A micro-transmission robot for ablation probe used in ultrasonic catheters

Abstract

The invention relates to the technical field of ultrasonic therapy, and discloses an ablation probe micro-delivery robot for an ultrasonic catheter, which solves the problem of poor delivery effect. The robot comprises an ultrasonic catheter, a catheter sealing head is fixed to the right end of the ultrasonic catheter, a vehicle body is arranged inside the ultrasonic catheter, a plurality of reversing rods are arranged at the left end of the vehicle body, two sealing plates are arranged at the left ends of the plurality of reversing rods, a plurality of moving rods are arranged on the outer sides of the left and right ends of the vehicle body, a moving ball is arranged on the outer side of each of the moving rods, a plurality of positioning rods are arranged between two groups of the moving rods, an ultrasonic probe is arranged on the top of the vehicle body, a connecting rope positioning disk is arranged at the bottom of the vehicle body, an open head is arranged at the bottom of the vehicle body, and an ablation probe is arranged at the right end of the open head; the device can drive the vehicle body to move inside the ultrasonic catheter by rotating the moving ball, thereby ensuring the accuracy of ablation, thereby ensuring the ablation effect, and at the same time improving the accuracy and delivery efficiency of the delivery probe.

Description

Technical Field

[0001] The invention belongs to the technical field of ultrasonic therapy, and in particular relates to a micro-transport robot for an ablation probe used for an ultrasonic catheter. Background Art

[0002] Ultrasound catheter ablation technology is based on the principle of high-intensity focused ultrasound (HIFU), which uses ultrasound to penetrate human tissue without damage and focus in the body to achieve the purpose of destroying tissue. The micro-delivery robot for the ablation probe used in ultrasound catheters is an important part of ultrasound catheter ablation technology. Through its miniaturized design and precise delivery capabilities, it can accurately deliver the ablation probe to the lesion site to achieve precise treatment.

[0003] The existing ablation probe is usually fixed in an ultrasonic catheter, and the ultrasonic catheter is controlled in vitro to achieve the purpose of controlling the ablation probe. However, this method has low movement accuracy and low delivery efficiency. At the same time, this method has poor ablation effect. Therefore, the present invention proposes an ablation probe micro-delivery robot for an ultrasonic catheter. Summary of the invention

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides an ablation probe micro-delivery robot for an ultrasonic catheter, which effectively solves the problems raised in the above background.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an ablation probe micro-delivery robot for an ultrasonic catheter, comprising an ultrasonic catheter, a catheter sealing head is fixed to the right end of the ultrasonic catheter, a probe irradiation hole is arranged on the left side of the catheter sealing head, a sealing film is arranged outside the probe irradiation hole, a vehicle body is arranged inside the ultrasonic catheter, a plurality of reversing rods are arranged on the left end of the vehicle body, two sealing plates are arranged on the left ends of the plurality of reversing rods, a plurality of moving rods are arranged on the outer sides of the left and right ends of the vehicle body, a moving ball is arranged on the outer side of each of the moving rods, a plurality of positioning rods are arranged between the two groups of the moving rods, a controller is fixed to the front side of the top end of the vehicle body, a power supply is fixed to the rear side of the top end of the vehicle body, A mobile camera is fixed to the right end of the vehicle body, and a plurality of rotating motors are fixed to the left end of the vehicle body. The right end of each rotating motor is rotatably connected to a rotating shaft, and each rotating shaft is rotatably connected to the vehicle body. A vehicle top cavity is provided on the top of the vehicle body, and an ultrasonic probe is provided inside the vehicle top cavity. A vehicle bottom cavity is provided at the bottom of the vehicle body, and a connecting rope positioning plate is provided inside the vehicle bottom cavity. A fixed rod is fixed to the right end of the vehicle body, and a vertical moving rod is fixed to the bottom of the fixed rod. An open head is provided at the bottom of the vertical moving rod, and a positioning block is provided at the right end of the open head. An ablation probe clamping sub-ring is fixed to the right end of the positioning block, and an ablation probe is slidably connected inside the ablation probe clamping sub-ring.

[0006] Preferably, a sealing ring is fixed between the two sealing plates, a sealing plate positioning rod is fixed to the right side of the sealing plate at the right end, the right side of the sealing plate positioning rod is fixedly connected to the reversing rod, an air pipe is fixed to the right end of the sealing plate at the right end, a solenoid valve is fixed to the right end of the air pipe, an air pump is fixed to the right end of the solenoid valve through a pipeline, a gas tank is fixed to the right end of the air pump through a pipeline, and the air pump and the solenoid valve are fixed to the lower surface of the top cavity of the vehicle body.

[0007] Preferably, a reversing rod controller is fixed to the right end of the reversing rod, a reversing wheel positioning plate is fixed to the outside of each reversing rod, each reversing wheel positioning plate is rotatably connected to a reversing wheel via a rotating shaft, a reversing wheel sub-gear is fixed to the left end of each reversing wheel via a rotating shaft, each reversing wheel sub-gear is meshedly connected to a reversing wheel main gear, a reversing wheel motor is rotatably connected to the right side of each reversing wheel main gear, each reversing wheel motor is fixedly connected to the reversing wheel positioning plate on its right side, and the right end of the reversing rod is fixedly connected to the vehicle body via a fixing rod.

[0008] Preferably, each group of the moving rods is fixedly connected to the rotating shaft inside it, a moving rod controller is fixed to the top of each moving rod, a moving ball positioning plate is fixed to the outer end of each moving rod, each moving ball is rotatably connected to the moving ball inside it through a rotating shaft, a moving ball sub-gear is fixed to the top of each moving ball and the rotating shaft, each moving ball sub-gear is meshingly connected to a moving ball main gear, each moving ball main gear is rotatably connected to a moving ball motor at the bottom, and each moving ball motor is fixedly connected to the moving ball positioning plate at its bottom.

[0009] Preferably, each of the rotating shafts is also fixedly connected to the positioning rod outside thereof, each of the positioning rods is rotatably connected to the vehicle body via the rotating shaft, a positioning rod controller is fixed to the top of each positioning rod, and a positioning head is fixed to the outer end of each positioning rod.

[0010] Preferably, two groups of ultrasonic probe positioning plates are further provided inside the top of the vehicle body, and the two groups of ultrasonic probe positioning plates are slidably connected to the ultrasonic probe. The outer end of each ultrasonic probe positioning plate is fixed with a connecting plate through a fixing rod, and an ultrasonic probe clamping rod is provided on the outer side of each connecting plate. The outer side of each ultrasonic probe clamping rod is fixedly connected to the front and rear ends of the vehicle body top cavity.

[0011] Preferably, the rear portion of the rear connecting plate is rotatably connected to an ultrasonic probe rotating motor via a rotating shaft, the front portion of the front connecting plate is fixed with an ultrasonic probe clamping bearing via a fixing rod, the ultrasonic probe rotating motor is fixedly connected to the ultrasonic probe clamping rod at the rear end, the front end of the outer ring of the ultrasonic probe clamping bearing is fixedly connected to the ultrasonic probe clamping rod at the front end, and an ultrasonic probe clamping controller is fixed to the top of each ultrasonic probe clamping rod.

[0012] Preferably, a connecting rope positioning disk is provided inside the bottom end of the vehicle body, a connecting rope positioning shaft is fixed inside the connecting rope positioning disk, an ablation probe connecting rope is wound inside the connecting rope positioning disk, the other end of the ablation probe connecting rope is fixedly connected to the ablation probe, the connecting rope positioning disk is rotatably connected to connecting rope positioning plates at the front and rear sides, the top of the connecting rope positioning plate is fixedly connected to the bottom cavity of the vehicle body, a connecting rope spring is fixedly connected to the rear end of the connecting rope positioning shaft, and the other end of the connecting rope spring is fixedly connected to the connecting rope positioning plate.

[0013] Preferably, the outside of the ablation probe is also slidably connected to an ablation probe clamping main ring, and the ablation probe clamping main ring is rotatably connected to the positioning block via a rotating shaft, a clamping main ring motor is fixed to the top of the positioning block, and the clamping main ring motor is rotatably connected to the ablation probe clamping main ring via a rotating shaft, the left end of the positioning block is rotatably connected to a fixed block via a rotating shaft, an ablation probe reversing motor is fixed to the rear of the fixed block, and the ablation probe reversing motor is rotatably connected to the positioning block via a rotating shaft.

[0014] Preferably, the left side of the fixed block is fixedly connected to the vertical moving rod, the bottom end of the vertical moving rod is rotatably connected to an open head positioning block via a rotating shaft, the bottom of the open head positioning block is fixedly connected to the open head, an open head motor is fixed to the rear end of the vertical moving rod, the open head motor is rotatably connected to the open head positioning block via a rotating shaft, a vertical movement controller is fixed to the top right side of the vertical moving rod, a connecting rope positioning ring is fixed to the top of the fixed rod via the fixed rod, and the connecting rope positioning ring is slidably connected to the ablation probe connecting rope.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention can transport the gas in the gas tank to the inside of the sealing plate through the cooperation of the air pump and the electromagnetic valve, so that the sealing ring can be deformed, so that the sealing ring is closely attached to the inner wall of the ultrasonic catheter, thereby ensuring the sealing of the ultrasonic catheter, thereby preventing blood from flowing out of the body along the ultrasonic catheter, thereby preventing the patient from losing too much blood, and thus ensuring the safety of the patient;

[0017] The present invention drives the reversing rod to extend and retract through the reversing rod controller, which can drive the reversing rod controller to be close to the ultrasonic catheter. Further, the reversing wheel motor drives the reversing wheel main gear to work, which can drive the reversing wheel sub-gear to rotate, thereby driving the reversing wheel to rotate, thereby driving the vehicle body to rotate around the axis of the ultrasonic catheter, so that the opening head can be rotated to just above the irradiation hole of the probe, so as to facilitate the opening head to pierce the sealing film, thereby ensuring the piercing effect of the sealing film, and at the same time ensuring the piercing accuracy of the opening head, thereby ensuring the ablation effect of the ablation probe, thereby improving the ablation efficiency;

[0018] The present invention drives the moving rod to extend and retract through the moving rod controller, which can drive the moving ball to be close to the inner wall of the ultrasonic catheter. At the same time, the device drives the moving ball main gear to rotate through the moving ball motor, which can drive the moving ball auxiliary gear to rotate, thereby driving the moving ball to rotate, thereby driving the vehicle body to move inside the ultrasonic catheter. At the same time, the device drives the positioning rod to extend and retract through the positioning rod controller, which can drive the positioning head to be close to the inner wall of the ultrasonic catheter, thereby achieving the purpose of positioning the vehicle body, thereby ensuring the accuracy of ablation, thereby ensuring the ablation effect, and improving the ablation efficiency, while improving the accuracy and delivery efficiency of the delivery probe;

[0019] The present invention drives the ultrasound probe clamping rod to extend and retract through the ultrasound probe clamping controller, which can drive the ultrasound probe positioning plate to move, so as to clamp the ultrasound probe. At the same time, the device drives the connection plate to rotate through the rotation of the ultrasound probe rotating motor, thereby driving the ultrasound probe positioning plate to rotate, and then driving the ultrasound probe to rotate. Further, by cooperating with the ultrasound catheter, the ultrasound probe can monitor any position in the patient's body, thereby ensuring the monitoring ablation effect.

[0020] The present invention achieves the purpose of clamping the ablation probe by driving the ablation probe clamping main ring to rotate through the clamping main ring motor, thereby facilitating the replacement of the ablation probe, thereby increasing the service life of the equipment. At the same time, the equipment can move the ablation probe up and down and turn at the same time through the cooperation of the vertical movement controller and the ablation probe reversing motor, thereby ensuring that the ablation probe can reach any desired ablation position in the patient's body, thereby ensuring the accuracy of ablation, thereby ensuring the ablation effect, and thereby improving the ablation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0022] In the attached picture:

[0023] Figure 1 It is a main schematic diagram of the present invention;

[0024] Figure 2 It is the internal schematic diagram of the present invention;

[0025] Figure 3 It is an enlarged schematic diagram of the interior of the present invention;

[0026] Figure 4 It is an enlarged schematic diagram of the vehicle body of the present invention;

[0027] Figure 5 It is a schematic diagram of the bottom of the vehicle body of the present invention;

[0028] Figure 6 It is an enlarged schematic diagram of the right end of the vehicle body of the present invention;

[0029] Figure 7 It is a schematic diagram of the reversing mechanism of the present invention;

[0030] Figure 8 It is a schematic diagram of the mobile positioning mechanism of the present invention;

[0031] Fig. 9 It is a schematic diagram of the ultrasonic probe clamping mechanism of the present invention;

[0032] Fig.10 It is an enlarged schematic diagram of the bottom of the vehicle body of the present invention;

[0033] Fig.11 It is an enlarged schematic diagram of the ablation probe of the present invention.

[0034] In the figure: 1-ultrasound catheter; 2-sealing plate; 3-vehicle body; 4-reversing rod; 5-moving rod; 6-positioning rod; 7-ultrasound probe; 8-ablation probe; 9-opening head; 101-sealing film; 102-catheter sealing head; 103-probe irradiation hole; 201-sealing ring; 202-gas delivery pipe; 203-sealing plate positioning rod; 204-solenoid valve; 205-air pump; 206-gas tank; 301-controller; 302 -power supply; 303-mobile camera; 304-rotating motor; 305-rotating shaft; 306-top cavity of vehicle body; 307-bottom cavity of vehicle body; 401-reversing rod controller; 402-reversing wheel; 403-reversing wheel positioning plate; 404-reversing wheel secondary gear; 405-reversing wheel main gear; 406-reversing wheel motor; 501-moving rod controller; 502-moving ball; 503-moving ball positioning plate; 504-moving ball main gear Gear; 505-moving ball motor; 506-moving ball sub-gear; 601-positioning rod controller; 602-positioning head; 701-ultrasound probe positioning plate; 702-connecting plate; 703-ultrasound probe rotating motor; 704-ultrasound probe clamping rod; 705-ultrasound probe clamping controller; 706-ultrasound probe clamping bearing; 801-ablation probe clamping main ring; 802-ablation probe connecting rope; 803-connecting rope positioning plate; 804-connecting rope positioning plate; 805-connecting rope spring; 806-positioning block; 807-fixing block; 808-clamping main ring motor; 809-ablation probe reversing motor; 810-connecting rope positioning ring; 811-ablation probe clamping sub-ring; 812-connecting rope positioning shaft; 901-open head positioning block; 902-open head motor; 903-vertical moving rod; 904-vertical moving controller; 905-fixing rod. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0036] Embodiment 1, by Figure 1-6 , Fig.10The invention provides an ultrasonic catheter 1, which includes an ultrasonic catheter 1 made of a soft material, and provides a path for the vehicle body 3. A catheter sealing head 102 is fixed to the right end of the ultrasonic catheter 1, and the catheter sealing head 102 is made of a soft material. The catheter sealing head 102 can ensure the sealing of the ultrasonic catheter 1. A probe irradiation hole 103 is provided on the left side of the catheter sealing head 102, and the probe irradiation hole 103 provides a path for the ablation probe 8. A sealing film 101 is provided outside the probe irradiation hole 103, and the sealing film 101 is made of a protein film, and the sealing film 101 can be dissolved in blood. The sealing film 101 is used to ensure the sealing of the probe irradiation hole 103. A vehicle body 3 is provided at the left end of the vehicle body 3, the vehicle body 3 is made of alloy material, the vehicle body 3 is used to position the moving rod 5, a plurality of reversing rods 4 are provided at the left end of the vehicle body 3, the reversing rods 4 are made of alloy material, the reversing rods 4 are retractable, so that the reversing wheel 402 can be closely attached to the inner wall of the ultrasonic catheter 1, two sealing plates 2 are provided at the left ends of the plurality of reversing rods 4, the sealing plates 2 are made of alloy material, the sealing plates 2 are used to position the sealing ring 201, a plurality of moving rods 5 are provided on the outer sides of the left and right ends of the vehicle body 3, the moving rods 5 are retractable, so that the moving ball 502 can be closely attached to the inner wall of the ultrasonic catheter 1, a moving ball 502 is provided on the outer side of each moving rod 5, the moving ball 502 is spherical in structure, the The moving ball 502 is made of rubber material, and the moving ball 502 can drive the vehicle body 3 to move inside the ultrasonic catheter 1. A plurality of positioning rods 6 are arranged between the two groups of the moving rods 5, and the positioning rods 6 are retractable, so as to drive the positioning head 602 to be close to the inner wall of the ultrasonic catheter 1, so as to achieve the purpose of positioning the vehicle body 3. A controller 301 is fixed to the front side of the top of the vehicle body 3, and the controller 301 is used to control the entire device. A power supply 302 is fixed to the rear side of the top of the vehicle body 3, and the power supply 302 provides the required energy for the entire device. A moving camera 303 is fixed to the right end of the vehicle body 3, and the moving camera 303 is used to monitor the movement of the vehicle body 3. A plurality of rotating motors are fixed to the left end of the vehicle body 3. 304, the rotating motor 304 can drive the rotating shaft 305 to rotate, and the right end of each rotating motor 304 is rotatably connected with the rotating shaft 305, and the rotating shaft 305 is made of alloy material. The rotating shaft 305 is used to position the moving rod 5 and the positioning rod 6. Each rotating shaft 305 is rotatably connected with the vehicle body 3. The top of the vehicle body 3 is provided with a vehicle body top cavity 306, and the vehicle body top cavity 306 is used to position the gas tank 206. An ultrasonic probe 7 is arranged inside the vehicle body top cavity 306, and the ultrasonic probe 7 is used to monitor the situation of the desired ablation position in the patient's body, so as to transmit data to an external device. The bottom of the vehicle body 3 is provided with a vehicle body bottom cavity 307, and the vehicle body bottom cavity 307 is used to position the connecting rope positioning plate 804.A connection rope positioning plate 803 is provided inside the bottom cavity 307 of the vehicle body. The connection rope positioning plate 803 is made of alloy material. The connection rope positioning plate 803 is used to wind the ablation probe connection rope 802. A fixing rod 905 is fixed to the right end of the vehicle body 3. The fixing rod 905 is made of alloy material. The fixing rod 905 is used to fix the vertical moving rod 903. A vertical moving rod 903 is fixed to the bottom of the fixing rod 905. The vertical moving rod 903 is retractable, thereby driving the fixing block 807 to move up and down. An opening head 9 is provided at the bottom of the vertical moving rod 903. The opening head 9 is conical. The structure of the opening head 9 is made of rubber material. The opening head 9 is used to pierce the sealing film 101. The right end of the opening head 9 is provided with a positioning block 806. The positioning block 806 is made of alloy material. The positioning block 806 can drive the ablation probe 8 to rotate. The right end of the positioning block 806 is fixed with an ablation probe clamping sub-ring 811. The ablation probe clamping sub-ring 811 is made of alloy material. The ablation probe clamping sub-ring 811 is used to clamp the ablation probe 8. The ablation probe clamping sub-ring 811 is slidably connected with the ablation probe 8. The ablation probe 8 is used to ablate local tissue inside the heart.

[0037] Embodiment 2, based on embodiment 1, Figure 7-8It is given that a sealing ring 201 is fixed between the two sealing plates 2, and the sealing ring 201 is made of rubber material. The sealing ring 201 is retractable, so as to ensure the sealing of the ultrasonic catheter 1. A sealing plate positioning rod 203 is fixed on the right side of the sealing plate 2 at the right end. The sealing plate positioning rod 203 is made of alloy material. The sealing plate positioning rod 203 is used to fix the sealing plate 2. The right side of the sealing plate positioning rod 203 is fixedly connected to the reversing rod 4. An air supply pipe 202 is fixed on the right end of the sealing plate 2 at the right end. The air supply pipe 202 is made of rubber material. The air supply pipe 202 can transport the required gas to the inside of the sealing plate 2. A solenoid valve 204 is fixed on the right end of the air supply pipe 202. The solenoid valve 2 An air pump 205 is fixed to the right end of 04 through a pipeline, and the solenoid valve 204 and the air pump 205 cooperate to transport the gas inside the gas tank 206 to the inside of the sealing plate 2, and a gas tank 206 is fixed to the right end of the air pump 205 through a pipeline, and the air pump 205 and the solenoid valve 204 are fixed to the lower surface of the vehicle body top cavity 306, and a reversing rod controller 401 is fixed to the right end of the reversing rod 4, and the reversing rod controller 401 is used to control the extension and retraction of the reversing rod 4, and a reversing wheel positioning plate 403 is fixed to the outside of each reversing rod 4, and the reversing wheel positioning plate 403 is made of alloy material, and the reversing wheel positioning plate 403 is used to position the reversing wheel 402 inside it, and each reversing wheel positioning plate 403 has a reversing wheel positioning plate 403. A reversing wheel 402 is rotatably connected via a rotating shaft, and the reversing wheel 402 is made of rubber material. The reversing wheel 402 can drive the vehicle body 3 to turn inside the ultrasonic catheter 1 by rotating. A reversing wheel sub-gear 404 is fixed to the left end of each reversing wheel 402 via a rotating shaft, and the reversing wheel sub-gear 404 can drive the reversing wheel 402 to rotate. Each reversing wheel sub-gear 404 is meshedly connected with a reversing wheel main gear 405, and the reversing wheel main gear 405 can drive the reversing wheel sub-gear 404 to rotate. A reversing wheel motor 406 is rotatably connected to the right side of each reversing wheel main gear 405, and the reversing wheel motor 406 can drive the reversing wheel main gear 405 to rotate. Each reversing wheel motor 406 and its right side The reversing wheel positioning plate 403 is fixedly connected, the right end of the reversing rod 4 is fixedly connected to the vehicle body 3 through a fixed rod, each group of the moving rods 5 is fixedly connected to the rotating shaft 305 inside thereof, a moving rod controller 501 is fixed on the top of each of the moving rods 5, and the moving rod controller 501 can drive the moving rod 5 at the bottom thereof to extend and retract, a moving ball positioning plate 503 is fixed on the outer end of each of the moving rods 5, and the moving ball positioning plate 503 is used to position the moving ball 502, each of the moving balls 502 is rotationally connected to the moving ball 502 inside thereof through a rotating shaft, a moving ball pair gear 506 is fixed on the top of each of the moving balls 502 and the same rotating shaft, and the moving ball pair gear 506 can drive the moving ball 502 to rotate,Each of the moving ball sub-gears 506 is meshedly connected with a moving ball main gear 504, and the moving ball main gear 504 can drive the moving ball sub-gear 506 to rotate. The bottom of each of the moving ball main gears 504 is rotatably connected with a moving ball motor 505, and the moving ball motor 505 can drive the moving ball main gear 504 to rotate. Each of the moving ball motors 505 is fixedly connected to the moving ball positioning plate 503 at its bottom, and each of the rotating shafts 305 is also fixedly connected to the positioning rod 6 outside it. Each of the positioning rods 6 is rotatably connected to the vehicle body 3 through the rotating shaft 305. A positioning rod controller 601 is fixed on the top of each of the positioning rods 6, and the positioning rod controller 601 is used to control the extension and retraction of the positioning rod 6. A positioning head 602 is fixed on the outer end of each of the positioning rods 6. The positioning head 602 adopts a conical structure and is made of rubber material. The positioning head 602 can achieve the purpose of positioning the vehicle body 3 by being in close contact with the ultrasonic catheter 1;

[0038] When using the device, the staff wraps the sealing film 101 around the outside of the probe irradiation hole 103, and further the staff places the vehicle body 3 inside the ultrasonic catheter 1. At this time, the controller 301 controls the mobile camera 303 to work, so as to monitor the specific position of the vehicle body 3 and transmit the data to the external display device. At this time, the controller 301 controls the multiple rotating motors 304 to work, thereby driving the multiple rotating shafts 305 to rotate, so that the multiple moving rods 5 and the multiple positioning rods 6 rotate, so as to ensure the stability of the vehicle body 3. Further, the controller 301 controls the multiple moving rod controllers 501 to work. Thereby, the moving rod 5 is extended, and then the moving balls 502 are moved outward, so that the moving balls 502 are closely attached to the inner wall of the ultrasonic catheter 1. Further, the controller 301 controls the moving ball motors 505 to work, so as to drive the moving ball main gears 504 to rotate, and then the moving ball sub-gears 506 are rotated, so as to drive the moving balls 502 to rotate, so as to drive the vehicle body 3 to move along the inner wall of the ultrasonic catheter 1. When the moving camera 303 moves to the right end of the ultrasonic catheter 1, the controller 301 controls the reversing rod controller 401 to work, so as to drive the reversing rods 4 to extend. The controller 301 controls the reversing wheel motor 406 to operate, thereby driving the reversing wheel main gear 405 to rotate, and then driving the reversing wheel sub-gear 404 to rotate, thereby driving the reversing wheel 402 to rotate, thereby causing the vehicle body 3 to turn, thereby causing the ablation probe 8 to be directly above the probe irradiation hole 103, and further the controller 301 controls the positioning rod controller 601 to operate, thereby driving the positioning rod 6 to extend, thereby causing the multiple positioning heads 602 to move outward, thereby achieving the purpose of positioning the vehicle body 3, and further the controller 3 01 controls the operation of the air pump 205 and the solenoid valve 204, so that the gas inside the gas tank 206 is transported to the inside of the sealing plate 2, so that the sealing ring 201 is deformed, so that the sealing ring 201 is tightly attached to the inner wall of the ultrasonic catheter 1, thereby ensuring the sealing of the ultrasonic catheter 1, thereby preventing blood from flowing out of the patient's body along with the ultrasonic catheter 1, thereby ensuring the safety of the patient. Further, the staff inserts the ultrasonic catheter 1 into the patient's blood vessel. At this time, the staff can monitor the movement of the ultrasonic catheter 1 in the patient's blood vessel through the mobile camera 303, and then transmit the movement to the display device outside the patient's body.

[0039] Embodiment 3, based on embodiment 1, Fig. 9 , Fig.11It is given that two groups of ultrasonic probe positioning plates 701 are also provided inside the top of the vehicle body 3. The ultrasonic probe positioning plates 701 adopt an arc structure and are made of alloy material. The ultrasonic probe positioning plates 701 are used to clamp the ultrasonic probe 7. The two groups of ultrasonic probe positioning plates 701 are slidably connected to the ultrasonic probe 7. The outer end of each ultrasonic probe positioning plate 701 is fixed with a connecting plate 702 through a fixing rod. The connecting plate 702 is made of alloy material and is used to fix the ultrasonic probe positioning plate 701. An ultrasonic probe clamping rod 704 is provided on the outer side of each connecting plate 702. The ultrasonic probe clamping rod 704 is retractable, thereby driving the connecting plate 702 to move. The outer side of the ultrasonic probe clamping rod 704 is fixedly connected to the front and rear ends of the vehicle body top cavity 306, and the rear part of the rear connecting plate 702 is rotatably connected to the ultrasonic probe rotating motor 703 through a rotating shaft. The ultrasonic probe rotating motor 703 can drive the rear connecting plate 702 to rotate, thereby driving the ultrasonic probe positioning plate 701 to rotate, and then driving the ultrasonic probe 7 to rotate. The front part of the front connecting plate 702 is fixed with an ultrasonic probe clamping bearing 706 through a fixing rod. The ultrasonic probe clamping bearing 706 is used to position the front connecting plate 702. The ultrasonic probe rotating motor 703 is fixedly connected to the rear end of the ultrasonic probe clamping rod 704, and the front end of the outer ring of the ultrasonic probe clamping bearing 706 is connected to the front end of the ultrasonic probe The clamping rod 704 is fixedly connected, and an ultrasound probe clamping controller 705 is fixed on the top of each ultrasound probe clamping rod 704. The ultrasound probe clamping controller 705 is used to control the extension and retraction of the ultrasound probe clamping rod 704. A connecting rope positioning disk 803 is provided inside the bottom end of the vehicle body 3. The connecting rope positioning disk 803 is used to wind the ablation probe connecting rope 802. A connecting rope positioning shaft 812 is fixed inside the connecting rope positioning disk 803. The connecting rope positioning shaft 812 is made of alloy material. The connecting rope positioning shaft 812 is used to position the ablation probe connecting rope 802. The ablation probe connecting rope 802 is wound inside the connecting rope positioning disk 803. The ablation probe connecting rope 802 is made of soft material. The ablation probe connecting rope 802 is used to position the ablation probe 8, so as to prevent the ablation probe 8 from falling into the patient's body, thereby ensuring the patient's safety. The other end of the ablation probe connecting rope 802 is fixedly connected to the ablation probe 8. The front and rear sides of the connecting rope positioning disk 803 are rotatably connected with connecting rope positioning plates 804. The connecting rope positioning plates 804 are made of alloy material. The connecting rope positioning plates 804 are used to position the connecting rope positioning disk 803. The top of the connecting rope positioning plate 804 is fixedly connected to the bottom cavity 307 of the vehicle body. The rear end of the connecting rope positioning shaft 812 is fixed with a connecting rope spring 805. The connecting rope spring 805 is elastic and convenient for storing the ablation probe connecting rope 802.The other end of the connecting rope spring 805 is fixedly connected to the connecting rope positioning plate 804. The ablation probe 8 is also slidably connected to the outside of the ablation probe 8 with an ablation probe clamping main ring 801. The ablation probe clamping main ring 801 is made of alloy material. The ablation probe clamping main ring 801 and the ablation probe clamping secondary ring 811 cooperate to achieve the purpose of clamping the ablation probe 8. The ablation probe clamping main ring 801 is rotatably connected to the positioning block 806 through a rotating shaft. A clamping main ring motor 808 is fixed on the top of the positioning block 806. The clamping main ring motor 808 can drive the The ablation probe clamping main ring 801 rotates, and the clamping main ring motor 808 is rotatably connected to the ablation probe clamping main ring 801 through a rotating shaft. The left end of the positioning block 806 is rotatably connected to a fixed block 807 through a rotating shaft. The fixed block 807 is made of alloy material. The fixed block 807 is used to position the positioning block 806. The ablation probe reversing motor 809 is fixed to the rear of the fixed block 807. The ablation probe reversing motor 809 can drive the positioning block 806 to rotate. The ablation probe reversing motor 809 is rotatably connected to the positioning block 806 through a rotating shaft. Then, the left side of the fixed block 807 is fixedly connected to the vertical moving rod 903, and the bottom end of the vertical moving rod 903 is rotatably connected to an open head positioning block 901 through a rotating shaft. The open head positioning block 901 is made of alloy material. The open head positioning block 901 is used to position the open head 9. The bottom of the open head positioning block 901 is fixedly connected to the open head 9. The rear end of the vertical moving rod 903 is fixed with an open head motor 902. The open head motor 902 can drive the open head positioning block 901 to rotate, thereby driving the open head 9 to rotate. The open head motor 902 is rotatably connected to the open head positioning block 901 via a rotating shaft, a vertical movement controller 904 is fixed to the top right side of the vertical movement rod 903, and the vertical movement controller 904 can drive the vertical movement rod 903 to extend and retract, and a connecting rope positioning ring 810 is fixed to the top of the fixed rod 905 via the fixed rod, and the connecting rope positioning ring 810 is made of alloy material, and is used to position the ablation probe connecting rope 802, and the connecting rope positioning ring 810 is slidably connected to the ablation probe connecting rope 802;

[0040] Before using the device, the staff controls the controller 301 to make the ultrasonic probe clamping controller 705 work, thereby driving the ultrasonic probe clamping rod 704 to contract, thereby moving the ultrasonic probe positioning plate 701. The staff further puts the ultrasonic probe 7 into the ultrasonic probe positioning plate 701. The controller 301 further controls the ultrasonic probe clamping controller 705 to work in reverse, thereby clamping the ultrasonic probe 7. The controller 301 further controls the clamping main ring motor 808 to work, thereby driving the ablation probe clamping main ring 801 to work, thereby clamping the ablation probe 8. When the staff observes through the display device that the ultrasonic catheter 1 moves to the desired ablation position in the patient's body, the controller 301 controls the vertical movement controller 904 to work, thereby driving the vertical movement rod 903 to extend, thereby driving the opening head 9 to approach the sealing film 101, thereby piercing the sealing film 101. The controller 301 further controls the opening head motor 902 to work, thereby driving the opening head The positioning block 901 rotates, thereby causing the opening head 9 to rotate, thereby preventing the opening head 9 from injuring the patient. Further, the controller 301 controls the ultrasonic probe rotation motor 703 to work, thereby driving the connecting plate 702 to rotate, thereby driving the ultrasonic probe positioning plate 701 to rotate, thereby driving the ultrasonic probe 7 to rotate, thereby facilitating the detection of the desired ablation position. Further, the controller 301 controls the vertical movement controller 904 to continue to move, thereby driving the ablation probe 8 to move downward. Further, the controller 301 controls the ablation probe reversing motor 809 to work in coordination, thereby allowing the ablation probe 8 to face the desired ablation position at the exact center of the detection area of ​​the opening head 9. Further, the controller 301 controls the ablation probe 8 to start ablation. Further, the staff controls the ultrasonic catheter 1 for rough adjustment, and at the same time controls the moving rod controller 501, the positioning rod controller 601, the reversing rod controller 401 and the vertical movement controller 904 through the controller 301 for fine adjustment, thereby ensuring the ablation effect.

[0041] The working process of the present invention is as follows: before using the device, the staff controls the controller 301 to make the ultrasonic probe clamping controller 705 work, thereby driving the ultrasonic probe clamping rod 704 to contract, thereby moving the ultrasonic probe positioning plate 701, and further the staff puts the ultrasonic probe 7 into the ultrasonic probe positioning plate 701, and further the controller 301 controls the ultrasonic probe clamping controller 705 to work in reverse, thereby clamping the ultrasonic probe 7, and further the controller 301 controls the clamping main ring motor 808 to work, thereby driving the ablation probe clamping main ring 801 to work, thereby clamping the ablation probe 8, and when using the device, the staff puts the sealing film The membrane 101 is wrapped around the outside of the probe irradiation hole 103. The staff further places the vehicle body 3 inside the ultrasound catheter 1. At this time, the controller 301 controls the mobile camera 303 to work, so as to monitor the specific position of the vehicle body 3 and transmit the data to the external display device. At this time, the controller 301 controls the multiple rotating motors 304 to work, thereby driving the multiple rotating shafts 305 to rotate, so that the multiple moving rods 5 and the multiple positioning rods 6 rotate, so as to ensure the stability of the vehicle body 3. Further, the controller 301 controls the multiple moving rod controllers 501 to work, thereby driving the moving rod 5 to extend, and then driving the multiple moving balls 502 to move outward, so as to The moving ball 502 is made to be in close contact with the inner wall of the ultrasonic catheter 1. The controller 301 further controls the multiple moving ball motors 505 to work, thereby driving the multiple moving ball main gears 504 to rotate, and then driving the multiple moving ball sub-gears 506 to rotate, thereby driving the multiple moving balls 502 to rotate, thereby driving the vehicle body 3 to move along the inner wall of the ultrasonic catheter 1. When the mobile camera 303 moves to the right end of the ultrasonic catheter 1, the controller 301 controls the reversing rod controller 401 to work, thereby driving the multiple reversing rods 4 to extend, thereby driving the multiple reversing wheels 402 to be in close contact with the inner wall of the ultrasonic catheter 1. The controller 301 further controls the reversing wheel motor 406 to work. The controller 301 controls the positioning rod controller 601 to operate, thereby driving the positioning rod 6 to extend, thereby causing the plurality of positioning heads 602 to move outward, thereby achieving the purpose of positioning the vehicle body 3. The controller 301 controls the air pump 205 and the solenoid valve 204 to operate, thereby causing the gas inside the gas tank 206 to be transported to the inside of the sealing plate 2, thereby causing the sealing ring 201 to deform.Thereby, the sealing ring 201 is closely attached to the inner wall of the ultrasonic catheter 1, thereby ensuring the sealing of the ultrasonic catheter 1, thereby preventing blood from flowing out of the patient's body along with the ultrasonic catheter 1, thereby ensuring the safety of the patient. Further, the staff inserts the ultrasonic catheter 1 into the patient's blood vessel. At this time, the staff can monitor the movement of the ultrasonic catheter 1 in the patient's blood vessel through the mobile camera 303, and then transmit the movement to the display device outside the patient. When the staff observes through the display device that the ultrasonic catheter 1 moves to the required ablation position in the patient's body, the controller 301 controls the vertical movement controller 904 to work, thereby driving the vertical movement rod 903 to extend, thereby driving the opening head 9 to approach the sealing film 101, thereby piercing the sealing film 101, and further the controller 301 controls the opening head motor 902 to work, thereby driving the opening head positioning block 901 to rotate, thereby causing the opening head 9 to rotate, thereby preventing the opening Oral 9 hurts the patient, further the controller 301 controls the ultrasonic probe rotation motor 703 to work, thereby driving the connection plate 702 to rotate, thereby driving the ultrasonic probe positioning plate 701 to rotate, thereby driving the ultrasonic probe 7 to rotate, so as to facilitate the detection of the required ablation position, further the controller 301 controls the vertical movement controller 904 to continue to move, thereby driving the ablation probe 8 to move downward, further the controller 301 controls the ablation probe reversing motor 809 to work in coordination, so that the ablation probe 8 can face the required ablation position in the center of the detection area of ​​the opening head 9, further the controller 301 controls the ablation probe 8 to start ablation work, further the staff controls the ultrasonic catheter 1 to make a rough adjustment, and at the same time controls the moving rod controller 501, the positioning rod controller 601, the reversing rod controller 401 and the vertical movement controller 904 through the controller 301 to make fine adjustments, so as to ensure the ablation effect. ,

[0042] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A micro-transmission robot for an ablation probe of an ultrasonic catheter, characterized in that: The invention comprises an ultrasonic catheter (1), wherein a catheter sealing head (102) is fixed at the right end of the ultrasonic catheter (1), a probe irradiation hole (103) is provided on the left side of the catheter sealing head (102), and a sealing film (101) is provided outside the probe irradiation hole (103); a vehicle body (3) is provided inside the ultrasonic catheter (1), a plurality of reversing rods (4) are provided at the left end of the vehicle body (3), and two sealing plates (2) are provided at the left ends of the plurality of reversing rods (4); a plurality of moving rods (5) are provided on the outside of the left and right ends of the vehicle body (3), a moving ball (502) is provided on the outside of each of the moving rods (5), and a plurality of positioning rods (6) are provided between two groups of the moving rods (5); a controller (301) is fixed on the front side of the top end of the vehicle body (3), a power supply (302) is fixed on the rear side of the top end of the vehicle body (3), a moving camera (303) is fixed on the right end of the vehicle body (3), and a plurality of A rotating motor (304), each of the rotating motors (304) having a rotating shaft (305) at its right end rotatably connected thereto, each of the rotating shafts (305) being rotatably connected to the vehicle body (3), a vehicle body top cavity (306) being provided at the top of the vehicle body (3), an ultrasound probe (7) being provided inside the vehicle body top cavity (306), a vehicle body bottom cavity (307) being provided at the bottom of the vehicle body (3), a connecting rope positioning plate (803) being provided inside the vehicle body bottom cavity (307), a fixing rod (905) being fixed at the right end of the vehicle body (3), a vertical moving rod (903) being fixed at the bottom of the fixing rod (905), an open head (9) being provided at the bottom of the vertical moving rod (903), a positioning block (806) being provided at the right end of the opening head (9), an ablation probe clamping sub-ring (811) being fixed at the right end of the positioning block (806), an ablation probe clamping sub-ring (811) being slidably connected thereto an ablation probe (8); A sealing ring (201) is fixed between the two sealing plates (2); a sealing plate positioning rod (203) is fixed on the right side of the right sealing plate (2); the right side of the sealing plate positioning rod (203) is fixedly connected to the reversing rod (4); an air supply pipe (202) is fixed on the right end of the right sealing plate (2); an electromagnetic valve (204) is fixed on the right end of the air supply pipe (202); an air pump (205) is fixed on the right end of the electromagnetic valve (204) via a pipeline; an air tank (206) is fixed on the right end of the air pump (205) via a pipeline; and the air pump (205) and the electromagnetic valve (204) are fixed to the lower surface of the vehicle body top cavity (306).

2. The ablation probe micro-delivery robot for an ultrasonic catheter according to claim 1, characterized in that: A reversing rod controller (401) is fixed to the right end of the reversing rod (4), a reversing wheel positioning plate (403) is fixed to the outside of each reversing rod (4), each reversing wheel positioning plate (403) is rotatably connected to a reversing wheel (402) via a rotating shaft, a reversing wheel sub-gear (404) is fixed to the left end of each reversing wheel (402) via a rotating shaft, each reversing wheel sub-gear (404) is meshingly connected to a reversing wheel main gear (405), a reversing wheel motor (406) is rotatably connected to the right side of each reversing wheel main gear (405), each reversing wheel motor (406) is fixedly connected to the reversing wheel positioning plate (403) on its right side, and the right end of the reversing rod (4) is fixedly connected to the vehicle body (3) via a fixing rod.

3. The ablation probe micro-delivery robot for an ultrasonic catheter according to claim 2, characterized in that: Each group of the moving rods (5) is fixedly connected to the rotating shaft (305) inside the moving rods (5); a moving rod controller (501) is fixedly provided on the top of each moving rod (5); a moving ball positioning plate (503) is fixedly provided on the outer end of each moving rod (5); each moving ball (502) is rotationally connected to the moving ball (502) inside the moving rod (502) via a rotating shaft; a moving ball auxiliary gear (506) is fixedly provided on the top of each moving ball (502) and the rotating shaft; each moving ball auxiliary gear (506) is meshingly connected to a moving ball main gear (504); a moving ball motor (505) is rotationally connected to the bottom of each moving ball main gear (504); and each moving ball motor (505) is fixedly connected to the moving ball positioning plate (503) at its bottom.

4. The ablation probe micro-delivery robot for an ultrasonic catheter according to claim 3, characterized in that: Each of the rotating shafts (305) is also fixedly connected to the positioning rod (6) outside thereof; each of the positioning rods (6) is rotationally connected to the vehicle body (3) via the rotating shaft (305); a positioning rod controller (601) is fixed to the top of each of the positioning rods (6); and a positioning head (602) is fixed to the outer end of each of the positioning rods (6).

5. The ablation probe micro-delivery robot for an ultrasonic catheter according to claim 4, characterized in that: Two groups of ultrasonic probe positioning plates (701) are also provided inside the top of the vehicle body (3), and the two groups of ultrasonic probe positioning plates (701) are slidably connected to the ultrasonic probe (7), and the outer end of each ultrasonic probe positioning plate (701) is fixed with a connecting plate (702) via a fixing rod, and the outer side of each connecting plate (702) is provided with an ultrasonic probe clamping rod (704), and the outer side of each ultrasonic probe clamping rod (704) is fixedly connected to the front and rear ends of the vehicle body top cavity (306).

6. The ablation probe micro-delivery robot for an ultrasonic catheter according to claim 5, characterized in that: The rear portion of the rear connection plate (702) is rotatably connected to an ultrasonic probe rotating motor (703) via a rotating shaft, and the front portion of the front connection plate (702) is fixed to an ultrasonic probe clamping bearing (706) via a fixing rod, the ultrasonic probe rotating motor (703) is fixedly connected to the ultrasonic probe clamping rod (704) at the rear end, the front end of the outer ring of the ultrasonic probe clamping bearing (706) is fixedly connected to the ultrasonic probe clamping rod (704) at the front end, and an ultrasonic probe clamping controller (705) is fixedly connected to the top of each ultrasonic probe clamping rod (704).

7. The ablation probe micro-delivery robot for an ultrasonic catheter according to claim 5, characterized in that: A connecting rope positioning disk (803) is provided inside the bottom end of the vehicle body (3), a connecting rope positioning shaft (812) is fixed inside the connecting rope positioning disk (803), an ablation probe connecting rope (802) is wound inside the connecting rope positioning disk (803), the other end of the ablation probe connecting rope (802) is fixedly connected to the ablation probe (8), the front and rear sides of the connecting rope positioning disk (803) are rotatably connected to connecting rope positioning plates (804), the top of the connecting rope positioning plate (804) is fixedly connected to the bottom cavity (307) of the vehicle body, a connecting rope spring (805) is fixedly connected to the rear end of the connecting rope positioning shaft (812), and the other end of the connecting rope spring (805) is fixedly connected to the connecting rope positioning plate (804).

8. The ablation probe micro-delivery robot for an ultrasonic catheter according to claim 7, characterized in that: The ablation probe (8) is also slidably connected to the outside of the ablation probe (8) with an ablation probe clamping main ring (801), and the ablation probe clamping main ring (801) is rotatably connected to a positioning block (806) via a rotating shaft. A clamping main ring motor (808) is fixed to the top of the positioning block (806), and the clamping main ring motor (808) is rotatably connected to the ablation probe clamping main ring (801) via a rotating shaft. The left end of the positioning block (806) is rotatably connected to a fixed block (807) via a rotating shaft, and an ablation probe reversing motor (809) is fixed to the rear of the fixed block (807), and the ablation probe reversing motor (809) is rotatably connected to the positioning block (806) via a rotating shaft.

9. The ablation probe micro-delivery robot for an ultrasonic catheter according to claim 8, characterized in that: The left side of the fixed block (807) is fixedly connected to the vertical moving rod (903); the bottom end of the vertical moving rod (903) is rotatably connected to an open head positioning block (901) via a rotating shaft; the bottom of the open head positioning block (901) is fixedly connected to the open head (9); an open head motor (902) is fixed to the rear end of the vertical moving rod (903); the open head motor (902) is rotatably connected to the open head positioning block (901) via a rotating shaft; a vertical moving controller (904) is fixed to the top right side of the vertical moving rod (903); a connecting rope positioning ring (810) is fixed to the top of the fixed rod (905) via the fixed rod; the connecting rope positioning ring (810) is slidably connected to the ablation probe connecting rope (802).

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