Drive and positioning device for a guide catheter of a vascular intervention robot

Abstract

This invention discloses a driving and positioning device for a guide tube in a vascular interventional robot. The guide tube control module includes a Y-shaped stage assembly, which comprises an upper Y-shaped valve and a lower driving and positioning device. The distal port of the Y-shaped valve is connected to the guide tube, and the proximal port is through which a guidewire passes. The guidewire enters the guide tube through the Y-shaped valve and travels along the inner lumen of the guide tube to the surgical site. The driving and positioning device includes a rack frame, on which the Y-shaped valve is fixed; a gear meshing with the teeth on the rack frame; a moving magnetic component mounted on the rack frame; and a fixed magnetic component interacting with the moving magnetic component. The fixed magnetic component is fixed to the housing of the terminal execution system. This invention can effectively position the guide tube control module before surgery without hindering the relative movement between the components during surgery, avoiding loss of accuracy caused by unnecessary relative displacement between components.

Description

Technical Field

[0001] This invention relates to the field of medical devices for vascular interventional therapy, and more specifically to a driving and positioning device for a guide tube used in a vascular interventional robot. Background Technology

[0002] Interventional vascular surgery is an advanced minimally invasive technique that uses imaging-based methods, guided by equipment such as X-rays, ultrasound, or CT scans, to diagnose and treat diseases using guidewires, catheters, stents, and other medical devices. Manually inserting catheters or guiding devices into the patient's body is a relatively routine surgical procedure.

[0003] Vascular interventional surgical robots are used to perform vascular interventional surgeries. However, before the surgery begins, the initial positions of each module are difficult for the microcomputer control system to locate. Therefore, a technology is needed to accurately locate the initial positions of each module, thereby improving the operational precision of the surgical robot. Summary of the Invention

[0004] The purpose of this invention is to provide a driving and positioning device for a guide tube in a vascular interventional robot, which can effectively position the guide tube control module before surgery, and does not hinder the relative movement between the components of the module during surgery, thereby avoiding the loss of accuracy caused by unnecessary relative displacement between the components.

[0005] This invention provides a driving and positioning device for a guide tube in a vascular interventional robot. The robot, used for vascular interventional treatment, includes a remote microcomputer control terminal, a surgical positioning robotic arm, and a terminal execution system. The terminal execution system is fixed to the end of the surgical positioning robotic arm and moves with it. The remote microcomputer control terminal controls the movement of the surgical positioning robotic arm and the internal movement of the terminal execution system. The terminal execution system includes a guide tube control module for controlling the forward or backward movement of the guide tube. The guide tube control module includes a Y-shaped stage assembly. The Y-shaped stage assembly includes an upper Y-shaped valve and a lower drive and positioning device; the distal port of the Y-shaped valve is connected to the guide tube, and the proximal port is through which the guide wire passes. The guide wire enters the guide tube through the Y-shaped valve and reaches the surgical site along the inner lumen of the guide tube; the drive and positioning device includes a rack frame, on which the Y-shaped valve is fixed; a gear that meshes with a spur rack on the rack frame; a moving magnetic component mounted on the rack frame; and a fixed magnetic component that interacts with the moving magnetic component; wherein the fixed magnetic component is fixed to the housing of the terminal execution system.

[0006] In another preferred embodiment, the rack frame includes a first toothed edge, a second straight edge, and a third connecting edge.

[0007] In another preferred embodiment, the first tooth edge is provided with a straight rack that meshes with the gear, and the second straight edge and the first tooth edge are arranged parallel to each other.

[0008] In another preferred embodiment, the third connecting edge connects the first tooth edge and the second straight edge into a semi-enclosed structure, and the gear is located in the semi-enclosed structure.

[0009] In another preferred embodiment, one end of the gear meshes with a straight rack with the first tooth edge, and the other end of the gear abuts against the second straight edge.

[0010] In another preferred embodiment, the moving magnetic element is fixed to the third connecting edge.

[0011] In another preferred embodiment, before surgery, the rack frame interacts with the fixed magnetic element fixed to the housing of the terminal execution system via the moving magnetic element, preventing the rack frame from sliding arbitrarily, thereby fixing the Y-type valve in the initial position.

[0012] In another preferred embodiment, during the operation, the drive device drives the gear to rotate. Due to the meshing relationship between the gear and the rack frame, the rack frame moves forward against the action of the fixed magnetic element, thereby driving the Y-type valve to move forward.

[0013] In another preferred embodiment, the drive device is a non-contact motor system.

[0014] In another preferred embodiment, the non-contact motor system includes a motor, a first magnetic induction coupling connected to and driven by the motor, a second magnetic induction coupling corresponding to the first magnetic induction coupling, and a transmission structure connected to the second magnetic induction coupling; wherein the first magnetic induction coupling and the second magnetic induction coupling are coaxially opposite each other; the distance between the first magnetic induction coupling and the second magnetic induction coupling is 2-20 mm.

[0015] In another preferred embodiment, the number of non-contact motor systems is 2-10.

[0016] In another preferred embodiment, the terminal actuation system includes an actuation housing and a drive housing, wherein the actuation housing houses mechanical components for driving the interventional device forward, backward, and rotation, and the drive housing houses an electric component for providing power to the mechanical components.

[0017] In another preferred embodiment, the motor is fixed in the drive housing, and the second magnetic induction coupling is fixed on the bottom wall of the actuator housing.

[0018] In another preferred embodiment, a space layer with a thickness of 2-20 mm is formed between the actuator housing and the drive housing, supported by the pair of first and second magnetic induction couplings.

[0019] In another preferred embodiment, a sterile cloth is laid between the execution housing and the drive housing to reduce contamination of the components in the drive housing.

[0020] In another preferred embodiment, the sterile cloth is a blood-blocking sterile cloth.

[0021] In another preferred embodiment, the transmission structure is a gear set structure or a worm gear structure.

[0022] In another preferred embodiment, the terminal execution system includes a guidewire control module in the interventional device. The guidewire control module includes a rotating assembly that controls the rotation of the guidewire via a rotating wheel assembly and a traveling assembly that controls the forward or backward movement of the guidewire via a traveling wheel assembly; wherein both the rotating wheel assembly and the traveling wheel assembly are driven by the non-contact motor system.

[0023] In another preferred embodiment, the terminal execution system includes a balloon / stent control module in the interventional device that controls the advance or retraction of a balloon catheter or stent catheter via a friction wheel assembly, and a guide tube control module in the interventional device that controls the advance or retraction of a guide tube via a gear and rack assembly; wherein both the friction wheel assembly and the gear and rack assembly are driven by the non-contact motor system.

[0024] The main advantages of this invention include:

[0025] (a) Components of the preoperative precise positioning module;

[0026] (b) Improve the motion precision of each component during surgery;

[0027] (c) It has a simple structure, making it easy to process, assemble and operate.

[0028] It should be understood that, within the scope of this invention, the above-described technical features of this invention and the technical features specifically described below (such as in the embodiments) can be combined with each other to form new or preferred technical solutions. Due to space limitations, they will not be described in detail here. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic rear view of the driving and positioning device in its initial state in an embodiment of the present invention;

[0031] Figure 2 yes Figure 1 Rear view showing the drive and positioning devices in operation;

[0032] Figure 3 yes Figure 1 and Figure 2 Front view of the rack frame of the drive and positioning device in the middle;

[0033] Figure 4 yes Figure 3 A perspective view of the rack frame of the drive and positioning device in the middle.

[0034] The labels in each of the attached figures are as follows:

[0035] 1- Gear;

[0036] 2-First tooth edge;

[0037] 3-Second straight edge;

[0038] 4-Third connecting edge;

[0039] 5-Moving magnetic components;

[0040] 6-Fixed magnetic components;

[0041] 7-Y type valve. Detailed Implementation

[0042] Through extensive and in-depth research and screening, the inventors have developed for the first time a driving and positioning device for a guide tube in a vascular interventional robot. The driving and positioning device of the present invention effectively positions the guide tube control module before surgery by setting up magnetic components, and does not hinder the relative movement between the components of the module during surgery, thus avoiding the loss of accuracy caused by unnecessary relative displacement between the components. The present invention was completed on this basis.

[0043] A moving magnetic component is installed at the rear of the gear mechanism of the Y-shaped stage module, while a fixed magnetic component is installed in the execution housing of the terminal execution system. The two magnetic components interact to precisely position the initial location. When the motor in the motor box rotates, it drives the gears under the Y-shaped stage to rotate, pushing the Y-shaped stage forward. At this time, the fixed magnetic component in the execution housing of the terminal execution system disengages from the moving magnetic component at the rear of the Y-shaped stage, allowing the surgical consumables to be precisely positioned at the surgical site.

[0044] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the accompanying drawings are schematic diagrams, and therefore the apparatus and device of the present invention are not limited to the size or scale of the schematic diagrams.

[0045] It should be noted that in the claims and specification of this patent, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0046] Example

[0047] The driving and positioning device for the guiding catheter of the vascular interventional robot in this embodiment is as follows: Figure 1-4 As shown.

[0048] The robot is used for vascular interventional treatment and includes a remote microcomputer control terminal, a surgical positioning robotic arm, and a terminal execution system. The terminal execution system is fixed to the end of the surgical positioning robotic arm and moves with the surgical positioning robotic arm. The remote microcomputer control terminal controls the movement of the surgical positioning robotic arm and the movement inside the terminal execution system.

[0049] The terminal execution system includes a guide tube control module in the interventional device. The guide tube control module is used to control the forward or backward movement of the guide tube. The guide tube control module includes a Y-shaped stage assembly, which includes an upper Y-shaped valve 7 and a lower drive and positioning device.

[0050] The distal port of Y-type valve 7 is connected to the guiding tube, and the proximal port is through which a guidewire is inserted. The guidewire enters the guiding tube through Y-type valve 7 and reaches the surgical site along the inner lumen of the guiding tube.

[0051] The drive and positioning device includes a rack frame, a gear 1, a moving magnetic component 5 mounted on the rack frame, and a fixed magnetic component 6 interacting with the moving magnetic component 5. A Y-type valve 7 is fixed to the rack frame and moves with it. The gear 1 meshes with a spur rack on the rack frame. The fixed magnetic component 6 is fixed within the actuator housing of the terminal actuation system.

[0052] The rack frame includes a first toothed edge 2, a second straight edge 3, and a third connecting edge 4. The first toothed edge 2 has a straight rack that meshes with the gear 1. The second straight edge 3 is arranged parallel to and opposite to the first toothed edge 2. The third connecting edge 4 connects the first toothed edge 2 and the second straight edge 3 into a semi-enclosed structure, within which the gear 1 is located. One end of the gear 1 meshes with the straight rack of the first toothed edge 2, and the other end of the gear 1 abuts against the second straight edge 3. A moving magnetic component 5 is fixed to the third connecting edge 4.

[0053] Before the surgery begins, the rack frame interacts with the fixed magnetic element 6 fixed on the housing of the terminal execution system through the moving magnetic element 5, preventing the rack frame from sliding randomly, thereby fixing the Y-type valve 7 in the initial position.

[0054] During the operation, the drive device drives the gear 1 to rotate. Due to the meshing relationship between the gear 1 and the rack frame, the rack frame overcomes the force of the fixed magnetic component 6 and moves forward, thereby driving the Y-type valve 7 to move forward, avoiding the loss of precision caused by unnecessary relative displacement between the components.

[0055] The drive unit is a non-contact motor system. The non-contact motor system includes a motor, a first magnetic induction coupling connected to and driven by the motor, a second magnetic induction coupling corresponding to the first magnetic induction coupling, and a transmission gear set connected to the second magnetic induction coupling; wherein, the first magnetic induction coupling and the second magnetic induction coupling are coaxially opposite each other; the distance between the first magnetic induction coupling and the second magnetic induction coupling is 2-20 mm.

[0056] All documents mentioned in this invention are incorporated herein by reference as if each document were individually incorporated by reference. Furthermore, it should be understood that after reading the foregoing teachings of this invention, those skilled in the art can make various alterations or modifications to this invention, and these equivalent forms also fall within the scope defined by the appended claims.

Claims

1. A driving and positioning device for a guide tube in a vascular interventional robot, characterized in that, The robot is used for vascular interventional treatment and includes a remote microcomputer control terminal, a surgical positioning robotic arm, and a terminal execution system. The terminal execution system is fixed to the end of the surgical positioning robotic arm and moves with the surgical positioning robotic arm. The remote microcomputer control terminal controls the movement of the surgical positioning robotic arm and the movement inside the terminal execution system. The terminal execution system includes a guide tube control module, which controls the forward or backward movement of the guide tube. The guide tube control module includes a Y-shaped stage assembly, which includes an upper Y-shaped valve and a lower drive and positioning device. The distal port of the Y-type valve is connected to the guiding tube, and the proximal port is through which a guide wire is inserted. The guide wire enters the guiding tube through the Y-type valve and reaches the surgical site along the inner lumen of the guiding tube. The driving and positioning device includes a rack frame, on which the Y-type valve is fixed; a gear meshing with a spur rack on the rack frame; a moving magnetic component mounted on the rack frame; and a fixed magnetic component interacting with the moving magnetic component; wherein the fixed magnetic component is fixed to the housing of the terminal execution system. The rack frame includes a first toothed edge, a second straight edge, and a third connecting edge. The first toothed edge is provided with a straight rack that meshes with the gear. The second straight edge is arranged parallel to and opposite to the first toothed edge. The third connecting edge connects the first toothed edge and the second straight edge into a semi-enclosed structure. The gear is located in the semi-enclosed structure. One end of the gear meshes with the straight rack of the first toothed edge, and the other end of the gear abuts against the second straight edge. The moving magnetic component is fixed on the third connecting edge. The first toothed edge is located at the rear of the Y-type valve, and the moving magnetic component is located at the rear of the gear. Before the operation, the rack frame interacts with the fixed magnetic component fixed on the housing of the terminal execution system through the moving magnetic component, preventing the rack frame from sliding randomly, thereby fixing the Y-type valve in the initial position; During the operation, the drive device drives the gear to rotate. Due to the meshing relationship between the gear and the rack frame, the rack frame overcomes the action of the fixed magnetic component and moves forward, thereby driving the Y-type valve to move forward, thus avoiding the loss of accuracy caused by unnecessary relative displacement. The drive device is a non-contact motor system.

2. The drive and positioning device of claim 1, wherein The non-contact motor system includes a motor, a first magnetic induction coupling connected to and driven by the motor, a second magnetic induction coupling corresponding to the first magnetic induction coupling, and a transmission structure connected to the second magnetic induction coupling; wherein the first magnetic induction coupling and the second magnetic induction coupling are coaxially opposite each other; the distance between the first magnetic induction coupling and the second magnetic induction coupling is 2-20 mm.

3. The drive and positioning apparatus of claim 1, wherein, The number of non-contact motor systems is 2-10.

4. The drive and positioning apparatus of claim 2, wherein, The terminal execution system includes an execution housing and a drive housing, wherein the execution housing houses mechanical components for driving the interventional device forward, backward, and rotation, and the drive housing houses an electric component for providing power to the mechanical components.

5. The drive and positioning apparatus of claim 4, wherein, The motor is fixed in the drive housing, and the second magnetic induction coupling is fixed on the bottom wall of the actuator housing.

6. The drive and positioning apparatus of claim 5, wherein, Supported by the first and second magnetic induction couplings, a space layer with a thickness of 2-20 mm is formed between the actuator housing and the drive housing.

7. The drive and positioning apparatus of claim 5, wherein, A sterile cloth is laid between the actuator housing and the drive housing to reduce contamination of the components in the drive housing.

8. The drive and positioning apparatus of claim 2, wherein, The transmission structure is a gear set structure or a worm gear structure.

9. The driving and positioning device as described in claim 1, characterized in that, The terminal execution system includes a guidewire control module in the interventional device. The guidewire control module includes a rotating component that controls the rotation of the guidewire through a rotating wheel assembly and a traveling component that controls the forward or backward movement of the guidewire through a traveling wheel assembly. Both the rotating wheel assembly and the traveling wheel assembly are driven by the non-contact motor system.

10. The driving and positioning device as claimed in claim 1, characterized in that, The terminal execution system includes a balloon / stent control module in the interventional device that controls the forward or backward movement of a balloon catheter or stent catheter via a friction wheel assembly, and a guide tube control module in the interventional device that controls the forward or backward movement of a guide tube via a gear and rack assembly; wherein, both the friction wheel assembly and the gear and rack assembly are driven by the non-contact motor system.

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