An interventional surgery catheter pushing robot

Abstract

The present invention discloses an interventional surgical catheter pushing robot, comprising a base device, a trunk device, an arm device, and disposable sterile consumables. The base device is mainly used to realize the movement of the robot, the trunk device is mainly used to realize the up and down movement of the robot, the arm device is mainly used to control the catheter, and the disposable sterile consumables are mainly used to connect with the consumables of the interventional surgery. The present invention is used in interventional surgery, and the robot's slave device controls the pushing of the catheter, so that the robot can push and withdraw the catheter under the remote control of the doctor, and cooperate to complete the interventional surgery process. The present invention can monitor the force of the catheter pushing in real time, and can protect the safe progress of the operation. It does not need to be installed on the catheter bed all the time, and can be pushed to the corner of the catheter room after use.

Description

Technical Field

[0001] The present invention relates to the field of minimally invasive vascular interventional surgery, and more particularly to a catheter pushing robot for interventional surgery. Background Art

[0002] Globally, nearly 30 million people die each year from cardiovascular and cerebrovascular diseases, accounting for approximately 30% of all disease mortality. Nearly 300 million people in my country suffer from cardiovascular and cerebrovascular diseases. These diseases have become one of the three major causes of death in the human condition, severely impacting public health and people's normal lives.

[0003] 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.

[0004] 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 endovascular damage and vascular perforation caused by improper thrust. Second, the cumulative damage from 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.

[0005] Catheter push control during interventional surgery is an important step in the procedure. By using robotic technology, this problem can be effectively addressed, and the accuracy and stability of surgical operations can be greatly improved. At the same time, it can effectively reduce the damage of radiation to interventional physicians and reduce the chance of intraoperative accidents.

[0006] At present, there are several problems with the catheter push control of interventional surgical robots: (1) The device needs to be installed on the catheter bed, which is inconvenient to disassemble and assemble; (2) It is inconvenient to disinfect the control components; (3) It is inconvenient to install the catheter on the robot; (4) The catheter control is prone to slippage; (5) Safety protection devices such as force feedback are missing or have large deviations; (6) The catheter control is not precise enough; (7) There is a lack of control functions for microcatheters, etc.

[0007] Therefore, it is very necessary to provide an interventional surgery catheter pushing robot that can effectively solve the above technical problems. Summary of the Invention

[0008] In view of this, the present invention proposes an interventional surgical catheter pushing robot, which aims to solve the problems of the current lack of a device suitable for interventional surgical robots to control the pushing of guide catheters, angiography catheters, microcatheters, etc., the cumbersome disinfection of the pushing control device, the complex installation and removal of the catheter pushing control device, the inaccurate catheter pushing control, easy slipping, lack of force feedback and other safety protection devices.

[0009] The specific technical solutions of the present invention are as follows:

[0010] An interventional surgical catheter pushing robot, comprising a base device, a trunk device, an arm device, and disposable sterile consumables;

[0011] The base device includes a moving device, a control device and a support device. The moving device is used to realize the free direction movement of the entire robot. The control device is the control and drive information processing center of the robot system. The moving device and the control device are both installed on the support device, and the top of the support device is provided with a support plate for supporting the torso device;

[0012] The torso device includes a first lifting device installed on the upper part of the support plate, and the first lifting device includes two groups of first lifting device linear guides arranged on both sides of the support plate, which are relatively positioned and have the same structure. Each group of the first lifting device linear guides is installed on the support plate through corresponding guide rail brackets, and the matching sliders on the two groups of the first lifting device linear guides are respectively fixed to the side plates on both sides of the first connecting plate; the first lifting device also includes two first lifting device screw motors fixed to the support plate, and the lower part of the first connecting plate is provided with two threaded holes, and the rotating shaft of the first lifting device screw motor cooperates with the corresponding threaded holes on the first connecting plate to drive the first connecting plate to lift or lower as a whole; a group of first connecting plate linear guides are provided on both sides of the top surface of the upper top plate of the first connecting plate, and the corresponding matching sliders on the two groups of the first connecting plate linear guides jointly support the arm device connecting base plate connected to the arm device ; A first connecting plate screw motor is fixed at the middle position of the top surface of the upper top plate of the first connecting plate, and the rotating shaft of the first connecting plate screw motor cooperates with the corresponding threaded hole on the bottom surface of the arm device connecting base plate to realize the extension and retraction of the arm device; a clamping device linear guide rail and a clamping device screw motor are installed on the lower surface of the upper top plate of the first connecting plate close to the catheter bed; the corresponding matching slider on the clamping device linear guide rail is fixed to a clamping device right-angle connecting piece, and the lower end of the clamping device right-angle connecting piece is provided with a threaded hole, and the rotating shaft of the clamping device screw motor cooperates with the corresponding threaded hole on the clamping device right-angle connecting piece, driving the clamping device fixed on the clamping device right-angle connecting piece to move towards or away from the catheter bed to adjust the relative position of the robot and the catheter bed; a clamping device three-dimensional force sensor connected to the control device for communication is also installed between the clamping device right-angle connecting piece and the clamping device;

[0013] The arm device includes the arm device connecting base plate, the upper part of the arm device connecting base plate is equipped with a second lifting device, the second lifting device includes two sets of second lifting device linear guide rails arranged on both sides of the arm device connecting base plate, which are relatively positioned and have the same structure, each set of the first lifting device linear guide rails are installed on the arm device connecting base plate through corresponding guide rail brackets, and the matching sliders on the two sets of the second lifting device linear guide rails are respectively fixed to the side plates on both sides of the second connecting plate; the second lifting device also includes a second lifting device screw motor fixed to the arm device connecting base plate, the A threaded hole is provided on the second connecting plate, and the rotating shaft of the second lifting device screw motor cooperates with the corresponding threaded hole on the second connecting plate to drive the second connecting plate to be lifted or lowered as a whole; a second connecting plate servo motor, a second connecting plate linear guide rail, and a second connecting plate screw motor are installed on the upper surface of the second connecting plate, and a rotating shaft gear is installed on the rotating shaft of the second connecting plate servo motor, and the rotating shaft gear is meshed with a gear rotatably connected to the upper surface of the second connecting plate. A boss is fixed above the gear, and one end of a connecting rod is rotatably connected to the boss, and the other end is rotatably connected to the lower connecting plate; the second connecting The connecting plate linear guide rail is consistent with the pushing direction of the guide tube, and a first slider and a second slider are correspondingly matched thereon, and the first slider is fixedly connected to a right-angle connecting plate, and the second slider is connected to the lower connecting plate away from the end of the connecting rod; the right-angle connecting plate is provided with a threaded hole at one end away from the first slider, and the rotating shaft of the second connecting plate screw motor cooperates with the corresponding threaded hole on the right-angle connecting plate to achieve the distance adjustment between the right-angle connecting plate and the lower connecting plate; the upper surface of the lower connecting plate is fixed with a lower connecting plate linear guide rail and a lower connecting plate screw motor, and the corresponding matching slider on the lower connecting plate linear guide rail is fixed The upper connecting plate is connected, and a threaded hole is provided on the upper connecting plate. The rotating shaft of the lower connecting plate screw motor cooperates with the corresponding threaded hole on the upper connecting plate to drive the upper connecting plate to move forward and backward relative to the lower connecting plate to achieve clamping and loosening of the catheter; the upper surface of the second connecting plate is also equipped with two photoelectric switches connected to the control device for communication, and the two photoelectric switches are respectively located at the extreme positions of the reciprocating movement of the lower connecting plate along the second connecting plate linear guide rail; the lower ends of the upper connecting plate and the lower connecting plate are respectively equipped with a connecting plate three-dimensional force sensor connected to the control device for communication;

[0014] The disposable sterile consumables are used to connect with the consumables of interventional surgery, and are connected to the bottom end of the right-angle connecting plate, the bottom ends of the upper connecting plate and the lower connecting plate corresponding to the three-dimensional force sensors of the connecting plates by magnetic attraction.

[0015] It can be seen from the above technical solutions that compared with the prior art, the present invention discloses an interventional surgical catheter pushing robot, which is used in interventional surgery, and the robot's slave device controls the pushing of the catheter. This allows the robot to push and retract the catheter under the doctor's remote control to complete the interventional surgery process. The catheter propulsion device is used in conjunction with disposable sterile consumables, and the position of the robotic arm is adjusted so that the clamping device on the arm device clamps the outer sheath or Y-valve, and the catheter gripper is aligned with the outer sheath or Y-valve outlet. The doctor completes the operation through remote control outside the operating room. The product can monitor the force of the catheter push in real time and can protect the safe conduct of the operation. It does not need to be installed on the catheter bed all the time, and can be pushed to the corner of the catheter room after use.

[0016] Preferably, the supporting device includes a base plate, four columns correspondingly installed at the four corners of the upper surface of the base plate, and the supporting plate fixed as a whole to the top of the four columns; the moving device includes four sets of universal wheels, which are respectively installed at the four corners of the bottom surface of the base plate; the control device includes a driving device and a host installed on the upper surface of the base plate, the driving device is used to drive each motor, and a Bluetooth module and a WiFi module are installed in the host for receiving information, storing information, processing information, and sending instructions to each component; the three-dimensional force sensor of the clamping device, the two photoelectric switches, and the two three-dimensional force sensors of the connecting plate are all communicatively connected to the host.

[0017] Preferably, a first electromagnet is fixed to the bottom end of the right-angle connecting plate; a second electromagnet is fixed to the bottom end of each of the upper connecting plate and the lower connecting plate corresponding to the connecting plate three-dimensional force sensor, and the disposable sterile consumables are magnetically connected to the right-angle connecting plate, the upper connecting plate, and the lower connecting plate through the first electromagnet and two of the second electromagnets; at the same time, the first electromagnet and the second electromagnet are both electrically connected to the host.

[0018] Preferably, the disposable sterile consumables include a fixed clamp and a catheter box, the fixed clamp is used to clamp the outer sheath or Y valve, and an iron sheet is installed in the square groove on the top of the fixed clamp for corresponding adsorption connection with the first electromagnet; the catheter box includes a left gripper and a right gripper, and the upper surfaces of the left gripper and the right gripper are both installed with iron sheets for corresponding adsorption connection with the two second electromagnets.

[0019] Preferably, the fixing clamp, the left grip and the clamping parts of the right grip are all made of soft silicone.

[0020] Preferably, the fixing clamp is clamped or opened manually.

[0021] Preferably, the catheter box further comprises a catheter box body, and two circular magnets are respectively installed on the two side surfaces facing away from each other of the left grip and the right grip; two circular magnets are also respectively installed on the two opposite sides of the catheter box body, the circular magnet on the left grip has opposite magnetic poles to the circular magnet on the corresponding side of the catheter box body, and the circular magnet on the right grip has opposite magnetic poles to the circular magnet on the corresponding side of the catheter box body; the upper part of the catheter box body is open, and the opening is used to engage with the outer protrusions at the bottom ends of the upper connecting plate and the lower connecting plate.

[0022] Preferably, the disposable sterile consumables need to be sterilized with ethylene oxide.

[0023] Preferably, the clamping device includes upper and lower clamping parts, and is clamped or opened manually; soft silicone is fixed on the corresponding clamping surfaces of the upper and lower clamping parts.

[0024] Preferably, the trunk device further comprises a handle for moving the entire robot, and both ends of the handle are respectively fixed to the side of the guide rail brackets corresponding to the two groups of linear guide rails of the first lifting device away from the catheter bed.

[0025] Preferably, a clamping knob is installed on the right-angle connecting plate to control the left and right movement position of the right-angle connecting plate; a first adjusting knob and a second adjusting knob are installed on the upper connecting plate, the first adjusting knob is used to control the up and down height adjustment of the device, and the second adjusting knob is used to control the front and back distance adjustment of the device. After placing the catheter, the first adjusting knob can be pressed to complete the clamping and opening of the catheter. After long pressing the second adjusting knob, the left and right adjustment of the clamping device on the machine can be performed.

[0026] The interventional surgery catheter pushing robot of the present invention has the following beneficial effects:

[0027] 1. The present invention provides an interventional surgery catheter pushing robot, which is specially suitable for controlling the catheter of interventional surgery. The control device of the entire catheter is located at the outlet of the patient's outer sheath or Y-valve, and a fixing device for the outer sheath and Y-valve is provided, which has higher control stability.

[0028] 2. The present invention provides an interventional surgical catheter pushing robot that uses disposable consumables that are easy to install and remove to control catheter advancement, effectively solving the problem of cumbersome device disinfection in actual clinical practice.

[0029] 3. The present invention provides an interventional surgery catheter pushing robot, which adopts a vehicle body structure and can move freely in the catheter room. It is suitable for the use environment of the catheter room, is easier to install and remove, and is convenient for doctors to use.

[0030] 4. The present invention provides an interventional surgical catheter pushing robot with a simple overall structure and good stability. It adopts a modular approach, which is convenient for assembly and debugging.

[0031] 5. The present invention provides an interventional surgical catheter pushing robot, which uses a knob to adjust the position and clamping of the device. It is simple and convenient to use, easy to operate, and highly practical.

[0032] 6. The present invention provides an interventional surgical catheter pushing robot that can monitor the force conditions during the catheter pushing process in real time. When encountering excessive resistance, the machine movement can be stopped in time, thereby preventing the catheter from damaging blood vessels and protecting the patient's safety.

[0033] 7. The present invention provides an interventional surgical catheter pushing robot with high control precision, capable of clamping Y-valves, controlling microcatheters and other more sophisticated devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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.

[0035] Figure 1 This is the overall front view of the catheter propulsion robot for interventional surgery;

[0036] Figure 2 This is the overall back diagram of the interventional surgery catheter propulsion robot;

[0037] Figure 3 Schematic diagram of the base device structure of the catheter propulsion robot for interventional surgery;

[0038] Figure 4 Schematic diagram of the explosion of the robot base device for catheter propulsion in interventional surgery;

[0039] Figure 5 Schematic diagram of the trunk device structure of the catheter propulsion robot for interventional surgery;

[0040] Figure 6 Explosion diagram of the robotic torso device for catheter propulsion in interventional surgery;

[0041] Figure 7 Schematic diagram of the structure of the robotic arm device for catheter propulsion in interventional surgery;

[0042] Figure 8 Explosion diagram of a robotic arm device for catheter advancement in interventional surgery;

[0043] Figure 9A schematic diagram of part of the structure of the disposable sterile consumables for the catheter propulsion robot for interventional surgery;

[0044] Figure 10 Schematic diagram of the robotic catheter box for catheter advancement in interventional procedures;

[0045] Figure 11 Schematic diagram of the explosion of disposable sterile consumables for the interventional surgery catheter propulsion robot;

[0046] Figure 12 This is an enlarged schematic diagram of the catheter pushing robot for interventional surgery;

[0047] Figure 13 Schematic diagram of the robot's fingers for catheter advancement in interventional surgery;

[0048] Figure 14 A diagram showing the relationship between disposable sterile consumables and catheters used in interventional surgery catheter advancement robots;

[0049] In the picture:

[0050] 100-base device;

[0051] 101- driving device; 102- supporting plate; 103- column; 104- host; 105- bottom plate; 106- universal wheel;

[0052] 200-Torso device;

[0053] 201 - Linear guide rail for the first lifting device; 202 - First connecting plate; 203 - Lead screw motor for the first lifting device; 204 - Linear guide rail for the first connecting plate; 205 - Lead screw motor for the first connecting plate; 206 - Linear guide rail for the clamping device; 207 - Lead screw motor for the clamping device; 208 - Right-angle connecting piece for the clamping device; 209 - Clamping device; 210 - Three-dimensional force sensor for the clamping device; 211 - Handle;

[0054] 300-arm device;

[0055] 301 - Arm device connecting base plate; 302 - Second lifting device linear guide rail; 303 - Second connecting plate; 304 - Second lifting device lead screw motor; 305 - Second connecting plate servo motor; 306 - Second connecting plate linear guide rail; 307 - Second connecting plate lead screw motor; 308 - Gear; 309 - Connecting rod; 310 - Lower connecting plate; 311 - First slider; 312 - Second slider; 313 - Right-angle connecting plate; 314 - Lower connecting plate linear guide rail; 315 - Lower connecting plate lead screw motor; 316 - Upper connecting plate; 317 - Photoelectric switch; 318 - Connecting plate three-dimensional force sensor; 319 - First electromagnet; 320 - Second electromagnet; 321 - Clamping knob; 322 - First adjustment knob; 323 - Second adjustment knob;

[0056] 400-disposable sterile consumables;

[0057] 401 - fixed clamp; 402 - left grip; 403 - right grip; 404 - catheter box body. DETAILED DESCRIPTION

[0058] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0059] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "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.

[0060] Example:

[0061] like Figure 1 、 2 As shown, the present invention discloses a catheter pushing robot for interventional surgery. It primarily consists of four components: a base unit 100, a trunk unit 200, an arm unit 300, and disposable sterile consumables 400. The robot is placed within the interventional catheterization room and, utilizing a vehicle-like structure, can be moved within the room. Before the procedure begins, the robot can be positioned next to the catheterization bed and connected to the guide rails on the side of the bed. After the procedure, the robot can be separated from the bed and placed in a corner, ensuring ease of use and cleaning.

[0062] like Figure 3 、 4 As shown, the base device 100 is mainly used to realize the movement of the robot, including a moving device, a control device and a supporting device. The moving device is used to realize the free direction movement of the entire robot. The control device is the control and drive information processing center of the robot system. The moving device and the control device are both installed on the supporting device, and the top of the supporting device is provided with a support plate 102 for supporting the torso device 200.

[0063] Specifically, the support device includes a base plate 105, four columns 103 mounted at the four corners of the upper surface of the base plate 105, and a support plate 102 integrally fixed to the top of the four columns 103. The mobile device includes four sets of universal wheels 106, mounted at the four corners of the bottom surface of the base plate 105, allowing the robot to move in any direction. The control device includes a drive device 101 and a host computer 104 mounted on the upper surface of the base plate 105. The drive device 101 is used to drive each motor, and the host computer 104 is used to receive, store, and process information and send instructions to various components. The host computer 104 is equipped with a Bluetooth module and a WiFi module to enable wireless data transmission and reception.

[0064] like Figure 5 、 6 As shown, the torso device 200 is mainly used to realize the up and down movement of the robot, including a first lifting device installed on the upper part of the support plate 102, the first lifting device includes two sets of first lifting device linear guide rails 201 arranged on both sides of the support plate 102, with relative positions and the same structure, each set of first lifting device linear guide rails 201 are installed on the support plate 102 through corresponding guide rail brackets, and the matching sliders on the two sets of first lifting device linear guide rails 201 are respectively fixed to the side plates on both sides of the first connecting plate 202; the first lifting device also includes two first lifting device screw motors 203 fixed to the support plate 102, and the lower part of the first connecting plate 202 is provided with two threaded holes, and the first lifting device screw motors The rotating shaft of 203 cooperates with the corresponding threaded hole on the first connecting plate 202, and the two first lifting device screw motors 203 move synchronously, driving the first connecting plate 202 to rise or fall as a whole; a group of first connecting plate linear guide rails 204 are provided on both sides of the top surface of the upper top plate of the first connecting plate 202, and the corresponding matching sliders on the two groups of first connecting plate linear guide rails 204 jointly support the arm device connecting base plate 301 connecting the arm device 300; a first connecting plate screw motor 205 is fixed in the middle position of the top surface of the upper top plate of the first connecting plate 202, and the rotating shaft of the first connecting plate screw motor 205 cooperates with the corresponding threaded hole on the bottom surface of the arm device connecting base plate 301 to realize the extension and retraction of the arm device 300.

[0065] A clamping device linear guide 206 and a clamping device screw motor 207 are installed on the lower surface of the upper top plate of the first connecting plate 202 on the side close to the catheter bed. The corresponding slider on the clamping device linear guide 206 is fixed to a clamping device right-angle connecting piece 208. The lower end of the clamping device right-angle connecting piece 208 is provided with a threaded hole. The rotating shaft of the clamping device screw motor 207 cooperates with the corresponding threaded hole on the clamping device right-angle connecting piece 208, driving the clamping device 209 fixed on the clamping device right-angle connecting piece 208 to move towards or away from the catheter bed to adjust the relative position of the robot and the catheter bed.

[0066] A clamping device three-dimensional force sensor 210 is also installed between the clamping device right-angle connecting piece 208 and the clamping device 209. The clamping device three-dimensional force sensor 210 is in communication with the control device. The clamping device three-dimensional force sensor 210 is in communication with the host 104.

[0067] Specifically, the clamping device 209 includes an upper and lower clamping part, which can clamp the guide rail on the side of the catheter bed like a pair of pliers and can be clamped or opened manually; soft silicone is fixed on the corresponding clamping surfaces of the upper and lower clamping parts to increase friction.

[0068] When the catheter bed moves up and down, the clamping device's three-dimensional force sensor 210 senses pressure, transmits it to the host computer 104, and controls the two first lifter screw motors 203, causing the first connecting plate 202 to move up and down synchronously, thereby achieving synchronized movement of the robot and catheter bed. Driven by the clamping device screw motor 207, the clamping device 209 can move left and right to adjust the relative position of the robot and catheter bed.

[0069] Furthermore, the torso device 200 also includes a handle 211 for allowing the doctor to move the entire robot more conveniently. Both ends of the handle 211 are respectively fixed to the side of the guide rail brackets corresponding to the two sets of first lifting device linear guide rails 201 away from the catheter bed.

[0070] like Figure 7 、 8 As shown in Figures 13, the arm device 300 is mainly used to control the catheter, which includes an arm device connecting base plate 301. A second lifting device is installed on the upper part of the arm device connecting base plate 301. The second lifting device includes two groups of second lifting device linear guide rails 302 arranged on both sides of the arm device connecting base plate 301, which are relatively positioned and have the same structure. Each group of first lifting device linear guide rails 201 is installed on the arm device connecting base plate 301 through corresponding guide rail brackets, and the matching sliders on the two groups of second lifting device linear guide rails 302 are respectively fixed to the side plates on both sides of the second connecting plate 303; the second lifting device also includes a second lifting device screw motor 304 fixed on the arm device connecting base plate 301, and a threaded hole is provided on the second connecting plate 303. The rotating shaft of the second lifting device screw motor 304 cooperates with the corresponding threaded hole on the second connecting plate 303 to drive the second connecting plate 303 to rise or fall as a whole.

[0071] A second connecting plate servo motor 305, a second connecting plate linear guide 306, and a second connecting plate lead screw motor 307 are installed on the upper surface of the second connecting plate 303. A rotating shaft gear is installed on the rotating shaft of the second connecting plate servo motor 305. The rotating shaft gear is meshed with a gear 308 rotatably connected to the upper surface of the second connecting plate 303. A boss is fixed above the gear 308. One end of a connecting rod 309 is rotatably connected to the boss, and the other end is rotatably connected to the lower connecting plate 310. The second connecting plate linear guide 306 is rotatably connected to the guide The tubes are pushed in the same direction, and are fitted with a first slider 311 and a second slider 312. A right-angle connecting plate 313 is fixedly connected to the first slider 311, while the second slider 312 is connected to the end of the lower connecting plate 310 away from the connecting rod 309. A threaded hole is provided on the upper boss of the end of the right-angle connecting plate 313 away from the first slider 311. The shaft of the second connecting plate's lead screw motor 307 engages with the corresponding threaded hole on the right-angle connecting plate 313 to adjust the distance between the right-angle connecting plate 313 and the lower connecting plate 310. Driven by the second connecting plate's servo motor 305, the lower connecting plate 310 can reciprocate.

[0072] The upper surface of the lower connecting plate 310 is fixed with a lower connecting plate linear guide 314 and a lower connecting plate screw motor 315. The corresponding slider on the lower connecting plate linear guide 314 is fixedly connected to the upper connecting plate 316. A threaded hole is provided on the upper connecting plate 316. The rotating shaft of the lower connecting plate screw motor 315 cooperates with the corresponding threaded hole on the upper connecting plate 316 to drive the upper connecting plate 316 to move forward and backward relative to the lower connecting plate 310 to achieve clamping and loosening of the catheter.

[0073] Two photoelectric switches 317, which are in communication with the control device, are mounted on the upper surface of the second connecting plate 303. These switches are located at the extreme ends of the reciprocating motion of the lower connecting plate 310 along the second connecting plate linear guide 306. These switches are used to detect the extreme positions of the lower connecting plate 310 and automatically control the clamping and loosening of the catheter. The two photoelectric switches 317 are in communication with the host computer 104.

[0074] A connecting plate three-dimensional force sensor 318 is respectively installed at the lower end of the upper connecting plate 316 and the lower connecting plate 310. The two connecting plate three-dimensional force sensors 318 are communicatively connected to the host 104 and can sense the clamping force and the pushing friction force.

[0075] The disposable sterile consumables 400 are mainly used to connect with the consumables of interventional surgery. They are connected to the bottom end of the right-angle connecting plate 313, the bottom end of the upper connecting plate 316 and the corresponding connecting plate three-dimensional force sensor 318 of the lower connecting plate 310 by magnetic attraction.

[0076] A first electromagnet 319 is fixed to the bottom of the right-angle connecting plate 313. A second electromagnet 320 is fixed to the bottom of the corresponding three-dimensional force sensor 318 of the upper connecting plate 316 and the lower connecting plate 310. The disposable sterile consumable 400 is magnetically connected to the right-angle connecting plate 313, the upper connecting plate 316, and the lower connecting plate 310 via the first electromagnet 319 and two second electromagnets 320. Both the first electromagnet 319 and the second electromagnet 320 are electrically connected to the main unit 104. After the procedure is completed, the main unit 104 controls the electromagnets to de-energize, allowing the disposable sterile consumable 400 to be easily removed.

[0077] A clamping knob 321 is mounted on the right-angle connecting plate 313 to control the left and right movement of the right-angle connecting plate 313, allowing the doctor to adjust it according to actual conditions. A first adjustment knob 322 and a second adjustment knob 323 are mounted on the upper connecting plate 316. The first adjustment knob 322 is used to adjust the device's vertical height, while the second adjustment knob 323 is used to adjust the device's front-to-back distance. After placing the catheter, pressing the first adjustment knob 322 tightens and loosens the catheter. Pressing and holding the second adjustment knob 323 allows the clamping device 209 on the machine to be adjusted left and right.

[0078] During the process of moving the catheter, the two sets of connecting plate three-dimensional force sensors 318 do not sense the change in resistance during the pushing process, and send the data to the host 104 in real time for data processing. If the resistance is found to be too large, the machine can automatically stop pushing to ensure the safety of the operation.

[0079] like Figure 9 、 10 As shown in Figures 11, 12, and 14, the disposable sterile consumables 400 include a fixed clamp 401 and a catheter box. The fixed clamp 401 is used to clamp the outer sheath or Y valve, and an iron sheet is installed in the square groove on the top of the fixed clamp for corresponding adsorption connection with the first electromagnet 319; the catheter box includes a left gripper 402 and a right gripper 403. The upper surfaces of the left gripper 402 and the right gripper 403 are both installed with iron sheets for corresponding adsorption connection with the two second electromagnets 320.

[0080] The catheter box also includes a catheter box body 404. Two circular magnets are mounted on the opposite sides of the left and right grips 402 and 403, respectively. Two circular magnets are also mounted on the opposite sides of the catheter box body 404. The circular magnet on the left grip 402 has opposite magnetic poles to the circular magnet on the same side of the catheter box body 404, and the circular magnet on the right grip 403 also has opposite magnetic poles to the circular magnet on the same side of the catheter box body 404. The circular magnets on the catheter box body 404 can cooperate with the circular magnets on the left and right grips to position the left and right grips before the catheter box is installed. The upper portion of the catheter box body 404 is open, and this opening is used to engage with the outer protrusions at the bottom ends of the upper connecting plate 316 and the lower connecting plate 310.

[0081] The clamping parts of the fixed clamping member 401, the left gripping handle 402, and the right gripping handle 403 are all made of soft silicone, which can effectively prevent slipping during the clamping process.

[0082] The fixed clamping member 401 is manually clamped or opened to the outer sheath or the Y-valve. After clamping, the clamping knob 321 is adjusted to find a suitable position.

[0083] After placing the catheter between the left and right grippers, the machine can be controlled to clamp the catheter by clicking the first adjustment knob 322. During the clamping process, the two sets of connecting plate three-dimensional force sensors 318 can sense the clamping force, ensuring that the catheter is not clamped too tight or too loose. The entire disposable sterile consumable 400 must be sterilized with ethylene oxide, and a new set of disposable sterile consumables 400 is used for each surgery.

[0084] The working process of the robot for pushing catheters in interventional surgery according to the present invention is as follows:

[0085] After the patient lies down on the catheter bed, the robot is moved to the appropriate position, the clamping device 209 is fixed to the guide rail on the side of the catheter bed, and the new disposable sterile consumables 400 are installed on the robot. After completing the puncture and other operations, the robot is controlled to adjust the rotation to the appropriate position, and the catheter and outer sheath or Y valve are placed on the disposable sterile consumables 400 of the robot. Then you can go to the control room to operate the robot to complete the pushing of the catheter. The robot's catheter control action is to first clamp the catheter, then move the catheter forward or backward. When the photoelectric switch 317 detects that it has moved to the end, the motor is controlled to release the catheter, and then it automatically returns to its original position and automatically clamps the catheter. When the operation is completed, the disposable sterile consumables 400 are removed and recycled uniformly, the connection part between the robot and the catheter bed is separated, and the robot is placed in the corner of the catheter room.

[0086] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0087] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An interventional surgery catheter pushing robot, characterized in that: Including base device, torso device, arm device and disposable sterile consumables; The base device includes a moving device, a control device and a supporting device; The trunk device includes a first lifting device installed on the upper part of the support plate, the first lifting device includes two sets of first lifting device linear guide rails arranged on both sides of the support plate, positioned opposite to each other and having the same structure, each set of the first lifting device linear guide rails is installed on the support plate through a corresponding guide rail bracket, and the matching sliders on the two sets of the first lifting device linear guide rails are respectively fixed to the side plates on both sides of the first connecting plate; The arm device includes an arm device connecting base plate, and a second lifting device is installed on the upper part of the arm device connecting base plate, and the second lifting device includes two groups of second lifting device linear guide rails arranged on both sides of the arm device connecting base plate, which are relatively positioned and have the same structure, and the matching sliders on the two groups of second lifting device linear guide rails are respectively fixed to the side plates on both sides of the second connecting plate; the second lifting device also includes a second lifting device screw motor fixed to the arm device connecting base plate, and a threaded hole is provided on the second connecting plate, and the rotating shaft of the second lifting device screw motor cooperates with the corresponding threaded hole on the second connecting plate; a second connecting plate servo motor, a second connecting plate linear guide rail, and a second connecting plate screw motor are installed on the upper surface of the second connecting plate, and a rotating shaft gear is installed on the rotating shaft of the second connecting plate servo motor, and the rotating shaft gear is meshed with the gear rotatably connected to the upper surface of the second connecting plate. The axle up and down groove at two ends embeds respectively in two guide rails up and down of being made up of the groove on the attachment piece, and the tooth on the attachment piece is meshed with tooth on upper sprocket wheel, the lower sprocket. The lower sprocket. The lower sprocket. The lower sprocket. The lower sprocket. The lower sprocket. The lower sprocket. The lower sprocket. The lower sprocket. The lower sprocket.

2. The interventional surgery catheter pushing robot according to claim 1, characterized in that: The supporting device includes a base plate, four columns installed correspondingly at the four corners of the upper surface of the base plate, and the supporting plate fixed as a whole to the top of the four columns; the moving device includes four sets of universal wheels, which are respectively installed at the four corners of the bottom surface of the base plate; the control device includes a driving device and a host installed on the upper surface of the base plate, the driving device is used to drive each motor, and a Bluetooth module and a WiFi module are installed in the host for receiving information, storing information, processing information, and sending instructions to each component; the three-dimensional force sensor of the clamping device, two photoelectric switches, and two connecting plate three-dimensional force sensors are all communicatively connected to the host.

3. The interventional surgery catheter pushing robot according to claim 2, characterized in that: A first electromagnet is fixed to the bottom end of the right-angle connecting plate; a second electromagnet is fixed to the bottom end of each of the upper connecting plate and the lower connecting plate corresponding to the three-dimensional force sensor of the connecting plate, and the disposable sterile consumables are magnetically connected to the right-angle connecting plate, the upper connecting plate, and the lower connecting plate through the first electromagnet and two second electromagnets; at the same time, the first electromagnet and the second electromagnet are both electrically connected to the host.

4. The interventional surgery catheter pushing robot according to claim 3, characterized in that: The disposable sterile consumables include a fixed clamp and a catheter box. The fixed clamp is used to clamp the outer sheath or Y valve, and an iron sheet is installed in the square groove on the top of the fixed clamp for corresponding adsorption connection with the first electromagnet; the catheter box includes a left gripper and a right gripper, and the upper surfaces of the left gripper and the right gripper are both installed with iron sheets for corresponding adsorption connection with the two second electromagnets.

5. The interventional surgery catheter pushing robot according to claim 4, characterized in that: The fixing clamp, the left grip and the clamping parts of the right grip are all made of soft silicone.

6. The interventional surgery catheter pushing robot according to claim 4, characterized in that: The fixing clamp is clamped or opened manually.

7. The interventional surgery catheter pushing robot according to claim 4, characterized in that: The catheter box also includes a catheter box body, and two circular magnets are respectively installed on the two opposite sides of the left grip and the right grip; two circular magnets are also respectively installed on the two opposite sides of the catheter box body, and the circular magnet on the left grip has opposite magnetic poles to the circular magnet on the same side of the catheter box body, and the circular magnet on the right grip also has opposite magnetic poles to the circular magnet on the same side of the catheter box body; The upper portion of the catheter box body is open, and the opening is used for engaging and connecting with the outer protrusions at the bottom ends of the upper connecting plate and the lower connecting plate.

8. The interventional surgery catheter pushing robot according to claim 4, characterized in that: The disposable sterile consumables need to be sterilized with ethylene oxide.

9. The interventional surgery catheter pushing robot according to claim 1, characterized in that: The clamping device includes an upper and lower clamping part, and is clamped or opened manually; soft silicone is fixed on the corresponding clamping surfaces of the upper and lower clamping parts.

10. The interventional surgery catheter pushing robot according to claim 1, characterized in that: The torso device also includes a handle for moving the entire robot, and both ends of the handle are respectively fixed to the side of the guide rail brackets corresponding to the two groups of linear guide rails of the first lifting device away from the catheter bed.

11. The interventional surgery catheter pushing robot according to claim 1, characterized in that: The moving device is used to realize the free directional movement of the entire robot. The control device is the control and drive information processing center of the robot system. The moving device and the control device are both installed on the supporting device, and the top of the supporting device is provided with a support plate for supporting the torso device.

12. The interventional surgery catheter pushing robot according to claim 1, characterized in that: The first lifting device also includes two first lifting device screw motors fixed to the support plate, and two threaded holes are provided on the lower part of the first connecting plate. The rotating shaft of the first lifting device screw motor cooperates with the corresponding threaded holes on the first connecting plate to drive the first connecting plate to lift or lower as a whole; a group of first connecting plate linear guide rails are provided on both sides of the top surface of the upper top plate of the first connecting plate, and the corresponding matching sliders on the two groups of first connecting plate linear guide rails jointly support the arm device connecting base plate connected to the arm device; a first connecting plate screw motor is fixed in the middle position of the top surface of the upper top plate of the first connecting plate, and the rotating shaft of the first connecting plate screw motor cooperates with the corresponding threaded holes on the bottom surface of the arm device connecting base plate to realize the The arm device is extended and retracted; a clamping device linear guide and a clamping device screw motor are installed on the lower surface of the upper top plate of the first connecting plate close to the catheter bed, and the corresponding slider on the clamping device linear guide is fixed to a clamping device right-angle connecting piece, and the lower end of the clamping device right-angle connecting piece is provided with a threaded hole, and the rotating shaft of the clamping device screw motor cooperates with the corresponding threaded hole on the clamping device right-angle connecting piece to drive the clamping device fixed on the clamping device right-angle connecting piece to move towards or away from the catheter bed to adjust the relative position of the robot and the catheter bed; a clamping device three-dimensional force sensor connected to the control device for communication is also installed between the clamping device right-angle connecting piece and the clamping device.

13. The interventional surgery catheter pushing robot according to claim 1, characterized in that: Two photoelectric switches that are connected to the control device for communication are also installed on the upper surface of the second connecting plate. The two photoelectric switches are respectively located at the two end extreme positions of the reciprocating movement of the lower connecting plate along the linear guide rail of the second connecting plate; the lower ends of the upper connecting plate and the lower connecting plate are each correspondingly installed with a connecting plate three-dimensional force sensor that is connected to the control device for communication.

14. The interventional surgery catheter pushing robot according to claim 1, characterized in that: The disposable sterile consumables are used to connect with the consumables of interventional surgery, and are connected to the bottom end of the right-angle connecting plate, the bottom end of the corresponding connecting plate three-dimensional force sensor of the upper connecting plate and the lower connecting plate by magnetic attraction.

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