A dual-drive instrument channel intervention robot

Abstract

This invention relates to the field of medical robotics and provides a dual-drive instrument delivery robot, comprising a first drive assembly and a second drive assembly mounted side-by-side horizontally on a frame; a plurality of first instrument control mechanisms mounted on the first drive assembly to form a first instrument delivery channel; and a plurality of second instrument control mechanisms mounted on the second drive assembly to form a second instrument delivery channel. During operation, a plurality of first surgical instruments are mounted on the first instrument delivery channel, and the first instrument control mechanisms drive the movement of the first surgical instruments; similarly, a plurality of second surgical instruments are mounted on the second instrument delivery channel, and the second instrument control mechanisms drive the movement of the second surgical instruments. This application achieves dual-channel delivery of surgical instruments by setting up both first and second instrument delivery channels, controlling more surgical instruments to accommodate both simple and complex procedures, thereby improving surgical efficiency.

Description

Technical Field

[0001] This invention belongs to the field of medical robots and is applied to master-slave vascular interventional surgery robots, particularly relating to a dual-drive instrument channel interventional robot. Background Technology

[0002] Vascular interventional surgical robots, by setting up a master control console and a slave end of the interventional robot, allow surgeons to operate the master control console and control the slave end of the interventional robot to perform surgery outside the operating room, achieving zero-radiation vascular interventional surgery. However, the current slave end of the interventional robot can only control a limited number of surgical instruments and perform simple procedures, such as angiography, making it difficult to flexibly and smoothly perform complex procedures with multiple surgical instruments; moreover, existing interventional robots are large in size, with a bulky overall structure, occupying too much space in the small operating room, which is not conducive to the practical application of interventional surgical robots. Summary of the Invention

[0003] The purpose of this invention is to provide a dual-drive instrument channel interventional robot, which aims to solve the technical problems of existing interventional robots being unable to flexibly and smoothly perform complex procedures with multiple surgical instruments, as well as their large size, bulky overall structure, and excessive space occupation in small operating rooms.

[0004] The present invention is implemented as follows: a dual-drive instrument channel intervention robot, comprising: a frame; a first drive assembly and a second drive assembly independently and horizontally mounted side by side on the frame; a plurality of first instrument control mechanisms mounted on the first drive assembly, and the first drive assembly independently drives the first instrument control mechanisms to move linearly to form a first instrument delivery channel; a plurality of second instrument control mechanisms mounted on the second drive assembly, and the second drive assembly independently drives the second instrument control mechanisms to move linearly to form a second instrument delivery channel; During operation, a plurality of first surgical instruments are installed on the first instrument delivery channel, and the first instrument control mechanism drives the plurality of first surgical instruments to move; a plurality of second surgical instruments are installed on the second instrument delivery channel, and the second instrument control mechanism drives the plurality of second surgical instruments to move. The first instrument control mechanism near the far end of the frame is a two-channel combined mechanism. The two-channel combined mechanism includes a fixing member installed at the far end of the frame, a support delivery wheel pair installed on the fixing member, and a guiding power mechanism connected to the first transmission component. The guiding power mechanism moves linearly along the frame under the drive of the first transmission component.

[0005] Preferably, the two-channel combined mechanism is provided with a multi-port Y-valve; the multi-port Y-valve is used to install a support catheter, and the first surgical instrument and the second surgical instrument enter the support catheter through the multi-port Y-valve.

[0006] Preferably, the multi-port Y-valve includes a first valve body, a second valve body, and a third valve body that are connected in series; the first valve body is used for the insertion of the first surgical instrument, the second valve body is used for the insertion of the second surgical instrument, and the third valve body is used for mounting the support catheter. The first surgical instrument enters the third valve body through the first valve body to extend into the support catheter, and the second surgical instrument enters the third valve body through the second valve body to extend into the support catheter.

[0007] Preferably, the plurality of first instrument control mechanisms are sequentially a two-channel combined mechanism and a first guidewire control mechanism; one of the plurality of second instrument control mechanisms is a second guidewire control mechanism; The first surgical instrument includes a first guidewire; the second surgical instrument includes a second guidewire. During operation, the support conduit is installed in the multi-way Y-valve of the two-channel combined mechanism, which is used to deliver and rotate the support conduit; the first guidewire is installed in the first guidewire control mechanism and enters the support conduit through the first valve body of the multi-way Y-valve, which is used to deliver and rotate the first guidewire; the second guidewire is installed in the second guidewire control mechanism and enters the support conduit through the second valve body of the multi-way Y-valve, which is used to deliver and rotate the second guidewire.

[0008] Preferably, one of the plurality of first instrument control mechanisms is a first catheter control mechanism; one of the plurality of second instrument control mechanisms is a second catheter control mechanism; the first surgical instrument includes a first catheter; the second surgical instrument includes a second catheter; The first catheter control mechanism is located between the two-channel combined mechanism and the first guidewire control mechanism; the second catheter control mechanism is located at the distal end of the second guidewire control mechanism; During operation, the first catheter is mounted on the first catheter control mechanism, which is used to deliver and rotate the first catheter. The first guidewire is inserted into the first catheter, and the first catheter and the first guidewire enter the support catheter through the first valve body. The second catheter is mounted on the second catheter control mechanism, which is used to deliver and rotate the second catheter. The second guidewire is inserted into the second catheter, and the second catheter and the second guidewire enter the support catheter through the second valve body.

[0009] Preferably, the two-channel combined mechanism includes a limiting member for installing a front-end catheter, wherein the first guidewire, the first catheter, the second guidewire, the second catheter, and the support catheter enter the front-end catheter.

[0010] Preferably, the multi-port Y-valve is mounted on the guiding power mechanism, one end of the support conduit is mounted on the third valve body of the multi-port Y-valve, and the middle part is clamped on the support delivery wheel pair. The support delivery wheel pair is used to deliver the support conduit, and the guiding power mechanism is used to deliver and rotate the support conduit. A support detection device is also provided on the fixing member. The support detection device is used to detect whether the support guide has been retracted to a designated position during the retraction of the support guide. If so, the support delivery wheel pair stops the delivery of the support guide.

[0011] Preferably, the first catheter control mechanism includes a first catheter delivery wheel pair disposed on the two-channel combined mechanism, the first catheter delivery wheel pair being located at the distal end of the first valve body for delivering the first catheter; the second catheter control mechanism includes a second catheter delivery wheel pair disposed on the two-channel combined mechanism, the second catheter delivery wheel pair being located at the distal end of the second valve body for delivering the second catheter; a first catheter detection device and a second catheter detection device are disposed between the first valve body and the first catheter delivery wheel pair; The first catheter detection device is used to detect whether the first catheter has been retracted to a designated area. If so, it controls the first catheter delivery wheel to stop the retraction of the first catheter. The second catheter detection device is used to detect whether the second catheter has been retracted to a designated area. If so, it controls the second catheter delivery wheel to stop the retraction of the second catheter.

[0012] Preferably, the first catheter control mechanism includes a first catheter power mechanism connected to the first transmission assembly, the first catheter power mechanism including a first catheter Y valve and a first catheter rotation mechanism for rotating the first catheter Y valve; the second catheter control mechanism includes a second catheter power mechanism connected to the second transmission assembly, the second catheter power mechanism including a second catheter Y valve and a second catheter rotation mechanism for rotating the second catheter Y valve; The first guidewire control mechanism includes a first guidewire delivery wheel pair for delivering the first guidewire, and the second guidewire control mechanism includes a second guidewire delivery wheel pair for delivering the second guidewire; A first guidewire detection device is also provided on the first catheter power mechanism, and the first guidewire detection device is located at the distal end of the first catheter Y valve; a second guidewire detection device is also provided on the second catheter power mechanism, and the second guidewire detection device is located at the distal end of the second catheter Y valve; The first guidewire detection device is used to detect whether the first guidewire has retracted to a designated area. If so, it controls the first guidewire delivery wheel to stop the retraction of the first guidewire. The second guidewire detection device is used to detect whether the second guidewire has retracted to a designated area. If so, it controls the second guidewire delivery wheel to stop the retraction of the second guidewire.

[0013] Preferably, it further includes a first rapid-change control mechanism disposed in the first instrument delivery channel and a second rapid-change control mechanism disposed in the second instrument delivery channel; the first surgical instrument includes a first rapid-change control mechanism; the second surgical instrument includes a second rapid-change control mechanism; The first fast-crossing control mechanism is mounted on the first guidewire control mechanism and located at the distal end of the first guidewire control mechanism, and is used to deliver the first fast-crossing; the second fast-crossing control mechanism is mounted on the second guidewire control mechanism and located at the distal end of the second guidewire control mechanism, and is used to deliver the second fast-crossing. During operation, the first quick-connector is mounted on the first quick-connector control mechanism, which is used to deliver and rotate the first quick-connector. The first guide wire passes through the side wall of the first quick-connector, and the first quick-connector and the first guide wire enter the support conduit through the first valve body. The second quick-connector is mounted on the second quick-connector control mechanism, which is used to deliver and rotate the second quick-connector. The second guide wire passes through the side wall of the second quick-connector, and the second quick-connector and the second guide wire enter the support conduit through the second valve body.

[0014] Preferably, the first transmission assembly includes a first lead screw and a plurality of first motors mounted on the first lead screw, the first motors corresponding one-to-one with the first instrument control mechanism; the second transmission assembly includes a second lead screw and a plurality of second motors mounted on the second lead screw, the second motors corresponding one-to-one with the second instrument control mechanism; the first lead screw and the second lead screw are mounted side by side on the frame.

[0015] The beneficial effects of this invention are: by setting the first instrument delivery channel and the second instrument delivery channel in the horizontal direction, a dual-channel delivery of surgical instruments can be achieved, allowing for flexible control of more surgical instruments. At the same time, it is compatible with both simple and complex surgical procedures, has a wide range of indications for interventional surgery, occupies little operating room space, and is easy to adjust and install. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the completed surgical instrument delivery state of the dual-drive instrument channel intervention robot provided in Embodiment 1 of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the initial state (or retraction state) of the surgical instruments in the dual-drive instrument channel intervention robot provided in Embodiment 1 of the present invention. Figure 1 ; Figure 3 This is a schematic diagram of the surgical instrument delivery completion state of the dual-drive instrument channel intervention robot provided in Embodiment 1 of the present invention. Figure 2 ; Figure 4 This is a schematic diagram of the surgical instrument delivery completion state of the dual-drive instrument channel intervention robot provided in Embodiment 1 of the present invention. Figure 3 ; Figure 5 This is a schematic diagram of the structure of the first transmission component and the second transmission component provided by the present invention; Figure 6 This is a schematic diagram of the multi-way Y-valve provided by the present invention. Figure 1 ; Figure 7 This is a schematic diagram of the multi-way Y-valve provided by the present invention. Figure 2 ; Figure 8 This is a schematic diagram of the completed surgical instrument delivery state of the dual-drive instrument channel intervention robot provided in Embodiment 2 of the present invention. Figure 1 ; Figure 9 This is a schematic diagram of the completed surgical instrument delivery state of the dual-drive instrument channel intervention robot provided in Embodiment 2 of the present invention. Figure 2 ; Among them, 10. Rack; 20. First transmission assembly; 200. First lead screw; 201. First motor; 21. First instrument control mechanism; 22. First surgical instrument; 23. Two-channel combined mechanism; 230. Limiting component; 231. Fixing component; 232. Support delivery wheel pair; 233. Guiding power mechanism; 24. Multi-port Y valve; 241. First valve body; 242. Second valve body; 243. Third valve body; 244. Angiography valve body; 25. First guidewire control mechanism; 250. First guidewire delivery wheel pair; 251. First guidewire power mechanism; 26. First catheter control mechanism; 260. First catheter delivery wheel pair; 261. First catheter power mechanism; 262. First catheter Y valve; 27. First quick-change control mechanism; 270. First quick-change delivery wheel pair; 30. Second transmission assembly; 300. Second lead screw; 301. Second motor; 31. Second instrument control mechanism; 32. Second surgical instrument; 33. Second guidewire control mechanism; 330. Second guidewire delivery wheel pair; 331. Second guidewire power mechanism; 34. Second catheter control mechanism; 340. Second catheter delivery wheel pair; 341. Second catheter power mechanism; 342. Second catheter Y-valve; 35. Second quick-change control mechanism; 350. Second quick-change delivery wheel pair; 40. Support detection device; 41. First catheter detection device; 42. Second catheter detection device; 43. First guidewire detection device; 44. Second guidewire detection device; 50. Support catheter; 51. First guidewire; 52. Second guidewire; 53. First catheter; 54. Second catheter; 55. Anterior catheter; 56. First quick-connect; 57. Second quick-connect. Detailed Implementation

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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 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 two-channel instrument control system device facing the user, and "advancing" refers to the direction in which the guidewire or catheter is displaced into the surgical patient's body. The term "rear" refers to the side of the two-channel instrument control system device facing away from the user, and "retreating" refers to the direction in which the guidewire or catheter is displaced out of the surgical patient's body. The term "inward" refers to the internal portion of the feature. The term "outward" refers to the external portion of the feature. The term "rotation" includes "forward rotation" and "reverse rotation," where "forward rotation" refers to the direction in which the guidewire or catheter is rotated into the surgical patient's body, and "reverse rotation" refers to the direction in which the guidewire or catheter is rotated out of the surgical patient's body.

[0021] 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 technical features indicated. Thus, a feature 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.

[0022] 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.

[0023] The guidewires mentioned here include, but are not limited to, guiding and supporting interventional medical devices such as guidewires, microguidewires, and stents; and the catheters include, but are not limited to, guiding catheters, microcatheters, angiography catheters, multi-functional catheters (also known as external catheters), thrombolytic catheters, balloon dilation catheters, and balloon dilation stent catheters, among other therapeutic interventional medical devices.

[0024] In this application, the distal end refers to the end closest to the patient on the DSA bed, while the proximal end refers to the end furthest from the patient on the DSA bed.

[0025] As attached Figure 1-9As shown, this invention provides a dual-channel interventional robot, comprising: a frame 10; a first transmission assembly 20 and a second transmission assembly 30 horizontally mounted side-by-side on the frame 10; a plurality of first instrument control mechanisms 21 mounted on the first transmission assembly 20 to form a first instrument delivery channel; and a plurality of second instrument control mechanisms 31 mounted on the second transmission assembly 30 to form a second instrument delivery channel. During operation, a plurality of first surgical instruments 22 are mounted on the first instrument delivery channel, and the first instrument control mechanisms 21 drive the movement of the plurality of first surgical instruments 22; a plurality of second surgical instruments 32 are mounted on the second instrument delivery channel, and the second instrument control mechanisms 31 drive the movement of the plurality of second surgical instruments 32. In this embodiment, the first and second instrument delivery channels enable dual-channel delivery of surgical instruments. It can be understood that, compared with existing single-channel interventional robots, this robot can control more surgical instruments within the same length, making it compatible with both simple and complex procedures. It has a wide range of applicable interventional surgical indications, occupies less operating room space, and is installed in the same horizontal direction, facilitating adjustment and installation. The interventional surgical robot of this application has a first transmission assembly 20 driving a first instrument control mechanism 21 to move linearly, thereby delivering or retracting the first surgical instrument 22. Similarly, a second transmission assembly 30 driving a second instrument control mechanism 31 to move linearly, thereby delivering or retracting the second surgical instrument 32. Further, the gantry 10 is tilted on a robotic arm (not shown), which is mounted on a DSA bed (not shown). Several first instrument control mechanisms 21 and second instrument control mechanisms 31 are tilted towards the DSA bed so that the first surgical instruments 22 and second surgical instruments 32 are as close as possible to the patient on the DSA bed, thereby increasing the effective usable length of the first surgical instruments 22 and second surgical instruments 32. In this embodiment, the horizontal direction can be understood as the left-right direction.

[0026] In this embodiment, the first surgical instrument 22 includes, but is not limited to, the support catheter 50, the first guidewire 51, the first catheter 53, the front catheter 55, and the first quick-connect 56; the second surgical instrument 22 includes, but is not limited to, the second guidewire 52, the second catheter 54, and the second quick-connect 57.

[0027] It should be noted that the structures of the several first instrument control mechanisms 21 may be the same or different, and no limitation is made here. The structures of the several second instrument control mechanisms 31 may be the same or different, and no limitation is made here.

[0028] Furthermore, as shown in the appendix Figure 5As shown, the first transmission assembly 20 includes a first lead screw 200 mounted on the frame 10 and a plurality of first motors 201 mounted on the first lead screw 200, with each first motor 201 corresponding to a first instrument control mechanism 21. The second transmission assembly 30 includes a second lead screw 300 mounted on the frame 10 and a plurality of second motors 301 mounted on the second lead screw 300, with each second motor 301 corresponding to a second instrument control mechanism 31. The first lead screw 200 and the second lead screw 300 are mounted side-by-side on the frame 10. In this embodiment, the motors and instrument control mechanisms correspond one-to-one to support independent control of multiple instruments in a dual-channel configuration without interference, enabling flexible control of surgical instruments and improving surgical operability.

[0029] As attached Figure 1 , 2 As shown in Figures 4, 6, 8, and 9, the first instrument control mechanism 21 near the far end of the frame 10 is a two-channel combined mechanism 23, which is equipped with a multi-port Y valve 24. The multi-port Y valve 24 is used to install the support catheter 50, and the first surgical instrument 22 and the second surgical instrument 32 enter the support catheter 50 through the multi-port Y valve 24. Specifically, the two-channel combined mechanism 23 includes a fixing member 231 mounted at the far end of the frame 10, a support delivery wheel pair 232 mounted on the fixing member 231, and a guiding power mechanism 233 connected to the first transmission assembly 20. The multi-port Y valve 24 is mounted on the guiding power mechanism 233. One end of the support conduit 50 is mounted on the third valve body 243 of the multi-port Y valve 24, and its middle part is clamped on the support delivery wheel pair 232. The support delivery wheel pair 232 is used to deliver the support conduit 50. The guiding power mechanism 233 moves linearly along the frame 10 under the drive of the first transmission assembly to deliver the support conduit 50. The guiding power mechanism 233 is also provided with a guiding rotation mechanism (not shown) for rotating the multi-port Y valve to rotate the support conduit 50. It should be noted that... Figures 1 to 4 The multi-way Y valve 24 structure can also be replaced with Figure 7 The multi-way Y valve 24 shown.

[0030] In this embodiment, by setting a multi-port Y valve 24, the first surgical instrument 22 and the second surgical instrument 32 can be jointly inserted into the support catheter 50, providing a basis for the joint entry of the two channels, so as to realize the coordinated delivery of multiple instruments, improve surgical efficiency, shorten the length of the interventional robot from the end, and meet the requirements of the small space of the operating room.

[0031] As attached Figure 1 , 5As shown in Figure 9, the multi-port Y-valve 24 includes a first valve body 241, a second valve body 242, and a third valve body 243 connected in series. The first valve body 241 is used for the first surgical instrument 22 to pass through, and the second valve body 242 is used for the second surgical instrument 32 to pass through. The third valve body 243 is used to install the support conduit 50. The first surgical instrument 22 enters the third valve body 243 through the first valve body 241 to extend into the support conduit 50, and the second surgical instrument 32 enters the third valve body 243 through the second valve body 242 to extend into the support conduit 50. Specifically, in one embodiment, as shown... Figure 7 As shown, the first valve body 241 and the second valve body 242 of the multi-port Y valve 24 are mounted at one end of the third valve body 243. The first valve body 241 and the third valve body 243 are arranged on the same axis, and the second valve body 242 is connected to the first valve body 241 to form an acute angle. This design facilitates the operation of interventional surgical robots for single-channel surgery and makes it convenient to switch between dual-channel and single-channel surgery; or, in another embodiment, such as Figure 6 As shown, the first valve body 241 and the second valve body 242 of the multi-port Y-valve 24 are mounted at one end of the third valve body 243 and are symmetrically arranged along the axis of the third valve body 243. This symmetrical arrangement allows the interventional robot to be approximately symmetrical along the axis of the third valve body 243, resulting in a simple overall structure and ease of production. The first valve body 241, the second valve body 242, and the third valve body 243 of the multi-port Y-valve 24 are connected, ensuring smooth movement of the first surgical instrument 22 and the second surgical instrument 32, as well as surgical safety. It is also compatible with single-channel and dual-channel instrument delivery, accommodating both simple and complex surgical procedures. During single-channel instrument delivery, the first surgical instrument 22 is inserted into the support catheter 50 through the first valve body 241 and the third valve body 243, achieving single-channel delivery and performing simple surgical procedures. Furthermore, the multi-port Y-valve 24 also includes an angiography valve body 244 connected to the first valve body 241, the second valve body 242, and the third valve body 243. The angiography valve body 244 is used for injecting contrast agents.

[0032] As attached Figures 2 to 9As shown, the plurality of first instrument control mechanisms 21 are sequentially a two-channel combined mechanism 23 and a first guidewire control mechanism 25; one of the plurality of second instrument control mechanisms 31 is a second guidewire control mechanism 33; the first surgical instrument 22 includes a first guidewire 51; the second surgical instrument 32 includes a second guidewire 52; during operation, the support catheter 50 is installed on the multi-port Y valve 24 of the two-channel combined mechanism 23, and the two-channel combined mechanism 23 is used to deliver and rotate the support catheter 50; the first guidewire 51 is installed on the first guidewire control mechanism 25. The first guidewire 51 is delivered and rotated via the first valve body 241 of the multi-port Y-valve 24. The second guidewire 52 is installed in the second guidewire control mechanism 33 and enters the support catheter 50 via the second valve body 242 of the multi-port Y-valve 24. The second guidewire control mechanism 33 is used to deliver and rotate the second guidewire 52. In this embodiment, the delivery of one catheter and two guidewires is achieved through a dual-channel system, which can meet the requirement of simultaneous delivery of two guidewires and provides a basis for complex procedures involving multiple instruments. Specifically, the first guide wire control mechanism 25 includes a first guide wire power mechanism 251 mounted on the first transmission assembly 20, a second fast-cross delivery roller pair 250 mounted on the first guide wire power mechanism 251, and a first guide wire rotation mechanism (not shown) for rotating the first fast-cross delivery roller pair 251. The first guide wire power mechanism 251 is used to drive the first guide wire control mechanism 25 to move linearly along the frame 10 to deliver the first guide wire 51. The first guide wire delivery roller pair 251 is used to clamp the first guide wire 51 and rotate it using the roller pair to deliver the first guide wire. The second guide wire control mechanism 33 includes a second guide wire power mechanism 331 mounted on the second transmission assembly 30, a second fast-cross delivery roller pair 330 mounted on the second guide wire power mechanism 331, and a second guide wire rotation mechanism (not shown) for rotating the second fast-cross delivery roller pair 331. The second guide wire power mechanism 331 is used to drive the second guide wire control mechanism 33 to move linearly along the frame 10 to deliver the second guide wire 52. The second guide wire delivery roller pair 331 is used to clamp the second guide wire 52 and rotate it using the roller pair to deliver the second guide wire.

[0033] Appendix Figure 1-4This is a schematic diagram of an interventional robot slave embodiment 1 of this application, delivering 4 catheters and 2 guidewires; specifically, one of the plurality of first instrument control mechanisms 21 is a first catheter control mechanism 26; one of the plurality of second instrument control mechanisms 31 is a second catheter control mechanism 34; the first surgical instrument 22 includes a first catheter 53; the second surgical instrument 32 includes a second catheter 54; the first catheter control mechanism 26 is located between the two-channel combined mechanism 23 and the first guidewire control mechanism 25; the second catheter control mechanism 34 is located at the distal end of the second guidewire control mechanism 33; during operation, the first catheter 53 is... Mounted on the first catheter control mechanism 26, the first catheter control mechanism 26 is used to deliver and rotate the first catheter 53. The first guidewire 51 is inserted into the first catheter 53, and the first catheter 53 and the first guidewire 51 enter the support catheter 50 through the first valve body 241. The second catheter 54 is mounted on the second catheter control mechanism 34, the second catheter control mechanism 34 is used to deliver and rotate the second catheter 54, and the second guidewire 52 is inserted into the second catheter 54. The second catheter 54 and the second guidewire 52 enter the support catheter 50 through the second valve body 242. Further, as shown in the attached... Figure 8 As shown, the two-channel combined mechanism 23 includes a limiting member 230, which is used to install the front end conduit 55. The first guide wire 51, the first conduit 53, the second guide wire 52, the second conduit 54, and the support conduit 50 enter the front end conduit 55. Specifically, the two-channel combined mechanism 23 includes a fixing member 231 installed at the far end of the frame 10, a support delivery wheel pair 232 installed on the fixing member 231, and a guiding power mechanism 233 connected to the first transmission assembly 20; the multi-port Y valve 24 is installed on the guiding power mechanism 233, one end of the support conduit 50 is installed on the third valve body 243 of the multi-port Y valve 24, and the middle part is clamped on the support delivery wheel pair 232. The support delivery wheel pair 232 is used to deliver the support conduit 50, and the guiding power mechanism 233 is used to deliver and rotate the support conduit 50; a support detection device 40 is also provided on the fixing member 231. The support detection device 40 is used to detect whether the support conduit 50 has retracted to a designated position during the retraction process of the support conduit 50. If so, the support delivery wheel pair 232 stops the delivery of the support conduit 50. The interventional surgical robot of this embodiment can control 4 catheters and 2 guidewires. Therefore, it can perform angiography with 1 catheter and 1 guidewire, as well as complex procedures such as stent-assisted coil embolization of intracranial aneurysms. It is compatible with multiple procedures, which improves the practicality of the interventional surgical robot. At the same time, by setting up a support detection device 40, the instrument can be automatically withdrawn, which improves the efficiency of the operation.

[0034] As attached Figures 2 to 8 As shown, the first catheter control mechanism 26 includes a first catheter delivery wheel pair 260 disposed on the two-channel combined mechanism 23. The first catheter delivery wheel pair 260 is located at the distal end of the first valve body 241 and is used to deliver the first catheter 53. The first catheter control mechanism 26 also includes a first catheter power mechanism 261 connected to the first transmission assembly 20. The first catheter power mechanism 261 includes a first catheter Y valve 262 and a first catheter rotation mechanism (not shown) for rotating the first catheter Y valve 262. The second catheter control mechanism 34 includes a second catheter delivery wheel pair 340 disposed on the two-channel combined mechanism 23. The second catheter delivery wheel pair 340 is located at the distal end of the second valve body 242 and is used to deliver the second catheter 54. The second catheter control mechanism 34 also includes a first catheter delivery wheel pair 340 connected to the second transmission assembly 20. The second catheter power mechanism 341, connected to component 30, includes a second catheter Y-valve 342 and a second catheter rotation mechanism (not shown) for rotating the second catheter Y-valve 342. A first catheter detection device 41 and a second catheter detection device 42 are disposed between the first valve body 241 and the first catheter delivery wheel pair 260. The first catheter detection device 41 detects whether the first catheter 53 has retracted to a designated area; if so, it controls the first catheter delivery wheel pair 260 to stop the retraction of the first catheter 53. The second catheter detection device 42 detects whether the second catheter 54 has retracted to a designated area; if so, it controls the second catheter delivery wheel pair 340 to stop the retraction of the second catheter 54. In this embodiment, by setting the first catheter detection device 41 and the second catheter detection device 42, the automatic retraction of the first catheter 53 and the second catheter 54 is achieved, improving the automation performance of the interventional robot. Using the interventional surgical robot of this embodiment, the device compatibility of the interventional surgical robot is improved, and the range of indications is expanded. Doctors only need to disassemble and install instruments outside the patient's body, avoiding repeated entry and exit from the operating room. This greatly improves surgical efficiency, enhances automation, frees up doctors, and reduces radiation exposure.

[0035] Specifically, the first catheter control mechanism 26 further includes a first catheter power mechanism 261 connected to the first transmission assembly 20. The first catheter power mechanism 261 includes a first catheter Y valve 262 and a first catheter rotation mechanism (not shown) for rotating the first catheter Y valve 262. The second catheter control mechanism 34 further includes a second catheter power mechanism 341 connected to the second transmission assembly 30. The second catheter power mechanism 341 includes a second catheter Y valve 342 and a second catheter rotation mechanism (not shown) for rotating the second catheter Y valve 342.

[0036] like Figure 2As shown, in the initial stage, the support conduit 50 between the support delivery wheel pair 232 and the third valve body 243, the first conduit 53 between the first conduit delivery wheel pair 260 and the first conduit Y valve 262 are in a bent state, and the first guide wire 51 inserted into the first conduit 53 is in a bent state. First, the support delivery wheel pair 232, the first guide wire 51 roller pair, and the first conduit delivery wheel pair 260 are used to deliver each first surgical instrument 22. When the first surgical instrument 22 is straightened, the first instrument control mechanism 21 is driven to move linearly by the first transmission component 20 to deliver the corresponding first surgical instrument 22. Using the interventional robot of this application, the first surgical instrument 22 can be delivered in a bent manner, which is conducive to the miniaturization of the interventional robot from the end, adapting to the small operating room space and improving practicality; the delivery of the second surgical instrument 32 adopts the same working principle.

[0037] As attached Figures 1 to 4 As shown in Figures 8 and 9, the first guidewire control mechanism 25 includes a first guidewire delivery wheel pair 250 for delivering the first guidewire 51, and the second guidewire control mechanism 33 includes a second guidewire delivery wheel pair 330 for delivering the second guidewire 52. A first guidewire detection device 43 is also provided on the first catheter power mechanism 261, and the first guidewire detection device 43 is located at the distal end of the first catheter Y valve 262. A second guidewire detection device 44 is also provided on the second catheter power mechanism 341, and the second guidewire detection device 44 is located at the distal end of the second catheter Y valve 342. The first guidewire detection device 43 is used to detect whether the first guidewire 51 has retracted to a designated area. If so, it controls the first guidewire delivery wheel pair 250 to stop the retraction of the first guidewire 51. The second guidewire detection device 44 is used to detect whether the second guidewire 52 has retracted to a designated area. If so, it controls the second guidewire delivery wheel pair 330 to stop the retraction of the second guidewire 52. By setting up a first guidewire detection device 43 and a second guidewire detection device 44, the first guidewire 51 and the second guidewire 52 can be automatically retracted, which improves the automatic performance of the interventional robot, frees up doctors, and reduces radiation.

[0038] Appendix Figure 8 and 9 This is a schematic diagram of the second embodiment of the interventional robot in this application, which is compatible with 1 catheter, 2 quick-connectors, and 2 guidewires. Specifically, it also includes a first quick-connector control mechanism 27 disposed in the first instrument delivery channel and a second quick-connector control mechanism 35 disposed in the second instrument delivery channel; the first surgical instrument 22 includes a first quick-connector 56; the second surgical instrument 32 includes a second quick-connector 57. The first fast-exchange control mechanism 27 is mounted on the first guidewire control mechanism 25 and located at the distal end of the first guidewire control mechanism 25, and is used to deliver the first fast-exchange 56; the second fast-exchange control mechanism 35 is mounted on the second guidewire control mechanism 33 and located at the distal end of the second guidewire control mechanism 33, and is used to deliver the second fast-exchange 57. During operation, the first quick-connector 56 is mounted on the first quick-connector control mechanism 27, which is used to deliver and rotate the first quick-connector 56. The first guide wire 51 is inserted into the side wall of the first quick-connector 56, and the first quick-connector 56 and the first guide wire 51 enter the support conduit 50 through the first valve body 241. The second quick-connector 57 is mounted on the second quick-connector control mechanism 35, which is used to deliver and rotate the second quick-connector 57. The second guidewire 52 passes through the side wall of the second quick-connector 57, and the second quick-connector 57 and the second guidewire 52 enter the support catheter 50 through the second valve body 242. Specifically, the first quick-connector control mechanism 27 also includes a first quick-connector delivery wheel pair 270 for delivering the first quick-connector 56; the second quick-connector control mechanism 35 also includes a second quick-connector delivery wheel pair 350 for delivering the second quick-connector 57. The interventional surgical robot of this embodiment can achieve delivery of 1 catheter, 2 guidewires, and 2 quick-connectors, and is suitable for complex procedures such as double-balloon kissing surgery for coronary bifurcation lesions, improving the device compatibility of the interventional surgical robot and expanding the range of indications that can be treated. Furthermore, the first and second fast-intersection control mechanisms 27 and 35 are also equipped with fast-intersection bifurcation detection devices to detect whether the connection points of the first guidewire 51 and the first fast-intersection 56, and the connection points of the second guidewire 52 and the second fast-intersection 57, have retracted to the designated positions. If so, the first and second fast-intersection control mechanisms 27 and 35 respectively stop the retraction of the second guidewire 52 and the second fast-intersection 57, improving the automation performance of the interventional robot, greatly increasing surgical efficiency, eliminating the need for doctors to repeatedly enter and exit the operating room, freeing up doctors, and reducing radiation exposure. It should be noted that... Figure 8 and 9 The multi-way Y valve 24 structure can also be replaced with Figure 6 The multi-way Y valve 24 shown.

[0039] Those skilled in the art will understand that all or part of the steps in the above methods can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk. Optionally, all or part of the steps in the above embodiments can also be implemented using one or more integrated circuits. Accordingly, each module / unit in the above embodiments can be implemented in hardware or as a software functional module. This invention is not limited to any particular combination of hardware and software.

[0040] 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.

[0041] 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-drive instrument channel intervention robot, characterized in that, include: A frame, a first transmission assembly and a second transmission assembly independently and horizontally mounted side by side on the frame; a plurality of first instrument control mechanisms mounted on the first transmission assembly and independently driven by the first transmission assembly to perform linear movement to form a first instrument delivery channel; a plurality of second instrument control mechanisms mounted on the second transmission assembly and independently driven by the second transmission assembly to perform linear movement to form a second instrument delivery channel; During operation, a plurality of first surgical instruments are installed on the first instrument delivery channel, and the first instrument control mechanism drives the plurality of first surgical instruments to move; a plurality of second surgical instruments are installed on the second instrument delivery channel, and the second instrument control mechanism drives the plurality of second surgical instruments to move. The first instrument control mechanism near the far end of the frame is a two-channel combined mechanism. The two-channel combined mechanism includes a fixing member installed at the far end of the frame, a support delivery wheel pair installed on the fixing member, and a guiding power mechanism connected to the first transmission assembly. The guiding power mechanism moves linearly along the frame under the drive of the first transmission assembly to deliver the support catheter. The two-channel combined mechanism includes a limiting member for installing the front end catheter.

2. The dual-drive instrument channel intervention robot according to claim 1, characterized in that: The two-channel combined mechanism is equipped with a multi-port Y-valve; the multi-port Y-valve is used to install a support catheter, and the first surgical instrument and the second surgical instrument enter the support catheter through the multi-port Y-valve.

3. The dual-drive instrument channel intervention robot according to claim 2, characterized in that: The multi-port Y-valve includes a first valve body, a second valve body, and a third valve body that are connected. The first valve body is used for the insertion of the first surgical instrument, and the second valve body is used for the insertion of the second surgical instrument. The third valve body is used to install the support catheter. The first surgical instrument enters the third valve body through the first valve body to extend into the support catheter, and the second surgical instrument enters the third valve body through the second valve body to extend into the support catheter.

4. The dual-drive instrument channel intervention robot according to claim 3, characterized in that: The plurality of first instrument control mechanisms are sequentially a two-channel combined mechanism and a first guidewire control mechanism; one of the plurality of second instrument control mechanisms is a second guidewire control mechanism; The first surgical instrument includes a first guidewire; the second surgical instrument includes a second guidewire. During operation, the support conduit is installed in the multi-way Y-valve of the two-channel combined mechanism, which is used to deliver and rotate the support conduit; the first guidewire is installed in the first guidewire control mechanism and enters the support conduit through the first valve body of the multi-way Y-valve, which is used to deliver and rotate the first guidewire; the second guidewire is installed in the second guidewire control mechanism and enters the support conduit through the second valve body of the multi-way Y-valve, which is used to deliver and rotate the second guidewire.

5. The dual-drive instrument channel intervention robot according to claim 4, characterized in that: One of the plurality of first instrument control mechanisms is a first catheter control mechanism; one of the plurality of second instrument control mechanisms is a second catheter control mechanism; the first surgical instrument includes a first catheter; the second surgical instrument includes a second catheter; The first catheter control mechanism is located between the two-channel combined mechanism and the first guidewire control mechanism; the second catheter control mechanism is located at the distal end of the second guidewire control mechanism; During operation, the first catheter is mounted on the first catheter control mechanism, which is used to deliver and rotate the first catheter. The first guidewire is inserted into the first catheter, and the first catheter and the first guidewire enter the support catheter through the first valve body. The second catheter is mounted on the second catheter control mechanism, which is used to deliver and rotate the second catheter. The second guidewire is inserted into the second catheter, and the second catheter and the second guidewire enter the support catheter through the second valve body.

6. The dual-drive instrument channel intervention robot according to claim 5, characterized in that: The first guidewire, the first catheter, the second guidewire, the second catheter, and the support catheter enter the front catheter.

7. The dual-drive instrument channel intervention robot according to claim 6, characterized in that: The multi-port Y-valve is installed on the guiding power mechanism. One end of the support conduit is installed on the third valve body of the multi-port Y-valve, and its middle part is clamped on the support delivery wheel pair. The support delivery wheel pair is used to deliver the support conduit, and the guiding power mechanism is used to deliver and rotate the support conduit. A support detection device is also provided on the fixing member. The support detection device is used to detect whether the support guide has been retracted to a designated position during the retraction of the support guide. If so, the support delivery wheel pair stops the delivery of the support guide.

8. The dual-drive instrument channel intervention robot according to claim 7, characterized in that: The first catheter control mechanism includes a first catheter delivery wheel pair disposed on the two-channel combined mechanism, the first catheter delivery wheel pair being located near the proximal end of the first valve body for delivering the first catheter; the second catheter control mechanism includes a second catheter delivery wheel pair disposed on the two-channel combined mechanism, the second catheter delivery wheel pair being located near the proximal end of the second valve body for delivering the second catheter; a first catheter detection device is disposed between the first valve body and the first catheter delivery wheel pair, and a second catheter detection device is disposed between the second valve body and the second catheter delivery wheel pair; The first catheter detection device is used to detect whether the first catheter has been retracted to a designated area. If so, it controls the first catheter delivery wheel to stop the retraction of the first catheter. The second catheter detection device is used to detect whether the second catheter has retracted to the designated area. If so, it controls the second catheter delivery wheel to stop the retraction of the second catheter.

9. The dual-drive instrument channel intervention robot according to claim 5, characterized in that: The first catheter control mechanism includes a first catheter power mechanism connected to the first transmission assembly, the first catheter power mechanism including a first catheter Y valve and a first catheter rotation mechanism for rotating the first catheter Y valve; the second catheter control mechanism includes a second catheter power mechanism connected to the second transmission assembly, the second catheter power mechanism including a second catheter Y valve and a second catheter rotation mechanism for rotating the second catheter Y valve; The first guidewire control mechanism includes a first guidewire delivery wheel pair for delivering the first guidewire, and the second guidewire control mechanism includes a second guidewire delivery wheel pair for delivering the second guidewire; A first guidewire detection device is also provided on the first catheter power mechanism, and the first guidewire detection device is located at the distal end of the first catheter Y valve; a second guidewire detection device is also provided on the second catheter power mechanism, and the second guidewire detection device is located at the distal end of the second catheter Y valve; The first guidewire detection device is used to detect whether the first guidewire has retracted to a designated area. If so, it controls the first guidewire delivery wheel to stop the retraction of the first guidewire. The second guidewire detection device is used to detect whether the second guidewire has retracted to a designated area. If so, it controls the second guidewire delivery wheel to stop the retraction of the second guidewire.

10. The dual-drive instrument channel intervention robot according to claim 9, characterized in that: It also includes a first rapid-change control mechanism disposed in the first instrument delivery channel and a second rapid-change control mechanism disposed in the second instrument delivery channel; the first surgical instrument includes the first rapid-change control mechanism; the second surgical instrument includes the second rapid-change control mechanism; The first fast-crossing control mechanism is mounted on the first guidewire control mechanism and located at the distal end of the first guidewire control mechanism, and is used to deliver the first fast-crossing; the second fast-crossing control mechanism is mounted on the second guidewire control mechanism and located at the distal end of the second guidewire control mechanism, and is used to deliver the second fast-crossing. During operation, the first quick-connector is mounted on the first quick-connector control mechanism, which is used to deliver and rotate the first quick-connector. The first guide wire passes through the side wall of the first quick-connector, and the first quick-connector and the first guide wire enter the support conduit through the first valve body. The second quick-connector is mounted on the second quick-connector control mechanism, which is used to deliver and rotate the second quick-connector. The second guide wire passes through the side wall of the second quick-connector, and the second quick-connector and the second guide wire enter the support conduit through the second valve body.

11. The dual-drive instrument channel intervention robot according to claim 1, characterized in that: The first transmission assembly includes a first lead screw and a plurality of first motors mounted on the first lead screw, each of the first motors corresponding to one of the first instrument control mechanisms; the second transmission assembly includes a second lead screw and a plurality of second motors mounted on the second lead screw, each of the second motors corresponding to one of the second instrument control mechanisms; the first lead screw and the second lead screw are mounted side by side on the frame.

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