A dual-channel interventional surgical robot

Abstract

This invention relates to the field of medical devices and provides a dual-channel interventional surgical robot for vascular interventional surgery, comprising: a first robotic arm, which can be mounted on one side of the operating table; a first linear body, supported and mounted on the first robotic arm; a first drive device, a second drive device, a third drive device, and a fourth drive device, all of which can be used to drive a slender medical device. The first drive device is fixedly mounted on the distal end of the first linear body, and the second drive device, the third drive device, and the fourth drive device are slidably mounted on the first linear body in sequence. A double-wing hemostatic valve is provided at the distal end of the second drive device. The double-wing hemostatic valve includes a main body, a first wing, and a second wing, each with an internal cavity. The cavity of the main body is connected to the cavities of the first wing and the second wing, respectively, forming a first channel and a second channel through which the slender medical device can pass.

Description

Technical Field

[0001] This invention belongs to the field of medical devices, and in particular relates to a dual-channel interventional surgical robot. Background Technology

[0002] Cardiovascular and cerebrovascular diseases are a collective term for diseases of the heart and brain blood vessels, generally referring to ischemic or hemorrhagic diseases of the heart, brain, and other tissues caused by hyperlipidemia, blood viscosity, atherosclerosis, hypertension, etc. Currently, a very effective treatment for cardiovascular and cerebrovascular diseases is interventional vascular surgery. However, when performing interventional vascular surgery manually, doctors wear lead aprons weighing up to 20 kilograms and are exposed to X-ray radiation, greatly increasing the risk of cancer from X-ray radiation and orthopedic-related occupational diseases caused by the heavy lead apron. Therefore, interventional vascular surgery urgently relies on master-slave surgical robots (i.e., including a master end and a slave end) to perform interventional procedures.

[0003] Current master-slave interventional surgical robots have two main shortcomings. First, during vascular interventional surgery, only one channel can be established for delivering slender medical devices such as guidewires, catheters, and balloon catheters. For many complex lesions, it is often necessary to first withdraw and remove some of these devices before using the existing channel to deliver other slender medical devices to the patient's lesion. Second, when withdrawing slender medical devices, the surgeon needs to operate and control the withdrawal of the slender medical device from the master end; automatic withdrawal of slender medical devices is not possible. Summary of the Invention

[0004] The purpose of this invention is to provide a dual-channel interventional surgical robot, which aims to solve the technical problem that existing technologies can only establish a single channel for delivering slender medical devices. The technical solution provided by this invention to solve this problem is as follows:

[0005] A dual-channel interventional surgical robot, which can be set up next to an operating table for vascular interventional surgery, is characterized by comprising: a first robotic arm, which can be mounted on one side of the operating table; a first linear body, mounted on the first robotic arm; a first driving device, a second driving device, a third driving device, and a fourth driving device arranged sequentially from the distal end to the proximal end along the first linear body, all of which can be used to drive slender medical devices; the first driving device is fixedly mounted on the distal end of the first linear body, and the second driving device, the third driving device, and the fourth driving device are slidably mounted on the first linear body in sequence; a double-wing hemostatic valve is provided at the distal end of the second driving device, the double-wing hemostatic valve comprising a main body, a first wing, and a second wing, each with an internal cavity, the cavity of the main body communicating with the cavities of the first wing and the second wing respectively, forming a first channel and a second channel through which slender medical devices can pass.

[0006] Furthermore, it also includes: a second robotic arm, which can be installed on the other side of the operating table; a second linear body, which is installed on the second robotic arm; a fifth drive device and a sixth drive device, both of which can be used to drive slender medical devices, which are slidably installed on the second linear body in sequence, and the fifth drive device can slide closer to or further away from the proximal end of the second drive device.

[0007] Furthermore, the first linear body includes: a first lead screw, which is fixedly installed inside the first linear body along the length direction of the first linear body; a first power unit, a second power unit, and a third power unit are sequentially installed on the first lead screw, and are respectively connected to the second drive device, the third drive device, and the fourth drive device. During operation, the first power unit, the second power unit, and the third power unit can slide back and forth or remain stationary on the first lead screw.

[0008] Furthermore, the second linear body includes: a second lead screw, which is fixedly installed inside the second linear body along the length direction of the second linear body; a fourth power unit and a fifth power unit are sequentially installed on the second lead screw, which are respectively connected to the fifth drive device and the sixth drive device. During operation, the fourth power unit and the fifth power unit can slide back and forth or remain stationary on the second lead screw.

[0009] Furthermore, it also includes: a first roller pair, a second roller pair, a third roller pair, a fourth roller pair, and a fifth roller pair, all of which can be used to clamp / move slender medical devices. The fourth roller pair and the fifth roller pair can also be used to rotate the slender medical device. The first roller pair is disposed at the proximal end of the first driving device. The second roller pair and the third roller pair are respectively disposed on the second driving device near the proximal ends of the first wing and the second wing. The fourth roller pair and the fifth roller pair are respectively disposed approximately in the middle part of the fourth driving device and the fifth driving device.

[0010] Furthermore, it also includes: a first detection device, disposed on the first drive device near the distal end of the first roller pair, and signal-connected to the first roller pair and the first power unit; a second detection device and a third detection device, both disposed on the second drive device, the second detection device being located between the first wing and the second roller pair, and signal-connected to the second roller pair and the second power unit respectively, the third detection device being located between the second wing and the third roller pair, and signal-connected to the third roller pair and the fourth power unit respectively; a fourth detection device, disposed at the distal end of the third drive device, and signal-connected to both the second power unit and the fourth roller pair; and a fifth detection device, disposed at the distal end of the fifth drive device, and signal-connected to both the fourth power unit and the fifth roller pair.

[0011] Furthermore, a first hemostatic valve is provided at the distal end of the first driving device, and a second hemostatic valve is provided at the distal end of the third driving device. Both the first hemostatic valve and the second hemostatic valve have through cavities inside.

[0012] On the other hand, this invention also solves the technical problem of existing technologies' inability to automatically retract slender medical devices. One technical solution provided by this invention to solve this problem is as follows:

[0013] A dual-channel interventional surgical robot further includes: a first catheter, the tail end of which is rotatably mounted on the head end of a first hemostatic valve; a second catheter, the tail end of which is rotatably mounted on the head end of the main body of the double-wing hemostatic valve, partially clamped by a first roller pair, and then sequentially inserted through the lumen of the first hemostatic valve and the first catheter until the head end of the second catheter protrudes from the head end of the first catheter; a third catheter, the tail end of which is rotatably mounted on the head end of a second hemostatic valve, partially clamped by a second roller pair, and then sequentially inserted through the first channel and the second catheter until the head end of the third catheter protrudes from the head end of the second catheter; and a first guidewire, partially clamped by a fourth roller pair, and then sequentially inserted through the lumen of the second hemostatic valve and the third catheter until the head end of the first guidewire protrudes from the head end of the third catheter.

[0014] During operation, the first power unit, the second power unit, and the third power unit are stationary on the first lead screw. The second roller pair retracts the third guide tube, and the third guide tube gradually bends and is stored between the second drive device and the third drive device. When the second detection device cannot detect the third guide tube, it controls the second roller pair to stop working.

[0015] The first roller pair retracts the second conduit, and the second conduit gradually bends and is stored between the first drive device and the second drive device. When the first detection device can no longer detect the second conduit, it controls the first roller pair to stop working.

[0016] This invention provides another technical solution to the technical problem of existing slender medical devices that cannot automatically retract:

[0017] A dual-channel interventional surgical robot further includes: a sixth roller pair, disposed on the fourth drive device near the distal end of the fourth roller pair, wherein the path of the sixth roller pair when moving a slender instrument forms an acute angle with the path of the fourth roller pair when moving a slender instrument; and a sixth detection device disposed on the fourth drive device at the intersection of the paths of the sixth roller pair and the fourth roller pair, wherein the sixth detection device is signal-connected to the third power unit and the sixth roller pair.

[0018] Furthermore, it also includes: a fifth catheter, the tail end of which is rotatably mounted on the head end of the main body of the double-wing hemostatic valve, and partially clamped in the first roller pair; a first balloon catheter, with a side hole on its front section, partially clamped in the sixth roller pair, sequentially placed in the third driving device, clamped in the second roller pair, and then sequentially passed through the first channel and the fifth catheter until the head end of the first balloon catheter protrudes from the head end of the fifth catheter; and a third guidewire, partially clamped in the fourth roller pair, inserted into the first balloon catheter through the side hole, placed in the third driving device, and then sequentially passed through the first channel and the fifth catheter until the head end of the third guidewire protrudes from the head end of the first balloon catheter.

[0019] During operation, the sixth roller pair drives the first balloon catheter to retract. When the sixth detection device detects the side hole, it controls the sixth roller pair to stop working. Then, it controls the third power unit to start working, driving the fourth drive device to retract the first balloon catheter. When the fourth detection device cannot detect the first balloon catheter, it controls the third power unit to stop working.

[0020] The beneficial effects of this invention are as follows: On the one hand, it can adapt to simple lesions that only require one channel for delivering slender medical devices such as guidewires, catheters, and balloon catheters, and on the other hand, it can adapt to complex lesions that require two channels for delivering slender medical devices such as guidewires, catheters, and balloon catheters, thus increasing the application scenarios, improving applicability, and reducing the operation time for complex lesions; On the other hand, it can automatically detect whether slender medical devices such as guidewires, catheters, and balloon catheters have been withdrawn and the bending and storage during withdrawal, thus improving the safety of the operation and effectively shortening the overall size. Attached Figure Description

[0021] Figure 1 This is a top view of the dual-channel interventional surgical robot provided in this embodiment of the invention when placed in the catheterization lab;

[0022] Figure 2 This is a top view of the dual-channel interventional surgical robot provided in this embodiment of the invention after the robotic arm has been removed.

[0023] Figure 3 This is a top view of the dual-channel interventional surgical robot provided in another embodiment of the present invention after removing the robotic arm and linear body.

[0024] Figure 4 This is a top view of the second and third catheters bending during retraction in another embodiment of the present invention.

[0025] Figure 5 yes Figure 2 A top-down view after removing the linear main body.

[0026] Figure 6 This is a top view schematic diagram of the balloon catheter after retraction in another embodiment of the present invention. Detailed Implementation

[0027] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0028] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integral part, or even a connection that allows relative movement; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0029] In the description of this invention, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0030] In this invention, the direction "far" refers to the direction towards the patient, and the direction "near" refers to the direction away from the patient. The term "slender medical device" mainly refers to three types of slender instruments used in interventional procedures, including but not limited to guidewires (such as guide wires, microguidewires, etc.), catheters (such as guiding catheters, microcatheters, angiography catheters, multifunctional catheters, etc.), and balloon catheters (such as balloon dilation catheters, balloon dilation stent catheters, etc.). That is, the use of "slender medical device" here does not specifically refer to a particular guidewire, catheter, or balloon catheter, but can refer to any one or more of these types. The term "distal" refers to the position closer to the patient, and "proximal" refers to the position farther from the patient. The terms "upper" and "upper part" refer to the general direction away from gravity, while the terms "bottom," "lower," and "lower part" refer to the general direction of gravity. The term "front" refers to the side of the dual-channel interventional surgical robot facing the user, and "advancing" or "propelling" refers to the direction in which the slender medical device is displaced into the patient's body. The term "rear" refers to the side of the dual-channel interventional surgical robot facing away from the user; the terms "retreat" or "withdraw" refer to the direction in which the elongated medical device is displaced away from the patient's body. The term "move" includes "advance" or "withdraw." The term "inward" refers to the internal portion of a feature. The term "outward" refers to the external portion of a feature. The term "rotate" includes "forward rotation" and "reverse rotation," where "forward rotation" means clockwise rotation and "reverse rotation" means counterclockwise rotation. 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 indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, "many" or "a plurality of" means two or more.

[0031] Finally, it should be noted that, unless otherwise specified, the embodiments of the present invention and the various features thereof can be combined with each other, all of which are within the protection scope of the present invention. Furthermore, all or part of the steps in the above methods can 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…, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0032] See Figure 1This invention provides a dual-channel interventional surgical robot, which can be placed next to the operating table 10 in a catheterization lab (interventional operating room). It is connected via wired or wireless cable (wired cable connection, wireless WIFI, Bluetooth, etc.) to a main controller (not shown) placed on a worktable (not shown). The worktable has X-ray radiation protection and can be placed inside or outside the catheterization lab. The surgeon can operate the main controller next to the worktable to control the dual-channel interventional surgical robot to drive a combination of various slender medical devices to perform vascular interventional surgery on a patient 100 lying on the operating table 10 for the diagnosis or treatment of cardiovascular and cerebrovascular diseases. The dual-channel interventional surgical robot includes a first robotic arm 20, a first linear body 40, a first drive device 41, a second drive device 42, a third drive device 43, and a fourth drive device 44. The first drive device 41, the second drive device 42, the third drive device 43, and the fourth drive device 44 are used to drive (clamp / push / retract / rotate, etc.) the slender medical devices. The first robotic arm 20 can be mounted on one side of the operating table 10 by a worker before surgery. The first linear body 40 is supported on the first robotic arm 20 and can be adjusted in position and angle relative to the operating table 10 by the operation of the first robotic arm 20. The first drive device 41 is fixedly mounted on the distal end of the first linear body 40, and the second drive device 42, the third drive device 43, and the fourth drive device 44 are sequentially mounted on the first linear body 40 and can slide along the first linear body 40 during operation.

[0033] See Figure 2The first linear body 40 includes a first lead screw 400 and a first power unit 401, a second power unit 402, and a third power unit 403 sequentially mounted on the first lead screw 400. The first power unit 401, the second power unit 402, and the third power unit 403 are respectively connected to the second drive device 42, the third drive device 43, and the fourth drive device 44. When the first power unit 401, the second power unit 402, and the third power unit 403 are working, they can slide or remain stationary on the first lead screw 400. When sliding, they respectively drive the second drive device 42, the third drive device 43, and the fourth drive device 44 to slide. That is, the second driving device 42 can slide closer to or further away from the proximal end of the first driving device 41 under the drive of the first power unit 401, the third driving device 43 can slide closer to or further away from the proximal end of the second driving device 42 under the drive of the second power unit 402, and the fourth driving device 44 can slide closer to or further away from the proximal end of the third driving device 43 under the drive of the third power unit 403. When the second driving device 42, the third driving device 43 and the fourth driving device 44 hold a slender medical device, the sliding of these driving devices can advance or retract the slender medical device.

[0034] Furthermore, the first driving device 41, the second driving device 42, the third driving device 43, and the fourth driving device 44 are all equipped with a power unit (not shown). The first driving device 41 has a first roller pair 411 at its proximal end. The second driving device 42 has a double-wing hemostatic valve 421, a second roller pair 422, and a third roller pair 423. The double-wing hemostatic valve 421 is located at the distal end of the second driving device 42, and the second roller pair 422 and the third roller pair 423 are both located at the proximal end of the second driving device 42. The fourth driving device 44 has a fourth roller pair 442. When the first roller pair 411, the second roller pair 422, the third roller pair 423, and the fourth roller pair 442 all hold a slender medical device, the rotation of each roller pair creates its own path for moving the slender medical device.

[0035] Specifically, the first roller pair 411, the second roller pair 422, the third roller pair 423, and the fourth roller pair 442 each include a master roller and a slave roller arranged opposite to each other. The number of master rollers and slave rollers can be one, two, or more. Preferably, in this embodiment, the first roller pair 411, the second roller pair 422, and the third roller pair 423 each have two master rollers and two slave rollers, and the fourth roller pair 442 each has three master rollers and three slave rollers. The power unit of the first driving device 41 is poweredly connected to the master roller of the first roller pair 411 and can drive the master roller of the first roller pair 411 to rotate. The power unit of the second drive device 42 is poweredly connected to the main rollers of the second roller pair 422 and the third roller pair 423, and can drive the main rollers of the second roller pair 422 and the third roller pair 423 to rotate simultaneously or at different times (i.e., rotate simultaneously or at different times depending on actual control). The power unit of the fourth drive device 44 is poweredly connected to the main roller of the fourth roller pair 442, and can drive the main roller of the fourth roller pair 442 to rotate. The rotation of the main rollers of the first roller pair 411, the second roller pair 422, the third roller pair 423, and the fourth roller pair 442 can respectively drive the corresponding slave rollers to rotate. When the corresponding main rollers and slave rollers hold a slender medical device, their respective paths for moving the slender medical device can be formed.

[0036] See Figure 3The dual-wing hemostatic valve 421 includes a main body 4210, a first wing 4211, and a second wing 4212, each with an internal cavity. The cavity of the main body 4210 communicates with the cavities of the first wing 4211 and the second wing 4212, respectively, forming a first channel and a second channel for the passage of slender medical devices. The head end of the main body 4210 is provided with a Luer connector (not shown) that can be connected to the tail end of a catheter. The Luer connector is also powered by the power unit of the second drive device 42 and can rotate under the drive of the power unit. When the Luer connector is connected to the tail end of the catheter, its rotation under the drive of the power unit can cause the catheter to rotate. Sealing valves (not shown) are provided in the cavities at the distal ends of the first wing 4211 and the second wing 4212, respectively. These sealing valves allow slender medical devices to pass through while preventing the inflow and outflow of blood and other liquids. The double-wing hemostatic valve 421 also includes a third wing perpendicular to the main body 4210. The third wing also has a through-lumen and communicates with the lumen of the main body 4210. Before surgery, the third wing is connected by staff to an external infusion device (such as a syringe or infusion pump) for the delivery of contrast fluid, heparin solution, medication, etc. In this embodiment, the axis of the lumen of the first wing 4211 and the second wing 4212 is symmetrically distributed about the axis of the lumen of the main body 4210. In another embodiment, such as... Figure 5 As shown, the axis of the cavity of the first wing 4211 coincides with the axis of the cavity of the main body 4210, and the axis of the cavity of the second wing 4212 forms an acute angle with the axis of the cavity of the main body 4210.

[0037] In another embodiment, see Figure 1 The dual-channel interventional surgical robot further includes a second robotic arm 30, a second linear body 50, a fifth drive device 51, and a sixth drive device 52. The fifth drive device 51 and the sixth drive device 52 are used to drive (grip / push / retract / rotate, etc.) slender medical instruments. The second robotic arm 30 can be mounted on the other side of the operating table 10 by the operator before surgery. The second linear body 50 is supported on the second robotic arm 30 and can be adjusted in position and angle relative to the operating table 10 under the operation of the second robotic arm 30. The position of the second robotic arm 30 on the operating table 10 can also be adjusted so that the position of the second linear body 50 on the operating table 10 matches the position of the first linear body 40 on the operating table 10. The fifth drive device 51 and the sixth drive device 52 are sequentially mounted on the second linear body 50 and can slide on the second linear body 50 during operation.

[0038] See Figure 2 The second linear body 50 includes a second lead screw 500 and a fourth power unit 501 and a fifth power unit 502 sequentially mounted on the second lead screw 500. The fourth power unit 501 and the fifth power unit 502 are respectively connected to the fifth drive device 51 and the sixth drive device 52. When the fourth power unit 501 and the fifth power unit 502 are working, they can slide or remain stationary on the second lead screw 500, respectively. When sliding, they can drive the fifth drive device 51 and the sixth drive device 52 to slide. That is, the fifth drive device 51 can slide closer to or away from the proximal end of the second drive device 42 under the drive of the fourth power unit 501, and the sixth drive device 52 can slide closer to or away from the proximal end of the fifth drive device 51 under the drive of the fifth power unit 502.

[0039] Both the fifth driving device 51 and the sixth driving device 52 are further equipped with a power unit (not shown). The sixth driving device 52 is equipped with a fifth roller pair 522, which can clamp a slender medical device. The rotation of the fifth roller pair 522 can form a path for moving the slender medical device. Specifically, the fifth roller pair 522 includes a main roller and a slave roller arranged opposite each other. The number of the main roller and the slave roller can be one, two, or more. Preferably, in this embodiment, the fifth roller pair 522 has two main rollers and two slave rollers. The power unit of the sixth driving device 52 is poweredly connected to the main roller. Under the drive of the power unit, the main roller rotates and drives the slave roller to rotate. When the main roller and the slave roller clamp and place a slender medical device, the slender medical device can be advanced or retracted, forming a path for moving the slender medical device.

[0040] Furthermore, a first hemostatic valve 411 is provided at the distal end of the first driving device 41, a second hemostatic valve 431 is provided at the distal end of the third driving device 43, and a third hemostatic valve 451 is provided at the distal end of the fifth driving device 45. Each of the first, second, and third hemostatic valves 411, 431, and 451 has a through-cavity and an external branch tube communicating with the cavity. A sealing valve is provided within the cavity at the proximal end of each of the first, second, third, and third hemostatic valves 411, 431, and 451. This sealing valve allows slender medical devices to pass through and prevents the infiltration or leakage of blood and other liquids. Before surgery, the branch tube is connected by the operator to an external infusion device (such as a syringe or infusion pump) for the delivery of contrast fluid, heparin solution, medication, etc. The first hemostatic valve 411, the second hemostatic valve 431, and the third hemostatic valve 451 are all provided with Luer connectors (not shown) at their heads that can be connected to the tail end of the catheter. When the Luer connector rotates, it can drive the catheter connected to it to rotate. The Luer connectors of the second hemostatic valve 431 and the third hemostatic valve 451 are respectively powered by the power units of the third driving device 43 and the fifth driving device 51, and can rotate under the drive of the corresponding power units.

[0041] See Figure 5 The dual-channel interventional surgical robot further includes a first detection device 412, a second detection device 424, a third detection device 425, a fourth detection device 432, and a fifth detection device 512. Each of these devices includes a sensor capable of detecting the appearance (when the elongated medical device is advanced) or disappearance (when the elongated medical device is withdrawn). Specifically, when the elongated medical device is advanced, the sensor detects its appearance, triggering a signal indicating its appearance from absence to presence; when the elongated medical device is withdrawn, the sensor no longer detects it, triggering a signal indicating its disappearance from presence to absence. The sensor can be one or more of the following: a photoelectric sensor, a displacement sensor, a laser sensor, a capacitive sensor, an ultrasonic sensor, a proximity sensor, and an image sensor.

[0042] The first detection device 412 is disposed on the first drive device 41 near the distal end of the first roller pair 411, and is signal-connected to the first roller pair 412 and the first power unit 401. The second detection device 424 and the third detection device 425 are disposed on the second drive device 42 near the distal ends of the second roller pair 422 and the third roller 423, respectively. Specifically, the second detection device 424 is located between the first wing 4211 of the double-wing hemostatic valve 421 and the second roller pair 422, and is signal-connected to the second roller pair 422 and the second power unit 402, respectively. The third detection device 425 is located between the second wing 4212 of the double-wing hemostatic valve 421 and the third roller pair 423, and is signal-connected to the second roller pair 422 and the fourth power unit 501, respectively. The fourth detection device 432 is located at the distal end of the third drive device 43, and is signal-connected to the fourth drive device 44 and the fourth roller pair 442. The fifth detection device 512 is located at the distal end of the fifth drive device 51, and is signal-connected to the fifth drive device 51 and the fifth roller pair 522. Specifically, the signal connection can be a direct signal connection, such as the working principle of "the first detection device 412 is signal-connected to the first roller pair 412 and the first power unit 401," where the first detection device 412 detects the appearance or disappearance of a slender medical device and directly sends a control signal to the first roller pair 412 and the first power unit 401. Alternatively, it can be an indirect signal connection, such as the working principle of "the first detection device 412 is signal-connected to the first roller pair 412 and the first power unit 401," where the first detection device 412 detects the appearance or disappearance of a slender medical device, first sends a signal indicating the appearance or disappearance of the slender medical device to the control system, and then the control system sends a control signal to the first roller pair 412 and the first power unit 401. The control system can be the control system of the dual-channel interventional surgical robot, the control system of the main controller, or a control system set up locally or on a network; there are no restrictions here. The working principles of other detection devices are the same and will not be described further. The signal can be transmitted via wired cable connection or wireless WIFI, Bluetooth, etc., without any restrictions.

[0043] In another embodiment, see Figure 3The dual-channel interventional surgical robot further includes a first catheter 91, a second catheter 92, a third catheter 93, and a first guidewire 94. The tail end of the first catheter 91 is connected to the Luer connector of the first hemostatic valve 411. The tail end of the second catheter 92 is connected to the Luer connector of the main body 4210 of the double-wing hemostatic valve 421, partially clamped between the main roller and the slave roller of the first roller pair 411, and passes through the first catheter 91 until the tip of the second catheter 92 protrudes from the tip of the first catheter 91. The tail end of the third catheter 93 is connected to the Luer connector of the second hemostatic valve 431, partially clamped between the main roller and the slave roller of the second roller pair 422, and sequentially passes through the first channel and the second catheter 92 until the tip of the third catheter 93 protrudes from the tip of the second catheter 92. The first guidewire 94 is clamped between the main roller and the slave roller of the fourth roller pair 442, and is sequentially passed through the lumen of the second hemostatic valve 431 and the third catheter 93 until the tip of the first guidewire 94 protrudes from the tip of the third catheter 93.

[0044] See also Figure 4 During operation, the first power unit 401, the second power unit 402, and the third power unit 403 are stationary on the first lead screw 400. The power unit of the second drive device 42 drives the main roller of the second roller pair 422 to rotate counterclockwise, and drives the driven roller of the second roller pair 422 to rotate clockwise. That is, the second roller pair 422 retracts the third guide tube 93, and the third guide tube 93 gradually bends and is housed between the second drive device 42 and the third drive device 43. When the head end of the third guide tube 93 completely leaves the second detection device 424, that is, when the second detection device 424 can no longer detect the presence of the third guide tube 93, it will send a signal to control the main roller of the second roller pair 422 to stop rotating, thereby stopping the second roller pair 422 from rotating.

[0045] The power unit of the first driving device 41 drives the main roller of the first roller pair 411 to rotate counterclockwise, and drives the slave roller of the first roller pair 411 to rotate clockwise. That is, the first roller pair 411 retracts the second conduit 92, and the second conduit 92 gradually bends and is housed between the first driving device 41 and the second driving device 42. When the head end of the second conduit 92 is completely away from the first detection device 412, that is, when the first detection device 412 can no longer detect the presence of the second conduit 92, it will send a signal to control the main roller of the first roller pair 411 to stop rotating, thereby controlling the first roller pair 411 to stop rotating.

[0046] Furthermore, it may also include a fourth catheter 94 and a second guidewire 96. The operation of the fourth catheter 94 can be referred to the operation of the third catheter 93, and will not be described in detail here.

[0047] See Figure 5 In another embodiment, the dual-channel interventional surgical robot, the fourth drive device 44 further includes a sixth roller pair 441 and a sixth detection device 443, and the sixth drive device 52 further includes a seventh roller pair 521 and a seventh detection device 523. The distal end of the sixth roller pair 441 near the fourth roller pair 442 is disposed on the fourth drive device 44, and the distal end of the seventh roller pair 521 near the fifth roller pair 522 is disposed on the sixth drive device 52. Specifically, the sixth roller pair 441 and the seventh roller pair 521 each include a master roller and a slave roller disposed opposite to each other. The power unit of the fourth drive device 44 and the power unit of the sixth drive device 52 are respectively poweredly connected to the master roller of the sixth roller pair 441 and the master roller of the seventh roller pair 521. Driven by the corresponding power unit, the corresponding main roller rotates and drives the slave roller to rotate. When the elongated medical device is placed between the corresponding main roller and slave roller, the elongated medical device can be advanced or retracted, forming a path for moving the elongated medical device. The number of the main roller and slave roller can be one, two, or more. Preferably, in this embodiment, the sixth roller pair 441 and the seventh roller pair 521 each have two main rollers and two slave rollers.

[0048] The path of the sixth roller pair 441 forms an acute angle with the path of the fourth roller pair 442, and the path of the seventh roller pair 521 forms an acute angle with the path of the fifth roller pair 522. The sixth detection device 443 is specifically located at the intersection of the path of the sixth roller pair 441 and the path of the fourth roller pair 442. The seventh detection device 523 is specifically located at the intersection of the path of the seventh roller pair 521 and the path of the fifth roller pair 522. The sixth detection device 443 is signal-connected to the fourth drive device 44 and the sixth roller pair 441, and the seventh detection device 523 is signal-connected to the sixth drive device 52 and the seventh roller pair 521. Both the sixth detection device 443 and the seventh detection device 523 include inductive sensors. Taking the sixth detection device 443 as an example, specifically: when a balloon catheter-like slender medical device is placed between the sixth roller pair 441, a guidewire-like slender medical device is placed between the fourth roller pair 442. The front section of the balloon catheter-like slender medical device has a side hole, and the guidewire-like slender medical device passes through the side hole until it exits the tip of the balloon catheter-like slender medical device. When the power unit of the fourth driving device 44 drives the fourth roller pair 442 to work, it drives the balloon catheter-like slender medical device to retract. The proximal segment of the balloon catheter-like slender medical device retracts along the path of the fourth roller pair 442. When the side hole of the proximal segment retracts to the intersection of the path of the sixth roller pair 441 and the path of the fourth roller pair 442, the balloon catheter-like slender medical device will touch the inductive sensor of the sixth detection device 443 (i.e., the sixth detection device 443 detects the side hole). The sixth detection device 443 will then send a signal to control the fourth roller pair 442 to stop working (i.e., the power unit of the fourth drive device 44 stops driving the main roller of the fourth roller pair 442 to rotate counterclockwise). The working principle of the seventh detection device 523 is the same and will not be described further.

[0049] Furthermore, the dual-channel interventional surgical robot also includes a fifth catheter 110, a first balloon catheter 111, and a third guidewire 113. The first balloon catheter 111 has a side hole (not shown) at its front end. The tail end of the fifth catheter 110 is connected to the Luer connector of the main body 4210 of the double-wing hemostatic valve 421 and is clamped between the main roller and the slave roller of the first roller pair 411. The first balloon catheter 111 is partially clamped between the main roller and the slave roller of the sixth roller pair 441, and is sequentially placed between the third drive device 43, the main roller and the slave roller of the second roller pair 422, and then sequentially passed through the first channel and the fifth catheter 110 until the tip of the first balloon catheter 111 protrudes from the tip of the fifth catheter 110. The third guidewire 113 is partially clamped between the main roller and the slave roller of the fourth roller pair 442. Its head end passes through the side hole of the first balloon catheter 111 and is placed in the third drive device 43. It then passes through the first channel and the fifth catheter 110 in sequence until the head end of the third guidewire 113 protrudes from the head end of the first balloon catheter 111.

[0050] During operation, the power unit of the fourth drive device 44 drives the main roller of the sixth roller pair 441 to rotate counterclockwise, and drives the slave roller of the fourth roller pair 442 to rotate clockwise, driving the first balloon catheter 111 to retract. When the sixth detection device 443 detects the side hole of the first balloon catheter 111, the sixth detection device 443 sends a signal to control the power unit of the fourth drive device 44 to stop driving the main roller of the fourth roller pair 442 to rotate counterclockwise, thereby controlling the sixth roller pair 441 to stop rotating; at the same time, if the fourth detection device 432 can still detect the first balloon catheter 111... (That is, before the tip of the first balloon catheter 111 has completely retracted out of the detection range of the fourth detection device 432), a signal is sent for the fourth drive device 44 to slide in the retraction direction (that is, to control the third power unit 403 to slide in the retraction direction on the first lead screw 400, thereby driving the fourth drive device 44 to slide), thereby controlling the tip of the first balloon catheter 111 to continue to retract until the fourth detection device 432 can no longer detect the first balloon catheter 111. Then the fourth detection device 432 will send a signal to control the third power unit 403 to stop working, thereby controlling the fourth drive device 44 to stop sliding in the retraction direction.

[0051] Furthermore, it may also include a second balloon catheter 112 and a fourth guidewire 114. The operation of the second balloon catheter 112 can be referred to the operation of the first balloon catheter 111, and the operation of the fourth guidewire 114 can be referred to the operation of the third guidewire 113, and will not be described in detail here.

[0052] Compared to existing master-slave interventional surgical robots, the dual-channel interventional surgical robot technology solution provided in this patent application can adapt to both simple lesions requiring only one channel for delivering slender medical devices such as guidewires, catheters, and balloon catheters, and complex lesions requiring two channels for delivering such devices. This allows for a decision on whether to use one or two robotic arms based on actual needs, increasing application scenarios, improving applicability, and reducing surgical time for complex lesions. Furthermore, it can automatically detect whether slender medical devices such as guidewires, catheters, and balloon catheters have been withdrawn and their bending and retraction during withdrawal, improving surgical safety, increasing the efficiency of coaxial device exchange and the overall robot's intelligence level, and effectively shortening the overall size of the dual-channel interventional surgical robot.

[0053] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the claims of the present invention.

[0054] 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 within the protection scope of the present invention.

Claims

1. A dual-channel interventional surgical robot, which can be installed next to the operating table for vascular interventional surgery, characterized in that, include: The first robotic arm can be mounted on one side of the operating table; The first linear body is mounted on the first robotic arm; The first driving device, the second driving device, the third driving device, and the fourth driving device are arranged sequentially from the distal end to the proximal end along the first linear body. They can all be used to drive a slender medical device. The slender medical device includes a second catheter and a third catheter. The first driving device is fixedly installed at the distal end of the first linear body, and the second driving device, the third driving device, and the fourth driving device are slidably installed on the first linear body in sequence. The first drive device includes a first roller pair disposed at the proximal end of the first drive device, and the second drive device includes a second roller pair disposed at the proximal end of the second drive device. Both the first roller pair and the second roller pair can be used to clamp / move slender medical devices. The second drive device is provided with a double-wing hemostatic valve at its distal end. The double-wing hemostatic valve includes a main body, a first wing, and a second wing, each with a through lumen. The lumen of the main body is connected to the lumens of the first wing and the second wing, respectively, forming a first channel and a second channel through which a slender medical device can pass. The first detection device is disposed on the first drive device at the far end near the first roller pair; A second detection device is mounted on the second drive device and is located between the first wing and the second roller pair. The control unit is signal-connected to the first roller pair, the second roller pair, the first detection device, and the second detection device; The control unit is configured such that: the retraction portion of the second roller pair is clamped in the third guide tube of the second roller pair, the third guide tube gradually bends and is housed between the second drive device and the third drive device; when the second detection device cannot detect the third guide tube, it controls the second roller pair to stop working. The first roller pair retracts and is clamped in the second guide tube of the first roller pair. The second guide tube gradually bends and is stored between the first drive device and the second drive device. When the first detection device cannot detect the second guide tube, it controls the first roller pair to stop working.

2. The dual-lane interventional procedure robot of claim 1, wherein, Also includes: A second robotic arm can be mounted on the other side of the operating table; The second linear body is mounted on the second robotic arm; The fifth and sixth driving devices can both be used to drive slender medical devices and are sequentially slidably mounted on the second linear body. The fifth driving device can slide closer to or further away from the proximal end of the second driving device.

3. The dual-lane interventional procedure robot of claim 2, wherein, The first linear entity includes: The first lead screw is fixedly installed inside the first linear body along the length direction of the first linear body; The first power unit, the second power unit, and the third power unit are sequentially installed on the first lead screw and are respectively connected to the second drive device, the third drive device, and the fourth drive device. During operation, the first power unit, the second power unit, and the third power unit can slide back and forth or remain stationary on the first lead screw.

4. The dual-channel interventional surgical robot according to claim 3, characterized in that, The second linear body includes: The second lead screw is fixedly installed inside the second linear body along the length direction of the second linear body; The fourth and fifth power units, which are sequentially installed on the second lead screw, are connected to the fifth drive device and the sixth drive device, respectively. During operation, the fourth and fifth power units can slide back and forth or remain stationary on the second lead screw.

5. The dual-lane interventional procedure robot of claim 4, wherein, Also includes: The third, fourth, and fifth roller pairs can all be used to clamp / move slender medical devices. The fourth and fifth roller pairs can also be used to rotate slender medical devices. The second roller pair and the third roller pair are respectively located near the first wing body and the proximal end of the second wing body and are disposed on the second drive device; The fourth roller pair and the fifth roller pair are respectively located approximately in the middle part of the fourth drive device and the fifth drive device.

6. The dual-lane interventional procedure robot of claim 5, wherein, Also includes: The third detection device is installed on the second drive device. The third detection device is located between the second wing and the third roller pair, and is signal-connected to the third roller pair and the fourth power unit, respectively. The fourth detection device is located at the far end of the third drive device and is signal-connected to the second power unit and the fourth roller. The fifth detection device is located at the far end of the fifth drive device, and the fifth detection device is connected to the fourth power unit and the fifth roller pair via signal connection. The first detection device is signal-connected to the first roller pair and the first power unit; The second detection device is signal-connected to the second roller pair and the second power unit.

7. The dual-lane interventional procedure robot of claim 6, wherein: The first The drive device is also provided with a first hemostatic valve at its distal end, and the third drive device is also provided with a second hemostatic valve at its distal end. Both the first and second hemostatic valves have through cavities inside.

8. The dual-lane interventional procedure robot of claim 7, wherein, Also includes: The first catheter is rotatably mounted at the head end of the first hemostatic valve; The second catheter is rotatably mounted at the head end of the main body of the double-wing hemostatic valve, partially clamped in the first roller pair, and then sequentially inserted into the lumen of the first hemostatic valve and the first catheter until the head end of the second catheter protrudes from the head end of the first catheter. The third catheter is rotatably mounted at the head end of the second hemostatic valve, partially clamped in the second roller pair, and then sequentially inserted into the first channel and the second catheter until the head end of the third catheter protrudes from the head end of the second catheter. The first guidewire is partially clamped in the fourth roller pair, and then sequentially passed through the lumen of the second hemostatic valve and the third catheter until the tip of the first guidewire protrudes from the tip of the third catheter.

9. The dual-lane interventional procedure robot of claim 6, wherein, Also includes: The sixth roller pair, with its distal end near the fourth roller pair, is mounted on the fourth drive device. The path of the sixth roller pair when moving the slender instrument forms an acute angle with the path of the fourth roller pair when moving the slender instrument. The sixth detection device is mounted on the fourth drive device and located at the intersection of the path of the sixth roller pair and the path of the fourth roller pair. The sixth detection device is signal connected to the third power unit and the sixth roller pair.

10. The dual-lane interventional procedure robot of claim 9, wherein, Also includes: The fifth catheter, with its tail end rotatably mounted on the head end of the main body of the double-wing hemostatic valve, is partially clamped to the first roller pair; The first balloon catheter has a side hole at its front end, is partially clamped in the sixth roller pair, is placed in the third driving device, clamped in the second roller pair, and then passed through the first channel and the fifth catheter in sequence until the tip of the first balloon catheter protrudes from the tip of the fifth catheter. The third guidewire is partially clamped in the fourth roller pair, passes through the side hole into the first balloon catheter, is placed in the third drive device, and then passes through the first channel and the fifth catheter in sequence until the tip of the third guidewire protrudes from the tip of the first balloon catheter. During operation, the sixth roller pair drives the first balloon catheter to retract. When the sixth detection device detects the side hole, it controls the sixth roller pair to stop working. Then, the third power unit is controlled to start working, driving the fourth drive device to retract the first balloon catheter. When the fourth detection device can no longer detect the first balloon catheter, the third power unit is controlled to stop working.

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