An automatic control surgical robot for a quick cross device

Abstract

This application belongs to the technical field of interventional surgical robot equipment, and relates to a rapid-exchange instrument-controlled automatic surgical robot, including a frame, a first drive device, a second drive device, a rapid-exchange instrument, a guidewire, and a first catheter. The first drive device is movably mounted on the frame and is equipped with a guidewire clamping mechanism and a sensor. The second drive device is movably mounted on the frame. The first drive device is used to clamp the first catheter, with at least a portion of the guidewire passing through the first catheter, and the guidewire is sequentially clamped by the guidewire clamping mechanism and the second drive device. The rapid-exchange instrument is at least partially sleeved on the guidewire, and initially, the rapid-exchange instrument is clamped by the second drive device. The technical solution provided by this application can simplify surgical operations, shorten surgical time, and avoid radiation exposure to the operator.

Description

Technical Field

[0001] This application relates to the field of interventional surgical robot equipment technology, and more specifically, to a fast-exchange instrument-controlled surgical robot. Background Technology

[0002] Interventional surgery is a method of performing internal diagnosis and local treatment using specialized catheters, guidewires, and other precise instruments under the guidance of medical imaging equipment. Rapid exchange devices (hereinafter referred to as "rapid exchange devices") are commonly used in interventional surgery and play an important role in the treatment of various vascular diseases.

[0003] In traditional surgery, guided by medical imaging equipment, the catheter and guidewire are first delivered to the target location within the blood vessel. While ensuring that the distal end of the guidewire remains relatively stationary, the quick-access instrument is manually operated by the surgeon to enter or withdraw from the catheter under the guidance of the guidewire.

[0004] However, the manual insertion and withdrawal of the quick-access device is prone to human error, which can lead to complications for the patient. In addition, the operation requires at least two operators to work together, and the patient is exposed to radiation, which makes the operation time-consuming. Summary of the Invention

[0005] The technical problem to be solved by the embodiments of this application is that in existing interventional surgery, the quick-exchange instruments need to be manually inserted and withdrawn, which makes the operation cumbersome, the operation time long, and causes damage to the operator's health.

[0006] To address the aforementioned technical problems, this application provides a rapid-access, automated surgical robot with the following technical solution:

[0007] An automated surgical robot with a rapid-exchange instrument includes a frame, a first drive unit, a second drive unit, a rapid-exchange instrument, a guidewire, and a first catheter.

[0008] The first drive device is movably mounted on the frame, and the first drive device is equipped with a wire clamping mechanism and a sensing element;

[0009] The second drive device is movably mounted on the frame;

[0010] The first driving device is used to clamp the first catheter, the guidewire is at least partially inserted into the first catheter, and the guidewire is clamped in sequence on the guidewire clamping mechanism and the second driving device; the quick-change device is at least partially sleeved on the guidewire, and in the initial state, the quick-change device is clamped on the second driving device;

[0011] During operation, the second driving device drives the quick-exchange instrument to be delivered along the guidewire toward the first catheter; when the sensor detects the quick-exchange instrument, it generates a first trigger signal, and the guidewire clamping mechanism releases the guidewire based on the first trigger signal, so that the quick-exchange instrument enters the first catheter along the guidewire.

[0012] Furthermore, it also includes a first detection element, which is used to detect the current distance between the first driving device and the second driving device;

[0013] The second drive device includes a moving mechanism and a quick-exchange control mechanism mounted on the moving mechanism, the quick-exchange control mechanism being used to clamp and control the delivery or retraction of the quick-exchange device;

[0014] The moving mechanism moves toward the first driving device to drive the quick-exchange instrument toward the first catheter;

[0015] When the current distance is less than the preset distance, the moving mechanism stops, and the quick-crossing control mechanism controls the quick-crossing device to move along the guidewire toward the first catheter.

[0016] Furthermore, the second drive device also includes a guide wire control mechanism;

[0017] When the moving mechanism drives the quick-change instrument to move at a set moving speed, the guidewire control mechanism delivers the guidewire in the opposite direction at the same set moving speed, so that the guidewire is stationary relative to the first catheter.

[0018] Furthermore, the sensing element is a diameter detection element, the first trigger signal is recorded as a diameter change signal, and the diameter detection element is used to detect the diameter change of the instrument in real time;

[0019] When the diameter detection element detects an increase in diameter, the quick-connect device is delivered along the guide wire to the sensing point of the diameter detection element, and the diameter detection element generates a diameter change signal. The guide wire clamping mechanism releases the guide wire based on the diameter change signal.

[0020] Furthermore, the quick-coital device includes a quick-coital section and a coaxial section located at the distal end of the quick-coital section. The quick-coital section is clamped on the quick-coital control mechanism, and the coaxial section is fitted onto the guidewire.

[0021] The second drive device also includes a first guide groove and a second guide groove;

[0022] The proximal end of the first guide groove extends toward the quick-intercourse control mechanism for placing and guiding the quick-intercourse section of the quick-intercourse device;

[0023] The proximal end of the second guide groove extends toward the guide wire control mechanism for placing and guiding the guide wire.

[0024] Furthermore, the distal end of the first guide groove converges with the second guide groove, forming a "Y"-shaped fork.

[0025] Furthermore, the guidewire and the quick-crossing section of the quick-crossing device form an intersection;

[0026] The rapid-access instrument automatic control surgical robot also includes a second detection component, which is installed at the distal end of the first guide groove where it intersects with the second guide groove, and is used to detect the intersection.

[0027] During operation, the quick-exchange control mechanism controls the quick-exchange device to withdraw from the first catheter along the guidewire;

[0028] When the intersection moves to the second detection element, the second detection element generates a second trigger signal.

[0029] The rapid-change control mechanism stops driving the rapid-change device based on the second trigger signal, and the moving mechanism moves away from the first driving device at a set moving speed based on the second trigger signal.

[0030] Furthermore, the second detection element is a pressure detection element, the second trigger signal is recorded as a pressure signal, and the pressure detection element is used to detect the intersection;

[0031] When the cross section moves to the position where it intersects the second guide groove at the far end of the first guide groove, the cross section applies pressure to the pressure detection element, and the pressure detection element generates a pressure signal.

[0032] Furthermore, the sensing element is a diameter detection element, the first trigger signal is recorded as a diameter change signal, and the diameter detection element is used to detect the diameter change of the instrument in real time;

[0033] When the diameter detection element detects a decrease in diameter, the quick-exchange device moves away from the sensing point of the diameter detection element along the guidewire. The diameter detection element generates a diameter change signal. The guidewire clamping mechanism clamps the guidewire based on the diameter change signal. The guidewire control mechanism delivers the guidewire in the opposite direction at the same set moving speed based on the diameter change signal, so that the guidewire is stationary relative to the first catheter.

[0034] Furthermore, the rapid-access instrument-controlled surgical robot also includes a third drive device and a second catheter;

[0035] The third drive device is movably mounted on the frame and is located at the far end of the first drive device;

[0036] The second catheter is clamped on the third drive device, and the first catheter portion is inserted into the second catheter. The third drive device is used to control the delivery or retraction of the second catheter.

[0037] Compared with the prior art, the embodiments of this application have the following main advantages:

[0038] The surgical robot provided in this application controls the quick-access instrument through a second drive device, realizing fully automatic control of the quick-access instrument's delivery or retraction along the guidewire, thereby simplifying surgical operations, shortening surgical time, and avoiding radiation exposure to the operator when controlling the delivery of the quick-access instrument.

[0039] By setting a guidewire clamping mechanism and a sensor on the first drive device, the guidewire is kept relatively stationary during the delivery of the quick-exchange device, thus avoiding harm to the patient; the sensor monitors the quick-exchange device in real time to prevent interference between the quick-exchange device and the guidewire clamping mechanism during delivery. Attached Figure Description

[0040] 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.

[0041] Figure 1 This is a schematic diagram of the structure of the automated surgical robot for rapid instrument exchange according to an embodiment of this application;

[0042] Figure 2 It is about Figure 1 Enlarged structural diagram at point A;

[0043] Figure 3 It is about Figure 1 Enlarged structural diagram at point B;

[0044] Figures 4a-4d This is a schematic diagram illustrating the changes in the state of the device during each stage of the rapid-transfer process described in this application;

[0045] Figure 5 This is a schematic diagram of the structure of a rapid-access automatic control surgical robot according to another embodiment of this application.

[0046] Figure label:

[0047] 1. Frame; 2. First drive unit; 21. Guide wire clamping mechanism; 22. Sensing element; 23. Catheter rotation mechanism; 3. Second drive unit; 31. Moving mechanism; 32. Quick-crossing control mechanism; 33. Guide wire control mechanism; 34. First guide groove; 35. Second guide groove; 36. Second detection element; 4. Quick-crossing device; 41. Quick-crossing section; 42. Coaxial section; 5. Guide wire; 6. First catheter; 7. Front drive unit; 71. Catheter drive mechanism; 8. Third drive unit; 9. Second catheter. Detailed Implementation

[0048] 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.

[0049] 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.

[0050] Embodiment 1 of the automatic control surgical robot for rapid delivery of medical instruments in this application

[0051] Please see Figure 1 As shown, the automatic control surgical robot for rapid exchange instruments of this application includes: a frame 1, a first drive device 2, a second drive device 3, a rapid exchange instrument 4, a guidewire 5, and a first catheter 6. In this embodiment, the rapid exchange instrument 4 can be a rapid exchange balloon catheter, a rapid exchange self-expanding stent, a rapid exchange balloon expansion stent, or a rapid exchange delivery catheter.

[0052] The first driving device 2 is mounted on the frame 1. The first driving device 2 is equipped with a guidewire clamping mechanism 21 and a sensor 22. In the initial state, the guidewire clamping mechanism 21 clamps the guidewire 5 to ensure that the guidewire 5 is in a relatively stationary state during the process of delivering the quick-exchange instrument 4 into the blood vessel using the robot of this application. This ensures surgical safety while realizing automatic delivery of the quick-exchange instrument and improving surgical efficiency. The second driving device 3 is movably mounted on the frame 1 and is used to drive the quick-exchange instrument 4 or the guidewire 5 to move forward or backward.

[0053] In this embodiment, the forward movement of the quick-exchange device 4 or guidewire 5 is the movement of delivering the quick-exchange device 4 or guidewire 5 into the blood vessel. The backward movement of the quick-exchange device 4 or guidewire 5 is the movement of withdrawing the quick-exchange device 4 or guidewire 5 from the blood vessel. In this embodiment, the distal end refers to the actual treatment site, i.e., the side closer to the body; the proximal end refers to the site farther from the treatment site, i.e., the side farther from the body.

[0054] The first driving device 2 is used to clamp the first catheter 6. The guidewire 5 is at least partially inserted into the first catheter 6, and the guidewire 5 is sequentially clamped on the guidewire clamping mechanism 21 and the second driving device 3. The quick-change device 4 is at least partially sleeved on the guidewire 5. In the initial state, the quick-change device 4 is clamped on the second driving device 3. Please refer to [link to relevant documentation]. Figure 2 , Figure 3 As shown, in this embodiment, the quick-intercourse device 4 includes a quick-intercourse section 41 and a coaxial section 42 located at the distal end of the quick-intercourse section 41. The second driving device 3 controls the quick-intercourse section 41 to make the quick-intercourse device 4 move forward or backward. At least one side hole (not shown in the figure) is provided at the junction of the quick-intercourse section 41 and the coaxial section 42. During surgical preparation, the operator inserts the proximal end of the guidewire 5 into the coaxial section 42 and passes the proximal end of the guidewire 5 out through the side hole, so that the quick-intercourse device 4 can move forward or backward along the guidewire 5. It can be understood that during the delivery process, the quick-intercourse section 41 and the guidewire 5 form a separate double-track structure, and the coaxial section 42 and the guidewire 5 form a nested single-track structure.

[0055] During operation, the second driving device 3 drives the quick-exchange device 4 to be delivered along the guide wire 5 toward the first catheter 6; when the sensing element 22 senses the quick-exchange device, it generates a first trigger signal, and the guide wire clamping mechanism 21 releases the guide wire 5 based on the first trigger signal, so that the quick-exchange device 4 enters the first catheter 6 along the guide wire 5.

[0056] In this embodiment, the guidewire clamping mechanism 21 and the sensor 22 of the first driving device 2 cooperate with the second driving device 3 to control the quick-exchange instrument 4, realizing the automatic control of the entire process of the quick-exchange instrument 4 being delivered or retracted along the guidewire 5. This simplifies the surgical operation, shortens the surgical time, and avoids radiation exposure to the operator when controlling the delivery of the quick-exchange instrument. By setting the guidewire clamping mechanism 21 and the sensor 22 on the first driving device 2, it is ensured that the guidewire 5 remains relatively stationary during the delivery of the quick-exchange instrument 4, avoiding harm to the patient. The sensor 22 monitors the quick-exchange instrument 4 in real time to avoid interference between the quick-exchange instrument 4 and the guidewire clamping mechanism 21 during the delivery process, ensuring that the quick-exchange instrument 4 can automatically enter the first catheter 6.

[0057] In this embodiment, the automated surgical robot for rapid instrumentation further includes a first detection element (not shown in the figure), which is used to detect the current distance between the first drive device 2 and the second drive device 3.

[0058] Please refer to the previous document. Figure 1 As shown, the second driving device 3 includes a moving mechanism 31 and a quick-exchange control mechanism 32 mounted on the moving mechanism 31. The quick-exchange control mechanism 32 is used to clamp and control the delivery or retraction of the quick-exchange device 4. In this embodiment, the moving mechanism 31 moves along the frame 1 toward the first driving device 2 to drive the quick-exchange device 4 to move along the guide wire 5 toward the first conduit 6. When the current distance detected by the first detection element is less than a preset distance, the moving mechanism 31 stops, and the quick-exchange control mechanism 32 starts. The quick-exchange control mechanism 32 controls the quick-exchange device 4 to be further delivered along the guide wire 5 toward the first conduit 6. In this embodiment, the preset distance is 5 to 10 centimeters.

[0059] In this embodiment, the second driving device 3 further includes a guidewire control mechanism 33. When the moving mechanism 31 drives the quick-change instrument 4 to move at a set moving speed, the guidewire control mechanism 33 delivers the guidewire 5 in the opposite direction at the same set moving speed, so that the guidewire 5 is stationary relative to the first catheter 6.

[0060] In this embodiment, the second driving device 3 is driven by the moving mechanism 31 to move along the frame 1 toward the first driving device 2, thereby realizing the first stage of movement of the quick-exchange instrument 4 along the guidewire 5 toward the first catheter 6. During the delivery of the quick-exchange instrument 4, the guidewire 5 is controlled by the guidewire control mechanism 33 to be delivered in the opposite direction at the same set moving speed, so as to ensure that the guidewire 5 is stationary relative to the first catheter 6. At the same time, it avoids the guidewire 5 bending or straightening and breaking when it is clamped by the guidewire clamping mechanism 21, thereby achieving precise control of the guidewire 5 and the first catheter 6 and meeting the actual surgical needs.

[0061] Please see Figure 1 As shown, in this embodiment, the sensing element 22 is a diameter detection element, the first trigger signal is recorded as a diameter change signal, and the diameter detection element is used to detect the diameter change of the instrument in real time.

[0062] When the diameter detector detects an increase in diameter, the quick-change instrument 4 is delivered along the guidewire 5 to the sensing point of the diameter detector. The diameter detector generates a diameter change signal and sends it to the guidewire clamping mechanism 21. The guidewire clamping mechanism 21 releases the guidewire 5 based on the diameter change signal, simplifying the control logic, accelerating the control speed, and improving surgical efficiency. In other embodiments, the quick-change instrument automatic control surgical robot also includes a control module. The diameter detector detects an increase in diameter and outputs a diameter change signal to the control module. Based on the diameter change signal, the control module controls the guidewire clamping mechanism 21 to release the guidewire 5, assisting the operator in performing the surgery and improving the intelligence level of the surgical robot.

[0063] In this embodiment, the guidewire clamping mechanism 21 ensures that the guidewire 5 remains stationary relative to the patient during the delivery of the quick-access device, thus preventing the guidewire 5 from causing harm to the patient. Through the cooperation of the guidewire clamping mechanism 21 and the sensing element 22, when the quick-access device 4 is delivered along the guidewire 5 to the sensing point, the guidewire clamping mechanism 21 can release the guidewire 5 in time and avoid the quick-access device 4, thereby realizing automated delivery of the quick-access device 4 and avoiding interference between the quick-access device 4 and the guidewire clamping mechanism 21 during the delivery process, thus preventing damage to the quick-access device 4.

[0064] Please see Figure 1 , Figure 2 As shown, the quick-intercourse device 4 includes a quick-intercourse section 41 and a coaxial section 42 located at the distal end of the quick-intercourse section 41. The quick-intercourse section 41 is clamped on the quick-intercourse control mechanism 32, and the coaxial section 42 is fitted onto the guidewire 5. When the quick-intercourse device 4 enters the first catheter 6, the coaxial section 42 is fitted onto the guidewire 5, forming a single-track structure; the quick-intercourse section 41 and the guidewire 5 enter the first catheter 6 side by side, forming a double-track structure.

[0065] The second drive device 3 also includes a first guide groove 34 and a second guide groove 35. The proximal end of the first guide groove 34 extends toward the quick-intercourse control mechanism 32 for placing and guiding the quick-intercourse segment 41 of the quick-intercourse device 4. The proximal end of the second guide groove 35 extends toward the guide wire control mechanism 33 for placing and guiding the guide wire 5. In this embodiment, the distal ends of the first guide groove 34 converge at the second guide groove 35 to form a "Y"-shaped fork.

[0066] The quick-connect device 4 and the guide wire 5 are respectively installed in the first guide support groove 34 and the second guide support groove 35. After the guide wire 5 enters the coaxial section 42 of the quick-connect device 4 through the side hole, it passes out from the end of the coaxial section 42. The guide wire 5 and the quick-connect section 41 of the quick-connect device 4 form an intersection. In the initial state, the intersection is located at the "Y"-shaped bifurcation.

[0067] The automated surgical robot for quick-access instruments also includes a second detection element 36. The second detection element 36 is installed at the point where the distal end of the first guide groove 34 intersects with the second guide groove 35, i.e., at the "Y"-shaped fork, and is used to detect the intersection. Therefore, the distal end of the first guide groove 34 intersects with the second guide groove 35, forming a "Y"-shaped fork, which provides a technical basis for the automated control of the surgical robot, enabling the automated delivery of the quick-access instrument 4.

[0068] During operation, the quick-exchange control mechanism 32 controls the quick-exchange device 4 to withdraw from the first catheter 6 along the guide wire 5;

[0069] When the cross section moves to the second detection element 36, the second detection element 36 generates a second trigger signal. The quick-crossing control mechanism 32 stops driving the quick-crossing device 4 based on the second trigger signal. The moving component 31 moves away from the first driving device 2 at a set moving speed based on the second trigger signal, so that the quick-crossing device 4 is further withdrawn from the first catheter 6 along the guide wire 5. In this embodiment, when the quick-crossing control mechanism 32 stops driving the quick-crossing device 4 based on the second trigger signal, the quick-crossing control mechanism 32 clamps the quick-crossing device 4 so that the quick-crossing device 4 is stationary relative to the quick-crossing control mechanism 32, thereby improving the retraction accuracy of the quick-crossing device 4.

[0070] Please see Figure 2 As shown, the second detection element 36 is a pressure detection element, and the second trigger signal is denoted as a pressure signal. The pressure detection element is used to detect the intersection.

[0071] When the intersecting part moves to the position where it intersects the second guide groove 35 at the distal end of the first guide groove 34, the intersecting part applies pressure to the pressure detection element. The pressure detection element generates a pressure signal and sends it to the rapid-intersection control mechanism 32. Based on the pressure signal, the rapid-intersection control mechanism 32 stops driving the rapid-intersection instrument 4, simplifying the control logic, accelerating the control speed, and improving surgical efficiency. In other embodiments, the rapid-intersection instrument automatic control surgical robot also includes a control module. The intersecting part applies pressure to the pressure detection element, the pressure detection element generates a pressure signal and transmits it to the control module. Based on the pressure signal, the control module controls the rapid-intersection control mechanism 32 to stop driving the rapid-intersection instrument 4 and clamp the rapid-intersection instrument 4.

[0072] The sensing element 22 is a diameter detection element. When the diameter detection element detects a decrease in diameter, the quick-exchange instrument 4 moves away from the sensing point of the diameter detection element along the guidewire 5. The diameter detection element generates a diameter change signal, and the guidewire clamping mechanism 21 clamps the guidewire 5 based on the diameter change signal. In other embodiments, the quick-exchange instrument automatic control surgical robot also includes a control module. The diameter detection element detects a decrease in diameter and outputs a diameter change signal to the control module. Based on the diameter change signal, the control module controls the guidewire clamping mechanism 21 to clamp the guidewire, thereby realizing automated control of the quick-exchange instrument 4 entering and exiting the blood vessel.

[0073] In this embodiment, a second detection element 36 is set at the position where the far end of the first guide groove 34 meets the second guide groove 35 to detect the retraction of the quick-exchange device 4, thereby improving the robot's automatic control over the retraction of the quick-exchange device.

[0074] Please see Figure 1 As shown, in this embodiment, the automated surgical robot for rapid instrumentation further includes a front drive device 7, which is mounted on the frame 1. The first drive device 2 is movably mounted on the frame 1. The first catheter 6 is sequentially clamped on the front drive device 7 and the first drive device 2. The front drive device 7 and the first drive device 2 work together to control the first catheter 6, driving it to be delivered or retracted along the axial direction of the guidewire 5. The front drive device 7 is also provided with a catheter drive mechanism 71 for driving the first catheter 6 to move forward or backward. The first drive device 2 is also provided with a catheter rotation mechanism 23 for controlling the first catheter 6 to rotate around its own axis.

[0075] In this embodiment, the first catheter 6 is rotated and delivered to a set position by the cooperation of the front drive device 7 and the first drive device 2, so that the quick-exchange instrument 4 and guide wire 5 can be delivered to the set position along the first catheter 6, which facilitates subsequent treatment.

[0076] In this embodiment, in the initial state, the quick-exchange instrument automated surgical robot, through the cooperation of the front drive device 7 and the first drive device 2, delivers the first catheter 6 to the target position within the patient's blood vessel. The guidewire clamping mechanism 21 is activated, clamping the guidewire 5 to ensure that the distal end of the guidewire 5 remains stationary relative to the patient. The proximal end of the guidewire 5 enters the coaxial section 42 from the distal end of the quick-exchange instrument 4, and after exiting the quick-exchange instrument 4 through the side hole, it is clamped on the guidewire control mechanism 33. The quick-exchange section 41 of the quick-exchange instrument 4 is clamped on the quick-exchange control mechanism 32, as follows. Figure 4a As shown.

[0077] When the automated surgical robot for quick-exchange instruments is operating, the moving mechanism 31 of the second drive device 3 moves towards the first drive device 2 to drive the quick-exchange instrument 4 to be delivered along the guidewire 5 towards the first catheter 6 at a set moving speed. While the moving mechanism 31 moves, the guidewire control mechanism 33 drives the guidewire 5 in the opposite direction at the same set moving speed to drive the guidewire 5 to retract away from the first catheter 6 at a set moving speed, thus keeping the guidewire 5 stationary relative to the first catheter 6, meeting the actual needs of the surgery and preventing undesirable movement of the guidewire 5.

[0078] In this embodiment, when the moving mechanism 31 moves towards the first driving device 2, the sensor 22 detects the change in the diameter of the instrument in real time. When the quick-exchange instrument 4 is delivered along the guide wire 5 to the sensing point of the sensor 22, the sensor 22 detects that the diameter of the instrument has increased, generating a diameter change signal. The guide wire clamping mechanism 21 releases the guide wire 5 based on the diameter change signal. Figure 4b As shown.

[0079] During the movement of the moving mechanism 31 toward the first driving device 2, the first detection element continuously monitors the current distance between the first driving device 2 and the second driving device 3. When the current distance is less than a preset proximity distance, the moving mechanism 31 stops to prevent a collision between the first driving device 2 and the second driving device 3, thus completing the first stage of the delivery process of the express delivery device 4. Figure 4c As shown; when the moving mechanism 31 stops, the quick-exchange control mechanism 32 starts, controlling the quick-exchange instrument 4 to move further along the guide wire 5 towards the first catheter 6, wherein the preset distance is 5 to 10 centimeters.

[0080] The rapid-exchange control mechanism 32 controls the rapid-exchange device 4 to enter the first catheter 6 along the guidewire 5 and extend from the distal end of the first catheter 6. After being delivered to the target location within the patient's blood vessel, the rapid-exchange control mechanism 32 stops, completing the second stage of the rapid-exchange device 4 delivery process. Figure 4d As shown.

[0081] In this embodiment, the delivery of the quick-exchange instrument 4 is achieved through the cooperation of the guidewire clamping mechanism 21, the sensor 22, the first detection element, the moving mechanism 31, and the quick-exchange control mechanism 32. This improves the automation control of the quick-exchange instrument delivery by the surgical robot, thereby simplifying the surgical operation. Since the first stage of delivery is external delivery, the quick-exchange instrument 4 is delivered quickly by the cooperation of the first detection element and the moving mechanism 31, reducing the operation time. The second stage of delivery is internal delivery, and the quick-exchange control mechanism 32 controls the delivery of the quick-exchange instrument 4 to improve delivery accuracy, save manpower, simplify surgical operations, and enhance surgical safety. At the same time, during the delivery of the quick-exchange instrument 4, the coordinated action between the guidewire clamping mechanism 21, the sensor 22, and the guidewire control mechanism 33 ensures that the guidewire remains stationary relative to the patient, avoiding damage to the patient during the delivery of the quick-exchange instrument 4, thereby improving the surgical robot's operational safety.

[0082] In this embodiment, after the surgery is completed, the quick-exchange instrument automatic control surgical robot controls the quick-exchange instrument to retract. During operation, the quick-exchange control mechanism 32 controls the quick-exchange instrument 4 to retract along the guidewire 5 from the first catheter 6. When the quick-exchange section 41 of the quick-exchange instrument 4 moves to the intersection formed between the quick-exchange section 41 and the guidewire 5, the quick-exchange section applies pressure to the second detection element 36, and the second detection element 36 generates a pressure signal. The quick-exchange control mechanism 32 stops based on the pressure signal and clamps the quick-exchange instrument 4, completing the first stage of the quick-exchange instrument 4 retraction process. Figure 4c As shown.

[0083] The moving mechanism 31 moves at a set speed away from the first driving device 2 based on the pressure signal, driving the quick-change instrument 4 to move along the guidewire 5 away from the first catheter 6 at a set speed. Figure 4b As shown.

[0084] In this embodiment, when the moving mechanism 31 moves away from the first driving device 2, the sensor 22 detects the change in the diameter of the instrument in real time. When the quick-exchange instrument 4 moves away from the sensing point of the sensor 22 along the guide wire 5, the sensor 22 detects that the diameter of the instrument has decreased, and generates a diameter change signal. The guide wire clamping mechanism 21 clamps the guide wire 5 based on the diameter change signal. Figure 4aAs shown, during the process of the moving mechanism 31 moving away from the first driving device 2 at a set moving speed until the guide wire clamping mechanism 21 clamps the guide wire 5, the guide wire control mechanism 33 drives the guide wire 5 in the opposite direction at the same set moving speed, so as to drive the guide wire 5 to be delivered towards the first catheter 6 at a set moving speed, so as to realize that the guide wire 5 is stationary relative to the first catheter 6, and avoid the guide wire 5 being overstretched between the guide wire clamping mechanism 21 and the guide wire control mechanism 33 when the guide wire 5 moves away from the first catheter 6 with the moving mechanism 31, thereby preventing damage.

[0085] After the moving mechanism 31 controls the quick-exchange device 4 to retract along the guide wire 5 to the initial position, it controls the moving mechanism 31 to stop, completing the second stage of the quick-exchange device 4 retraction process.

[0086] In this embodiment, the retraction of the quick-exchange instrument 4 is achieved through the cooperation of the second detection element 36, the moving mechanism 31, and the quick-exchange control mechanism 32. This improves the automation level of the surgical robot's control over the retraction of the quick-exchange instrument, simplifying surgical operations. The first stage of the retraction of the quick-exchange instrument 4 is in-body retraction, where the quick-exchange control mechanism 32 controls the delivery of the quick-exchange instrument 4 to improve delivery accuracy, save manpower, simplify surgical operations, and enhance surgical safety. The second stage of the retraction of the quick-exchange instrument 4 is out-of-body retraction, which is automatically completed by the cooperation of the second detection element 36 and the moving mechanism 31, reducing surgical time. In the second stage of retraction, the quick-exchange control mechanism 32 clamps the quick-exchange instrument 4 to prevent relative slippage and improve retraction accuracy. Simultaneously, during the retraction of the quick-exchange instrument 4, the coordinated action of the guidewire clamping mechanism 21, the sensing element 22, and the guidewire control mechanism 33 ensures that the guidewire remains stationary relative to the patient, preventing injury to the patient during the retraction of the quick-exchange instrument 4 and improving the surgical robot's operational safety.

[0087] Embodiment 2 of the automatic control surgical robot for rapid delivery of medical instruments in this application

[0088] Please see Figure 5 As shown, the difference between this embodiment and Embodiment 1 is that the automatic control surgical robot for rapid instrumentation further includes a third drive device 8 and a second catheter 9.

[0089] The third drive device 8 is movably mounted on the frame 1 and is located at the far end of the first drive device 2. In this embodiment, the third drive device 8 is located between the front drive device 7 and the first drive device 2.

[0090] The first conduit 6 is partially inserted into the second conduit 9. In this embodiment, the first conduit 6 is sequentially clamped on the third driving device 8 and the first driving device 2. The third driving device 8 and the first driving device 2 cooperate to control the first conduit 6. The second conduit 9 is sequentially clamped on the front driving device 7 and the third driving device 8. The third driving device 8 and the front driving device 7 cooperate to control the second conduit 6.

[0091] Compared to Embodiment 1, this embodiment of the application adds a second catheter 8 to achieve multi-instrument collaborative delivery, so as to adapt to different surgical needs.

[0092] 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. A surgical robot with automatic control for rapid instrument exchange, characterized in that, Includes a frame, a first drive unit, a second drive unit, a rapid-change instrument, a guidewire, and a first catheter; The first drive device is movably mounted on the frame, and the first drive device is equipped with a wire clamping mechanism and a sensing element; The second drive device is movably mounted on the frame; The first driving device is used to clamp the first catheter, the guidewire is at least partially inserted into the first catheter, and the guidewire is clamped in sequence on the guidewire clamping mechanism and the second driving device; the quick-change device is at least partially sleeved on the guidewire, and in the initial state, the quick-change device is clamped on the second driving device; During operation, the second driving device drives the quick-exchange instrument to be delivered along the guidewire toward the first catheter; when the sensor detects the quick-exchange instrument, it generates a first trigger signal, and the guidewire clamping mechanism releases the guidewire based on the first trigger signal, so that the quick-exchange instrument enters the first catheter along the guidewire.

2. The automated surgical robot with rapid instrument control according to claim 1, characterized in that, It also includes a first detection element, which is used to detect the current distance between the first driving device and the second driving device; The second drive device includes a moving mechanism and a quick-exchange control mechanism mounted on the moving mechanism, the quick-exchange control mechanism being used to clamp and control the delivery or retraction of the quick-exchange device; The moving mechanism moves toward the first driving device to drive the quick-exchange instrument toward the first catheter; When the current distance is less than the preset distance, the moving mechanism stops, and the quick-crossing control mechanism controls the quick-crossing device to move along the guidewire toward the first catheter.

3. The automated surgical robot with rapid instrument control according to claim 2, characterized in that, The second drive device also includes a guide wire control mechanism; When the moving mechanism drives the quick-change instrument to move at a set moving speed, the guidewire control mechanism delivers the guidewire in the opposite direction at the same set moving speed, so that the guidewire is stationary relative to the first catheter.

4. The automated surgical robot with rapid instrument control according to claim 1, characterized in that, The sensing element is a diameter detection element, and the first trigger signal is recorded as a diameter change signal. The diameter detection element is used to detect the diameter change of the instrument in real time. When the diameter detection element detects an increase in diameter, the quick-connect device is delivered along the guide wire to the sensing point of the diameter detection element, and the diameter detection element generates a diameter change signal. The guide wire clamping mechanism releases the guide wire based on the diameter change signal.

5. The automated surgical robot with rapid instrument control according to claim 3, characterized in that, The quick-coupling device includes a quick-coupling section and a coaxial section located at the distal end of the quick-coupling section. The quick-coupling section is clamped on the quick-coupling control mechanism, and the coaxial section is fitted onto the guidewire. The second drive device also includes a first guide groove and a second guide groove; The proximal end of the first guide groove extends toward the quick-intercourse control mechanism for placing and guiding the quick-intercourse section of the quick-intercourse device; The proximal end of the second guide groove extends toward the guide wire control mechanism for placing and guiding the guide wire.

6. The automated surgical robot with rapid instrument control according to claim 5, characterized in that, The far end of the first guide groove converges with the second guide groove, forming a "Y"-shaped fork.

7. The automated surgical robot with rapid instrument control according to claim 6, characterized in that, The guidewire and the quick-crossing section of the quick-crossing device form an intersection; The rapid-access instrument automatic control surgical robot also includes a second detection component, which is installed at the distal end of the first guide groove where it intersects with the second guide groove, and is used to detect the intersection. During operation, the quick-exchange control mechanism controls the quick-exchange device to withdraw from the first catheter along the guidewire; When the intersection moves to the second detection element, the second detection element generates a second trigger signal. The rapid-change control mechanism stops driving the rapid-change device based on the second trigger signal, and the moving mechanism moves away from the first driving device at a set moving speed based on the second trigger signal.

8. The automated surgical robot with rapid instrument control according to claim 7, characterized in that, The second detection element is a pressure detection element, and the second trigger signal is recorded as a pressure signal. The pressure detection element is used to detect the intersection. When the cross section moves to the position where it intersects the second guide groove at the far end of the first guide groove, the cross section applies pressure to the pressure detection element, and the pressure detection element generates a pressure signal.

9. The automated surgical robot with rapid instrument control according to claim 7, characterized in that, The sensing element is a diameter detection element, and the first trigger signal is recorded as a diameter change signal. The diameter detection element is used to detect the diameter change of the instrument in real time. When the diameter detection element detects a decrease in diameter, the quick-exchange device moves away from the sensing point of the diameter detection element along the guidewire. The diameter detection element generates a diameter change signal. The guidewire clamping mechanism clamps the guidewire based on the diameter change signal. The guidewire control mechanism delivers the guidewire in the opposite direction at the same set moving speed based on the diameter change signal, so that the guidewire is stationary relative to the first catheter.

10. The automated surgical robot with rapid instrument control according to claim 1, characterized in that, The rapid-access instrument-controlled automatic surgical robot also includes a third drive device and a second catheter; The third drive device is movably mounted on the frame and is located at the far end of the first drive device; The second catheter is clamped on the third drive device, and the first catheter portion is inserted into the second catheter. The third drive device is used to control the delivery or retraction of the second catheter.

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