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

Abstract

The application discloses a multi-purpose force feedback vascular interventional operation robot system and an operation method. The system comprises a transmission structure main body, which guides the mechanical movement of a guide wire, a contrast medium catheter and various operation instruments; a robot main body, which is internally provided with a mechanical unit for driving the transmission structure main body and a power device; and the transmission structure main body comprises a left channel bottom plate, a surface of the left channel bottom plate is provided with three arc-shaped work channels, and the three arc-shaped work channels are respectively channels for guiding two operation instruments and connecting a contrast medium; a catheter delivery module, which is fixed to the left channel bottom plate; a first / instrument delivery module, which guides the translational and rotational movement of one operation instrument; the operation instrument of a second instrument delivery module can be replaced; and a right channel bottom plate, which is located outside the first instrument delivery module and the second instrument delivery module and is provided with two work channels for guiding the movement of operation instruments on the surface. The system can be widely applied to various clinical scenes and realizes the multi-purpose function of one device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical devices, in particular, to a multi-purpose force feedback vascular interventional surgery robot system and an operating method. BACKGROUND

[0002] At present, the treatment schemes for cardiovascular diseases mainly include drug treatment, surgical treatment and percutaneous coronary intervention (PCI) and the like. The vascular interventional surgery has the advantages of small surgical wound, less bleeding, short hospitalization time of patients and fast postoperative recovery. The main operation process of percutaneous coronary intervention is firstly to puncture the patient (generally the femoral artery or the radial artery), to open the surgical access of the blood vessel and the outside world. After the puncture is completed, the arterial sheath tube is fixed at the blood vessel puncture port. Then, the doctor inserts the guide wire and the angiography catheter into the artery along the sheath tube according to the digital subtraction angiography (DSA) image and experience, enters the blood vessel branch and reaches the lesion site. Then, according to the patient's condition, the balloon catheter is guided by the treatment guide wire to dredge the lesion or implant the stent. Finally, the guide wire, the angiography catheter, the sheath tube and other instruments are withdrawn in turn. The puncture is pressed for 15 minutes to stop bleeding, and the operation is completed.

[0003] The above interventional surgery needs to inject contrast medium into the corresponding blood vessel site through the angiography catheter at irregular times, and then the X-ray of the DSA device displays the shape of the blood vessel and the position of the interventional instrument on the screen. In order to avoid the harm of X-ray radiation, the interventional doctor needs to wear a 15kg lead suit during the operation. Long-term wearing of heavy lead suit will cause spinal injury to the interventional doctor. In addition, the lead suit cannot protect their face and arms, and the interventional doctor is still harmed by radiation, which is easy to suffer from skin diseases and even cancer.

[0004] With the progress of science and technology, the development of surgical robot technology has brought blessings to doctors and patients. At present, the cardiovascular interventional surgery robot systems developed at home and abroad mostly adopt master-slave teleoperation control mode. The master-slave cardiovascular interventional surgery robot system generally includes a master control console, a slave robot and a DSA system. The interventional doctor can monitor the real-time data and the position of the interventional instrument in the angiography image outside the operating room, and then controls the master hand to control the slave robot in the operating room to complete the delivery of the guide wire and the catheter, the release of the stent and the injection of the contrast medium and the like. Therefore, the master-slave surgical robot can completely block the harm of X-ray radiation to the doctor. At present, many vascular interventional robots for coronary intervention, aortic valve intervention, cerebral vascular intervention and the like have been developed, but due to the different needs of intraoperative instruments, there is a lack of multi-purpose vascular interventional surgery robot for multiple surgical scenes.

[0005] Further, the teleoperation control mode causes the interventional physician to lose the natural "hand feeling", i.e., the physician cannot directly operate the surgical instrument to perceive the resistance and adjust the operation. This poses a challenge to the safety of the operation. Therefore, in order to help the interventional physician to successfully perform the safe operation, it is necessary to introduce the telepresence into the master-slave teleoperation system to perceive more external environmental information. The force feedback technology is one of the important contents of the telepresence technology, and is one of the functions that most current cardiovascular interventional surgery robots lack. The slave robot needs to perceive the force information of the interventional instrument during operation, and transmit the force information to the master end through wireless communication to realize force sensation reproduction. Sharing of force and position information between the master and slave ends can realize real-time perception of surgical information by the interventional physician outside the operating room and safe operation.

[0006] Therefore, it has important clinical value and practicality to develop a multi-purpose vascular interventional surgery robot with force feedback function.

[0007] Through the search of the prior art, it is found that the Chinese invention patent CN202111036296.9 entitled "Parallel progressive replaceable cardiovascular interventional surgery robot and control method" can realize the delivery of a single guide wire and a single catheter. However, it has the disadvantage that it can only be used for simple lesion treatment and cannot complete complex surgical operations.

[0008] Further search found that the Chinese invention patent CN202110858609.2 entitled "Guide wire / catheter delivery device for vascular intervention, method of using the same, and vascular intervention surgery robot" realizes independent axial rotation and axial movement of the guide wire / catheter. However, it has the disadvantage of lacking force feedback function. SUMMARY

[0009] In view of the defects in the prior art, the purpose of the present application is to provide a multi-purpose force feedback vascular interventional surgery robot system and operation method.

[0010] According to one aspect of the present application, a multi-purpose force feedback vascular interventional surgery robot system is provided, comprising:

[0011] A transmission structure body for guiding the mechanical movement of the guide wire, the contrast catheter and the various surgical instruments;

[0012] A robot body located below the transmission structure body and electrically isolated therefrom, which internally installs a mechanical unit for driving the transmission structure body and a power device;

[0013] The transmission structure body comprises:

[0014] The left channel base plate is provided with three arc-shaped working channels on the surface, two of which are used for guiding surgical instruments and the other is used for connecting contrast medium;

[0015] A catheter delivery module is fixed on the left channel base plate and controls the rotation of the catheter;

[0016] A first instrument delivery module is arranged on one side of the left channel base plate and is used for guiding the translational and rotational movement of the contrast catheter or the surgical instrument. The surgical instrument of the first instrument delivery module can be replaced.

[0017] A second instrument delivery module is arranged on one side of the left channel base plate and is parallel to the first instrument delivery module. The second instrument delivery module is used for guiding the translational and rotational movement of the contrast catheter or the surgical instrument. The surgical instrument of the second instrument delivery module can be replaced.

[0018] A right channel base plate is located outside the first instrument delivery module and the second instrument delivery module and is provided with two working channels for guiding the surgical instruments into the first instrument delivery module and the second instrument delivery module.

[0019] Preferably, the catheter delivery module comprises:

[0020] A Y-shaped valve is hollow as a whole and is fixed above the left channel base plate. One end of the Y-shaped valve is an input end of the surgical instrument, and the other end is an output end of the surgical instrument. The output end is connected with the contrast catheter.

[0021] A catheter rotation gear pair is connected with the Y-shaped valve.

[0022] A catheter rotation motor is fixed above the left channel base plate and is connected with the catheter rotation gear pair.

[0023] When the catheter rotation motor moves, the Y-shaped valve is driven to rotate through the catheter rotation gear pair, so that the contrast catheter rotates.

[0024] Preferably, the first instrument delivery module and the second instrument delivery module have the same structure and each comprises:

[0025] A friction wheel mechanism comprises two parallel friction wheels. The contrast catheter or the surgical instrument passes between the two friction wheels and is clamped.

[0026] A rotation gear pair is connected with one side of the friction wheel mechanism.

[0027] A rotation motor is connected with the rotation gear pair. The rotation motor is driven to drive the surgical instrument to complete the rotational movement through the rotation gear pair.

[0028] Translation gear pair, connected with the other side of the friction wheel mechanism;

[0029] Transmission bevel gear, connected with the bottom of the friction wheel mechanism, connected with the translation gear pair;

[0030] Force sensor, connected with the rotation axis of the translation gear pair;

[0031] Translation motor, arranged in parallel with the force sensor, both connected through a belt; driving the translation motor, driving the translation gear pair to rotate through the belt, driving the transmission bevel gear to rotate, driving the two friction wheels to rotate, realizing the translation movement of the surgical instrument.

[0032] Preferably, the force sensor obtains the feedback force of the contact between the surgical instrument and the blood vessel by sensing the real-time force of the rotation axis of the translation gear pair and filtering out the force information at the initial moment.

[0033] Preferably, the first instrument delivery module and the second instrument delivery module are placed in opposite directions.

[0034] Preferably, the transmission structure body is provided with a flip cover, which covers the entire transmission structure body.

[0035] Preferably, the robot main body comprises:

[0036] Main body bottom plate, as an integrated foundation;

[0037] Screw slide, installed on the main body bottom plate, controlling the translation movement of the transmission mechanism body, realizing the overall translation of the contrast catheter, guide wire and surgical instrument;

[0038] Screw slide motor, connected with the screw slide and providing power;

[0039] Slide motor driver, connected with the screw slide motor and providing power;

[0040] Combined motor driver, installed on the main body bottom plate, providing driving power for the catheter delivery module, the first instrument delivery module and the second instrument delivery module;

[0041] Power adapter, installed on the main body bottom plate, converting the input voltage to the motor driver voltage.

[0042] Preferably, it further comprises:

[0043] Optoelectronic sensor, arranged on one side of the screw slide, collecting real-time position information of the instrument, preventing the screw slide from exceeding the stroke;

[0044] A sensor demodulator is arranged on the main body bottom plate to convert information of the force sensor into digital signals and send the digital signals to a control computer.

[0045] Preferably, the device further comprises one or more of the following:

[0046] A telescopic tube is connected to the catheter delivery module to support the catheter delivery module to extend the contrast catheter;

[0047] A power button is arranged on the robot main body to control power supply of the transmission structure main body;

[0048] An emergency stop switch is arranged on the robot main body to control start and stop of the transmission structure main body;

[0049] A lifting platform is arranged below the robot main body to adjust the height of the robot system;

[0050] A moving base is arranged below the lifting platform to move the position of the robot system.

[0051] According to a second aspect of the present application, a multi-purpose force feedback vascular interventional surgery robot operation method is provided, comprising:

[0052] A guide wire is guided along a working channel of the right channel bottom plate and passes through the first instrument delivery module or the second instrument delivery module into the left channel bottom plate;

[0053] A rear end of a contrast catheter is connected to the left channel bottom plate, and the guide wire is passed out of the contrast catheter and exposed;

[0054] The guide wire and the contrast catheter are placed in a vascular sheath, and contrast agent is connected to the left channel bottom plate;

[0055] Through local area network or remote connection, the movement of the master hand is used to drive the guide wire and the contrast catheter to move cooperatively and alternately, and under the guidance of angiography, the contrast catheter is hung at the entrance of the blood vessel;

[0056] The guide wire is withdrawn;

[0057] The required surgical instruments are respectively placed in the first instrument delivery module and the second instrument delivery module, and are guided into the blood vessel along the left channel bottom plate and the contrast catheter;

[0058] The two surgical instruments are controlled, and when reaching the target point of the blood vessel, expansion and release are completed;

[0059] All surgical instruments are withdrawn, and the entire surgery is completed.

[0060] Compared with the prior art, the embodiment of the present application has at least one of the following beneficial effects:

[0061] The multifunctional force feedback vascular interventional surgery robot system in the embodiment of the application adopts a multifunctional mechanism design. The system can be widely applied to cerebral vascular intervention, coronary artery intervention, double-guide-wire intervention for treating complex bifurcation lesions, aortic valve intervention and various clinical scenes, thereby realizing the multipurpose function of one device.

[0062] The multifunctional force feedback vascular interventional surgery robot system in the embodiment of the application 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 in the delivery process in real time. Subsequently, the data are transmitted to the force tactile device of the master console through the Raspberry Pi and the network, thereby realizing the master-slave force feedback mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0063] Other features, objects and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments with reference to the attached drawings:

[0064] Figure 1 FIG. 1 is a schematic diagram of the overall structure of the multifunctional force feedback vascular interventional surgery robot system according to an embodiment of the application;

[0065] Figure 2 FIG. 2 is a top view of the multifunctional force feedback vascular interventional surgery robot system according to a preferred embodiment of the application;

[0066] Figure 3 FIG. 3 is an instrument channel top view of the multifunctional force feedback vascular interventional surgery robot system according to a preferred embodiment of the application;

[0067] Figure 4 FIG. 4 is a top view of the transmission structure main body according to a preferred embodiment of the application;

[0068] Figure 5 FIG. 5 is a top view of the circuit control layer structure according to a preferred embodiment of the application;

[0069] Figure 6 FIG. 6 is a front view of the surgical instrument transmission structure according to a preferred embodiment of the application;

[0070] In the figure: 1 - movable base, 2 - lifting platform, 3 - robot main body, 4 - contrast catheter, 5 - telescopic rod, 6 - transmission structure main body;

[0071] 61 - front flap, 62 - rear flap, 7 - power button, 8 - emergency stop switch;

[0072] 63 - catheter delivery module, 64 - left channel bottom plate, 65 - first instrument delivery module, 66 - right channel bottom plate, 67 - second instrument delivery module;

[0073] 631 - catheter rotation gear pair, 632 - Y 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;

[0074] 31 - robot main body base plate, 32 - screw slide, 33 - photoelectric sensor, 34 - catheter and instrument motor driver, 35 - screw slide motor driver, 36 - Raspberry Pi, 37 - force sensor demodulator, 38 - screw slide motor, 39 - power adapter. DETAILED DESCRIPTION

[0075] The application will be described in detail below with specific examples. The following examples will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be noted that for those skilled in the art, without departing from the concept of the application, a number of modifications and improvements can be made. These are within the scope of the present application.

[0076] The present application provides an embodiment of a multi-purpose force feedback vascular interventional surgery robot system, as shown in Figure 1 and Figure 2 , comprising a transmission structure body 6 and a robot main body. The transmission structure body 6 is used to guide the mechanical movement of the guide wire, the contrast catheter and various surgical instruments; the robot main body 3 is located below the transmission structure body and is electrically isolated from it, and inside it are installed mechanical units and power equipment that drive the transmission structure body.

[0077] Among them, the transmission structure body 6, as shown in Figure 3As shown, it comprises: a left channel bottom plate 64, the surface of which is provided with three arc-shaped working channels, which are respectively channels for guiding two surgical instruments and connecting a contrast medium; a catheter delivery module 63, which is fixed to 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 for guiding the translational and rotational movement of one surgical instrument; the surgical instrument at 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 for guiding the translational and rotational movement of another surgical instrument; the surgical instrument at the second instrument delivery module can be replaced. A right channel bottom plate 66 is located outside the first instrument delivery module 65 and the second instrument delivery module 67, and the surface of the right channel bottom plate 66 is provided with two working channels for guiding the movement of surgical instruments.

[0078] The robot system in the above embodiment can cover various clinical use scenarios such as cerebral vascular intervention, coronary intervention, double-wire intervention for complex bifurcation lesions, aortic valve intervention, etc., and realizes one machine for multiple uses.

[0079] In order to improve the flexibility of the overall robot height, in a preferred embodiment of the present application, as shown in Figure 1 and Figure 2 , the movable base 1 with four locking pulleys and the electrically adjustable lifting platform 2 are arranged below the robot main body 3. The movable base 1 with four locking pulleys facilitates the movement of the robot by the doctor, and the electric lifting platform 2 can adjust the height of the instrument placement according to the height of the operating bed. The above embodiment enables the entire robot system to have the functions of quick movement of the trolley and electric lifting adjustment.

[0080] In some other embodiments, three-section telescopic sleeves 5 are arranged in front of the left channel bottom plate 64 to prevent the bending of surgical instruments such as catheters, guide wires, etc. A power button 7 and an emergency stop switch 8 are arranged on the robot main 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.

[0081] In order to ensure that the surgical instruments inside the transmission structure main body are not contaminated, in a preferred embodiment, the upper layer of the transmission mechanism main body 6 is fixed with a front flap 61 and a rear flap 62 through two hinges. After the flaps are arranged, it is also convenient for quick replacement of surgical instruments.

[0082] In order to better transmit the catheter, guide wire and surgical instrument, in a preferred embodiment of the present application, a preferred structural scheme of the transmission structure main body is provided. As shown in Figure 4 and Figure 6 , the instrument transmission device of the transmission structure main body 6 has three parts, which are used for transmitting the catheter, guide wire and two surgical instruments.

[0083] The catheter delivery module 63 includes a catheter rotation gear pair 631, a medical Y-shaped valve 632, and a catheter rotation motor 633. The Y-shaped valve 632 is fixed above the left channel base plate 64 and is hollow in shape, with the right side serving as the surgical instrument entry port and the left side serving as the surgical instrument exit port. The Y-shaped valve 632 has a Luer port on its left side for screwing onto the catheter. Additionally, the Y-shaped valve 632 has threads on its left side for securing it to the catheter rotation gear pair 631. When the catheter rotation motor 633 moves, the catheter rotation gear pair 631 drives the Y-shaped valve 632 to rotate on its left side, thereby rotating the catheter.

[0084] The first instrument delivery module 65 and the second instrument delivery module 67 are identical, but are positioned in opposite directions to ensure structural compactness. In this embodiment, the first instrument delivery module 65 is used as an example for detailed description. The first instrument delivery module 65 comprises two components: translational and rotational. First, the rotational movement involves a first instrument delivery module rotational motor 651 and a first instrument delivery module rotational gear pair 652. When a first surgical instrument 68 (e.g., a guidewire / balloon catheter) is clamped by the first instrument delivery module friction wheel mechanism 653, the first instrument delivery module rotational motor 651 is driven, thereby driving the first surgical instrument 68 to complete rotational movement. Second, the guidewire translational movement mechanism consists of a first instrument delivery module translational motor 656, a first instrument delivery module force sensor 655, a first instrument delivery module translational gear pair 654, and a 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 pulley drives the force sensor, which in turn causes the first instrument delivery module to drive the gear pair 654 and the first instrument delivery module friction wheel mechanism 653 to rotate, thereby achieving translational movement of the first surgical instrument 68. Similarly, the second surgical instrument 69 can achieve translational and rotational movement. 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 second instrument delivery module translation gear pair 674, a second instrument delivery module force sensor 675, and a second instrument delivery module translation motor 676. Its structure is consistent with that of the first instrument delivery module 65.

[0085] 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.

[0086] In the above embodiment, the catheter and guidewire transmission module can achieve independent translation and rotational motion, enabling the entire robot system to coordinate the delivery of the catheter and guidewire. The two instrument channels are used to achieve independent translation and rotational motion of the PTCA treatment guidewire and the balloon catheter, enabling the entire robot to coordinate the delivery of the PTCA treatment guidewire and the balloon catheter for balloon angioplasty. The two instrument channels are used to achieve independent translation and rotational motion of the two guidewires, enabling the entire robot to also coordinate dual-guidewire delivery for bifurcated vascular lesions.

[0087] In order to better control and drive the transmission structure body, a preferred embodiment of the present invention provides a preferred structural solution 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 surgical process, the entire circuit control layer is separated from the instrument delivery transmission device, and the components are placed on the robot body base plate 31. The screw slide 32 is driven by the screw slide motor 38 and the corresponding motor driver 35 to achieve 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 screw slide 32 to achieve motion position limiting. The motor driver 34 for the catheter, the first surgical instrument, and the second surgical instrument, as well as the two force sensor demodulators 37, are also placed on the robot body base 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 achieve local area network or remote control.

[0088] The first and second device delivery modules 65 and 67 can accommodate a variety of vascular interventional instruments, including guide wires, PTCA guidewires, and balloon catheters. These devices cover a wide range of clinical scenarios, including cerebrovascular intervention, coronary intervention, dual-guidewire intervention for complex bifurcation lesions, and aortic valve intervention. They also incorporate corresponding force sensors for force feedback control.

[0089] Based on the same inventive concept, another embodiment of the present invention further provides a method for operating a multi-purpose force feedback vascular interventional surgery robot, comprising the following steps:

[0090] S1: Place the guide wire along the working channel of the right channel floor, through the first instrument delivery module or the second instrument delivery module, and into the left channel floor;

[0091] S2: Connect the rear end of the angiographic catheter to the bottom plate of the left channel, and pass the guide wire through the angiographic catheter to expose a section;

[0092] S3: Place the guide wire and angiographic catheter into the vascular sheath and connect the contrast agent to the floor of the left channel;

[0093] S4: Through the local area network or remote connection, the guide wire and the contrast catheter are driven to move alternately by the motion of the master hand, and under the guidance of the angiography, the contrast catheter is hung at the entrance of the blood vessel;

[0094] S5: The guide wire is withdrawn;

[0095] S6: The required surgical instruments are respectively placed in the first instrument delivery module and the second instrument delivery module, and are entered into the blood vessel along the left channel bottom plate and the contrast catheter;

[0096] S7: The two surgical instruments are controlled, and when reaching the target point of the blood vessel, the expansion and release are completed;

[0097] S8: All surgical instruments are withdrawn, and the whole operation is completed.

[0098] Further, taking coronary intervention as an example, the working process of the device is described in detail in combination with the actual environment:

[0099] Firstly, the doctor pushes the surgical robot to the bedside to complete the disinfection and sterilization. The puncture point is established at the femoral artery or radial artery of the patient and the vascular sheath is placed.

[0100] Then, the front flap 61 and the rear flap 62 are opened, the guide wire is inserted into the Y-shaped valve 632 along the working channel of the right channel bottom plate 66 and through the first instrument delivery module 65 or the second instrument delivery module 67 into the left channel bottom plate 64.

[0101] Next, the catheter 4 is connected with the Y-shaped valve at the rear end, passes through the telescopic rod 5, and then the guide wire is inserted out of the catheter 4 and leaks out a section.

[0102] Finally, the guide wire and the catheter are placed in the vascular sheath, the contrast agent is connected to the Y-shaped valve, and the front flap 61 and the rear flap 62 are closed.

[0103] Before the whole machine works, the force sensor in the two instrument delivery modules is initially calibrated. When the translation motor in the two instrument delivery modules moves, the force sensor is driven to move through the belt pulley. When the first surgical instrument 68 / second surgical instrument 69 contacts the blood vessel tissue, resistance is generated, which is transmitted to the force sensor through the friction wheel and the gear pair, and then transmitted to the master hand through the signal line and the Raspberry Pi, so as to realize force feedback.

[0104] Then the doctor leaves the operating room and drives the guide wire and the catheter to move cooperatively by the motion of the master hand through the local area network or remote connection, and under the guidance of the DSA, the catheter is hung at the entrance of the blood vessel.

[0105] After that, the doctor or the surgical assistant enters the operating room, opens the front and rear flaps 61 and 62, and withdraws the guide wire. Then, the surgical instruments are replaced according to different operations. For example, in a coronary intervention, the PTCA guide wire and the balloon catheter integrated with a balloon stent are respectively placed in the first and second instrument delivery modules, assembled, and then enter the blood vessel along the Y-shaped valve 632 and the catheter 4. The front and rear flaps 61 and 62 are closed again. The doctor or the surgical assistant leaves the operating room and remotely controls the two surgical instruments. When reaching the blood vessel stenosis, the stent expansion and release are completed.

[0106] Finally, all the instruments are withdrawn, and the entire operation is completed.

[0107] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the specific embodiments described above, and various modifications or changes can be made by those skilled in the art within the scope of the claims, which do not affect the essential content of the present application. The above preferred features can be used in combination as long as they do not conflict with each other.

Claims

1. A multi-purpose force feedback vascular interventional surgery robot system, characterized in that: include: The main body of the transmission structure is used for 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 includes: The left channel bottom plate has three curved working channels on its surface, two for guiding surgical instruments and one for external contrast agent. A catheter delivery module, fixed to the bottom plate of the left channel, controls the rotation of the catheter; A first instrument delivery module is provided on one side of the left channel bottom plate, 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 is replaceable; A second instrument delivery module is provided on one side of the left channel floor, 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 is replaceable; a right channel bottom plate, located outside the first instrument delivery module and the second instrument delivery module, and having two working channels on the surface for guiding the surgical instruments into the first instrument delivery module and the second instrument delivery module; 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 the surgical instrument input end, and the other end is the surgical instrument output end, and the output end is connected to the angiographic catheter; a conduit rotating gear pair connected to the Y-type valve; a duct rotating motor, fixed above the left channel bottom plate and connected to the duct rotating gear pair; When the catheter rotating motor moves, the Y-shaped valve is driven to rotate through the catheter rotating gear pair, thereby realizing the rotation of the angiography catheter; The first device delivery module and the second device delivery module have the same structure, both comprising: 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 rotational 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 rotate the translation gear pair 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.

2. The multi-purpose force feedback vascular interventional surgery robot system according to claim 1, 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.

3. The multi-purpose force feedback vascular interventional surgery robot system according to claim 1, characterized in that: The first instrument delivery module and the second instrument delivery module are oppositely positioned.

4. 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.

5. The multi-purpose force feedback vascular interventional surgery robot system according to claim 1, characterized in that: The robot body comprises: The main base plate serves as the integration foundation; A lead screw slide is mounted on the main body bottom plate to control the translational movement of the transmission structure body, thereby achieving the overall translation of the angiographic catheter, guide wire and surgical instrument; The lead screw slide motor is connected to the lead screw slide and provides 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 to 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.

6. The multi-purpose force feedback vascular interventional surgery robot system according to claim 5, characterized in that: Also includes: A photoelectric sensor is provided on one side of the lead screw slide to collect its position information in real time to prevent the lead screw slide from exceeding its 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.

7. 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 is provided on the robot body to control the power supply to 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 is provided below the robot body and is used to adjust the height of the robot system; The mobile base is arranged below the lifting platform and is used to move the position of the robot system.

8. A method for operating a multi-purpose force feedback vascular interventional surgery robot, using the multi-purpose force feedback vascular interventional surgery robot system according to any one of claims 1 to 7, characterized in that: include: Place the guide wire along the working channel of the right channel floor, through the first instrument delivery module or the second instrument delivery module, and 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 thereof; Put the guide wire and the angiography 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 drives the guide wire and the angiography catheter to move in coordination and alternation, 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 floor 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