An in vitro visual interventional hemostasis device and method

Abstract

The present invention discloses an in vitro visual interventional hemostasis device and method, including a manipulator device, an image navigation system display device, a control box, a sheath catheter, an inner catheter, a control system, a first limiting plate, a second limiting plate, a sliding member, a sliding plate, a first limiting groove and a second limiting groove; by starting the power member, the sliding plate is moved. Under the squeezing action of the first limiting plate and the second limiting plate, the sliding member moves while maintaining a fixed inclination angle. At this time, one rolling disc is caught in 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. When the sliding plate continues to move, one rolling disc disengages from the second limiting groove, and the other rolling disc is caught in the first limiting groove, and the sliding member inclines, so that the position of the sheath catheter is fixed, while the inner catheter continues to move to reach the position where hemostasis is required. This method has fewer operation steps, smooth and coordinated movement coherence, and increases stability and precision.

Description

Technical Field

[0001] The present invention relates to the technical field of puncture structures of interventional hemostasis devices, and particularly to an in vitro visual interventional hemostasis device and method. Background Art

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

[0003] In the existing visual vascular interventional device (interventional hemostasis robot), first, puncture treatment is performed, and then a balloon is quickly used for intravascular hemostasis. During the nested advancement process of the catheter, the sheath catheter and the inner catheter need to maintain a relative position with the former in front and the latter behind, and the advancement distance of the inner catheter needs to be greater than that of the sheath catheter.

[0004] The existing pushing structures of the sheath catheter and the inner catheter adopt multiple sets of independent power systems, which need to ensure the relative movement with the former in front and the latter behind and the advancement distance of the sheath catheter and the inner catheter. There are many operating systems, the puncture coherence is not high, there is a retention time in the middle, the error rate increases, and the stability and accuracy of the sheath catheter inserted into the patient's body first are affected.

[0005] Therefore, we propose an in vitro visual interventional hemostasis device and method. Summary of the Invention

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

[0007] To achieve the above purpose, the present invention provides an in vitro visual interventional hemostasis device, including a manipulator device cooperating with a treatment table, an image navigation system, and a display device. A control box is provided at the end of the manipulator device, and a sheath catheter and an inner catheter are slidably penetrated through the control box. The image navigation system is used to construct a three-dimensional image of the blood vessel distribution in the patient's body, perform tracking modeling on the ends of the sheath catheter and the inner catheter, provide the position information of the sheath catheter and the inner catheter in the display device for the surgeon, and guide the implementation of the vascular interventional surgery.

[0008] A control system is used to generate a control strategy according to the three-dimensional image provided by the image navigation system and displayed in the display device, and control the sheath catheter and the inner catheter to perform vascular interventional surgery according to the control strategy.

[0009] It further includes two first limit plates, two second limit plates and two sliding members which are symmetrically distributed. The first limit plates are fixedly connected to the inside of the control box. A sliding plate which slides inside the control box is fixedly connected to the second limit plates. The sliding plate is installed and connected to the inner catheter. The first limit plates and the second limit plates are respectively provided with a first limit groove and a second limit groove. The sliding members are installed and connected to the sheath catheter. The moving sliding members first cooperate with the second limit groove to synchronously move the sheath catheter and the inner catheter, and then cooperate with the first limit groove to move the inner catheter along the stationary sheath catheter;

[0010] A rotating member located between the two sliding members rotates when the sliding members contact the first limit groove, thereby driving the rotating member to rotate and causing the stationary sheath catheter to rotate self - clockwise.

[0011] Preferably, the sliding member includes a power member, a T - shaped plate and a movable plate rotatably connected to the T - shaped plate. Rolling discs which are respectively in rolling cooperation with the first limit plate and the second limit plate are rotatably connected to both ends of the T - shaped plate. The end of the movable plate is in sliding cooperation with the first limit plate. A limiting member for restricting 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. The first limit plates and the second limit plates are in an L shape.

[0012] Preferably, the rotating member includes a second mounting member and a worm rotatably connected to the limiting member. A worm wheel is penetrated through the sheath catheter. The worm wheel is fixedly connected to the sheath catheter through the second mounting member. The worm is rotatably connected to the worm wheel. First connection discs are fixedly connected to both ends of the worm. A second connection disc which is in rolling cooperation with the sliding plate is slidably fitted on the first connection disc. A traction member for driving the second connection disc to move downwards to contact the sliding plate is provided between the T - shaped plate and the first connection disc.

[0013] Preferably, the limiting member includes a self - rotating rod rotatably connected to both the T - shaped plate and the movable plate. A fixing plate is rotatably connected between the self - rotating rod and the worm. A limiting ring rotatably connected to the worm wheel is fixedly connected between the two fixing 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 formed on the movable plate. A slider rotatably connected to the rotating rod is slidably fitted in the sliding groove. An elastic pressing plate which presses and fixes the rotating rod is fixedly connected to the movable plate.

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

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

[0017] Preferably, the first mounting member includes two semicircular connecting cylinders hinged to each other, the two connecting cylinders clamp and fix the inner catheter, one of the connecting cylinders is fixedly connected to the connecting plate, and a first fitting ring matched with the connecting cylinder is fixedly connected to the outer surface of the inner catheter.

[0018] Preferably, the second mounting member includes a second fitting ring fixedly connected to the outer surface of the sheath catheter, a clamping block is fixedly connected to the second fitting ring, a clamping groove engaged with the clamping block is formed in the worm gear, and a rubber anti-slip layer is provided on the outer surface of the clamping block.

[0019] A method for using an in vitro visual interventional hemostasis device, characterized in that the above-mentioned in vitro visual interventional hemostasis device is used, and the specific method includes the following steps;

[0020] S1. Positioning: Adjust the position and angle of the control box through the manipulator device, so that the sheath catheter and the inner catheter correspond to the hemostasis position;

[0021] S2. Synchronous movement: Start the power member to move the sliding plate. Under the squeezing action of the first limiting plate and the second limiting plate, the sliding member moves at a fixed inclination angle. At this time, one rolling disc is caught in 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 this time, one rolling disc disengages from the second limiting groove, and the other rolling disc is caught in the first limiting groove. The sliding member tilts and releases the restriction on the rotating member, so that the position of the sheath catheter is fixed, while the inner catheter continues to move to reach the position where hemostasis is required;

[0023] S4. Rotation: When the position of the sheath catheter is fixed and the inner catheter continues to move, under the action of the rotating member, the sheath catheter rotates at the original position.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] Start the power component to move the sliding plate. Under the squeezing action of the first limiting plate and the second limiting plate, the sliding part moves while maintaining a fixed inclination angle. At this time, one rolling disc is caught in 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 puncturing into the patient's body without the need for separate power operations;

[0026] The sliding plate continues to move. At this time, one rolling disc disengages from the second limiting groove, and the other rolling disc is caught in the first limiting groove. The sliding part tilts and releases the restriction on the rotating part, so that the position of the sheath catheter is fixed, while the inner catheter continues to move to reach the position where hemostasis is required;

[0027] In this application, the sheath catheter and the inner catheter move simultaneously first. After the sheath catheter moves and then fixes its position, it automatically stops, while the inner catheter continues to move. This method has fewer operation steps, smooth and coordinated movement coherence, and increases stability and accuracy.

[0028] Moreover, when the sheath catheter is fixed in position and the inner catheter continues to move, under the action of the rotating part, the sheath catheter rotates at its original position to slightly expand the narrow or occluded blood vessel, allowing blood to flow slowly and reducing the amount of stasis. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0031] Figure 3 is a schematic exploded view of the control box and the internal structure of the control box of the present invention;

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

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

[0034] Figure 6 is Figure 4 the exploded view of the structure in;

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

[0036] Figure 8 is a schematic diagram of the structure of the movable plate of the present invention detached from the slider;

[0037] Figure 9 is Figure 8 the right view of the structure in;

[0038] Figure 10Schematic structural diagram of the limiting ring of the present invention being detached from the worm gear;

[0039] Figure 11 Schematic structural diagram of the second fitting ring of the present invention being detached from the worm gear and the sheath catheter;

[0040] Figure 12 Schematic structural diagram of the sheath catheter and the inner catheter of the present invention being detached from the worm gear;

[0041] Figure 13 Schematic structural diagram of the splitting of the T-shaped plate, 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 limiting plate; 7, second limiting plate; 8, sliding plate; 9, first limiting groove; 10, second limiting groove; 11, T-shaped plate; 12, movable plate; 13, rolling disc; 14, worm; 15, worm gear; 16, first connecting disc; 17, second connecting disc; 18, self-rotating rod; 19, fixing plate; 20, limiting ring; 21, rotating rod; 22, rotating plate; 23, sliding groove; 24, slider; 25, elastic pressing plate; 26, limiting sliding plate; 27, sliding groove; 28, cylinder; 29, connecting plate; 30, connecting cylinder; 31, first fitting ring; 32, second fitting ring; 33, clamping block; 34, clamping groove. Detailed implementation manners

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0044] Please refer to Figures 1 - 13 , the present invention provides an in vitro visual interventional hemostasis device, including a manipulator device 1 cooperating with a treatment table, an image navigation system and a display device 2. 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 through the control box 3. The image navigation system is used to construct a three-dimensional image of the blood vessel distribution in the patient's body, perform tracking modeling on the ends of the sheath catheter 4 and the inner catheter 5, and provide the position information of the sheath catheter 4 and the inner catheter 5 in the display device 2 for the surgeon to guide the implementation of the blood vessel interventional surgery;

[0045] A control system, which 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 the blood vessel interventional surgery according to the control strategy;

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

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

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

[0049] Control system: The control system is used to generate a control strategy based on 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 implementation of vascular intervention surgery and control the morphology of the catheter end by manipulating the magnetic field direction;

[0050] The control strategy includes: During the process of the catheter advancing along the patient's blood vessels towards the target area, the movement path of the catheter is monitored in real time through the image navigation system, and any time point ti is set as the zero point of the catheter advancing strategy;

[0051] Obtain the advancing direction vector of the catheter end in the three-dimensional coordinate system at the zero point of the catheter advancing strategy, and draw a predicted extension line of the catheter advancing path based on the advancing direction vector. Among them, the end of the catheter is used as the starting point of the predicted extension line of the catheter advancing path, and the intersection point of the predicted extension line of the catheter advancing path and the blood vessel wall is used as the end point of the predicted extension line of the catheter advancing path. Mark the length of the predicted extension line of the catheter advancing path as l, and mark the included angle between the predicted extension line of the catheter advancing path and the blood vessel wall as α;

[0052] Set the safe distance ls for the catheter to contact the blood vessel wall, and make a first judgment on the subsequent advancing direction of the catheter accordingly;

[0053] The first judgment includes: If l≥ls, continue to push the catheter through the electromechanical system in accordance with the current catheter advancing direction;

[0054] If l < ls, a simulated travel path is generated for the catheter. After controlling the rotation angle β1 of the catheter tip through an electromechanical system under the prediction model of the simulated travel path, the predicted extension line of the catheter travel path is recalculated to obtain the length l' of the corrected predicted extension line of the catheter travel path, such that l' < ls.

[0055] For this prior art, this application will not provide a detailed description. Based on the prior art, this application improves the penetration coherence method of the sheath catheter and the inner catheter, and the improvement content is as follows:

[0056] It also includes two first limit plates 6 and two second limit plates 7 that are symmetrically distributed, as well as two sliding members. The first limit plate 6 is fixedly connected to the inside of the control box 3. A sliding plate 8 that slides inside the control box 3 is fixedly connected to the second limit plate 7. 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 members are installed and connected to the sheath catheter 4. The moving sliding members first cooperate with the second limit groove 10 to synchronously move the sheath catheter 4 and the inner catheter 5, and then cooperate with the first limit groove 9 to move the inner catheter 5 along the stationary sheath catheter 4.

[0057] A rotating member located between the two sliding members rotates when the sliding member contacts the first limit groove 9, thereby driving the rotating member to rotate and causing the stationary sheath catheter 4 to rotate self - axially.

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

[0059] S1. Positioning: Adjust the position and angle of the control box 3 through the manipulator device 1, so that the sheath catheter 4 and the inner catheter 5 correspond to the hemostasis position.

[0060] S2. Synchronous movement: Start the power member to move the sliding plate 8. Under the squeezing action of the first limit plate 6 and the second limit plate 7, the sliding members move at a fixed inclination angle. At this time, one rolling disc 13 is stuck into the second limit groove 10, and the other rolling disc 13 rolls on the first limit plate 6, thereby driving the sheath catheter 4 and the inner catheter 5 to move synchronously and penetrate into the patient's body.

[0061] S3. Relative sliding; The sliding plate 8 continues to move. At this time, one rolling disc 13 disengages from the second limit groove 10, and the other rolling disc 13 is stuck into the first limit groove 9. The sliding members tilt and release the restriction on the rotating member, so that the position of the sheath catheter 4 is fixed, while the inner catheter 5 continues to move to reach the position where hemostasis is required.

[0062] S4. Rotation: When the position of the sheath catheter 4 is fixed and the inner catheter 5 continues to move, under the action of the rotating member, the sheath catheter 4 rotates at its original position.

[0063] Among them, 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 opened at the corner of the L-shaped plate.

[0064] The sliding member includes a power member, a T-shaped plate 11, and a movable plate 12 rotatably connected to the T-shaped plate 11. Rolling discs 13 respectively in rolling fit with the first limiting plate 6 and the second limiting plate 7 are rotatably connected to both ends of the T-shaped plate 11. The end of the movable plate 12 is in sliding fit with the first limiting plate 6. A limiting member for restricting 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 limiting plate 6 and the second limiting plate 7 are in an L shape;

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

[0066] At the beginning, the upper rolling disc 13 is caught in the second limiting groove 10, and the lower rolling disc 13 is not caught in 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 all the time, the T-shaped plate 11 maintains this angle unchanged, and the upper rolling disc 13 cannot break away from the second limiting groove 10. Therefore, 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 puncture into the patient's body synchronously;

[0067] The sliding plate 8 and the second limiting plate 7 continue to move, and the T-shaped plate 11 moves while maintaining the angle unchanged. When the lower rolling disc 13 enters the first limiting groove 9, the T-shaped plate 11 rotates by an angle, and the upper rolling disc 13 breaks away from the second limiting groove 10 and rolls on the second limiting plate 7. At this time, the T-shaped plate 11 maintains 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 in a fixed state with the first limiting plate 6, that is, the sheath catheter 4 does not continue to move;

[0068] The continuously moving sliding plate 8 drives the second limiting plate 7 to continue to move, so that the rolling disc 13 on the T-shaped plate 11 that maintains its position rolls on the second limiting plate 7, that is, the inner catheter 5 continues to move;

[0069] In this application, by making the sheath catheter 4 and the inner catheter 5 move simultaneously first, and automatically stop after the sheath catheter 4 moves and then fixes its position, while the inner catheter 5 continues to move, this method has fewer operation steps, smooth and coordinated movement coherence, and increases stability and accuracy.

[0070] The rotating member includes a second mounting member and a worm 14 rotatably connected to the limiting member. A worm gear 15 is provided through the sheath catheter 4. The worm gear 15 is fixedly connected to the sheath catheter 4 through the second mounting member. The worm 14 is rotatably connected to the worm gear 15. Two ends of the worm 14 are fixedly connected with a first connection disk 16. A second connection disk 17 that is in rolling fit with the sliding plate 8 is slidably fitted on the first connection disk 16. A traction member for driving the second connection disk 17 to move downward to contact the sliding plate 8 is provided between the T-shaped plate 11 and the first connection disk 16;

[0071] When the rolling disk 13 does not enter the first limiting groove 9, that is, when 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 connection disk 17 does not contact the sliding plate 8. The worm 14 and the worm gear 15 remain stationary, that is, the sheath catheter 4 does not rotate itself;

[0072] When the rolling disk 13 enters the first limiting groove 9, that is, when the sheath catheter 4 stops moving while the inner catheter 5 continues to move: the T-shaped plate 11 rotates. Under the action of the traction member, the second connection disk 17 is in rolling contact with the sliding plate 8. Then the sliding plate 8 continues to move, causing the second connection disk 17 to rotate on its original position, driving the worm 14 to rotate itself. And under the action of the limiting member, the worm gear 15 rotates stably. The rotating worm gear 15 causes the sheath catheter 4 to rotate itself, slightly expanding the narrow or occluded blood vessel, making the blood flow slowly and reducing the amount of stasis;

[0073] It should be noted that: the main method of interventional hemostasis is to quickly stop bleeding from the blood vessel through the balloon. Although the sheath catheter 4 rotates itself (a slow rotation process), it will cause a slight amount of bleeding. However, first, it will not affect the hemostasis effect of the balloon. Second, it reduces the amount of stasis, 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 that is rotatably connected to both the T-shaped plate 11 and the movable plate 12. A fixed plate 19 is rotatably connected between the self-rotating rod 18 and the worm 14. A limiting ring 20 that is rotatably connected to the worm gear 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, it will not tilt at an angle. 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 rod is stable relative to the position of the worm gear 15. The worm 14 and the worm gear 15 will not separate from each other and will not affect the self-rotation of the worm 14 and the worm gear 15.

[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 formed on the movable plate 12. A slider 24 that is rotatably connected to the rotating rod 21 is slidably fitted in the sliding groove 23. An elastic pressing plate 25 that presses and fixes the rotating rod 21 is fixedly connected to the movable plate 12.

[0076] When the rolling disc 13 does not enter the first limiting groove 9, that is, when 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 slider 24 is always located at the top of the chute 23. The second connecting disc 17 does not contact the sliding plate 8, and the elastic pressing plate 25 presses and fixes the rotating rod 21, so that the rotating rod 21 will not rotate self.

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

[0078] A limiting sliding plate 26 is fixedly connected to the first connecting disc 16. A sliding groove 27 that is slidably matched with the limiting sliding plate 26 is formed on the second connecting disc 17. An anti-slip layer is provided on the outer surface of the second connecting disc 17 to ensure that the descending second connecting disc 17 is in rolling cooperation with the sliding plate 8 under the action of the anti-slip layer.

[0079] When the rolling disc 13 does not enter the first limiting groove 9, that is, when the sheath catheter 4 and the inner catheter 5 move synchronously: the heights of the second connecting disc 17 and the first connecting disc 16 remain unchanged. At this time, the sliding plate 8 and the second connecting disc 17 do not approach each other, and the worm 14 cooperates with the elastic pressing plate 25 to remain stationary.

[0080] When the rolling disc 13 enters the first limiting groove 9, that is, when the sheath catheter 4 stops moving and the inner catheter 5 continues to move: the second connecting disc 17 moves downward by a certain distance and then stops and maintains this position. The height distance between the second connecting disc 17 and the sliding plate 8 becomes smaller, while the height distance between the first connecting disc 16 and the sliding plate 8 remains unchanged. The descending second connecting disc 17 is closely and rollingly attached to the sliding plate 8 through the anti-slip layer. During this process, the limiting sliding plate 26 makes an adaptive slide on the sliding groove 27.

[0081] When the sliding plate 8 moves, it drives the second connecting disc 17 to rotate self. Under the action of the limiting sliding plate 26 and the sliding groove 27, the rotating second connecting disc 17 drives the first connecting disc 16 to rotate self, so that the worm 14 rotates self, driving the sheath catheter 4 to rotate self at the original position, thereby slightly expanding the narrow or occluded blood vessel, making the blood flow slowly and reducing the blood stasis volume.

[0082] The power component includes a cylinder 28 fixedly connected inside the control box 3. A connecting plate 29 fixedly connected to the telescopic shaft of the cylinder 28 is fixedly connected to the two sliding plates 8. The control box 3 is of a detachable structure, facilitating the installation, disassembly or replacement of the sheath catheter 4 and the inner catheter 5. After positioning is completed, the cylinder 28 is started, and the telescopic shaft of the cylinder 28, i.e., the telescopic shaft extends, driving the sliding plate 8, the second limiting 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 semi-circular connecting cylinders 30 hinged to each other. The two connecting cylinders 30 clamp and fix the inner catheter 5. One of the connecting cylinders 30 is fixedly connected to the connecting plate 29. A first fitting ring 31 cooperating with the connecting cylinder 30 is fixedly connected to the outer surface of the inner catheter 5;

[0084] By inserting the sheath catheter 4 and the inner catheter 5 sleeved together into the worm gear 15, aligning the position of the connecting cylinder 30 between the two first fitting rings 31, then merging the two connecting cylinders 30 to tightly clamp and fix the inner catheter 5, and finally fixing the two connecting cylinders 30 with screws;

[0085] Elastic extrusion layers are provided on the inner wall of the connecting cylinder 30 and inside the limiting ring 20 to ensure the tight fixation of the connecting cylinder 30 and the inner catheter 5, and the tight connection between the worm gear 15 and the sheath catheter 4.

[0086] The second mounting member includes a second fitting ring 32 fixedly connected to the outer surface of the sheath catheter 4. A clamping block 33 is fixedly connected to the second fitting ring 32. A clamping groove 34 for clamping the clamping block 33 is formed on the worm gear 15. 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 worm gear 15 and the inner catheter 5 is installed by the first mounting member, the sheath catheter 4 is moved to make the second fitting ring 32 close to the worm gear 15 and the clamping block 33 is inserted into the clamping groove 34, so that the sheath catheter 4 is clamped and fixed to the worm gear 15. The rubber anti-slip layer helps to tightly clamp the sheath catheter 4 and the worm gear 15, enabling the worm gear 15 to drive the sheath catheter 4 to rotate when it rotates itself.

[0088] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprises", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0089] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. 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) coordinated with a rescue 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), and provide the surgeon with position information of the sheath catheter (4) and the inner catheter (5) in the display device (2), thereby guiding 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 limit plates (6) and two second limit plates (7) and two sliding members are symmetrically distributed, 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); 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 worm wheel (15) is provided through the sheath catheter (4); the worm wheel (15) is connected and fixed to the sheath catheter (4) via the second mounting member; the worm (14) is rotatably connected to the worm wheel (15); both ends of the worm (14) are fixedly connected to a first connecting plate (16); a second connecting plate (17) is slidably engaged with the first connecting plate (16) and rollingly engaged with the sliding plate (8); a traction member is provided between the T-shaped plate (11) and the first connecting plate (16) for driving the second connecting plate (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 worm wheel (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 worm gear (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).

Images