A coronary intervention surgery robot and control system

Abstract

The present invention is applicable to the field of medical robots and provides a coronary interventional surgical robot, comprising a robot body, a catheter delivery device, a first channel instrument delivery device assembly, and a second channel instrument delivery device assembly. The robot body is used to install the catheter delivery device, the first channel instrument delivery device assembly, and the second channel instrument delivery device assembly; the catheter delivery device is used to drive the catheter to a predetermined position; the first channel instrument delivery device assembly is used to drive related instruments to a designated area; and the second channel instrument delivery device assembly is used to drive related instruments to a designated area. A control system for a coronary interventional surgical robot is also provided. By providing the first channel instrument delivery device assembly and the second channel instrument delivery device assembly and rationally arranging them, the present invention improves the compatibility of the interventional surgical robot with surgical instruments and increases the diversity of procedures that can be performed.

Description

Technical Field

[0001] The present invention belongs to the field of medical robots and is applied to a master-slave type vascular interventional surgical robot, and in particular relates to a coronary interventional surgical robot and a control system. Background Art

[0002] Interventional surgery is currently the main treatment for cardiovascular and cerebrovascular diseases, with the characteristics of less trauma, less pain, and fewer complications. During traditional operations, doctors need to wear heavy lead suits to protect against the strong radiation in the operating room, while completing delicate and tedious instrument operations. In order to extend the professional life of doctors and improve the accuracy and safety of cardiovascular interventional surgery, vascular interventional surgery robots have come into being. Although vascular interventional surgery robots have certain advantages over traditional surgery, the surgical instrument compatibility of existing vascular interventional surgery robots is insufficient, and they can only complete simple single-channel coronary procedures. In the face of more complex bifurcation lesions, because more surgical instruments are needed during the operation, vascular interventional surgery robots are not compatible. The existing vascular interventional surgery robots can only complete relatively simple procedures. Summary of the Invention

[0003] The purpose of the present invention is to provide a coronary intervention surgical robot and control system, aiming to solve the technical problem that the existing vascular intervention surgical robots can only perform simple single-channel coronary procedures and the procedures that can be completed are relatively single.

[0004] The present invention is achieved in that:

[0005] A first aspect of the present invention provides a coronary intervention surgical robot for the coordinated delivery of a catheter, a first guidewire, a second guidewire, a first fast-delivery balloon catheter, a second fast-delivery balloon catheter, a third fast-delivery balloon catheter, a fourth fast-delivery balloon catheter, and a balloon-expandable stent. The coronary intervention surgical robot includes a robot body, a catheter delivery device, a first channel instrument delivery device assembly, and a second channel instrument delivery device assembly.

[0006] The robot body is used to install the catheter delivery device, the first channel instrument delivery device assembly and the second channel instrument delivery device assembly;

[0007] The catheter delivery device is used to drive the catheter to move to a predetermined position;

[0008] The first channel instrument delivery device assembly is used to drive the first guidewire to move to the first designated area; to drive the first quick-delivery balloon catheter to move along the first guidewire to the first designated area, and to withdraw the first quick-delivery balloon catheter; to drive the balloon-expandable stent to move along the first guidewire to the first designated area, and to withdraw the balloon of the balloon-expandable stent; to drive the first guidewire from the first designated area to the second designated area; to drive the third quick-delivery balloon catheter to move along the first guidewire to the second designated area, and to withdraw the first guidewire and the third quick-delivery balloon catheter;

[0009] The second channel instrument delivery device assembly is used to drive the second guidewire to move to the second designated area; to drive the second quick-delivery balloon catheter along the second guidewire to the second designated area, and to withdraw the second quick-delivery balloon catheter; to drive the second guidewire from the second designated area to the first designated area; to drive the fourth quick-delivery balloon catheter along the second guidewire to the first designated area, and to withdraw the second guidewire and the fourth quick-delivery balloon catheter.

[0010] Furthermore, the first channel instrument delivery device assembly includes a first guidewire rotation delivery mechanism and a first quick-delivery mechanism, the first guidewire rotation delivery mechanism is used to drive the first guidewire, and the first quick-delivery mechanism is used to drive the first quick-delivery balloon catheter, the third quick-delivery balloon catheter and the balloon-expandable stent; the second channel instrument delivery device assembly includes a second guidewire rotation delivery mechanism and a second quick-delivery mechanism, the second guidewire rotation delivery mechanism is used to drive the second guidewire, and the second quick-delivery mechanism is used to drive the second quick-delivery balloon catheter and the fourth quick-delivery balloon catheter.

[0011] Furthermore, the first channel instrument delivery device assembly and the second channel instrument delivery device assembly are installed in parallel to the robot body, and the first channel instrument delivery device assembly and the second channel instrument delivery device assembly move independently along the delivery direction.

[0012] Furthermore, the first channel instrument delivery device assembly and the second channel instrument delivery device assembly are connected through a substrate to form an integrated structure and then installed on the robot body. The first channel instrument delivery device assembly and the second channel instrument delivery device assembly are movably connected to the substrate along the delivery direction through a first connecting assembly and a second connecting assembly respectively.

[0013] Furthermore, the first connecting assembly includes a first connecting plate and a first screw rod and a first motor mounted on the base plate, and the first channel instrument delivery device assembly is fixedly connected to the housing of the first motor through the first connecting plate; the second connecting assembly includes a second connecting plate and a second screw rod and a second motor mounted on the base plate, and the second channel instrument delivery device assembly is fixedly connected to the housing of the second motor through the second connecting plate; the robot body includes a third screw rod and a third motor, and the base plate is fixedly connected to the housing of the third motor.

[0014] Furthermore, the catheter delivery device includes a catheter delivery mechanism, a catheter rotation mechanism and a hemostatic valve. The tail end of the catheter is installed on the catheter rotation mechanism through the hemostatic valve, and the front end of the catheter is installed on the catheter delivery mechanism. The catheter delivery mechanism and the catheter rotation mechanism cooperate to drive the catheter.

[0015] Furthermore, the catheter delivery mechanism is mounted on the robot body, and the catheter rotation mechanism and the hemostatic valve are mounted on the base plate.

[0016] Furthermore, the hemostatic valve includes an independent first valve body and a second valve body, the first valve body is arranged corresponding to the first channel instrument delivery device assembly, and the instrument delivered by the first channel instrument delivery device assembly is inserted into the catheter through the first valve body; the second valve body is arranged corresponding to the second channel instrument delivery device assembly, and the instrument delivered by the second channel instrument delivery device assembly is inserted into the catheter through the second valve body.

[0017] A second aspect of the present invention provides a control system for a coronary intervention surgical robot, which is used for any of the coronary intervention surgical robots described above and performs the following steps:

[0018] S1, the first channel instrument delivery device assembly drives the first guide wire to move to the first designated area; the second channel instrument delivery device assembly drives the second guide wire to move to the second designated area;

[0019] S2. The first channel instrument delivery device assembly drives the first rapid delivery balloon catheter to move along the first guidewire to the first designated area, and withdraws the first rapid delivery balloon catheter after the first rapid delivery balloon catheter completes pre-dilation;

[0020] S3, the second channel instrument delivery device assembly drives the second rapid delivery balloon catheter to move along the second guidewire to the second designated area, and withdraws the second rapid delivery balloon catheter after the second rapid delivery balloon catheter completes pre-dilation;

[0021] S4, the first channel instrument delivery device assembly drives the balloon-expandable stent to move along the first guidewire to the first designated area, and withdraws the balloon of the balloon-expandable stent after the stent is released;

[0022] S5. The first channel instrument delivery device assembly drives the tip of the first guidewire to pass through the side mesh of the stent, and the first guidewire moves from the first designated area to the second designated area. The second channel instrument delivery device assembly drives the tip of the second guidewire to pass through the stent, and the second guidewire moves from the second designated area to the first designated area, completing the position exchange of the first guidewire and the second guidewire.

[0023] S6, the second channel instrument delivery device assembly drives the fourth quick-delivery balloon catheter to move along the second guidewire to the first designated area, and the first channel instrument delivery device assembly drives the third quick-delivery balloon catheter to move along the first guidewire to the second designated area;

[0024] S7. After the third quick-delivery balloon catheter and the fourth quick-delivery balloon catheter complete double-balloon kissing and undergo angiography confirmation, the first channel instrument delivery device assembly retracts the first guidewire and the third quick-delivery balloon catheter, the second channel instrument delivery device assembly retracts the second guidewire and the fourth quick-delivery balloon catheter, and the catheter delivery device retracts the catheter.

[0025] Furthermore, before step S1, step S0 is also included: after the first channel instrument delivery device assembly and the catheter delivery device cooperate to deliver the angiography guidewire and the catheter to the angiography position, the first channel instrument delivery device assembly withdraws the angiography guidewire to start angiography.

[0026] The beneficial effects of the present invention are as follows: the present invention realizes the orderly delivery of the first guidewire, the second guidewire, the first quick-delivery balloon catheter, the second quick-delivery balloon catheter, the third quick-delivery balloon catheter, the fourth quick-delivery balloon catheter and the balloon-expandable stent in different channels by setting the first channel instrument delivery device assembly and the second channel instrument delivery device assembly and making reasonable layouts, thereby improving the compatibility of the interventional surgical robot with surgical instruments, and can not only complete single-channel angiography surgery, but also complete complex surgery for bifurcation lesions, thereby increasing the diversity of completeable surgical procedures. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 1 is a schematic structural diagram of a coronary interventional surgical robot provided by an embodiment of the present invention;

[0028] Figure 2 yes Figure 1 A-direction view;

[0029] Figure 3 Schematic diagram of the delivery status of the first guide wire and the second guide wire in an embodiment of the present invention Figure 1 ;

[0030] Figure 4 Schematic diagram of the delivery status of the first guide wire and the second guide wire in an embodiment of the present invention Figure 2 ;

[0031] Figure 5 Schematic diagram of the delivery status of the first guide wire and the second guide wire in an embodiment of the present invention Figure 3 ;

[0032] Figure 6 Schematic diagram of the delivery status of the first guide wire and the second guide wire in an embodiment of the present invention Figure 4 ;

[0033] Figure 7 Schematic diagram of the delivery status of the first guide wire and the second guide wire in an embodiment of the present invention Figure 5 ;

[0034] Figure 8 Schematic diagram of the delivery status of the first guide wire and the second guide wire in an embodiment of the present invention Figure 6 ;

[0035] Figure 9 Schematic diagram of the delivery status of the first guide wire and the second guide wire in an embodiment of the present invention Figure 7 ;

[0036] Figure 10 Schematic diagram of the delivery status of the first guide wire and the second guide wire in an embodiment of the present invention Figure 8 ;

[0037] Figure 11 This is a flow chart of a control system of a coronary interventional surgical robot provided by an embodiment of the present invention.

[0038] 100-Coronary intervention surgery robot;

[0039] 10-first channel instrument delivery device assembly, 11-first guide wire rotation delivery mechanism, 12-first fast delivery

[0040] Delivery mechanism, 13-first instrument detection mechanism, 14-first tail end clamping mechanism;

[0041] 20-second channel instrument delivery device assembly, 21-second guide wire rotation delivery mechanism, 22-second fast delivery

[0042] delivery mechanism, 23-second instrument detection mechanism, 24-second tail end clamping mechanism;

[0043] 30 - catheter delivery device, 31 - catheter delivery mechanism, 32 - catheter rotation mechanism, 33 - hemostatic valve, 331 - first valve body, 332 - second valve body, 34 - front-end instrument detection mechanism, 35 - rear-end instrument detection mechanism, 36 - auxiliary delivery mechanism;

[0044] 40 - robot body, 41 - base plate, 42 - first connecting assembly, 421 - first connecting plate, 422 - first screw, 423 - first motor, 43 - second connecting assembly, 431 - second connecting plate, 432 - second screw, 433 - second motor, 44 - third screw, 45 - third motor, 46 - touch screen;

[0045] 51-first guide wire, 52-second guide wire, 53-angiographic guide wire;

[0046] 61 - first quick-delivery balloon catheter, 62 - second quick-delivery balloon catheter, 63 - third quick-delivery balloon catheter, 64 - fourth quick-delivery balloon catheter;

[0047] 70-catheter;

[0048] 80-balloon expandable stent;

[0049] 91-first designated area, 92-second designated area. DETAILED DESCRIPTION

[0050] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0051] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connections, detachable connections, integrated connections, or even connections that allow relative movement; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; they may refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0052] In the description of the present invention, the terms "length", "diameter", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships are based on the orientations 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 orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present invention.

[0053] As used in the present invention, the direction "far" is the direction toward the patient, and the direction "near" is the direction away from the patient. The terms "up" and "upper part" refer to the general direction away from the direction of gravity, and the terms "bottom", "lower" and "lower part" refer to the general direction of gravity. The term "front" refers to the side of the interventional surgical robot facing the user from the end device, and "forward" refers to the direction in which the guide wire or catheter is displaced into the body of the surgical patient. The term "backward" refers to the side of the interventional surgical robot facing away from the user from the end device, and "backward" refers to the direction in which the guide wire or catheter is displaced out of the body of the surgical patient. The term "inwardly" refers to the internal part of a feature. The term "outwardly" refers to the external part of a feature. The term "rotation" includes "forward rotation" and "reverse rotation", wherein "forward rotation" refers to the direction in which the guide wire or catheter is rotated into the body of the surgical patient, and "reverse rotation" refers to the direction in which the guide wire or catheter is rotated out of the body of the surgical patient.

[0054] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified with "first," "second," etc., may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" or "multiple" means two or more.

[0055] Finally, it should be noted that, unless there is a conflict, the embodiments of the present invention and the features thereof may be combined with each other and are all within the scope of protection of the present invention. Furthermore, all or part of the steps in the above system may be executed in a computer system, such as a set of computer-executable instructions, and although the steps are listed in the order 1, 2, 3, etc., in some cases, the steps shown or described may be executed in a different order than that shown or described herein.

[0056] The guidewires here include but are not limited to guide wires, micro guidewires and stents and other guiding and supporting interventional medical devices, and the catheters include but are not limited to guide catheters, micro catheters, angiography catheters, multifunctional tubes (also known as intermediate catheters), thrombolytic catheters, balloon dilatation catheters and balloon-expandable stent catheters and other therapeutic interventional medical devices.

[0057] As attached Figure 1 and Figure 2 As shown, a coronary interventional surgical robot 100 provided by an embodiment of the present invention is used for the coordinated delivery of a catheter 70, a first guidewire 51, a second guidewire 52, a first quick-delivery balloon catheter 61, a second quick-delivery balloon catheter 62, a third quick-delivery balloon catheter 63, a fourth quick-delivery balloon catheter 64 and a balloon-expandable stent 80. The coronary interventional surgical robot 100 includes a robot body 40, a catheter delivery device 30, a first channel instrument delivery device assembly 10 and a second channel instrument delivery device assembly 20. The robot body 40 is used to install the catheter delivery device 30, the first channel instrument delivery device assembly 10 and the second channel instrument delivery device assembly 20. The coronary interventional surgical robot 100 of this embodiment is provided with two channels according to the needs of the surgical procedure. The first channel instrument delivery device assembly 10 and the second channel instrument delivery device assembly 20 respectively deliver instruments located in their respective channels, which can not only realize single-channel angiography and treatment of the coronary artery, but also perform dual-channel surgical treatment for bifurcation lesions.

[0058] Both the first-channel instrument delivery assembly 10 and the second-channel instrument delivery assembly 20 are arranged along the instrument delivery direction. In this embodiment, the first-channel instrument delivery assembly 10 and the second-channel instrument delivery assembly 20 are preferably mounted parallel to the robot body 40. The first-channel instrument delivery assembly 10 and the second-channel instrument delivery assembly 20 move independently along the delivery direction to facilitate independent manipulation of instruments located in different channels. To meet operational control requirements, the first-channel instrument delivery assembly 10 and the second-channel instrument delivery assembly 20 of this embodiment can move synchronously or independently.

[0059] In this embodiment, the preferred first channel instrument delivery device assembly 10 and second channel instrument delivery device assembly 20 are connected via a base plate 41 to form an integrated structure and then mounted on a robot body 40. Specifically, the robot body 40 includes a third screw 44 and a third motor 45. The third screw 44 is fixedly mounted at both ends. A nut built into the third motor 45 is sleeved around the outside of the third screw 44, and the rotating nut can move along the axial direction of the third screw 44. The base plate 41 is fixedly connected to the housing of the third motor 45. Under power, the third motor 45 drives the base plate 41 to move along the axial direction of the third screw 44, thereby driving the first channel instrument delivery device assembly 10 and the second channel instrument delivery device assembly 20 to move as a whole.

[0060] As attached Figure 1As shown, the preferred first channel instrument delivery device assembly 10 and the second channel instrument delivery device assembly 20 of this embodiment are movably connected to the base plate 41 along the delivery direction via the first connecting assembly 42 and the second connecting assembly 43 respectively, so as to enable the first channel instrument delivery device assembly 10 and the second channel instrument delivery device assembly 20 to move relative to the base plate 41 along the delivery direction. Specifically, the first connecting assembly 42 includes a first connecting plate 421 and a first screw rod 422 and a first motor 423 installed on the base plate 41. The two ends of the first screw rod 422 are fixedly installed. The nut built into the first motor 423 is sleeved outside the first screw rod 422. The rotating nut can move along the axial direction of the first screw rod 422. The first connecting plate 421 is fixedly connected to the housing of the first motor 423. The first channel instrument delivery device assembly 10 is installed on the first connecting plate 421. The first channel instrument delivery device assembly 10 is fixedly connected to the housing of the first motor 423 through the first connecting plate 421. Under power drive, the first motor 423 drives the first connecting plate 421 to move along the axial direction of the first screw rod 422, thereby driving the first channel instrument delivery device assembly 10 to move independently along the delivery direction. The second connecting assembly 43 includes a second connecting plate 431 and a second screw rod 432 and a second motor 433 mounted on the base plate. Both ends of the second screw rod 432 are fixedly mounted. The nut built into the second motor 433 is sleeved outside the second screw rod 432. The rotating nut can move along the axial direction of the second screw rod 432. The second connecting plate 431 is fixedly connected to the housing of the second motor 433. The second channel instrument delivery device assembly 20 is mounted on the second connecting plate 431. The second channel instrument delivery device assembly 20 is fixedly connected to the housing of the second motor 433 through the second connecting plate 431. Under power drive, the second motor 433 drives the second connecting plate 431 to move along the axial direction of the second screw rod 432, thereby driving the second channel instrument delivery device assembly 20 to move independently along the delivery direction.

[0061] As attached Figure 1-3 As shown, in this embodiment, the first channel is used to deliver the first guidewire 51, the first quick-delivery balloon catheter 61, the third quick-delivery balloon catheter 63, and the balloon-expandable stent 80. Specifically, the first channel instrument delivery device assembly 10 is used to drive the first guidewire 51 to move to the first designated area 91; to drive the first quick-delivery balloon catheter 61 along the first guidewire 51 to move to the first designated area 91, and to withdraw the first quick-delivery balloon catheter 61; to drive the balloon-expandable stent 80 along the first guidewire 51 to move to the first designated area 91, and to withdraw the balloon of the balloon-expandable stent 80; to drive the first guidewire 51 from the first designated area 91 to the second designated area 92; to drive the third quick-delivery balloon catheter 63 along the first guidewire 51 to move to the second designated area 92, and to withdraw the first guidewire 51 and the third quick-delivery balloon catheter 63.

[0062] In this embodiment, the second channel is used to deliver the second guidewire 52, the second quick-delivery balloon catheter 62, and the fourth quick-delivery balloon catheter 64. Specifically, the second channel device delivery device assembly 20 is used to drive the second guidewire 52 to the second designated area 92; to drive the second quick-delivery balloon catheter 62 along the second guidewire 52 to the second designated area 92 and to withdraw the second quick-delivery balloon catheter 62; to drive the second guidewire 52 from the second designated area 92 to the first designated area 91; and to drive the fourth quick-delivery balloon catheter 64 along the second guidewire 52 to the first designated area 91 and to withdraw the second guidewire 52 and the fourth quick-delivery balloon catheter 64.

[0063] To improve the versatility of the product, the preferred first-channel instrument delivery device assembly 10 and second-channel instrument delivery device assembly 20 of this embodiment have the same structure, and the instruments installed in the two channels are interchangeable. That is, the first-channel instrument delivery device assembly 10 can deliver the second guidewire 52, the second rapid-delivery balloon catheter 62, and the fourth rapid-delivery balloon catheter 64. Correspondingly, the second-channel instrument delivery device assembly 20 can also deliver the first guidewire 51, the first rapid-delivery balloon catheter 61, the third rapid-delivery balloon catheter 63, and the balloon-expandable stent 80. When performing single-channel angiography and treatment, the first-channel instrument delivery device assembly 10 or the second-channel instrument delivery device assembly 20 is also used to deliver the angiography guidewire 53 to the appropriate position.

[0064] The preferred first channel instrument delivery device assembly 10 of this embodiment includes a first guidewire rotation delivery mechanism 11 and a first quick delivery mechanism 12. The first guidewire rotation delivery mechanism 11 is used to drive the first guidewire 51 or the angiographic guidewire 53. The first guidewire rotation delivery mechanism 11 of this embodiment has the function of driving the first guidewire 51 or the angiographic guidewire 53 forward, backward and rotated. Taking the driving of the first guidewire 51 as an example, the preferred first guidewire rotation delivery mechanism 11 of this embodiment includes a delivery roller assembly, wherein the multiple rollers of the delivery roller assembly clamp the first guidewire 51 and drive the first guidewire 51 forward and backward by rotating the rollers in different directions. The first guidewire rotation delivery mechanism 11 controls the rotation of the first guidewire 51 by driving the delivery roller assembly as a whole to rotate. To prevent the first guidewire 51 from escaping the control of the delivery roller assembly of the first guidewire rotation delivery mechanism 11, the preferred first channel instrument delivery device assembly 10 of this embodiment further includes a first instrument detection mechanism 13. The first instrument detection mechanism 13 is disposed on one side of the first guidewire rotation delivery mechanism 11 and is used to detect the position of the tail end of the first guidewire 51. When the first instrument detection mechanism 13 fails to detect the first guidewire 51, it indicates that the first guidewire 51 is about to escape the control of the delivery roller assembly of the first guidewire rotation delivery mechanism 11, and the first guidewire rotation delivery mechanism 11 stops driving the first guidewire 51. The preferred first channel instrument delivery device assembly 10 of this embodiment further includes a first tail end clamping mechanism 14. The first tail end clamping mechanism 14 is disposed on a side of the first instrument detection mechanism 13 away from the first guidewire rotation delivery mechanism 11. When the tail end of the first guidewire 51 needs to be clamped during operation to ensure that the absolute position of the first guidewire 51 does not change, the first tail end clamping mechanism 14 can be controlled to open and close to assist in clamping the tail end of the first guidewire 51.

[0065] The first rapid delivery mechanism 12 is used to drive the first rapid delivery balloon catheter 61, the third rapid delivery balloon catheter 63, and the balloon-expandable stent 80. The first rapid delivery mechanism 12 of this embodiment has the function of driving the first rapid delivery balloon catheter 61, the third rapid delivery balloon catheter 63, and the balloon-expandable stent 80 forward and backward. Taking the driving of the first rapid delivery balloon catheter 61 as an example, the preferred first rapid delivery mechanism 12 of this embodiment includes a delivery roller assembly. The multiple rollers of the delivery roller assembly clamp the first rapid delivery balloon catheter 61 and drive the first rapid delivery balloon catheter 61 forward and backward by rotating the rollers in different directions.

[0066] To prevent the first quick-delivery balloon catheter 61, the third quick-delivery balloon catheter 63, and the balloon-expandable stent 80 from damaging the bifurcation point during the withdrawal process, the first quick-delivery delivery mechanism 12 of this embodiment preferably also includes a bifurcation point detection component for detecting whether the bifurcation point of the first quick-delivery balloon catheter 61, the third quick-delivery balloon catheter 63, and the balloon-expandable stent 80 reaches a detection area during the withdrawal process. Taking the detection of the first quick-delivery balloon catheter 61 as an example, if the bifurcation point between the first quick-delivery balloon catheter 61 and the first guidewire 51 reaches the detection area during the withdrawal process, the first quick-delivery delivery mechanism 12 stops driving the first quick-delivery balloon catheter 61.

[0067] To prevent the first quick-delivery balloon catheter 61, the third quick-delivery balloon catheter 63, and the balloon-expandable stent 80 from escaping the control of the delivery roller assembly of the first quick-delivery delivery mechanism 12, the first quick-delivery delivery mechanism 12 in this embodiment preferably further includes a tail end detection assembly, which is used to detect the tail end positions of the first quick-delivery balloon catheter 61, the third quick-delivery balloon catheter 63, and the balloon-expandable stent 80. Taking the detection of the first quick-delivery balloon catheter 61 as an example, when the tail end of the first quick-delivery balloon catheter 61 reaches the detection area, it indicates that the first quick-delivery balloon catheter 61 is about to escape the control of the delivery roller assembly of the first quick-delivery delivery mechanism 12, and the first quick-delivery delivery mechanism 12 stops driving the first quick-delivery balloon catheter 61.

[0068] The second channel instrument delivery device assembly 20 includes a second guidewire rotation delivery mechanism 21, a second quick delivery mechanism 22, a second instrument detection mechanism 23, and a second tail end clamping mechanism 24. The second guidewire rotation delivery mechanism 21 is used to drive the second guidewire 52, the second quick delivery mechanism 22 is used to drive the second quick delivery balloon catheter 62 and the fourth quick delivery balloon catheter 64, the second instrument detection mechanism 23 is used to detect the tail end position of the second guidewire 52, and the second tail end clamping mechanism 24 is used to assist in clamping the second guidewire 52. The structure and function of the second guidewire rotation delivery mechanism 21 are the same as those of the first guidewire rotation delivery mechanism 11, the structure and function of the second quick delivery mechanism 22 are the same as those of the first quick delivery mechanism 12, the structure and function of the second instrument detection mechanism 23 are the same as those of the first instrument detection mechanism 13, and the structure and function of the second tail end clamping mechanism 24 are the same as those of the first tail end clamping mechanism 14, and will not be elaborated on again herein.

[0069] The catheter delivery device 30 is used to drive the catheter 70 to a predetermined position. The preferred catheter delivery device 30 in this embodiment includes a catheter delivery mechanism 31, a catheter rotation mechanism 32, and a hemostatic valve 33. The catheter delivery mechanism 31 and the catheter rotation mechanism 32 are spaced apart. The preferred catheter delivery mechanism 31 in this embodiment is mounted on the robot body 40, while the catheter rotation mechanism 32 and the hemostatic valve 33 are mounted on the base plate 41. The catheter delivery mechanism 31 and the catheter rotation mechanism 32 work together to drive the catheter 70.

[0070] The front end of the catheter 70 is mounted on the catheter delivery mechanism 31. The catheter delivery mechanism 31 includes a delivery roller assembly. The delivery roller assembly has multiple rollers that clamp the catheter 70 and drive the catheter 70 forward and backward by rotating the rollers in different directions. The preferred catheter delivery device 30 of this embodiment also includes a front-end instrument detection mechanism 34, which is mounted on the robot body 40. The front-end instrument detection mechanism 34 is used to detect the position of the tip of the catheter 70 to prevent the catheter 70 from escaping the control of the delivery roller assembly of the catheter delivery mechanism 31 during the withdrawal process. The front-end instrument detection mechanism 34 also has the function of assisting in clamping the guidewire. When the front-end instrument detection mechanism 34 detects that the tip of the catheter 70 has passed through the detection position of the front-end instrument detection mechanism 34, the front-end instrument detection mechanism 34 immediately clamps the guidewire exposed at the tip of the catheter 70.

[0071] The tail end of the catheter 70 is mounted on the catheter rotation mechanism 32 via a hemostatic valve 33. The catheter rotation mechanism 32 controls the rotation of the catheter 70 by driving the hemostatic valve 33 to rotate. One end of the hemostatic valve 33 is connected to the tail end of the catheter 70. The other end of the hemostatic valve 33 includes a first valve body 331 and a second valve body 332. The first valve body 331 is configured to correspond to the first-channel instrument delivery device assembly 10. Instruments delivered by the first-channel instrument delivery device assembly 10 are inserted into the catheter 70 through the first valve body 331. The second valve body 332 is configured to correspond to the second-channel instrument delivery device assembly 20. Instruments delivered by the second-channel instrument delivery device assembly 20 are inserted into the catheter 70 through the second valve body 332.

[0072] The preferred catheter delivery device 30 of this embodiment also includes a rear-end instrument detection mechanism 35, which is mounted on a base plate 41 and positioned near the entrance of the hemostatic valve 33 to detect the tip position of a passing instrument. For example, the first guidewire rotation delivery mechanism 11 drives the angiographic guidewire 53 to retract. When the rear-end instrument detection mechanism 35 fails to detect the angiographic guidewire 53, it indicates that the angiographic guidewire 53 has exited the hemostatic valve 33. The first guidewire rotation delivery mechanism 11 then stops retracting the angiographic guidewire 53, preparing for an angiographic procedure. Because the channel is long and most medical devices delivered are slender, to better deliver instruments within the channel, the preferred catheter delivery device 30 of this embodiment also includes an auxiliary delivery mechanism 36. The auxiliary delivery mechanism 36 is positioned on the side of the rear-end instrument detection mechanism 35 away from the hemostatic valve 33. The auxiliary delivery mechanism 36 includes a delivery roller assembly for supporting and assisting in the delivery of instruments within the channel. In this embodiment, the rear-end instrument detection mechanism 35 and the auxiliary delivery mechanism 36 are both positioned on one side of the first valve body 331 and the second valve body 332.

[0073] like Figure 1 、 Figure 2As shown, after the manual surgical puncture is completed, the catheter 70 and the angiographic guidewire 53 are inserted into the vascular environment through the sheath, and the catheter 70 and the angiographic guidewire 53 are respectively placed on the catheter delivery device 30 of the coronary intervention surgical robot 100 at the slave end and the first guidewire rotation delivery mechanism 11 of the first channel instrument delivery device assembly 10 to establish a surgical access. The hemostatic valve 33 can be used in both single-channel and dual-channel scenarios. As the surgery progresses, different instruments are installed on the first channel instrument delivery device assembly 10 and / or the second channel instrument delivery device assembly 20. The assistant doctor exits the operating room, and the main surgeon operates the master end to control the delivery and rotation of the corresponding instruments installed on the coronary intervention surgical robot 100.

[0074] As attached Figure 11 As shown, an embodiment of the present invention provides a control system for a coronary intervention surgical robot, which is used for the above-mentioned coronary intervention surgical robot 100 and performs the following steps:

[0075] S1, the first channel instrument delivery device assembly 10 drives the first guide wire 51 to move to the first designated area 91, and the second channel instrument delivery device assembly 20 drives the second guide wire 52 to move to the second designated area 92. Figure 2 As shown, the first guide wire 51 and the second guide wire 52 are respectively installed in the two channels. Specifically, the first guide wire 51 is installed in the first guide wire rotation delivery mechanism 11 of the first channel instrument delivery device assembly 10, and the second guide wire 52 is installed in the second guide wire rotation delivery mechanism 21 of the second channel instrument delivery device assembly 20. Figure 3 As shown, the first guide wire 51 located in the first channel is firstly sent along the catheter 70 to the first designated area 91, that is, the first guide wire 51 is delivered to the distal end of the main branch. Then, the second guide wire 52 located in the second channel is sent along the catheter 70 to the second designated area 92, that is, the second guide wire 52 is delivered to the distal end of the branch.

[0076] S2, as attached Figure 2 As shown, the first quick-delivery balloon catheter 61 is inserted from the tail end of the first guide wire 51 and placed in the first quick-delivery mechanism 12 of the first channel instrument delivery device assembly 10. The first channel instrument delivery device assembly 10 drives the first quick-delivery balloon catheter 61 to move along the first guide wire 51 to the first designated area 91, that is, to deliver the first quick-delivery balloon catheter 61 to the distal end of the main branch. Figure 4As shown, the first rapid delivery mechanism 12 delivers the first rapid delivery balloon catheter 61 to the lesion site and inflates and pressurizes it to complete the main branch pre-dilation. After the first rapid delivery balloon catheter 61 completes the pre-dilation, the delivery roller assembly of the first rapid delivery mechanism 12 automatically retracts the first rapid delivery balloon catheter 61. When the bifurcation point detection assembly of the first rapid delivery mechanism 12 detects that the bifurcation point between it and the first guidewire 51 has reached the detection area, the retraction of the first rapid delivery balloon catheter 61 is suspended, and the first channel instrument delivery device assembly 10 is moved as a whole, allowing the first rapid delivery mechanism 12 and the first guidewire rotation delivery mechanism 11 to move backward as a whole, so that the bifurcation point is away from the bifurcation point detection assembly. The first quick-delivery balloon catheter 61 is then retracted, and this process is repeated until the tip of the first quick-delivery balloon catheter 61 is withdrawn from the rear instrument detection mechanism 35, indicating that the first quick-delivery balloon catheter 61 has exited the hemostasis valve 33. The retraction of the first quick-delivery balloon catheter 61 is then stopped, and the first quick-delivery balloon catheter 61 is removed from the first quick-delivery delivery mechanism 12. During the retraction process, to ensure that the absolute position of the first guidewire 51 does not change, the first guidewire rotation delivery mechanism 11 compensates for the position of the first guidewire 51 by delivering the first guidewire 51 in the reverse direction.

[0077] S3, as attached Figure 5 As shown, the second channel instrument delivery device assembly 20 drives the second rapid delivery balloon catheter 62 along the second guidewire 52 to the second designated area 92, thereby delivering the second rapid delivery balloon catheter 62 to the distal end of the branch. After the second rapid delivery balloon catheter 62 completes pre-dilation, the second rapid delivery balloon catheter 62 is withdrawn. Because the operation for the second rapid delivery balloon catheter 62 in step S3 is the same as the operation for the first rapid delivery balloon catheter 61 in step S2, it will not be described in detail here.

[0078] S4, as attached Figure 2 、 Figure 6 As shown, the device installed in the first rapid delivery mechanism 12 is replaced, and the balloon-expandable stent 80 is inserted from the tail end of the first guidewire 51 and placed in the first rapid delivery mechanism 12 of the first channel device delivery device assembly 10. The first channel device delivery device assembly 10 drives the balloon-expandable stent 80 along the first guidewire 51 to the first designated area 91, thereby delivering the balloon-expandable stent 80 to the distal end of the main branch. The stent located in the main branch is pressurized and semi-released. After the balloon-expandable stent 80 completes stent release, the balloon of the balloon-expandable stent 80 is withdrawn, leaving the stent in the main branch at the lesion location. Because the operation for the balloon-expandable stent 80 in step S4 is the same as the operation for the first rapid delivery balloon catheter 61 in step S2, it will not be described in detail here.

[0079] S5, as attached Figure 7As shown, the first guide wire rotation delivery mechanism 11 of the first channel instrument delivery device assembly 10 first drives the first guide wire 51 to withdraw a distance, and then delivers the first guide wire 51 forward. The first channel instrument delivery device assembly 10 drives the head end of the first guide wire 51 to pass through the side mesh of the stent. The first guide wire 51 moves from the first designated area 91 to the second designated area 92, that is, the head end of the first guide wire 51 enters the branch. Figure 8 As shown, the second guide wire rotation delivery mechanism 21 of the second channel instrument delivery device assembly 20 first drives the second guide wire 52 to withdraw a certain distance, and the second guide wire 52 exits the second designated area 92 and withdraws to the rear of the stent. Then, the second channel instrument delivery device assembly 20 drives the head end of the second guide wire 52 to pass through the stent. The second guide wire 52 moves from the second designated area 92 to the first designated area 91, that is, the head end of the second guide wire 52 enters the main branch and passes through the stent, completing the position exchange of the first guide wire 51 and the second guide wire 52.

[0080] S6, as attached Figure 2 、 Figure 9 As shown, the device installed in the second quick-delivery mechanism 22 is replaced, and the fourth quick-delivery balloon catheter 64 is inserted from the tail end of the second guidewire 52 and placed in the second quick-delivery mechanism 22 of the second channel instrument delivery device assembly 20. The second channel instrument delivery device assembly 20 drives the fourth quick-delivery balloon catheter 64 to move along the second guidewire 52 to the first designated area 91, that is, the fourth quick-delivery balloon catheter 64 is delivered to the main branch lesion location. The device installed in the first quick-delivery mechanism 12 is replaced, and the third quick-delivery balloon catheter 63 is inserted from the tail end of the first guidewire 51 and placed in the first quick-delivery mechanism 12 of the first channel instrument delivery device assembly 10. The first channel instrument delivery device assembly 10 drives the third quick-delivery balloon catheter 63 to move along the first guidewire 51 to the second designated area 92, that is, the third quick-delivery balloon catheter 63 is delivered to the branch lesion location.

[0081] S7, after the third quick delivery balloon catheter 63 and the fourth quick delivery balloon catheter 64 are in place, the balloons are pressurized and released at the same time to achieve double balloon kissing. Figure 10 As shown, after the third and fourth rapid-delivery balloon catheters 63 and 64 complete double-balloon kissing and undergo angiographic confirmation, the first-channel instrument delivery device assembly 10 withdraws the first guidewire 51 and third rapid-delivery balloon catheter 63, the second-channel instrument delivery device assembly 20 withdraws the second guidewire 52 and fourth rapid-delivery balloon catheter 64, and the catheter delivery device 30 withdraws the catheter 70. The relevant instruments can be withdrawn sequentially according to the different channels, and the withdrawal process can be carried out from the inside out, withdrawing the first guidewire 51, third rapid-delivery balloon catheter 63, second guidewire 52, fourth rapid-delivery balloon catheter 64, and catheter 70. Once all instruments are withdrawn from the sheath, the surgery for the bifurcation lesion is completed.

[0082] Steps S1-S7 above describe the control system used by coronary interventional surgical robot 100 for dual-channel operations in complex bifurcation lesion surgeries. The coordination of the catheter delivery device 30, the first-channel instrument delivery assembly 10, and the second-channel instrument delivery assembly 20 enables intelligent detection of the instrument's tip, tail, and bifurcation, enabling automated advancement and retraction of surgical instruments. This allows for automated and unmanned instrument delivery, in addition to instrument installation and adjustment.

[0083] The coronary interventional surgical robot 100 can also be used for single-channel coronary angiography and treatment. This embodiment preferably includes step S0 before step S1: After the first-channel instrument delivery device assembly 10 and the catheter delivery device 30 collaboratively deliver the angiography guidewire 53 and catheter 70 to the angiography location, the first-channel instrument delivery device assembly 10 retracts the angiography guidewire 53 to initiate angiography. Based on the structural features of the coronary interventional surgical robot 100, both the first and second channels can perform angiography. In this embodiment, the first channel is selected for angiography. The angiography guidewire 53 penetrates the hemostatic valve 33 and is then delivered to the angiography location or a designated location by the delivery roller assembly of the first guidewire rotary delivery mechanism 11. Under the action of the catheter delivery device 30, the catheter 70 is delivered along the angiography guidewire 53 to the imaging location. The first guidewire rotary delivery mechanism 11 retracts the angiography guidewire 53. When the rear instrument detection mechanism 35 fails to detect the angiography guidewire 53, indicating that the angiography guidewire 53 has exited the hemostasis valve 33, the first guidewire rotary delivery mechanism 11 stops retracting the angiography guidewire 53 and injects contrast agent into the hemostasis valve 33 to perform surgical angiography. During the angiography process, the position of the catheter 70 may need to be adjusted to perform different angiography to determine the location of the surgical lesion. If the catheter 70 needs to be replaced after the angiography, the catheter delivery mechanism 31 automatically retracts the catheter 70 until the front instrument detection mechanism 34 detects that the tip of the catheter 70 has passed the detection position of the front instrument detection mechanism 34. The front instrument detection mechanism 34 immediately clamps the angiography guidewire 53 exposed at the tip of the catheter 70 to prevent it from moving. The assistant surgeon opens the first guidewire rotary delivery mechanism 11, removes the catheter 70 from the tail end of the angiography guidewire 53, and installs a new catheter.

[0084] Those skilled in the art will appreciate that all or part of the steps in the above-described system can be performed by a program instructing the relevant hardware, and the program can be stored in a computer-readable storage medium, such as a read-only memory, a magnetic disk, or an optical disk. Alternatively, all or part of the steps in the above-described embodiment can also be implemented using one or more integrated circuits. Accordingly, each module / unit in the above-described embodiment can be implemented in the form of hardware or in the form of software functional modules. The present invention is not limited to any particular combination of hardware and software.

[0085] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims of the present invention.

[0086] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A coronary interventional surgical robot for coordinated delivery of a catheter, a first guidewire, a second guidewire, a first rapid-delivery balloon catheter, a second rapid-delivery balloon catheter, a third rapid-delivery balloon catheter, a fourth rapid-delivery balloon catheter, and a balloon-expandable stent, characterized by: The coronary interventional surgical robot comprises a robot body, a catheter delivery device, a first channel instrument delivery device assembly, and a second channel instrument delivery device assembly. The robot body is used to install the catheter delivery device, the first channel instrument delivery device assembly and the second channel instrument delivery device assembly; The catheter delivery device is used to drive the catheter to move to a predetermined position; The first channel instrument delivery device assembly is used to drive the first guide wire to move to a first designated area; for driving the first quick-delivery balloon catheter to move along the first guidewire to the first designated area, and to withdraw the first quick-delivery balloon catheter; for driving the balloon-expandable stent to move along the first guidewire to the first designated area, and to withdraw the balloon of the balloon-expandable stent; for driving the first guidewire from the first designated area to the second designated area; used to drive the third quick-delivery balloon catheter to move along the first guidewire to the second designated area, and to withdraw the first guidewire and the third quick-delivery balloon catheter; The second channel instrument delivery device assembly is used to drive the second guidewire to move to the second designated area; to drive the second quick-delivery balloon catheter along the second guidewire to the second designated area, and to withdraw the second quick-delivery balloon catheter; to drive the second guidewire from the second designated area to the first designated area; to drive the fourth quick-delivery balloon catheter along the second guidewire to the first designated area, and to withdraw the second guidewire and the fourth quick-delivery balloon catheter.

2. The coronary interventional surgical robot according to claim 1, wherein: The first channel instrument delivery device assembly includes a first guidewire rotation delivery mechanism and a first fast delivery mechanism, wherein the first guidewire rotation delivery mechanism is used to drive the first guidewire, and the first fast delivery mechanism is used to drive the first fast delivery balloon catheter, the third fast delivery balloon catheter and the balloon-expandable stent; The second channel instrument delivery device assembly includes a second guidewire rotation delivery mechanism and a second quick-delivery delivery mechanism, wherein the second guidewire rotation delivery mechanism is used to drive the second guidewire, and the second quick-delivery mechanism is used to drive the second quick-delivery balloon catheter and the fourth quick-delivery balloon catheter.

3. The coronary interventional surgical robot according to claim 1, wherein: The first channel instrument delivery device assembly and the second channel instrument delivery device assembly are installed in parallel to the robot body, and the first channel instrument delivery device assembly and the second channel instrument delivery device assembly move independently along the delivery direction.

4. The coronary interventional surgical robot according to claim 3, wherein: The first channel instrument delivery device assembly and the second channel instrument delivery device assembly are connected through a substrate to form an integrated structure and then installed on the robot body. The first channel instrument delivery device assembly and the second channel instrument delivery device assembly are movably connected to the substrate along the delivery direction through a first connecting assembly and a second connecting assembly respectively.

5. The coronary interventional surgical robot according to claim 4, characterized in that: The first connecting assembly includes a first connecting plate and a first screw rod and a first motor mounted on the base plate, and the first channel instrument delivery device assembly is fixedly connected to the housing of the first motor through the first connecting plate; the second connecting assembly includes a second connecting plate and a second screw rod and a second motor mounted on the base plate, and the second channel instrument delivery device assembly is fixedly connected to the housing of the second motor through the second connecting plate; the robot body includes a third screw rod and a third motor, and the base plate is fixedly connected to the housing of the third motor.

6. The coronary interventional surgical robot according to claim 4, characterized in that: The catheter delivery device includes a catheter delivery mechanism, a catheter rotation mechanism and a hemostatic valve. The tail end of the catheter is installed on the catheter rotation mechanism through the hemostatic valve, and the front end of the catheter is installed on the catheter delivery mechanism. The catheter delivery mechanism and the catheter rotation mechanism cooperate to drive the catheter.

7. The coronary interventional surgical robot according to claim 6, wherein: The catheter delivery mechanism is mounted on the robot body, and the catheter rotation mechanism and the hemostatic valve are mounted on the base plate.

8. The coronary interventional surgical robot according to claim 6, wherein: The hemostatic valve includes an independent first valve body and a second valve body. The first valve body is arranged corresponding to the first channel instrument delivery device assembly, and the instrument delivered by the first channel instrument delivery device assembly is inserted into the catheter through the first valve body; the second valve body is arranged corresponding to the second channel instrument delivery device assembly, and the instrument delivered by the second channel instrument delivery device assembly is inserted into the catheter through the second valve body.

9. A control system for a coronary intervention surgical robot, used in the coronary intervention surgical robot according to any one of claims 1 to 8, characterized in that: Perform the following steps: S1, the first channel instrument delivery device assembly drives the first guide wire to move to the first designated area; the second channel instrument delivery device assembly drives the second guide wire to move to the second designated area; S2. The first channel instrument delivery device assembly drives the first rapid delivery balloon catheter to move along the first guidewire to the first designated area, and withdraws the first rapid delivery balloon catheter after the first rapid delivery balloon catheter completes pre-dilation; S3, the second channel instrument delivery device assembly drives the second rapid delivery balloon catheter to move along the second guidewire to the second designated area, and withdraws the second rapid delivery balloon catheter after the second rapid delivery balloon catheter completes pre-dilation; S4, the first channel instrument delivery device assembly drives the balloon-expandable stent to move along the first guidewire to the first designated area, and withdraws the balloon of the balloon-expandable stent after the stent is released; S5. The first channel instrument delivery device assembly drives the tip of the first guidewire to pass through the side mesh of the stent, and the first guidewire moves from the first designated area to the second designated area. The second channel instrument delivery device assembly drives the tip of the second guidewire to pass through the stent, and the second guidewire moves from the second designated area to the first designated area, completing the position exchange of the first guidewire and the second guidewire. S6, the second channel instrument delivery device assembly drives the fourth quick-delivery balloon catheter to move along the second guidewire to the first designated area, and the first channel instrument delivery device assembly drives the third quick-delivery balloon catheter to move along the first guidewire to the second designated area; S7. After the third quick-delivery balloon catheter and the fourth quick-delivery balloon catheter complete double-balloon kissing and undergo angiography confirmation, the first channel instrument delivery device assembly retracts the first guidewire and the third quick-delivery balloon catheter, the second channel instrument delivery device assembly retracts the second guidewire and the fourth quick-delivery balloon catheter, and the catheter delivery device retracts the catheter.

10. The control system of the coronary interventional surgery robot according to claim 9, characterized in that: Before step S1, step S0 is also included: after the first channel instrument delivery device assembly and the catheter delivery device cooperate to deliver the angiography guidewire and the catheter to the angiography position, the first channel instrument delivery device assembly withdraws the angiography guidewire to start angiography.

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