An intervention guidance mechanism and surgical robot

Abstract

The application relates to an interventional guiding mechanism and a surgical robot. The interventional guiding mechanism comprises at least a bottom plate, a clamping device, a transmission device and a leading-out device arranged on the bottom plate. The clamping device is used for connecting a guide wire and / or a catheter to the interventional guiding mechanism and rotating the guide wire and / or the catheter. The transmission device is used for transmitting the guide wire and / or the catheter. The leading-out device is used for adjusting the angle of the guide wire and / or the catheter entering a wound. The interventional guiding mechanism and the surgical robot can realize the simultaneous movement of the guide wire and the guide rod during the operation, thereby improving the operation efficiency, and can enable the doctor to perform remote operation far away from the radiation area. Compared with manual operation, the operation through the surgical robot can realize higher-precision operation and more stable operation action, thereby improving the implementation level of the interventional operation and ensuring the operation effect and reducing the operation complication probability of the patient.

Description

Technical Field

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

[0002] Interventional therapy is a minimally invasive treatment using modern high-tech methods. Guided by medical imaging equipment, it involves inserting specialized catheters, guidewires, and other precision instruments into the oral cavity or a minimally invasive incision to diagnose and treat conditions. Because interventional procedures must be performed under X-ray angiography, the surgeon's skin is inevitably exposed to radiation during the procedure, and the surgery relies heavily on the surgeon's experience and muscle memory, making it difficult to guarantee the quality of the procedure. To address these issues, surgical robots are widely used to assist medical personnel in interventional therapy. During interventional procedures, the puncture site usually needs to be fixed to prevent movement of the puncture wound. For example, when using the right radial artery approach for interventional therapy, the right hand and forearm are placed flat on an X-ray-transparent extension support plate, with a small gauze roll placed under the radiocarpal joint, and the palm fixed to the support plate with the palm facing upwards.

[0003] For example, patent CN115177369A discloses a control device for a guidewire and catheter in an interventional surgical robot, including a drive base and a power base connected to the drive base. The drive base includes a frame, a delivery mechanism, a rotating mechanism, and a clamping mechanism, all of which are mounted on the frame. The clamping mechanism includes a drive assembly and a support. The drive assembly is mounted on the support, and the support is driven by the power output end of the rotating mechanism. The power output end of the delivery mechanism is driven by the power input end of the drive assembly. The power base includes a first drive unit and a second drive unit. The first drive unit is driven by the power input end of the rotating mechanism, and the second drive unit is driven by the power input end of the delivery mechanism. The first and second drive units are respectively located on both sides of the support in the guidewire or catheter delivery direction. The first drive unit drives the rotating mechanism to rotate the support, which in turn drives the drive assembly to rotate, thereby causing the drive assembly to clamp the guidewire or catheter and rotate around its axis. The second drive unit drives the delivery mechanism to move the drive assembly, thereby causing the drive assembly to clamp the guidewire or catheter and deliver it along its axial direction.

[0004] CN107374737B discloses a catheter and guidewire collaborative operating system for interventional surgery robots, including an operating platform and a catheter controller and a guidewire controller mounted on the operating platform; the operating platform can control the relative movement between the catheter controller and the guidewire controller; the catheter controller includes a main body and a catheter clamping mechanism for clamping the catheter; the guidewire controller includes a clamping mechanism, which includes a sleeve, a brake, and a clamping member. After the clamping member with a clamping end is inserted into the brake, the brake is threadedly connected to the sleeve. The relative rotation of the brake and the sleeve can drive the clamping end to clamp the guidewire.

[0005] CN105662586B discloses an interventional surgical robot for coordinated catheter and guidewire delivery, including a guidewire moving platform, a catheter moving platform, a guidewire operating end, a support guide frame, a guidewire, and a catheter. The guidewire operating end is set on the guidewire moving platform, and the catheter operating end is set on the catheter moving platform. The two ends of the support guide frame are connected to the guidewire operating end and the catheter operating end, respectively. The catheter passes through the catheter operating end, and the guidewire is placed in the catheter and passes through the guidewire operating end.

[0006] However, existing surgical robots can only push catheters and guidewires in a single direction and cannot adjust the angle of movement of the catheters and guidewires. When it is necessary to adjust the intervention angle, the orientation of the intervention mechanism can only be changed as a whole. The movement of the equipment is too large and can easily cause secondary injury to the patient.

[0007] To address the problems existing in the prior art, the present invention provides an interventional guidance mechanism and a surgical robot equipped with the interventional guidance mechanism, which can effectively simulate the operation of human hands during surgery, and has the advantages of simple structure, convenient operation, and high precision.

[0008] Furthermore, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making this invention, but due to space limitations, not all details and contents were listed in detail. However, this does not mean that the present invention does not possess the features of these prior art. On the contrary, the present invention already possesses all the features of the prior art, and the applicant reserves the right to add relevant prior art to the background art. Summary of the Invention

[0009] To address the shortcomings of existing technologies, this invention provides an interventional guidance mechanism aimed at solving at least one or more technical problems in the prior art. Preferably, the interventional guidance mechanism includes at least a base plate and a clamping device, a transmission device, and a delivery device sequentially arranged on the base plate along a first direction. The clamping device and the delivery device are respectively connected to two flush slide rails arranged on the base plate along a second direction. Preferably, the clamping device determines the position of the friction wheel for the guidewire and / or catheter by moving along the second direction; the delivery device adjusts the angle at which the guidewire and / or catheter enters the wound along the first direction by moving along the second direction. The transmission device is equipped with at least two sets of friction wheels arranged on the base plate along the second direction, wherein each set of friction wheels includes an active friction wheel and a driven friction wheel arranged along a third direction. Preferably, the transmission device adapts to catheters or guidewires of different diameters by adjusting the distance between the active friction wheel and the driven friction wheel. Preferably, the first direction, the second direction, and the third direction are mutually perpendicular. Preferably, after the guidewire or catheter is inserted into the friction wheel through the clamping device, the friction wheel drives the guidewire or guide rod to move forward through the cooperation of the master and slave friction wheels, so that the guidewire or catheter is inserted into the wound through the delivery mechanism.

[0010] According to a preferred embodiment, the clamping device includes at least a clamping bracket disposed on the slide rail and a clamping shaft mounted on the clamping bracket for the guide wire and / or conduit to pass through.

[0011] Preferably, the clamping shaft is connected to the motor via gear transmission, so that the clamping shaft drives the guide wire and / or conduit to rotate around its axis; the guide wire and / or conduit passing through the clamping shaft enters the transmission device in a first direction.

[0012] Preferably, the clamping shaft can clamp the guidewire and / or catheter via a configured three-jaw chuck. Preferably, the clamping device rotates the guidewire and / or catheter about its axis and has a guiding function, i.e., guides the guidewire and / or catheter to move in a first direction. Preferably, after the clamping device clamps the guidewire and / or catheter, it is manually guided before the guidewire and / or catheter enter the friction wheel, and after the guidewire and / or catheter contacts the friction wheel, the friction wheel drives the guidewire and / or catheter to move.

[0013] According to a preferred embodiment, the driven friction wheel is mounted to the base plate via a friction wheel bracket. Preferably, the friction wheel bracket is connected to the base plate by bolts, and a spring is fitted onto the bolts at all times. The transmission device adjusts the height of the friction wheel bracket by adjusting the extension and compression of the spring, thereby adjusting the distance between the driving friction wheel and the driven friction wheel, thus adapting to guide wires and / or conduits of different diameters.

[0014] According to a preferred embodiment, the transmission device further includes at least one driving bevel gear arranged along a first direction and two driven bevel gears arranged along a second direction. Preferably, the two driven bevel gears mesh with the driving bevel gear in such a way that when the driving bevel gear rotates, the two driven bevel gears rotate in opposite directions.

[0015] According to a preferred embodiment, the active friction wheel is connected to the driven bevel gear via a friction shaft passing through its center, thereby obtaining a rotational state synchronized with the driven bevel gear.

[0016] According to a preferred embodiment, the surfaces of the active friction wheel and the driven friction wheel that contact the guidewire and / or conduit are curved to increase the contact area. Preferably, the surface of the active friction wheel that contacts the guidewire and / or conduit is a raised curved surface, and the surface of the driven friction wheel that contacts the guidewire and / or conduit is a recessed curved surface.

[0017] According to a preferred embodiment, the extraction device includes at least a telescopic rod and a telescopic rod support, wherein the telescopic rod is disposed on the telescopic rod support in a first direction by means of sleeve connection with a bearing. Preferably, the guide wire and / or catheter of the transmission device passes through the telescopic rod, and the telescopic rod changes the angle at which the guide wire and / or catheter enter the wound by adjusting its length.

[0018] When the location of the wound remains unchanged, medical staff can adjust the angle at which the guidewire or catheter is inserted by adjusting the length of the telescopic rod (i.e., adjusting the distance between the outlet point and the wound point). The length of different outlet mechanisms can facilitate the operation (e.g., avoid collisions between the outlet device and other surgical instruments). The length of the telescopic rod can be adjusted before the operation.

[0019] The movement of the delivery device can adjust the angle at which the guidewire or catheter enters the wound.

[0020] Preferably, when a guide tube or guide wire is introduced alone, the guide wire or guide tube is discharged by the discharge device after passing through the friction wheel. At this time, only one set of friction wheels is working, and the other set of friction wheels is separated from the active friction wheel by adjusting the driven friction wheel, thereby reducing energy consumption.

[0021] An interventional guidance mechanism for an interventional surgical robot. The interventional guidance mechanism includes at least a base plate and a clamping device, a transmission device, and a delivery device sequentially arranged on the base plate along a first direction. The clamping device is used to connect a guidewire and / or catheter to the interventional guidance mechanism and to rotate the guidewire and / or catheter. The transmission device is used to move the guidewire and / or catheter in the first direction. The delivery device changes its position relative to the transmission device in the second direction by moving along the second direction to adjust the angle at which the guidewire and / or catheter enter the wound along the first direction. Preferably, the first direction and the second direction are perpendicular to each other.

[0022] Preferably, the clamping device determines the position of a set of friction wheels as the guidewire and / or catheter enters along the first direction by moving along the second direction. Preferably, the exiting device adjusts the angle at which the guidewire and / or catheter enters the wound along the first direction by moving along the second direction.

[0023] Interventional surgery is a widely used treatment method with numerous applications, including cardiovascular and cerebrovascular interventional angioplasty, visceral embolization, endovascular drug infusion, angiography, peripheral angioplasty, and electrophysiological therapy, resulting in a huge demand for vascular interventional surgery. However, performing interventional surgery requires the surgeon to insert specialized catheters, guidewires, and other precision instruments through minimally invasive incisions under the guidance of medical imaging equipment to diagnose and treat the patient's condition. This often leads to a single interventional surgeon performing multiple procedures in a short period. Because vascular interventional surgery is performed under X-ray imaging throughout, a significant amount of radiation is accumulated during the procedure. Compared to patients, interventional surgeons are exposed to greater radiation risks due to the higher number of procedures performed. To reduce the impact of radiation, interventional surgeons wear personal radiation protection equipment during surgery, such as lead aprons, aprons, thyroid shields, goggles, and gloves. To meet radiation protection requirements, these radiation protection devices are very heavy, generally weighing more than 20 kilograms. Interventional surgeons need to stand throughout the entire procedure, and they also need to concentrate on observing the surgical images throughout the operation, which makes the surgeons' energy consumption extremely high.

[0024] Therefore, this invention provides a surgical robot to improve the working environment of interventional physicians, reduce the workload of medical staff, and decrease the radiation dose received by interventional physicians and patients during surgery. Preferably, the surgical robot is equipped with the interventional guidance mechanism provided by this invention. While the surgical robot performs multi-degree-of-freedom motion control on interventional instruments such as guidewires and catheters through the interventional guidance mechanism, it allows interventional physicians to perform remote surgery away from radiation areas. Compared with manual surgical operations, operation through a surgical robot can achieve higher precision and more stable movements, thereby improving the level of interventional surgery, ensuring surgical outcomes, and reducing the probability of surgical complications for patients.

[0025] According to a preferred embodiment, the robot is further equipped with a control unit and an imaging unit. The imaging unit acquires X-ray images of the patient's surgical area under X-ray irradiation and displays them to the surgeon. The surgeon observes the X-ray images and adjusts the operating parameters of the interventional guidance mechanism through the control unit.

[0026] Preferably, the control unit is electrically connected to both the imaging unit and the interventional guidance mechanism. The control unit sends commands to the interventional guidance mechanism to adjust its operating parameters. Preferably, the operating parameters include at least: the positions of the clamping device and the exporting device on the slide rail, the height of the friction wheel bracket, and the rotational speed of the active bevel gear.

[0027] According to a preferred embodiment, the imaging unit includes at least an imaging module, a processing module, and a display module. Preferably, the processing module is connected to the imaging module and the display module via wired or wireless means. Preferably, the processing module acquires the structural features of the patient's surgical area through the imaging module to establish a virtual model corresponding to the patient's surgical area and generates suggested import operations. The processing module displays the suggested import operations in the virtual model through the display module. Preferably, the processing module determines the deviation value of the actual import operation based on the difference between the actual import operation acquired by the imaging module and the suggested import operation.

[0028] Preferably, when the imaging unit displays the X-ray image of the patient's surgical area to the surgeon, it displays the vascular information in the X-ray image to the surgeon with specific optical characteristics, wherein the specific optical characteristics change with the deviation value of the interventional surgery according to preset rules.

[0029] Preferably, the imaging unit includes at least an imaging module, a processing module, and a display module. Preferably, the imaging module performs real-time detection of the guidewire and / or catheter posture during interventional surgery, enabling the processing module to compare the actual insertion operation with the suggested insertion operation to determine the degree of deviation. Preferably, the insertion operation can be characterized by the angle between the guidewire and / or catheter and the vessel wall, where the angle can be called the insertion angle. Preferably, the difference between the insertion angle of the actual insertion operation and the insertion angle of the suggested insertion operation is the deviation of the interventional surgery; in other words, the deviation value of the insertion angle is the deviation value of the interventional surgery. Preferably, the deviation value of the insertion angle can be set with three progressively increasing threshold values: a first threshold, a second directional threshold, and a third directional threshold. The larger the deviation value of the insertion angle, the greater the deviation between the actual insertion operation and the suggested insertion operation. Preferably, the first threshold can be considered a reasonable error; when the deviation value of the insertion angle is lower than the first threshold, it indicates that the guidewire and / or catheter can be inserted according to the current insertion angle.

[0030] Preferably, the processing module can adjust the optical characteristics such as color and brightness of the suggested import operation displayed by the display module in the virtual model based on the change of the deviation value. Different ranges of deviation values ​​can correspond to different colors and brightness, so that the surgeon can grasp the deviation of the current import operation by observing the changes in the image in the display module when performing interventional surgery, and then make trial adjustments to make the deviation value closer to a smaller deviation value. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of an intervention guidance mechanism according to a preferred embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the clamping mechanism according to a preferred embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the structure of the export mechanism according to a preferred embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the export mechanism of a preferred embodiment of the present invention when it simultaneously performs guidewire introduction and catheter export;

[0035] Figure 5 This is a schematic diagram of the friction wheel and friction wheel bracket according to a preferred embodiment of the present invention.

[0036] List of reference numerals

[0037] 101 Base plate; 102: Slide rail; 210: Clamping device; 211: Clamping bracket; 212: Clamping shaft; 213: Gear transmission assembly; 214: Motor; 220: Transmission device; 221: Bolt; 222: Driving bevel gear; 223: Spring; 224: Driven bevel gear; 225: Driving friction wheel; 226: Friction shaft; 227: Driven friction wheel; 228: Friction wheel bracket; 230: Outlet device; 231: Telescopic rod bracket; 232: Telescopic rod; x: First direction; y: Second direction; z: Third direction. Detailed Implementation

[0038] The following is in conjunction with the appendix Figures 1 to 5 The present invention will be described in detail below with reference to specific embodiments.

[0039] Example 1

[0040] This embodiment provides an intervention guidance mechanism. See also... Figure 1 Preferably, the interventional guiding mechanism includes at least a base plate 101 and a clamping device 210, a transmission device 220, and a delivery device 230 sequentially arranged on the base plate 101 along a first direction x. Preferably, the base plate 101 is a rectangular plate. Preferably, the clamping device 210, the transmission device 220, and the delivery device 230 are spaced apart. The clamping device 210 is used to connect the guidewire and / or catheter to the interventional guiding mechanism and to rotate the guidewire and / or catheter. The transmission device 220 is used to move the guidewire and / or catheter in the first direction x. The delivery device 230 changes its position relative to the transmission device 220 in the second direction y by moving along the second direction y, thereby adjusting the angle at which the guidewire and / or catheter enters the wound along the first direction x. Preferably, the first direction x and the second direction y are perpendicular to each other.

[0041] The clamping device 210 and the outlet device 230 are respectively connected to two flush slide rails 102 arranged along the second direction y on the base plate 101. Preferably, the clamping device 210 and the outlet device 230 are respectively sleeved on the two parallel slide rails 102. Preferably, the guide rails 102 are connected to the base plate 101 through mounting brackets, and the guide rails 102 are equipped with motors that allow the clamping device 210 and the outlet device 230 to move along the axial direction of the guide rails 102.

[0042] The transmission device 220 is equipped with at least two sets of friction wheels arranged along the second direction y on the base plate 101, wherein each set of friction wheels includes a driving friction wheel 225 and a driven friction wheel 227 arranged along the third direction z. Preferably, the transmission device 220 is equipped with two sets of friction wheels arranged along the second direction y on the base plate 101 with a gap between them.

[0043] Preferably, the driven friction wheel 227 is mounted to the base plate 101 via a friction wheel bracket 228. Preferably, the friction wheel bracket 228 is connected to the base plate 101 via bolts 221, and a spring 223 is fitted onto the bolts 221. The transmission device 220 adjusts the height of the friction wheel bracket 228 by adjusting the extension and compression of the spring 223, thereby adjusting the distance between the driving friction wheel 225 and the driven friction wheel 227, thus adapting to guide wires and / or conduits of different diameters.

[0044] For example, when the catheter diameter (outer diameter) is 1 mm, the bolt 221 is shortly connected to the base plate 101, and the spring 223 has a small amount of contraction. However, when the catheter used is switched to a 1.5 mm diameter catheter, medical personnel can increase the bolt 221 to the base plate 101, compress the length of the spring 223, and reduce the height of the friction wheel bracket 228, so that the driven friction wheel 227 is moved away from the active friction wheel 225, thereby increasing the distance between the active friction wheel 225 and the driven friction wheel 227.

[0045] Preferably, the distance between the active friction wheel 225 and the driven friction wheel 227 can also be adjusted by other adjustment methods. Preferably, the transmission device 220 can also adjust the distance between the active friction wheel 225 and the driven friction wheel 227 by adjusting the height of the active friction wheel 225 while keeping the height of the driven friction wheel 227 constant. Preferably, the driven friction wheel 227 can be mounted to the base plate 101 via the friction wheel bracket 228, while the active friction wheel 225 can be mounted to the base plate 101 via a telescopic rod or other length-adjustable device. When adapting to guide wires and / or conduits of different diameters, the transmission device 220 can adjust the height of the active friction wheel 225 in the third direction z by adjusting the length of the telescopic rod or other device, thereby adjusting the distance between the driven friction wheel 225 and the driven friction wheel 227.

[0046] The transmission device 220 further includes at least one driving bevel gear 222 arranged along a first direction x and two driven bevel gears 224 arranged along a second direction y. Preferably, the two driven bevel gears 224 mesh with the driving bevel gear 222 with their teeth facing each other, such that when the driving bevel gear 222 rotates, the two driven bevel gears 224 rotate in opposite directions. The driving friction wheel 225 is connected to the driven bevel gear 224 via a friction shaft 226 passing through its center, thereby obtaining a rotational state synchronized with the driven bevel gear 224. Preferably, the transmission device 220 can adapt to guide tubes or guide wires of different diameters by adjusting the distance between the driving friction wheel 225 and the driven friction wheel 227. Preferably, the first direction x, the second direction y, and the third direction z are mutually perpendicular. Preferably, the second direction y is defined by the extension direction of the slide rail 102, and the third direction is perpendicular to the plane of the base plate 101.

[0047] Preferably, the clamping device 210 determines the position of a set of friction wheels for the guidewire and / or catheter to enter the wound in the first direction x by moving along the second direction y. Preferably, the exiting device 230 adjusts the angle at which the guidewire and / or catheter enters the wound in the first direction x by moving along the second direction y.

[0048] See Figure 2 Preferably, the clamping device 210 includes at least a clamping bracket 211 disposed on the slide rail 102 and a clamping shaft 212 mounted on the clamping bracket 211 for the guide wire and / or conduit to pass through. Preferably, the clamping shaft 212 is connected to the motor 214 via gear transmission, so that the clamping shaft 212 drives the guide wire and / or conduit to rotate around its axis; the guide wire and / or conduit passing through the clamping shaft 212 enters the transmission device 220 along the first direction x.

[0049] Preferably, during the interventional procedure, the clamping device 210 rotates the guidewire and / or catheter, and the friction wheel of the transmission device 220 moves the guidewire and / or catheter, thereby moving the guidewire and / or catheter along the blood vessel to the treatment area. Preferably, after the guidewire and / or catheter enter the blood vessel through the exit device 230, the clamping device 210 rotates the guidewire and / or catheter to adjust their orientation inside the blood vessel, and the transmission device 220 uses the friction wheel to rub the guidewire and / or catheter, causing relative movement between the guidewire and / or catheter and the friction wheel, thereby achieving the advancement or withdrawal of the guidewire and / or catheter inside the blood vessel.

[0050] See Figure 3 The surfaces of the active friction wheel 225 and the driven friction wheel 227 that contact the guidewire and / or catheter are curved to increase the contact area. Preferably, the surface of the active friction wheel 225 that contacts the guidewire and / or catheter is a raised curved surface, and the surface of the driven friction wheel 227 that contacts the guidewire and / or catheter is a recessed curved surface.

[0051] Preferably, the surfaces of the active friction wheel 225 and the driven friction wheel 227 that contact the guidewire and / or catheter are curved. When the gap between the active friction wheel 225 and the driven friction wheel 227 matches the diameter of the guidewire and / or catheter, the gap between the active friction wheel 225 and the driven friction wheel 227 is smaller than the diameter of the guidewire and / or catheter, and the active friction wheel 225 and the driven friction wheel 227 jointly compress the guidewire and / or catheter. The active friction wheel 225 and the driven friction wheel 227 contact the guidewire and / or catheter, and the active friction wheel 225 rotates under the drive of the driven bevel gear 224, causing the diameter of the guidewire and / or catheter to move tangentially along the rotation direction of the active friction wheel 225 under the action of friction force, thereby realizing the advancement and withdrawal of the guidewire and / or catheter.

[0052] See Figure 4Preferably, when the guidewire is introduced and the catheter is withdrawn simultaneously, the catheter is withdrawn through the friction wheel on one side, and the guidewire is introduced through the friction wheel on the other side. When the catheter is detached from the withdrawal device 230, the withdrawal device 230 moves in the second direction and connects with the guidewire, thereby introducing the guidewire. During the catheter withdrawal process, the guidewire can enter the gap of the friction wheel in advance, ready to dock with the withdrawal device 230, thereby improving the operating efficiency of the entire mechanism.

[0053] See Figure 5 Preferably, the delivery device 230 includes at least a telescopic rod 232 and a telescopic rod support 231, wherein the telescopic rod 232 is disposed on the telescopic rod support 231 along the first direction x by means of sleeve connection with a bearing. Preferably, the guide wire and / or catheter of the transmission device 220 passes through the telescopic rod 232, and the telescopic rod 232 changes the angle at which the guide wire and / or catheter enters the wound by adjusting its length.

[0054] Example 2

[0055] This embodiment is a further improvement on embodiment 1, and the repeated content will not be described again.

[0056] Interventional surgery is a widely used treatment method with numerous applications, including cardiovascular and cerebrovascular interventional angioplasty, visceral embolization, endovascular drug infusion, angiography, peripheral angioplasty, and electrophysiological therapy, resulting in a huge demand for vascular interventional surgery. However, performing interventional surgery requires the surgeon to insert specialized catheters, guidewires, and other precision instruments through minimally invasive incisions under the guidance of medical imaging equipment to diagnose and treat the patient's condition. This often leads to a single interventional surgeon performing multiple procedures in a short period. Because vascular interventional surgery is performed under X-ray imaging throughout, a significant amount of radiation is accumulated during the procedure. Compared to patients, interventional surgeons are exposed to greater radiation risks due to the higher number of procedures performed. To reduce the impact of radiation, interventional surgeons wear personal radiation protection equipment during surgery, such as lead aprons, aprons, thyroid shields, goggles, and gloves. To meet radiation protection requirements, these radiation protection devices are very heavy, generally weighing more than 20 kilograms. Interventional surgeons need to stand throughout the entire procedure, and they also need to concentrate on observing the surgical images throughout the operation, which makes the surgeons' energy consumption extremely high.

[0057] Therefore, this embodiment provides a surgical robot to improve the working environment of interventional physicians, reduce the workload of medical staff, and reduce the radiation dose received by interventional physicians and patients during surgery. Preferably, the surgical robot is equipped with the interventional guidance mechanism provided by this invention. While the surgical robot performs multi-degree-of-freedom motion control on interventional instruments such as guidewires and catheters through the interventional guidance mechanism, it allows interventional physicians to perform remote surgery away from radiation areas. Compared with manual surgical operations, operation through a surgical robot can achieve higher precision and more stable movements, thereby improving the level of interventional surgery, ensuring surgical outcomes, and reducing the probability of surgical complications for patients.

[0058] Preferably, the robot is also equipped with a control unit and an imaging unit. The imaging unit acquires X-ray images of the patient's surgical area under X-ray irradiation and displays them to the surgeon. The surgeon observes the X-ray images and adjusts the operating parameters of the interventional guidance mechanism through the control unit.

[0059] Preferably, the control unit is electrically connected to both the imaging unit and the interventional guidance mechanism. The control unit sends commands to the interventional guidance mechanism to adjust its operating parameters. Preferably, the operating parameters include at least: the positions of the clamping device 210 and the exporting device 230 on the slide rail 102, the height of the friction wheel bracket 228, and the rotational speed of the active bevel gear.

[0060] Preferably, the imaging unit includes at least an imaging module, a processing module, and a display module. Preferably, the processing module is connected to the imaging module and the display module via wired or wireless means. Preferably, the processing module acquires the structural features of the patient's surgical area through the imaging module to establish a virtual model corresponding to the patient's surgical area and generates suggested import operations. The processing module displays the suggested import operations in the virtual model through the display module. Preferably, the processing module determines the deviation value of the actual import operation based on the difference between the actual import operation acquired by the imaging module and the suggested import operation.

[0061] Preferably, when the imaging unit displays the X-ray image of the patient's surgical area to the surgeon, it displays the vascular information in the X-ray image to the surgeon with specific optical characteristics, wherein the specific optical characteristics change with the deviation value of the interventional surgery according to preset rules.

[0062] Preferably, the imaging unit includes at least an imaging module, a processing module, and a display module. Preferably, the imaging module performs real-time detection of the guidewire and / or catheter posture during the interventional procedure, enabling the processing module to compare the actual insertion operation with the suggested insertion operation to determine the degree of deviation. Preferably, the insertion operation can be characterized by the angle between the guidewire and / or catheter and the vessel wall, whereby the angle can be called the insertion angle. Preferably, the difference between the insertion angle of the actual insertion operation and the insertion angle of the suggested insertion operation is the deviation of the interventional procedure; in other words, the deviation value of the insertion angle is the deviation value of the interventional procedure. Preferably, the deviation value of the insertion angle can be set with three progressively increasing threshold values: a first threshold, a second threshold, and a third threshold. The larger the deviation value of the insertion angle, the greater the deviation between the actual and suggested insertion operations. Preferably, the first threshold can be considered a reasonable error; when the deviation value of the insertion angle is lower than the first threshold, it indicates that the guidewire and / or catheter can be inserted according to the current insertion angle.

[0063] Preferably, the processing module can adjust the optical characteristics such as color and brightness of the suggested import operation displayed by the display module in the virtual model based on the change of the deviation value. Different ranges of deviation values ​​can correspond to different colors and brightness, so that the surgeon can grasp the deviation of the current import operation by observing the changes in the image in the display module when performing interventional surgery, and then make trial adjustments to make the deviation value closer to a smaller deviation value.

[0064] Preferably, the shooting module can be a camera, the processing module can be a computer or other device capable of data storage and processing, and the display module can be a conventional LCD monitor.

[0065] Preferably, the imaging module acquires X-ray images of the patient's surgical area and sends the images to the processing module. Preferably, the processing module extracts information related to the interventional procedure from the X-ray images, including the morphology of the blood vessels undergoing the procedure, the position and shape of the catheter within the blood vessel, and the position and shape of the guidewire within the blood vessel. Preferably, after acquiring the morphology of the blood vessels undergoing the interventional procedure, the processing module can generate a virtual model corresponding to the patient's blood vessels using a preset modeling model. Furthermore, the processing module can also generate suggested import operations for the guidewire and / or catheter by using qualified guidewire and / or catheter insertion operation images as training data for machine learning.

[0066] Preferably, the processing module sends the X-ray image of the patient's surgical area and the suggested import operation to the display module for display to the surgeon. The surgeon observes the X-ray image and adjusts the rotation of the friction wheel in the interventional guidance mechanism through the control unit to advance or withdraw the guidewire and / or catheter. The surgeon can also adjust the rotation of the clamping shaft 212 in the clamping device 210 through the control unit to rotate the guidewire and / or catheter, thereby adjusting the orientation of the guidewire and / or catheter and changing the relative position of the guidewire and / or catheter with respect to the blood vessel.

[0067] Preferably, when the surgeon adjusts the working state of the interventional guidance mechanism through the control unit to perform the actual insertion operation of the interventional surgery, the imaging module detects X-ray images of the patient's surgical area in real time. The processing module determines the surgeon's actual insertion operation through the X-ray image and compares the actual insertion operation with the suggested insertion operation to determine the degree of deviation between the actual and suggested insertion operations. Preferably, the processing module can reflect the degree of deviation between the actual and suggested insertion operations in the image displayed to the surgeon by the display module using a specific color or brightness.

[0068] Preferably, as the deviation between the surgeon's actual insertion operation and the recommended insertion operation gradually increases, the area where the guidewire and / or catheter tip is located in the image displayed to the surgeon by the display module can be marked with a color that is clearly different from the X-ray image, thereby indicating to the surgeon the degree of deviation between the actual insertion operation and the recommended insertion operation.

[0069] Preferably, the deviation between the actual insertion operation and the recommended insertion operation can be characterized by the deviation value between the insertion angle of the actual insertion operation and the insertion angle of the recommended insertion operation. Preferably, the deviation value of the insertion angle can be set with three threshold values ​​that increase sequentially: a first threshold, a second threshold, and a third threshold. The larger the deviation value of the insertion angle, the greater the deviation between the actual insertion operation and the recommended insertion operation. Specifically, the first threshold is 10°, the second threshold is 15°, and the third threshold is 20°. Preferably, when the deviation value of the insertion angle is less than 10°, it can be considered a reasonable error. In this case, the color of the area where the guidewire and / or catheter tip is located remains unchanged, indicating that the guidewire and / or catheter can be inserted according to the current insertion angle.

[0070] Preferably, when the deviation value of the ingress angle exceeds 10°, the proportion of Green and Blue pigments in the RGB three pigments of the guidewire and / or catheter tip area in the image displayed by the display module is reduced from the original values, and the reduced proportion of Green and Blue pigments is allocated to Red pigment, so that the image of the guidewire and / or catheter tip area gradually tends towards red. Preferably, the larger the deviation value of the ingress angle exceeding 10°, the larger the proportion of Red pigment, making the image of the guidewire and / or catheter tip area closer to pure red.

[0071] Preferably, the processing module can adjust the image color of the area where the guidewire and / or catheter tip is displayed by the display module based on the change of the deviation value. This allows the surgeon to observe the color change of the image in the display module during interventional surgery to understand the deviation of the current insertion operation. By making trial adjustments, the deviation value can be reduced to a smaller value, thereby achieving more stable operation, improving the implementation level of interventional surgery, ensuring surgical effect, and reducing the probability of surgical complications for patients.

[0072] Preferably, in this embodiment, the movement of the guidewire and / or catheter within the blood vessel includes at least axial advancement or withdrawal and rotation about its axis. Therefore, the guidewire and / or catheter possess both axial movement freedom and rotational freedom about its axis. Furthermore, at least the axial movement freedom of the guidewire and / or catheter is influenced by the rotational angle of the guidewire and / or catheter about its axis. Specifically, the movement of the guidewire and / or catheter within the blood vessel is determined by rotation, and then achieved through advancement or withdrawal. Preferably, the guidewire and / or catheter is connected to a clamping shaft 212, which is connected to a motor 214 via gear transmission. The control unit controls the rotation angle of the motor 214 to drive the guidewire and / or catheter to rotate. Preferably, after the guidewire and / or catheter enter the blood vessel via the exit device 230, the clamping device 210 adjusts the orientation of the guidewire and / or catheter inside the blood vessel by rotating it. The transmission device 220 uses a friction wheel to rub the guidewire and / or catheter, causing relative movement between the guidewire and / or catheter and the friction wheel, thereby achieving the advancement or withdrawal of the guidewire and / or catheter inside the blood vessel. Preferably, the control unit adjusts the advancement or withdrawal of the guidewire and / or catheter inside the blood vessel by controlling the direction and speed of the friction wheel. For ease of description, the degree of freedom of the guidewire and / or catheter to move along its axial direction within the blood vessel is referred to as the first degree of freedom, and the degree of freedom of the guidewire and / or catheter to rotate about its axis within the blood vessel is referred to as the second degree of freedom. Preferably, the friction wheel, bevel gear, etc. in the transmission device 220 that drive the guidewire and / or catheter to advance or retract inside the blood vessel are called the first driving component, and the clamping shaft 212, gear, motor 214, etc. in the clamping device 210 that drive the guidewire and / or catheter to rotate are called the second driving component.

[0073] When using the interventional guidance mechanism provided by this invention for interventional surgery, the freedom of the guidewire and / or catheter in the blood vessel is constrained by two factors: firstly, the size and specifications of the guidewire and / or catheter themselves limit their movement within the blood vessel; secondly, the structure of the patient's blood vessel wall limits their movement within the blood vessel. Existing technologies often focus on posture control of the guidewire and / or catheter when they enter a smaller branch vessel from a larger main vessel to avoid puncturing the vessel and causing bleeding. However, they often neglect posture control during the movement of the guidewire and / or catheter from the incision into the main vessel to the branch vessel access point. In actual surgical procedures, the surgeon still needs to constantly observe and adjust the posture of the guidewire and / or catheter during their movement from the incision into the main vessel to the branch vessel access point to prevent contact with the blood vessel. Because the ends of the guidewire and / or catheter have a certain bending angle, during the process of the guidewire and / or catheter entering the main blood vessel from the wound and moving to the branch blood vessel, even if the movement path is the same, when the first driving component drives the guidewire and / or catheter to advance or withdraw inside the blood vessel, the relative posture of the ends of the guidewire and / or catheter with the blood vessel wall is in different states. Under the influence of these different states, the necessary adjustments required by the second driving component to avoid interference when the first driving component drives the guidewire and / or catheter to move are also different.

[0074] Therefore, the control unit is configured with at least a first control subunit for controlling the first drive assembly and a second control subunit for controlling the second drive assembly. When the first control subunit controls the first drive assembly to operate to adjust the first degree of freedom of the guidewire and / or catheter, the second control subunit receives at least partially instructions related to the first control subunit's control of the guidewire and / or catheter movement and controls the operation of the second drive assembly. And / or when the second control subunit controls the second drive assembly to operate to adjust the second degree of freedom of the guidewire and / or catheter, the first control subunit receives at least partially instructions related to the second control subunit's control of the guidewire and / or catheter rotation and controls the operation of the first drive assembly. When the second drive assembly is controlled by the second control subunit to rotate the guidewire and / or catheter, the first drive assembly is controlled by the first control subunit to move the guidewire and / or catheter, thereby providing the guidewire and / or catheter with a first degree of freedom and a second degree of freedom restricted by the second drive assembly.

[0075] Preferably, if the first control subunit acquires or has first movement target data for the second time period within the first time period, the second control subunit acquires interference level data based on the first movement target data, where the second drive component moves according to the first movement target data while the second drive component is in its current position. When the interference level data is above a preset threshold, the second control subunit controls the first drive component to move to a new position according to the generated second movement target data, so that the first and second degrees of freedom of the guidewire and / or catheter are at least partially updated, and that, at least under the influence of the updated first and second degrees of freedom, when the first control subunit actually performs control in the second time period to enable the second drive component to achieve the first movement target data, its interference level data is below the preset threshold. The second control subunit controls the first drive component to move before the second time period. During the movement of the first drive component controlled by the second control subunit, the first control subunit controls the second drive component to maintain its current posture in the first time period.

[0076] Preferably, the first motion target data is formed according to a preset treatment plan, and it is used to indicate the position and orientation that the guidewire and / or catheter should achieve at a second time. It at least includes the position data of the guidewire and / or catheter in the X-ray image, and is used to indicate the motion destination of the reference part of the guidewire and / or catheter. Preferably, it can be used to indicate the motion destination of the end of the guidewire and / or catheter. The second motion target data is used to indicate the rotation angle of the second drive assembly. Interference level data is obtained through simulation calculations. Specifically, environmental information surrounding the guidewire and / or catheter is acquired, and interference features are filtered. The filtering method is based on simulated movement data formed from the first moving target data. Features in the simulated movement data that interfere with the movement of the guidewire and / or catheter are filtered out. For example, if the guidewire and / or catheter are in a first position in the first time period, and need to advance along their axis to a second position in the second time period, the simulation shows that during the advancement of the guidewire and / or catheter, the blood vessel diameter varies. When the guidewire and / or catheter passes through this point with their current end facing the same direction, the probability of the guidewire and / or catheter contacting the blood vessel wall is high. Therefore, interference features such as vascular narrowing accumulate interference level data. After combining several interference features, the total interference level data can be analyzed. A preset threshold is a judgment threshold or inspection rule for checking the interference level data. When the total value of the interference level data exceeds the preset threshold and / or one or more items in the interference level data do not meet the inspection rule of the preset threshold, it can be determined that the interference level data exceeds the preset threshold. When the second moving target data is generated, the first and second degrees of freedom are updated, thereby enabling a second motion simulation of the guidewire and / or catheter to obtain updated simulated motion data, which in turn updates the interference level data. This allows us to determine whether the updated interference level data under the second moving target data meets the verification threshold, thus enabling us to find the optimal second moving target data.

[0077] The above-described solution allows for advance adjustment of the second drive assembly's operating state based on the anticipated movement target of the guidewire and / or catheter. This adjusts the rotation angle of the guidewire and / or catheter around their axis, providing optimal freedom of movement for subsequent movement. This significantly reduces interference with guidewire and / or catheter movement and minimizes decision-making calculations during movement. Typically, to avoid contact with the vessel wall and subsequent bleeding, surgeons perform axial movement and rotation of the guidewire and / or catheter in stages during surgery. However, this obviously delays the procedure and interferes with the surgical process. This solution addresses this by controlling the movement of the guidewire and / or catheter through the first and second drive assemblies. When the guidewire and / or catheter reach the target position, the movement calculation is handled with minimal interference. Simultaneously, rotational adjustment of the guidewire and / or catheter tip orientation is performed during the advancement or withdrawal of the guidewire and / or catheter, significantly improving movement efficiency and thus ensuring surgical efficiency.

[0078] It should be noted that the specific embodiments described above are exemplary. Those skilled in the art can devise various solutions inspired by the disclosure of this invention, and these solutions all fall within the scope of this invention and its protection. Those skilled in the art should understand that this specification and its accompanying drawings are illustrative and not intended to limit the scope of the claims. The scope of protection of this invention is defined by the claims and their equivalents. This specification contains multiple inventive concepts; terms such as "preferredly," "according to a preferred embodiment," or "optionally" indicate that the corresponding paragraph discloses an independent concept. The applicant reserves the right to file divisional applications based on each inventive concept.

Claims

1. An intervention guidance mechanism, characterized in that, The intervention guidance mechanism includes a base plate (101) and a clamping device (210), a transmission device (220) and an outlet device (230) arranged sequentially on the base plate (101) along a first direction (x). The transmission device (220) is equipped with two sets of friction wheels arranged on the base plate (101) along the second direction (y). Each set of friction wheels includes an active friction wheel (225) and a driven friction wheel (227) arranged along the third direction (z). The transmission device (220) can adapt to conduits or guide wires of different diameters by adjusting the distance between the active friction wheel (225) and the driven friction wheel (227). Wherein, the first direction (x), the second direction (y), and the third direction (z) are mutually perpendicular; The clamping device (210) includes a clamping bracket (211) and a clamping shaft (212) mounted on the clamping bracket (211) for the guide wire and / or catheter to pass through. The clamping bracket (211) is connected to a first slide rail disposed on the base plate (101) along the second direction (y); The clamping shaft (212) is connected to the motor (214) via gear transmission, so that the clamping shaft (212) drives the guide wire and / or conduit to rotate around its axis; The guide wire and / or conduit passing through the clamping shaft (212) enter the transmission device (220) in the first direction (x). The export device (230) includes a telescopic rod (232) and a telescopic rod bracket (231), wherein the telescopic rod (232) is disposed on the telescopic rod bracket (231) along a first direction (x) by means of sleeve connection with a bearing; The telescopic rod bracket (231) is connected to a second slide rail (102) disposed on the base plate (101) along the second direction (y); The guidewire and / or catheter, which pass through the transmission device (220), pass through the telescopic rod (232), and the telescopic rod (232) changes the angle at which the guidewire and / or catheter enter the wound by adjusting its length.

2. The intervention guidance mechanism according to claim 1, characterized in that, The driven friction wheel (227) is mounted to the base plate (101) via the friction wheel bracket (228); The friction wheel bracket (228) is connected to the base plate (101) by bolts (221), and a spring (223) is sleeved on the bolts (221). The transmission device (220) adjusts the height of the friction wheel bracket (228) by adjusting the extension and compression of the spring (223), thereby adjusting the distance between the active friction wheel (225) and the driven friction wheel (227).

3. The intervention guidance mechanism according to claim 1, characterized in that, The transmission device (220) further includes a driving bevel gear (222) arranged along a first direction (x) and two driven bevel gears (224) arranged along a second direction (y). The two driven bevel gears (224) mesh with the driving bevel gear (222) with their teeth facing each other, so that when the driving bevel gear (222) rotates, the two driven bevel gears (224) rotate in opposite directions.

4. The intervention guidance mechanism according to claim 3, characterized in that, The active friction wheel (225) is connected to the driven bevel gear (224) through a friction shaft (226) passing through its center, thereby obtaining a rotational state synchronized with the driven bevel gear (224).

5. The intervention guidance mechanism according to claim 3, characterized in that, The surfaces of the active friction wheel (225) and the driven friction wheel (227) that contact the guide wire and / or conduit are curved to increase the contact area. The surface of the active friction wheel (225) that contacts the guidewire and / or catheter is configured as a raised curved surface, and the surface of the driven friction wheel (227) that contacts the guidewire and / or catheter is configured as a concave curved surface.

6. A surgical robot, characterized in that, The surgical robot is equipped with an interventional guidance mechanism as described in any one of claims 1 to 5.

7. The surgical robot according to claim 6, characterized in that, The surgical robot is also equipped with an imaging unit and a control unit; The imaging unit acquires X-ray images of the patient's surgical area under X-ray irradiation and displays the X-ray images to the surgeon. The surgeon observes the X-ray image and sends instructions to the interventional guidance mechanism through the control unit to adjust the working parameters of the interventional guidance mechanism, thereby changing the intervention angle of the guidewire and / or catheter.

8. The surgical robot according to claim 7, characterized in that, The imaging unit includes a shooting module, a processing module, and a display module, wherein the processing module is connected to the shooting module and the display module via wired or wireless means. The processing module acquires the structural features of the patient's surgical area through the imaging module to establish a virtual model corresponding to the patient's surgical area and generate suggested import operations. The processing module displays suggested import operations in the virtual model through the display module. The processing module determines the deviation value of the actual import operation by the difference between the actual import operation and the suggested import operation obtained by the shooting module.

Images