A catheter guide mechanism for a vascular intervention robot

Abstract

The application provides a catheter guiding mechanism of a vascular interventional robot, which comprises at least two sleeve pipes, each of which is sleeved together layer by layer, the innermost and outermost sleeve pipes are respectively marked as the first and last sleeve pipes, the last sleeve pipe is fixed on a consumable box, the first sleeve pipe is fixed on a support, the support is controlled to move relative to the consumable box to drive the sleeve pipes except the last sleeve pipe to move, linear slides are arranged on the sleeve pipes except the first sleeve pipe, sliding parts matched with the slides are arranged on the sleeve pipes except the last sleeve pipe, the sleeve pipes except the first sleeve pipe are all elastic, openings are arranged at preset positions of all the sleeve pipes, the openings on the sleeve pipes correspond to each other when all the sleeve pipes are in a retracted state, so that a catheter can be placed into the first sleeve pipe, and the opening width of the elastic sleeve pipe is reduced when the relevant sleeve pipe is in an extended state, so as to prevent the catheter from being pulled out of the catheter guiding mechanism. The catheter guiding mechanism has simple structure and can effectively prevent the catheter from being pulled out.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a catheter guidance mechanism for a vascular intervention robot. Background Technology

[0002] Interventional vascular surgery involves inserting a guidewire, balloon, or stent through a catheter along a blood vessel to the site of the disease, followed by surgical procedures. Interventional vascular robots are instruments designed to prevent doctors from prolonged exposure to X-rays, allowing them to perform surgery remotely via imaging. These robots require a catheter guiding mechanism (i.e., a catheter anti-dislodgement mechanism) to guide the catheter and prevent it from dislodging. Summary of the Invention

[0003] To address the problems existing in the prior art, this application proposes a catheter guidance mechanism for a vascular interventional robot, which has a simple structure, is easy to operate, and can effectively prevent catheter dislodgement.

[0004] To achieve the above objectives, this application proposes a catheter guiding mechanism for a vascular interventional robot, comprising at least two cannulas, each cannulas being nested together layer by layer. The innermost cannulas is designated as the head cannulas, and the outermost cannulas as the tail cannulas. The tail cannulas are fixed to the consumables container of the vascular interventional robot, and the head cannulas are fixed to a stent. The stent is controllably movable relative to the consumables container to move the cannulas other than the tail cannulas. Except for the head cannulas, all other cannulas are provided with linear slides, and both ends of the slides are closed. Except for the tail cannulas... The remaining sleeves are equipped with sliding components that cooperate with the slide rails. Through the cooperation of the slide rails and sliding components, the movement of the inner sleeve in two adjacent sleeves can be guided and limited, so that the two adjacent sleeves will not detach. Except for the first sleeve, the remaining sleeves are elastic. All sleeves have openings at preset positions. When all sleeves are in the retracted state, the openings on each sleeve correspond to each other, so that the catheter can be inserted into the first sleeve. When the relevant sleeves are in the extended state, the opening width of the elastic sleeves will decrease to prevent the catheter from falling out of the catheter guiding mechanism.

[0005] In some embodiments, the first end sleeve has a preset taper, wherein the end closer to the bracket has a larger diameter and the end closer to the consumable box has a smaller diameter.

[0006] In some embodiments, the first end sleeve is provided with an elastic snap-fit ​​structure to prevent the catheter from coming out of the first end sleeve.

[0007] The beneficial effect of this solution is that the catheter guiding mechanism of the vascular intervention robot, by setting at least two cannulas, utilizes the principle that the opening width on the cannulas changes with the change in diameter of the elastic cannulas, which can effectively prevent the catheter from dislodging when each cannulas is in the extended state; the catheter guiding mechanism of the vascular intervention robot involved in this application also has the advantages of simple structure and easy operation. Attached Figure Description

[0008] Figure 1 A schematic diagram of the catheter guiding mechanism of the vascular intervention robot in the embodiment is shown, wherein each cannula is in the extended state.

[0009] Figure 2 A schematic diagram of the catheter guidance mechanism of the vascular intervention robot in the embodiment is shown, wherein each cannula is in the retracted state.

[0010] Figure 3 A schematic diagram of the structure of the remaining sleeves, excluding the first and last sleeves, is shown in the embodiment.

[0011] Figure 4 (a) shows a schematic diagram of the structure of the first end sleeve in the embodiment, and (b) is an enlarged view of the elastic snap-fit ​​structure in the first end sleeve.

[0012] Figure 5 A schematic diagram of the structure of the sleeves, excluding the head sleeve, in the extended state is shown in the embodiment.

[0013] Figure 6 A schematic diagram of the catheter guidance mechanism of the vascular intervention robot in the embodiment is shown in use.

[0014] Reference numerals: 1-catheter guiding mechanism, 101-cannula, 101A-head cannula, 101B-end cannula, 1011-slide rail, 1012-pin, 1013-opening, 1014-first connector, 1015-second connector, 1016-elastic snap-fit ​​structure, 2-consumable box, 3-support, 4-connecting part, 5-catheter. Detailed Implementation

[0015] The specific embodiments of this application will be further described below with reference to the accompanying drawings.

[0016] In the description of this application, it should be understood that the terms "first," "second," etc., are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0017] like Figures 1-6 As shown, the catheter guiding mechanism 1 of the vascular interventional robot involved in this application includes at least two sleeves 101, which are connected layer by layer. The innermost sleeve is designated as the first sleeve 101A, and the outermost sleeve is designated as the last sleeve 101B. The last sleeve 101B is fixed to the consumable box 2 of the vascular interventional robot, and the first sleeve 101A is fixed to the stent 3 near the human body. The stent 3 is controllable and can move relative to the consumable box 2 to drive the sleeves 101 other than the last sleeve 101B to move. Specifically, the last sleeve 101B is provided with a first connector 1014, which is connected to the consumable box 2. The first sleeve 101A is provided with a second connector 1015, which is connected to the stent 3. The stent 3 is connected to the consumable box 2 via a connecting part 4. The stent 3 can be pulled manually or driven by a motor.

[0018] Except for the first end sleeve 101A, all other sleeves 101 are provided with straight slide rails 1011, and both ends of the slide rails 1011 are closed. Except for the last end sleeve 101B, all other sleeves 101 are provided with sliding components that cooperate with the slide rails 1011 (in two adjacent sleeves, the sliding component on the inner sleeve cooperates with the slide rail 1011 on the outer sleeve). In this embodiment, the sliding component is a pin 1012. When the support 3 is moved in a controlled manner, according to the moving distance of the support 3, the relevant sleeves 101 other than the last end sleeve 101B will slide relative to their outer sleeves. Through the cooperation of the slide rails 1011 and the sliding components, the movement of the inner sleeve in two adjacent sleeves can be guided and limited, so that the two adjacent sleeves 101 will not detach. Except for the first end sleeve 101A, all other sleeves 101 are elastic. Each sleeve 101 has an opening 1013 at a predetermined position, the opening 1013 extending through the sleeve 101 along its axial direction. When all sleeves 101 are in the retracted state, the openings 1013 on each sleeve 101 correspond to each other, and the width of each opening 1013 is greater than the outer diameter of the conduit 5, allowing the conduit 5 to be inserted into the first end sleeve 101A. When a sleeve 101 is in the extended state, the width of the opening 1013 of the elastic sleeve 101 decreases to prevent the conduit 5 from dislodging from the conduit guide mechanism.

[0019] In this embodiment, the first end sleeve 101A has a preset taper, wherein the diameter of the end closer to the bracket 3 is larger and the diameter of the end closer to the consumable box 2 is smaller. This structural design enables the first end sleeve 101A and its outer elastic sleeve 101 to slide smoothly.

[0020] To improve the anti-detachment effect, an elastic snap-fit ​​structure 1016 is provided on the first end sleeve 101A to prevent the catheter 5 from detaching from the first end sleeve 101A. Specifically, grooves can be provided on the inner walls on both sides of the opening 1013 in the first end sleeve 101A to reduce the thickness of the inner wall and allow deformation. In this case, the width of the opening 1013 on the first end sleeve 101A is slightly smaller than the outer diameter of the catheter 5. Under external force, the catheter 5 can be easily inserted into the first end sleeve 101A, and it is not easy to detach from the opening 1013 of the first end sleeve 101A without external force. Of course, the elastic snap-fit ​​structure 1016 can also be implemented in other forms, as long as the corresponding function is achieved.

[0021] In practical use, when all sleeves 101 are in the retracted state, the catheter 5 is placed into the first sleeve 101A. Then, when the support 3 is moved in a controlled manner, according to the moving distance of the support 3, the relevant sleeves 101, except for the last sleeve 101B, will slide out relative to their outer sleeves. Through the cooperation of the slide 1011 and the sliding component, the movement of the inner sleeve can be guided and limited, so that two adjacent sleeves 101 will not separate. When the sleeve 101 is in the extended state, the width of the opening 1013 of the elastic sleeve 101 will become smaller to prevent the catheter 5 from coming out of the catheter guiding mechanism.

[0022] The catheter guiding mechanism of the vascular interventional robot involved in this application, by setting at least two cannulas, utilizes the principle that the opening width on the cannulas changes with the change of the elastic cannulas diameter, which can effectively prevent the catheter from dislodging when each cannulas is in the extended state; the catheter guiding mechanism of the vascular interventional robot involved in this application also has the advantages of simple structure and easy operation.

[0023] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this application, based on the technical solution and concept of this application, should be included within the scope of protection of this application.

Claims

1. A catheter guiding mechanism for a vascular interventional robot, characterized in that: The device comprises at least two cannulas, each nested together in a layered fashion. The innermost cannulas are designated as the first cannulas, and the outermost cannulas as the last cannulas. The last cannulas are fixed to the consumables container of the vascular interventional robot, while the first cannulas are fixed to a stent. The stent is controllably movable relative to the consumables container, thereby moving all the cannulas except the last cannulas. Except for the first cannulas, all the remaining cannulas are equipped with straight tracks, both ends of which are closed. Except for the last cannulas, all the remaining cannulas are also equipped with features that cooperate with the tracks. The sliding component, through the cooperation of the slide rail and the sliding component, can guide and limit the movement of the inner sleeve in two adjacent sleeves, so that the two adjacent sleeves will not detach; except for the first sleeve, the other sleeves are elastic; all sleeves have an opening at a preset position, and when all sleeves are in the retracted state, the openings on each sleeve correspond to each other so that the catheter can be inserted into the first sleeve; when the relevant sleeves are in the extended state, the opening width of the elastic sleeve will decrease to prevent the catheter from falling out of the catheter guiding mechanism.

2. The catheter guiding mechanism of the vascular interventional robot according to claim 1, characterized in that: The first end sleeve has a preset taper, wherein the diameter of the end closer to the bracket is larger than the diameter of the end closer to the consumable box.

3. The catheter guiding mechanism of the vascular interventional robot according to claim 1 or 2, characterized in that: An elastic snap-fit ​​structure is provided on the first end sleeve to prevent the catheter from coming out of the first end sleeve.

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