A convenient and sterilizable angiographic interventional surgery system

Abstract

The present invention relates to a convenient and sterilizable angiographic interventional surgical system, which is used for the forward pushing and backward withdrawal of catheters and guidewires, as well as the rotation control of catheters and guidewires during vascular interventional surgery. Automatic positioning can be performed by four robots, and they can automatically return to their original positions after the surgery is completed, which is convenient for clinical use and does not require separate installation and disassembly. The doctor can control the robot's arm device to push and rotate the guidewire catheter into the patient's body by operating outside the operating room, thereby avoiding the risk of X-ray injury to the doctor and completing the interventional surgical angiography process. The device is designed with a combination of four separate robots, which can well control the movement of the guidewire and catheter. When the catheter moves, the guidewire can be operated at the tail end of the catheter, so that the guidewire follows the movement of the catheter; at the same time, auxiliary fixation of the outer sheath is achieved. The same effect as the doctor's actual interventional surgical operation can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive vascular interventional surgery, and more particularly to a convenient and sterilizable angiographic interventional surgery system. Background Art

[0002] Minimally invasive cardiovascular interventional therapy is a primary treatment for cardiovascular and cerebrovascular diseases. Compared to traditional surgical procedures, it offers significant advantages, including smaller incisions and shorter postoperative recovery times. Cardiovascular interventional surgery involves a physician manually inserting devices such as catheters, guidewires, and stents into the patient's body to complete the treatment.

[0003] Interventional surgery presents two major challenges. First, during the procedure, DSA emits X-rays, which rapidly depletes the physician's strength, concentration, and stability. This can lead to reduced precision and potentially life-threatening accidents such as vascular intimal damage and perforation due to improper thrust. Second, the cumulative harm of long-term ionizing radiation exposure significantly increases the physician's risk of leukemia, cancer, and acute cataracts. The continuous accumulation of radiation exposure by physicians during interventional procedures has become a significant threat to their careers and a significant constraint on the development of interventional surgery.

[0004] Robotic technology can effectively address this issue, significantly improving the precision and stability of surgical procedures while also effectively reducing radiation exposure to interventional surgeons and lowering the risk of intraoperative accidents. Cardiovascular interventional surgery-assisted robots are attracting increasing attention and are becoming a key research and development area in the field of medical robotics.

[0005] There are several problems with guidewire and catheter replacement during interventional surgery: (1) The robot cannot be used to properly control the movement of the guidewire and catheter, especially after the catheter moves, the guidewire needs to be operated at the end of the catheter and follow the movement of the catheter; (2) Auxiliary fixation of the outer sheath cannot be achieved; (3) The device is large in size and complex in structure, and is not suitable for actual clinical surgery; (4) The system is inconvenient to install and disassemble; (5) The mechanical gripper part is large in size and inconvenient to use; (6) During surgery, the disinfection and cleaning of the robot is cumbersome; (7) Robotic surgery consumables are complex and expensive.

[0006] Therefore, how to provide a convenient and sterilizable angiographic interventional surgery system is an urgent problem that needs to be solved by those skilled in the art. Summary of the Invention

[0007] The present invention aims to solve one of the above-mentioned technical problems in the prior art at least to a certain extent.

[0008] To this end, one purpose of the present invention is to provide a convenient and sterilizable angiographic interventional surgery system to first solve problems 1-4 existing in the background technology.

[0009] The present invention provides a convenient and sterilizable angiographic interventional surgery system, comprising: a pair of catheter front-end robots and catheter back-end robots, which can be moved in an interventional surgery catheter room and arranged in pairs on both sides of a catheter bed; and a pair of guidewire front-end robots and guidewire back-end robots;

[0010] The four robots are wirelessly connected and each includes a base, a torso, a head unit, and an arm unit; wherein the base, torso, and head unit corresponding to the four robots have the same structure;

[0011] The first arm devices corresponding to the catheter front-end robot and the catheter back-end robot cooperate to clamp the outer sheath outlet. The guidewire front-end robot and the guidewire back-end robot each have a second arm device and a third arm device. The two second arm devices cooperate to clamp the Y valve and keep the catheter straightened into a straight line. The two third arm devices cooperate to clamp the guidewire at the Y valve outlet.

[0012] The position sensor provided on the guidewire front-end robot or the guidewire back-end robot is clamped on the guide rail of the catheter bed. The heads of the guidewire front-end robot and the guidewire back-end robot are provided with a first set of infrared positioning devices, and the heads of the catheter front-end robot and the catheter back-end robot are provided with a second set of infrared positioning devices for robot position alignment;

[0013] The doctor controls each robot in the control room.

[0014] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a convenient and sterilizable angiographic interventional surgery system, which is used for the forward pushing and backward withdrawal of the catheter and guidewire, as well as the rotation control of the catheter and guidewire during vascular interventional surgery. Automatic positioning can be performed by four robots, and they can automatically return to their original positions after the operation is completed, which is convenient for clinical use and does not require separate installation and disassembly. The doctor can control the robot's arm device to push and rotate the guidewire catheter into the patient's body by operating outside the operating room, avoiding the risk of X-ray injury to the doctor and completing the interventional surgery angiography process. The device is designed with a combination of 4 separate robots, which can well control the movement of the guidewire and catheter. When the catheter moves, the guidewire can be operated at the tail end of the catheter, so that the guidewire follows the movement of the catheter; at the same time, auxiliary fixation of the outer sheath is achieved. The same effect as the doctor's actual interventional surgery operation can be achieved.

[0015] Furthermore, the clamping positions of the first arm device, the second arm device and the third arm device can all be detached with disposable consumables, solving the problem of cumbersome disinfection and cleaning of the robot.

[0016] Furthermore, the disposable consumable includes a back plate with a medical silicone pad attached to its front and two elastic handles extending backward in parallel. The outer surfaces of the two handles each have a stopper for plugging and unplugging into the clamping end of each arm assembly. This solves the problem of complex and expensive consumables for robotic surgery.

[0017] Furthermore, the two first arm devices corresponding to the catheter front-end robot and the catheter back-end robot have the same structure. Each first arm device includes a first extension plate. The components on the upper portion of the first extension plates corresponding to the two first arm devices are arranged in a mirror image. Each first extension plate slides on the torso and head devices in a direction perpendicular to its length. A first motor bracket is fixed thereon. The first motor bracket supports the first screw motor perpendicular to the length direction of the first extension plate. A first linear guide is provided on the first extension plate parallel to the arrangement direction of the first screw motor. A first slider slides on the first linear guide. A first clamp is fixed to the top of the first slider. One end of the first clamp has a first threaded hole that cooperates with the first screw motor. The other end extends out of the first extension plate and bends downward to connect to the disposable consumable. This reduces the size of the device and makes it easy to use.

[0018] Furthermore, the first clamping member includes a main body plate fixed on the first slider, one end of the main body plate is a vertical plate, a first threaded hole is provided on the vertical plate, the other end of the main body plate is an L-shaped plate, a first three-axis force sensor is fixed vertically toward the lower end of the L-shaped plate, a first consumable connector is fixed below the first three-axis force sensor, the first consumable connector is a rectangular frame, the interior of which is a plug-in slot that cooperates with the disposable consumable.

[0019] Furthermore, the two second arm devices and two third arm devices corresponding to the guidewire front-end robot and the guidewire rear-end robot have the same structure and are arranged in a mirror image; one of the second arm devices and one of the third arm devices are both fixed on a rectangular second extension plate, and the second extension plates slide along their length directions on the torso and head devices to achieve telescopic movement relative to the clamping channel.

[0020] Furthermore, each second arm device includes a second motor bracket, which is fixed to the second extension plate and supports the second screw motor along the length direction of the second extension plate. A second linear guide is fixed on the second extension plate parallel to the second screw motor, and a second slider slides on the top of the second linear guide. A second clamp is fixed on the top of the second slider. The second clamp is rectangular, and one end of the clamp is provided with a second threaded hole near the output end of the second screw motor, and the other end extends out of the second extension plate and is fixed with a second three-axis force sensor downward. A second consumable connector is fixed below the second three-axis force sensor. The second consumable connector is a rectangular frame, and its interior is a plug-in slot that cooperates with the disposable consumable.

[0021] Furthermore, each of the third arm devices includes a third motor bracket, the third motor bracket is fixed to the second extension plate, and supports the third screw motor along the length direction of the second extension plate, and a third linear guide is fixed on the second extension plate parallel to the third screw motor, a third slider slides on the top of the third linear guide, a rectangular first push plate is fixed on the top of the third slider, and a third threaded hole that cooperates with the third screw motor is provided on one end of the first push plate, and a fourth screw motor is vertically fixed on the top surface of the first push plate, and a vertical connecting plate is arranged parallel to the fourth screw motor, and a fourth linear guide is vertically fixed on the vertical connecting plate away from the output end side of the third screw motor, a fourth slider slides on the fourth linear guide, and the fourth slider is fixed A right-angle connecting plate, the top of the vertical section of the right-angle connecting plate is bent outward and extended, and has a fourth threaded hole that cooperates with the fourth screw motor at the extension part, and a fifth screw motor is arranged on the horizontal section of the right-angle connecting plate perpendicular to the length direction of the second extension plate, and a fifth linear guide is arranged on the horizontal section of the right-angle connecting plate parallel to the fifth screw motor, and a fifth slider slides on the fifth linear guide, and a third clamping member is fixed on the top of the fifth slider, and one end of the third clamping member has a fifth threaded hole that cooperates with the fifth screw motor, and the other end extends out of the second extension plate and bends downward to connect the third three-axis force sensor, and a third consumable connecting member is fixed below the third three-axis force sensor, and the third consumable connecting member is a rectangular frame, and its interior is a plug-in slot that cooperates with the disposable consumable.

[0022] Furthermore, the base includes a bottom plate, a driving wheel is installed below the bottom plate, and four columns are fixed above the bottom plate, and the tops of the columns are connected to the torso and the head device; a main unit, a lithium battery electrically connected to the main unit, a transformer, a switching power supply, and a driving device are installed between the four columns;

[0023] There are four groups of driving wheels, each group includes an L-shaped part, the top of the L-shaped part is a horizontal section, and the bottom is a vertical section. The horizontal section is vertically connected to the rotary servo motor, and the vertical section has a bearing hole for the output shaft of the axial servo motor to pass through and rotate. The output shaft of the axial servo motor is connected to the wheel, and the rotary servo motor and the axial servo motor are both connected to the driving device. The rotary servo motor is fixed in the square hole set on the base plate; detection cameras are fixed on both sides of the base plate.

[0024] Furthermore, the torso and head device include: a torso device and a head device, the torso device includes a support plate, the bottom of the support plate is connected to the four columns, and two vertical sliding member groups are symmetrically arranged thereon, each vertical sliding member group includes a guide rail bracket fixed to the support plate, two groups of sixth linear guides are fixed inside each guide rail bracket, and six sliders are slid on the two groups of the sixth linear guides, and the sixth slider is fixedly connected to the side of the head bracket, and a sixth screw motor is provided on the support plate to cooperate with the sixth threaded hole provided on the head bracket, and two groups of seventh screw motors are arranged in parallel on the top of the head bracket along its length direction. a linear guide rail, a seventh lead screw motor is arranged in parallel between the two groups of the seventh linear guide rails, a seventh slider slides on both groups of the seventh linear guide rails, a head connecting plate is fixed to the top of the seventh slider, the bottom of the head connecting plate has a seventh threaded hole that cooperates with the seventh lead screw motor, a bearing hole is provided in the middle of the top surface of the head connecting plate, two groups of eighth linear guide rails are arranged in parallel on both sides of the bearing hole, an eighth slider slides on the eighth linear guide rail, the top of the eighth slider is used to connect the arm device, each outer side of the eighth linear guide rail corresponds to an eighth lead screw motor, and the arm device has an eighth threaded hole that cooperates with the eighth lead screw motor;

[0025] The head device includes a turntable, the bottom of the turntable rotates in the bearing hole, and a rotating shaft gear is fixed to the upward extending portion of the rotating shaft. The top of the head connecting plate near the turntable is connected to a rotating motor through a rotating motor bracket, and the output shaft of the rotating motor is upward and connected to a motor gear that meshes with the rotating shaft gear; a touch screen is connected to the turntable, and two sets of cameras are fixed on both sides of the touch screen through camera brackets; the rotating motor is connected to the driving device;

[0026] A touch screen motor bracket is fixed above the turntable, a pitch motor is fixed on the side of the touch screen motor bracket, and the pitch motor output shaft is fixed to the bottom of the camera bracket; the pitch motor is connected to the driving device, and the infrared positioning device is fixed on the top of the touch screen and connected to the host. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0028] Figure 1 The accompanying drawing is a schematic structural diagram of a convenient and sterilizable angiographic interventional surgery system provided by the present invention;

[0029] Figure 2 The attached picture is Figure 1 A top view of

[0030] Figure 3 The accompanying drawing shows a schematic diagram of the robot in a fixed position state;

[0031] Figure 4 The accompanying drawings show schematic diagrams of the first arm device, the second arm device, and the third arm device using disposable consumables to clamp catheters and guidewires;

[0032] Figure 5 The accompanying figure shows a schematic diagram of the overall structure of the catheter rear-end robot;

[0033] Figure 6 The accompanying drawing shows a schematic structural diagram of the base;

[0034] Figure 7 The accompanying figure is an exploded view of the base;

[0035] Figure 8 The accompanying drawings show schematic diagrams of the torso and head assembly;

[0036] Figure 9 The accompanying figure is an exploded view of the torso and head assembly;

[0037] Figure 10 The accompanying figure is a schematic structural diagram of the first arm device of the catheter rear-end robot;

[0038] Figure 11 The attached picture is Figure 10 Exploded diagram;

[0039] Figure 12 The accompanying drawing is a schematic structural diagram of disposable consumables;

[0040] Figure 13 The accompanying figure is a schematic structural diagram of the first arm device of the catheter front-end robot;

[0041] Figure 14 The accompanying figure is a schematic structural diagram of the second arm device and the third arm device of the guidewire rear end robot;

[0042] Figure 15 The attached picture is Figure 14 Exploded diagram;

[0043] Figure 16 The accompanying figure is a schematic structural diagram of the second arm device and the third arm device of the guidewire front end robot. DETAILED DESCRIPTION

[0044] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0045] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0046] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0047] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0048] The embodiment of the present invention discloses a convenient and sterilizable angiographic interventional surgery system, which is used for the forward pushing and backward withdrawal of catheters and guidewires, as well as the rotation control of catheters and guidewires during vascular interventional surgery. Each robot can be automatically positioned and automatically return to its original position after the surgery is completed, which is convenient for clinical use. By operating outside the operating room, the doctor can control the robot's gripper to push and rotate the guidewire catheter into a specified position in the patient's body, avoiding the risk of X-ray injury to the doctor and completing the interventional surgery angiography process. The device is designed with a combination of four separate robots, which can achieve the same effect as the doctor's actual interventional surgery operation.

[0049] See attached Figure 1-3 , including: a pair of catheter front-end robots 105 and catheter back-end robots 102 that can be moved in the catheter room of the interventional surgery and can be arranged in pairs on both sides of the catheter bed 101, and a pair of guidewire front-end robots 104 and guidewire back-end robots 103;

[0050] The four robots are connected wirelessly and need to cooperate with each other to complete the entire angiography operation. The four robots differ primarily in their arm mechanisms, while the rest of their components are essentially the same. This modular design facilitates component application and replacement. Each robot includes a base 200, a torso and head mechanism 300, and an arm mechanism. The base 200, torso, and head mechanism 300 for each of the four robots are structurally identical. The base is used to move the robot, while the torso and head mechanism are primarily responsible for vertical movement and system identification. The arm mechanism is primarily used to extend and clamp the guidewire catheter.

[0051] The first arm devices corresponding to the catheter front-end robot 105 and the catheter back-end robot 102 cooperate with the clamping position at the outer sheath outlet, and the guidewire front-end robot 104 and the guidewire back-end robot 103 both have a second arm device and a third arm device. The two second arm devices cooperate with the clamping position of the Y valve 107 and keep the catheter 106 straightened into a straight line. The two third arm devices cooperate with clamping the guidewire 108, and the clamping position is the Y valve outlet; thereby, the movement of the guidewire and the catheter can be well controlled, especially after the catheter moves, the guidewire operates at the tail end of the catheter and follows the movement of the catheter; at the same time, auxiliary fixation of the outer sheath is achieved.

[0052] The position sensor provided on the guidewire front-end robot 104 or the guidewire back-end robot 103 is clamped on the guide rail of the catheter bed 101. The heads of the guidewire front-end robot 104 and the guidewire back-end robot 103 are provided with a first set of infrared positioning devices, and the heads of the catheter front-end robot 105 and the catheter back-end robot 102 are provided with a second set of infrared positioning devices for robot position alignment;

[0053] The doctor controls each robot in the control room.

[0054] See attached Figure 4 The first, second, and third arms each have a removable disposable consumable 500 located at the gripping position. Made of medical-grade PVC and sterilized with ethylene oxide, it's a disposable consumable for surgical use. It connects to the robot via a plug-in handle for easy installation and removal, while maintaining a low cost.

[0055] Advantageously, see Appendix Figure 12 In a specific embodiment of the present invention, the disposable consumable 500 includes a back plate 503, the front of which is used to stick a medical silicone pad 504, and the back of which has two elastic handles 502 extending backward in parallel, and the outer surfaces of the two handles 502 are provided with blocks 501 for plugging and unplugging with the clamping ends of each arm device. When in use, insert the disposable consumable into the clamping end of the arm device. After use, pinch the two handles with both hands to make the block 501 fall off the clamping end, and then push the disposable consumable out of the clamping end for unified recycling of the disposable consumable. The entire disposable consumable has a simple structure, is inexpensive, and is easy to use. Disposable surgical consumables are used on all four robots.

[0056] See attached Figure 10 and 11 , a catheter front-end robot arm device is used in conjunction with a catheter rear-end robot arm device. The two have the same structure but different installation positions. The two first arm devices corresponding to the catheter front-end robot 105 and the catheter back-end robot 102 have the same structure. Each first arm device includes a first extension plate 401. The components on the upper part of the first extension plate 401 corresponding to the two first arm devices are arranged in a mirror image. Each first extension plate 401 slides on the torso and head device 300 in a direction perpendicular to its length, and a first motor bracket 402 is fixed thereon. The first motor bracket 402 supports the first screw motor 403 perpendicular to the length direction of the first extension plate 401. A first linear guide 404 is provided on the first extension plate 401 parallel to the arrangement direction of the first screw motor 403. A first slider slides on the first linear guide 404. A first clamping member 409 is fixed to the top of the first slider. One end of the first clamping member 409 has a first threaded hole that cooperates with the first screw motor 403, and the other end extends out of the first extension plate 401 and bends downward to connect the disposable consumable 500.

[0057] The two catheter robots achieve the clamping action of the catheter by controlling the extension distance of the first extension plate 401, complete the rotation action of the catheter by adjusting the rising and falling height of each robot, and push the catheter forward or backward by the forward and reverse rotation of the first screw motor 403. The system can achieve simultaneous pushing and rotation actions. The basic operation action is to first clamp the catheter, then push the catheter forward, and after pushing about 2cm, control the robot to release the clamping of the catheter, control the first screw motor 403 to retreat 2cm, and then clamp the catheter again. When rotation is required, control the two robots to rub the catheter to achieve it. The entire surgical process is completed in a cycle.

[0058] See attached Figure 11 In a specific embodiment of the present invention, the first clamping member 409 includes a main body plate fixed on the first slider, one end of the main body plate is a vertical plate 407, a first threaded hole is opened on the vertical plate, and the other end of the main body plate is an L-shaped plate 408, and the first three-axis force sensor 405 is fixed vertically toward the lower end of the L-shaped plate 408, and the first consumable connector 406 is fixed below the first three-axis force sensor 405. The first consumable connector 406 is a rectangular frame, and its interior is a plug-in slot that cooperates with the disposable consumable 500.

[0059] See attached Figure 13 A schematic structural diagram of the first arm device of the catheter front end robot is given. The structure is the same as that of the catheter rear end robot, with the only difference being that the components on the upper part of the first extension plate 401 are arranged in a mirror image with those of the catheter rear end robot.

[0060] Driven by the first screw motor 403, the disposable consumable 500 can move left and right within a small range. The three-axis force sensor can sense the clamping force of the robot when clamping the catheter and the pushing force of the catheter when pushing.

[0061] See attached Figure 14 and 15 The two second arm devices and the two third arm devices corresponding to the guidewire front-end robot 104 and the guidewire back-end robot 103 have the same structure and are arranged in a mirror image; the second arm device and the third arm device are both fixed on the rectangular second extension plate 620, and the second extension plate 620 slides along its length direction on the torso and head device 300 to realize the telescopic movement relative to the clamping channel.

[0062] Specifically, each second arm device includes a second motor bracket 622, which is fixed on the second extension plate 620, and supports the second screw motor 601 along the length direction of the second extension plate 620. A second linear guide 6091 is fixed on the second extension plate 620 parallel to the second screw motor 601, and a second slider slides on the top of the second linear guide 6091. A second clamping member 621 is fixed on the top of the second slider. The second clamping member 621 is rectangular, and one end of it is provided with a second threaded hole near the output end of the second screw motor 601, and the other end extends out of the second extension plate 620, and a second three-axis force sensor 619 is fixed downwardly, and a second consumable connector 618 is fixed below the second three-axis force sensor 619. The second consumable connector 618 is a rectangular frame, and its interior is a plug-in slot that cooperates with the disposable consumable 500.

[0063] See attached Figure 15 , each of the third arm devices includes a third motor bracket 607, the third motor bracket 607 is fixed on the second extension plate 620, and supports the third screw motor 602 along the length direction of the second extension plate 620, and a third linear guide 609 is fixed on the second extension plate 620 parallel to the third screw motor 602, and a third slider slides on the top of the third linear guide 609, and a rectangular first push plate 603 is fixed on the top of the third slider, and a third threaded hole that cooperates with the third screw motor 602 is provided on one end of the first push plate 603. A fourth screw motor 614 is vertically fixed on its top surface, and a vertical connecting plate 613 is arranged parallel to the fourth screw motor 614, and a fourth linear guide 605 is vertically fixed on the vertical connecting plate 613 away from the output end side of the third screw motor 602, and a fourth slider slides on the fourth linear guide 605, and the fourth slider is fixed at a right angle The connecting plate 604 has a vertical section that bends outward at the top and extends, and has a fourth threaded hole that cooperates with the fourth screw motor 614 at the extension. A fifth screw motor 608 is provided on the horizontal section of the right-angle connecting plate 604 perpendicular to the length direction of the second extension plate 620. A fifth linear guide 610 is provided on the horizontal section of the right-angle connecting plate 604 parallel to the fifth screw motor 608. A fifth slider slides on the fifth linear guide 610. A third clamping member 606 is fixed on the top of the fifth slider. One end of the third clamping member 606 has a fifth threaded hole that cooperates with the fifth screw motor 608, and the other end extends out of the second extension plate 620 and bends downward to connect to the third three-axis force sensor 611. A third consumable connecting member 616 is fixed below the third three-axis force sensor 611. The third consumable connecting member 616 is a rectangular frame, and its interior is a plug-in slot that cooperates with the disposable consumable 500.

[0064] Driven by the second lead screw motor 601, the second clamping member 621 can be controlled to extend and retract, thereby completing the clamping of the Y valve. Driven by the third lead screw motor 602, the first push plate 603 can be controlled to extend and retract, thereby completing the clamping and loosening of the guide wire. Driven by the fourth lead screw motor 614, the right-angle connecting plate 604 can be controlled to rise and fall, thereby completing the rubbing action of the guide wire. Driven by the fifth lead screw motor, the third clamping member 606 can be controlled to move forward and backward, thereby completing the advancement and withdrawal of the guide wire. Multiple three-axis force sensors can sense the clamping force of the robot in clamping the guide wire and the pushing force of the guide wire. The three-axis force sensor can sense the clamping force of the robot in clamping the Y valve.

[0065] See attached Figure 16 , a structural schematic diagram of the second arm device and the third arm device of the guidewire front-end robot is given. The structure is the same as that of the guidewire back-end robot. The only difference is that the second arm device and the third arm device are arranged in a mirror image with the guidewire back-end robot.

[0066] The two guidewire robots achieve the clamping action of the Y valve and the guidewire by controlling the extension distance of the first push plate 603 and the second clamping member 621, and complete the rotation action of the guidewire by adjusting the forward and reverse rotation of the fourth screw motor 614. The forward or reverse rotation of the fifth screw motor 608 is used to push the guidewire forward or backward. The system can achieve the action of pushing and rotating the guidewire at the same time. The basic operation action is to first clamp the Y valve and the guidewire, and then push the guidewire forward. After pushing about 2cm, the robot is controlled to release the clamping of the guidewire, and the fifth screw motor 608 is controlled to retreat 2cm, and then clamp the guidewire again. When rotation is required, the two robots are controlled to adjust the fourth screw motor 614 to rub the catheter to achieve it. The entire surgical process is completed in a cycle.

[0067] See attached Figure 6 and 7 The base 200 includes a bottom plate 212, a driving wheel is installed below the bottom plate 212, and four columns 202 are fixed above the bottom plate 212. The tops of the columns 202 are connected to the torso and the head device 300; a host 205, a lithium battery 201 electrically connected to the host 205, a transformer and a switching power supply 204, and a driving device 203 are installed between the four columns 202;

[0068] There are four groups of driving wheels, each group includes an L-shaped part 208, the top of the L-shaped part 208 is a horizontal section, and the bottom is a vertical section. The horizontal section is vertically connected to the rotary servo motor 211, and the vertical section has a bearing hole for the output shaft of the axial servo motor 209 to pass through and rotate. The output shaft of the axial servo motor 209 is connected to the wheel 210. The rotary servo motor 211 and the axial servo motor 209 are both connected to the driving device 203, and the rotary servo motor 211 is fixed in the square hole set on the base plate 212; detection cameras 206 and 207 are fixed on both sides of the base plate 212.

[0069] The rotary servo motor 211 controls the steering of the wheels 210, while the axial servo motor 209 controls the forward and reverse movement of the wheels 210. The four wheels work together to achieve omnidirectional movement of the vehicle. Two cameras 206 and 207 are mounted on the sides of the base plate 212 to monitor the surrounding environment and stop the vehicle if an obstacle is encountered.

[0070] The drive unit 203 drives each motor. The host computer 205 receives, stores, and processes information, sending instructions to various components. The host computer 205 is equipped with a Bluetooth module and a WiFi module, enabling wireless data transmission and reception. A lithium battery powers the entire system. The transformer and switching power supply 204 regulate and stabilize the system voltage. When the system is in surgical mode, the mobile system is temporarily locked parallel to the catheter bed to ensure accurate orientation during operation and rapid response.

[0071] See attached Figure 8 and 9, the torso and head device 300 includes: a torso device and a head device, the torso device includes a support plate 319, the bottom of the support plate 319 is connected to the four columns 202, and two vertical sliding member groups are symmetrically arranged thereon, each vertical sliding member group includes a guide rail bracket 312 fixed on the support plate 319, and two groups of sixth linear guides 315 are fixed inside each guide rail bracket 312, and six sliders are slid on the two groups of sixth linear guides 315, and the sixth slider is fixedly connected to the side of the head bracket 301, and the support plate 319 is provided with a sixth screw motor 313, 320 that cooperates with the sixth threaded hole provided on the head bracket 301, and the top of the head bracket 301 is provided with two groups of sixth linear guides 315 arranged in parallel along its length direction. Seventh linear guide 318, a seventh lead screw motor 321 is arranged in parallel between the two groups of the seventh linear guide 318, a seventh slider slides on both groups of the seventh linear guide 318, a head connecting plate 311 is fixed to the top of the seventh slider, the bottom of the head connecting plate 311 has a seventh threaded hole that cooperates with the seventh lead screw motor 321, the middle part of the top surface of the head connecting plate 311 has a bearing hole, two groups of eighth linear guides 314 are arranged in parallel on both sides of the bearing hole, an eighth slider slides on the eighth linear guide 314, the top of the eighth slider is used to connect the arm device, each outer side of the eighth linear guide 314 corresponds to an eighth lead screw motor 309, and the arm device has an eighth threaded hole that cooperates with the eighth lead screw motor 309;

[0072] Among them, the motor bracket 1 322 is installed on the head bracket 301 and is fixed to the seventh screw motor 321. Driven by the seventh screw motor 321, the head connecting plate 311 can move back and forth to complete the extension and retraction of the entire arm.

[0073] Two sets of parallel eighth screw motors 309 are provided on the head connecting plate 311 for cooperating with the arm device. Two sets of motor brackets 310 are installed on the head connecting plate and are respectively connected to the two eighth screw motors 309.

[0074] By controlling the sixth lead screw motors 313 and 320 to move synchronously, the system can be controlled to be lifted and lowered.

[0075] The head device includes a turntable 303, the bottom of which rotates in the bearing hole, and a rotating shaft gear is fixed to the upward extending portion of its rotating shaft. The top of the head connecting plate 311 near the turntable 303 is connected to a rotating motor 317 via a rotating motor bracket 316. The output shaft of the rotating motor 317 is upward and connected to a motor gear that meshes with the rotating shaft gear; a touch screen 307 is connected to the turntable 303, and two sets of cameras 306 are fixed on both sides of the touch screen 307 via camera brackets 305; the rotating motor 317 is connected to the driving device 203;

[0076] A touch screen motor bracket 302 is fixed above the turntable 303. A pitch motor 304 is fixed to the side of the touch screen motor bracket 302. The output shaft of the pitch motor 304 is fixed to the bottom of the camera bracket 305. The pitch motor 304 is connected to the drive device 203. An infrared positioning device 308 is fixed to the top of the touch screen 307 and connected to the host 205. The first and second infrared positioning devices are both infrared locators installed above the touch screen 307 and can emit infrared rays. Another wire guide robot at the same position can receive infrared rays. The two work together to determine whether the robot's positioning is accurate. If it is inaccurate, the robot needs to be adjusted.

[0077] The rotation motor 317 controls the horizontal rotation of the entire head unit, while the pitch motor 304 controls its vertical movement, allowing the entire head unit to move flexibly and enabling the robot to observe objects from various angles. The touch screen 307 facilitates human-machine interaction, allowing users to perform certain operations and displaying system information. The two cameras 306 serve as the robot's eyes, observing its surroundings and detecting distances. The resulting information is transmitted to the host computer 205 for analysis and processing.

[0078] The overall system of the present invention is primarily composed of four subsystem robots: a catheter front-end robot 105, a catheter back-end robot 102, a guidewire front-end robot 104, and a guidewire back-end robot 103. The entire device can operate within the catheter room of an interventional surgery, completing the control of the guidewire catheter during surgery. The four robots can move autonomously, and a camera installed in the head device can observe the surrounding environment. Through machine learning, they can become familiar with the environment within the operating room and can move more effectively. The four robots can communicate wirelessly with each other, allowing for coordinated operations.

[0079] At the beginning of the operation, the doctor first completed the preliminary preparations such as puncture, and then installed sterile consumables on the arm device of each robot, and then the four robots moved in accordance with Figure 1The doctor moves from the position shown in the figure to the designated position in sequence, with the catheter robot in front and the guidewire robot in the back, and they are respectively on both sides of the catheter bed 101. There are infrared positioning devices on the top of the catheter robot and the guidewire robot, and this device can be used to determine whether the two groups of robots are aligned. The doctor then controls the catheter robot to clamp the catheter, and the clamping position is the outlet of the outer sheath. The doctor controls the guidewire robot to clamp the Y-valve 107. When clamping the Y-valve, try to straighten the catheter 106 into a straight line. The guidewire robot is controlled to clamp the guidewire 108, and the clamping position is the outlet of the Y-valve. The position sensor on the guidewire robot is clamped to the guide rail of the catheter bed. After preparation is completed, the doctor goes to the control room to operate the robot to complete the operation.

[0080] When the catheter is moved forward or backward, the guidewire robot receives information about the distance traveled and automatically controls its wheels to move forward or backward an equal distance, ensuring that the guidewire robot and the end of the catheter remain relatively stationary. When the catheter bed moves, the positioning device on the guidewire robot detects the direction and distance of the bed's movement. This positional information is then transmitted to all robots, which then calculate and move their wheels, ensuring that all robots synchronize their movements with the bed, moving in the same direction and distance.

[0081] For example, as the catheter bed moves forward, the wheels of the guidewire robot and catheter robot rotate synchronously. As the catheter bed moves left and right, the arms of the guidewire robot and catheter robot extend and retract accordingly. As the catheter bed moves up and down, the arms of the guidewire robot and catheter robot raise and lower accordingly. The coordinated movements of the four robots ensure excellent control of the catheter guidewire during surgery, keeping the catheter in a straight line. The guidewire and catheter propulsion mechanisms work together to control the propulsion and rotation of the guidewire and catheter. After the surgery is complete, the sterile consumables are removed and recycled, and the four robots automatically move to a corner of the operating room, ensuring patient access and transfer.

[0082] The present invention solves the problems of doctors eating the wire in existing interventional surgeries, reduces the doctor's exposure to X-rays, affects the control of the guidewire after the catheter moves, is inconvenient to install and remove the equipment, is inconvenient to transfer the equipment, has no fixation of the outer sheath, the volume of the sterile box is too large, cannot measure the guidewire catheter pushing force, and cannot complete the robot's automatic positioning and homing.

[0083] The base of the present invention adopts a vehicle body structure, can be freely moved in the catheter room, and is suitable for the use environment of the catheter room. The base is designed with multiple groups of cameras to ensure the safety and accuracy of the vehicle body during movement.

[0084] The overall structure is simple, with good stability, modular structure design, easy assembly and disassembly, compact structure and small size, making it very suitable for surgical environments.

[0085] No robot installation is required, and the device can automatically position itself during surgery and automatically return to its original position after surgery. It does not come into contact with the catheter bed, thus avoiding damage to the bed.

[0086] The present invention is applicable to various catheters and guidewires, has strong versatility, and can adjust the clamping degree of the guidewire at any time to ensure that there is no slipping phenomenon, has strong feedback, and can ensure surgical safety.

[0087] The present invention adopts a disposable surgical consumable design, simplifies the disinfection process, and is convenient for clinical use. The surgical consumable has a simple structure, can be quickly installed and removed, has good stability, and is inexpensive.

[0088] This invention, along with in-depth machine learning, will allow robots to perform surgeries automatically.

[0089] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0090] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A convenient and sterilizable angiographic interventional surgery system, characterized in that: include: A pair of catheter front-end robots (105), a catheter rear-end robot (102), and a pair of guidewire front-end robots (104), a guidewire rear-end robot (103) that can be moved in an interventional surgery catheter room and can be arranged in pairs on both sides of a catheter bed (101); Four robots are wirelessly connected and each includes a base (200), a trunk and head device (300), and an arm device; wherein the base (200) and the trunk and head device (300) corresponding to the four robots have the same structure; The first arm devices corresponding to the catheter front-end robot (105) and the catheter rear-end robot (102) cooperate to clamp the outer sheath outlet, the guidewire front-end robot (104) and the guidewire rear-end robot (103) each have a second arm device and a third arm device, the two second arm devices cooperate to clamp the Y valve (107) and keep the catheter (106) straightened into a straight line, and the two third arm devices cooperate to clamp the guidewire (108), and the clamping position is the Y valve outlet; The position sensor provided on the guidewire front end robot (104) or the guidewire rear end robot (103) is clamped on the guide rail of the catheter bed (101); the heads of the guidewire front end robot (104) and the guidewire rear end robot (103) are provided with a first set of infrared positioning devices, and the heads of the catheter front end robot (105) and the catheter rear end robot (102) are provided with a second set of infrared positioning devices for aligning the robot positions; The doctor controls each robot in the control room; The first arm device, the second arm device and the third arm device clamping position can all be detachably provided with disposable consumables (500); The two first arm devices corresponding to the catheter front-end robot (105) and the catheter rear-end robot (102) have the same structure. Each first arm device includes a first extension plate (401). The components on the upper part of the first extension plates (401) corresponding to the two first arm devices are arranged in a mirror image. Each first extension plate (401) slides on the torso and head device (300) in a direction perpendicular to its length, and a first motor bracket (402) is fixed thereon. The first motor bracket (402) is perpendicular to the first extension plate (401). The first screw motor (403) is supported in the length direction, a first linear guide rail (404) is provided on the first extension plate (401) in parallel with the arrangement direction of the first screw motor (403), a first slider slides on the first linear guide rail (404), a first clamping member (409) is fixed on the top of the first slider, one end of the first clamping member (409) has a first threaded hole that cooperates with the first screw motor (403), and the other end extends out of the first extension plate (401) and is bent downward to connect with the disposable consumable (500); The two second arm devices and the two third arm devices corresponding to the guidewire front end robot (104) and the guidewire rear end robot (103) have the same structure and are arranged in a mirror image; the second arm device and the third arm device are both fixed on a rectangular second extension plate (620), and the second extension plate (620) slides on the torso and head device (300) along its length direction to achieve telescopic movement relative to the clamping channel.

2. The convenient and sterilizable angiographic interventional surgery system according to claim 1, characterized in that: The disposable consumable (500) comprises a back plate (503), the front side of which is used for sticking a medical silicone pad (504), and the back side of which is provided with two elastic handles (502) extending backward in parallel, and the outer sides of the two handles (502) are provided with stoppers (501) for plugging and unplugging with the clamping ends of the arm devices.

3. The convenient and sterilizable angiographic interventional surgery system according to claim 1, characterized in that: The first clamping member (409) includes a main body plate fixed on the first sliding block, one end of the main body plate is a vertical plate (407), a first threaded hole is provided on the vertical plate, and the other end of the main body plate is an L-shaped plate (408), a first three-axis force sensor (405) is fixed vertically toward the lower end of the L-shaped plate (408), a first consumable connecting member (406) is fixed below the first three-axis force sensor (405), and the first consumable connecting member (406) is a rectangular frame, the interior of which is a plug-in slot that cooperates with the disposable consumable (500).

4. The convenient and sterilizable angiographic interventional surgery system according to claim 1, characterized in that: Each second arm device includes a second motor bracket (622), which is fixed on the second extension plate (620) and supports the second screw motor (601) along the length direction of the second extension plate (620). A second linear guide rail (6091) is fixed on the second extension plate (620) parallel to the second screw motor (601), and a second slider slides on the top of the second linear guide rail (6091). A second clamping member (621) is fixed on the top of the second slider. The second clamping member (621) is rectangular, and one end of the second clamping member is provided with a second threaded hole near the output end of the second screw motor (601). The other end extends out of the second extension plate (620) and is fixed with a second three-axis force sensor (619) downwardly. A second consumable connecting member (618) is fixed below the second three-axis force sensor (619). The second consumable connecting member (618) is a rectangular frame, and its interior is a plug-in slot that cooperates with the disposable consumable (500).

5. The convenient and sterilizable angiographic interventional surgery system according to claim 1, characterized in that: Each of the third arm devices includes a third motor bracket (607), which is fixed on the second extension plate (620) and supports the third screw motor (602) along the length direction of the second extension plate (620). A third linear guide rail (609) is fixed on the second extension plate (620) parallel to the third screw motor (602). A third slider slides on the top of the third linear guide rail (609), and a rectangular first push plate (609) is fixed on the top of the third slider. 03), one end of the first push plate (603) has a third threaded hole that cooperates with the third screw motor (602), and a fourth screw motor (614) is vertically fixed on the top surface thereof, and a vertical connecting plate (613) is arranged in parallel with the fourth screw motor (614), and a fourth linear guide rail (605) is vertically fixed to the vertical connecting plate (613) away from the output end of the third screw motor (602), and a fourth slider is slid on the fourth linear guide rail (605), and the fourth slider is fixed with a right-angle connecting plate (613). The connecting plate (604) is provided with a fifth linear guide rail (610) on the horizontal section of the right-angle connecting plate (604) parallel to the fifth linear guide rail (610), and a fifth slider is provided on the fifth linear guide rail (610). A third clamping member (606) is fixed on the top of the fifth slider, one end of the third clamping member (606) has a fifth threaded hole that cooperates with the fifth screw motor (608), and the other end extends out of the second extension plate (620) and bends downward to connect to the third three-axis force sensor (611). A third consumable connecting member (616) is fixed below the third three-axis force sensor (611), and the third consumable connecting member (616) is a rectangular frame, the interior of which is a plug-in slot that cooperates with the disposable consumable (500).

6. The convenient and sterilizable angiographic interventional surgery system according to claim 1, characterized in that: The base (200) includes a bottom plate (212), a driving wheel is installed below the bottom plate (212), and four columns (202) are fixed above the bottom plate, and the tops of the columns (202) are connected to the trunk and the head device (300); a main unit (205), a lithium battery (201) electrically connected to the main unit (205), a transformer and a switching power supply (204), and a driving device (203) are installed between the four columns (202); There are four groups of driving wheels, each group includes an L-shaped member (208), the top of the L-shaped member (208) is a horizontal section, and the bottom is a vertical section, the horizontal section is vertically connected to the rotary servo motor (211), the vertical section has a bearing hole for the output shaft of the axial servo motor (209) to pass through and rotate, the output shaft of the axial servo motor (209) is connected to the wheel (210), the rotary servo motor (211) and the axial servo motor (209) are both connected to the driving device (203), the rotary servo motor (211) is fixed in a square hole provided on the bottom plate (212); detection cameras (206, 207) are fixed on both sides of the bottom plate (212).

7. The convenient and sterilizable angiographic interventional surgery system according to claim 6, characterized in that: The trunk and head device (300) includes: a trunk device and a head device, the trunk device includes a support plate (319), the bottom of the support plate (319) is connected to the four columns (202), and two vertical sliding member groups are symmetrically arranged on the support plate (319), each vertical sliding member group includes a guide rail bracket (312) fixed on the support plate (319), two groups of sixth linear guide rails (315) are fixed inside each guide rail bracket (312), and a sixth slider slides on the two groups of the sixth linear guide rails (315), and the sixth slider is fixedly connected to the side of the head bracket (301), and a sixth screw motor (313, 320) is provided on the support plate (319) to cooperate with the sixth threaded hole provided on the head bracket (301), and two groups of sixth linear guide rails (315) are arranged in parallel on the top of the head bracket (301) along its length direction. A seventh linear guide rail (318), a seventh lead screw motor (321) is arranged in parallel between two groups of the seventh linear guide rails (318), a seventh slider is slid on both groups of the seventh linear guide rails (318), a head connecting plate (311) is fixed on the top of the seventh slider, the bottom of the head connecting plate (311) has a seventh threaded hole that cooperates with the seventh lead screw motor (321), a bearing hole is provided in the middle of the top surface of the head connecting plate (311), two groups of eighth linear guide rails (314) are arranged in parallel on both sides of the bearing hole, an eighth slider is slid on the eighth linear guide rail (314), the top of the eighth slider is used to connect the arm device, each outer side of the eighth linear guide rail (314) corresponds to an eighth lead screw motor (309), and the arm device has an eighth threaded hole that cooperates with the eighth lead screw motor (309); The head device comprises a turntable (303), the bottom of the turntable (303) rotates in the bearing hole, a rotating shaft gear is fixed to the upward extending portion of the rotating shaft, the top of the head connecting plate (311) is connected to a rotating motor (317) near the turntable (303) via a rotating motor bracket (316), the output shaft of the rotating motor (317) is upward, and is connected to a motor gear meshing with the rotating shaft gear; a touch screen (307) is connected to the turntable (303), and two groups of cameras (306) are fixed on both sides of the touch screen (307) via camera brackets (305); the rotating motor (317) is connected to the driving device (203); A touch screen motor bracket (302) is fixed above the turntable (303), a pitch motor (304) is fixed to the side of the touch screen motor bracket (302), and an output shaft of the pitch motor (304) is fixed to the bottom of the camera bracket (305); the pitch motor (304) is connected to the driving device (203), and an infrared positioning device (308) is fixed to the top of the touch screen (307) and connected to the host (205).

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