In-vitro visual interventional hemostasis equipment and method

Abstract

The invention discloses in-vitro visual intervention hemostasis equipment and method. The in-vitro visual intervention hemostasis equipment comprises a manipulator device, image navigation system display equipment, a control box, a sheath catheter, an inner catheter, a control system, a first limiting plate, a second limiting plate, a sliding part, a sliding plate, a first limiting groove and a second limiting groove. The power piece is started to enable the sliding plate to move, under the extrusion action of the first limiting plate and the second limiting plate, the sliding piece keeps moving at a fixed inclination angle, at the moment, one rolling disc is clamped into the second limiting groove, the other rolling disc rolls on the first limiting plate, and therefore the sheath catheter and the inner catheter are driven to move synchronously, and the sliding plate continues to move; at the moment, one rolling disc is separated from the second limiting groove, the other rolling disc is clamped into the first limiting groove, the sliding piece inclines, the sheath catheter is fixed, the inner catheter continues to move, the position where hemostasis is needed is achieved, the mode is few in operation step, movement continuity is coordinated and smooth, and stability and precision are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of puncture structures of interventional hemostasis equipment, and in particular to an in vitro visualized interventional hemostasis equipment and method. Background Art

[0002] For life-threatening internal bleeding, vascular interventional technologies such as angiography, balloon occlusion, and vascular embolization can quickly identify the bleeding site and accurately stop bleeding at the fastest speed and with minimal trauma.

[0003] The existing visualized vascular intervention device (interventional hemostasis robot) first performs puncture and then quickly stops bleeding in the blood vessel with a balloon. During the nested advancement of the catheter, the sheath catheter and the inner catheter need to maintain a relative position one in front of the other, and the advancement distance of the inner catheter needs to be greater than the advancement distance of the sheath catheter.

[0004] The existing sheath catheter and inner catheter pushing structure adopts multiple independent power systems, which need to ensure the relative movement and advancement distance of the sheath catheter and the inner catheter. There are many operating systems, the puncture continuity is not high, there is a residence time in the middle, the error rate is increased, and the stability and accuracy of the sheath catheter inserted into the patient's body first are affected.

[0005] To this end, we propose an in vitro visualized interventional hemostasis device and method. Summary of the invention

[0006] The purpose of the present invention is to provide an extracorporeal visualized interventional hemostasis device and method to solve the problems raised in the above background technology.

[0007] To achieve the above-mentioned purpose, the present invention provides an extracorporeal visualized interventional hemostasis device, comprising a manipulator device, an image navigation system and a display device that cooperate with a treatment table, wherein a control box is provided at the end of the manipulator device, and a sheath catheter and an inner catheter are slidably penetrated in the control box, and the image navigation system is used to construct a three-dimensional image of the distribution of blood vessels in the patient's body, track and model the ends of the sheath catheter and the inner catheter, provide the surgeon with the position information of the sheath catheter and the inner catheter in the display device, and guide the implementation of the vascular interventional surgery;

[0008] A control system, the control system being used to generate a control strategy according to the three-dimensional image provided by the image navigation system and displayed on the display device, and to control the sheath catheter and the inner catheter to perform a vascular interventional procedure according to the control strategy;

[0009] The invention also includes two symmetrically distributed first and second limit plates and a sliding member, wherein the first limit plate is connected and fixed to the inside of the control box, the second limit plate is fixedly connected to a sliding plate that slides in the control box, the sliding plate is installed and connected to the inner catheter, the first limit plate and the second limit plate are respectively provided with a first limit groove and a second limit groove, the sliding member is installed and connected to the sheath catheter, the moving sliding member first cooperates with the second limit groove to make the sheath catheter and the inner catheter move synchronously, and then cooperates with the first limit groove to make the inner catheter move along the stopped sheath catheter;

[0010] The rotating member located between the two sliding members rotates when the sliding member contacts the first limiting groove, thereby driving the rotating member to rotate, so that the sheath catheter that has stopped moving rotates.

[0011] Preferably, the sliding member includes a power member and a T-shaped plate and a movable plate rotatably connected to the T-shaped plate, both ends of the T-shaped plate are rotatably connected to rolling plates that respectively roll with the first limit plate and the second limit plate, the end of the movable plate slides with the first limit plate, a limit member for limiting the sheath catheter is provided between the two T-shaped plates, a first mounting member is provided between the sliding plate and the inner catheter, the power member is used to drive the sliding plate to slide smoothly, and the first limit plate and the second limit plate are L-shaped.

[0012] Preferably, the rotating member includes a second mounting member and a worm gear rotatably connected to the limit member, a turbine is provided on the sheath tube, the turbine is fixedly connected to the sheath tube via the second mounting member, the worm gear is rotatably connected to the turbine, a first connecting plate is fixedly connected at both ends of the worm gear, a second connecting plate slidably cooperates with the sliding plate on the first connecting plate, and a traction member is provided between the T-shaped plate and the first connecting plate for driving the second connecting plate to move downward and contact the sliding plate.

[0013] Preferably, the limiting member includes a self-rotating rod rotatably connected to the T-shaped plate and the movable plate at the same time, a fixed plate is rotatably connected between the self-rotating rod and the worm, and a limiting ring rotatably connected to the turbine is fixedly connected between the two fixed plates.

[0014] Preferably, the traction member includes a rotating rod, a rotating plate is rotatably connected between the rotating rod and the T-shaped plate, a sliding groove is provided on the movable plate, a sliding block slidably cooperates with the sliding groove and is rotatably connected to the rotating rod, and an elastic pressure plate is fixedly connected to the movable plate and is pressed against the rotating rod.

[0015] Preferably, a limiting slide is fixedly connected to the first connection disk, a sliding groove slidably matched with the limiting slide is provided on the second connection disk, and an anti-slip layer is provided on the outer surface of the second connection disk.

[0016] Preferably, the power member comprises a cylinder connected and fixed in the control box, the telescopic shaft of the cylinder is fixedly connected to a connecting plate connected and fixed to the two sliding plates, and the control box is a detachable structure.

[0017] Preferably, the first mounting member includes two semicircular connecting tubes which are hinged to each other, the two connecting tubes clamp and fix the inner conduit, one of the connecting tubes is connected and fixed to the connecting plate, and the outer surface of the inner conduit is fixedly connected to a first mating ring which cooperates with the connecting tube.

[0018] Preferably, the second mounting member comprises a second mating ring fixedly connected to the outer surface of the sheath catheter, a clamping block is fixedly connected to the second mating ring, a clamping groove engaged with the clamping block is provided on the turbine, and a rubber anti-slip layer is provided on the outer surface of the clamping block.

[0019] A method for using an in vitro visualized interventional hemostasis device, characterized in that the in vitro visualized interventional hemostasis device is used, and the specific method includes the following steps:

[0020] S1, positioning: adjusting the position and angle of the control box by the manipulator device so that the sheath catheter and the inner catheter correspond to the hemostasis position;

[0021] S2, synchronous movement: the power member is started to move the sliding plate, and under the squeezing action of the first limiting plate and the second limiting plate, the sliding member is moved at a fixed tilt angle, at which time one of the rolling discs is inserted into the second limiting groove, and the other rolling disc rolls on the first limiting plate, thereby driving the sheath catheter and the inner catheter to move synchronously and puncture into the patient's body;

[0022] S3, relative sliding; the sliding plate continues to move, at which time one of the rolling discs is disengaged from the second limiting groove, and the other rolling disc is inserted into the first limiting groove, the sliding member is tilted, and the restriction on the rotating member is released, so that the sheath catheter is fixed in position, and the inner catheter continues to move to the position where bleeding needs to be stopped;

[0023] S4, rotation: the sheath catheter is fixed in position, and while the inner catheter continues to move, the sheath catheter is rotated at its original position under the action of the rotating member.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The power member is started to move the sliding plate. Under the squeezing action of the first limit plate and the second limit plate, the sliding member is kept moving at a fixed tilt angle. At this time, one rolling plate is inserted into the second limit groove, and the other rolling plate rolls on the first limit plate, thereby driving the sheath catheter and the inner catheter to move synchronously and puncture into the patient's body without the need for separate power operations.

[0026] The sliding plate continues to move, at which time one rolling disc is disengaged from the second limiting groove, and the other rolling disc is inserted into the first limiting groove, the sliding member is tilted, and the restriction on the rotating member is released, so that the sheath catheter is fixed in position, while the inner catheter continues to move to the position where bleeding needs to be stopped;

[0027] The present application enables the sheath catheter and the inner catheter to move simultaneously, and then automatically stops after the sheath catheter moves and fixes its position, while the inner catheter continues to move. This method has fewer operating steps, smooth and coordinated movement continuity, and increased stability and accuracy.

[0028] When the sheath catheter is fixed and the inner catheter continues to move, the sheath catheter rotates at its original position under the action of the rotating member, slightly dilating the narrowed or occluded blood vessels, allowing the blood to flow slowly and reducing the amount of blood stasis. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a side view schematic diagram of the overall structure of the present invention;

[0031] Figure 3 This is a schematic diagram of the disassembly of the control box and the internal structure of the control box of the present invention;

[0032] Figure 4 This is a schematic diagram of the internal structure of the control box of the present invention;

[0033] Figure 5 It is a bottom view schematic diagram of the internal structure of the control box of the present invention;

[0034] Figure 6 for Figure 4 Schematic diagram of the structure splitting;

[0035] Figure 7 This is a schematic diagram of the structure of the connecting plate being detached from the sliding plate of the present invention;

[0036] Figure 8 It is a structural schematic diagram of the movable plate detaching the slider of the present invention;

[0037] Fig. 9 for Figure 8 Schematic diagram of the middle structure from right;

[0038] Fig.10It is a structural schematic diagram of the turbine being detached from the limiting ring of the present invention;

[0039] Fig.11 It is a schematic diagram of the structure of the second matching ring of the present invention being detached from the turbine and the sheath catheter;

[0040] Fig.12 It is a schematic diagram of the structure of the sheath catheter and the inner catheter separated from the turbine of the present invention;

[0041] Fig.13 It is a schematic diagram of the split structure of the T-shaped plate and the first limiting plate and the second limiting plate of the present invention.

[0042] In the figure: 1. manipulator device; 2. display device; 3. control box; 4. sheath catheter; 5. inner catheter; 6. first limit plate; 7. second limit plate; 8. sliding plate; 9. first limit groove; 10. second limit groove; 11. T-shaped plate; 12. movable plate; 13. rolling plate; 14. worm; 15. turbine; 16. first connecting plate; 17. second connecting plate; 18. rotating rod; 19. fixed plate; 20. limit ring; 21. rotating rod; 22. rotating plate; 23. slide groove; 24. slider; 25. elastic pressure plate; 26. limit slide plate; 27. slide groove; 28. cylinder; 29. ​​connecting plate; 30. connecting tube; 31. first matching ring; 32. second matching ring; 33. clamping block; 34. clamping groove. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] See also Figure 1-Figure 13 The present invention provides an extracorporeal visualized interventional hemostasis device, comprising a manipulator device 1, an image navigation system and a display device 2 that cooperate with a treatment table. A control box 3 is provided at the end of the manipulator device 1. A sheath catheter 4 and an inner catheter 5 are slidably penetrated in the control box 3. The image navigation system is used to construct a three-dimensional image of the distribution of blood vessels in a patient's body, track and model the ends of the sheath catheter 4 and the inner catheter 5, provide the surgeon with the position information of the sheath catheter 4 and the inner catheter 5 in the display device 2, and guide the implementation of the vascular interventional surgery.

[0045] A control system, the control system is used to generate a control strategy according to the three-dimensional image provided by the image navigation system and displayed on the display device 2, and control the sheath catheter 4 and the inner catheter 5 to perform a vascular interventional surgery according to the control strategy;

[0046] The working principle of the visualization and hemostasis operation of this application is the prior art, see the cardiovascular intervention robot control monitoring system with publication number CN117426874A for details, the main principle is as follows:

[0047] The catheter system is used to deliver the interventional device for vascular intervention surgery to the target target area through the patient's blood vessels (equivalent to the sheath catheter 4 and the inner catheter 5 in this application). The catheter system includes a catheter, a catheter sheath and a guidewire. The catheter is used to provide a passage for the interventional device. The catheter sheath is used to assist the catheter to enter the vascular artery or vein during the process of pushing the catheter into the patient's blood vessels. The guidewire guides and supports the catheter and assists the catheter to enter the blood vessel;

[0048] Image navigation system: The image navigation system is used to construct a three-dimensional image of the patient's blood vessel distribution, track and model the end of the catheter system, provide the surgeon with the location information of the catheter system in the three-dimensional atrium map, and guide the implementation of vascular intervention surgery;

[0049] A control system, the control system is used to generate a control strategy according to the three-dimensional image provided by the image navigation system, and control the catheter system to perform vascular intervention surgery according to the control strategy. The control system includes a magnetic navigation system and an electromechanical system. The magnetic navigation system is used to generate a uniform spherical magnetic field on both sides of the operating table during the vascular intervention surgery, and to control the shape of the catheter end by manipulating the direction of the magnetic field;

[0050] The control strategy includes: during the process of the catheter moving along the patient's blood vessel toward the target target area, the movement path of the catheter is monitored in real time by the image navigation system, and any time point ti is used as the zero point of the catheter movement strategy;

[0051] Obtain the travel direction vector of the catheter end in the three-dimensional coordinate system under the zero point of the catheter travel strategy, and draw the catheter travel path prediction extension line according to the travel direction vector, wherein the catheter end is taken as the starting point of the catheter travel path prediction extension line, the intersection of the catheter travel path prediction extension line and the blood vessel wall is taken as the end point of the catheter travel path prediction extension line, the length of the catheter travel path prediction extension line is marked as l, and the angle between the catheter travel path prediction extension line and the blood vessel wall is marked as α;

[0052] A safe distance ls between the catheter and the blood vessel wall is set, and a first judgment is made on the subsequent moving direction of the catheter based on the safe distance ls;

[0053] The first judgment includes: if l≥ls, the catheter is continuously advanced by the electromechanical system according to the current direction of travel of the catheter;

[0054] If l<ls, the catheter path is simulated, and the catheter end is controlled to rotate by an angle β1 by the electromechanical system under the prediction model of the simulated path, and the predicted extension line of the catheter path is recalculated to obtain the length l' of the corrected predicted extension line of the catheter path, so that l'<ls

[0055] This application does not elaborate on the prior art in detail, but improves the penetration continuity of the sheath catheter and the inner catheter based on the prior art, and the improvements are as follows:

[0056] It also includes two symmetrically distributed first limit plates 6 and a second limit plate 7 and a sliding member, the first limit plate 6 is connected and fixed to the inside of the control box 3, the second limit plate 7 is fixedly connected to a sliding plate 8 that slides in the control box 3, the sliding plate 8 is installed and connected to the inner catheter 5, the first limit plate 6 and the second limit plate 7 are respectively provided with a first limit groove 9 and a second limit groove 10, the sliding member is installed and connected to the sheath catheter 4, the moving sliding member first cooperates with the second limit groove 10 to make the sheath catheter 4 and the inner catheter 5 move synchronously, and then cooperates with the first limit groove 9 to make the inner catheter 5 move along the stopped sheath catheter 4;

[0057] The rotating member located between the two sliding members rotates when the sliding member contacts the first limiting groove 9, thereby driving the rotating member to rotate, so that the sheath catheter 4 that has stopped moving rotates;

[0058] A method for using an in vitro visualized interventional hemostasis device, using the above-mentioned in vitro visualized interventional hemostasis device, the specific method includes the following steps;

[0059] S1, positioning: adjusting the position and angle of the control box 3 by the manipulator device 1, so that the sheath catheter 4 and the inner catheter 5 correspond to the hemostasis position;

[0060] S2, synchronous movement: the power member is started to move the sliding plate 8, and under the squeezing action of the first limiting plate 6 and the second limiting plate 7, the sliding member is kept moving at a fixed tilt angle, at which time one rolling plate 13 is inserted into the second limiting groove 10, and the other rolling plate 13 rolls on the first limiting plate 6, thereby driving the sheath catheter 4 and the inner catheter 5 to move synchronously and puncture into the patient's body;

[0061] S3, relative sliding; the sliding plate 8 continues to move, at which time one rolling disc 13 disengages from the second limiting groove 10, and the other rolling disc 13 is inserted into the first limiting groove 9, the sliding member tilts, and the restriction on the rotating member is released, so that the sheath catheter 4 is fixed in position, and the inner catheter 5 continues to move to the position where bleeding needs to be stopped;

[0062] S4, rotation: the sheath catheter 4 is fixed in position, and during the process of the inner catheter 5 continuing to move, the sheath catheter 4 is rotated at the original position under the action of the rotating member.

[0063] The first limiting plate 6 and the second limiting plate 7 are both L-shaped plates, and the first limiting groove 9 and the second limiting groove 10 are both inclined grooves and are provided at the corners of the L-shaped plates.

[0064] The sliding member includes a power member and a T-shaped plate 11 and a movable plate 12 rotatably connected to the T-shaped plate 11. The two ends of the T-shaped plate 11 are rotatably connected to rolling plates 13 respectively rolling with the first limit plate 6 and the second limit plate 7. The end of the movable plate 12 is slidably matched with the first limit plate 6. A limit member for limiting the sheath catheter 4 is provided between the two T-shaped plates 11. A first mounting member is provided between the sliding plate 8 and the inner catheter 5. The power member is used to drive the sliding plate 8 to slide smoothly. The first limit plate 6 and the second limit plate 7 are L-shaped.

[0065] The power member moves the sliding plate 8 and the second limiting plate 7, and the end of the movable plate 12 always contacts and slides with the first limiting plate 6:

[0066] At the beginning, the rolling disc 13 located at the top is inserted into the second limiting groove 10, and the rolling disc 13 located at the bottom is not inserted into the first limiting groove 9, but rolls on the first limiting plate 6. Since the distance between the first limiting plate 6 and the second limiting plate remains unchanged, the T-shaped plate 11 maintains the same angle, and the rolling disc 13 located at the top cannot be separated from the second limiting groove 10, so the sliding plate 8 and the second limiting plate 7 drive the T-shaped plate 11 to move, and the T-shaped plate 11 drives the sheath catheter 4 to move, so that the sheath catheter 4 and the inner catheter 5 move synchronously and synchronously puncture into the patient's body;

[0067] The sliding plate 8 and the second limiting plate 7 continue to move, and the T-shaped plate 11 keeps moving at an unchanged angle. When the rolling plate 13 located below enters the first limiting groove 9, the T-shaped plate 11 rotates at an angle, and the rolling plate 13 located above disengages from the second limiting groove 10 and rolls on the second limiting plate 7. At this time, the T-shaped plate 11 keeps its position and angle unchanged (the distance between the second limiting plate 7 and the first limiting plate 6 is fixed), does not continue to move, and remains fixed with the first limiting plate 6, that is, the sheath catheter 4 does not continue to move;

[0068] The sliding plate 8 that continues to move drives the second limiting plate 7 to continue to move, so that the rolling plate 13 on the T-shaped plate 11 that remains in a fixed position rolls with the second limiting plate 7, that is, the inner conduit 5 continues to move;

[0069] The present application enables the sheath catheter 4 and the inner catheter 5 to move simultaneously, and then the sheath catheter 4 automatically stops after being moved and fixed in position, while the inner catheter 5 continues to move. This method has fewer operating steps, smooth and coordinated movement continuity, and increased stability and accuracy.

[0070] The rotating member includes a second mounting member and a worm 14 rotatably connected to the limit member, a turbine 15 is provided through the sheath catheter 4, the turbine 15 is connected and fixed to the sheath catheter 4 through the second mounting member, the worm 14 is rotatably connected to the turbine 15, both ends of the worm 14 are fixedly connected to a first connecting plate 16, the first connecting plate 16 is slidably matched with a second connecting plate 17 rollingly matched with the sliding plate 8, and a traction member is provided between the T-shaped plate 11 and the first connecting plate 16 to drive the second connecting plate 17 to move downward to contact the sliding plate 8;

[0071] When the rolling plate 13 does not enter the first limiting groove 9, that is, the sheath catheter 4 and the inner catheter 5 move synchronously: the T-shaped plate 11 does not rotate and still moves at this angle, the second connecting plate 17 does not contact the sliding plate 8, the worm 14 and the turbine 15 remain stationary, that is, the sheath catheter 4 does not rotate;

[0072] When the rolling plate 13 enters the first limiting groove 9, that is, the sheath catheter 4 stops moving, and the inner catheter 5 continues to move: the T-shaped plate 11 rotates an angle, and under the action of the traction member, the second connecting plate 17 is brought into rolling contact with the sliding plate 8, and then the sliding plate 8 continues to move, so that the second connecting plate 17 rotates at the original position, driving the worm 14 to rotate, and under the action of the limiting member, the turbine 15 rotates stably, and the rotating turbine 15 rotates the sheath catheter 4, slightly dilates the narrowed or occluded blood vessels, makes the blood flow slowly, and reduces the amount of blood stasis;

[0073] It is worth noting that the interventional hemostasis method mainly uses the balloon to quickly stop bleeding of the blood vessels. Although the sheath catheter 4 rotates (a slow rotation process), it will not cause slight bleeding. However, it will not affect the hemostatic effect of the balloon. Secondly, it will reduce the amount of congestion, which is beneficial to the patient's recovery. Finally, it will not cause severe bleeding.

[0074] The limiting member includes a self-rotating rod 18 which is rotatably connected to the T-shaped plate 11 and the movable plate 12 at the same time; a fixed plate 19 is rotatably connected between the self-rotating rod 18 and the worm 14; a limiting ring 20 which is rotatably connected to the turbine 15 is fixedly connected between the two fixed plates 19; the movable plate 12 slides on the first limiting plate 6, that is, when the movable plate 12 moves, no angle tilt occurs; the self-rotating rod 18 and the rotating rod 21 remain parallel, and through the cooperation of the fixed plate 19 and the limiting ring 20, the position of the screw is stabilized relative to the position of the turbine 15, the worm 14 and the turbine 15 will not separate from each other, and the self-rotation of the worm 14 and the turbine 15 will not be affected.

[0075] The traction member includes a rotating rod 21, a rotating plate 22 is rotatably connected between the rotating rod 21 and the T-shaped plate 11, a sliding groove 23 is opened on the movable plate 12, a slider 24 rotatably connected to the rotating rod 21 is slidably fitted in the sliding groove 23, and an elastic pressing plate 25 is fixedly connected to the movable plate 12 and pressed against the rotating rod 21.

[0076] When the rolling plate 13 does not enter the first limiting groove 9, that is, the sheath catheter 4 and the inner catheter 5 move synchronously: the T-shaped plate 11 does not rotate but still maintains the angle of movement, the slider 24 is always located at the top of the slide groove 23, the second connecting plate 17 does not contact the sliding plate 8, and the elastic pressing plate 25 presses the fixed rotating rod 21, so that the rotating rod 21 does not rotate;

[0077] When the rolling disk 13 enters the first limiting groove 9, that is, the sheath catheter 4 stops moving, and the inner catheter 5 continues to move: the T-shaped plate 11 rotates an angle, driving the rotating plate 22 to rotate, so that the slider 24 moves from the top of the slide groove 23 to the bottom of the slide groove 23, driving the second connecting disk 17 and the rotating rod 21 to approach the sliding plate 8. At this time, the second connecting disk 17 is in rolling contact with the sliding plate 8, and the rotating rod 21 is away from the elastic pressure plate 25, the restriction is released, and it can rotate.

[0078] The first connection plate 16 is fixedly connected to a limit slide plate 26, and the second connection plate 17 is provided with a sliding groove 27 that is slidably matched with the limit slide plate 26. The outer surface of the second connection plate 17 is provided with an anti-slip layer to ensure that the second connection plate 17 that moves downward rolls with the sliding plate 8 under the action of the anti-slip layer.

[0079] When the rolling plate 13 does not enter the first limiting groove 9, that is, the sheath catheter 4 and the inner catheter 5 move synchronously: the second connecting plate 17 and the first connecting plate 16 do not change their heights, the sliding plate 8 and the second connecting plate 17 are not close to each other, and the worm 14 cooperates with the elastic pressing plate 25 to keep from rotating;

[0080] When the rolling plate 13 enters the first limiting groove 9, that is, the sheath catheter 4 stops moving, while the inner catheter 5 continues to move: the second connecting plate 17 moves downward for a certain distance and then stops and maintains the position, the height distance of the second connecting plate 17 relative to the sliding plate 8 becomes smaller, while the height distance of the first connecting plate 16 relative to the sliding plate 8 remains unchanged, and the second connecting plate 17 moving downward is tightly rolled and fitted on the sliding plate 8 through the anti-slip layer. In this process, the limiting slide plate 26 slides adaptively on the sliding groove 27.

[0081] When the sliding plate 8 moves, it drives the second connecting plate 17 to rotate, and under the action of the limiting slide plate 26 and the sliding groove 27, the rotating second connecting plate 17 drives the first connecting plate 16 to rotate, thereby causing the worm 14 to rotate, and driving the sheath catheter 4 to rotate in its original position, thereby slightly expanding the narrowed or occluded blood vessels, allowing the blood to flow slowly and reducing the amount of blood stasis.

[0082] The power part includes a cylinder 28 connected and fixed in the control box 3. The telescopic shaft of the cylinder 28 is fixedly connected to a connecting plate 29 connected and fixed to the two sliding plates 8. The control box 3 is a detachable structure, which is convenient for installing or replacing the sheath catheter 4 and the inner catheter 5. When the positioning is completed, the cylinder 28 is started, and the telescopic shaft of the cylinder 28, that is, the telescopic shaft, extends, driving the sliding plate 8, the second limit plate 7, the connecting plate 29 and the inner catheter 5 to move along the control box 3.

[0083] The first mounting member includes two semicircular connecting tubes 30 that are hinged to each other. The two connecting tubes 30 clamp and fix the inner conduit 5. One of the connecting tubes 30 is connected and fixed to the connecting plate 29. The outer surface of the inner conduit 5 is fixedly connected with a first matching ring 31 that matches the connecting tube 30.

[0084] The sheath catheter 4 and the inner catheter 5 are inserted into the turbine 15, and the connecting tube 30 is positioned between the two first matching rings 31, and then the two connecting tubes 30 are combined so that the two connecting tubes 30 tightly clamp and fix the inner catheter 5, and finally the two connecting tubes 30 are fixed with screws;

[0085] The inner wall of the connecting tube 30 and the interior of the limiting ring 20 are both provided with elastic extrusion layers to ensure the tight fixation of the connecting tube 30 and the inner catheter 5 and the tight connection between the turbine 15 and the sheath catheter 4.

[0086] The second mounting member includes a second matching ring 32 connected and fixed to the outer surface of the sheath catheter 4, a clamping block 33 is fixedly connected to the second matching ring 32, a clamping groove 34 connected to the clamping block 33 is provided on the turbine 15, and a rubber anti-slip layer is provided on the outer surface of the clamping block 33;

[0087] After the sheath catheter 4 and the inner catheter 5 are inserted into the turbine 15, the inner catheter 5 is installed through the first mounting part, and the sheath catheter 4 is moved so that the second matching ring 32 is close to the turbine 15, and the clamping block 33 is clamped into the clamping groove 34, so that the sheath catheter 4 and the turbine 15 are clamped and fixed, wherein the rubber anti-skid layer helps to make the sheath catheter 4 and the turbine 15 tightly clamped, so that the turbine 15 can drive the sheath catheter 4 to rotate when it rotates.

[0088] 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.

[0089] 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. An in vitro visualized interventional hemostasis device, comprising: A manipulator device (1), an image navigation system and a display device (2) cooperate with a treatment table, wherein a control box (3) is provided at the end of the manipulator device (1), a sheath catheter (4) and an inner catheter (5) are slidably penetrated in the control box (3), and the image navigation system is used to construct a three-dimensional image of the distribution of blood vessels in a patient's body, track and model the ends of the sheath catheter (4) and the inner catheter (5), provide the surgeon with position information of the sheath catheter (4) and the inner catheter (5) in the display device (2), and guide the implementation of vascular intervention surgery; A control system, the control system being used to generate a control strategy according to the three-dimensional image provided by the image navigation system and displayed on the display device (2), and to control the sheath catheter (4) and the inner catheter (5) to perform a vascular interventional surgery according to the control strategy; It is characterized by further comprising: Two first limiting plates (6) and a second limiting plate (7) and a sliding member are symmetrically distributed, wherein the first limiting plate (6) is connected and fixed to the inside of the control box (3), the second limiting plate (7) is fixedly connected to a sliding plate (8) that slides in the control box (3), the sliding plate (8) is installed and connected to the inner catheter (5), the first limiting plate (6) and the second limiting plate (7) are respectively provided with a first limiting groove (9) and a second limiting groove (10), the sliding member is installed and connected to the sheath catheter (4), the moving sliding member first cooperates with the second limiting groove (10) to make the sheath catheter (4) and the inner catheter (5) move synchronously, and then cooperates with the first limiting groove (9) to make the inner catheter (5) move along the stopped sheath catheter (4); The rotating member located between the two sliding members rotates when the sliding member contacts the first limiting groove (9), thereby driving the rotating member to rotate, causing the sheath catheter (4) that has stopped moving to rotate.

2. The in vitro visualized interventional hemostasis device according to claim 1, characterized in that: The sliding member comprises a power member and a T-shaped plate (11) and a movable plate (12) rotatably connected to the T-shaped plate (11); the two ends of the T-shaped plate (11) are rotatably connected to rolling plates (13) respectively rolling with the first limit plate (6) and the second limit plate (7); the end of the movable plate (12) is slidably matched with the first limit plate (6); a limit member for limiting the sheath catheter (4) is provided between the two T-shaped plates (11); a first mounting member is provided between the sliding plate (8) and the inner catheter (5); the power member is used to drive the sliding plate (8) to slide smoothly; the first limit plate (6) and the second limit plate (7) are L-shaped.

3. The extracorporeal visualized interventional hemostasis device according to claim 2, characterized in that: The rotating member comprises a second mounting member and a worm (14) rotatably connected to the limiting member; a turbine (15) is provided through the sheath catheter (4); the turbine (15) is connected and fixed to the sheath catheter (4) via the second mounting member; the worm (14) is rotatably connected to the turbine (15); both ends of the worm (14) are fixedly connected to a first connecting disk (16); a second connecting disk (17) is slidably engaged with the first connecting disk (16) and rollingly engaged with the sliding plate (8); a traction member is provided between the T-shaped plate (11) and the first connecting disk (16) for driving the second connecting disk (17) to move downward to contact the sliding plate (8).

4. The extracorporeal visualized interventional hemostasis device according to claim 3, characterized in that: The limiting member comprises a self-rotating rod (18) rotatably connected to the T-shaped plate (11) and the movable plate (12), a fixed plate (19) rotatably connected between the self-rotating rod (18) and the worm (14), and a limiting ring (20) rotatably connected to the turbine (15) is fixedly connected between the two fixed plates (19).

5. The extracorporeal visualized interventional hemostasis device according to claim 3, characterized in that: The traction member comprises a rotating rod (21), a rotating plate (22) is rotatably connected between the rotating rod (21) and the T-shaped plate (11), a sliding groove (23) is provided on the movable plate (12), a sliding block (24) rotatably engaged with the rotating rod (21) is slidably fitted in the sliding groove (23), and an elastic pressing plate (25) is fixedly connected to the rotating rod (21) and pressed against the rotating rod (21).

6. The extracorporeal visualized interventional hemostasis device according to claim 3, characterized in that: The first connection plate (16) is fixedly connected to a limiting slide plate (26), the second connection plate (17) is provided with a sliding groove (27) for slidingly cooperating with the limiting slide plate (26), and the outer surface of the second connection plate (17) is provided with an anti-slip layer.

7. The extracorporeal visualized interventional hemostasis device according to claim 2, characterized in that: The power component comprises a cylinder (28) connected and fixed in the control box (3); the telescopic shaft of the cylinder (28) is fixedly connected to a connecting plate (29) connected and fixed to the two sliding plates (8); and the control box (3) is a detachable structure.

8. The extracorporeal visualized interventional hemostasis device according to claim 7, characterized in that: The first mounting member comprises two semicircular connecting tubes (30) which are hinged to each other, the two connecting tubes (30) clamping and fixing the inner conduit (5), one of the connecting tubes (30) being connected and fixed to the connecting plate (29), and a first matching ring (31) matching with the connecting tube (30) being fixedly connected to the outer surface of the inner conduit (5).

9. The extracorporeal visualized interventional hemostasis device according to claim 3, characterized in that: The second mounting member comprises a second matching ring (32) connected and fixed to the outer surface of the sheath catheter (4); a clamping block (33) is fixedly connected to the second matching ring (32); a clamping groove (34) is provided on the turbine (15) and is clamped to the clamping block (33); and a rubber anti-slip layer is provided on the outer surface of the clamping block (33).

10. A method for using an in vitro visualized interventional hemostasis device, characterized in that: Using the in vitro visualized interventional hemostasis device according to any one of claims 1 to 9, the specific method comprises the following steps: S1, positioning: adjusting the position and angle of the control box (3) by means of the manipulator device (1), so that the sheath catheter (4) and the inner catheter (5) correspond to the hemostasis position; S2, synchronous movement: the power member is started to move the sliding plate (8), and under the squeezing action of the first limiting plate (6) and the second limiting plate (7), the sliding member is kept moving at a fixed tilt angle, at which time one of the rolling plates (13) is inserted into the second limiting groove (10), and the other rolling plate (13) rolls on the first limiting plate (6), thereby driving the sheath catheter (4) and the inner catheter (5) to move synchronously and puncture into the patient's body; S3, relative sliding; the sliding plate (8) continues to move, at which time one of the rolling discs (13) is disengaged from the second limiting groove (10), and the other rolling disc (13) is inserted into the first limiting groove (9), the sliding member is tilted, and the restriction on the rotating member is released, so that the position of the sheath catheter (4) is fixed, and the inner catheter (5) continues to move to reach the position where bleeding needs to be stopped; S4, rotation: the sheath catheter (4) is fixed in position, and as the inner catheter (5) continues to move, the sheath catheter (4) is rotated at its original position under the action of the rotating member.

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