An interventional surgical robot slave

Abstract

The embodiment of the application belongs to the technical field of medical robots, and relates to an interventional surgery robot slave end, which comprises a guide wire control device and at least one catheter control device. Each catheter control device comprises a catheter delivery mechanism and a catheter rotating mechanism. One catheter is correspondingly arranged on one catheter control device, the front end of the catheter is clamped on the catheter delivery mechanism, and the tail end of the catheter is connected with the catheter rotating mechanism. The guide wire control device comprises a guide wire delivery mechanism and a guide wire rotating mechanism. The guide wire is arranged in the catheter, the tail end of the guide wire is clamped on the guide wire delivery mechanism after extending out of the catheter, and the tail end of the guide wire is connected with the guide wire rotating mechanism. The technical scheme provided by the application can split the power for controlling the delivery and rotation of the catheter / guide wire, simplify the structure design and control logic, and improve the stability of the whole machine.

Description

Technical Field

[0001] This application relates to the field of medical robotics, and more specifically, to an interventional surgical robot from the end. Background Technology

[0002] Interventional vascular surgery has emerged as an effective treatment method in the last decade. It is minimally invasive, simple to perform, and allows for precise intervention, enabling treatment for patients who cannot tolerate major surgery or who are drug-resistant. Its use in the treatment of malignant trophoblastic tumors is also increasing. Early interventional vascular surgeries were typically performed manually by physicians, which had several drawbacks. These included prolonged exposure to radiation, which could be very harmful to the physician's health. Furthermore, the long duration of the procedure could lead to physician fatigue and inconsistent manual technique, affecting the quality of the surgery. Therefore, to ensure the health of physicians and the quality of the surgery, research and development of interventional surgical robots has been intensified, resulting in a growing number of robots available for clinical application.

[0003] Existing interventional surgical robots typically employ a hybrid rotary delivery device to control slender medical instruments, such as catheters or guidewires, at the end of the surgical procedure, enabling the delivery and rotation of these instruments. Due to the complex structure of this hybrid rotary delivery device, the holding force applied to the slender medical instruments cannot be precisely controlled and adjusted, especially for guidewires, which are prone to slippage and inaccurate rotation during operation. Furthermore, switching between rotation, delivery, and hybrid modes involves complex control logic and discontinuous operation, impacting the surgical procedure. Summary of the Invention

[0004] The technical problem to be solved by the embodiments of this application is that the existing interventional surgical robots have complex delivery structures for catheters and guidewires at the end, and the guidewires are prone to slippage and inaccurate rotation during delivery.

[0005] To address the aforementioned technical problems, this application provides a slave end of an interventional surgical robot, employing the following technical solution:

[0006] An interventional surgical robot includes a guidewire control device and at least one catheter control device.

[0007] Each of the catheter control devices includes a catheter delivery mechanism and a catheter rotation mechanism, wherein the catheter delivery mechanism is used to drive the delivery of the catheter and the catheter rotation mechanism is used to drive the rotation of the catheter;

[0008] One of the catheters is mounted on one of the catheter control devices, the front end of the catheter is clamped in the catheter delivery mechanism, and the end of the catheter is connected to the catheter rotation mechanism;

[0009] The guidewire control device includes a guidewire delivery mechanism and a guidewire rotation mechanism. The guidewire delivery mechanism is used to drive the delivery of the guidewire, and the guidewire rotation mechanism is used to drive the rotation of the guidewire.

[0010] The guidewire is inserted into the catheter, and the rear end of the guidewire extends out of the catheter and is clamped in the guidewire delivery mechanism. The end of the guidewire is connected to the guidewire rotation mechanism.

[0011] Furthermore, the interventional surgical robot also includes multiple drive devices at the end, any one of which is used to provide a power source for the guidewire control device and / or the catheter control device;

[0012] The catheter delivery mechanism and the catheter rotation mechanism of each catheter control device are respectively mounted on two adjacent drive devices;

[0013] The guidewire delivery mechanism and the guidewire rotation mechanism are mounted on the same drive device. The rear end of the guidewire passes through the guidewire delivery mechanism, and after bending, the end of the guidewire is connected to the guidewire rotation mechanism.

[0014] Furthermore, the number of catheters is two, namely a first catheter and a second catheter; the number of catheter control devices is two, namely a first catheter control device and a second catheter control device; the number of drive devices is three, namely a front-end drive device, a first drive device and a second drive device.

[0015] The first catheter delivery mechanism of the first catheter control device is mounted on the front end drive device, and the first catheter rotation mechanism of the first catheter control device is mounted on the second drive device; the second catheter delivery mechanism of the second catheter control device is mounted on the second drive device, and the second catheter rotation mechanism of the second catheter control device is mounted on the first drive device; the guidewire delivery mechanism and the guidewire rotation mechanism are respectively mounted on the first drive device.

[0016] The front end of the first catheter is clamped in the first catheter delivery mechanism, and the end of the first catheter is connected to the first catheter rotation mechanism; the front end of the second catheter is clamped in the second catheter delivery mechanism, and the end of the second catheter is connected to the second catheter rotation mechanism; the tip of the second catheter passes through the first catheter rotation mechanism and is inserted into the first catheter; the second catheter enters or exits the first catheter under the drive of the second catheter delivery mechanism; the guidewire is clamped in the guidewire delivery mechanism, and the front end of the guidewire passes through the second catheter rotation mechanism and is inserted into the second catheter, and then passes through the first catheter rotation mechanism and is inserted into the first catheter; the guidewire enters or exits the first and second catheters under the drive of the guidewire delivery mechanism; the rear end of the guidewire passes through the guidewire delivery mechanism, and after bending, the end of the guidewire is connected to the guidewire rotation mechanism.

[0017] Furthermore, the interventional surgical robot also includes multiple drive devices at the end, any one of which is used to provide a power source for the guidewire control device and / or the catheter control device;

[0018] The catheter delivery mechanism and the catheter rotation mechanism of each catheter control device are respectively mounted on two adjacent drive devices;

[0019] The guidewire delivery mechanism and the guidewire rotation mechanism are respectively mounted on two adjacent drive devices.

[0020] Furthermore, one of the catheters is mounted in a bent state on one of the catheter control devices.

[0021] Furthermore, the catheter delivery mechanism includes a roller assembly for clamping the catheter and driving the catheter forward and backward; the driving device includes a first driving member, the power output end of the first driving member being transversely connected to the power input end of the roller assembly.

[0022] Furthermore, the driving device also includes a pressure detection element, which is installed at the power output end of the first driving element and is used to detect the straightening state of the conduit.

[0023] Furthermore, the interventional surgical robot also includes a sensing component at the end, which is mounted on the drive device connected to the catheter delivery mechanism and the drive device connected to the catheter rotation mechanism, for detecting the straightening state of the catheter.

[0024] Furthermore, the interventional surgical robot includes at least two catheter control devices at the distal end;

[0025] The tip of the catheter is inserted into the end of the previous catheter, and the catheter enters or exits the previous catheter under the drive of the catheter delivery mechanism.

[0026] Furthermore, the guide wire rotation mechanism includes a torque controller, which is installed at the end of the guide wire and is used to clamp the guide wire and drive the guide wire to rotate; the driving device also includes a second driving member, the power output end of the second driving member being connected to the power input end of the torque controller.

[0027] Compared with the prior art, the embodiments of this application have the following main advantages:

[0028] (1) The interventional surgical robot provided in this application separates the power control of the catheter / guidewire from the end. The delivery of the corresponding catheter is controlled by the catheter delivery mechanism, the rotation of the corresponding catheter is controlled by the catheter rotation mechanism, the delivery of the guidewire is controlled by the guidewire delivery mechanism, and the rotation of the guidewire is controlled by the guidewire rotation mechanism. This simplifies the control logic of the catheter / guidewire at the end of the interventional surgical robot. The structural design of the single control mechanism is simple, which improves the control stability and continuity of the whole machine.

[0029] (2) By controlling the delivery and rotation of the guidewire through the guidewire delivery mechanism and the guidewire rotation mechanism respectively, the rotation action and speed of the guidewire can be controlled during the delivery process according to actual needs, so as to achieve precise delivery of the guidewire and improve the accuracy of the operation. Attached Figure Description

[0030] To more clearly illustrate the solution of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the structure of the surgical robot of the present invention from the slave end;

[0032] Figure 2 yes Figure 1 A schematic diagram of the structure of another state of the embodiment;

[0033] Figure 3 This is a schematic diagram of the front-end drive device and the catheter delivery mechanism;

[0034] Figure 4 This is a schematic diagram of the front-end drive device and the conduit delivery mechanism from another direction;

[0035] Figure 5 This is a structural schematic diagram of the first driving device, the catheter rotation mechanism, and the guidewire control device;

[0036] Figure 6 This is a schematic diagram of the guide wire rotation mechanism;

[0037] Figure 7 This is an exploded schematic diagram of the guide wire rotation mechanism;

[0038] Figure 8 This is a schematic diagram of another embodiment of the interventional surgical robot of the present invention from the slave end;

[0039] Figure 9 This is a schematic diagram of another embodiment of the interventional surgical robot of the present invention from the slave end;

[0040] Figure 10 yes Figure 9 A schematic diagram of the structure of another state of the embodiment;

[0041] Figure 11 This is a schematic diagram of another embodiment of the interventional surgical robot of the present invention from the slave end;

[0042] Figure 12 This is a schematic diagram of another embodiment of the interventional surgical robot of the present invention.

[0043] Figure label:

[0044] 1. Catheter control device; 11. Catheter delivery mechanism; 111. Drive wheel assembly; 112. Pressure roller assembly; 12. Catheter rotation mechanism; 13. First catheter control device; 131. First catheter delivery mechanism; 132. First catheter rotation mechanism; 14. Second catheter control device; 141. Second catheter delivery mechanism; 142. Second catheter rotation mechanism; 15. Third catheter control device; 151. Third catheter delivery mechanism; 152. Third catheter rotation mechanism; 2. Guidewire control device; 21. Guidewire delivery mechanism; 22. Guidewire rotation mechanism; 221. Torque controller; 2 22. Transmission component; 3. Conduit; 31. First conduit; 32. Second conduit; Third conduit; 4. Guide wire; 51. Front-end drive device; 511. Fixed bracket; 512. First drive component; 513. Clamping drive component; 514. Pressure detection component; 515. Connector; 52. First drive device; 521. First sliding drive component; 522. First mounting plate; 53. Second drive device; 531. Second sliding drive component; 532. Second mounting plate; 54. Rear-end drive device; 55. Third drive device; 551. Third sliding drive component; 552. Third mounting plate. 6. Frame; 61. Guide device; 7. Quick-change device; 71. Quick-change conduit. Detailed Implementation

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0046] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0047] Embodiment 1 of the interventional surgical robot of this application.

[0048] Please see Figure 1 , Figure 2 As shown, the interventional surgical robot of this application includes: a guidewire control device 2 and at least one catheter control device 1.

[0049] Each of the catheter control devices 1 includes a catheter delivery mechanism 11 and a catheter rotation mechanism 12. The catheter delivery mechanism 11 is used to drive the delivery of the catheter 3, and the catheter rotation mechanism 12 is used to drive the rotation of the catheter 3.

[0050] One of the catheters 3 is mounted on one of the catheter control devices 1, the front end of the catheter 3 is clamped in the catheter delivery mechanism 11, and the end of the catheter 3 is connected to the catheter rotation mechanism 12.

[0051] The guidewire control device 2 includes a guidewire delivery mechanism 21 and a guidewire rotation mechanism 22. The guidewire delivery mechanism 21 is used to drive the delivery of the guidewire 4, and the guidewire rotation mechanism 22 is used to drive the rotation of the guidewire 4.

[0052] The guidewire 4 is inserted through the catheter 3. After the rear end of the guidewire 4 extends out of the catheter 3, it is clamped in the guidewire delivery mechanism 21. The end of the guidewire 4 is connected to the guidewire rotation mechanism 22.

[0053] This embodiment of the application separates the power control of the catheter 3 / guidewire 4. The catheter delivery mechanism 11 controls the delivery of the corresponding catheter 3, the catheter rotation mechanism 12 controls the rotation of the corresponding catheter 3, the guidewire delivery mechanism 21 controls the delivery of the guidewire 4, and the guidewire rotation mechanism 22 controls the rotation of the guidewire 4. This simplifies the control logic of the catheter 3 / guidewire 4 at the end of the interventional surgical robot. The simple structure design of the single control mechanism improves the control stability of the whole machine. By controlling the delivery and rotation of the guidewire 4 through the guidewire delivery mechanism 21 and the guidewire rotation mechanism 22 respectively, the rotation action and rotation speed of the guidewire 4 can be controlled during the delivery process according to actual needs, so as to achieve precise delivery of the guidewire 4 and improve the accuracy of the surgery.

[0054] Please see Figure 1 , Figure 2 As shown, the interventional surgical robot includes a guidewire control device 2 and a catheter control device 1 at the end. The catheter control device 1 includes a catheter delivery mechanism 11 and a catheter rotation mechanism 12. The catheter 3 is correspondingly mounted on the catheter control device 1. The front end of the catheter 3 is clamped in the catheter delivery mechanism 11, and the end of the catheter 3 is connected to the catheter rotation mechanism 12. The guidewire control device 2 includes a guidewire delivery mechanism 21 and a guidewire rotation mechanism 22. The guidewire 4 passes through the catheter 3. The rear end of the guidewire 4 extends out of the catheter 3 and is clamped in the guidewire delivery mechanism 21. The end of the guidewire 4 is connected to the guidewire rotation mechanism 22.

[0055] The interventional surgical robot also includes multiple drive devices at the end, each of which is used to provide a power source for the catheter control device 1 and / or guidewire control device 2; the catheter delivery mechanism 11 and the catheter rotation mechanism 12 of each catheter control device 1 are respectively mounted on two adjacent drive devices.

[0056] Please see Figure 1 , Figure 2As shown, in this embodiment, the interventional surgical robot includes a front-end drive device 51 and a first drive device 52 at the slave end. The catheter delivery mechanism 11 is mounted on the front-end drive device 51, the catheter rotation mechanism 12 is mounted on the first drive device 52, and the catheter 3 is mounted on the catheter control device 1. The front end of the catheter 3 is clamped on the catheter delivery mechanism 11, and the end of the catheter 3 is connected to the catheter rotation mechanism 12. By setting the front-end drive device 51 and the first drive device 52 to provide power sources to the catheter control device 1 and the guidewire control device 2 respectively, and controlling the output of the power sources to control the activation of the catheter delivery mechanism 11, the catheter rotation mechanism 12, the guidewire delivery mechanism 21, and the guidewire rotation mechanism 22 respectively, the power for delivery and rotation of the catheter 3 and the guidewire 4 is separated, making the overall control of the interventional surgical robot at the slave end simpler, the control logic simpler, and the overall stability improved.

[0057] In this embodiment, initially, the catheter 3 is installed on the catheter control device 2 in a bent state. The bent section of the catheter 3 is located between the front-end drive device 51 and the first drive device 52. As the interventional surgical robot operates, the catheter 3 gradually changes from a bent state to a straight state.

[0058] In this embodiment, the catheter rotation mechanism 12 and the guidewire delivery mechanism 21 are mounted on the first drive device 52, which improves the integration of the interventional surgical robot, reduces the length of the guidewire 4 exposed above the catheter 3, improves the utilization rate of the guidewire 4, and reduces production costs. In other embodiments, the catheter rotation mechanism 12 and the guidewire delivery mechanism 21 may also be respectively mounted on two adjacent drive devices.

[0059] In this embodiment, the guidewire delivery mechanism 21 and the guidewire rotation mechanism 22 are mounted on the same driving device, namely the first driving device 52. The guidewire 4 passes through the catheter 3. The rear end of the guidewire 4 extends out of the catheter 3 and is clamped on the guidewire delivery mechanism 21. The rear end of the guidewire 4 passes through the guidewire delivery mechanism 21 and bends 180°. The end of the guidewire 4 is connected to the guidewire rotation mechanism 22. In other embodiments, the bending angle of the rear end of the guidewire 4 can also be 90° to 180°. The guidewire delivery mechanism 21 and the guidewire rotation mechanism 22 are mounted on the same driving device. The bending setting of the rear end of the guidewire 4 can effectively reduce the space occupied by the rear end when the guidewire 4 is delivered, and reduce the volume of the rear end of the interventional surgical robot.

[0060] Please see Figure 1 , Figure 2As shown, in this embodiment, the interventional surgical robot further includes a frame 6 and a guide device 61 at the end; the guide device 61 is mounted on the frame 6, the front-end drive device 51 is mounted on the frame 6, and the first drive device 52 is slidably mounted on the guide device 61 and moves closer to or further away from the front-end drive device 51 along the guide device 61, for delivering the catheter 3 / guidewire 4 after it has been straightened from a bent state.

[0061] Please see Figures 1-4 As shown, in this embodiment, the catheter delivery mechanism 11 is disposed on the front drive device 51, and the front drive device 51 is mounted on the frame 6.

[0062] The front drive device 51 includes a fixed bracket 511, a first drive member 512, and a clamping drive member 513; the front drive device 51 is mounted on the frame 6 via the fixed bracket 511, and the first drive member 512 and the clamping drive member 513 are respectively fixed to the bottom surface of the fixed bracket 511.

[0063] The catheter delivery mechanism 11 includes a roller assembly for clamping the catheter 3 and driving the catheter 3 to move forward and backward. In this embodiment, the roller assembly is located on the top of the fixed bracket 511. The roller assembly includes a drive wheel assembly 111 and a pressure wheel assembly 112 arranged in parallel. The power output end of the first drive member 512 is connected to the power input end of the drive wheel assembly 111. The power output end of the clamping drive member 513 is connected to the pressure wheel assembly 112. The clamping drive member 513 is used to drive the pressure wheel assembly 112 to move closer to or away from the drive wheel assembly 111, so as to clamp or release the catheter 3.

[0064] In this embodiment, the first driving component 512 is a driving motor, and the driving shaft of the driving motor is connected to each driving wheel of the driving wheel assembly 111 through a transmission connection. By controlling the forward and reverse rotation of the driving wheels, the clamped conduit 3 is controlled to move forward and backward. The clamping driving component 513 is a driving motor or a cylinder. The driving end of the clamping driving component 513 is connected to a connecting component 515, and the other end of the connecting component 515 is connected to the pressure roller assembly 112. The clamping driving component 513 drives the pressure roller assembly 112 to move closer to or further away from the driving wheel assembly 111 in order to clamp or release the conduit 3.

[0065] Please see Figure 1 , Figure 2 , Figure 5 As shown, the catheter rotation mechanism 12 for connecting the end of the catheter 3 and the guide wire control device 2 for driving the guide wire 4 to be delivered and rotated are both mounted on the first driving device 52, and the first driving device 52 is slidably mounted on the guide device 61.

[0066] In this embodiment, the first driving device 52 includes a first sliding driving member 521 and a first mounting plate 522; the first sliding driving member 521 is slidably mounted on the guide device 61 and drives the first driving device 52 as a whole to move closer to or away from the front end driving device 51 along the guide device 61; the first mounting plate 522 is connected to the first sliding driving member 521.

[0067] The first driving device 52 further includes a catheter rotation driving member (not shown in the figure), a guide wire delivery driving member (not shown in the figure), a guide wire clamping driving member (not shown in the figure), and a second driving member (not shown in the figure) mounted on the lower surface of the first mounting plate 522.

[0068] The catheter rotation mechanism 12, the guidewire delivery mechanism 21, and the guidewire rotation mechanism 22 are all mounted on the upper surface of the first mounting plate 522.

[0069] In this embodiment, the conduit rotation mechanism 12 is a Y valve. The Y valve is connected to the conduit 3 at one end with a drive ring. The power output end of the conduit rotation drive is connected to the power input end of the drive ring for driving the drive ring to rotate, thereby driving the conduit 3 connected to the Y valve to rotate.

[0070] The guidewire delivery mechanism 21 has the same structure as the catheter delivery mechanism 21, including a roller assembly. The roller assembly is used to clamp the guidewire 4 and drive the guidewire 4 to move forward and backward. In this embodiment, the roller assembly is mounted on the first mounting plate 522 and includes a drive wheel assembly and a pressure wheel assembly arranged in parallel. The power input end of the drive wheel assembly of the guidewire delivery mechanism 21 is connected to the power output end of the guidewire delivery drive member. The power output end of the guidewire clamping drive member is connected to the pressure wheel assembly of the guidewire delivery mechanism 21. The guidewire clamping drive member is used to drive the pressure wheel assembly of the guidewire delivery mechanism 21 to move closer to or away from the drive wheel assembly of the guidewire delivery mechanism 21, so as to clamp or release the guidewire 4.

[0071] Please see Figure 6 , Figure 7 As shown, the guide wire rotation mechanism 22 includes a torque controller 221, which is mounted on the end of the guide wire 4. The torque controller 221 is used to clamp the guide wire 4 and drive the guide wire 4 to rotate. The first driving device 52 also includes a second driving member, the power output end of which is operatively connected to the power input end of the torque controller 221. In this embodiment, the guide wire rotation mechanism also includes a transmission member 222, which is fitted onto the torque controller 221 and serves as the power input member of the torque controller 222. The transmission member 222 is a gear sleeve, and the power output end of the second driving member is operatively connected to the transmission member 222.

[0072] In this embodiment, the transmission component 222 is a gear sleeve with an internal thread, and one end of the torque controller 221 has an external thread. The gear sleeve is fitted onto the torque controller 221 through a threaded fit. The torque controller 221 has a wedge-shaped hollow structure inside, with an inlet and an outlet through which the guide wire 4 passes.

[0073] The guide wire 4 enters the torque controller 221 from the inlet and exits the torque controller 221 from the outlet. The transmission component 222 is threadedly fitted onto the threaded end of the torque controller 221, which tightens the wedge-shaped hollow structure inside the torque controller 221 and clamps the guide wire 4. The second driving component drives the transmission component 222 to rotate, which in turn drives the entire torque controller 22 to rotate, causing the guide wire 4 to rotate accordingly.

[0074] Please see Figure 1 , Figure 2 , Figure 5 As shown, in this embodiment, the interventional robot also includes a quick-exchange device 7 at the end. The quick-exchange device 7 is disposed on the first mounting plate 522 and is used to drive the quick-exchange catheter 71 to extend into or out of the catheter 3. The quick-exchange catheter 71 and the guide wire 4 are arranged at a set angle, which is 15° to 45°.

[0075] In this embodiment, one of the catheters 3 is mounted on one of the catheter control devices 1 in a bent state. In the initial state, as... Figure 1 As shown, catheter 3 is mounted on catheter control device 1 in a bent state. The bent section of catheter 3 is located between the front-end drive device 51 and the first drive device 52. As the interventional surgical robot operates, catheter 3 gradually changes from a bent state to a straightened state, as shown. Figure 2 As shown. By using this clamping method, the distance between the front-end drive device 51 and the first drive device 52 in the initial state can be reduced, thereby reducing the overall volume of the interventional surgical robot at the end.

[0076] Please see Figure 4 As shown, in this embodiment, the front-end drive device 51 further includes a pressure detection element 514, which is installed at the power output end of the first drive element 512. It is used to detect the delivery force of the catheter 3 and the straightening state of the catheter 3 during delivery. In this embodiment, the pressure detection element 514 is a torque sensor. Since the load on the torque sensor is light and is not affected by the acceleration and deceleration of the intervention robot from the end, the detected force is more accurate. When the torque detected by the torque sensor suddenly increases, it is determined that the catheter 3 is in a straightening state.

[0077] In other embodiments, the interventional robot further includes sensing components (not shown in the figure) at the end. These sensing components are mounted on the drive device connected to the catheter delivery mechanism 11 and the drive device connected to the catheter rotation mechanism 12, and are used to detect the straightening state of the catheter 3. Specifically, the two sensing components are respectively mounted on the front-end drive device 51 on which the catheter delivery mechanism 11 is installed and the first drive device 52 on which the catheter rotation mechanism 12 is installed. When both sensing components simultaneously detect a change in the delivery force with approximately the same magnitude of change, the catheter 3 is in a straightened state.

[0078] Please see Figure 1 , Figure 2 As shown, the catheter 3 is mounted on the catheter control device 1 in a bent state. The catheter 3 is delivered forward by the catheter delivery mechanism 11 located at the front drive device 51 until the catheter 3 between the front drive device 51 and the first drive device 52 changes from a bent state to a straight state. At the moment the catheter 3 is straightened, the pressure detection element 514 or the sensing component detects that the catheter 3 has been straightened, and the first drive device 52 moves along the guide device 61 toward the front drive device 51, synchronously delivering the straightened catheter 3 / guidewire 4 with the catheter delivery mechanism 11.

[0079] Embodiment 2 of the interventional surgical robot of this application.

[0080] Please see Figure 8 As shown, the difference between this embodiment and Embodiment 1 is that it also includes a rear-end drive device 54 that is slidably mounted on the guide device 61, and the guide wire rotation mechanism 22 is mounted on the rear-end drive device 54.

[0081] Please see Figure 6 , Figure 7 As shown, the guide wire rotation mechanism 22 in Embodiment 2 has the same structure as the guide wire rotation mechanism 22 in Embodiment 1, including a torque controller 221 and a transmission component 222. The transmission component 222 is mounted on the torque controller 221 and serves as the power input component of the torque controller 221.

[0082] The rear drive device 54 is provided with a second drive member (not shown in the figure). The power output end of the second drive member is connected to the transmission member 222. The second drive member drives the transmission member 222 to rotate, thereby causing the torque controller 221 to rotate as a whole, and causing the guide wire 4 to rotate accordingly.

[0083] The guidewire 4 is inserted through the catheter 3. After the rear end of the guidewire 4 extends out of the catheter 3, it is clamped in the guidewire delivery mechanism 21. After the end of the guidewire 4 extends towards the rear drive device 54, the end of the guidewire 4 is connected to the guidewire rotation mechanism 22.

[0084] The advantage of this embodiment over Embodiment 1 is that, in this embodiment, since the end of the guidewire 4 extends backward and is not bent, the end utilization rate of the guidewire 4 is higher than that of the guidewire 4 in Embodiment 1.

[0085] Embodiment 3 of the interventional surgical robot of this application.

[0086] Please see Figure 9 , Figure 10 As shown, the difference between this embodiment and Embodiment 1 is that there are two catheters, namely the first catheter 31 and the second catheter 32, the outer diameter of the second catheter 32 is smaller than the inner diameter of the first catheter 31, there are two catheter control devices, namely the first catheter control device 13 and the second catheter control device 14, and there are three drive devices, namely the front end drive device 51, the first drive device 52 and the second drive device 53.

[0087] In this embodiment, the first catheter control device 13 includes a first catheter delivery mechanism 131 and a first catheter rotation mechanism 132, and the second catheter control device 14 includes a second catheter delivery mechanism 141 and a second catheter rotation mechanism 142.

[0088] In this embodiment, the structure of the second driving device 53 is the same as that of the first driving device 52, including a second sliding driving member 531 and a second mounting plate 532. The second sliding driving member 531 is slidably mounted on the guide device 61 and drives the second driving device 53 as a whole to move closer to or away from the front end driving device 51 along the guide device 61. The first mounting plate 532 is connected to the first sliding driving member 531.

[0089] The first catheter rotation mechanism 132 and the second catheter delivery mechanism 141 are mounted on the second mounting plate 532. The second driving device 53 provides a power source to the first catheter rotation mechanism 132 to control the rotation of the first catheter 31; the second driving device 53 provides a power source to the second catheter delivery mechanism 141 to control the delivery of the second catheter 32.

[0090] The first catheter delivery mechanism 131 of the first catheter control device 13 is mounted on the front end drive device 51, and the first catheter rotation mechanism 132 of the first catheter control device 13 is mounted on the second drive device 53; the second catheter delivery mechanism 141 of the second catheter control device 14 is mounted on the second drive device 53, and the second catheter rotation mechanism 142 of the second catheter control device 14 is mounted on the first drive device 52; the guidewire delivery mechanism 21 and the guidewire rotation mechanism 22 are respectively mounted on the first drive device 52.

[0091] The front end of the first catheter 31 is clamped in the first catheter delivery mechanism 131, and the end of the first catheter 32 is connected to the first catheter rotation mechanism 132. The front end of the second catheter 32 is clamped in the second catheter delivery mechanism 141, and the end of the second catheter 32 is connected to the second catheter rotation mechanism 142. The tip of the second catheter 32 passes through the first catheter rotation mechanism 132 into the first catheter 31. The second catheter 32 enters or exits the first catheter 31 under the drive of the second catheter delivery mechanism 141. The guidewire 4 is clamped in the guidewire delivery mechanism 21. The front end of the guidewire 4 passes through the second catheter rotation mechanism 142 into the second catheter 32, and then passes through the first catheter rotation mechanism 132 into the first catheter 31. The guidewire 4 enters or exits the first catheter 31 and the second catheter 32 under the drive of the guidewire delivery mechanism 21. The rear end of the guidewire 4 passes through the guidewire delivery mechanism 21, bends 180°, and then the end of the guidewire 4 is connected to the guidewire rotation mechanism 22.

[0092] In this embodiment, initially, the first conduit 31 is mounted on the first conduit control device 13 in a bent state, and the bent section of the first conduit 31 is located between the front-end drive device 51 and the second drive device 53; the second conduit 32 is mounted on the second conduit control device 14 in a bent state, and the bent section of the second conduit 32 is located between the second drive device 53 and the first drive device 52, as shown below. Figure 9 As shown;

[0093] As the interventional surgical robot operates, the first catheter 31 is delivered forward via the first catheter delivery mechanism 131 located at the front drive unit 51, until the first catheter 31, situated between the front drive unit 51 and the second drive unit 53, changes from a bent state to a straightened state. Figure 10 As shown.

[0094] The pressure detection device in Embodiment 3 has the same structure as the pressure detection device in Embodiment 1. In this embodiment, the interventional surgical robot further includes a first pressure detection device and a second pressure detection device at the end. The first pressure detection device is disposed at the power output end of the first drive member of the first catheter delivery mechanism 131 and is used to detect the straightening state of the first catheter 31. The second pressure detection device is disposed at the power output end of the first drive member of the second catheter delivery mechanism 141 and is used to detect the straightening state of the second catheter 32. In this embodiment, both the first and second pressure detection devices are torque sensors. When the torque detected by the torque sensor suddenly increases, it is determined that the corresponding catheter is in a straightening state.

[0095] In other embodiments, the interventional surgical robot further includes a first sensing component, a second sensing component, a third sensing component, and a fourth sensing component at the slave end; the first sensing component is mounted on the front-end drive device 51 on which the first catheter delivery mechanism 131 is mounted, and the second sensing component is mounted on the second drive device 53 on which the first catheter rotation mechanism 132 is mounted. The first and second sensing components cooperate to detect the straightening state of the first catheter 31; the third sensing component is mounted on the second drive device 53 on which the second catheter delivery mechanism 141 is mounted, and the fourth sensing component is mounted on the first drive device 52 on which the second catheter rotation mechanism 142 is mounted. The third and fourth sensing components cooperate to detect the straightening state of the second catheter 32; when both sensing components detecting the same catheter simultaneously detect a change in delivery force with the same magnitude of change, the corresponding catheter is in a straightening state.

[0096] In the initial state, the first catheter 31 is installed on the first catheter control device 13 in a bent state, and the second catheter 32 is installed on the second catheter control device 14 in a bent state, as follows. Figure 9 As shown, the first conduit 31 is delivered forward by the first conduit delivery mechanism 131 located at the front end drive device 51 until the first conduit 31 between the front end drive device 51 and the second drive device 53 changes from a bent state to a straight state.

[0097] At the instant the first conduit 31 is straightened, the first pressure detection element detects that the torque of the first conduit 31 suddenly increases, or the first sensing component and the second sensing component simultaneously detect that the delivery force of the first conduit 31 changes at the same time and the magnitude of the change is approximately the same. The second driving device 53 delivers along the guide device 61 towards the direction close to the front driving device 51, and delivers the straightened first conduit 31 / guidewire 4 synchronously with the first conduit delivery mechanism 131.

[0098] The second conduit 32 is delivered forward by the second conduit delivery mechanism 141 located in the second drive device 53 until the second conduit 32 between the second drive device 53 and the first drive device 52 changes from a bent state to a straight state.

[0099] At the instant the second conduit 32 is straightened, the second pressure detection element detects a sudden increase in the torque of the second conduit 32, or the third and fourth sensing components simultaneously detect a change in the delivery force of the second conduit 32 with approximately the same magnitude. The first drive device 52 then delivers the second conduit 32 / guidewire 4 in a direction closer to the second drive device 53 along the guide device 61, synchronously delivering the straightened second conduit 32 / guidewire 4 with the second conduit delivery mechanism 141. Figure 10 As shown.

[0100] In this embodiment, each catheter of the interventional surgical robot is correspondingly disposed in a catheter control device, and the tip of one catheter is inserted into the end of the previous catheter. The catheter enters or exits the lumen of the previous catheter under the drive of the catheter delivery mechanism, thereby realizing the continuity of the catheter connection to the surgical robot. By setting multiple sets of catheter and catheter control device combinations and guidewire and guidewire control device, the continuous rotational delivery of the catheter and guidewire of the interventional surgical robot is realized.

[0101] Embodiment 4 of the interventional surgical robot of this application.

[0102] The interventional surgical robot also includes multiple drive devices, each of which is used to provide a power source for the guidewire control device and / or the catheter control device; the catheter delivery mechanism and the catheter rotation mechanism of each catheter control device are respectively mounted on two adjacent drive devices; the guidewire delivery mechanism and the guidewire rotation mechanism are respectively mounted on two adjacent drive devices.

[0103] Please see Figure 11 As shown, in this embodiment, there are two catheters, namely a first catheter 31 and a second catheter 32; there are two catheter control devices, namely a first catheter control device 13 and a second catheter control device 14; and there are four drive devices, namely a front-end drive device 51, a first drive device 52, a second drive device 53 and a rear-end drive device 54.

[0104] The first catheter delivery mechanism 131 of the first catheter control device 13 is mounted on the front end drive device 51, and the first catheter rotation mechanism 132 of the first catheter control device 13 is mounted on the second drive device 53; the second catheter delivery mechanism 141 of the second catheter control device 14 is mounted on the second drive device 53, and the second catheter rotation mechanism 142 of the second catheter control device 14 is mounted on the first drive device 52; the guidewire delivery mechanism 21 is mounted on the first drive device 52; and the guidewire rotation mechanism 22 is mounted on the rear end drive device 54.

[0105] The front end of the first catheter 31 is clamped in the first catheter delivery mechanism 131, and the end of the first catheter 32 is connected to the first catheter rotation mechanism 132. The front end of the second catheter 32 is clamped in the second catheter delivery mechanism 141, and the end of the second catheter 32 is connected to the second catheter rotation mechanism 142. The tip of the second catheter 32 passes through the first catheter rotation mechanism 132 into the first catheter 31. The second catheter 32 enters or exits the first catheter 31 under the drive of the second catheter delivery mechanism 141. The guidewire 4 is clamped in the guidewire delivery mechanism 21. The front end of the guidewire 4 passes through the second catheter rotation mechanism 142 into the second catheter 32, and then passes through the first catheter rotation mechanism 132 into the first catheter 31. The guidewire 4 enters or exits the first catheter 31 and the second catheter 32 under the drive of the guidewire delivery mechanism 21. The rear end of the guidewire 4 is clamped in the guidewire delivery mechanism 21. After the end of the guidewire 4 extends towards the rear drive device 54, the end of the guidewire 4 is connected to the guidewire rotation mechanism 22.

[0106] Please see Figure 11 As shown, the difference between this embodiment and embodiment three is that it also includes a rear-end drive device 54 that is slidably mounted on the guide device 61, and the guide wire rotation mechanism 22 is mounted on the rear-end drive device 54.

[0107] Please see Figure 6 , Figure 7 As shown, the guide wire rotation mechanism 22 in Embodiment 4 has the same structure as the guide wire rotation mechanism 22 in Embodiment 3, including a torque controller 221 and a transmission component 222. The transmission component 222 is mounted on the torque controller 221 and serves as the power input component of the torque controller 222.

[0108] The guidewire 4 passes through the first catheter 31 and the second catheter 32. The rear end of the guidewire 4 extends out of the second catheter 32 and is clamped in the guidewire delivery mechanism 21. After the end of the guidewire 4 extends towards the rear drive device 54, the end of the guidewire 4 is connected to the guidewire rotation mechanism 22.

[0109] The rear drive device 54 is provided with a second drive member (not shown in the figure). The power output end of the second drive member is connected to the transmission member 222. In this embodiment, the second drive member drives the transmission member to rotate, thereby causing the torque controller 221 to rotate as a whole, and causing the guide wire 4 to rotate accordingly.

[0110] The advantage of this embodiment over Embodiment 3 is that, in this embodiment, since the end of the guidewire 4 extends backward and is not bent, the end utilization rate of the guidewire 4 is higher than that of the guidewire 4 in Embodiment 3.

[0111] Embodiment 5 of the interventional surgical robot of this application.

[0112] The difference between this embodiment and Embodiment 1 is that the interventional surgical robot includes at least two catheter control devices at the end; the head end of the catheter is inserted into the end of the previous catheter, and the catheter enters or exits the previous catheter under the drive of the catheter delivery mechanism.

[0113] Please see Figure 12 As shown, in this embodiment, there are three catheters, namely the first catheter 31, the second catheter 32 and the third catheter 33; there are three catheter control devices, namely the first catheter control device 13, the second catheter control device 14 and the third catheter control device 15; and there are four drive devices, namely the front end drive device 51, the first drive device 52, the second drive device 53 and the third drive device 55.

[0114] The first catheter delivery mechanism 131 of the first catheter control device 13 is mounted on the front end drive device 51, and the first catheter rotation mechanism 132 of the first catheter control device 13 is mounted on the second drive device 53; the second catheter delivery mechanism 141 of the second catheter control device 14 is mounted on the second drive device 53, and the second catheter rotation mechanism 142 of the second catheter control device 14 is mounted on the third drive device 55; the third catheter delivery mechanism 151 of the third catheter control device 15 is mounted on the third drive device 55, and the third catheter rotation mechanism 152 of the third catheter control device 15 is mounted on the first drive device 52; the guidewire delivery mechanism 21 and the guidewire rotation mechanism 22 are respectively mounted on the first drive device 52.

[0115] In this embodiment, the structure of the third driving device 55 is the same as that of the first driving device 52, including a third sliding driving member 551 and a third mounting plate 552. The third sliding driving member 551 is slidably mounted on the guide device 61 and drives the third driving device 55 as a whole to move closer to or away from the front-end driving device 51 along the guide device 61. The third mounting plate 552 is connected to the third sliding driving member 551.

[0116] The front end of the first catheter 31 is clamped in the first catheter delivery mechanism 131, and the end of the first catheter 32 is connected to the first catheter rotation mechanism 132; the front end of the second catheter 32 is clamped in the second catheter delivery mechanism 141, and the end of the second catheter 32 is connected to the second catheter rotation mechanism 142; the tip of the second catheter 32 passes through the first catheter rotation mechanism 132 into the first catheter 31, and the second catheter 32 enters or exits the first catheter 31 under the drive of the second catheter delivery mechanism 141; the front end of the third catheter 33 is clamped in the third catheter delivery mechanism 151, and the end of the third catheter 33 is connected to the third catheter rotation mechanism 152; the tip of the third catheter 33 passes through the second catheter rotation mechanism 142 into the second catheter 32, and... The first catheter 31 is inserted through the first catheter rotation mechanism 132. The third catheter 33 enters or exits the second catheter 32 and the first catheter 31 under the drive of the third catheter delivery mechanism 151. The guidewire 4 is clamped in the guidewire delivery mechanism 21. The front end of the guidewire 4 is inserted into the third catheter 32 through the third catheter rotation mechanism 152, then into the second catheter 32 through the second catheter rotation mechanism 142, and finally into the first catheter 31 through the first catheter rotation mechanism 132. The guidewire 4 enters or exits the first catheter 31, the second catheter 32 and the third catheter 33 under the drive of the guidewire delivery mechanism 21. The rear end of the guidewire 4 passes through the guidewire delivery mechanism 21, bends 180° and then connects to the guidewire rotation mechanism 22.

[0117] In other embodiments, there are n catheter control devices, n catheters, the outer diameter of the catheter is smaller than the inner diameter of the previous catheter, the head end of the catheter is inserted into the end of the previous catheter, and the catheter enters or exits the previous catheter under the drive of the catheter control device.

[0118] Each catheter is installed on a corresponding catheter control device, and the drive device includes a front end drive device, a first drive device, and (n-1) drive devices disposed between the front end drive device and the first drive device.

[0119] In this embodiment, n is a natural number, and the number of n is at least 2.

[0120] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. An interventional surgical robot, characterized in that, The interventional surgical robot includes a guidewire control device and at least one catheter control device at the distal end; Each of the catheter control devices includes a catheter delivery mechanism and a catheter rotation mechanism, wherein the catheter delivery mechanism is used to drive the delivery of the catheter and the catheter rotation mechanism is used to drive the rotation of the catheter; One of the catheters is mounted on one of the catheter control devices, the front end of the catheter is clamped in the catheter delivery mechanism, and the end of the catheter is connected to the catheter rotation mechanism; The guidewire control device includes a guidewire delivery mechanism and a guidewire rotation mechanism. The guidewire delivery mechanism is used to drive the delivery of the guidewire, and the guidewire rotation mechanism is used to drive the rotation of the guidewire. The guidewire is inserted into the catheter, and the rear end of the guidewire extends out of the catheter and is clamped in the guidewire delivery mechanism. The end of the guidewire is connected to the guidewire rotation mechanism.

2. The interventional surgical robot according to claim 1, characterized in that, The interventional surgical robot also includes multiple drive devices at the end, each of which is used to provide a power source for the guidewire control device and / or the catheter control device; The catheter delivery mechanism and the catheter rotation mechanism of each catheter control device are respectively mounted on two adjacent drive devices; The guidewire delivery mechanism and the guidewire rotation mechanism are mounted on the same drive device. The rear end of the guidewire passes through the guidewire delivery mechanism, and after bending, the end of the guidewire is connected to the guidewire rotation mechanism.

3. The interventional surgical robot according to claim 2, characterized in that, The number of catheters is two, namely a first catheter and a second catheter; the number of catheter control devices is two, namely a first catheter control device and a second catheter control device; the number of drive devices is three, namely a front-end drive device, a first drive device and a second drive device. The first catheter delivery mechanism of the first catheter control device is mounted on the front end drive device, and the first catheter rotation mechanism of the first catheter control device is mounted on the second drive device; the second catheter delivery mechanism of the second catheter control device is mounted on the second drive device, and the second catheter rotation mechanism of the second catheter control device is mounted on the first drive device; the guidewire delivery mechanism and the guidewire rotation mechanism are respectively mounted on the first drive device. The front end of the first catheter is clamped in the first catheter delivery mechanism, and the end of the first catheter is connected to the first catheter rotation mechanism; the front end of the second catheter is clamped in the second catheter delivery mechanism, and the end of the second catheter is connected to the second catheter rotation mechanism; the tip of the second catheter passes through the first catheter rotation mechanism and is inserted into the first catheter; the second catheter enters or exits the first catheter under the drive of the second catheter delivery mechanism; the guidewire is clamped in the guidewire delivery mechanism, and the front end of the guidewire passes through the second catheter rotation mechanism and is inserted into the second catheter, and then passes through the first catheter rotation mechanism and is inserted into the first catheter; the guidewire enters or exits the first and second catheters under the drive of the guidewire delivery mechanism; the rear end of the guidewire passes through the guidewire delivery mechanism, and after bending, the end of the guidewire is connected to the guidewire rotation mechanism.

4. The interventional surgical robot according to claim 1, characterized in that, The interventional surgical robot also includes multiple drive devices at the end, each of which is used to provide a power source for the guidewire control device and / or the catheter control device; The catheter delivery mechanism and the catheter rotation mechanism of each catheter control device are respectively mounted on two adjacent drive devices; The guidewire delivery mechanism and the guidewire rotation mechanism are respectively mounted on two adjacent drive devices.

5. The interventional surgical robot according to claim 2 or 4, characterized in that, One of the catheters is mounted on a catheter control device in a bent state.

6. The interventional surgical robot according to claim 5, characterized in that, The catheter delivery mechanism includes a roller assembly for clamping the catheter and driving the catheter forward and backward; the driving device includes a first driving member, the power output end of the first driving member being connected to the power input end of the roller assembly.

7. The interventional surgical robot according to claim 6, characterized in that, The driving device further includes a pressure detection element, which is installed at the power output end of the first driving element and is used to detect the straightening state of the conduit.

8. The interventional surgical robot according to claim 5, characterized in that, The interventional surgical robot also includes a sensing component at the end, which is mounted on the drive device connected to the catheter delivery mechanism and the drive device connected to the catheter rotation mechanism, for detecting the straightening state of the catheter.

9. The interventional surgical robot according to claim 2 or 4, characterized in that, The interventional surgical robot includes at least two catheter control devices at the distal end; The tip of the catheter is inserted into the end of the previous catheter, and the catheter enters or exits the previous catheter under the drive of the catheter delivery mechanism.

10. The interventional surgical robot according to claim 2 or 4, characterized in that, The guide wire rotation mechanism includes a torque controller mounted at the end of the guide wire. The torque controller is used to clamp the guide wire and drive it to rotate. The driving device also includes a second driving member. The power output end of the second drive component is connected to the power input end of the torque controller.

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