A wire feeding mechanism, wire feeding system and robot for ureteral stent intervention surgery

Abstract

The application provides a wire feeding mechanism, a wire feeding system and a robot for ureteral stent interventional surgery, which comprises a transmission module, a driving module and a coupling, one end of the coupling is connected with the driving module, and the other end is connected with the transmission module; wherein the transmission module comprises a driving wheel and a driven wheel, the driving wheel and the driven wheel are separated by a target distance, and the target distance is the distance for placing a guide wire or a catheter; the driving module comprises a motor, under the rotation of the motor, the motor drives the driving wheel of the transmission module through the coupling, so that the driving wheel generates a friction force with the guide wire or the catheter. The application changes the target distance to place guide wires or catheters of different sizes, drives the motor under the condition that the guide wire or the catheter is placed, drives the driving wheel to rotate, so that the driving wheel generates a friction force with the guide wire or the catheter, and then the guide wire or the catheter is accurately and quickly placed into the ureter.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a wire feeding mechanism, wire feeding system, and robot for ureteral stent intervention surgery. Background Technology

[0002] Ureteral stricture refers to the narrowing of the ureteral lumen caused by various etiologies, restricting urine drainage and resulting in upper urinary tract obstruction, characterized by dilation of the renal pelvis and ureter on imaging. If left untreated, it can lead to kidney pain, upper urinary tract infection, and even unilateral renal failure. Current treatments for ureteral stricture include ureteral reconstruction surgery and ureteral stent placement. Because ureteral reconstruction surgery is highly dependent on the length of the stricture and the condition of surrounding tissues, it is subject to significant uncertainty and some procedures are highly invasive, sometimes requiring the use of organs or tissues such as the intestine to replace the ureter for anastomosis. This increases the surgical difficulty and the likelihood of complications. Therefore, many doctors and patients choose ureteral stent placement surgery, which involves placing a ureteral stent at the site of ureteral stricture long-term to ensure unobstructed drainage of the upper urinary tract and thus protect kidney function.

[0003] However, the above-mentioned surgery needs to be performed under continuous X-ray fluoroscopy. In order to reduce the harm of X-rays to medical staff, medical staff usually need to wear protective lead aprons and confirm the X-ray fluoroscopy in a lead room before manually adjusting the position of surgical instruments such as guide wires and catheters to place these surgical instruments into the ureter.

[0004] However, in related technologies, if medical personnel perform ureteral stent intervention surgery for a long time, their bodies will still be damaged. Moreover, because surgical instruments such as guidewires and catheters are small, they require a high level of skill from the medical personnel. Therefore, it is often impossible to accurately place these surgical instruments into the ureter. Summary of the Invention

[0005] In view of this, the present invention proposes a wire delivery mechanism, wire delivery system and robot for ureteral stent intervention surgery, so as to reduce the physical harm of X-rays to medical personnel while accurately and quickly delivering surgical instruments such as guide wires and catheters into the ureteral stenosis.

[0006] To achieve the above objectives, the technical solution of the present invention is implemented as follows: A wire feeding mechanism for ureteral stent intervention surgery, the wire feeding mechanism comprising: a transmission module, a drive module and a coupling, one end of the coupling being connected to the drive module and the other end being connected to the transmission module; The transmission module includes a driving wheel and a driven wheel, with a target distance between the driving wheel and the driven wheel, which is the distance for placing the guide wire or catheter; The drive module includes a motor. When the motor rotates, the motor drives the drive wheel of the transmission module through the coupling, so that the drive wheel generates friction with the guide wire or the conduit.

[0007] Furthermore, the transmission module also includes: a transmission box, the transmission box having a first cavity for accommodating the driving wheel and a second cavity for accommodating the driven wheel; One end of the drive wheel passes through the first cavity and is rotatably connected to the other end of the coupling; The transmission box is provided with a first through hole, in which one side of the driven wheel and one side of the driving wheel are exposed to allow the guide wire or the conduit to pass through.

[0008] Furthermore, the transmission module also includes a positioning plate, wherein one end of the drive wheel passes through the first cavity and the positioning plate and is rotatably connected to the other end of the coupling.

[0009] Furthermore, the transmission module also includes a passive wheel frame and a push-pull rod, with the passive wheel fixed on the passive wheel frame; The bottom of the passive wheel frame is slidably connected to the positioning plate and is located in the second cavity; The push-pull rod passes through the second cavity and connects to the passive wheel frame inside the second cavity. The push-pull rod is also threadedly connected to the transmission box. When the push-pull rod is rotated, the passive wheel frame moves linearly on the positioning plate, changing the target distance between the passive wheel and the driving wheel on the passive wheel frame, so as to place guide wires or catheters of different sizes.

[0010] Furthermore, the drive module also includes a drive box, and the motor is fixed inside the drive box.

[0011] Furthermore, the wire feeding mechanism also includes a connecting plate, which is inserted between the drive box and the transmission box.

[0012] Furthermore, one end of the coupling is connected to the motor, and the other end passes through the connecting plate and is rotatably connected to the other end of the drive wheel that passes through the positioning plate.

[0013] Furthermore, both the drive box and the transmission box are made of transparent material, or the transmission box is made of transparent material and the drive box is made of non-transparent material.

[0014] Another objective of this invention is to provide a wire delivery system for ureteral stent intervention surgery, which can accurately and quickly deliver surgical instruments such as guide wires and catheters into the ureteral stenosis while reducing the harm of X-rays to medical personnel.

[0015] To achieve the above objectives, the technical solution of the present invention is implemented as follows: A wire feeding system for ureteral stent intervention surgery, the wire feeding system including the above-mentioned wire feeding mechanism and a control device, the control device including a control panel, a main controller and a motor driver; The control panel is used to respond to user operation commands and send the operation commands to the main controller; The main controller is configured to, in response to the type of the operation instruction, convert the operation instruction into a corresponding pulse signal and send the pulse signal to the motor driver; The motor driver is used to drive the motor of the wire feeding mechanism under the drive of the pulse signal, so that the drive wheel connected to the motor rotates in the target direction; The operation instructions include push type and exit type; When the operation command is the push type, the drive wheel rotates in the target direction to move the guidewire or catheter toward the drive wheel; When the operation command is the exit type, the drive wheel rotates in the target direction to move the guidewire or catheter away from the drive wheel.

[0016] Another objective of this invention is to provide a robot that can accurately and quickly deliver surgical instruments such as guide wires and catheters into the ureteral stricture while reducing the harm of X-rays to medical personnel.

[0017] To achieve the above objectives, the technical solution of the present invention is implemented as follows: A robot comprising the aforementioned wire feeding mechanism and a robot body, the robot body being used for injecting contrast agent, pressurizing balloon, and releasing ureteropelvic covered metal stent; The robot body is equipped with a pressure plate, and the wire feeding mechanism is connected to the pressure plate via a universal joint to mount the wire feeding mechanism on the robot body.

[0018] Compared with the prior art, the present invention has the following advantages: This invention provides a wire feeding mechanism for ureteral stent interventional surgery. The mechanism includes a transmission module, a drive module, and a coupling. One end of the coupling is connected to the transmission module, and the other end is rotatably connected to the drive module. The transmission module includes a driving wheel and a driven wheel, spaced a target distance apart, which is the distance for placing the guidewire or catheter. The drive module includes a motor. When the motor rotates, it drives the driving wheel of the transmission module through the coupling, causing friction between the driving wheel and the guidewire or catheter. This invention allows for the placement of guidewires or catheters of different sizes by varying the target distance. When the guidewire or catheter is placed, the motor drives the driving wheel to rotate, thereby generating friction between the driving wheel and the guidewire or catheter. This replaces manual operation by medical personnel, accurately and quickly placing the guidewire or catheter into the ureter. Furthermore, it reduces the time medical personnel are exposed to X-rays, thus minimizing X-ray damage to their health. Attached Figure Description

[0019] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 A flowchart for manually performing a ureteral stent interventional procedure; Figure 2 This is a schematic diagram of the structure of a wire feeding mechanism for ureteral stent interventional surgery as described in an embodiment of the invention; Figure 3 A flowchart illustrating the ureteral stent intervention surgery performed using the wire feeding mechanism described in this embodiment of the invention; Figure 4 This is a schematic diagram of a control device according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a control panel according to an embodiment of the present invention.

[0020] Reference numerals in the attached diagram: 1. Transmission module; 101. Drive wheel; 102. Driven wheel; 103. Transmission box; 104. Positioning plate; 105. Driven wheel frame; 106. Push-pull rod; 2. Drive module; 201. Motor; 202. Drive box; 3. Coupling; 4. Connecting plate; 5. Control panel; 6. Main controller; 7. Motor driver. Detailed Implementation

[0021] It should be noted that, without conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0022] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] In related techniques, medical personnel typically rely on experience to manually insert guidewires or catheters into the ureter. (See reference...) Figure 1 , Figure 1 The flowchart illustrates the manual operation of a ureteral stent placement procedure, as shown below. Figure 1 As shown, after the patient is anesthetized, medical staff, wearing protective lead aprons, insert a ureteroscope and guidewire. Based on experience, they proceed to advance the guidewire further into the renal pelvis and fix it inside. Next, they enter a lead-lined room for X-ray fluoroscopy to confirm its position. If the X-ray shows that the guidewire is not yet fixed inside the renal pelvis, the guidewire position is adjusted until it is confirmed. Then, the ureteroscope is withdrawn, and a contrast catheter is manually inserted. They return to the lead-lined room for another X-ray fluoroscopy to confirm its position. If the X-ray shows that the contrast catheter is not yet positioned at the ureteral stricture, the contrast catheter position is adjusted until it is confirmed. Next, contrast agent is injected to create an angiography of the ureteral stricture. After the angiography is completed, the contrast agent catheter is withdrawn, and a balloon catheter is manually inserted. The patient returns to the lead room for X-ray fluoroscopy to confirm placement. If the X-ray shows that the balloon catheter has not yet been placed at the ureteral stricture, the position of the balloon catheter is adjusted until it is visible on the X-ray. Next, the ureteral stricture is dilated. After successful dilation, the balloon catheter is withdrawn, and a ureteral stent catheter is manually inserted. The patient returns to the lead room for X-ray fluoroscopy to confirm placement. If the X-ray shows that the ureteral stent catheter has not yet been placed at the ureteral stricture, the position of the ureteral stent catheter is adjusted until it is visible on the X-ray. Finally, the ureteral stent is released, and the ureteral stent catheter is withdrawn, completing the procedure.

[0024] Because the entire surgical procedure is performed under continuous X-ray fluoroscopy, it can damage the health of medical staff. Furthermore, the insertion of guidewires and various catheters is done manually by medical staff, which often results in the inability to accurately fix the guidewire inside the renal pelvis or accurately insert the various catheters into the ureteral stricture.

[0025] In view of this, embodiments of the present invention provide a wire delivery mechanism for ureteral stent interventional surgery, replacing manual operation by medical personnel, and accurately and quickly inserting the guidewire or catheter into the ureter. See details below. Figure 2 , Figure 2 A schematic diagram of a wire feeding mechanism for ureteral stent interventional surgery according to an embodiment of the present invention is shown, as follows: Figure 2 As shown, the wire feeding mechanism includes: a transmission module 1, a drive module 2, and a coupling 3. One end of the coupling 3 is connected to the drive module 2, and the other end is connected to the transmission module 1. The transmission module 1 includes a drive wheel 101 and a driven wheel 102, with a target distance between the drive wheel 101 and the driven wheel 102, which is the distance for placing the guide wire or conduit. The drive module 2 includes a motor 201. When the motor 201 rotates, the motor 201 drives the drive wheel 101 of the transmission module 1 through the coupling 3, so that the drive wheel 101 generates friction with the guide wire or guide tube.

[0026] In ureteral stent intervention surgery, after inserting a guidewire into the ureter, it is necessary to perform angiography and dilate the ureteral stenosis, and finally place the ureteral stent. Different catheters need to be inserted during this process to complete the above operations; that is, guidewires and catheters of different sizes need to be placed throughout the entire procedure. Therefore, in this embodiment of the invention, the drive wheel 101 and the driven wheel 102 in the transmission module 1 are spaced at a target distance. This target distance is the distance for placing the guidewire or catheter. After the guidewire is fixed inside the renal pelvis, the target distance can be changed according to the catheter to be placed subsequently, thereby placing the corresponding catheter between the drive wheel 101 and the driven wheel 102. The catheter can be any one of a contrast agent catheter, a balloon catheter, or a ureteral stent catheter.

[0027] In order to enable long-term placement of a ureteral stent at the ureteral stricture (without causing discomfort to the patient or complications such as stent displacement, urine reflux, and obstruction), the ureteral stent in this embodiment of the invention is a covered metal stent.

[0028] After the guidewire or catheter is placed, it needs to be inserted into the ureter.

[0029] Currently, medical staff typically rely on experience to manually fix the guidewire inside the renal pelvis and then insert the catheter into the ureteral stricture. This process requires repeated entry into the lead room for confirmation, which increases the time medical staff spend working under X-rays. Furthermore, because the insertion of the guidewire or catheter is done manually by medical staff, it is impossible to accurately insert the guidewire or catheter into the ureter, affecting the placement of ureteral stents.

[0030] Therefore, in this embodiment of the invention, a motor 201 is provided in the drive module 2, and the drive module 2 and the transmission module 1 are connected by a coupling 3. Specifically, one end of the coupling 3 is connected to the drive module 2, and the other end is connected to the transmission module 1. Thus, when the motor 201 rotates, due to the connection effect of the coupling 3, it can drive the drive wheel 101 in the transmission module 1 to rotate. This causes friction between the drive wheel 101 and the guidewire or catheter, thereby inserting the guidewire or catheter into the ureter. Once the guidewire or catheter reaches the corresponding position, the rotation of the motor 201 can be stopped. This not only reduces the time medical personnel spend working under X-rays and minimizes the harm of X-rays to their bodies, but also allows for precise insertion of the guidewire or catheter into the ureter (fixing the guidewire inside the renal pelvis and inserting the catheter into the ureteral stenosis).

[0031] In this invention, when it is necessary to withdraw the guidewire or catheter, the drive motor 201 rotates in the opposite direction (opposite to the direction of rotation when the guidewire or catheter is inserted), thus withdrawing the guidewire or catheter from the ureter. Specifically, the motor 201 can be configured to insert the guidewire or catheter into the ureter when rotating clockwise and withdraw it when rotating counterclockwise; alternatively, the motor 201 can be configured to insert the guidewire or catheter into the ureter when rotating counterclockwise and withdraw it when rotating clockwise. This invention does not impose any specific limitations. To precisely control the insertion and withdrawal of the guidewire or catheter, the motor 201 in this embodiment is a geared motor.

[0032] The coupling 3 is a polygonal prism, which eliminates the need for additional connectors to connect the transmission module 1 and the drive module 2. In practice, the coupling 3 is a detachable component, allowing it to be disinfected and sterilized directly after surgery for use in the next operation.

[0033] For details of the above process, please refer to [link / reference]. Figure 3 , Figure 3 A flowchart illustrating the ureteral stent interventional procedure performed using the wire feeding mechanism described in this embodiment of the invention is shown, as follows: Figure 3 As shown, after the patient is anesthetized, medical staff, wearing protective lead aprons, insert a ureteroscope. After placing a guidewire using the active wheel 101 and passive wheel 102, the staff enters the lead chamber and drives the motor 201 to rotate and insert the guidewire. Once the guidewire is confirmed to be fixed inside the renal pelvis, the staff stops the motor 201 and withdraws the ureteroscope. Next, a contrast agent catheter is placed. The staff enters the lead chamber and drives the motor 201 to rotate and insert the contrast agent catheter. Once the contrast agent catheter is confirmed to be in place at the ureteral stricture, the staff stops the motor 201 and withdraws the contrast agent catheter. Next, a balloon catheter is placed. The staff enters the lead chamber and drives the motor 201 to rotate and insert the balloon catheter. Once the balloon catheter is confirmed to be in place at the ureteral stricture, the staff stops the motor 201 to dilate the ureteral stricture. After dilation is complete, the balloon catheter is withdrawn. Next, a ureteral stent catheter is placed. The drive motor 201 in the lead room is rotated to insert the ureteral stent catheter. After confirming that the ureteral stent catheter is inserted into the ureteral stricture, the drive motor 201 is stopped, the ureteral stent is released, and the ureteral stent catheter is withdrawn, completing the surgery.

[0034] In one optional embodiment, the transmission module further includes a transmission box 103, which is provided with a first cavity (not shown in the figure) for accommodating the driving wheel 101 and a second cavity (not shown in the figure) for accommodating the driven wheel 102. One end of the drive wheel 101 passes through the first cavity and is rotatably connected to the other end of the coupling 3; The transmission box 103 is provided with a first through hole (not shown in the figure), and one side of the driven wheel 102 and one side of the driving wheel 101 are exposed in the first through hole for the guide wire or conduit to pass through.

[0035] The first through-hole is slightly larger than the size of the catheter, which refers to the largest size catheter used in the surgery (all catheter sizes are larger than the guidewire size). This ensures that the guidewire or catheter can pass through the transmission box 103 and be placed between the drive wheel 101 and the driven wheel 102. Furthermore, the larger through-hole prevents dust from entering and contaminating the drive wheel and driven wheel inside the transmission box 103.

[0036] In this embodiment of the invention, the drive wheel 101 includes a wheel body and axles at both ends of the wheel body. One axle passes through the first cavity and is rotatably connected to the other end of the coupling 3, i.e., one end of the drive wheel 101 passes through the first cavity and is rotatably connected to the other end of the coupling 3; the other axle passes through the first cavity and is fixed to the transmission box 103. One end of the coupling 3 is connected to the motor 201, so that when the motor 201 rotates, it can drive the coupling 3 to rotate, thereby driving the drive wheel 101 to rotate.

[0037] In one optional embodiment, the transmission module 1 further includes a positioning plate 104, one end of the drive wheel 101 passes through the first cavity and the positioning plate 104 and is rotatably connected to the other end of the coupling 3.

[0038] The positioning plate 104 is provided with a through hole for the drive wheel 101 to pass through. The size of the through hole is slightly larger than the shaft diameter of the other wheel shaft of the drive wheel 101, so that the drive wheel 101 can be fixed on the positioning plate 104 and the drive wheel 101 can be rotated with the coupling 3.

[0039] In one optional embodiment, the transmission module 1 further includes a passive wheel frame 105 and a push-pull rod 106, with the passive wheel 102 fixed on the passive wheel frame 105; The bottom of the passive wheel frame 105 is slidably connected to the positioning plate 104 and is located in the second cavity; After passing through the second cavity, the push-pull rod 106 is connected to the passive wheel frame 105 inside the second cavity, and the push-pull rod 106 is threadedly connected to the transmission box 103. When the push-pull rod 106 is rotated, the passive wheel frame 105 moves linearly on the positioning plate 104, changing the target distance between the passive wheel 102 and the driving wheel 101 on the passive wheel frame 105, so as to place guide wires or conduits of different sizes.

[0040] Since guidewires and catheters of different sizes need to be inserted sequentially during ureteral stent intervention surgery, this embodiment of the invention slides the passive wheel frame 105 and the positioning plate 104 together. When the passive wheel frame 105 slides, it can drive the passive wheel 102 fixed on the passive wheel frame 105 to slide, thereby changing the target distance between the passive wheel 102 and the active wheel 101.

[0041] Furthermore, in order to enable the passive wheel carrier 105 to slide on the positioning plate 104, this embodiment of the invention also provides a push-pull rod 106 in the transmission module 1. The push-pull rod 106 is a knob-type threaded mechanical structure, which is threadedly connected to the transmission box 103 and then connected to the passive wheel carrier 105. In this way, when the push-pull rod 106 is rotated, it can drive the passive wheel carrier 105 to slide on the positioning plate 104, that is, realize the sliding of the passive wheel 102, thereby changing the target distance between the passive wheel 102 and the driving wheel 101, thereby placing guide wires or conduits of different sizes.

[0042] After the guidewire or catheter is placed, the push-pull rod 106 can be rotated to appropriately reduce the target distance between the passive wheel 102 and the active wheel 101. This increases the friction between the active wheel 101 and the guidewire or catheter as the active wheel rotates, thus quickly inserting the guidewire or catheter into the ureter. After successful insertion of the guidewire or catheter, the drive motor 201 is stopped, and the push-pull rod 106 is rotated to increase the target distance between the passive wheel 102 and the active wheel 101, allowing the guidewire or catheter to be removed.

[0043] In order to facilitate the use of the push-pull rod 106 by medical personnel, in this embodiment of the invention, rotating the push-pull rod 106 clockwise decreases the target distance, and rotating it counterclockwise increases the target distance. In specific implementations, it can also be set so that rotating the push-pull rod 106 clockwise increases the target distance, and rotating it counterclockwise decreases the target distance.

[0044] In this embodiment of the invention, the transmission box 103 is also used to protect the driving wheel 101 in its first cavity, the driven wheel 102 and the driven wheel frame 105 in its second cavity, and the positioning plate 104 from external damage and contamination. In an optional embodiment, the drive module 2 further includes a drive box 202, in which the motor 201 is fixed.

[0045] The motor 201 is fixed inside the drive box 202 by a mounting bracket (not shown in the figure), and the mounting bracket is provided with a through hole for the coupling 3 to pass through.

[0046] The size of the through hole is larger than the diameter of the coupling 3, so as to ensure that the coupling 3 can rotate when the motor 201 rotates.

[0047] The present invention does not impose specific restrictions on the type of bracket, as long as it can fix the motor 201.

[0048] In this embodiment of the invention, the drive box 202 is also used to protect the motor 201 from external damage and contamination. In an optional embodiment, the wire feeding mechanism further includes a connecting plate 4, which is inserted between the drive box 202 and the transmission box 103. In this embodiment of the invention, both the drive box 202 and the transmission box 103 are single-sided open boxes. Specifically, the top of the drive box 202 has an opening, and the bottom of the transmission box 103 has an opening, and the openings of the drive box 202 and the transmission box 103 correspond to each other. Grooves are respectively provided on the inner walls of the openings of the drive box 202 and the transmission box 103, and these grooves are used for connection with the connecting plate 4. Specifically, the groove of the drive box 202 is used to connect with one side of the connecting plate 4, thereby connecting the drive box 202 and the connecting plate 4; the groove of the transmission box 103 is used to connect with the other side of the connecting plate 4, thereby connecting the transmission box 103 and the connecting plate 4. In this way, the connecting plate 4 connects the drive box 202 and the transmission box 103 together, that is, the connecting plate 4 is inserted between the drive box 202 and the transmission box 103.

[0049] In one alternative embodiment, one end of the coupling 3 is connected to the motor 201, and the other end passes through the connecting plate 4 and is rotatably connected to the other end of the drive wheel 101 that passes through the positioning plate 104.

[0050] In this embodiment of the invention, the connecting plate 4 is provided with a through hole (not shown in the figure) for the coupling 3 to pass through. In this way, one end of the coupling is connected to the motor 201, and the other end passes through the through hole on the connecting plate 4 and is rotatably connected to the other end of the drive wheel 101 that passes through the positioning plate 104. In this way, when the motor 201 rotates, it can drive the coupling 3 to rotate, and then drive the drive wheel 101 to rotate.

[0051] The size of the through hole on the connecting plate 4 for the coupling 3 to pass through is slightly larger than the size of the coupling 3, so as to ensure that the coupling 3 can rotate with the motor 201 to drive the drive wheel 101 to rotate.

[0052] In one optional embodiment, both the drive box 202 and the transmission box 103 are made of transparent material, or the transmission box 103 is made of transparent material and the drive box 202 is made of non-transparent material.

[0053] In this embodiment of the invention, the transmission box 103 is made of a transparent material to facilitate medical personnel's monitoring of the placement of the guidewire or catheter. In a specific implementation, if it is desired to monitor the rotation of the motor 201 in the drive module 2, the drive box 202 can also be made of a transparent material.

[0054] In one alternative embodiment, both the driving wheel 101 and the driven wheel 102 are made of medical-grade silicone.

[0055] In this way, when the driving wheel 101 and the driven wheel 102 come into contact with the guidewire or catheter, they will not contaminate the guidewire or catheter, and the driving wheel 101 will not damage the guidewire or catheter when it rotates.

[0056] In addition, both the driving wheel 101 and the driven wheel 102 can be disassembled, so that the driving wheel 101 and the driven wheel 102 can be directly disinfected and sterilized after the operation, making them convenient for use in the next operation.

[0057] Based on the same inventive concept, embodiments of the present invention also propose a wire feeding system for ureteral stent interventional surgery. This wire feeding system includes the aforementioned wire feeding mechanism and a control device, as described above. Figure 4 , Figure 4 A schematic diagram of a control device according to an embodiment of the present invention is shown, such as... Figure 4 As shown, the control device includes a control panel 5, a main controller 6, and a motor driver 7; Control panel 5 is used to respond to user operation commands and send the commands to main controller 6; The main controller 6 is used to convert the operation command into a corresponding pulse signal in response to the type of operation command, and send the pulse signal to the motor driver 7; The motor driver 7 is used to drive the motor of the wire feeding mechanism under the drive of a pulse signal, so that the drive wheel connected to the motor rotates in the target direction; The operation instructions include push type and exit type; When the operating command is of the push type, the drive wheel rotates in the target direction to move the guidewire or catheter away from the drive wheel; When the operation command is of the exit type, the drive wheel rotates in the target direction to move the guidewire or catheter toward the drive wheel.

[0058] In order to ensure the stability of the entire wire feeding system and meet the requirements of easy secondary development, the embodiment of the present invention selects Arduino MEGA2560 as the main controller 6, which includes multiple digital input / output ports, through which operation commands are processed.

[0059] The motor in the wire feeding mechanism is a geared motor, so the motor driver 7 can be a DC motor driver. After the regulated DC power supply is turned on, the motor driver drives the geared motor after receiving a pulse signal from the main controller 6, so that the drive wheel connected to the geared motor rotates in the target direction.

[0060] The target direction can be either clockwise or counterclockwise. Specifically, when the operation command is a push type, the target direction can be set to clockwise or counterclockwise to move the guidewire or catheter away from the drive wheel; when the operation command is an exit type, the target direction can be set to clockwise or counterclockwise to move the guidewire or catheter towards the drive wheel. It should be noted that the target direction in a push type operation command is opposite to the target direction in an exit type operation command.

[0061] The directions away from the driving wheel and the directions close to the driving wheel are determined when the guidewire or catheter has been placed between the driving wheel and the driven wheel. That is, the direction away from the driving wheel is the direction close to the human body, and the direction close to the driving wheel is the direction away from the human body.

[0062] Thus, when a push-type operation command is received from the user, the motor driver 7 drives the geared motor to rotate, and the guidewire or catheter placed between the driving wheel and the driven wheel moves away from the driving wheel, enters the human body, and then enters the ureter. After the guidewire or catheter is successfully placed in the ureter, if a withdrawal-type operation command is triggered by the user, the motor driver 7 drives the geared motor to rotate in the opposite direction (opposite to the direction of rotation when the guidewire or catheter was placed), and the guidewire or catheter is withdrawn from the human body.

[0063] In specific implementation, refer to Figure 5 , Figure 5 A schematic diagram of a control panel according to an embodiment of the present invention is shown, such as... Figure 5 As shown, push and exit buttons can be set on the control panel. Thus, the user only needs to press the push button to trigger the push operation command, and release the push button after the guidewire or catheter is successfully inserted into the ureter; pressing the exit button will trigger the exit operation command, and release the exit button after the guidewire or catheter is successfully withdrawn from the body.

[0064] Based on the same inventive concept, this invention also proposes a robot, which includes the above-mentioned wire feeding mechanism and a robot body. The robot body is used to inject contrast agent, pressurize balloon and release ureteral covered metal stent. The robot body is equipped with a pressure plate, and the wire feeding mechanism is connected to the pressure plate through a universal tube to install the wire feeding mechanism on the robot body.

[0065] In this embodiment of the invention, a universal tube can be used to adjust the position of the wire feeding mechanism relative to the robot body, thereby aligning the guide wire or catheter in the wire feeding mechanism with the urethra in a straight line, thus avoiding the risk of bending and getting stuck during wire feeding.

[0066] It should also be noted that the robot body provided in this embodiment of the invention can be used not only to release ureteral covered metal stents, but also to release other types of ureteral stents. This invention does not impose any specific limitations.

[0067] As the system embodiment is basically similar to the device embodiment, the description is relatively simple. For relevant details, please refer to the description of the device embodiment.

[0068] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0069] It should also be noted that, in this document, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, relational terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations, nor should they be construed as indicating or implying relative importance. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the element.

[0070] The technical solution provided by this invention has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand this invention, and the content of this specification should not be construed as a limitation of this invention. Furthermore, for those skilled in the art, there will be different forms of changes in the specific implementation methods and application scope based on this invention. It is neither necessary nor possible to exhaustively list all implementation methods here, but obvious changes or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A wire feeding mechanism for ureteral stent interventional surgery, characterized in that, The wire feeding mechanism includes a transmission module, a drive module, and a coupling. One end of the coupling is connected to the drive module. The transmission module includes a driving wheel, a driven wheel, a driven wheel frame, a push-pull rod, a transmission box, and a positioning plate. The driving wheel and the driven wheel are spaced apart by a target distance, which is the distance for placing the guide wire or guide tube. The transmission box has a first cavity for accommodating the driving wheel and a second cavity for accommodating the driven wheel. One end of the driving wheel passes through the first cavity and the positioning plate and is rotatably connected to the other end of the coupling. The transmission box is provided with a first through hole, and one side of the passive wheel and one side of the active wheel are exposed in the first through hole to allow the guide wire or the catheter to pass through; the size of the first through hole is slightly larger than the size of the largest catheter used in ureteral stent intervention surgery; The passive wheel is fixed to the passive wheel frame; the bottom of the passive wheel frame is slidably connected to the positioning plate and is located in the second cavity; After passing through the second cavity, the push-pull rod is connected to the passive wheel frame inside the second cavity, and the push-pull rod is threadedly connected to the transmission box. When the push-pull rod is rotated, the passive wheel frame moves linearly on the positioning plate, changing the target distance between the passive wheel on the passive wheel frame and the active wheel, so as to place guide wires or catheters of different sizes. The drive module includes a motor. When the motor rotates, the motor drives the drive wheel of the transmission module through the coupling, so that the drive wheel generates friction with the guide wire or the catheter. The catheter can be any one of the following: contrast agent catheter, balloon catheter, or ureteral stent catheter; During the ureteral stent intervention procedure, the wire feeding mechanism involves medical personnel wearing protective lead aprons inserting a ureteroscope. After placing the guidewire through the active and passive wheels, the mechanism enters the lead chamber and drives the motor to rotate and insert the guidewire. Once the guidewire is confirmed to be fixed inside the renal pelvis, the motor is stopped and the ureteroscope is withdrawn. Next, a contrast agent catheter is placed. The mechanism enters the lead chamber and drives the motor to rotate and insert the contrast agent catheter. Once the contrast agent catheter is confirmed to be placed at the ureteral stricture, the motor is stopped and the contrast agent catheter is withdrawn. Next, a balloon catheter is placed. The mechanism enters the lead chamber and drives the motor to rotate and insert the balloon catheter. Once the balloon catheter is confirmed to be placed at the ureteral stricture, the motor is stopped and the balloon catheter is withdrawn after dilation. Finally, a ureteral stent catheter is placed. The mechanism enters the lead chamber and drives the motor to rotate and insert the ureteral stent catheter. Once the ureteral stent catheter is confirmed to be placed at the ureteral stricture, the motor is stopped, the ureteral stent is released, and the ureteral stent catheter is withdrawn.

2. The wire feeding mechanism according to claim 1, characterized in that, The drive module further includes a drive box, and the motor is fixed inside the drive box.

3. The wire feeding mechanism according to claim 2, characterized in that, The wire feeding mechanism further includes a connecting plate, which is inserted between the drive box and the transmission box.

4. The wire feeding mechanism according to claim 3, characterized in that, One end of the coupling is connected to the motor, and the other end passes through the connecting plate and is rotatably connected to the other end of the drive wheel that passes through the positioning plate.

5. The wire feeding mechanism according to claim 2, characterized in that, Both the drive box and the transmission box are made of transparent material, or the transmission box is made of transparent material and the drive box is made of non-transparent material.

6. A wire feeding system for ureteral stent interventional surgery, characterized in that, The wire feeding system includes the wire feeding mechanism as described in any one of claims 1-5, and a control device, the control device including a control panel, a main controller, and a motor driver; The control panel is used to respond to user operation commands and send the operation commands to the main controller; The main controller is configured to, in response to the type of the operation instruction, convert the operation instruction into a corresponding pulse signal and send the pulse signal to the motor driver; The motor driver is used to drive the motor of the wire feeding mechanism under the drive of the pulse signal, so that the drive wheel connected to the motor rotates in the target direction; The operation instructions include push type and exit type; When the operation command is the push type, the drive wheel rotates in the target direction to move the guidewire or catheter toward the drive wheel; When the operation command is the exit type, the drive wheel rotates in the target direction to move the guidewire or catheter away from the drive wheel.

7. A robot, characterized in that, The robot includes a wire feeding mechanism as described in any one of claims 1-5, and a robot body, the robot body being used for injecting contrast agent, pressurizing balloon, and releasing ureteropelvic covered metal stent. The robot body is equipped with a pressure plate, and the wire feeding mechanism is connected to the pressure plate via a universal joint to mount the wire feeding mechanism on the robot body.

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