Interventional surgical robot and its clamping device

Abstract

The present invention relates to an interventional surgical robot and its clamping device in the field of medical robot technology, including a base, a driving mechanism, a handle clamping mechanism, and a catheter and guide wire clamping mechanism; the driving mechanism, the handle clamping mechanism, and the catheter and guide wire clamping mechanism are all installed on the base, and the driving mechanism is respectively drivingly connected to the handle clamping mechanism and the catheter and guide wire clamping mechanism; the driving mechanism drives the handle clamping mechanism and the catheter and guide wire clamping mechanism to operate synchronously, and the time for the handle clamping mechanism to reach the handle clamping position is different from the time for the catheter and guide wire clamping mechanism to reach the catheter and guide wire clamping position. The present invention can simultaneously drive the handle clamping mechanism and the catheter and guide wire clamping mechanism through the same driving mechanism, and can realize the clamping and switching of the handle and the catheter and guide wire without replacing the fixture, improving the safety factor and operation efficiency of the surgical operation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robots, and in particular, to an interventional surgical robot and a clamping device thereof. Background Art

[0002] When an interventional surgical robot performs an aortic interventional operation, it is necessary to first use a manipulator to clamp a catheter guide wire and send it to the lesion location to establish a channel; then use the manipulator to hold the handle of a large stent, send the stent to the lesion, and finally hold the handle of the large stent to complete the release action. Among them, the diameter of the catheter guide wire is small, the diameter of the catheter generally does not exceed 2.5 mm, and the diameter of the guide wire generally does not exceed 1 mm. Correspondingly, the diameter of the handle is large, and the diameter of the largest part of the handle can reach 40 mm.

[0003] In order to reliably clamp the catheter guide wire and the handle respectively, the existing method is to design two different fixtures respectively. Due to the different objects to be clamped, the shapes of these two fixtures are quite different, and they need to be selected and used according to the needs during the operation. One problem brought about by this is that as the operation process progresses, it is often necessary for the doctor to manually replace the robot hand fixture, and these fixtures are sterile and disposable. On the one hand, this increases the consumption of supplies in a single operation, directly increasing the operation cost. More importantly, it greatly increases the workload and work burden of the doctor. Because when replacing the fixture, special attention needs to be paid to sterility. If the sterile protective sleeve of the robot is worn out when replacing the fixture, the sleeve needs to be replaced immediately. In addition, frequent replacement of the fixture will increase the operation time and may have an adverse impact on the patient's physical health.

[0004] After searching the prior art, it is found that the Chinese invention patent publication number is CN109806487A, which discloses a cable-driven reconfigurable catheter robot for interventional surgery, including an interventional catheter, a connecting tube, a fixed disk, a cable guiding module, and a power module. The interventional catheter includes N sequentially connected catheter bending units, where N is a natural number greater than or equal to 2; the catheter bending unit includes a male connector, a nitinol core tube, a silicone sheath tube, a female connector, and the first to third driving cables; the cable guiding module includes a guiding disk and 3N guiding units; the power module includes 3N power units evenly distributed on the fixed disk outside the guiding disk and corresponding to the 3N guiding units one by one. The device of this invention is complex in design and cannot perform the switching between clamping the handle and the catheter guide wire. Summary of the Invention

[0005] Aiming at the defects in the prior art, the purpose of the present invention is to provide an interventional surgical robot and a clamping device thereof.

[0006] According to a clamping device for an interventional surgical robot provided by the present invention, it includes a base, a driving mechanism, a handle clamping mechanism, and a catheter guide wire clamping mechanism;

[0007] The driving mechanism, the handle clamping mechanism, and the catheter guide wire clamping mechanism are all installed on the base, and the driving mechanism is respectively drivingly connected to the handle clamping mechanism and the catheter guide wire clamping mechanism;

[0008] The driving mechanism drives the handle clamping mechanism and the catheter guide wire clamping mechanism to operate synchronously, and the time for the handle clamping mechanism to reach the handle clamping position is different from the time for the catheter guide wire clamping mechanism to reach the catheter guide wire clamping position.

[0009] In some embodiments, the driving mechanism includes a driving motor and a driving gear, the handle clamping mechanism and the catheter guide wire clamping mechanism are respectively in meshing transmission with the driving gear, and the number of teeth of the gear meshing with the driving gear of the handle clamping mechanism is greater than the number of teeth of the gear meshing with the driving gear of the catheter guide wire clamping mechanism.

[0010] In some embodiments, the handle clamping mechanism includes a first driven gear, a first bidirectional lead screw, a first guide shaft, a first slider, and a first clamping block;

[0011] The two first sliders are respectively threadedly connected to the positive and negative threads on both sides of the first bidirectional lead screw, the two ends of the first bidirectional lead screw are rotatably connected to the base, the first driven gear is installed at one end of the first lead screw and meshes with the driving gear, the first guide shaft passes through the two first sliders and is fixed to the base at both ends, the first guide shaft is arranged parallel to the first bidirectional lead screw, and the two first clamping blocks are respectively fixedly connected to the two first sliders.

[0012] In some embodiments, the catheter guide wire clamping mechanism includes a second driven gear, a second bidirectional lead screw, a second guide shaft, a second slider, and a second clamping block;

[0013] The two second sliders are respectively threadedly connected to the positive and negative threads on both sides of the second bidirectional lead screw, the two ends of the second bidirectional lead screw are rotatably connected to the base, the second driven gear is installed at one end of the second lead screw and meshes with the driving gear, the second guide shaft passes through the two second sliders and is fixed to the base at both ends, and the two second clamping blocks are respectively fixedly connected to the two second sliders.

[0014] In some embodiments, the first bidirectional lead screw and the second bidirectional lead screw have the same structural dimensions.

[0015] In some embodiments, the second clamping block is a U-shaped structural block, and the first clamping block is located between the two side plates of the second clamping block.

[0016] In some embodiments, the surface of the first clamping block for clamping the handle is an arc surface structure.

[0017] In some embodiments, there are two first guiding shafts, and the two first guiding shafts are arranged in parallel and are both slidably sleeved with the first slider.

[0018] And / or, there are two second guiding shafts, and the two second guiding shafts are arranged in parallel and are both slidably sleeved with the second slider.

[0019] In some embodiments, on both sides of one of the two second clamping blocks, there are support blocks, and the support blocks are provided with grooves, and the grooves on the support blocks are used for carrying the catheter guide wire to be clamped.

[0020] The present invention also provides an interventional surgical robot, which adopts the clamping device for an interventional surgical robot described above.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. In the present invention, the same driving mechanism can simultaneously drive the handle clamping mechanism and the catheter guide wire clamping mechanism, and the clamping and switching of the handle and the catheter guide wire can be realized without replacing the fixture, improving the safety factor and operation efficiency of the surgical operation.

[0023] 2. In the present invention, through the optimized design of the structure arrangement of the slider, the guiding shaft slidably connected with the slider, and components such as the clamping block, the compactness of the device and the operation precision of the operation are improved, and at the same time, the weight of the device is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0025] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 is a schematic diagram of the side structure of the present invention;

[0027] Figure 3 is a schematic diagram of the state structure of the present invention when clamping the handle;

[0028] Figure 4 is a schematic diagram of the structure of the present invention after placing the guide wire;

[0029] Figure 5 is a schematic diagram of the structure of the present invention after clamping the guide wire. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all belong to the protection scope of the present invention.

[0031] Embodiment 1

[0032] The present invention provides a clamping device for an interventional surgical robot, including a base 1, a driving mechanism 2, a handle clamping mechanism 3, and a catheter and guide wire clamping mechanism 4. The base 1 is a frame structure, for example, it can be a box-type frame structure. On the one hand, it is used to install and carry the driving mechanism 2, the handle clamping mechanism 3, and the catheter and guide wire clamping mechanism 4. On the other hand, it is convenient to connect with other structures of the interventional surgical robot. To facilitate the description of the connection relationship between other components and the base 1, the following will take Figure 1 the shown box-type structure as an example for description.

[0033] The driving mechanism 2 includes a driving motor 21 and a driving gear 22. The driving motor 22 is fixed to the inner side of the back plate of the base 1 through fasteners such as a hoop. The transmission shaft of the driving motor 22 extends outside the side plate of the base 1. The driving gear 22 is installed on the transmission shaft of the driving motor 21 and is outside the side plate of the base 1 for outputting power outward.

[0034] The handle clamping mechanism 3 includes a first driven gear 31, a first bidirectional lead screw 32, a first guide shaft 33, a first slider 34, and a first clamping block 35. The first bidirectional lead screw 32 is a threaded rod with left and right hand threads. Its two ends are rotatably connected to the opposite side plates of the base 1, and one end extends outside the side plate of the base 1. The shaft end extending outside the side plate of the base 1 is fixedly connected to the first driven gear 31. After the first driven gear 31 is installed, it is on the same side as and meshes with the driving gear 22. The first guide shaft 33 is arranged parallel to the first bidirectional lead screw 32, and its two ends are fixed to the side plates of the base 1. The number of the first sliders 34 is 2. The upper end of each first slider 34 is provided with a threaded hole, which is threadedly connected to the first bidirectional lead screw 32 through the threaded hole. At the same time, a smooth hole is provided below the threaded hole, and the first slider 34 is slidably sleeved on the first guide shaft 33 through the smooth hole. The number of the first clamping blocks 35 is 2, and the two first clamping blocks 35 are respectively connected to the bottom ends of the two first sliders 34.

[0035] The catheter guide wire clamping mechanism 4 includes a second driven gear 41, a second bidirectional lead screw 42, a second guide shaft 43, a second slider 44, and a second clamping block 45. The second bidirectional lead screw 42 is also a threaded rod with left- and right-handed threads. Its two ends are rotatably connected to the opposite side plates of the base 1, and one end extends outside the side plate of the base 1. The shaft end extending outside the side plate of the base 1 is fixedly connected to the second driven gear 41. After the second driven gear 41 is installed, it is located on the same side as the driving gear 22 and meshes with it. The second guide shaft 43 is arranged parallel to the lower part of the second bidirectional lead screw 42, and its two ends are fixed to the two side plates of the base 1. The number of the second sliders 44 is also 2. The upper ends thereof are threadedly connected to the second bidirectional lead screw 42 through threaded holes, and at the same time, smooth holes slidably sleeved with the second guide shaft 43 are also provided below the threaded holes. The number of the second clamping blocks 45 is also 2. The two second clamping blocks 45 are respectively connected to the bottom ends of the two second sliders 44.

[0036] In the above design, the first bidirectional lead screw 32 and the second bidirectional lead screw 42 are left- and right-handed lead screw rods with the same structural dimensions, that is, parameters such as their thread diameters and number of starts are the same, while the number of teeth of the first driven gear 31 and the second driven gear 41 are different, and the number of teeth of the first driven gear 31 is more than that of the second driven gear 41.

[0037] The working principle of the present invention is as follows:

[0038] As Figure 2 shown, the driving gear 22 rotates counterclockwise in the direction shown under the drive of the drive motor 21, correspondingly driving the first driven gear 31 and the second driven gear 41 to rotate clockwise synchronously. Then, the first driven gear 31 drives the first bidirectional lead screw 32 to rotate, and the second driven gear 41 drives the second bidirectional lead screw 42 to rotate. Correspondingly, the two first sliders 34 move towards each other and approach, and the second sliders 44 also move towards each other and approach. Since the number of teeth of the first driven gear 31 is more than that of the second driven gear 41, the rotation speed of the first bidirectional lead screw 32 is less than that of the second bidirectional lead screw 42. In addition, since the first bidirectional lead screw 32 and the second bidirectional lead screw 42 are left- and right-handed threaded lead screws with the same structural dimensions, the time for the first driven gear 31 to rotate one circle is slower than that of the second driven gear 41, that is, the axial movement amount of the first slider 34 is less than that of the second slider 44 within the same time. Since the diameter of the handle is much larger than that of the catheter guide wire, only by setting the initial positions of the first slider 34 on the first bidirectional lead screw 32 and the second slider 44 on the second bidirectional lead screw 42 at the corresponding preset positions, the clamping and switching of the handle and the catheter guide wire can be realized by the same drive motor 21.

[0039] The process of clamping the handle is as follows: As Figure 3As shown in the figure, after moving a certain distance, the distance between the two first clamping blocks 35 is exactly the diameter size of the handle 5. The handle is clamped and constrained in the middle by the two first clamping blocks 35. At this time, the driving motor 21 continues to be powered, and the driving gear 22 generates a counterclockwise rotation tendency. As analyzed above, the two first clamping blocks 35 generate a clamping tendency. At the same time, the two second clamping blocks 45 also generate a clamping tendency. However, due to the presence of the handle, the two first clamping blocks 35 do not move, which also limits the movement of the two second clamping blocks 45. When the clamping force applied to the handle reaches the preset value, the power supply of the driving motor is cut off, and the handle 5 is continuously and reliably clamped under the self-locking effect of the lead screw. In this case, while the two first clamping blocks 35 clamp the handle 5 driven by the driving motor 21, the two second clamping blocks 45 maintain a certain distance from the handle and do not interfere with the placement of the handle.

[0040] The clamping process of the catheter guide wire is as follows: Move the clamped handle 5 away. After the driving motor 21 is powered on, it continues to rotate counterclockwise. At this time, both the two first clamping blocks 35 and the two second clamping blocks 45 move towards each other. Since the moving speed of the second clamping block 45 is greater than that of the first clamping block 35, after a certain period of time, as Figure 3 shown, the distance between the two second clamping blocks 45 will be less than the distance between the two first clamping blocks 35. After the driving motor 21 drives the first driven gear 31 and the second driven gear 41 to rotate synchronously through the driving gear 22, the catheter guide wire 6 is clamped on the two second clamping blocks 45. Subsequently, due to the effect of the catheter guide wire 6, both the two second clamping blocks 45 and the two first clamping blocks 35 stop moving. The driving motor 21 is turned off, and the catheter guide wire is continuously and reliably clamped under the self-locking effect of the lead screw. As Figure 4 shown, and there is a certain distance between the two first clamping blocks 35 and the catheter guide wire, which does not interfere with the catheter guide wire. In the above, the materials of the first clamping block 35 and the second clamping block 45 should be biocompatible and produced in a sterile environment. Figure 5 shown, and there is a certain distance between the two first clamping blocks 35 and the catheter guide wire, which does not interfere with the catheter guide wire. In the above, the materials of the first clamping block 35 and the second clamping block 45 should be biocompatible and produced in a sterile environment.

[0041] The present invention can drive both the handle clamping mechanism and the catheter guide wire clamping mechanism through the same driving mechanism, and can realize the clamping and switching of the handle and the catheter guide wire without replacing the fixture, improving the safety factor and operation efficiency of the surgical operation.

[0042] The following uses a set of specific data to illustrate the operation process of the device of the present invention:

[0043] The diameter of the handle 5 to be clamped is 40 mm, the diameter of the catheter guide wire 6 to be clamped is 0.8 mm, the number of teeth of the driving gear 22 is 40 teeth, the number of teeth of the first driven gear 31 is 60 teeth, and the number of teeth of the second driven gear 41 is 28 teeth. On the basis that the structural dimensions of the first double lead screw 32 and the second double lead screw 42 are the same, the moving speed of the second slider 44 is about 2.14 times that of the first slider 34.

[0044] In the initial state, the maximum distance between the two first clamping blocks 35 is 42 mm, so that the handle 5 can be smoothly placed. At this time, the distance between the two second clamping blocks 45 is 58 mm, and the state at this time is as Figure 1 shown. From the above conversion relationship, it can be known that when the distance between the two first clamping blocks 35 shrinks to 40 mm, the distance between the two second clamping blocks 45 is 53.7 mm, and the state at this time is as Figure 3 shown, and the handle 5 is clamped. After unloading the handle 5, the driving motor 21 continues to rotate. When the distance between the two first clamping blocks 35 shrinks to about 20 mm, the distance between the two second clamping blocks 45 is 11 mm, and the state at this time is as Figure 4 shown, and the guide wire 6 can be conveniently clamped manually. When the distance between the two first clamping blocks 35 is about 15.2 mm, the distance between the two second clamping blocks 45 is about 0.8 mm, and the state at this time is as Figure 5 shown, and the guide wire 5 can be clamped. From the above data, it can be known that there are appropriate parameters to meet the design requirements. Of course, the design parameters can be further adjusted and optimized in combination with the actual processing and use conditions.

[0045] Embodiment 2

[0046] This Embodiment 2 is formed on the basis of Embodiment 1. By optimizing the structural arrangement of the slider, the guide shaft slidably connected to the slider, and components such as the clamping block, the compactness of the device and the operation accuracy are improved, and at the same time, the weight of the device is reduced. Specifically:

[0047] As Figures 1-5As shown, the first clamping block 35 and the second clamping block 45 adopt a structure similar to socketing, which can effectively improve the compactness of the device. To improve the clamping stability of the catheter guide wire 6, the first clamping block 35 is designed as a block structure, and the second clamping block 45 is designed as a U-shaped structural block. The first clamping block 35 is accommodated between the two side plates of the second clamping block 45, and the two do not contact and can move relative to each other freely. Here, the so-called first clamping block 35 being accommodated between the two side plates of the second clamping block 45 includes that the first clamping block 35 is located between the two side plates of the second clamping block 45 and the first clamping block 35 is located between the extended surfaces of the two side plates of the second clamping block 45. Preferably, the surface of the first clamping block 35 for clamping the handle 5 is designed as an arc surface, which can better fit and contact with the handle 5 to ensure stability after clamping. Preferably, a support block 451 is provided on one of the two second clamping blocks 45. One end of the support block 451 is connected to the outer side surfaces of the two side plates of the second clamping block 45, and the other end extends beyond the end surface of the second clamping block 45 and the extended length does not affect the clamping of the handle 5. A groove is provided on the support block 451 for holding the catheter guide wire. The support block 451 can help the manipulator hold the catheter guide wire in a slightly open state, facilitating the operator to clamp the catheter guide wire 6.

[0048] The number of the first guide shafts 33 slidably connected to the first slider 34 is 2. The two first guide shafts 33 are arranged in parallel below the first bidirectional lead screw 32. The first slider 34 is slidably sleeved on the two first guide shafts 33 through two light holes. The two first guide shafts 33 can effectively ensure and improve the movement accuracy of the first slider 34. Further, the number of the second guide shafts 43 slidably connected to the second slider 44 is also 2, and the structural layout is the same as that of the two first guide shafts 33 to improve the movement accuracy of the second slider 44. Further still, the lower part of the light hole of the first slider 34 is designed with a hollow to reduce the structural weight of the device. The same design can also be applied to the second slider 44, that is, the lower part of the light hole of the second slider 44 is also designed with a hollow to further reduce the overall weight of the device.

[0049] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0050] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, 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. Without conflict, the embodiments of the present application and the features in the embodiments can be combined arbitrarily with each other.

Claims

1. A clamping device for an interventional surgical robot, characterized in that It includes a base (1), a driving mechanism (2), a handle clamping mechanism (3), and a catheter guide wire clamping mechanism (4); The driving mechanism (2), the handle clamping mechanism (3), and the catheter guide wire clamping mechanism (4) are all installed on the base (1), and the driving mechanism (2) is respectively drivingly connected to the handle clamping mechanism (3) and the catheter guide wire clamping mechanism (4); The driving mechanism (2) drives the handle clamping mechanism (3) and the catheter guide wire clamping mechanism (4) to operate synchronously, and the time when the handle clamping mechanism (3) reaches the handle clamping position is different from the time when the catheter guide wire clamping mechanism (4) reaches the catheter guide wire clamping position.

2. The clamping device for an interventional surgical robot according to claim 1, wherein The driving mechanism (2) includes a driving motor (21) and a driving gear (22), the handle clamping mechanism (3) and the catheter guide wire clamping mechanism (4) are respectively in meshing transmission with the driving gear (22), and the number of teeth of the gear of the handle clamping mechanism (3) meshing with the driving gear (22) is greater than the number of teeth of the gear of the catheter guide wire clamping mechanism (4) meshing with the driving gear (22).

3. The clamping device for an interventional surgical robot according to claim 2, wherein, The handle clamping mechanism (3) includes a first driven gear (31), a first bidirectional lead screw (32), a first guide shaft (33), a first slider (34), and a first clamping block (35); The two first sliders (34) are respectively threadedly connected to the positive and negative threads on both sides of the first bidirectional lead screw (32), the two ends of the first bidirectional lead screw (32) are rotatably connected to the base (1), the first driven gear (31) is installed at one end of the first bidirectional lead screw (32) and meshes with the driving gear (22), the first guide shaft (33) passes through the two first sliders (34) and is fixed to the base (1) at both ends, the first guide shaft (33) is arranged parallel to the first bidirectional lead screw (32), and the two first clamping blocks (35) are respectively fixedly connected to the two first sliders (34).

4. The clamping device for an interventional surgical robot according to claim 3, wherein, The catheter guide wire clamping mechanism (4) includes a second driven gear (41), a second bidirectional lead screw (42), a second guide shaft (43), a second slider (44), and a second clamping block (45); The two second sliders (44) are respectively threadedly connected to the positive and negative threads on both sides of the second bidirectional lead screw (42), the two ends of the second bidirectional lead screw (42) are rotatably connected to the base (1), the second driven gear (41) is installed at one end of the second bidirectional lead screw (42) and meshes with the driving gear (21), the second guide shaft (33) passes through the two second sliders (44) and is fixed to the base (1) at both ends, and the two second clamping blocks (45) are respectively fixedly connected to the two second sliders (44).

5. The clamping device for an interventional surgical robot according to claim 4, characterized in that, The first bidirectional lead screw (32) and the second bidirectional lead screw (42) have the same structural dimensions.

6. The clamping device for an interventional surgical robot according to claim 4, wherein, The second clamping block (45) is a U-shaped structural block, and the first clamping block (35) is located between the two side plates of the second clamping block (45).

7. The clamping device for an interventional surgical robot according to claim 3, characterized in that The surface of the first clamping block (35) for clamping the handle is an arc surface structure.

8. The clamping device for an interventional surgical robot according to claim 4, characterized in that, The first guide shafts (33) are two, and the two first guide shafts (33) are arranged in parallel and are both slidably sleeved with the first slider (34). And / or, the second guide shafts (43) are two, and the two second guide shafts (43) are arranged in parallel and are both slidably sleeved with the second slider (44).

9. The clamping device for an interventional surgical robot according to claim 4, characterized in that, On both sides of one of the two second clamping blocks (45), there are support blocks (451). The support blocks (451) are provided with grooves, and the grooves on the support blocks (451) are used to carry the catheter guide wire to be clamped.

10. An interventional surgical robot, characterized in that, The clamping device for an interventional surgical robot according to any one of claims 1-9 is adopted.

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