Modular vascular interventional device and method of operation

Abstract

The present application relates to the technical field of medical devices, and provides a modular vascular interventional device and an operating method, the modular vascular interventional device comprising: a first execution module, a second execution module, a third execution module, a fourth execution module and a base; the first execution module, the second execution module, the third execution module and the fourth execution module are interchangeably arranged on the base in a first direction and are detachably arranged on the base; the first execution module, the second execution module, the third execution module and the fourth execution module are respectively used for executing corresponding surgical tools to move in the first direction. In this way, the four execution modules and the base are modularized, and the modules are detachably spliced, so as to meet different application scenarios, expand the application scenarios and improve the coverage of the whole process of the vascular interventional surgery.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a modular vascular interventional device and its operating method. Background Technology

[0002] A vascular interventional device is a mechanical instrument used to perform vascular interventions. Compared to traditional manual vascular interventional procedures, vascular interventional devices offer higher accuracy, reliability, and precision, along with better operability. Furthermore, they can be remotely controlled, avoiding operator exposure to X-rays.

[0003] Existing vascular interventional devices typically have relatively fixed execution structures, allowing interventions to be performed only based on the existing device structure. They can usually only perform one or two tubes and one wire, limiting their application scenarios and providing insufficient coverage of the entire vascular interventional procedure, with only a single applicable surgical procedure.

[0004] Therefore, a modular vascular interventional device and operation method are needed to meet the needs of single-tube-wire, double-tube-wire, or triple-tube-wire interventional procedures, expand application scenarios, and improve coverage of the entire vascular interventional surgery process. Summary of the Invention

[0005] This invention provides a modular vascular interventional device and its operation method, which can meet the operation requirements of one-tube-one-wire, two-tube-one-wire, or three-tube-one-wire procedures, expanding the application scenarios and improving the coverage of the entire vascular interventional surgery process.

[0006] The modular vascular interventional device includes: a first execution module, a second execution module, a third execution module, a fourth execution module, and a base;

[0007] The first execution module, the second execution module, the third execution module, and the fourth execution module are interchangeably and detachably mounted on the base along a first direction;

[0008] The first execution module, the second execution module, the third execution module, and the fourth execution module are respectively used to execute the movement of the corresponding surgical tools along the first direction.

[0009] Optionally, the first execution module, the second execution module, the third execution module and the fourth execution module are all disposed on the base, and each execution module is used to sequentially execute the movement of the first catheter, the second catheter, the third catheter and the guidewire along the first direction.

[0010] Optionally, when at least one of the first, second, third, and fourth execution modules is disposed on the base, it can move along the first direction.

[0011] Optionally, along the first direction, the execution module closest to the positive side of the first direction is fixed on the base, while the remaining execution modules are movable along the first direction and disposed on the base.

[0012] Optionally, at least one of the first execution module, the second execution module, the third execution module, and the fourth execution module includes a propulsion component, which is used to drive the corresponding surgical tool to move and / or rotate along the first direction.

[0013] Optionally, at least one execution module further includes a shield for covering the propulsion assembly, the shield having a channel for a surgical instrument to pass through in the first direction.

[0014] Optionally, the propulsion assembly includes a clamping member that is movable relative to the base in a first direction, the clamping member being used to clamp or release surgical instruments.

[0015] Optionally, the propulsion assembly further includes a rotating member, which is rotatably disposed relative to the base. The rotation axis of the rotating member is parallel to the first direction. The clamping member is disposed on the rotating member, and the clamping member can drive the clamped surgical tool to rotate when it rotates with the rotating member.

[0016] Optionally, the propulsion assembly is provided in two sets along the first direction, and the two sets of propulsion assemblies are used to clamp the surgical tool in sequence to alternately drive the clamped surgical tool along the first direction.

[0017] Optionally, the propulsion assembly further includes a first force sensor connected between the rotating member and the clamping member, for detecting the force acting on the clamping member along a first direction; and / or, for detecting the torque acting on the clamping member as it rotates with the rotating member.

[0018] Optionally, the propulsion assembly further includes a rotating wheel, at least a portion of the outer contour of the rotating member is an arc-shaped contour, at least two rotating wheels are provided and supported on the arc-shaped contour, the central axis of the arc-shaped contour, the central axis of the rotating wheel and the rotation axis of the rotating member are parallel, at least one of the rotating wheels can rotate actively, thereby driving the rotating member to rotate around its rotation axis.

[0019] Optionally, the arcuate profile has flanges on both axial sides, and the rotating wheel is located between the two flanges; and / or, the rotating member is semi-circular, and the outer circumferential surface of the rotating member serves as the arcuate profile; the clamping member is disposed inside the rotating member; and / or, the central axis of the rotating member is collinear with its rotation axis; and / or, the notch of the rotating member faces away from the mounting base.

[0020] Optionally, the modular vascular interventional device further includes a drive mechanism, wherein at least one execution module is connected to the drive mechanism to drive the execution module to move along the first direction; the drive mechanism includes a screw and a nut, the central axis of the screw is parallel to the first direction, the screw is rotatably mounted on the base along its own central axis, the nut is threadedly engaged with the screw, and the nut is connected to an execution module.

[0021] Optionally, the modular vascular interventional device further includes a second force sensing module, which is connected between the nut and the execution module connected to the nut, for detecting the force exerted by the execution module along the first direction.

[0022] Optionally, the modular vascular interventional device further includes a protection module, which is disposed between any two adjacent execution modules. The protection module has a guide hole that extends through it along the first direction, through which surgical tools pass to maintain the stability of the surgical tools.

[0023] The present invention also provides an operating method, comprising the following steps:

[0024] Of the first execution module, the second execution module, the third execution module, and the fourth execution module, at least two execution modules are selected and installed sequentially on the base along the first direction;

[0025] The execution module mounted on the base drives the surgical tools to move and / or rotate along the first direction.

[0026] Optionally, the first execution module, the second execution module, the third execution module, and the fourth execution module are all mounted on the base. Along the first direction, each execution module is used to sequentially execute the movement of the first catheter, the second catheter, the third catheter, and the guidewire along the first direction.

[0027] With this configuration, the modular vascular interventional device of the present invention achieves modularity through four execution modules and a base to meet different application scenarios. The four execution modules are interchangeable and detachably mounted on the base, allowing for adaptive selection of the number of execution modules mounted on the base based on the number of surgical tools. For example, if the surgical tool is a single tube and wire, two execution modules are mounted on the base; if it is a two-tube and wire, three execution modules are mounted; and if it is a three-tube and wire, four execution modules are mounted. This expands the application scenarios and improves the coverage of the entire vascular interventional procedure. Furthermore, the series layout allows the interventional device to adapt to different sizes or heights of the target patient and to surgical tools of different lengths. Attached Figure Description

[0028] Figure 1 This is a schematic diagram illustrating an application scenario of Embodiment 1 of the present invention;

[0029] Figure 2 This is a schematic diagram of the modular vascular interventional device according to Embodiment 1 of the present invention;

[0030] Figure 3 This is a schematic diagram of the structure of the surgical tool of the present invention;

[0031] Figure 4 This is a schematic diagram of the rotation structure of the execution wheel in Embodiment 1 of the present invention;

[0032] Figure 5 This is a schematic diagram of the axial movement structure of the actuator wheel in Embodiment 1 of the present invention;

[0033] Figure 6 This is a schematic diagram of the propulsion component according to Embodiment 1 of the present invention. Figure 1 ;

[0034] Figure 7 This is a schematic diagram of the propulsion component according to Embodiment 1 of the present invention. Figure 2 ;

[0035] Figure 8 This is a schematic diagram of the drive mechanism according to Embodiment 1 of the present invention. Figure 1 ;

[0036] Figure 9 This is a schematic diagram of the drive mechanism according to Embodiment 1 of the present invention. Figure 2 ;

[0037] Figure 10 This is a partial structural diagram of the drive mechanism according to Embodiment 1 of the present invention;

[0038] Figure 11 This is another structural schematic diagram of the propulsion component according to Embodiment 1 of the present invention;

[0039] Figure 12 for Figure 11 A schematic diagram of the internal structure of the propulsion component;

[0040] Figure 13 for Figure 11 Another structural diagram of the propulsion component;

[0041] Figure 14 for Figure 11 A schematic diagram of the drive mechanism of the propulsion component;

[0042] Figure 15 This is a schematic diagram of the modular vascular interventional device according to Embodiment 2 of the present invention;

[0043] Figure 16 This is a schematic diagram of the modular vascular interventional device according to Embodiment 3 of the present invention;

[0044] Figure 17 This is a schematic diagram of the modular vascular interventional device according to Embodiment 4 of the present invention;

[0045] Figure 18 This is a schematic diagram of the modular vascular interventional device according to Embodiment 5 of the present invention;

[0046] Figure 19 This is a schematic diagram of the modular vascular interventional device according to Embodiment Six of the present invention.

[0047] The reference numerals in the attached figures are as follows:

[0048] 10-First execution module; 11-Propulsion assembly; 111-Execution wheel; 112-Clamping component; 113-Rotating component; 1131-Arc-shaped profile; 1132-Side flange; 114-Mounting base; 115-Rotating wheel; 116-First force sensor; 1171-Rotating component drive motor; 1172-Drive pulley; 1173-Driven pulley; 1174-Intermediate gear; 1175-First gear; 1176-Second gear; 1177-First belt; 118-Sliding groove; 12-Shielding component; 121-Lower housing; 1211-Lower groove; 122-Upper housing; 1221-Upper groove; 1222-Handle;

[0049] 20 - Second Execution Module;

[0050] 30 - Third Execution Module;

[0051] 40 - Fourth Execution Module;

[0052] 50 - Base; 51 - Guide rail;

[0053] 60 - Protection module; 61 - Guide hole; 62 - Guide plate;

[0054] 70 - Guide shaft;

[0055] 80-Drive mechanism; 81-Screw; 82-Nut; 83-Bearing housing; 84-Driving gear; 85-Driven gear; 86-Screw motor; 87-First side plate; 88-Second side plate; 891-First pulley; 892-Second pulley; 893-Second belt; 894-Encoder;

[0056] 91-First catheter; 92-Second catheter; 93-Third catheter; 94-Guidewire; 95-Second force sensing module; 96-; 97-;

[0057] 100 - Robotic arm; 110 - Interventional bed; 120 - Target object;

[0058] a - First direction; b - Second direction. Detailed Implementation

[0059] The modular vascular interventional device proposed in this invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of this invention will become clearer from the following description. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of this invention.

[0060] In this invention, "outer diameter" and "inner diameter" refer to the diameter of a circular structure, while for a non-circular structure, the inner diameter refers to the diameter of its inscribed circle and the outer diameter refers to the diameter of its circumscribed circle. "Axial direction" refers to the direction of the central axis of a cylindrical rod, while for a non-cylindrical rod, the axial direction refers to the length direction of the rod.

[0061] As used in this invention, the singular forms “a,” “an,” and “the” include plural objects; the term “or” is generally used to mean “and / or”; the term “a number” is generally used to mean “at least one”; and the term “at least two” is generally used to mean “two or more”. Furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with “first,” “second,” or “third” may explicitly or implicitly include one or at least two of that feature. Additionally, as used in this invention, “installed,” “connected,” “joined,” and “set” on one element by another should be interpreted broadly, generally indicating only a connection, coupling, mating, or transmission relationship between the two elements, which can be direct or indirect through an intermediate element. They should not be construed as indicating or implying a spatial positional relationship between the two elements, i.e., one element can be located inside, outside, above, below, or to one side of another element, unless otherwise explicitly stated. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances. Furthermore, directional terms such as above, below, up, down, upward, downward, left, right, etc., are used relative to exemplary embodiments as shown in the figures, with upward or up direction pointing towards the top of the corresponding figure, and downward or down direction pointing towards the bottom of the corresponding figure.

[0062] Example 1:

[0063] This embodiment provides a modular vascular interventional device, including: four execution modules, namely a first execution module 10, a second execution module 20, a third execution module 30, a fourth execution module 40, and a base 50; the first execution module 10, the second execution module 20, the third execution module 30, and the fourth execution module 40 are respectively arranged sequentially, interchangeably, and detachably on the base 50 along a first direction a;

[0064] The first execution module 10, the second execution module 20, the third execution module 30 and the fourth execution module 40 are respectively used to execute the movement of the corresponding surgical tools along the first direction a; here, executing surgical tools specifically refers to catheters and guidewires in vascular interventional surgery.

[0065] In this embodiment, the execution module refers to one or more of the first execution module 10, the second execution module 20, the third execution module 30, and the fourth execution module 40.

[0066] Please refer to Figure 1The diagram shows an application scenario of the interventional device. The modular vascular interventional device is mounted on the robotic arm 100, which is mounted on the interventional bed 110. The target object 120 is located on the interventional bed 110. The robotic arm 100 drives the modular vascular interventional device to change its orientation to a suitable position, and then executes the interventional movements of surgical tools such as catheters or guidewires in sequence through various execution modules. The target object 120 does not specifically refer to a human body; it can be a mold or an animal.

[0067] The four execution modules are interchangeable and detachably mounted on the base 50. The number of execution modules installed on the base 50 can be adaptively selected based on the number of surgical tools. For example, if the surgical tool is a single tube and wire, two execution modules are selected and installed on the base 50; if the surgical tool is a double tube and wire, three execution modules are selected and installed on the base 50; and if the surgical tool is a triple tube and wire, four execution modules are selected and installed on the base 50.

[0068] Please refer to Figure 2 As shown, in this embodiment, the first execution module 10, the second execution module 20, the third execution module 30, and the fourth execution module 40 are all mounted on the base 50 to match the execution scenario of a three-tube-one-wire system. Preferably, a guide rail 51 extending along a first direction a is provided on the base 50. Each execution module can be respectively positioned on the guide rail 51 along the first direction a. The guide rail 51 can be a rectangular track, a dovetail track, or other known shapes. For example, if the guide rail 51 is a dovetail track, a dovetail groove that mates with the track 51 can be adapted to be provided on the execution module. The execution module can slide along the guide rail 51 until its end disengages from the track 51, thereby achieving disassembly of the execution module.

[0069] Figure 2 In this process, along the first direction a from the forward to the reverse direction, each execution module is used to sequentially execute the movement of the first catheter 91, the second catheter 92, the third catheter 93, and the guidewire 94 along the first direction a. Here, "from the forward to the reverse direction" in the first direction a does not limit the actual direction; "from the forward to the reverse direction" refers to the opposite sides of the first direction a. Figure 1 In the application scenario, the positive direction of the first direction a refers to the side closer to the target object 120, and the negative direction of the first direction a refers to the side farther away from the target object 120.

[0070] Figure 2In the first execution module 10, the second execution module 20, the third execution module 30 and the fourth execution module 40 are arranged in order from the positive to the negative direction of the first direction a. The first execution module 10 is used to execute the first catheter 91, the second execution module 20 is used to execute the second catheter 92, the third execution module 30 is used to execute the third catheter 93 and the fourth execution module 40 is used to execute the guidewire 94. In the actual intervention process, the first catheter 91 corresponds to the guiding catheter, the second catheter 92 corresponds to the intermediate catheter, and the third catheter 93 corresponds to the microcatheter. The inner diameter of the first catheter 91 is larger than the outer diameter of the second catheter 92, the inner diameter of the second catheter 92 is larger than the outer diameter of the third catheter 93, and the inner diameter of the third catheter 93 is larger than the outer diameter of the guidewire 94. The first catheter 91 is on the outermost layer and has the largest inner diameter, mainly playing a supporting and guiding role, which can quickly establish a surgical channel. The second catheter 92 is in the middle and is fitted inside the first catheter 91. Its main function is to reach the vascular segment that the first catheter 91 cannot pass through, and play a supporting and guiding role in these places. The third catheter 93 and the guidewire 94 advance alternately. After the third catheter 93 extends from the end of the second catheter 92, it can support and guide the guidewire 94 to reach the target position. The guidewire 94 is the carrier of the vascular stent or embolization coil, which can deliver the vascular stent or embolization coil to the designated position.

[0071] Please combine Figure 2 and Figure 3 As shown, the second catheter 92 is fitted inside the first catheter 91, the third catheter 93 is fitted inside the second catheter 92, and the guidewire 94 is fitted inside the third catheter 93, thus forming a guiding function.

[0072] In the actual operation of the three-tube-one-wire procedure, the first execution module 10 first pushes and rotates the first catheter 91; then the first execution module 10 clamps and fixes the first catheter 91, and the second execution module 20 pushes and rotates the second catheter 92; after the second execution module 20 pushes, the first execution module 10 clamps and fixes the first catheter 91, the second execution module 20 clamps and fixes the second catheter 92, and the third execution module 30 pushes and rotates the third catheter 93; finally, the first execution module 10 clamps and fixes the first catheter 91, the second execution module 20 clamps and fixes the second catheter 92, the third execution module 30 clamps and fixes the third catheter 93, and the fourth execution module 40 pushes and rotates the guidewire 94; during the advancement of the third catheter 93 and the rotation of the guidewire 94, the two can be advanced alternately.

[0073] The procedures for intervention with two tubes and one wire and one tube and one wire are similar to those for intervention with three tubes and one wire, and will not be repeated here.

[0074] Furthermore, when at least one of the first execution module 10, the second execution module 20, the third execution module 30, and the fourth execution module 40 is mounted on the base 50, it can move along the first direction a. Depending on the actual usage scenario, one or all execution modules can be selectively moved relative to the base 50 along the first direction a.

[0075] In this embodiment, along the first direction a, the execution module closest to the positive side of the first direction a is fixed on the base 50, while the remaining execution modules are movable along the first direction a and disposed on the base 50. Corresponding to Figure 2 As shown, the first execution module 10 is fixed to the base 50, while the remaining execution modules can be moved along the first direction a. Each of the remaining execution modules is equipped with a drive mechanism 80 to drive its corresponding module to move along the first direction a. The specific structure of the drive mechanism 80 is detailed below. This structure ensures that the execution module closest to the target object 120 is fixed, making the side of the modular vascular interventional device closest to the target object 120 more stable. The other execution modules can move along the first direction a, which allows for better manipulation of surgical tools. Furthermore, by allowing the other execution modules to move along the first direction a, the length of the base 50 along the first direction a can be shortened, for example... Figure 2 First, the second execution module 20 clamps the second catheter 92. Then, the second execution module 20 moves along the first direction a towards the target object 120 to feed the second catheter 92. Then, it releases the second catheter 92. At this point, due to the movement of the second execution module 20, the distance between the second execution module 20 and the third execution module 30 along the first direction a increases, allowing the third execution module 30 to have a larger stroke along the first direction a. The third execution module 30 then clamps the third catheter 93, and then moves along the first direction a towards the target object 120 to feed the third catheter 93. This process is repeated. This arrangement allows for the placement of four execution modules within the limited length of the base 50 without affecting the interventional operation, thus improving space utilization. Furthermore, the tandem layout allows the interventional device to adapt to different sizes or heights of the target object 120, as well as surgical instruments of different lengths.

[0076] Furthermore, in the first execution module 10, the second execution module 20, the third execution module 30, and the fourth execution module 40, each execution module includes a propulsion component 11. The propulsion component 11 is used to drive the corresponding surgical tool to move along the first direction a; at the same time, the propulsion component 11 is also used to drive the surgical tool to rotate while driving the corresponding surgical tool along the first direction a. The specific structure of the propulsion component 11 is not limited here. The structure of the propulsion component 11 corresponding to each execution module can be exactly the same, or the structure of the propulsion component 11 can be adapted to the needs of the surgical tools corresponding to each execution module, so that the structure of the propulsion component 11 corresponding to each execution module is different.

[0077] Please continue to refer to this. Figure 2 As shown, in this embodiment, the propulsion component 11 includes two structural forms: a first propulsion component and a second propulsion component. In this embodiment, the first execution module 10, the second execution module 20, and the third execution module 30 have the same structure, so the corresponding propulsion component 11 is the first propulsion component structure. All of the above execution modules are used to propel the catheter. The propulsion component 11 in the fourth execution module 40 is the second propulsion component structure, and this execution module is used to propel the guidewire.

[0078] Please refer to Figures 4 to 7 The diagram shows the structure of the first execution module 10, the second execution module 20, and the third execution module 30.

[0079] The explanation will be based on the first execution module 10 as an example;

[0080] Please refer to Figure 4 As shown, the first execution module 10 includes a propulsion assembly 11, which includes a pair of rotatable execution wheels 111 arranged along a second direction b, perpendicular to the first direction a. The axes of the two execution wheels 111 are parallel, and the two execution wheels 111 are used to clamp surgical instruments along the second direction b. At least one of the two execution wheels 111 can actively rotate to drive the clamped surgical instrument to move along the first direction a. One execution wheel 111, as the driving wheel, can be driven to rotate by a motor, while the other execution wheel, as the driven wheel, can rotate freely. When the driving wheel is driven to rotate, the adaptive reverse rotation of the driven wheel can drive the catheter clamped between the two execution wheels 111 to move along the first direction a. By controlling the forward or reverse rotation of the driving execution wheel 111, the catheter can be adaptively fed or retracted along the first direction a.

[0081] In other alternative embodiments, the two actuators 111 can each be driven to rotate by a motor, or they can be equipped with a motor and a transmission system. The motor can transmit power to the two actuators 111 through the transmission system to drive the two actuators 111 to rotate. In this case, it should be noted that the rotation of the two actuators 111 should be opposite. The structure of the transmission system can be a gear pair or other known transmission structure, which will not be described in detail here.

[0082] Please refer to Figure 5 As shown, the actuating wheel 111 can move along its axial direction, so that the surgical tool held between the two actuating wheels 111 rotates. Figure 5 One actuator wheel 111 moves axially downwards, while the other moves axially upwards, causing the first conduit 91, held between them, to rotate. This simulates the action of manually kneading a surgical instrument, allowing the surgical instrument to rotate at an angle to improve the propulsion effect. Specifically, the linear motion of the actuator wheel 111 can be driven by a hydraulic cylinder, a linear motor, or other known linear drive mechanisms, which will not be elaborated here.

[0083] In other alternative embodiments, one of the actuators 111 can be driven to reciprocate axially while the other actuator 111 remains stationary, which can also achieve the purpose of kneading the rotation of the first conduit 91.

[0084] The actuating wheel 111 is preferably made of an elastic material, such as a rubber wheel or other known elastic material that is harmless to the human body. When the actuating wheel 111 is made of an elastic material, the distance between the two actuating wheels 111 can remain constant and is less than the outer diameter of the surgical instrument. In this case, when the surgical instrument is driven, the rotation of the actuating wheel 111 brings the surgical instrument between the two actuating wheels 111, and the outer wall of the actuating wheel 111 adapts to elastic deformation to clamp the surgical instrument. When the actuating wheel 111 is made of a rigid material such as metal, if the gap between the two actuating wheels 111 is not adjustable and the outer wall of the actuating wheel 111 cannot elastically deform, the clamping force may be insufficient or excessive when the two actuating wheels 111 clamp the surgical instrument, causing the surgical instrument to be squeezed and deformed. Therefore, at least one actuating wheel 111 can move radially closer to or further away from the other actuating wheel 111 to clamp or release the surgical instrument, and the clamping force on the surgical instrument can be adjusted to improve the phenomenon of insufficient clamping or excessive clamping force causing deformation of the surgical instrument.

[0085] Furthermore, at least one execution module also includes a shielding element 12, which covers the propulsion assembly 11 to isolate the propulsion assembly 11 from the external environment. The shielding element 12 helps to isolate the working environment of the propulsion assembly 11 from the outside world, providing a sterile barrier for the propulsion assembly 11 and reducing the contamination of the propulsion assembly 11 and the internal surgical instruments by the external environment.

[0086] In this embodiment, the first execution module 10, the second execution module 20, and the third execution module 30 are all equipped with a blocking element 12. In other alternative real-time configurations, the blocking element 12 can be selectively configured in the four execution modules (first execution module 10, second execution module 20, third execution module 30, and fourth execution module 40) based on actual needs.

[0087] For further details, please refer to [link / reference]. Figure 6 and Figure 7 As shown, the shielding member 12 includes a lower housing 121 and an upper housing 122. In this embodiment, both the lower housing 121 and the upper housing 122 are cuboid structures. The lower housing 121 has a mounting cavity with one end open. The lower housing 121 is movable along the first direction a and is mounted on the guide rail 51. When the lower housing 121 is mounted on the guide rail 51, the open end of the lower housing 121 faces away from the base 50. In actual operation, the opening of the lower housing 121 generally faces upward, and the base 50 is located below the lower housing 121.

[0088] The propulsion assembly 11 is installed within the mounting cavity of the lower housing 121, and the upper housing 122 covers the lower housing 121 and blocks the opening of the mounting cavity. Figure 6 and Figure 7 As shown, the upper housing 122 is rotatably connected to the lower housing 121 via a hinge. The upper housing 122 can be rotated relative to the lower housing 121 to open or close the upper housing 122. To facilitate the closing of the upper housing 122, a handle 1222 is also connected to the upper housing 122.

[0089] The shielding member 12 has a channel for a surgical instrument to pass through along a first direction a, and the channel also limits the movement of the surgical instrument in a direction perpendicular to the first direction a. Since the shielding member 12 is composed of a lower housing 121 and an upper housing 122, in this embodiment the channel is formed by the upper housing 122 covering the lower housing 121, with the two housings enclosing each other. For details, please refer to [reference needed]. Figure 7As shown, the lower shell 121 is provided with a lower groove 1211, and the upper shell 122 is provided with an upper groove 1221. When the upper shell 122 covers the lower shell 121, the upper groove 1221 and the lower groove 1211 together form a channel. The lower shell 121 has lower grooves 1211 on both sides of its first direction a, with the openings of the lower grooves 1211 facing upwards, and the two lower grooves 1211 are directly opposite each other along the first direction a. Similarly, the upper shell 122 has upper grooves 1221 on both sides of its first direction a, with the openings of the upper grooves 1221 facing downwards, and the two upper grooves 1221 are directly opposite each other along the first direction a. When the upper housing 122 covers the lower housing 121, the upper groove 1221 and the lower groove 1211 close together, forming a channel to limit the surgical tool held between the two actuators 111. Preferably, the upper groove 1221 and the lower groove 1211 are both triangular grooves, and the bottom of the upper groove 1221 and the lower groove 1211 are rounded.

[0090] In other alternative embodiments, a through hole can be directly formed on the shielding member 12 along the first direction a to form a channel, which will not be described in detail here.

[0091] Since the second execution module 20, the third execution module 30 and the fourth execution module 40 can be moved relative to the base 50 along the first direction a, the above-mentioned execution modules are equipped with a drive mechanism 80 to drive the execution module to move along the first direction a.

[0092] Please refer to Figures 8 to 10 As shown, the cooperation between the second execution module 20 and the third execution module 30 and the drive mechanism 80 will be introduced first here;

[0093] The second execution module 20 and the third execution module 30 cooperate with the drive mechanism 80 in the same way. The drive mechanism 80 is installed on the upper surface of the base 50, and the two drive mechanisms 80 are respectively located on both sides of each execution module along the first direction a perpendicular to the first direction a.

[0094] The second execution module 20 will be used as an example for explanation;

[0095] The drive mechanism 80 includes a screw 81 and a nut 82. The central axis of the screw 81 is parallel to the first direction a. The screw 81 is rotatably mounted on the base 50 along its own central axis. The nut 82 is threadedly engaged with the screw 81 and is connected to an execution module.

[0096] Please refer to the details. Figure 9As shown, the drive mechanism 80 also includes two bearing seats 83, a drive gear 84, a driven gear 85, and a screw motor 86. The two bearing seats 83 are detachably fixed to the base 50, and both ends of the screw 81 are rotatably mounted in the bearing seats 83 via bearings. One end of the screw 81 is driven by the driven gear 85, and the drive gear 84 is driven by the rotor of the screw motor 86. The screw motor 86 is detachably mounted on the base 50, and the drive gear 84 and the driven gear 85 mesh. At this time, the rotor of the screw motor 86 rotates, driving the drive gear 84 to rotate, and then transmitting the rotational motion to the screw 81 through the driven gear 85 to drive the screw 81 to rotate. The rotational motion of the screw 81 is converted into the linear motion of the nut 82, which in turn drives the execution module connected to the nut 82 to move along the first direction a.

[0097] Please continue to refer to this. Figure 9 As shown, to ensure transmission accuracy, an encoder 894 can be installed on one of the bearing seats 83. In this case, the bearing seat 83 also serves as an encoder support. Alternatively, an encoder can be equipped on the screw motor 86. Both encoders can record the number of rotations and the nut position, which can be referenced to each other. This improves the runaway of the screw motor 86 and also improves the mechanism's loss of control caused by a single encoder failure, thus playing a double insurance role.

[0098] Furthermore, it also includes a second force sensing module 95, which can be selected from existing models based on usage requirements; the second force sensing module 95 is connected between the nut 82 and the execution module connected to the nut 82, and is used to detect the force exerted by the execution module along the first direction a; in this embodiment, both the second execution module 20 and the third execution module 30 are equipped with the second force sensing module 95. The setting of the second force sensing module 95 is used to obtain resistance feedback during the intervention process, so as to monitor the abnormality of the intervention in real time.

[0099] Please refer to Figure 10 As shown, the nut 82 is laterally connected to the first side plate 87, and the second execution module 20 is laterally connected to the second side plate 88. The first side plate 87 and the second side plate 88 are arranged in parallel. The second force sensing module 95 is connected between the first side plate 87 and the second side plate 88 to detect the force exerted by the execution module along the first direction a during the driving of the surgical tool.

[0100] Please refer to Figures 11 to 14 The diagram shows the structure of the fourth execution module 40.

[0101] The propulsion component 11 in the fourth execution module 40 adopts the second propulsion component structure, including a clamping member 112. The clamping member 112 can move relative to the base 50 along the first direction a. The clamping member 112 is used to clamp or release surgical tools.

[0102] The clamping element 112 here can employ an existing scissor-type clamping structure. In other alternative embodiments, the clamping element 112 can employ two opposing clamping structures and clamp or release the surgical tool by driving the relative movement of the two clamping blocks.

[0103] The propulsion assembly 11 also includes a rotating member 113 and a mounting base 114. The mounting base 114 is mounted on the base 50 in a first direction a, and the rotating member 113 is mounted on the mounting base 114 in a rotational direction a, so that the rotating member 113 can rotate relative to the base 50. The rotational axis of the rotating member 113 is parallel to the first direction a. A clamping member 112 is mounted on the rotating member 113 for clamping the guide wire 94. When the guidewire 94 is clamped by the clamping member 112, the axis of the guidewire 94 is collinear with the axis of rotation of the rotating member 113. When the clamping member 112 rotates with the rotating member 113, it can drive the clamped surgical tool to rotate. Therefore, when the mounting base 114 moves along the first direction a, it can drive the guidewire 94 to feed or retract. At the same time, when the rotating member 113 rotates, it drives the clamping member 112 to rotate, so that the guidewire 94 rotates while being driven to move along the first direction a, to simulate the kneading action during manual operation, so as to facilitate better implantation of the guidewire 94.

[0104] Furthermore, the propulsion assembly 11 also includes two rotating wheels 115. The mounting base 114 is cuboid and has a mounting cavity, within which the rotating wheels 115 are mounted. At least a portion of the outer contour of the rotating member 113 is an arc-shaped contour 1131. The mounting base 114 has an opening on the side away from the base 50, which communicates with the mounting cavity of the mounting base 114. A portion of the rotating member 113 is located within this opening, and the two rotating wheels 115 are supported by the arc-shaped contour 1131. The central axis of the arc-shaped contour 1131, the central axis of the rotating wheels 115, and the rotation axis of the rotating member 113 are parallel. The two rotating wheels 115 can rotate actively, thereby driving the rotating member 113 to rotate around its rotation axis.

[0105] Please refer to the details. Figure 12 and Figure 13 As shown, the rotating member 113 is semi-circular, and the outer circumferential surface of the rotating member 113 forms an arc-shaped profile 1131; the clamping member 113 is disposed inside the rotating member 113; the central axis of the rotating member 113 is collinear with its rotation axis, the notch of the rotating member 113 faces away from the mounting base 114, and a portion of the rotating member 113 on the side close to the mounting base 114 is located in the mounting cavity of the mounting base 114; the arc-shaped profile 1131 has flanges 1132 on both axial sides, and the rotating wheel 115 is located between the two flanges 1132. The flanges 1132 are provided to axially limit the rotating wheel 115.

[0106] Please continue to refer to this. Figure 12 and Figure 13 As shown, two rotating wheels 115 are rotatably mounted in the mounting cavity of the mounting base 114. A transmission system is also installed in the mounting cavity of the mounting base 114. This transmission system includes a rotating component drive motor 1171, a driving pulley 1172, a driven pulley 1173, an intermediate gear 1174, a first gear 1175, a second gear 1176, and a first belt 1177. The rotor of the rotating component drive motor 1171 is driven by the driving pulley 1172. The driving pulley 1172 is driven by the driven pulley 1173 via the first belt 1177. The driven pulley 1173 is coaxially driven by the intermediate gear 1174. The intermediate gear 1174 meshes with both the first gear 1175 and the second gear 1176. The first gear 1175 is coaxially driven by one of the rotating wheels 115, and the second gear 1176 is coaxially driven by the other rotating wheel 115. When the rotor of the rotating component drive motor 1171 rotates, the power is transmitted sequentially through the driving pulley 1172, the first belt 1177, the driven pulley 1173, and the intermediate gear 1174 to the first gear 1175 and the second gear 1176, thereby driving the two rotating wheels 115 to rotate in the same direction. The rotating wheels 115 then drive the rotating component 113 to rotate. The surfaces of the arc-shaped contour 1131 and the rotating wheels 115 are preferably frosted or coated with a high coefficient of friction to ensure reliable power transmission between the rotating wheels 115 and the rotating component 113, and to prevent slippage between them.

[0107] This transmission system is only one example. Other known transmission structures may be used in other alternative embodiments, which will not be described in detail here.

[0108] In other alternative embodiments, more rotating wheels 115 may be provided, each rotating wheel 115 being distributed circumferentially around the arc-shaped contour 1131 and supported on the arc-shaped contour 1131, and one or more rotating wheels 115 may be selected as the driving wheel, which will not be described in detail here.

[0109] Please continue to refer to this. Figure 13 As shown, the propulsion assembly 11 also includes a first force sensor 116, which is connected between the rotating member 113 and the clamping member 112 to detect the force acting on the clamping member 112 along the first direction a; and to detect the torque acting on the clamping member 112 when it rotates with the rotating member 113. The first force sensor 116 can be an existing two-dimensional force sensor.

[0110] In other alternative real-time scenarios, tension sensors and torque sensors can be selectively configured according to actual usage requirements to selectively detect the force and torque acting on the clamping member 112 along the first direction a.

[0111] For further details, please refer to... Figure 11 and Figure 14 As shown, two sets of propulsion components 11 are arranged along the first direction a. The two sets of propulsion components 11 are used to clamp surgical tools in sequence, so as to alternately drive the clamped surgical tools along the first direction a. Each set of propulsion components 11 is equipped with a drive mechanism 80. The specific structure of the drive mechanism 80 is similar to that of the drive mechanism of the second execution module 20 and the third execution module 30. They all adopt the drive structure of the lead screw and nut pair. The difference is that the two drive mechanisms 80 of the fourth execution module 40 are installed at the bottom of the base 50, and the base 50 is provided with a sliding groove 118 along the first direction. A part of the nut extends through the sliding groove 118 to the top of the base 50 and connects with the fourth execution module 40.

[0112] By alternately clamping and advancing the surgical tool with two sets of advancement components 11, the alternating and continuous advancement process of the left and right hands during manual operation can be simulated. In this embodiment, the fourth execution module 40 is used to perform the operation of the guide wire 94, and is equipped with two sets of advancement components 11. On the one hand, it can maintain the continuity of the advancement of the guide wire 94, thereby improving the advancement efficiency; on the other hand, the two sets of advancement components 11 cooperate with each other. During the clamping and advancement process of one set of advancement components 11, the other set of advancement components 11 can serve as a guide structure to ensure the stability of the guide wire 94 posture and improve the phenomenon of bending deformation or unstable shaking of the guide wire 94.

[0113] Example 2:

[0114] Please refer to Figure 15 As shown, the difference between this embodiment and the first embodiment is that the structure of the fourth execution module 40 in this embodiment is the same as the structure of the other three execution modules. At this time, the modular vascular intervention device can still perform the three-tube-one-wire intervention operation.

[0115] Example 3:

[0116] Please refer to Figure 16 As shown, the difference between this embodiment and the first embodiment is that in this embodiment, three execution modules are selected and installed on the base 50. The three execution modules are the first execution module 10, the second execution module 20 and the fourth execution module 40. At this time, the modular vascular intervention device can perform two-tube and one-wire interventional operations.

[0117] Example 4:

[0118] Please refer to Figure 17 As shown, the difference between this embodiment and the first embodiment is that in this embodiment, three execution modules are selected and installed on the base 50. The three execution modules are the first execution module 10, the second execution module 20 and the third execution module 30. At this time, the modular vascular intervention device can perform two-tube and one-wire interventional operations.

[0119] Example 5:

[0120] In this embodiment, a protection module 60 is added based on embodiment one;

[0121] Please refer to the details. Figure 18 As shown, the modular vascular interventional device also includes a protection module 60. In this embodiment, a protection module 60 is provided between the first execution module 10 and the second execution module 20, between the second execution module 20 and the third execution module 30, and between the third execution module 30 and the fourth execution module 40.

[0122] In other alternative embodiments, a protection module 60 may be optionally provided between two adjacent execution modules.

[0123] The protection module 60 is provided with a guide hole 61 through the first direction a. The guide hole 61 allows the surgical tool to pass through, so as to maintain the stability of the surgical tool. The stability of the surgical tool here means that it is not bent by axial force and does not shake in a direction perpendicular to the first direction a during the driving process and kneading process, or to improve the bending and shaking phenomenon.

[0124] For further information, please refer to [link / reference]. Figure 18 As shown, the protection module 60 includes two guide plates 62, which are arranged along the first direction a and perpendicular to the first direction a. The guide plates 62 are mounted on the base 50, and guide holes 61 are formed on the guide plates 62.

[0125] In other alternative embodiments, one or more guide plates 62 may be provided based on actual usage requirements, which will not be elaborated here.

[0126] For further information, please continue to refer to [the relevant resources / references]. Figure 18 As shown, the protection module 60 is movable along the first direction a on the base 50. Specifically, the modular vascular interventional device also includes a guide shaft 70, the two ends of which are detachably mounted on the base 50 by means of bolts or snap-fit ​​connections, and the guide shaft 70 extends along the first direction a. A guide plate 62 is slidably mounted on the guide shaft 70 along the first direction. Based on this structure, the position of the guide plate 62 can be adjusted along the first direction a to meet the adjustment of the limiting position of surgical tools, thereby achieving a better limiting effect.

[0127] In this embodiment, two guide shafts 70 are provided, and the two guide shafts 70 are arranged on both sides of each execution module along a direction perpendicular to the first direction a. Correspondingly, the guide plate 62 has sliding holes for the guide shafts 70 to pass through at the positions of the two guide shafts 70, so as to ensure the stability of the guide plate 62 when it moves along the first direction a.

[0128] In other alternative embodiments, one guide shaft 70 or more guide shafts 70 may be provided based on actual operating conditions, which will not be elaborated here.

[0129] Example 6:

[0130] The difference between this embodiment and Embodiment 1 lies in the difference in the drive mechanism 80. In this embodiment, the drive mechanism 80 is composed of... Figure 9 The meshing transmission structure of the driving gear 84 and the driven gear 85 is modified to a belt pulley transmission structure. That is, the drive mechanism 80 includes a first pulley 891, a second pulley 892 and a second belt 893. The rotor of the screw motor 86 is driven by the first pulley 891. The first pulley 891 is driven by the second pulley 892 through the second belt 893. The second pulley 892 is driven by the screw 81. The power of the screw motor 86 is transmitted to the screw 81 in sequence through the first pulley 891, the second belt 893 and the second pulley 892.

[0131] The present invention also provides an operating method, comprising the following steps:

[0132] Of the first execution module 10, the second execution module 20, the third execution module 30, and the fourth execution module 40, at least two execution modules are selected and sequentially installed on the base 50 along the first direction a. The specific number of execution modules installed on the base 50 can be determined based on actual usage requirements. If the surgical tool is a single tube and wire, then two execution modules are selected and installed on the base 50; if the surgical tool is a two-tube and wire, then three execution modules are selected and installed on the base 50; if the surgical tool is a three-tube and wire, then four execution modules are selected and installed on the base 50. This operation method expands the application scenarios and improves the coverage of the entire vascular interventional surgery process.

[0133] The execution module mounted on the base 50 drives the surgical tool to move along the first direction a, and simultaneously drives the surgical tool to rotate. Here, the surgical tool refers to catheters and guidewires used for interventional vascular procedures; for specific driving methods, please refer to the structure of the propulsion assembly 11 described above.

[0134] Furthermore, the first execution module 10, the second execution module 20, the third execution module 30 and the fourth execution module 40 are all mounted on the base 50. Along the first direction a from the positive to the negative direction, each execution module is used to sequentially execute the movement of the first catheter 91, the second catheter 92, the third catheter 93 and the guide wire 94 along the first direction a; in this way, the application scenario of three tubes and one wire can be realized.

[0135] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A modular vascular interventional device, characterized in that, include: The first execution module, the second execution module, the third execution module, the fourth execution module, and the base; The first execution module, the second execution module, the third execution module, and the fourth execution module are interchangeably and detachably mounted on the base along a first direction; The first execution module, the second execution module, the third execution module, and the fourth execution module are respectively used to execute the movement of the corresponding surgical tools along the first direction; The first execution module, the second execution module, and the third execution module are respectively used to execute the movement of the first catheter, the second catheter, and the third catheter along the first direction, and the fourth execution module is used to execute the movement of the guidewire along the first direction; The first execution module, the second execution module, and the third execution module each include a propulsion component. The propulsion component of the third execution module includes a pair of rotatable execution wheels arranged along a second direction, which is perpendicular to the first direction. The axes of the two execution wheels are parallel, and the two execution wheels are used to clamp surgical tools along the second direction. At least one execution wheel can rotate actively to drive the surgical tools forward or backward along the first direction. The fourth execution module includes a propulsion component, which is used to drive the guide wire to move and rotate along the first direction; the propulsion component of the fourth execution module includes a clamping member and a rotating member, the clamping member is used to clamp or release the guide wire, and the clamping member is disposed on the rotating member and can rotate with the rotating member.

2. The modular vascular interventional device of claim 1, wherein, The first execution module, the second execution module, the third execution module and the fourth execution module are all disposed on the base, and each execution module is used to sequentially execute the movement of the first catheter, the second catheter, the third catheter and the guidewire along the first direction.

3. The modular vascular interventional device of claim 1, wherein, When at least one of the first, second, third, and fourth execution modules is mounted on the base, it can move along the first direction.

4. The modular vascular interventional device of claim 2, wherein, Along the first direction, the execution module closest to the positive side of the first direction is fixed on the base, while the remaining execution modules are movable along the first direction and are disposed on the base.

5. The modular vascular interventional device of claim 1, wherein, At least one execution module further includes a shield for covering the propulsion assembly, the shield having a channel for a surgical instrument to pass through in the first direction.

6. The modular vascular interventional device of claim 1, wherein, The propulsion assembly of the fourth execution module includes a clamping member that is movable relative to the base in a first direction, the clamping member being used to clamp or release surgical instruments.

7. The modular vascular interventional device as described in claim 6, characterized in that, The propulsion component of the fourth execution module further includes a rotating member, which is rotatably disposed relative to the base. The rotation axis of the rotating member is parallel to the first direction. The clamping member is disposed on the rotating member, and the clamping member can drive the clamped surgical tool to rotate when it rotates with the rotating member.

8. The modular vascular interventional device as described in claim 6, characterized in that, The fourth execution module has two sets of propulsion components arranged along the first direction. The two sets of propulsion components are used to clamp surgical tools in sequence to alternately drive the clamped surgical tools along the first direction.

9. The modular vascular interventional device as described in claim 7, characterized in that, The propulsion assembly further includes a first force sensor connected between the rotating member and the clamping member, for detecting the force acting on the clamping member along a first direction; and / or, for detecting the torque acting on the clamping member as it rotates with the rotating member.

10. The modular vascular interventional device as described in claim 7, characterized in that, The propulsion component of the fourth execution module further includes a rotating wheel. At least a portion of the outer contour of the rotating component is an arc-shaped contour. At least two rotating wheels are provided and supported on the arc-shaped contour. The central axis of the arc-shaped contour, the central axis of the rotating wheel, and the rotation axis of the rotating component are parallel. At least one of the rotating wheels can rotate actively, thereby driving the rotating component to rotate around its rotation axis.

11. The modular vascular interventional device as described in claim 10, characterized in that, The arc-shaped profile has flanges on both axial sides, and the rotating wheel is located between the two flanges; and / or; the rotating member is semi-circular, and the outer circumferential surface of the rotating member serves as the arc-shaped profile; the clamping member is disposed inside the rotating member; and / or; the central axis of the rotating member is collinear with its rotation axis; and / or, the propulsion assembly further includes a mounting base, the rotating member is semi-circular, and the notch of the rotating member faces away from the mounting base.

12. The modular vascular interventional device as described in claim 1, characterized in that, The modular vascular interventional device further includes a drive mechanism, at least one execution module is connected to the drive mechanism to drive the execution module to move along the first direction; the drive mechanism includes a screw and a nut, the central axis of the screw is parallel to the first direction, the screw is rotatably mounted on the base along its own central axis, the nut is threadedly engaged with the screw, and the nut is connected to an execution module.

13. The modular vascular interventional device as described in claim 12, characterized in that, The modular vascular interventional device further includes a second force sensing module, which is connected between the nut and the execution module connected to the nut, and is used to detect the force exerted by the execution module along the first direction.

14. The modular vascular interventional device as described in claim 1, characterized in that, The modular vascular interventional device also includes a protection module, which is disposed between any two adjacent execution modules. The protection module has a guide hole that runs through it along the first direction, through which surgical tools pass to maintain the stability of the surgical tools.

15. A method of operating the modular vascular interventional device according to any one of claims 1 to 14, characterized in that, Includes the following steps: Of the first execution module, the second execution module, the third execution module, and the fourth execution module, at least two execution modules are selected and installed sequentially on the base along the first direction; The execution module mounted on the base drives the surgical tools to move and / or rotate along the first direction.

16. The operating method as described in claim 15, characterized in that, The first execution module, the second execution module, the third execution module and the fourth execution module are all mounted on the base. Along the first direction, each execution module is used to sequentially execute the movement of the first catheter, the second catheter, the third catheter and the guidewire along the first direction.

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