Vascular interventional surgery robot

Abstract

The present invention discloses a vascular interventional surgical robot, which comprises a mechanical system and an intelligent control unit. The mechanical system comprises a substrate, on which a front-end fixing part, a rotating mechanism and a linear reciprocating device are installed, and the front-end fixing part is fixedly connected to an extracorporeal guide tube; the surgical instrument can be inserted into the linear reciprocating device, the rotating mechanism and the front-end fixing part and enter into the extracorporeal guide tube; the rotating mechanism is installed with a first electromagnetic opening and closing mechanism, and the linear reciprocating device is installed with a second electromagnetic opening and closing mechanism; the linear reciprocating device, the first electromagnetic opening and closing mechanism and the second electromagnetic opening and closing mechanism are configured to cooperate with each other to drive the surgical instrument to intermittently advance along the axial direction to reach the target position of the blood vessel; the rotating mechanism is configured to drive the surgical instrument to rotate around the axis when the first electromagnetic opening and closing mechanism clamps the surgical instrument and the second electromagnetic opening and closing mechanism releases the surgical instrument; the rotating mechanism, the linear reciprocating device, the first and second electromagnetic opening and closing mechanisms are electrically connected to the intelligent control unit respectively.

Description

Technical Field

[0001] The present invention relates to the field of intelligent vascular interventional surgical robots, and in particular to a vascular interventional surgical robot that can deliver thin and long guide wires, push wires, vascular stents and other vascular interventional surgical instruments to target vascular locations and can rotate the guide wire with a slightly curved head to select vascular branches. Background Art

[0002] Vascular interventional surgery includes vascular stent surgery, vascular dilation surgery, vascular thrombectomy surgery, etc. Doctors must make thin and long guide wires and push wires and other vascular interventional surgical instruments move axially into the blood vessels, and also select vascular branches by rotating the guide wire with a slightly curved head, so as to deliver core devices such as vascular stents and dilation balloons to the target location of the blood vessel. However, the radiation problem in vascular interventional surgery has always troubled medical staff. Vascular interventional treatment is usually carried out under the guidance of imaging equipment, most of which are digital subtraction angiography. The principle is to complete the interventional treatment process by emitting X-rays to penetrate the human body and performing angiography at the same time. Doctors work in a radiation environment for a long time and need to wear heavy radiation-proof lead suits, which increases the labor intensity of medical staff and may cause harm to their health.

[0003] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgement or any form of suggestion that the information constitutes the prior art already known to ordinary technicians in this field. Summary of the invention

[0004] Purpose of the invention: The technical problem to be solved by the present invention is to provide a vascular interventional surgical robot in view of the deficiencies in the prior art. The vascular interventional surgical robot is capable of pushing thin and long guide wires, push wires and other surgical instruments that are easy to bend but difficult to clamp and rotate over long distances, and can select blood vessels by rotating the guide wires at the bifurcation points of the blood vessels, and push the guide wires and other surgical instruments to the target positions of the blood vessels.

[0005] In order to solve the above technical problems, the present invention discloses a vascular interventional surgical robot, including a mechanical system and an intelligent control unit. The mechanical system includes a substrate, on which a front end fixing part, a rotating mechanism and a linear reciprocating device are installed, and the front end fixing part is fixedly connected to an extracorporeal guide tube. The surgical instrument can be inserted into the linear reciprocating device, the rotating mechanism, and the front end fixing part and enter the extracorporeal guide tube. A first electromagnetic opening and closing mechanism is installed on the rotating mechanism, and a second electromagnetic opening and closing mechanism is installed on the linear reciprocating device. The linear reciprocating device, the first electromagnetic opening and closing mechanism, and the second electromagnetic opening and closing mechanism are configured to cooperate with each other to drive the surgical instrument to intermittently advance along the axial direction to reach the target position of the blood vessel. The rotating mechanism is configured to drive the surgical instrument to rotate around the axis when the first electromagnetic opening and closing mechanism clamps the surgical instrument and the second electromagnetic opening and closing mechanism releases the surgical instrument. The rotating mechanism, the linear reciprocating device, the first electromagnetic opening and closing mechanism, and the second electromagnetic opening and closing mechanism are respectively electrically connected to the intelligent control unit, and the actions of the above hardware are intelligently controlled through programming.

[0006] Specifically, the linear reciprocating device, the first electromagnetic opening and closing mechanism, and the second electromagnetic opening and closing mechanism are configured to cooperate together to drive the surgical instrument to advance intermittently along the axial direction to reach the target position of the blood vessel, including: the first electromagnetic opening and closing mechanism releases the surgical instrument, the second electromagnetic opening and closing mechanism clamps the surgical instrument, the linear reciprocating device drives the second electromagnetic opening and closing mechanism to move toward the direction close to the front end fixing member, and the second electromagnetic opening and closing mechanism drives the surgical instrument to advance forward along the axial direction; the first electromagnetic opening and closing mechanism clamps the surgical instrument, the second electromagnetic opening and closing mechanism releases the surgical instrument, and the linear reciprocating device drives the second electromagnetic opening and closing mechanism to move toward the direction away from the front end fixing member and reset; repeat the above process until the surgical instrument reaches the target position of the blood vessel.

[0007] Specifically, the linear reciprocating device, the first electromagnetic opening and closing mechanism, and the second electromagnetic opening and closing mechanism are also configured to cooperate together to drive the surgical instrument to intermittently retreat axially out of the blood vessel, including: the first electromagnetic opening and closing mechanism releases the surgical instrument, the second electromagnetic opening and closing mechanism clamps the surgical instrument, the linear reciprocating device drives the second electromagnetic opening and closing mechanism to move in a direction away from the front end fixing member, and the second electromagnetic opening and closing mechanism drives the surgical instrument to retreat axially backward; the first electromagnetic opening and closing mechanism clamps the surgical instrument, the second electromagnetic opening and closing mechanism releases the surgical instrument, and the linear reciprocating device drives the second electromagnetic opening and closing mechanism to move in a direction close to the front end fixing member to reset; repeat the above process until the surgical instrument is withdrawn from the blood vessel.

[0008] Specifically, the rotating mechanism includes a fixed seat, a hollow shaft, a driven gear, a bearing, a driving gear and a first motor, and the fixed seat is fixed on the base plate. The hollow shaft vertically passes through the fixed seat and is fixedly connected to the fixed seat, and the hollow shaft is used for the surgical instrument to pass through. The driven gear is rotatably mounted on the hollow shaft through the bearing. The first electromagnetic opening and closing mechanism is installed on the driven gear to realize that the first electromagnetic opening and closing mechanism is installed on the rotating mechanism. The driving gear is rotatably installed on the fixed seat and is transmission-connected to the driven gear. The first motor is installed on the fixed seat and its output shaft is connected to the driving gear. The driving gear is driven to rotate by the first motor, and then the driven gear is driven to rotate.

[0009] Specifically, the linear reciprocating device includes a guide rail, a slider, a support seat, a first through hole, a second motor, a lead screw and a nut. The guide rail is fixed on the base plate. The slider is slidably connected to the guide rail. The support seat is fixed on the slider. The support seat is provided with the first through hole for the surgical instrument to pass through. The second electromagnetic opening and closing mechanism is installed next to the first through hole of the support seat, so that the second electromagnetic opening and closing mechanism is installed on the linear reciprocating device. The housing of the second motor is fixed to the base plate, and the output shaft of the second motor is connected to the lead screw, which passes through a nut that is adapted to the lead screw and fixed on the support seat. The second motor is driven forward or reversely to drive the support seat to perform linear reciprocating motion along the guide rail along with the slider.

[0010] Specifically, the first electromagnetic opening and closing mechanism includes a clamping assembly and an electromagnetic assembly, and the clamping assembly includes a fixed arm and a movable clamping arm, and the fixed arm and the movable clamping arm are arranged opposite to each other. The two ends of the fixed arm are fixedly connected to the driven gear respectively. Two limit plates are connected to the middle part of the fixed arm on the side opposite to the movable clamping arm, so that the surgical instrument is limited between the two limit plates and passes through the hollow shaft, and the hollow shaft does not contact the fixed arm and the movable clamping arm respectively. An elastic sheet is connected to one end of the movable clamping arm, and a right-angle piece is fixedly connected to the other end of the elastic sheet, and the right-angle piece is fixed to the driven gear. The part of the other end of the movable clamping arm extending beyond the fixed arm is installed with an electromagnet load. The electromagnetic assembly includes an electromagnetic coil, a positive gap track ring, a negative gap track ring, a positive contact head and a negative contact head, and the electromagnetic coil is fixed on the driven gear and arranged opposite to the electromagnet load. The positive gap track ring and the negative gap track ring are both fixedly installed on the driven gear and sleeved outside the clamping assembly. The electromagnetic coil is electrically connected between the positive gap track ring and the negative gap track ring. The positive contact head is fixedly mounted on the fixing seat and slides in contact with the positive gap track ring, and the negative contact head is fixedly mounted on the fixing seat and slides in contact with the negative gap track ring.

[0011] In this embodiment, the clamping force applied by the first electromagnetic opening and closing mechanism to the surgical instrument can be adjusted by changing the voltage applied between the positive contact head and the negative contact head. When the resistance of the blood vessel wall is sensed to be too large, the first electromagnetic opening and closing mechanism and the surgical instrument will automatically slip, thereby protecting the blood vessel.

[0012] Preferably, the second electromagnetic opening and closing mechanism clamps the surgical instrument using a technical solution similar to that of the first electromagnetic opening and closing mechanism.

[0013] Specifically, the fixing seat, the supporting seat, the driven gear and the bearing are all made of non-magnetic conductive materials.

[0014] Specifically, the end of the extracorporeal guide tube away from the front end fixing piece is connected to the blood vessel. The vascular interventional surgery robot also includes more than one guide branch tube, the outlet end of each guide branch tube is connected to the extracorporeal guide tube, and the inlet end of the guide branch tube is used for other vascular interventional surgery instruments to enter the same blood vessel through the extracorporeal guide tube.

[0015] The front end fixing part includes a disposable rectangular plug plate for connecting to the extracorporeal guide tube and a plug plate seat for fixed connection to the base plate. The top of the plug plate seat is provided with a slot for inserting the rectangular plug plate. The rectangular plug plate is provided with a second through hole for surgical instruments to pass through to enter the extracorporeal guide tube and blood vessels.

[0016] Specifically, the surgical instrument is a guide wire, a push wire or a vascular stent.

[0017] Specifically, the surgical instrument is a guide wire with a slightly curved head, and by rotating the guide wire, a target blood vessel can be selected at a blood vessel bifurcation point.

[0018] Furthermore, the base plate is also mounted on a liftable bracket to straddle both sides of the operating table.

[0019] Beneficial effects:

[0020] 1. In the vascular interventional surgical robot disclosed in the present invention, through the cooperation of the linear reciprocating device, the first electromagnetic opening and closing mechanism, and the second electromagnetic opening and closing mechanism, the surgical instrument can be driven to intermittently advance along the axial direction to reach the target position of the blood vessel and to intermittently retreat along the axial direction to withdraw from the blood vessel.

[0021] 2. For a guide wire head with a slightly curved tip, the vascular interventional surgery robot disclosed in the present invention can select a target blood vessel at the bifurcation point of the blood vessel by rotating the guide wire.

[0022] 3. The vascular interventional surgical robot disclosed in the present invention can drive a variety of surgical instruments such as very thin, very long, and very flexible guide wires and push wires to advance intermittently step by step. The electromagnetic opening and closing mechanism is designed as a labor-saving lever to ensure that very thin guide wires and push wires can be clamped. The present invention can adjust the clamping force applied by the first electromagnetic opening and closing mechanism to the surgical instrument by changing the voltage applied between the positive contact head and the negative contact head. When the surgical instrument is subjected to excessive resistance from the blood vessel wall, the first electromagnetic opening and closing mechanism and the surgical instrument will automatically slip, thereby protecting the blood vessel.

[0023] 4. The use of the present invention allows medical staff to monitor in another room that is not exposed to radiation, thus avoiding radiation hazards.

[0024] 5. The rotation angle of the driven gear of the present invention generally does not exceed 180 degrees. If the clockwise rotation exceeds 180 degrees, counterclockwise rotation is adopted. The present invention can power the electromagnetic coil when the rotating mechanism is rotating, and other external circuits are not affected when the rotating mechanism is rotating, thereby ensuring the stable operation of the vascular interventional surgery robot of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more clear.

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of a vascular interventional surgery robot disclosed in the present invention;

[0027] Figure 2 for Figure 1 An exploded schematic diagram of a rotating mechanism in a vascular interventional surgery robot is shown;

[0028] Figure 3 for Figure 1 A right side view of the rotating mechanism in the vascular intervention surgery robot is shown;

[0029] Figure 4 Schematic diagram for rotating surgical instruments such as guide wires to select blood vessel branches;

[0030] Figure 5 A schematic diagram of a core device for vascular intervention, namely a vascular stent, entering a target position in a blood vessel under the guidance of a guide wire;

[0031] Figure 6 This is a schematic diagram of the present invention using a three-way guide tube consisting of an extracorporeal guide tube and a guide branch tube to allow two vascular interventional surgical instruments to axially move into the same blood vessel;

[0032] Figure 7 This is a schematic diagram of the present invention using a four-way guide tube consisting of an extracorporeal guide tube and two guide branch tubes to allow three vascular interventional surgical instruments to axially move into the same blood vessel;

[0033] Figure 8 for Figure 1 The schematic diagram of the structural decomposition of the front-end fixing part in the vascular interventional surgery robot is shown.

[0034] The description of the accompanying drawings is:

[0035] 1. front end fixing member; 101. second through hole; 102. rectangular plug plate; 103. plug plate seat; 2. base plate; 3. in vitro guide tube; 4. surgical instrument; 401. first surgical instrument; 402. second surgical instrument; 403. second surgical instrument; 5. first electromagnetic opening and closing mechanism; 6. second electromagnetic opening and closing mechanism; 7. fixing seat; 8. hollow shaft; 9. driven gear; 10. bearing; 11. first motor; 12. driving gear; 13. guide rail; 14. slider; 15. support seat; 16. first through hole; 17. The second motor; 18. Coupling; 19. Screw; 20. Nut; 21. Fixed arm; 22. Movable clamping arm; 23. Limiting plate; 24. Elastic sheet; 25. Right-angle piece; 26. Electromagnetic load; 27. Limiting column; 28. Electromagnetic coil; 29. ​​Positive notch track ring; 30. Negative notch track ring; 31. Positive contact head; 32. Negative contact head; 33. Blood vessel: 34. Blood vessel stent; 35. First guide branch tube; 36. Second surgical instrument; 37. Second guide branch tube; 38. Third surgical instrument. DETAILED DESCRIPTION

[0036] Vascular intervention surgery is usually performed under the guidance of imaging equipment. Doctors work in a radiation environment for a long time and need to wear heavy radiation-proof lead suits. The labor intensity is high and it causes harm to health. Therefore, the present invention discloses a vascular intervention surgery robot, which can deliver vascular intervention surgery instruments such as thin and long guide wires, push wires, and vascular stents to the target position of the blood vessel. For surgical instruments such as guide wires with slightly curved heads, blood vessel branches can be selected by rotating the guide wires.

[0037] During the specific implementation, various accessories required are developed or purchased according to the content of the invention. Figures 1 to 3 Assembled into a complete machine.

[0038] Combination Figures 1 to 3 As shown, the vascular interventional surgery robot disclosed in this embodiment includes a mechanical system and an intelligent control unit. The mechanical system includes a substrate 2, on which a front end fixing member 1, a rotating mechanism and a linear reciprocating device are installed. An extracorporeal guide tube 3 is fixedly connected to the front end fixing member 1, and the end of the extracorporeal guide tube 3 that is away from the front end fixing member 1 is connected to a blood vessel 33. Figure 1 The blood vessel 33 is not shown. The surgical instrument 4 can be inserted into the linear reciprocating device, the rotating mechanism, the front end fixing member 1 and enter the extracorporeal guide tube 3. A first electromagnetic opening and closing mechanism 5 is installed on the rotating mechanism, and a second electromagnetic opening and closing mechanism 6 is installed on the linear reciprocating device. The linear reciprocating device, the first electromagnetic opening and closing mechanism 5, and the second electromagnetic opening and closing mechanism 6 are configured to cooperate with each other to drive the surgical instrument 4 to intermittently advance along the axial direction to reach the target position of the blood vessel. The rotating mechanism is configured to drive the surgical instrument 4 to rotate around the axis when the first electromagnetic opening and closing mechanism 5 clamps the surgical instrument 4 and the second electromagnetic opening and closing mechanism 6 releases the surgical instrument 4. The rotating mechanism, the linear reciprocating device, the first electromagnetic opening and closing mechanism 5, and the second electromagnetic opening and closing mechanism 6 are electrically connected to the intelligent control unit respectively, and the actions of the above hardware are intelligently controlled through programming.

[0039] In this embodiment, combined with Figure 1 As shown, the left side is set as the front and the right side is set as the back. The length direction of the surgical instrument 4 is taken as the axis.

[0040] Combination Figure 1As shown, the linear reciprocating device, the first electromagnetic opening and closing mechanism 5, and the second electromagnetic opening and closing mechanism 6 are configured to cooperate with each other to drive the surgical instrument 4 to intermittently advance along the axial direction to reach the target position of the blood vessel, and the process includes: the first electromagnetic opening and closing mechanism 5 opens and releases the surgical instrument 4, the second electromagnetic opening and closing mechanism 6 closes and clamps the surgical instrument 4, the linear reciprocating device drives the second electromagnetic opening and closing mechanism 6 to move in the direction close to the front end fixing member 1, and the second electromagnetic opening and closing mechanism 6 drives the surgical instrument 4 to advance forward along the axial direction. The first electromagnetic opening and closing mechanism 5 clamps the surgical instrument 4, the second electromagnetic opening and closing mechanism 6 releases the surgical instrument 4, and the linear reciprocating device drives the second electromagnetic opening and closing mechanism 6 to move in the direction away from the front end fixing member 1 and reset. Repeat the above process until the surgical instrument 4 reaches the target position of the blood vessel.

[0041] The linear reciprocating device, the first electromagnetic opening and closing mechanism 5, and the second electromagnetic opening and closing mechanism 6 are also configured to cooperate with each other to drive the surgical instrument 4 to intermittently withdraw from the blood vessel along the axial direction. The process includes: the first electromagnetic opening and closing mechanism 5 opens and releases the surgical instrument 4, the second electromagnetic opening and closing mechanism 6 closes and clamps the surgical instrument 4, the linear reciprocating device drives the second electromagnetic opening and closing mechanism 6 to move rightward, and the second electromagnetic opening and closing mechanism 6 drives the surgical instrument 4 to move rightward, that is, withdraws, and the surgical instrument 4 is partially withdrawn from the deep part of the blood vessel. The first electromagnetic opening and closing mechanism 5 closes and clamps the surgical instrument 4, the second electromagnetic opening and closing mechanism 6 opens and releases the surgical instrument 4, and the linear reciprocating device drives the second electromagnetic opening and closing mechanism 6 to move forward and reset. Since the second electromagnetic opening and closing mechanism 6 has released the surgical instrument 4 and the first electromagnetic opening and closing mechanism 5 has clamped the surgical instrument 4, the surgical instrument 4 will not be pushed forward. After the second electromagnetic opening and closing mechanism 6 is reset, it clamps the surgical instrument 4 again, and the first electromagnetic opening and closing mechanism opens and releases the surgical instrument 4. The linear reciprocating device drives the second electromagnetic opening and closing mechanism 6 to move rightward again, and pulls the surgical instrument 4 partly to the right again, that is, the surgical instrument 4 intermittently retreats and withdraws from the blood vessel.

[0042] The present invention can also drive surgical instruments such as guide wires with slightly curved heads to rotate around the axis to select blood vessel branches. Specifically, when the first electromagnetic opening and closing mechanism 5 clamps the surgical instrument 4 and the second electromagnetic opening and closing mechanism 6 releases the surgical instrument 4, the rotating mechanism drives the surgical instrument 4 to rotate around the axis.

[0043] When using the present invention, medical staff can monitor in another room that is not exposed to radiation, thereby avoiding radiation damage.

[0044] In this embodiment, combined with Figure 1 As shown, the rotating mechanism is arranged behind the front end fixing member 1 and in front of the linear reciprocating device. In other embodiments, the linear reciprocating device can be arranged behind the front end fixing member 1 and in front of the rotating mechanism.

[0045] Combination Figure 1 and Figure 2 As shown, the rotating mechanism includes a fixed seat 7, a hollow shaft 8, a driven gear 9, a bearing 10, a driving gear 12 and a first motor 11. The fixed seat 7 is fixed on the base plate 2. The hollow shaft 8 vertically passes through the fixed seat 7 and is fixedly connected to the fixed seat 7. The hollow shaft 8 is used for the surgical instrument 4 to pass through. The surgical instrument 4 passes through the hollow shaft 8 to be inserted into the rotating mechanism. The driven gear 9 is rotatably mounted on the hollow shaft 8 through the bearing 10. The first electromagnetic opening and closing mechanism 5 is installed on the driven gear 9 to realize that the first electromagnetic opening and closing mechanism 5 is installed on the rotating mechanism. The driving gear 12 is rotatably mounted on the fixed seat 7 and is in transmission connection with the driven gear 9. The first motor 11 is installed on the fixed seat 7 and its output shaft is connected to the driving gear 12. The driving gear 12 is driven to rotate by the first motor 11, thereby driving the driven gear 9 to rotate.

[0046] Combination Figure 3 As shown, the process of the surgical instrument 4 rotating around the axis is as follows: when the first electromagnetic opening and closing mechanism 5 is powered on and clamps the surgical instrument 4, and the second electromagnetic opening and closing mechanism 6 is powered off and releases the surgical instrument 4, the surgical instrument 4 is connected to the driven gear 9, the first motor 11 drives the driving gear 12 to rotate, and the rotating driving gear 12 drives the driven gear 9 to rotate, and the surgical instrument 4 with a slightly bent head, such as a guide wire, rotates around the axis as the driven gear 9 rotates. At this time, since the second electromagnetic opening and closing mechanism 6 has released the surgical instrument 4, the surgical instrument inserted in the linear reciprocating device can rotate freely relative to the linear reciprocating device.

[0047] In this embodiment, the rotation direction of the driven gear 9 is changed by the forward or reverse rotation of the output shaft of the first motor 11, thereby changing the rotation direction of the surgical instrument 4, thereby achieving the selection of the blood vessel branch.

[0048] Combination Figure 1 As shown, the first electromagnetic opening and closing mechanism 5 is installed on the driven gear 9 to achieve the first electromagnetic opening and closing mechanism 5 being installed on the rotating mechanism.

[0049] Combination Figure 1As shown, the linear reciprocating device includes a guide rail 13, a slider 14, a support seat 15, a first through hole 16, a second motor 17, a screw 19 and a nut 20. The guide rail 13 is fixed on the base plate 2. The slider 14 is slidably connected to the guide rail 13. The support seat 15 is fixed on the upper part of the slider 14. The support seat 15 is provided with a first through hole 16 for the surgical instrument 4 to pass through. The surgical instrument 4 is inserted into the first through hole 16 of the support seat 15, so that the surgical instrument 4 is inserted into the linear reciprocating device. The second electromagnetic opening and closing mechanism 6 is installed beside the first through hole 16 of the support seat 15, so that the second electromagnetic opening and closing mechanism 6 is installed on the linear reciprocating device. The housing of the second motor 17 is fixed to the base plate 2, and the output shaft of the second motor 17 is connected to the screw 19. The screw 19 passes through the nut 20 adapted to the screw 19 and fixed on the support seat 15. The output shaft of the second motor 17 drives the support seat 15 to perform linear reciprocating motion along the guide rail 13 along with the slider 14 through the forward or reverse motion of the output shaft of the second motor 17.

[0050] In this embodiment, when the first electromagnetic opening and closing mechanism 5 releases the surgical instrument 4 and the second electromagnetic opening and closing mechanism 6 clamps the surgical instrument 4 , the surgical instrument 4 is driven to move axially by the movement of the support seat 15 .

[0051] Combination Figure 1 As shown, in this embodiment, the linear reciprocating device includes a coupling 18, and the output shaft of the second motor 17 is connected to the screw 19 through the coupling 18. In another embodiment, the second motor 17 adopts a stepper motor with a screw connected to a rotating shaft, so a coupling is not required. The stepper motor controller can be directly programmed to intelligently control the actions of the above hardware.

[0052] Combination Figure 3 As shown, the first electromagnetic opening and closing mechanism 5 includes a clamping assembly and an electromagnetic assembly. The clamping assembly includes a fixed arm 21 and a movable clamping arm 22, which are arranged opposite to each other. The fixed arm 21 can be a rod-shaped structure as a whole. The two ends of the fixed arm 21 are fixedly connected to the driven gear 9 respectively. Two limit plates 23 are fixedly connected to the middle part of the side of the fixed arm 21 opposite to the movable clamping arm 22, and the surgical instrument 4 passes through the two limit plates 23 and through the hollow shaft 8. One end of the movable clamping arm 22 is fixedly connected to an elastic sheet 24, and the other end of the elastic sheet 24 is fixedly connected to a right-angle piece 25, and the right-angle piece 25 is fixedly connected to the driven gear 9. The other end of the movable clamping arm 22 extends beyond the fixed arm 21 and is equipped with an electromagnet load 26.

[0053] Combination Figure 3As shown, the electromagnetic assembly includes an electromagnetic coil 28, a positive gap track ring 29, a negative gap track ring 30, a positive contact head 31 and a negative contact head 32. The electromagnetic coil 28 is fixedly mounted on the driven gear 9 and is arranged corresponding to the electromagnet load 26. The positive gap track ring 29 and the negative gap track ring 30 are both fixedly mounted on the driven gear 9 and are both sleeved outside the clamping assembly. The electromagnetic coil 28 is electrically connected between the positive gap track ring 29 and the negative gap track ring 30. The positive contact head 31 and the negative contact head 32 are installed on the fixed seat 7 at intervals, and the positive contact head 31 is in sliding contact with the positive gap track ring 29, and the negative contact head 32 is in sliding contact with the negative gap track ring 30.

[0054] Combination Figure 3 As shown, the rotation angle of the driven gear 9 generally does not exceed 180 degrees. When it may exceed 180 degrees, the reverse rotation does not exceed 180 degrees.

[0055] When the driven gear 9 rotates, the other parts of the clamping assembly and the electromagnetic assembly except the positive contact head 31 and the negative contact head 32 rotate along with the driven gear 9 .

[0056] By sliding the positive contact head 31 in contact with the positive notch track ring 29 and the negative contact head 32 in contact with the negative notch track ring 30, the electromagnetic coil 28 can be powered when the driven gear 9 is rotating, and the rotating mechanism does not affect other external circuits, thereby ensuring stable operation of the surgical robot.

[0057] When the electromagnetic coil 28 of the first electromagnetic opening and closing mechanism 5 is energized, the electromagnetic coil 28 attracts the electromagnet load 26. Under the attraction of the electromagnetic coil 28 to the electromagnet load 26, the electromagnet load 26 approaches the electromagnetic coil 28, so that the movable clamping arm 22 approaches the fixed arm 21 to clamp the surgical instrument 4. When the movable clamping arm 22 and the fixed arm 21 clamp the surgical instrument 4, the surgical instrument 4 is connected to the driven gear 9. When the electromagnetic coil 28 of the first electromagnetic opening and closing mechanism 5 is deenergized, the electromagnetic coil 28 is demagnetized, and the movable clamping arm 22 is restored under the action of the elastic sheet 24, thereby releasing the surgical instrument 4.

[0058] The fixing seat 7, the supporting seat 15, the driven gear 9 and the driving gear 12 should all be made of non-magnetic materials, such as plastic materials, organic glass materials, etc., to ensure that they are not affected by electromagnets. The bearing 10 is preferably a plastic bearing, which is not affected by electromagnets and is resistant to water and acid and alkali corrosion.

[0059] Combination Figure 3As shown, the first electromagnetic opening and closing mechanism 5 also includes a limiting column 27 for limiting the position of the movable clamping arm 22, the limiting column 27 is fixed on the driven gear 9, and the limiting column 27 is located on one side of the fixed arm 21 and opposite to the movable clamping arm 22. The limiting column 27 is close to the connection end between the movable clamping arm 22 and the elastic sheet 24. The limiting column 27 is used to limit the reset position of the movable clamping arm 22 when releasing the surgical instrument 4.

[0060] In this embodiment, since the connection end of the movable clamping arm 22 and the electromagnet load 26 is farther away from the right-angle piece 25 fixedly connected to the driven gear 9 than the clamping end of the movable clamping arm 22 clamping the surgical instrument 4, when the movable clamping arm 22 approaches the fixed arm 21 to clamp the surgical instrument 4, the movable clamping arm 22 is equivalent to a force-saving lever, that is, the electromagnetic coil 28 applies a smaller attraction to the electromagnet load 26, and the movable clamping arm 22 can apply a larger clamping force to the surgical instrument 4.

[0061] In this embodiment, the second electromagnetic opening and closing mechanism 6 adopts a structure similar to that of the first electromagnetic opening and closing mechanism 5 , and the movable clamping arm and the fixed arm in the second electromagnetic opening and closing mechanism 6 are respectively located on both sides of the first through hole 16 opened on the support seat 15 .

[0062] The clamping force can be changed by changing the voltage of the electromagnetic opening and closing mechanism. When the clamping force is adjusted to a suitable level, when the surgical instrument 4 encounters too much resistance in the blood vessel, the surgical instrument 4 and the clamping assembly will slip and will not be pushed hard, thereby protecting the blood vessel.

[0063] The intelligent control unit is used to control the rotating mechanism, the linear reciprocating device, the first electromagnetic opening and closing mechanism 5 and the second electromagnetic opening and closing mechanism 6, that is, to control the start and stop of the first motor 11 and the second motor 17, and the power on and off of the first electromagnetic opening and closing mechanism 5 and the second electromagnetic opening and closing mechanism 6.

[0064] In one embodiment of the intelligent control unit, the intelligent control unit includes a single chip microcomputer, which realizes intelligent control after being programmed by a computer. The computer is a host computer and can also be directly controlled.

[0065] In another embodiment of the intelligent control unit, if the first motor 11 and the second motor 17 are stepper motors, the intelligent control unit may not include a single chip microcomputer, and the stepper motor controller is directly programmed to achieve precise intelligent control.

[0066] Combination Figure 1 As shown, the substrate 2 is placed horizontally. The fixing seat 7 and the supporting seat 15 are vertical substrates.

[0067] Combination Figure 4 As shown, a surgical instrument 4 with a slightly curved head, such as a guide wire, is inserted into the blood vessel 33. By rotating the surgical instrument 4, a blood vessel branch can be selected.

[0068] Figure 5 It is a schematic diagram of a core device for interventional blood vessels, namely a vascular stent 34, entering a target position in a blood vessel 33 under the guidance of a guide wire.

[0069] In order to deliver the vascular stent 34 to the target position in the blood vessel 33, in addition to the guidance of the guide wire, the push wire is also required to push the vascular stent 34, that is, both the guide wire and the push wire need to enter the blood vessel to enable the vascular stent 34 to reach the target position. Figure 6 As shown, Figure 6 The in vitro guide tube 3 in the apparatus is connected with a first guide branch tube 35 for the second surgical instrument 36 to enter, and the outlet end of the first guide branch tube 35 is connected to the in vitro guide tube 3. When in use, the surgical instrument 4 enters from the inlet end of the in vitro guide tube 3, enters the blood vessel 33 through the in vitro guide tube 3, and passes through the vascular stent 34 to guide the vascular stent 34. The second surgical instrument 36, i.e., the push wire, enters from the inlet end of the first guide branch tube 35, enters the blood vessel 33 through the in vitro guide tube 3, and is pushed onto the vascular stent 34. The second surgical instrument 36, i.e., the push wire, needs to be configured with another set of mechanical systems accordingly. Different from the mechanical system for pushing and rotating the guide wire, due to the existing guide wire guidance, the mechanical system for pushing the second surgical instrument 36, i.e., the push wire, may not have a rotation function. Specifically, the process of the second surgical instrument 36, i.e., the push wire axially moving into the blood vessel needs to cooperate with the first electromagnetic opening and closing mechanism, the second electromagnetic opening and closing mechanism, and the linear drive device in the corresponding mechanical system.

[0070] Figure 7 Schematic diagram of three surgical instruments of the present invention moving axially into the same blood vessel. Figure 6 , Figure 7 The extracorporeal guide tube 3 is also connected to a second guide branch tube 37 for the third surgical instrument 38 to enter, and the outlet end of the second guide branch tube 37 is connected to the extracorporeal guide tube 3. The third surgical instrument 38 can be a surgical instrument for injecting liquid medicine. Similar to the second surgical instrument 36, the third surgical instrument 38 is also correspondingly configured with a set of mechanical systems for pushing the third surgical instrument 38. When in use, the third surgical instrument 38 enters from the inlet end of the second guide branch tube 37, and then enters the blood vessel 33 through the extracorporeal guide tube 3. Since the existing surgical instrument 4, i.e., the guide wire, guides the movement of the third surgical instrument 38, the mechanical system for pushing the third surgical instrument 38 may not have a rotation function.

[0071] In some embodiments, a printed circuit board is attached to the surface of the driven gear 9, and the printed circuit board includes a first copper foil portion as the positive gap track ring 29 and a second copper foil portion as the negative gap track ring 30. The positive contact head 31 and the negative contact head 32 can also be made of copper material.

[0072] In some embodiments, the surgical instrument 4 and the extracorporeal guide tube 3 are both disposable. Figure 8 As shown, the front end fixing member 1 includes a disposable rectangular plug plate 102 for connecting to the extracorporeal guide tube 3 and a plug plate seat 103 for fixedly connecting to the base plate 2. A slot for inserting the rectangular plug plate 102 is provided at the top of the plug plate seat 103. The rectangular plug plate 102 is provided with a second through hole 101 for the surgical instrument 4 to pass through to enter the extracorporeal guide tube 3 and the blood vessel.

[0073] In this embodiment, when in use, the doctor simply inserts the rectangular plug board 102 into the plug board seat 103 .

[0074] In some embodiments, a supporting device is installed under the base plate 2 so that the vascular intervention surgery robot can straddle both sides of the operating table. The supporting device is not shown in the figure.

[0075] The present invention provides a concept and method of a vascular interventional surgery robot. There are many methods and ways to implement the technical solution. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention. All components not specified in this embodiment can be implemented using existing technologies.

Claims

1. A vascular interventional surgery robot, characterized in that: The invention comprises a mechanical system and an intelligent control unit, wherein the mechanical system comprises a substrate (2), wherein a front end fixing part (1), a rotating mechanism and a linear reciprocating device are mounted on the substrate (2), wherein the front end fixing part (1) is fixedly connected to an extracorporeal guide tube (3); a surgical instrument (4) can be inserted into the linear reciprocating device, the rotating mechanism and the front end fixing part (1) and enter the extracorporeal guide tube (3); a first electromagnetic opening and closing mechanism (5) is mounted on the rotating mechanism, and a second electromagnetic opening and closing mechanism (6) is mounted on the linear reciprocating device; and the linear reciprocating device, the first electromagnetic opening and closing mechanism (6) are connected to the front end fixing part (1) and the second electromagnetic opening and closing mechanism (6) are connected to the linear reciprocating device. The mechanism (5) and the second electromagnetic opening and closing mechanism (6) are configured to cooperate with each other to drive the surgical instrument (4) to intermittently advance along the axial direction to reach the target position of the blood vessel; the rotating mechanism is configured to drive the surgical instrument (4) to rotate around the axis when the first electromagnetic opening and closing mechanism (5) clamps the surgical instrument (4) and the second electromagnetic opening and closing mechanism (6) releases the surgical instrument (4); the rotating mechanism, the linear reciprocating device, the first electromagnetic opening and closing mechanism (5) and the second electromagnetic opening and closing mechanism (6) are respectively electrically connected to the intelligent control unit; The rotating mechanism comprises a fixed seat (7), a hollow shaft (8), a driven gear (9), a bearing (10), a driving gear (12) and a first motor (11); the fixed seat (7) is fixed on the base plate (2); the hollow shaft (8) vertically passes through the fixed seat (7) and is fixedly connected to the fixed seat (7); the hollow shaft (8) is used for allowing the surgical instrument (4) to pass through; the driven gear (9) is rotatably mounted on the hollow shaft (8) via the bearing (10); the first electromagnetic opening and closing mechanism (5) is mounted on the driven gear (9) to achieve the first electromagnetic opening and closing mechanism (5) being mounted on the rotating mechanism; the driving gear (12) is rotatably mounted on the fixed seat (7) and is transmission-connected to the driven gear (9); the first motor (11) is mounted on the fixed seat (7) and its output shaft is connected to the driving gear (12); the driving gear (12) is driven to rotate by the first motor (11), thereby driving the driven gear (9) to rotate; The first electromagnetic opening and closing mechanism (5) comprises a clamping assembly and an electromagnetic assembly, wherein the clamping assembly comprises a fixed arm (21) and a movable clamping arm (22), wherein the fixed arm (21) and the movable clamping arm (22) are arranged opposite to each other; the two ends of the fixed arm (21) are respectively fixedly connected to the driven gear (9); two limit plates (23) are connected to the middle of the fixed arm (21) on the side opposite to the movable clamping arm (22), so that the surgical instrument (4) is limited between the two limit plates (23) and passes through the hollow shaft (8), wherein the hollow shaft (8) does not contact the fixed arm (21) and the movable clamping arm (22) respectively; one end of the movable clamping arm (22) is connected to an elastic sheet (24), and the other end of the elastic sheet (24) is fixedly connected to a right-angle piece (25), wherein the right-angle piece (25) is fixed to the driven gear (9); the other end of the movable clamping arm (22) extends beyond the fixed arm (21). ) is installed with an electromagnet load (26); the electromagnet assembly comprises an electromagnetic coil (28), a positive notch track ring (29), a negative notch track ring (30), a positive contact head (31) and a negative contact head (32); the electromagnetic coil (28) is fixed on the driven gear (9) and arranged opposite to the electromagnet load (26); the positive notch track ring (29) and the negative notch track ring (30) are both fixedly mounted on the driven gear (9) and sleeved outside the clamping assembly; the electromagnetic coil (28) is electrically connected between the positive notch track ring (29) and the negative notch track ring (30); the positive contact head (31) is fixedly mounted on the fixing seat (7) and is in sliding contact with the positive notch track ring (29); the negative contact head (32) is fixedly mounted on the fixing seat (7) and is in sliding contact with the negative notch track ring (30).

2. The vascular interventional surgery robot according to claim 1, characterized in that: The linear reciprocating device, the first electromagnetic opening and closing mechanism (5) and the second electromagnetic opening and closing mechanism (6) are configured to cooperate with each other to drive the surgical instrument (4) to intermittently advance in the axial direction to reach the target position of the blood vessel, including: the first electromagnetic opening and closing mechanism (5) releases the surgical instrument (4), the second electromagnetic opening and closing mechanism (6) clamps the surgical instrument (4), the linear reciprocating device drives the second electromagnetic opening and closing mechanism (6) to move in a direction close to the front end fixing member (1), and the second electromagnetic opening and closing mechanism (6) drives the surgical instrument (4) to advance forward in the axial direction; the first electromagnetic opening and closing mechanism (5) clamps the surgical instrument (4), the second electromagnetic opening and closing mechanism (6) releases the surgical instrument (4), and the linear reciprocating device drives the second electromagnetic opening and closing mechanism (6) to move in a direction away from the front end fixing member (1) and reset; repeating the above process until the surgical instrument (4) reaches the target position of the blood vessel.

3. The vascular interventional surgery robot according to claim 1, characterized in that: The linear reciprocating device, the first electromagnetic opening and closing mechanism (5) and the second electromagnetic opening and closing mechanism (6) are also configured to cooperate with each other to drive the surgical instrument (4) to intermittently retreat along the axial direction and withdraw from the blood vessel, including: the first electromagnetic opening and closing mechanism (5) releases the surgical instrument (4), the second electromagnetic opening and closing mechanism (6) clamps the surgical instrument (4), the linear reciprocating device drives the second electromagnetic opening and closing mechanism (6) to move in a direction away from the front end fixing member (1), and the second electromagnetic opening and closing mechanism (6) drives the surgical instrument (4) to retreat axially backward; the first electromagnetic opening and closing mechanism (5) clamps the surgical instrument (4), the second electromagnetic opening and closing mechanism (6) releases the surgical instrument (4), and the linear reciprocating device drives the second electromagnetic opening and closing mechanism (6) to move in a direction close to the front end fixing member (1) to reset; and the above process is repeated until the surgical instrument (4) is withdrawn from the blood vessel.

4. The vascular interventional surgery robot according to claim 1, characterized in that: The linear reciprocating device comprises a guide rail (13), a slider (14), a support seat (15), a first through hole (16), a second motor (17), a lead screw (19) and a nut (20); the guide rail (13) is fixed on the base plate (2); the slider (14) is slidably connected to the guide rail (13); the support seat (15) is fixed on the slider (14); the support seat (15) is provided with the first through hole (16) for the surgical instrument (4) to pass through; the second electromagnetic opening and closing mechanism (6) is installed on the support seat ( The second electromagnetic opening and closing mechanism (6) is installed on the linear reciprocating device; the housing of the second motor (17) is fixed to the base plate (2); the output shaft of the second motor (17) is connected to the lead screw (19); the lead screw (19) passes through a nut (20) adapted to the lead screw (19) and fixed to the support seat (15); the second motor (17) is driven forward or reversely to drive the support seat (15) to perform linear reciprocating motion along the guide rail (13) along with the slider (14).

5. The vascular interventional surgery robot according to claim 4, characterized in that: The fixing seat (7), the supporting seat (15), the driven gear (9) and the bearing (10) are all made of non-magnetic conductive materials.

6. The vascular interventional surgery robot according to claim 1, characterized in that: The end of the extracorporeal guide tube (3) facing away from the front end fixing member (1) is connected to a blood vessel; the invention also comprises one or more guide branch tubes, the outlet end of each guide branch tube is connected to the extracorporeal guide tube (3), and the inlet end of the guide branch tube is used for allowing other vascular intervention surgical instruments to enter the same blood vessel through the extracorporeal guide tube (3); the front end fixing member (1) comprises a disposable rectangular plug plate (102) for connecting to the extracorporeal guide tube (3) and a plug plate seat (103) for fixed connection to the base plate (2), the top end of the plug plate seat (103) is provided with a slot for inserting the rectangular plug plate (102), and the rectangular plug plate (102) is provided with a second through hole (101) for allowing a surgical instrument (4) to pass through so as to enter the extracorporeal guide tube (3) and the blood vessel.

7. The vascular interventional surgery robot according to claim 1, characterized in that: The surgical instrument (4) is a guide wire, a push wire or a vascular stent.

8. The vascular interventional surgery robot according to claim 1, characterized in that: The surgical instrument (4) is a guide wire with a curved head, and by rotating the guide wire, a target blood vessel can be selected at a blood vessel bifurcation point.

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