Aortic stent release device for intravascular intervention robot

Abstract

The application provides an aortic stent releasing device for a vascular endovascular intervention robot, which comprises a driving mechanism, a control mechanism and an aortic stent, wherein the aortic stent comprises a stent base and a releasing handle; the stent base has a mounting end and a driving end; a self-expanding stent is sleeved on the mounting end, and a tightening sleeve is sleeved outside the self-expanding stent; the releasing handle is sleeved on the first position of the driving end; the driving mechanism can drive the releasing handle to move towards the second position of the driving end, so that the tightening sleeve is separated from the self-expanding stent, the self-expanding stent is self-expanded, and the mounting end is separated from the self-expanding stent when the stent base moves away from the self-expanding stent; and the control mechanism is signal-connected with the driving mechanism. The aortic stent releasing device uses a power device to replace human hands to complete stent releasing, reduces the operation risk caused by human factors, is simple to operate, stable and reliable, and has high practicability.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to an aortic stent release device for use in endovascular interventional surgery robots. Background Technology

[0002] In recent years, with the rise of interventional vascular therapy in my country, several emerging disciplines have formed, including cardiovascular interventional therapy, cerebrovascular interventional therapy, vascular surgery, and interventional radiology. Due to continuous advancements in interventional vascular therapy techniques and the emergence and application of various endovascular devices, many lesions that were previously unsuitable for interventional therapy can now benefit from this minimally invasive treatment, and the safety, effectiveness, and long-term efficacy of interventional vascular therapy are constantly improving. However, current interventional vascular therapy also has its limitations.

[0003] During interventional vascular procedures, doctors rely on X-ray-based digital subtraction angiography (DSA) for guidance. While doctors wear lead-lined protective suits, these cannot completely protect their upper limbs and head from X-ray radiation. Furthermore, due to the complexity of interventional vascular procedures, prolonged exposure to X-rays is often required, resulting in significant cumulative radiation exposure for doctors. Wearing heavy lead-lined suits for extended periods increases the pressure load on the spine, and numerous reports indicate that interventional vascular surgeons have a significantly higher incidence of thyroid cancer, radiation-induced lens injury, and lumbar spine disorders than doctors in other specialties. With approximately 700,000 medical personnel nationwide performing endovascular procedures, and over ten million such procedures performed annually, X-ray-related occupational injuries have become an unavoidable problem, seriously threatening the health of doctors and the long-term development of interventional vascular surgery.

[0004] Regarding the deployment of aortic stents during surgery, manual deployment is clinically employed. During this process, doctors are exposed to X-rays for extended periods, which can be harmful to their health. The specific surgical procedure involves: first, the left hand holds the stent base, and the right hand holds the release handle. Next, the left hand stabilizes the stent base, while the right hand rotates the release handle to the appropriate distance. Finally, the right thumb slides the release latch and holds it steady, then pulls the release handle to its maximum distance. Stent deployment is of paramount importance and crucial in the entire endovascular interventional procedure, as it determines the accuracy of stent placement within the blood vessel. Therefore, stent deployment demands a high level of arm strength, stability during the deployment process, and speed from the operator, requiring highly experienced physicians to perform this task, thus increasing the surgical risk.

[0005] Patent document CN203493780U discloses an endovascular stent release device that delivers and releases a stent into a human blood vessel, and is classified as a medical device. The main structure of this release device consists of a release wire and a catheter assembly; however, this design still requires on-site operation by a physician, which is detrimental to the physician's health. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the present invention aims to provide an aortic stent release device for use in endovascular interventional surgical robots.

[0007] According to the present invention, an aortic stent release device for an endovascular interventional surgical robot includes a drive mechanism, a control mechanism, and an aortic stent.

[0008] The aortic stent includes a stent base and a release handle. The stent base has an mounting end and a driving end. A self-expanding stent is fitted onto the mounting end, and a tightening sleeve is fitted onto the outside of the self-expanding stent. The release handle is slidably or rotatably fitted onto a first position of the driving end. The driving mechanism can drive the release handle to move toward a second position of the driving end. At this time, the tightening sleeve moves with the release handle, thereby releasing the tightening sleeve from the self-expanding stent. The self-expanding stent self-expands, and when the stent base moves away from the self-expanding stent, the mounting end detaches from the self-expanding stent.

[0009] The control mechanism is signal-connected to the drive mechanism.

[0010] Preferably, the drive mechanism includes a first clamping component and a second clamping component, wherein the first clamping component is used to clamp the release handle, and the second clamping component is used to clamp the second position of the drive end.

[0011] Preferably, the release handle is threadedly engaged with the drive end; or the release handle is slidably engaged with the drive end.

[0012] Preferably, the release handle is provided with a locking pin that has a locked state and an unlocked state;

[0013] When the locking pin is in the unlocked state, the release handle can move on the drive end;

[0014] When the locking pin is in the locked state, the release handle cannot move on the drive end.

[0015] Preferably, both the first clamping assembly and the second clamping assembly have a linear driver, a clamping driver, a base, and a clamping structure;

[0016] The clamping driver can drive the clamping structure to switch between a clamping state and a releasing state. The linear driver is mounted on the base and can drive the clamping driver to move the clamping structure along the axial direction of the support base, thereby driving the release handle to move toward the second position of the drive end.

[0017] Preferably, the clamping structure includes a left clamping arm and a right clamping arm;

[0018] The clamping driver can drive the left and right clamping arms to move closer to or further away.

[0019] Preferably, the clamping ends of the left clamping arm and the right clamping arm both adopt an arc-shaped surface structure, and the clamping surface of the arc-shaped surface structure has a toothed structure.

[0020] Preferably, both the left clamping arm and the right clamping arm are made of stainless steel or aluminum alloy.

[0021] Preferably, both the left and right clamping arms include a clamping housing, a support column, a buckle, a button, and a compression spring.

[0022] The clamping housing has a support column cavity and a button socket communicating with the support column cavity. One end of the support column has a first slot and extends into the interior of the support column cavity. The other end of the support column is connected to the clamping driver.

[0023] The end of the buckle passes through the button socket and extends into the first slot. The clamping housing is also provided with a receiving hole for accommodating the button. One end of the button is equipped with the compression spring and can move in the third and fourth positions.

[0024] When the button is in the third position, the button can be locked by the pin;

[0025] After the pin is removed, the button can move to the fourth position under the elastic drive of the compression spring, thereby locking the buckle.

[0026] Preferably, both the left clamping arm and the right clamping arm include a torsion spring and a torsion spring pin. The torsion spring is fitted onto the torsion spring pin and installed on the clamping housing through the torsion spring pin. The buckle connects to the torsion spring, and the torsion spring has a torque that presses the buckle toward the first slot.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. This invention utilizes a power device to replace human hands in releasing the stent, reducing surgical risks caused by human factors. It is simple to operate and stable and reliable.

[0029] 2. This invention can remotely control the linear actuator and clamping actuator through a control mechanism, so that doctors are not exposed to X-ray radiation, making it highly practical.

[0030] 3. The present invention adopts a toothed design with large and small clamps, which effectively clamps the handle and has good stability.

[0031] 4. This invention uses a pin to fix the position of the sliding buckle, which is stable, reliable, and simple in structure. Attached Figure Description

[0032] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0033] Figure 1 This is a schematic diagram of the structure of the present invention;

[0034] Figure 2 This is a schematic diagram of the locking pin structure;

[0035] Figure 3 This is a schematic diagram of the structure when the release handle is in the first position, in which the tightening sleeve is not shown;

[0036] Figure 4 for Figure 3 A schematic diagram of the structural cross-section along the AA direction, in which the tightening sleeve is not shown;

[0037] Figure 5 This is a schematic diagram of the structure when the release handle is in the second position;

[0038] Figure 6 for Figure 5 A schematic diagram of the structural cross-section along the BB direction shows that the self-expanding bracket expands and has a gap with the mounting end of the bracket base. At this time, the mounting end of the bracket base can detach from the self-expanding bracket under the drive of external force.

[0039] Figure 7 This is a front view of the first or second clamping assembly.

[0040] Figure 8 This is a side view of the first or second clamping assembly.

[0041] Figure 9 A schematic diagram of the structure of the left clamping arm and the right clamping arm of the first clamping assembly;

[0042] Figure 10 A schematic diagram of the left and right clamping arms of the second clamping assembly;

[0043] Figure 11 This is a schematic diagram of the toothed structure of the large clamp.

[0044] Figure 12 This is a schematic diagram of the toothed structure of the small clip;

[0045] Figure 13 A schematic diagram of the structure designed for the conformal distribution of sharp teeth on a large clamp;

[0046] Figure 14 A schematic diagram of the structure designed for the conformal distribution of sharp teeth on a small clip;

[0047] Figure 15 This is a schematic diagram of the left clamping arm.

[0048] Figure 16 for Figure 15 Schematic diagram of the cross section in the middle EE direction;

[0049] Figure 17 for Figure 15 Schematic diagram of the cross section in the middle EE direction;

[0050] Figure 18 This is a schematic diagram of the front structure of the supporting column;

[0051] Figure 19 This is a schematic diagram of the front structure of the button;

[0052] Figure 20 This is a top view of the structure that holds the housing.

[0053] Figure 21 This is a side view of the button.

[0054] Figure 22 This is a top view of the button's structure;

[0055] Figure 23 This is a schematic diagram of the structure on the clamping housing, showing the U-shaped structural hole and the torsion spring fixing hole;

[0056] Figure 24 for Figure 15 Schematic diagram of the cross section in the middle FF direction;

[0057] Figure 25 A top view of the torsion spring, torsion spring pin, and snap-fit ​​connection.

[0058] Figure 26 This is a bottom view diagram of the torsion spring, torsion spring pin, and snap-fit ​​connection.

[0059] The diagram shows:

[0060] Linear actuator 1, compression spring 16

[0061] Clamping driver 2 wavy concave-convex structure 17

[0062] Locking pin 3, tapered end 18

[0063] Base 4 Toothed structure 19

[0064] Aortic stent 5 with conformal serrated distribution design 20

[0065] Support base 6 V-shaped boss 21

[0066] Release handle 7 First slot 22

[0067] Left clamping arm 8 D-shaped structure 23

[0068] Right clamping arm 9 U-shaped structural hole 24

[0069] Clamping housing 10, straight edge 25

[0070] Support column 11, hypotenuse 26

[0071] 12 buckles, 27 U-shaped posts

[0072] Button 13, spring fixing hole 28

[0073] Torsion spring 14 Torsion spring fixing hole 29

[0074] Torsion spring pin 15 Self-expanding bracket 101 Detailed Implementation

[0075] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0076] This invention provides an aortic stent deployment device for endovascular interventional surgical robots, such as... Figure 1 As shown, it includes a drive mechanism, a control mechanism, and an aortic stent 5. The aortic stent 5 includes a stent base 6 and a release handle 7. The stent base 6 has an installation end and a drive end. A self-expanding stent 101 is mounted on the installation end and a tightening sleeve is fitted on the outside of the self-expanding stent 101. In endovascular interventional therapy, the self-expanding stent 101 needs to be placed in a specific position in the blood vessel. Therefore, it is essential to achieve precise placement during the operation.

[0077] The release handle 7 is slidably or rotatably mounted on the first position of the drive end. In a specific design, the release handle 7 is threaded into the drive end; or the release handle 7 is slidably engaged with the drive end. To ensure the stability of the release handle 7, a locking pin 3 is provided on the release handle 7, which has a locked state and an unlocked state.

[0078] Furthermore, such as Figure 2 As shown, the locking pin 3 has a conical shape and a wavy, uneven structure 17 on its surface. The wavy, uneven structure 17 increases the friction for inserting and removing the locking pin 3. The front end of the locking pin 3 has a tapered end 18. The tapered design of the tapered end 18 increases the ease of insertion of the locking pin 3. The release handle 7 has a locking pin hole, and the locking pin 3 can be fitted into the locking pin hole. When the locking pin 3 is pulled out of the locking pin hole, the locking pin 3 is in an unlocked state, and the release handle 7 can move on the drive end. When the locking pin 3 is inserted into the locking pin hole, the locking pin 3 is in a locked state, and the release handle 7 cannot move on the drive end.

[0079] like Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, the drive mechanism can drive the release handle 7 to move toward the second position of the drive end. At this time, the tightening sleeve moves with the release handle 7, and the tightening sleeve is released from the restraint of the self-expanding stent 101. The self-expanding stent 101 self-expands and the mounting end is released from the self-expanding stent 101 when the stent base 6 moves away from the self-expanding stent 101, so that the self-expanding stent 101 is installed in the blood vessel. The drive mechanism and the control mechanism are connected by a signal. The control mechanism can output a control signal to control the drive mechanism to move and thus complete the implantation of the self-expanding stent 101.

[0080] It should be noted that the bracket base 6 in this invention has a hollow structure inside and a gap arranged in the axial direction at the drive end. When the release handle 7 moves from the first position to the second position, it can pull one end of the connector arranged in the hollow structure to move, thereby causing the other end of the connector to pull the tightening sleeve to move towards the second position. The purpose of setting the gap is that the release handle 7 can still be connected to the connector when moving or rotating to achieve the driving effect on the connector, so as to realize the tightening sleeve disengaging from the self-expanding bracket 101.

[0081] In practical applications, the choice of connector is not limited to a specific structural form. Any structure that can achieve the required action effect can be selected. For example, when the release handle 7 is threadedly engaged with the drive end, the rotation of the release handle 7 can still be driven by the internal thread and the end of the connector to drive the connector to follow the movement of the release handle 7. When the release handle 7 is slidably engaged with the drive end, the movement of the drive connector is simpler, which will not be elaborated here.

[0082] Specifically, the driving mechanism includes a first clamping component and a second clamping component. The first clamping component is used to clamp the release handle 7, and the second clamping component is used to clamp the second position of the driving end. In actual operation, after the first clamping component and the second clamping component are clamped in place, the first clamping component drives the release handle 7 to move in the second direction to realize the self-expansion release of the self-expanding bracket 101.

[0083] Both the first clamping assembly and the second clamping assembly have a linear driver 1, a clamping driver 2, a base 4, and a clamping structure. The first clamping assembly can realize the rotation or sliding of the release handle 7 relative to the bracket base 6 according to the actual application scenario.

[0084] like Figure 7 As shown, the clamping driver 2 can drive the clamping structure to switch between a clamping state and a releasing state. The linear driver 1 is mounted on the base 4 and can drive the clamping driver 2 to move the clamping structure along the axial direction of the stent base 6, thereby driving the release handle 7 to move toward the second position of the driving end, ultimately causing the tightening head outside the self-expanding stent 101 to disengage from the self-expanding stent 101. When the self-expanding stent 101 is in the self-expanding state, the linear driver 1 can be operated to drive the stent base 6 away from the self-expanding stent 101, thereby keeping the self-expanding stent 101 inside the blood vessel.

[0085] Furthermore, the clamping structure includes a left clamping arm 8 and a right clamping arm 9, such as... Figure 8 As shown, the clamping driver 2 can drive the left clamping arm 8 and the right clamping arm 9 to move closer to or further away.

[0086] Specifically, the clamping ends of the left clamping arm 8 and the right clamping arm 9 are both arc-shaped, and the clamping surfaces of the arc-shaped structures have toothed structures 19. The left clamping arm 8 and the right clamping arm 9 can be made of stainless steel or aluminum alloy.

[0087] In practical applications, the diameter of the release handle 7 held by the left clamping arm 8 and right clamping arm 9 of the first clamping assembly is larger than the diameter of the second position of the drive end held by the left clamping arm 8 and right clamping arm 9 of the first clamping assembly. Therefore, the two clamping arms holding the release handle 7 form a large clamp, and the two clamping arms holding the second position of the drive end form a small clamp. The sizes of the arc-shaped surface structures corresponding to the large clamp and the small clamp are also different, such as... Figure 9 , Figure 10 As shown, the toothed structure 19 and the conformal tooth distribution design 20 on the large and small clips can also be designed in different sizes and structures, such as... Figure 11 , Figure 12 , Figure 13 , Figure 14As shown.

[0088] Both the left clamping arm 8 and the right clamping arm 9 include a clamping housing 10, a support column 11, a buckle 12, a button 13, and a compression spring 16. Figure 15 , Figure 16 As shown, the clamping housing 10 has a support column cavity and a button socket communicating with the support column cavity. The cross-section of the support column cavity is a D-shaped structure 23, as shown in the figure. Figure 17 As shown, one end of the support column 11 has a first groove 22 that extends into the cavity of the support column. The end of the support column 11 is tapered for easy installation. Figure 18 As shown, the other end of the support column 11 is connected to the clamping driver 2. The first slot 22 is preferably a V-shaped slot. The end of the buckle 12 passes through the button socket and extends into the first slot 22. The end of the buckle 12 is preferably a V-shaped boss 21, which matches the V-shaped slot.

[0089] The clamping housing 10 is also provided with a receiving hole for accommodating the button 13. The receiving hole is a U-shaped hole 24 and communicates with the button socket. Figure 9 , Figure 20 The end of button 13 facing the buckle 12 has a straight edge 25 and a beveled edge 26. Button 13 has a U-shaped post 27, which matches a U-shaped structural hole 24. The U-shaped post 27 has a spring fixing hole 28. Button 13 is connected to the spring 16 and can move in a third position and a fourth position. When button 13 is in the third position, button 13 can be locked by pin 17. When pin 17 is removed, button 13 can move to the fourth position under the elastic drive of spring 16 and lock buckle 12. At this time, the straight edge 25 limits buckle 12. When button 13 is in the fourth position and buckle 12 is not installed in place, pressing buckle 12 will cause buckle 12 to contact beveled edge 26 and drive button 13 to move towards the third position, thereby installing buckle 12 in place. V-shaped boss 21 is matched and installed in V-shaped groove.

[0090] Both the left clamping arm 8 and the right clamping arm 9 include a torsion spring 14 and a torsion spring pin 15, such as Figures 23-26 As shown, the clamping housing 10 has a torsion spring fixing hole 29. The torsion spring 14 is installed in the torsion spring fixing hole 29 and fitted onto the torsion spring pin 15. Both ends of the torsion spring pin 15 are installed on the clamping housing 10. The buckle 12 connects to the torsion spring 14 and the torsion spring 14 has a torque to twist the buckle 12 toward the first slot 22.

[0091] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0092] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An aortic stent release device for use in an endovascular interventional surgical robot, characterized in that, Includes drive mechanism, control mechanism and aortic stent (5); The aortic stent (5) includes a stent base (6) and a release handle (7). The stent base (6) has an installation end and a drive end. A self-expanding stent (101) is fitted on the installation end and a tightening sleeve is fitted on the outside of the self-expanding stent (101). The release handle (7) is slidably fitted on the first position of the drive end. The drive mechanism can drive the release handle (7) to move toward the second position of the drive end. At this time, the tightening sleeve moves with the release handle (7) and then the tightening sleeve is released from the restraint of the self-expanding stent (101). The self-expanding stent (101) self-expands and the installation end is released from the self-expanding stent (101) when the stent base (6) moves away from the self-expanding stent (101). The control mechanism is signal-connected to the drive mechanism; The drive mechanism includes a first clamping component and a second clamping component, wherein the first clamping component is used to clamp the release handle (7), and the second clamping component is used to clamp the second position of the drive end; Both the first clamping assembly and the second clamping assembly have a linear driver (1), a clamping driver (2), a base (4), and a clamping structure; The clamping driver (2) can drive the clamping structure to switch between clamping and releasing states. The linear driver (1) is mounted on the base (4) and can drive the clamping driver (2) to move the clamping structure along the axial direction of the support base (6), thereby driving the release handle (7) to move toward the second position of the drive end. The clamping structure includes a left clamping arm (8) and a right clamping arm (9); The clamping driver (2) can drive the left clamping arm (8) and the right clamping arm (9) to move closer or further away; The left clamping arm (8) and the right clamping arm (9) each include a clamping housing (10), a support column (11), a buckle (12), a button (13), and a compression spring (16). The clamping housing (10) has a support column cavity and a button socket that communicates with the support column cavity. One end of the support column (11) has a first slot (22) and extends into the interior of the support column cavity. The other end of the support column (11) is connected to the clamping driver (2). The end of the buckle (12) passes through the button socket and extends into the first slot (22). The clamping housing (10) is also provided with a receiving hole for receiving the button (13). One end of the button (13) is equipped with the compression spring (16) and can move in the third position and the fourth position. When button (13) is in the third position, button (13) can be locked by pin (17); When the pin (17) is removed, the button (13) can move to the fourth position under the elastic drive of the compression spring (16) and lock the buckle (12).

2. The aortic stent release device for endovascular interventional surgery robots according to claim 1, characterized in that, The release handle (7) is provided with a locking pin (3) that has a locked state and an unlocked state. When the locking pin (3) is in the unlocked state, the release handle (7) can move on the drive end; When the locking pin (3) is in the locked state, the release handle (7) cannot move on the drive end.

3. The aortic stent release device for endovascular interventional surgery robots according to claim 1, characterized in that, The left clamping arm (8) and the right clamping arm (9) both have arc-shaped surface structures at their clamping ends, and the clamping surfaces of the arc-shaped surface structures have toothed structures.

4. The aortic stent release device for endovascular interventional surgery robots according to claim 1, characterized in that, The left clamping arm (8) and the right clamping arm (9) are both made of stainless steel or aluminum alloy.

5. The aortic stent release device for endovascular interventional surgery robots according to claim 1, characterized in that, The left clamping arm (8) and the right clamping arm (9) both include a torsion spring (14) and a torsion spring pin (15). The torsion spring (14) is fitted onto the torsion spring pin (15) and installed on the clamping housing (10) through the torsion spring pin (15). The buckle (12) is connected to the torsion spring (14) and the torsion spring (14) has a torque to twist the buckle (12) toward the first slot (22).

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