.

[0059] According to some embodiments of the present invention, reference Figure 2 The front end actuator 21 and the rear end actuator 22 are provided on the boom arm 1. The mounting surface of the front end actuator 1 is provided with a first transmission wheel 51 and a second transmission wheel 52. The mounting surface of the rear end actuator 22 is provided with a third transmission wheel 53. Figure 4 The interventional instrument installed in the front supporter adapted for the front effector 21 is a fixed curved sheath, which is sheathed with a fourth drive wheel 9. The interventional instrument installed in the rear supporter adapted for the rear effector 22 is a catheter, whose handle is sheathed with a third drive wheel 8. When the front supporter and the rear supporter are respectively installed on the front effector 21 and the rear effector 22, the fourth drive wheel 9 and the third drive wheel 8 respectively engage with the second transmission wheel 52 and the third transmission wheel 53.

[0060] According to some embodiments of the present invention, the robot arm bracket is suitable for mounting multiple robot arm booms 1, referring to Figure 5 , multiple robotic arm booms 1 are arranged at intervals along a direction perpendicular to the sliding direction of the actuator 2.

[0061] According to some embodiments of the present invention, the interventional device is a sheath or a catheter.

[0062] A second embodiment of the present invention provides a near-puncture port interventional instrument assembly, comprising:

[0063] The control device for an interventional instrument near the puncture site is the control device for an interventional instrument near the puncture site described in any one of the embodiments of the first aspect.

[0064] The interventional instrument is suitable for being installed on an interventional instrument control device near a puncture port.

[0065] The following describes in detail a control device for an interventional instrument near a puncture site according to the present invention using a specific embodiment with reference to the accompanying drawings. It should be understood that the following description is merely exemplary and should not be construed as a specific limitation on the present invention.

[0066] In this embodiment, reference Figure 1 The control device for the interventional device near the puncture site includes:

[0067] The robotic arm boom 1 comprises a top surface and a bottom surface opposite to each other, wherein the bottom surface serves as a mounting surface.

[0068] Actuator 2, including a front actuator 21 and a rear actuator 22, is mounted on the mounting surface of the robotic arm 1 and is slidable relative to the robotic arm 1. Actuator 2 has a mounting surface with a slot, and the mounting surface of actuator 2 is perpendicular to the mounting surface of the robotic arm 1.

[0069] The support 3 is detachably mounted on the mounting surface of the actuator 2 and is provided with a protrusion adapted to be buckled onto the mounting surface of the actuator 2. Figure 3 The support 3 includes a front support 31 and a rear support 32. The front support 31 is used to install the adjustable bending sheath tube, and the rear support 32 is used to install the catheter. The adjustable bending sheath tube and the catheter are coaxial, and the axial direction is parallel to the sliding direction of the actuator 2. The handle of the adjustable bending sheath tube is provided with a first drive wheel 71 and a second drive wheel 72. The first drive wheel 71 is used to drive the adjustable bending sheath tube to rotate around the axis, and the second drive wheel 72 is used to drive the adjustable bending sheath tube to bend. The handle of the catheter is provided with a third drive wheel 8, which is used to drive the catheter to rotate around the axis.

[0070] Transmission assembly 5, reference Figure 2 , which is arranged on the mounting surface of the actuator 2, includes a first transmission wheel 51, a second transmission wheel 52, and a third transmission wheel 53, which are respectively used to engage with the first drive wheel 71, the second drive wheel 72, and the third drive wheel 8, thereby driving the adjustable bending sheath tube and the catheter installed on the support 3 to complete actions including rotation around the axis, and / or axial movement, and / or bending.

[0071] The robotic arm bracket is used to install the robotic arm boom 1, and the robotic arm boom 1 is rotatably connected to the robotic arm bracket through a rotating component 4.

[0072] The remote controller is communicatively connected to the actuator 2, the rotating assembly 4, and the transmission assembly 5. The remote controller is used to control the actuator 2 to slide on the robotic arm 1 by sending a control signal to drive the interventional device to move, control the rotation of the robotic arm 1 on the robotic arm bracket, and control the interventional device to rotate or bend around the axis.

[0073] When performing surgery using the near-puncture interventional instrument control device of this embodiment, the adjustable curved sheath and the catheter are respectively placed in the supports of the front-end actuator 21 and the rear-end actuator 22, and the front end of the catheter is inserted into the sheath from the tail end of the adjustable curved sheath. According to the location of the puncture point, the doctor flips the robotic arm 1 through the remote controller so that the access instrument and the puncture point are at a suitable angle. The remote controller then controls the two actuators, the sheath, and the catheter to complete the corresponding surgical actions. After the operation is completed, the sheath and the catheter are withdrawn from the patient's body.

[0074] Using the technical solution of this embodiment, the interventional instrument is positioned on the side of the actuator, which is then slidably positioned below the robotic arm boom. This allows the interventional instrument on the actuator to be brought as close as possible to the patient's puncture site, thereby reducing the angle between the interventional instrument's entry path and the skin puncture. The robotic arm can be flipped as a whole by rotating the assembly, turning the side of the actuator with the interventional instrument downward, bringing the interventional instrument closer to the patient's puncture site and further reducing the interventional instrument's entry angle. Furthermore, multiple actuators are coaxially positioned below the same boom, eliminating the need for additional coaxial adjustments between the various interventional instruments before surgery, simplifying the surgical process and improving surgical efficiency.

[0075] It should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

[0076] It should be noted that the contents not described in detail in the specification of the present invention belong to the common knowledge of professional and technical personnel in this field.

Claims

1. A control device for an interventional instrument near a puncture site, characterized in that: include: Robotic arm crane; an actuator adapted to be mounted to a mounting surface of the robotic arm boom and slidable relative to the robotic arm boom; A supporter, adapted to be mounted on the mounting surface of the actuator, wherein the mounting surface of the actuator is perpendicular to the mounting surface of the robotic arm; the supporter is used to mount an interventional instrument, wherein the axial direction of the interventional instrument is parallel to the sliding direction of the actuator; a transmission assembly, provided on the mounting surface of the actuator, for driving the interventional instrument mounted on the support to move, the movement including rotation around an axis, and / or axial movement, and / or bending; A mechanical arm bracket, used for mounting the mechanical arm boom; A remote controller for controlling the actuator and the transmission assembly; A rotating assembly is provided on a surface of the robotic arm boom opposite to the mounting surface of the robotic arm boom, the rotating assembly being adapted to be rotatably connected to the robotic arm bracket, and the rotating shaft of the rotating assembly being parallel to the axial direction of the interventional instrument; The remote controller is also used to control the movement of the rotating assembly; The interventional instrument comprises a main body and at least one driving wheel, wherein the driving wheel is used to drive the main body to rotate around an axis, or to move axially, or to bend; The transmission assembly includes a transmission wheel corresponding to the at least one driving wheel, and the transmission wheel is suitable for driving the corresponding driving wheel to rotate; The robotic arm boom is suitable for mounting a plurality of the actuators, and the plurality of actuators are arranged in sequence along the sliding direction of the actuators.

2. The control device for an interventional device near a puncture site according to claim 1, wherein: The robotic arm boom is provided with a locking portion, the locking portion being adapted to lock the rotating assembly to prohibit the rotating assembly from rotating relative to the robotic arm bracket; The remote controller is also used to control the locking portion.

3. The control device for an interventional device near a puncture site according to claim 1, wherein: The support is a clamp; The supporter is detachably connected to the actuator.

4. The control device for an interventional instrument near a puncture site according to claim 3, wherein: The mounting surface of the actuator is provided with a slot, and the support is provided with a protrusion suitable for buckling in the slot.

5. The control device for an interventional device near a puncture site according to claim 1, wherein: The robotic arm bracket is suitable for mounting a plurality of robotic arm suspension arms, and the plurality of robotic arm suspension arms are arranged at intervals along a direction perpendicular to a sliding direction of the actuator.

6. The control device for an interventional device near a puncture site according to claim 1, wherein: The interventional device is a sheath or a catheter.

7. A near-puncture interventional instrument assembly, characterized in that: include: A control device for an interventional instrument near a puncture site, which is a control device for an interventional instrument near a puncture site according to any one of claims 1 to 6; The interventional instrument is suitable for being installed on the interventional instrument control device near the puncture port.

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