Multi-purpose force feedback vascular interventional surgery robot system and operation method

Abstract

The invention discloses a multi-purpose force feedback vascular interventional surgical robot system and an operation method. The multi-purpose force feedback vascular interventional surgical robot system comprises a transmission structure body, a guide wire, an angiographic catheter and mechanical movement of various surgical instruments. The robot main body is internally provided with a mechanical unit for driving the transmission structure main body and power equipment; the transmission structure body comprises a left channel bottom plate, a right channel bottom plate, a left channel bottom plate, a right channel bottom plate, a left channel bottom plate and a right channel bottom plate, the catheter delivery module is fixed on the left channel bottom plate; a first / second instrument delivery module that guides translational and rotational movement of a surgical instrument; the surgical instrument in the second instrument delivery module can be replaced; the right channel bottom plate is located on the outer sides of the first instrument delivery module and the second instrument delivery module, and two working channels for guiding surgical instruments to move are formed in the surface of the right channel bottom plate. The system can be widely applied to various clinical scenes, and the multipurpose function of one device is achieved.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a multi-purpose force feedback vascular interventional surgery robot system and an operation method thereof. Background Art

[0003] At present, the main treatment options for cardiovascular diseases include drug therapy, surgical treatment and percutaneous coronary intervention (PCI). Vascular intervention surgery has the advantages of small surgical incision, less bleeding, short hospital stay and fast postoperative recovery. The main operation process of percutaneous coronary intervention is to first puncture the patient (usually the femoral artery or radial artery) to open the surgical access between the blood vessel and the outside world. After the puncture, the arterial sheath is fixed at the vascular puncture port. Then, based on the digital subtraction angiography (DSA) images and experience, the doctor inserts the guide wire and the angiography catheter along the sheath into the artery, enters the vascular branch, and reaches the lesion site. Then, according to the patient's condition, the balloon catheter is guided by the treatment guide wire to clear the lesion or implant a stent. Finally, the guide wire, angiography catheter, sheath and other instruments are withdrawn in turn. Compress the puncture for 15 minutes, stop the bleeding of the wound, and complete the operation.

[0004] The above-mentioned interventional surgery requires the injection of contrast agents into the corresponding blood vessels through the angiography catheter at irregular intervals, and then the blood vessel shape and the position of the interventional device are displayed on the screen through the X-ray of the DSA device. In order to avoid the harm of X-ray radiation, the interventional doctor needs to wear a 15kg lead suit during the operation. Wearing heavy lead suits for a long time will cause spinal damage to the interventional doctor. In addition, the lead suit cannot protect their face and arms, and the interventional doctor is still harmed by radiation and is prone to skin diseases or even cancer.

[0005] With the advancement of science and technology, the development of surgical robot technology has brought good news to doctors and patients. At present, most of the cardiovascular interventional surgical robot systems developed at home and abroad adopt the master-slave remote control method. The master-slave cardiovascular interventional surgical robot system generally includes a master-hand console, a slave-hand robot and a DSA system. The interventional doctor can monitor the data and the position of the interventional instrument in the angiography image in real time outside the operating room, and then control the master hand to control the slave-hand robot in the operating room to complete the delivery of guidewires and catheters, stent release and injection of contrast agents. Therefore, the master-slave surgical robot can completely block doctors from being harmed by X-ray radiation. Current research has developed a number of vascular interventional robots for coronary intervention, aortic valve intervention, cerebrovascular intervention, etc., but due to different intraoperative instrument requirements, there is a lack of multi-purpose vascular interventional surgical robots for multiple surgical scenarios.

[0006] Furthermore, the remote control method will cause the interventional physician to lose the natural "feel", that is, the physician cannot directly operate the surgical instrument to sense the resistance and adjust the operation. This will pose a challenge to the safety of the operation. Therefore, in order to help interventional physicians perform safe surgical operations smoothly, it is necessary to introduce telepresence in the master-slave teleoperation system to perceive more external environmental information. Among them, force feedback technology is one of the important contents of telepresence technology, and it is also one of the functions that most cardiovascular interventional surgical robots currently lack. The slave robot needs to sense the force information of the interventional instrument during the operation, and transmit the force information to the master hand end through wireless communication to achieve force reproduction. The force position information sharing between the master and slave ends can enable interventional physicians to perceive surgical information in real time outside the operating room and perform safe operations.

[0007] Therefore, developing a multi-purpose vascular interventional surgical robot with force feedback function has important clinical value and practicality.

[0008] After searching the prior art, it was found that the Chinese invention patent: CN202111036296.9, entitled "Parallel progressive replaceable cardiovascular interventional surgical robot and control method", can achieve the delivery of single guidewire and single catheter. Its disadvantage is that it can only be used for simple lesion treatment and cannot complete complex surgical operations.

[0009] Further searching revealed that the Chinese invention patent CN202110858609.2, entitled "Guidewire / catheter delivery device for vascular intervention and its use method and vascular intervention surgical robot", achieves independent rotation and axial movement of the guidewire / catheter. Its disadvantage is the lack of force feedback function. Summary of the invention

[0010] In view of the defects in the prior art, an object of the present invention is to provide a multi-purpose force feedback vascular interventional surgery robot system and an operation method.

[0011] According to one aspect of the present invention, there is provided a multi-purpose force feedback vascular interventional surgery robot system, comprising:

[0012] The transmission structure body is used for guiding the mechanical movement of guide wires, angiographic catheters and various surgical instruments;

[0013] The robot body is located below the transmission structure body and isolated from its circuit, and has a mechanical unit and power equipment for driving the transmission structure body installed inside;

[0014] Wherein, the transmission structure body comprises:

[0015] The left channel bottom plate has three arc-shaped working channels on its surface, two for guiding surgical instruments and one for connecting an external contrast agent;

[0016] A catheter delivery module, which is fixed to the bottom plate of the left channel and controls the rotation of the catheter;

[0017] A first instrument delivery module is disposed on one side of the bottom plate of the left channel and is used to guide the translation and rotation movement of the angiographic catheter or the surgical instrument; the surgical instrument in the first instrument delivery module can be replaced;

[0018] A second instrument delivery module is disposed on one side of the left channel bottom plate and arranged in parallel with the first instrument delivery module, and is used to guide the translation and rotation movement of the angiographic catheter or the surgical instrument; the surgical instrument in the second instrument delivery module can be replaced;

[0019] The right channel bottom plate is located on the outside of the first instrument delivery module and the second instrument delivery module, and has two working channels on its surface for guiding the surgical instruments into the first instrument delivery module and the second instrument delivery module.

[0020] Preferably, the catheter delivery module comprises:

[0021] A Y-shaped valve, which is hollow as a whole and is fixed above the bottom plate of the left channel; one end of the valve is an input end for surgical instruments, and the other end is an output end for surgical instruments, and the output end is connected to the angiography catheter;

[0022] a conduit rotating gear pair connected to the Y-type valve;

[0023] A duct rotating motor is fixed above the bottom plate of the left channel and connected to the duct rotating gear pair;

[0024] When the catheter rotating motor moves, the Y-type valve is driven to rotate through the catheter rotating gear pair, thereby realizing the rotation of the angiography catheter.

[0025] Preferably, the first device delivery module and the second device delivery module have the same structure, and both include:

[0026] The friction wheel mechanism comprises two parallel friction wheels; the angiographic catheter or the surgical instrument passes through and is clamped between the two friction wheels;

[0027] A rotating gear pair connected to one side of the friction wheel mechanism;

[0028] A rotary motor connected to the rotary gear pair; driving the rotary motor to drive the surgical instrument to complete the rotary motion through the rotary gear pair;

[0029] a translation gear pair connected to the other side of the friction wheel mechanism;

[0030] A transmission bevel gear, connected to the bottom of the friction wheel mechanism and connected to the translation gear pair;

[0031] a force sensor connected to the rotating shaft of the translation gear pair;

[0032] The translation motor is arranged in parallel with the force sensor, and the two are connected by a belt; the translation motor is driven to drive the translation gear pair to rotate through the belt, drive the transmission bevel gear to rotate, and drive the two friction wheels to rotate, thereby realizing the translation movement of the surgical instrument.

[0033] Preferably, the force sensor senses the real-time force on the rotating shaft of the translation gear pair, filters out the force information at the initial moment, and obtains the feedback force of the contact between the surgical instrument and the blood vessel.

[0034] Preferably, the first instrument delivery module and the second instrument delivery module are oppositely positioned.

[0035] Preferably, the transmission structure body is provided with a flip cover, and the flip cover covers the entire transmission structure body.

[0036] Preferably, the robot body comprises:

[0037] The main base plate serves as the integration foundation;

[0038] A lead screw slide is installed on the main body bottom plate to control the translational movement of the transmission mechanism body to achieve the overall translation of the angiographic catheter, guide wire and surgical instrument;

[0039] A lead screw slide motor, connected to the lead screw slide and providing power;

[0040] A slide motor driver, connected to the lead screw slide motor and providing power;

[0041] a combined motor driver, mounted on the main body bottom plate, to provide driving power for the catheter delivery module, the first instrument delivery module, and the second instrument delivery module;

[0042] The power adapter is installed on the main body bottom plate and converts the input voltage into the motor driver voltage.

[0043] Preferably, it also includes:

[0044] A photoelectric sensor is arranged on one side of the lead screw slide to collect position information in real time to prevent the lead screw slide from exceeding the stroke;

[0045] The sensor demodulator is arranged on the bottom plate of the main body, converts the information of the force sensor into a digital signal, and sends it to the control computer.

[0046] Preferably, it also includes one or more of the following devices:

[0047] a telescopic tube connected to the catheter delivery module and supporting the angiographic catheter extended from the catheter delivery module;

[0048] A power button, arranged on the robot body, controls the power supply of the transmission structure body;

[0049] An emergency stop switch is provided on the robot body to control the start and stop of the transmission structure body;

[0050] A lifting platform, disposed below the robot body, for adjusting the height of the robot system;

[0051] The mobile base is arranged below the lifting platform and is used for moving the robot system.

[0052] According to a second aspect of the present invention, there is provided a method for operating a multi-purpose force feedback vascular interventional surgery robot, comprising:

[0053] Place the guide wire along the working channel of the right channel floor and through the first instrument delivery module or the second instrument delivery module into the left channel floor;

[0054] Connecting the rear end of the angiography catheter to the bottom plate of the left channel, passing the guide wire through the angiography catheter and exposing a section of it;

[0055] Put the guide wire and the angiographic catheter into the vascular sheath, and connect the contrast agent to the bottom plate of the left channel;

[0056] Through a local area network or a remote connection, the movement of the master hand is used to drive the guide wire and the angiography catheter to move alternately in coordination, and under the guidance of angiography, the angiography catheter is hooked to the entrance of the blood vessel;

[0057] withdrawing the guide wire;

[0058] Place the required surgical instruments into the first instrument delivery module and the second instrument delivery module respectively, and enter the instruments into the blood vessel along the left channel bottom plate and the angiography catheter;

[0059] Control two surgical instruments to complete expansion and release when they reach the target point of the blood vessel;

[0060] All surgical instruments were removed and the operation was completed.

[0061] Compared with the prior art, the embodiments of the present invention have at least one of the following beneficial effects:

[0062] The multi-purpose force feedback vascular interventional surgical robot system in the embodiment of the present invention adopts a multi-functional mechanism design. The system can be widely used in various clinical scenarios such as cerebrovascular intervention, coronary artery intervention, double-guidewire intervention for complex bifurcation lesions, and aortic valve intervention, thereby realizing the multi-purpose function of a single device.

[0063] The multi-purpose force feedback vascular interventional surgical robot system in the embodiment of the present invention is equipped with a force feedback function. A force sensor is installed in the instrument end transmission device, which can monitor and collect the contact force between the two surgical instruments and the blood vessel wall during the delivery process in real time. Subsequently, these data are transmitted to the force tactile device of the main console through the Raspberry Pi and the network, thereby realizing a master-slave force feedback mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0065] Figure 1 It is a schematic diagram of the overall structure of a multi-purpose force feedback vascular interventional surgery robot system according to an embodiment of the present invention;

[0066] Figure 2 is a top view of a multi-purpose force feedback vascular interventional surgery robot system according to a preferred embodiment of the present invention;

[0067] Figure 3 1 is a top view of an instrument channel of a multi-purpose force feedback vascular interventional surgery robot system according to a preferred embodiment of the present invention;

[0068] Figure 4 is a top view of a transmission structure main body of a preferred embodiment of the present invention;

[0069] Figure 5 is a top view of the circuit control layer structure of a preferred embodiment of the present invention;

[0070] Figure 6 It is a front view of the transmission structure of the surgical instrument according to the preferred embodiment of the present invention;

[0071] In the figure: 1- movable base, 2- lifting platform, 3- robot body, 4- angiographic catheter, 5- telescopic rod, 6- transmission structure body;

[0072] 61-front flap, 62-rear flap, 7-power button, 8-emergency stop switch;

[0073] 63 - catheter delivery module, 64 - left channel bottom plate, 65 - first instrument delivery module, 66 - right channel bottom plate, 67 - second instrument delivery module;

[0074] 631-catheter rotation gear pair, 632-Y-type valve, 633-catheter rotation motor; 651-first instrument delivery module rotation motor, 652-first instrument delivery module rotation gear pair, 653-first instrument delivery module friction wheel mechanism, 654-first instrument delivery module translation gear pair, 655-first instrument delivery module force sensor, 656-first instrument delivery module translation motor; 671-second instrument delivery module rotation motor, 672-second instrument delivery module rotation gear pair, 673-second instrument delivery module friction wheel mechanism, 674-second instrument delivery module translation gear pair, 675-second instrument delivery module force sensor, 676-second instrument delivery module translation motor, 68-first surgical instrument, 69-second surgical instrument;

[0075] 31- robot body base plate, 32- lead screw slide, 33- photoelectric sensor, 34- catheter and instrument motor driver, 35- lead screw slide motor driver, 36- Raspberry Pi, 37- force sensor demodulator, 38- lead screw slide motor, 39- power adapter. DETAILED DESCRIPTION

[0076] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0077] The present invention provides an embodiment, a multi-purpose force feedback vascular interventional surgery robot system, such as Figure 1 and Figure 2 As shown, it includes a transmission structure body 6 and a robot body. The transmission structure body 6 is used to guide the mechanical movement of guide wires, angiography catheters and various surgical instruments; the robot body 3 is located below the transmission structure body and isolated from its circuit, and the mechanical unit and power equipment driving the transmission structure body are installed inside.

[0078] Among them, the transmission structure body 6, such as Figure 3 As shown, it includes: a left channel bottom plate 64, with three arc-shaped working channels on the surface, which are respectively used to guide two surgical instruments and an external contrast agent; a catheter delivery module 63, which is fixed on the left channel bottom plate 64; a first instrument delivery module 65, which is arranged on one side of the left channel bottom plate 64, and is used to guide the translation and rotation movement of a surgical instrument; the surgical instrument in the first instrument delivery module can be replaced; a second instrument delivery module 67, which is arranged on one side of the left channel bottom plate 64 and is arranged in parallel with the first instrument delivery module, and is used to guide the translation and rotation movement of another surgical instrument; the surgical instrument in the second instrument delivery module can be replaced. A right channel bottom plate 66, located outside the first instrument delivery module 65 and the second instrument delivery module 67, has two working channels on the surface for guiding the movement of surgical instruments.

[0079] The robot system in the above embodiment can cover a variety of clinical usage scenarios such as cerebrovascular intervention, coronary intervention, double-guidewire intervention for complex bifurcation lesions, aortic valve intervention, etc., achieving multiple uses of one machine.

[0080] In order to improve the flexibility of the entire robot height, in a preferred embodiment of the present invention, as Figure 1 and Figure 2 As shown, there is a movable base 1 with four locking pulleys and an electrically adjustable lifting platform 2 under the robot body 3. The movable base 1 with four locking pulleys is convenient for doctors to move the robot, and the electric lifting platform 2 can adjust the height of the instrument placement according to the height of the operating table. The above embodiment enables the entire robot system to have the functions of fast moving trolley and electric lifting and adjustment.

[0081] In some other embodiments, a three-section telescopic sleeve 5 is provided in front of the left channel bottom plate 64 to prevent surgical instruments such as catheters and guide wires from bending. A power button 7 and an emergency stop switch 8 are provided on the robot body 3. The power button 7 is a button for powering the entire robot system, and the emergency stop switch 8 is a button for controlling all motors to stop running in an emergency.

[0082] To ensure that the surgical instruments in the transmission structure body are protected from contamination, in a preferred embodiment, the upper layer of the transmission mechanism body 6 is fixed with a front flap 61 and a rear flap 62 via two hinges. After the flaps are provided, it is also convenient to quickly replace surgical instruments.

[0083] In order to better transmit the catheter, guide wire and surgical instrument, a preferred structural scheme of the transmission structure body is provided in a preferred embodiment of the present invention. Figure 4 and Figure 6As shown, the instrument transmission device of the transmission structure body 6 is composed of three parts, which are used to transmit the catheter, the guide wire and two surgical instruments.

[0084] The catheter delivery module 63 includes a catheter rotating gear pair 631, a medical Y-type valve 632 and a catheter rotating motor 633. The Y-type valve 632 is fixed above the left channel bottom plate 64 and is hollow as a whole, with the right side being the surgical instrument entry end and the left side being the surgical instrument output end. The Y-type valve 632 has a Luer interface on the left side, which can be screwed with the catheter. In addition, the Y-type valve 632 has a thread on the left periphery, which can be fixed with the catheter rotating gear pair 631. When the catheter rotating motor 633 moves, the Y-type valve 632 can be driven to rotate on the left side through the catheter rotating gear pair 631, thereby realizing the rotation of the catheter.

[0085] The first instrument delivery module 65 and the second instrument delivery module 67 are completely consistent. To ensure the compactness of the structure, they are placed in opposite directions. In this embodiment, the first instrument delivery module 65 is taken as an example for detailed description. The first instrument delivery module 65 includes two parts: translation and rotation. First, the rotation movement includes the first instrument delivery module rotation motor 651 and the first instrument delivery module rotation gear pair 652. When the first surgical instrument 68 (such as a guide wire / balloon catheter) is clamped by the first instrument delivery module friction wheel mechanism 653, the first instrument delivery module rotation motor 651 is driven, thereby driving the first surgical instrument 68 to complete the rotation movement. Secondly, the guide wire translation movement mechanism is composed of the first instrument delivery module translation motor 656, the first instrument delivery module force sensor 655, the first instrument delivery module translation gear pair 654, and the transmission bevel gear located at the bottom of the first instrument delivery module friction block mechanism 653. When the first instrument delivery module translation motor 656 moves, the force sensor is driven by the pulley, and then the first instrument delivery module drives the gear pair 654 and the first instrument delivery module friction wheel mechanism 653 to rotate, thereby realizing the translation movement of the first surgical instrument 68. Similarly, the translation and rotation movement of the second surgical instrument 69 can be realized. The second instrument delivery module 67 includes a second instrument delivery module rotation motor 671, a second instrument delivery module rotation gear pair 672, a second instrument delivery module friction wheel mechanism 673, a translation gear pair 674 of the second instrument delivery module, a force sensor 675 of the second instrument delivery module, and a translation motor 676 of the second instrument delivery module, and its structure is consistent with that of the first instrument delivery module 65.

[0086] In some specific embodiments, Figure 6 As shown, the first surgical instrument 68 passes between the two friction wheels. The first instrument delivery module rotation gear pair 652 and the first instrument delivery module translation gear pair 654 are both provided with a hollow shaft, and the first surgical instrument 68 passes through the shaft to prevent contamination.

[0087] In the above embodiment, the catheter and guide wire transmission module can realize independent translation and rotation movement, and the entire robot system has the coordinated delivery function of the catheter and the guide wire; the two instrument channels are used to realize the independent translation and rotation movement of the PTCA treatment guide wire and the balloon catheter, so that the entire robot has the coordinated delivery function of the PTCA treatment guide wire and the balloon catheter for balloon dilatation angioplasty. The two instrument channels are used to realize the independent translation and rotation movement of the two guide wires. The entire robot also has the dual guide wire coordinated delivery function for bifurcated vascular lesions.

[0088] In order to better control and drive the transmission structure body, a preferred embodiment of the present invention provides a preferred structural scheme of the robot body. Figure 5 As shown, the circuit control layer is composed of multiple components. In order to isolate the circuit and prevent blood from seeping into the operation, the entire circuit control layer is separated from the instrument delivery transmission device, and the components are placed on the robot body bottom plate 31. The lead screw slide 32 is driven by the lead screw slide motor 38 and the corresponding motor driver 35 to realize the translational movement of the instrument transmission mechanism body 6, including the overall translational movement of the catheter 4 and the two surgical instruments. A photoelectric sensor 33 is placed on the side end of the lead screw slide 32 to limit the movement position. The motor driver 34 of the catheter and the first surgical instrument and the second surgical instrument and two force sensor demodulators 37 are also placed on the robot body bottom plate 31. The power adapter 39 is used to convert the 220V input voltage into a 24V motor driver voltage. In addition, the use of Raspberry Pi 36 can realize local area network or remote control.

[0089] The first instrument delivery module 65 and the second instrument delivery module 67 can be used to place various vascular intervention surgical instruments such as guide wires, PTCA guide wires, balloon catheters, etc. They cover various clinical use scenarios such as cerebrovascular intervention, coronary intervention, double-guidewire intervention for complex bifurcation lesions, aortic valve intervention, etc., and are integrated with corresponding force sensors to achieve force feedback control.

[0090] Based on the same inventive concept, in other embodiments of the present invention, a method for operating a multi-purpose force feedback vascular interventional surgery robot is provided, comprising the following steps:

[0091] S1: Place the guide wire along the working channel of the right channel floor, and pass through the first instrument delivery module or the second instrument delivery module into the left channel floor;

[0092] S2: Connect the rear end of the angiography catheter to the bottom plate of the left channel, and pass the guide wire through the angiography catheter to expose a section;

[0093] S3: Place the guide wire and angiographic catheter into the vascular sheath and connect the contrast agent to the floor of the left channel;

[0094] S4: Through the local area network or remote connection, the movement of the master hand is used to drive the guide wire and the angiography catheter to move alternately and coordinately, and under the guidance of angiography, the angiography catheter is attached to the entrance of the blood vessel;

[0095] S5: withdraw the guide wire;

[0096] S6: placing the required surgical instruments into the first instrument delivery module and the second instrument delivery module respectively, and entering the instruments into the blood vessel along the left channel floor and the angiography catheter;

[0097] S7: Control the two surgical instruments to complete expansion and release when they reach the target point of the blood vessel;

[0098] S8: Remove all surgical instruments and complete the entire operation.

[0099] Furthermore, taking coronary intervention as an example, the working process of the device of the present invention is described in detail in combination with the actual environment:

[0100] First, the doctor pushes the surgical robot to the bedside to complete the disinfection work. A puncture point is established in the patient's femoral artery or radial artery and a vascular sheath is placed.

[0101] Then open the front flap 61 and the rear flap 62, and insert the guide wire along the working channel of the right channel bottom plate 66, through the first instrument delivery module 65 or the second instrument delivery module 67, into the left channel bottom plate 64, and into the Y-type valve 632.

[0102] Next, the rear end of the catheter 4 is connected to the Y-shaped valve and passed through the telescopic rod 5, and then the guide wire is passed through the catheter 4 and leaked out for a section.

[0103] Finally, the guide wire and catheter are placed into the vascular sheath, the contrast agent is connected to the Y-type valve, and the front flap 61 and the rear flap 62 are closed.

[0104] Before the whole machine works, the force sensors in the two instrument delivery modules are initially calibrated. When the translation motors in the two instrument delivery modules move, the force sensors move through the pulleys. When the first surgical instrument 68 / the second surgical instrument 69 contacts the vascular tissue, resistance is generated, which is transmitted to the force sensor through the friction wheel and the gear pair, and then to the Raspberry Pi through the signal line, and finally to the main hand to achieve force feedback.

[0105] The doctor then leaves the operating room and uses the movement of the main hand through the local area network or remote connection to drive the guide wire and catheter to move in coordination, and under the guidance of DSA, the catheter is attached to the entrance of the blood vessel.

[0106] Afterwards, the doctor or surgical assistant enters the operating room, opens the front flap 61 and the rear flap 62, and withdraws the guide wire. Then, surgical instruments are replaced for different surgeries. Taking coronary intervention as an example, the PTCA guide wire and the balloon catheter with integrated balloon stent are respectively placed in the first instrument delivery module and the second instrument delivery module, and assembled, and then enter the blood vessel along the Y-shaped valve 632 and the catheter 4. Close the front and rear flaps 61 and 62 again. The doctor or surgical assistant evacuates the operating room, remotely controls the two surgical instruments, and completes the expansion and release of the stent when reaching the stenosis of the blood vessel.

[0107] Finally, all instruments are removed and the operation is completed.

[0108] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the essence of the present invention. The above preferred features can be used in any combination without conflicting with each other.

Claims

1. A multi-purpose force feedback vascular interventional surgery robot system, characterized in that: include: The transmission structure body is used for guiding the mechanical movement of guide wires, angiographic catheters and various surgical instruments; The robot body is located below the transmission structure body and isolated from its circuit, and has a mechanical unit and power equipment for driving the transmission structure body installed inside; Wherein, the transmission structure body comprises: The left channel bottom plate has three arc-shaped working channels on its surface, two for guiding surgical instruments and one for connecting an external contrast agent; A catheter delivery module, which is fixed to the bottom plate of the left channel and controls the rotation of the catheter; A first instrument delivery module is disposed on one side of the bottom plate of the left channel and is used to guide the translation and rotation movement of the angiographic catheter or the surgical instrument; the surgical instrument in the first instrument delivery module can be replaced; A second instrument delivery module is disposed on one side of the left channel bottom plate and arranged in parallel with the first instrument delivery module, and is used to guide the translation and rotation movement of the angiographic catheter or the surgical instrument; the surgical instrument in the second instrument delivery module can be replaced; The right channel bottom plate is located on the outside of the first instrument delivery module and the second instrument delivery module, and has two working channels on its surface for guiding the surgical instruments into the first instrument delivery module and the second instrument delivery module.

2. A multi-purpose force feedback vascular interventional surgery robot system according to claim 1, characterized in that: The catheter delivery module comprises: A Y-shaped valve, which is hollow as a whole and is fixed above the bottom plate of the left channel; one end of the valve is an input end for surgical instruments, and the other end is an output end for surgical instruments, and the output end is connected to the angiography catheter; a conduit rotating gear pair connected to the Y-type valve; A duct rotating motor is fixed above the bottom plate of the left channel and connected to the duct rotating gear pair; When the catheter rotating motor moves, the Y-type valve is driven to rotate through the catheter rotating gear pair, thereby realizing the rotation of the angiography catheter.

3. The multi-purpose force feedback vascular interventional surgery robot system according to claim 1, characterized in that: The first device delivery module and the second device delivery module have the same structure and both include: The friction wheel mechanism comprises two parallel friction wheels; the angiographic catheter or the surgical instrument passes through and is clamped between the two friction wheels; A rotating gear pair connected to one side of the friction wheel mechanism; A rotary motor connected to the rotary gear pair; driving the rotary motor to drive the surgical instrument to complete the rotary motion through the rotary gear pair; a translation gear pair connected to the other side of the friction wheel mechanism; A transmission bevel gear, connected to the bottom of the friction wheel mechanism and connected to the translation gear pair; a force sensor connected to the rotating shaft of the translation gear pair; The translation motor is arranged in parallel with the force sensor, and the two are connected by a belt; the translation motor is driven to drive the translation gear pair to rotate through the belt, drive the transmission bevel gear to rotate, and drive the two friction wheels to rotate, thereby realizing the translation movement of the surgical instrument.

4. The multi-purpose force feedback vascular interventional surgery robot system according to claim 3, characterized in that: The force sensor senses the real-time force on the rotating shaft of the translation gear pair, filters out the force information at the initial moment, and obtains the feedback force of the contact between the surgical instrument and the blood vessel.

5. The multi-purpose force feedback vascular interventional surgery robot system according to claim 3, characterized in that: The first instrument delivery module and the second instrument delivery module are oppositely positioned.

6. The multi-purpose force feedback vascular interventional surgery robot system according to claim 1, characterized in that: The transmission structure main body is provided with a flip cover, and the flip cover covers the entire transmission structure main body.

7. The multi-purpose force feedback vascular interventional surgery robot system according to claim 3, characterized in that: The robot body comprises: The main base plate serves as the integration foundation; A lead screw slide is installed on the main body bottom plate to control the translational movement of the transmission mechanism body to achieve the overall translation of the angiographic catheter, guide wire and surgical instrument; A lead screw slide motor, connected to the lead screw slide and providing power; A slide motor driver, connected to the lead screw slide motor and providing power; a combined motor driver, mounted on the main body bottom plate, to provide driving power for the catheter delivery module, the first instrument delivery module, and the second instrument delivery module; The power adapter is installed on the main body bottom plate and converts the input voltage into the motor driver voltage.

8. The multi-purpose force feedback vascular interventional surgery robot system according to claim 7, characterized in that: Also includes: A photoelectric sensor is arranged on one side of the lead screw slide to collect its position information in real time to prevent the lead screw slide from exceeding the stroke; The sensor demodulator is arranged on the bottom plate of the main body, converts the information of the force sensor into a digital signal, and sends it to the control computer.

9. The multi-purpose force feedback vascular interventional surgery robot system according to claim 1, characterized in that: Also includes one or more of the following devices: a telescopic tube connected to the catheter delivery module and supporting the angiographic catheter extended from the catheter delivery module; A power button, arranged on the robot body, controls the power supply of the transmission structure body; An emergency stop switch is provided on the robot body to control the start and stop of the transmission structure body; A lifting platform, disposed below the robot body, for adjusting the height of the robot system; The mobile base is arranged below the lifting platform and is used for moving the robot system.

10. A method for operating a multi-purpose force feedback vascular interventional surgery robot, characterized in that: include: Place the guide wire along the working channel of the right channel floor and through the first instrument delivery module or the second instrument delivery module into the left channel floor; Connecting the rear end of the angiography catheter to the bottom plate of the left channel, passing the guide wire through the angiography catheter and exposing a section of it; Put the guide wire and the angiographic catheter into the vascular sheath, and connect the contrast agent to the bottom plate of the left channel; Through a local area network or a remote connection, the movement of the master hand is used to drive the guide wire and the angiography catheter to move alternately in coordination, and under the guidance of angiography, the angiography catheter is hooked to the entrance of the blood vessel; withdrawing the guide wire; Place the required surgical instruments into the first instrument delivery module and the second instrument delivery module respectively, and enter the instruments into the blood vessel along the left channel bottom plate and the angiography catheter; Control two surgical instruments to complete expansion and release when they reach the target point of the blood vessel; All surgical instruments were removed and the operation was completed.

Images