A retractable propulsion guide rail

Abstract

This invention proposes a retractable propulsion guide rail, comprising: a guide rod, a guide rail handle holder, and at least two conduit body restraints; the guide rail handle holder is slidably connected to the guide rod; the conduit body restraints are spaced apart and slidably disposed on the guide rod at the other end opposite the conduit handle holder; the conduit body restraints are connected by at least two flexible restraint connecting lines, the length of which is adjustable. This invention adapts to conduits of different hardness by changing the length of the restraint connecting lines. For conduits with higher hardness, the restraint connecting lines can be set to a longer length; for more flexible conduits, the length of the restraint connecting lines can be shortened according to their flexibility, making the restraints on the guide rail more densely packed. For conduits with lower hardness, each segment is supported to prevent arching during use due to differences in conduit body hardness. Simultaneously, it provides stable conduit support during operation in all degrees of freedom.

Description

Technical Field

[0001] This invention relates to the field of medical device manufacturing technology, and in particular to a retractable propulsion guide rail. Background Technology

[0002] Cardiovascular interventional surgery is a novel technique for treating cardiovascular diseases. A catheter is inserted into the target chamber of the heart under continuous digital subtraction angiography (DSA), and complex cardiac catheter manipulation techniques are used to diagnose and treat heart diseases. Cardiovascular interventional surgical robots have become a research hotspot in interventional surgery both domestically and internationally in recent years due to their advantages such as reducing X-ray radiation damage during interventional procedures, standardizing the operation of surgical instruments, reducing the operator's workload, and shortening the surgical training learning curve.

[0003] Compared to traditional manual cardiovascular interventional surgery, the biggest challenge in operating a surgical robot is the advancement mechanism of the interventional device. While surgical robots offer many advantages in surgical safety and stability, traditional manual operation of cardiovascular interventional devices allows for flexible manipulation using both hands, especially when the device is close to the percutaneous puncture site. Therefore, the biggest challenge in the control scheme of the robotic arm actuator is to address the issue of advancing interventional devices with varying degrees of flexibility. It is necessary to ensure stable advancement without causing the device to arch outside the vascular puncture site, which would prevent the interventional device from advancing in the preset direction and thus affect the accuracy and safety of the surgical robot's manipulation of the catheter. Summary of the Invention

[0004] The technical problem to be solved by this invention is how to provide corresponding catheter support for interventional devices with different softness to prevent safety issues such as catheter arching outside the vascular puncture site and achieve precise axial movement control; in view of this, this invention provides a telescopic propulsion guide rail.

[0005] The technical solution adopted in this invention is a retractable propulsion guide rail, comprising:

[0006] Guide rod;

[0007] A guide rail handle holder is slidably connected to the guide rod;

[0008] At least two catheter body restraints are spaced apart and slidably disposed on the guide rod at the other end opposite the catheter handle holder;

[0009] The conduit body restraints are connected by no fewer than two flexible restraint connection lines, the length of which is adjustable.

[0010] In one embodiment, the guide rod is:

[0011] Two guide rods are fixed to the mechanical arm mounting bracket of the external equipment, wherein the length direction of the guide rods is consistent with the axial movement direction of the guide tube, and the distal ends of the two guide rods are fixed by a fixing block.

[0012] In one embodiment, the guide rod is made of metal.

[0013] In one embodiment, the catheter handle holder is provided with a guide rod through hole adapted to the guide rod, so that the catheter handle holder can be slidably sleeved on the guide rod through the guide rod through the guide rod through the through hole.

[0014] In one embodiment, the catheter handle holder is provided with a catheter handle adapter structure. The catheter handle is installed at a designated position on the robotic arm actuator outside the telescopic propulsion guide rail by the catheter handle holder, so that the catheter is driven to move accordingly by the transmission structure of the actuator.

[0015] In one embodiment, the conduit body restraint is slidably mounted on two guide rods through a restraint hole at its bottom, and a concave conduit limiting groove is provided at the top of the conduit body restraint to limit the circumferential position of the conduit body.

[0016] In one embodiment, the guide rod is additionally provided with a limiting device for fixing the position of the conduit body restrainer on the guide rod.

[0017] In one embodiment, the limiting device includes a rubber sleeve fitted onto the guide rod.

[0018] Another aspect of the present invention provides a medical robotic arm, comprising: a front actuator, a rear actuator, a catheter handle, a sheath handle, and a retractable propulsion guide as described in any of the preceding claims;

[0019] The front actuator and the rear actuator are slidably mounted on a fixed slide rail. The front actuator controls the movement of the sheath using the sheath handle, and the rear actuator controls the movement of the catheter using the catheter handle. The telescopic push rail is mounted on the rear actuator. By controlling the rear actuator to slide axially on the fixed slide rail, the catheter is pushed axially.

[0020] By adopting the above technical solution, the present invention has at least the following advantages:

[0021] This invention proposes a telescopic propulsion guide rail device, which provides support for the catheter handle and body during the operation of a surgical robot. The guide rail device can be customized according to the different hardness of the catheters. By changing the length of the restraint connection lines, it can be adapted to catheters of different hardness. For catheters with high hardness, the restraint connection lines can be set to be longer, while for more flexible catheters, the length of the restraint connection lines can be shortened according to their flexibility, making the restraints on the guide rail more dense. For catheters with low hardness, each segment can be supported to prevent arching during use due to differences in tube hardness. Simultaneously, it provides stable catheter support during various degrees of freedom of operation, including axial movement, circumferential rotation, and tip bending. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the retractable propulsion guide rail device according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the disassembly of the catheter handle holder according to an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of a retractable propulsion guide rail device according to another embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the working state according to an embodiment of the present invention;

[0026] Figure Labels

[0027] 1-Retractable propulsion guide rail; 2-Rear actuator; 3-Front actuator; 4-Catheter handle; 5-Sheath handle;

[0028] 11-Catheter body restraint; 12-Guide rod; 13-Catheter handle holder; 14-Restraint connection cable; 15-Fixing block; 16-Rubber sleeve;

[0029] 131 - Adaptor structure for catheter handle; 132 - Through hole for guide rod. Detailed Implementation

[0030] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.

[0031] In the accompanying drawings, the thickness, size, and shape of the objects have been slightly exaggerated for ease of illustration. The drawings are for illustrative purposes only and are not drawn to scale.

[0032] It should also be understood that the terms "comprising," "including," "having," "containing," and / or "comprising," when used in this specification, indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof. Furthermore, when expressions such as "at least one of..." appear after a list of listed features, they modify the entire listed feature, not individual elements in the list. Additionally, when describing embodiments of this application, the word "may" is used to mean "one or more embodiments of this application." And the term "exemplary" is intended to refer to an example or illustration.

[0033] As used herein, the terms “basically,” “approximately,” and similar terms are used as terms of approximation rather than terms of degree, and are intended to describe inherent biases in measured or calculated values ​​that will be recognized by those skilled in the art.

[0034] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms (e.g., those defined in common dictionaries) shall be interpreted as having the meaning consistent with their meaning in the context of the relevant art and shall not be interpreted in an idealized or overly formal sense unless expressly so specified herein.

[0035] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0036] In the first embodiment of the present invention, a retractable propulsion guide rail 1 is provided, as follows: Figure 1 As shown, it specifically includes:

[0037] The catheter handle holder 13, the guide rod 12, the catheter body restraint 11, and the restraint connecting line 14.

[0038] The catheter handle holder 13 is slidably connected to the guide rod 12. On the other side of the guide rod 12 opposite to the catheter handle holder 13, there are at least two catheter body restraints 11 that can be slidably arranged. The distal catheter body restraint 11 is fixed on the guide rod 12 at the farthest end of the guide rail. The catheter body restraints 11 are connected by at least two restraint connecting lines 14. According to the different flexibility of the catheter body, the restraint connecting lines 14 of different lengths can be matched to limit the maximum distance between two adjacent restraints during the movement of the catheter, and prevent the catheter body from arching between the two restraints outside the body.

[0039] In this embodiment, the guide rod 2 includes two guide rods 12 fixed on the mechanical arm mounting bracket. The length direction of the guide rod 12 is consistent with the axial movement direction of the guide tube. The distal ends of the two guide rods 12 are fixed by the fixing block 15. The two guide rods 12 are made of metal and provide basic rigid support for the guide rail. The restrainer can move freely and smoothly on the guide rod 12 formed by the two guide rods 12.

[0040] like Figure 2 As shown, the conduit handle holder 13 has a guide rod through hole 132, through which the conduit handle holder 13 can be slidably sleeved on the guide rod 12. The conduit handle holder 13 is similar to a "flip-top" structure, and has a conduit handle adapter structure 131 inside. The conduit handle 4 is installed at a designated position on the robotic arm actuator through the conduit handle holder 13, and the conduit is driven to perform axial movement, bending and rotation operations through the transmission structure of the actuator.

[0041] In this embodiment, the conduit body restraint 11 is slidably mounted on two guide rods 12 through a restraint hole opened in the body of the conduit body restraint 11. A concave conduit limiting groove is opened at the top of the conduit body restraint 11. The conduit body can be restricted in its circumferential position through the limiting groove. A number of concave limiting grooves of restraints are arranged in sequence on the guide rods 12 to form a conduit body support track, providing rigid support for the conduit body.

[0042] Furthermore, the limiting groove is designed as an open, embedded groove to facilitate catheter installation. The opening diameter of the limiting groove is slightly larger than the diameter of the catheter. The limiting groove can be customized with different inner diameters to adapt to interventional instruments of different diameters, facilitating the rotational freedom of the catheter.

[0043] In this embodiment, the catheter body restraints 11 are arranged at intervals on the metal guide rod 12 along the movement path of the catheter. Adjacent catheter body restraints 11 are connected by flexible restraint connecting lines 14 to prevent excessive spacing between adjacent restraints 11 during axial movement, which could lead to catheter body arching or other undesirable phenomena. The length of the connecting line between the restraints is determined by the flexibility of the catheter body. If the catheter body is relatively soft, the connecting line length is set shorter to control and reduce the maximum spacing between the restraints 11, while increasing the number of restraints 11 to ensure that catheters with low rigidity do not arch during axial movement. When the catheter body is relatively rigid, the connecting line length can be appropriately increased, and the number of restraints can be appropriately reduced for the same stroke to increase the maximum travel distance of the catheter. Corresponding propulsion guides can be adapted to different catheter models.

[0044] Compared with the prior art, this embodiment has at least the following advantages:

[0045] The guide rail device provided in this embodiment is applicable to various flexible interventional devices on cardiovascular surgical robots. When the catheter has a long extension outside the sheath tip, the telescopic guide rail provides effective support for the flexible body of the catheter, preventing the catheter body from arching outside the vascular access. At the same time, it fixes the forward direction of the catheter, enabling the robot to precisely control the catheter access direction, rotation, and bending degrees of freedom. The guide rail is a telescopic guide rail. As the catheter moves axially, the guide rail expands and contracts accordingly, thereby providing effective support for the catheter body and preventing the catheter body from arching, which would affect the stability and safety requirements of the surgery.

[0046] The second embodiment of the present invention is similar to the first embodiment described above, except that:

[0047] like Figure 3 As shown, in this embodiment, the catheter body restrainer 11 can be adjusted and fixed on the guide rod 12 according to the needs of the surgery to adapt to different surgical requirements. The guide rod 12 is additionally provided with a limiting device to lock the position of the catheter body restrainer 11 on the guide rod 12.

[0048] For example, the limiting device includes a rubber sleeve 16 fitted on the guide rod 12. By adding the rubber sleeve 16 between the restraint and the guide rod 12, the friction between the restraint and the guide rod 12 is increased, thereby limiting the restraint to a designated position on the guide rod 12 to adapt to different surgical requirements.

[0049] The third embodiment of the present invention is a device applying the first or second embodiment described above; specifically, it is a medical robotic arm, such as... Figure 4 As shown, it includes:

[0050] The robotic arm has a fixed slide rail and a front actuator 3 and a rear actuator 2 that are slidably mounted on the fixed slide rail. The front actuator 3 controls the movement of the sheath tube using the sheath handle 5, and the rear actuator 2 controls the movement of the catheter using the catheter handle 4. The front and rear actuators 2 can realize various degrees of freedom of operation during manual surgery.

[0051] In this embodiment, the catheter handle holder 13 is mounted on the rear actuator 2 of the robotic arm. The operator can control the rear actuator 2 to slide axially on the fixed slide rail to drive the axial push of interventional instruments such as catheters. Since the sheath is relatively rigid compared to the catheter, it is easier for the catheter to arch when a long part of the catheter is outside the sheath. Therefore, the telescopic push rail 1 is mounted between the front and rear actuators 2 to provide rigid support for the part of the catheter that has not entered the sheath.

[0052] In this embodiment, one end of the guide rod 12 is fixedly connected to the front end of the robotic arm fixed actuator by the fixing block 15, and the other end passes through the reserved through hole on the guide tube handle holder 13 and is slidably connected to the guide tube handle holder 13. Multiple guide tube restrainers are slidably passed through the guide rod 12, and the guide tube restrainers are connected by the restrainer connecting line 14. The rear end actuator 2 moves along the fixed slide rail, driving the guide tube on the rear end actuator 2 to move axially back and forth.

[0053] When there is a long section of the catheter body between the front and rear actuators, the catheter restraint can provide rigid support for the catheter body. During the operation, the arrangement of the catheter restraint changes with the distance between the front and rear actuators 2, which is either tightened or dispersed. This ensures the rigid support of each section of the catheter body during the operation, avoids the phenomenon of catheter arching between the front and rear actuators, avoids surgical risks, and enables the surgical robot to operate the catheter more stably for the operation.

[0054] Through the description of specific embodiments, a more in-depth and specific understanding should be gained of the technical means and effects adopted by the present invention to achieve the intended purpose. However, the accompanying drawings are only for reference and illustration and are not intended to limit the present invention.

Claims

1. A retractable propulsion guide rail, characterized in that, include: Guide rod; A catheter handle holder is slidably connected to the guide rod; At least two catheter body restraints are spaced apart and slidably disposed on the guide rod at the other end opposite the catheter handle holder; The conduit body restraints are connected by no fewer than two flexible restraint connection lines, the length of which is adjustable.

2. The retractable propulsion guide rail according to claim 1, characterized in that, The guide rods are two guide rods fixed to the mechanical arm mounting bracket of the external equipment. The length direction of the guide rods is consistent with the axial movement direction of the guide tube, and the distal ends of the two guide rods are fixed by a fixing block.

3. The retractable propulsion guide rail according to claim 2, characterized in that, The guide rod is made of metal.

4. The retractable propulsion guide rail according to claim 1, characterized in that, The catheter handle holder is provided with a guide rod through hole that is adapted to the guide rod, so that the catheter handle holder can be slidably sleeved on the guide rod through the guide rod through the guide rod through the through hole.

5. The retractable propulsion guide rail according to claim 4, characterized in that, The catheter handle holder is equipped with a catheter handle adapter structure. The catheter handle is installed at a designated position on the robotic arm actuator outside the telescopic propulsion guide rail by the catheter handle holder, so that the catheter can be driven to move accordingly through the transmission structure of the actuator.

6. The retractable propulsion guide rail according to claim 1, characterized in that, The conduit body restraint is slidably mounted on two guide rods through a restraint hole at its bottom. A concave conduit limiting groove is provided at the top of the conduit body restraint to limit the circumferential position of the conduit body.

7. The retractable propulsion guide rail according to claim 1, characterized in that, The guide rod is additionally equipped with a limiting device for fixing the position of the conduit body restrainer on the guide rod.

8. The retractable propulsion guide rail according to claim 7, characterized in that, The limiting device includes a rubber sleeve fitted onto the guide rod.

9. A medical robotic arm, characterized in that, include: A front actuator, a rear actuator, a catheter handle, a sheath handle, and a retractable propulsion guide as described in any one of claims 1 to 8; The front actuator and the rear actuator are slidably mounted on a fixed slide rail. The front actuator controls the movement of the sheath using the sheath handle, and the rear actuator controls the movement of the catheter using the catheter handle. The telescopic push rail is mounted on the rear actuator. By controlling the rear actuator to slide axially on the fixed slide rail, the catheter is pushed axially.

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