Sheath fixator and interventional operation robot

Abstract

The invention is suitable for the field of medical robots, and provides a sheath fixator which comprises a connecting piece and an opening sealing piece, the connecting piece comprises a body with an inner cavity, the body is provided with a first opening in the axial direction, the first opening communicates with the inner cavity, and the opening sealing piece is configured to seal at least part of the first opening. The invention further provides an interventional surgical robot which comprises a fixing device, and the fixing device is configured to be connected with the sheath fixator. The sheath fixator is provided with the independent connecting piece and the independent opening sealing piece, the connecting piece is used for establishing a delivery channel between the medical instrument and the head end of the sheath tube, the medical instrument enters the connecting piece through the first opening of the connecting piece to achieve rapid installation, the matched opening sealing piece seals the first opening, the deformation range of the medical instrument is limited, and the medical instrument can be rapidly installed. The arching of the medical instrument is avoided, and the use reliability of the product is improved.

Description

Technical Field

[0001] The present invention belongs to the field of medical robots and is applied to master-slave vascular intervention surgical robots, and particularly relates to a sheath fixator and an intervention surgical robot. Background Art

[0002] When a master-slave vascular intervention surgical robot performs an operation, in order to facilitate the accurate docking of the medical device delivered by the intervention surgical robot with the distal end of the sheath, a sheath fixator is provided between the sheath and the intervention surgical robot. A delivery channel is established through the sheath fixator, and the medical device delivered by the intervention surgical robot enters the sheath through the sheath fixator. The existing structural design of the sheath fixator cannot balance the convenience of installation and the reliability of product use. Specifically, in order to facilitate the installation of the medical device, the sheath fixator is usually made of a relatively soft material, but the relatively soft material cannot effectively support the medical device. When the medical device delivered by the intervention surgical robot is not coaxial with the sheath, the medical device located in the sheath fixator is prone to arching, which not only affects the smoothness of the delivery of the medical device, but may also cause the medical device to break in severe cases, posing a safety hazard. Summary of the Invention

[0003] The purpose of the present invention is to provide a sheath fixator and an intervention surgical robot, aiming to solve the technical problem that in the structural design of the existing sheath fixator, in order to facilitate the installation of the medical device, a relatively soft material is used, resulting in the medical device in the sheath fixator being prone to arching and affecting the smoothness of the delivery of the medical device.

[0004] The present invention is implemented as follows:

[0005] In a first aspect of the present invention, a sheath fixator is provided, including a connecting member and an opening closing member. The connecting member includes a body having an inner cavity. The body is provided with a first opening along the axial direction, and the first opening communicates with the inner cavity. The opening closing member is configured to close at least part of the first opening.

[0006] Further, the opening closing member is sleeved on the body, and the opening closing member is rotatably connected to the body. The outer shell of the opening closing member is provided with a second opening along the axial direction. When the opening closing member rotates to the first installation position, the second opening communicates with the first opening and the inner cavity. When the opening closing member rotates to the second installation position, the outer shell of the opening closing member closes at least part of the first opening.

[0007] Further, a relief structure is provided on the opening closing member and / or the connecting member. The relief structure is configured to keep a first preset distance between the deformed part of the connecting member and the outer shell of the opening closing member.

[0008] Further, the body includes a support portion and a protruding portion extending radially. The housing of the opening closure abuts against the protruding portion, and a gap is formed between the housing of the opening closure and the support portion. The gap forms the avoidance structure, and the deformed portion of the connecting member is located within the gap.

[0009] Further, the protruding portion includes an abutting end and a clearance end. The outer diameter of the protruding portion gradually decreases from the abutting end to the clearance end. Two such protruding portions are provided on the body at intervals. The abutting ends of the two protruding portions respectively abut against the housing of the opening closure, and the clearance ends are correspondingly arranged at both ends of the housing of the opening closure.

[0010] Further, a recessed portion is provided on the inner wall of the housing of the opening closure. The recessed portion forms the avoidance structure, and the deformed portion of the connecting member is located within the recessed portion.

[0011] Further, a rib is provided axially on the outer surface of the housing of the opening closure.

[0012] Further, a limiting structure is provided on the body. The limiting structure is configured to limit the axial displacement of the opening closure.

[0013] Further, the opening closure includes a fastening structure. When the fastening structure is fastened, the opening closure closes at least part of the first opening.

[0014] In a second aspect of the present invention, an interventional surgical robot is provided, including a fixing device configured to be connected to the sheath fixator according to any one of the above.

[0015] The beneficial effects of the present invention are as follows: The present invention separates the installation requirement from the shape-limiting function, and provides an independent connecting member and an opening closure. The connecting member is used to establish a delivery channel for the medical device and the head end of the sheath. The medical device enters the connecting member through the first opening of the connecting member for quick installation. The adapted opening closure closes the first opening to limit the deformation range of the medical device and prevent the medical device from arching, thereby improving the reliability of product use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is an assembly schematic diagram of the sheath fixator provided in Embodiment 1 of the present invention Figure 1 ;

[0017] Figure 2 is an assembly schematic diagram of the sheath fixator provided in Embodiment 1 of the present invention Figure 2 ;

[0018] Figure 3It is a schematic structural diagram of the connecting member provided in the first embodiment of the present invention;

[0019] Figure 4 It is a schematic structural diagram of the opening closure provided in the first embodiment of the present invention;

[0020] Figure 5 It is a partial cross-sectional view of the sheath fixator provided in the first embodiment of the present invention;

[0021] Figure 6 It is a schematic structural diagram of the opening closure provided in the second embodiment of the present invention;

[0022] Figure 7 It is a partial cross-sectional view of the sheath fixator provided in the second embodiment of the present invention.

[0023] 100 - Sheath fixator;

[0024] 1 - Connecting member;

[0025] 11 - Body; 12 - First opening; 13 - Inner cavity; 14 - Support portion; 15 - Protrusion; 151 - Contact end; 152 - Clearance end; 16 - Limiting member; 17 - Installation groove; 18 - Fixed end;

[0026] 2 - Opening closure;

[0027] 21 - Outer shell; 22 - Second opening; 23 - Depression; 24 - Ridge;

[0028] 3 - Gap. Detailed implementation manners

[0029] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0030] In the present invention, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated, or even a relatively movable connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0031] In the description of the present invention, the orientation or positional relationship indicated by terms such as "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation on the present invention.

[0032] The direction "distal" used in the present invention is the direction towards the patient, and the direction "proximal" is the direction away from the patient. The terms "upper" and "upper part" refer to the general direction away from the direction of gravity, and the terms "bottom", "lower", and "lower part" refer to the general direction of gravity. The term "front" refers to the side of the end device of the interventional surgical robot facing the user, and "advancing" refers to the direction of displacing a guide wire or catheter into the body of the surgical patient. The term "rear" refers to the side of the end device of the interventional surgical robot facing away from the user, and "retreating" refers to the direction of displacing a guide wire or catheter out of the body of the surgical patient. The term "inwardly" refers to the inner part of a feature. The term "outwardly" refers to the outer part of a feature.

[0033] In addition, terms such as "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, "plural" or "a plurality" means two or more.

[0034] The guide wire here includes, but is not limited to, guiding and supporting interventional medical devices such as guide guide wires, micro guide wires, and stents, and the catheter includes, but is not limited to, treatment interventional medical devices such as guide catheters, micro catheters, contrast catheters, multi-functional tubes (also known as intermediate catheters), thrombolytic catheters, balloon dilation catheters, and balloon-expandable stent catheters.

[0035] The first aspect of the present invention provides a sheath fixator, as shown in the attached Figure 1 and Figure 2As shown in the figure, the sheath fixator 100 provided in the first embodiment of the present invention includes a connecting member 1 and an opening closing member 2, and the opening closing member 2 is installed on the connecting member 1. The connecting member 1 is used to establish a delivery channel between the medical device and the distal end of the sheath. When the medical device delivered by the interventional surgical robot, such as a catheter, a guide wire, etc., is not coaxial with the sheath, the sheath fixator 100 located between the interventional surgical robot and the sheath and the medical device located within the sheath fixator 100 will undergo adaptive deformation. The opening closing member 2 is used to limit the deformation range of the medical device, prevent the medical device from arching, and ensure the smooth delivery of the medical device. According to different uses, the connecting member 1 and the opening closing member 2 can be made of different materials. For example, the connecting member 1, which is used to install the medical device and cooperate with the medical device to deform, can be made of a relatively soft material, and the opening closing member 2, which is used to generate a reaction force to ensure that the deformation of the medical device is within a controllable range, can be made of a relatively hard material. Compared with the prior art, setting two elements according to functions can better balance the convenience of installation and the reliability of product use.

[0036] As shown in the attached Figure 3As shown, the connecting member 1 includes a body 11 having an inner cavity 13. The spatial dimensions of the inner cavity 13 should meet the design requirements for placing a medical device and not affecting the axial delivery of the medical device. The axis of the body 11 is the same as the axis of the medical device. The body 11 is provided with a first opening 12 along the axis, that is, a notch is formed on the body 11. The size of the first opening 12 should meet the design requirements for the medical device to be smoothly inserted and passed through along the radial direction. The first opening 12 communicates with the inner cavity 13. When installing the medical device, the medical device can be placed into the inner cavity 13 through the first opening 12, completing the rapid installation of the medical device along the radial direction. Similarly, the medical device can also be quickly taken out of the body 11 through the first opening 12. The combination of the first opening 12 and the inner cavity 13 forms a card slot for installing the medical device. For convenience of processing, the body 11 in this embodiment is preferably a cylindrical structure, and the cross-section of the card slot along the radial direction is U-shaped. A pair of side walls and an arc-shaped bottom wall enclose to form the card slot. The gap between the side walls forms the first opening 12, and the size of the bottom wall is greater than or equal to the outer diameter of the medical device, facilitating the placement of the medical device on the bottom wall. In this embodiment, the pair of side walls are preferably arranged in parallel, the surfaces of the side walls are flat and extend along the axis, and the extending direction of the side walls corresponds to the delivery direction of the medical device, facilitating the rapid installation of the medical device in place. To facilitate the establishment of the delivery channel for the medical device delivered by the interventional surgical robot and the distal end of the sheath tube, and to achieve the two-way fixation of the sheath fixator 100 with the sheath tube and the interventional surgical robot, both ends of the body 11 in this embodiment are respectively provided with an installation groove 17 and a fixed end 18. The notch size of the installation groove 17 corresponds to the outer edge size of the sheath tube, and the sheath tube can be fixed in the installation groove 17 and clamped with the body 11. The fixed end 18 is correspondingly arranged with the fixing device of the interventional surgical robot, and the body 11 can be fixedly installed on the interventional surgical robot through the fixed end 18. To facilitate the installation of the medical device, the fixed end 18 is also provided with a first opening 12. Using the connecting member 1 to fix the sheath tube and the interventional surgical robot not only establishes the delivery channel for the medical device and the distal end of the sheath tube, but also can prevent the sheath tube from being pulled out of the blood vessel or displaced due to external force during the operation.

[0037] The opening closure 2 is used in cooperation with the connecting member 1. The opening closure 2 is configured to close at least part of the first opening 12. By closing at least part of the first opening 12, a closed structure is formed in the circumferential direction of the medical device, which can effectively prevent the medical device from arching or even detaching from the body 11, affecting the smoothness of the medical device delivery. The axial length of the part of the first opening 12 that is closed corresponds to the axial length of the opening closure 2. In this embodiment, the axial length of the opening closure 2 is preferably less than or equal to the axial length of the first opening 12.

[0038] The opening closure member 2 can be configured in various forms to cooperate with the body 11 for closing the first opening 12. In this embodiment, preferably, the opening closure member 2 is sleeved on the body 11 with a clearance fit therebetween, and the opening closure member 2 is rotatably connected to the body 11. Specifically, the opening closure member 2 can rotate around the axis of the body 11 and close the first opening 12 of the body 11 during the rotation process. As Figure 4 shown, the opening closure member 2 of this embodiment is generally a hollow cylindrical structure. To cooperate with the installation of medical devices, a second opening 22 is provided axially on the outer shell 21 of the opening closure member 2, that is, a notch is formed on the outer shell 21. The size of the second opening 22 should meet the design requirements for the smooth insertion and passing of the medical device in the radial direction. In this embodiment, preferably, the opening distance of the second opening 22 is greater than or equal to the opening distance of the first opening 12. The opening closure member 2 is sleeved on the body 11. By adjusting the relative position of the second opening 22 and the first opening 12 during the rotation process, it cooperates with the installation of the medical device and restricts the deformation of the medical device. The whole process is intuitive and easy to understand. For example, when the opening closure member 2 rotates to the first installation position, as Figure 1 shown, the second opening 22 communicates with the first opening 12 and the inner cavity 13. At this time, it is in the installation posture. The medical device passes through the second opening 22 and the first opening 12 in sequence and enters the inner cavity 13 of the body 11. Similarly, the medical device can also be taken out of the body 11 through the first opening 12 and the second opening 22 at this position. When the opening closure member 2 rotates to the second installation position, as Figure 2 shown, the outer shell 21 of the opening closure member 2 closes at least part of the first opening 12. At this time, it is in the working posture, and the outer shell 21 closes at least the delivery channel in its area, playing a role in preventing the medical device from arching. To facilitate the assembly of the body 11 and the opening closure member 2, the body 11 is made of a soft material. The body 11 is radially squeezed to deform it until the width of the body 11 is smaller than the width of the second opening 22, and the body 11 is placed into the hollow part of the opening closure member 2 through the second opening 22 to complete the sleeving of the opening closure member 2 and the body 11.

[0039] As shown in the appendix Figure 4As shown in the figure, to facilitate the user to rotate the opening closure 2 more flexibly, in this embodiment, the outer surface of the housing 21 of the opening closure 2 is preferably provided with a rib 24 along the axial direction. Different shapes can be designed according to the position of the rib 24 relative to the second opening 22 to remind the user of the current rotation angle of the opening closure 2. For example, the shape of the rib 24 symmetrically arranged with the second opening 22 can be different from the shapes of the ribs 24 at other positions. The rib 24 symmetrically arranged with the second opening 22 adopts a special shape to remind the user that the opening closure 2 has rotated 180° from the second opening 22, and this is the recommended closing position where the rotation can be stopped. Specifically, the rib 24 symmetrically arranged with the second opening 22 is composed of a plurality of convex strips and is arranged at intervals along the axial direction, and the setting direction of each convex strip is perpendicular to the axial direction. The setting direction of the ribs 24 at other positions extends along the axial direction and is evenly distributed along the circumferential direction of the outer surface of the housing 21. By arranging the ribs 24 in different directions, the user can promptly detect the change in the rotation position.

[0040] During the process of the interventional surgical robot delivering a medical device, when the medical device is not coaxial with the sheath tube, the connecting member 1 of the sheath fixator 100 and the medical device located inside the connecting member 1 will undergo adaptive deformation. To prevent the housing 21 of the opening closure 2 sleeved on the connecting member 1 from interfering with the adaptively deformed connecting member 1, in this embodiment, the opening closure 2 and / or the connecting member 1 are preferably provided with a relief structure, and the relief structure is configured to keep a first preset distance between the deformed part of the connecting member 1 and the housing 21. The first preset distance is the safety distance between the housing 21 and the connecting member 1. Within this safety distance, the housing 21 will not interfere with the adaptive deformation of the connecting member 1. Here, the adaptive deformation refers to the deformation within a reasonable range, which will not affect the smoothness of the medical device delivery and will not cause damage to the medical device. In this embodiment, when the medical device undergoes adaptive deformation, the housing 21 should meet the use requirements of the connecting member 1 bending 30° in any direction.

[0041] The relief structure can adopt various forms. In this embodiment, corresponding relief structures are respectively provided on the opening closure 2 and the connecting member 1, and clearance is achieved through the cooperation of the opening closure 2 and the connecting member 1. As shown in the attached Figures 3 - 5 figure, the body 11 includes a support portion 14 and a protruding portion 15 extending radially. The support portion 14 extends along the axial direction and is mainly used to support the medical device passing through the body 11. Correspondingly, the support portion 14 and the protruding portion 15 on the body 11 are both provided with a first opening 12, and the inner cavity 13 is arranged in the support portion 14. The two ends of the support portion 14 are respectively connected to the mounting groove 17 and the fixed end 18. In this embodiment, the support portion 14, the mounting groove 17, and the fixed end 18 are integrally formed structures. In other embodiments, the support portion 14 and the mounting groove 17, and the support portion 14 and the fixed end 18 can also be detachably connected according to design requirements. As Figure 5As shown, the convex portion 15 protrudes radially from the outer edge of the support portion 14, and the surface of the convex portion 15 is higher than the surface of the support portion 14. The outer shell 21 abuts against the convex portion 15, and a gap 3 is formed between the outer shell 21 and the support portion 14. The gap 3 forms an avoidance structure, and the deformed part of the connecting member 1 is located within the gap 3.

[0042] During the process of the interventional surgical robot delivering a medical device, when the medical device is not coaxial with the sheath tube, the connecting member 1 and the medical device located within the connecting member 1 will undergo adaptive deformation. For example, the connecting member 1 and the medical device will bend to one side. At this time, the bent part can smoothly enter the gap 3. The avoidance structure formed by the gap 3 can prevent the bent part of the connecting member 1 from abutting against the inner wall of the outer shell 21, so that the deformed part of the connecting member 1 maintains a first preset distance from the outer shell 21.

[0043] As Figure 5 shown, when the connecting member 1 bends to one side, the position of the convex portion 15 abutting against the outer shell 21 will also change radially. To prevent the force generated by the outer shell 21 on the convex portion 15 from restricting the bending of the connecting member 1, in this embodiment, the structure of the convex portion 15 is preferably further improved, and a clearance design is carried out between the convex portion 15 and the outer shell 21. Specifically, the convex portion 15 includes an abutting end 151 and a clearance end 152. The outer diameter dimension of the convex portion 15 gradually decreases from the abutting end 151 to the clearance end 152. Along the axial direction, the convex portion 15 is generally designed as a truncated cone. Along the radial direction, the highest point of the convex portion 15 is located at the abutting end 151. The outer shell 21 abuts against the abutting end 151, and the distance between the outer edge of the abutting end 151 and the outer edge of the support portion 14 is the radial height of the gap 3. Two convex portions 15 are provided on the body 11 at intervals, and the abutting ends 151 of the two convex portions 15 respectively abut against the outer shell 21. The axial distance between the two abutting ends 151 is the axial length of the gap 3. The outer shell 21 is used to close the first opening 12 between the two abutting ends 151. The convex portion 15 of this embodiment adopts the structure of a truncated cone, and the clearance end 152 is correspondingly arranged with the two ends of the outer shell 21. In this embodiment, preferably, the axial distance between the two abutting ends 151 is less than the axial length of the outer shell 21. In the initial state, when the abutting end 151 of the convex portion 15 abuts against the outer shell 21, there is a space between the clearance end 152 and the edge of the outer shell 21. When the connecting member 1 bends to one side, the corresponding convex portion 15 is lifted radially. Since there is a space between the clearance end 152 and the edge of the outer shell 21, the clearance end 152 at the edge of the convex portion will not be subjected to the reaction force generated by the edge of the outer shell 21 during the lifting process, and the connecting member 1 can smoothly undergo adaptive deformation. Of course, to prevent the connecting member 1 from undergoing excessive deformation, it can be restricted by the size design of the convex portion 15. In this embodiment, preferably, the size design of the convex portion 15 should meet the use requirements of the connecting member 1 bending 30° in any direction.

[0044] As shown in the appendixFigure 3 , Figure 5 As shown, in order to better realize the cooperative use of the body 11 and the opening closure 2, preferably in this embodiment, a limiting structure is provided on the body 11, and the limiting structure is configured to limit the axial displacement of the opening closure 2. The preferred limiting structure in this embodiment is a pair of limiting members 16 axially arranged on the body 11. The pair of limiting members 16 are symmetrically arranged outside the two convex portions 15, that is, the opening closure 2 is installed between the pair of limiting members 16. The limiting member 16 has at least one limiting surface for abutting against the opening closure 2 to limit the further axial movement of the opening closure 2. The area between the two limiting surfaces is the installation area of the opening closure 2. The limiting member 16 in this embodiment is a frustum of a cone structure. The height of the limiting member 16 in the radial direction is higher than the height of the abutting end 151 of the convex portion 15 in the radial direction. When the opening closure 2 is installed on the abutting end 151, the height of the limiting member 16 in the radial direction is also higher than the height of the contact surface between the outer shell 21 and the abutting end 151 in the radial direction. To facilitate the installation of medical devices, a first opening 12 is also provided on the limiting member 16 of the body 11. In other embodiments, the limiting structure can also be designed as a pair of position-adjustable stoppers. The pair of stoppers are movably arranged on the body 11. For example, the stoppers can slide axially relative to the body 11, and the axial distance between the pair of stoppers is adjustable to adapt to different sizes of the opening closure 2 and meet the requirement of abutting against both ends of the opening closure 2.

[0045] As shown in the attached Figure 6 and Figure 7 As shown, the sheath fixator 100 provided in the second embodiment of the present invention is similar in structure to the sheath fixator 100 in the first embodiment. The main difference lies in the difference in the avoidance structure. In the second embodiment, the avoidance structure is only provided on the opening closure 2. Specifically, a recessed portion 23 is provided on the inner wall of the outer shell 21, and the recessed portion 23 forms the avoidance structure. The deformed part of the connecting member 1 is located in the recessed portion 23. The edge of the outer shell 21 in this embodiment contacts the body 11 of the connecting member 1. The concave structure in the middle part of the outer shell 21 forms a certain avoidance space between the inner wall of the middle part of the outer shell 21 and the body 11. During the process of the intervention surgical robot delivering medical devices, when the medical device is not coaxial with the sheath tube, the connecting member 1 and the medical device located in the connecting member 1 will undergo adaptive deformation. For example, the connecting member 1 and the medical device will bend to one side. At this time, the bent part can smoothly enter the recessed portion 23. The avoidance structure formed by the recessed portion 23 can prevent the bent part of the connecting member 1 from abutting against the inner wall of the outer shell 21, so that the deformed part of the connecting member 1 maintains a first preset distance from the outer shell 21.

[0046] In other embodiments, the avoidance structure can also be provided on the connecting member 1. For example, the outer surface of the middle region of the supporting portion 14 of the connecting member 1 is designed as a concave structure, and an avoidance space is formed by increasing the distance between the middle region of the supporting portion 14 and the outer shell 21. During the process of delivering a medical device by the interventional surgical robot, when the medical device is not coaxial with the sheath tube, the connecting member 1 and the medical device located inside the connecting member 1 will undergo adaptive deformation. For example, the connecting member 1 and the medical device will bend to one side. At this time, the bent portion can smoothly enter the avoidance space, which can prevent the bent portion of the connecting member 1 from abutting against the inner wall of the outer shell 21, and keep a first preset distance between the deformed portion of the connecting member 1 and the outer shell 21.

[0047] In the first and second embodiments of the present invention, the opening closure member 2 is sleeved on the main body 11, and the first opening 12 on the main body 11 is closed by rotating the opening closure member 2. In other embodiments, the opening closure member 2 can also close the first opening 12 on the main body 11 in other ways. For example, the opening closure member 2 includes a fastening structure. When the fastening structure is fastened, the opening closure member 2 closes at least part of the first opening 12. When the fastening structure is opened, the first opening 12 is in a fully open state, and the installation and removal of the medical device can be carried out. The fastening structure can have various forms. For example, snap fasteners, Velcro, etc., and any detachable connection method that is easy to install can be applied to the fastening structure. Taking the snap fastener structure as an example, the snap fastener is arranged around the first opening 12. The pressing portion of the snap fastener is fixedly installed on one side of the first opening 12, and the fastening portion of the snap fastener is fixedly installed on the other side of the first opening 12. When the pressing portion and the fastening portion are not fastened, the first opening 12 is in a fully open state. When the pressing portion and the fastening portion are fastened, the snap fastener forms a closed structure, which can effectively prevent the medical device from arching or even detaching from the main body 11, affecting the smoothness of the medical device delivery. When needed, for the solution of closing the first opening 12 by using the fastening structure, an avoidance structure can also be designed on the fastening structure to prevent the opening closure member 2 installed on the connecting member 1 from interfering with the adaptively deformed connecting member 1 when it is in the fastened state.

[0048] In a second aspect of the present invention, an interventional surgical robot is provided, which includes a fixing device configured to be connected to the above-mentioned sheath fixator 100. The fixing device is located on the side of the interventional surgical robot close to the sheath tube. The medical device delivered by the interventional surgical robot sequentially passes through the fixing device and the sheath fixator 100 and then enters the sheath tube. An installation structure cooperating with the fixing device is provided on the fixed end 18 of the main body 11. For example, the fixed end 18 can be connected to the fixing device by means of snap connection. A clamping groove is provided on the fixing device, and a structure for docking with the clamping groove is provided on the fixed end 18. The sheath fixator 100 of this embodiment is installed on the interventional surgical robot as an independent component. In other embodiments, the sheath fixator 100 can also be a part of the interventional surgical robot and is directly provided on the fixing device, that is, it becomes an extension on the fixing device for docking with the sheath tube.

[0049] When the sheath fixator 100 of the present application is used to assist in establishing a delivery channel between the medical device and the distal end of the sheath tube, first, adjust the opening closure member 2. For example, rotate the opening closure member 2 or open the fastening structure so that the first opening 12 is in a fully open state. Then, place the sheath fixator 100 below the medical device, and the orientation of the first opening 12 corresponds to the medical device. Then, install the sheath tube in the installation groove 17 respectively, install the medical device into the inner cavity 13 of the main body 11 through the opening closure member 2 and the first opening 12, install the fixed end 18 on the fixing device of the interventional surgical robot, and finally adjust the opening closure member 2 to a state of closing at least part of the first opening 12, thus completing the establishment of the delivery channel between the medical device and the distal end of the sheath tube, effectively ensuring the smooth delivery of the medical device.

[0050] During the operation, when it is necessary to replace the medical device, first, adjust the opening closure member 2 to make the first opening 12 in a fully open state. Then, take out the sheath tube from the installation groove 17 respectively, take out the medical device from the main body 11 through the first opening 12 and the opening closure member 2, and take out the fixed end 18 from the fixing device of the interventional surgical robot. The replacement process is convenient and fast.

[0051] Finally, it should be noted that if there is no conflict, the embodiments of the present invention and the various features in the embodiments can be combined with each other, and all are within the protection scope of the present invention. Of course, the present invention can also have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these corresponding changes and deformations should all fall within the protection scope of the claims of the present invention.

[0052] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should all be included within the protection scope of the present invention.

Claims

1. A sheath fixator, characterized in that: It includes a connecting piece and an opening closing piece. The connecting piece includes a body having an inner cavity. The body is axially provided with a first opening, and the first opening communicates with the inner cavity. The opening closing piece is configured to close at least part of the first opening.

2. The sheath fixator according to claim 1, wherein: The opening closing piece is sleeved on the body. The opening closing piece is rotatably connected to the body. The outer shell of the opening closing piece is axially provided with a second opening. When the opening closing piece rotates to the first installation position, the second opening communicates with the first opening and the inner cavity. When the opening closing piece rotates to the second installation position, the outer shell of the opening closing piece closes at least part of the first opening.

3. The sheath fixator according to claim 2, wherein: The opening closing piece and / or the connecting piece is provided with an avoidance structure, and the avoidance structure is configured to keep a first preset distance between the deformed part of the connecting piece and the outer shell of the opening closing piece.

4. The sheath fixator according to claim 3, wherein: The body includes a supporting part and a convex part extending radially. The outer shell of the opening closing piece abuts against the convex part, and a gap is formed between the outer shell of the opening closing piece and the supporting part. The gap forms the avoidance structure, and the deformed part of the connecting piece is located in the gap.

5. The sheath fixator according to claim 4, characterized in that: The convex part includes an abutting end and a clearance end. The outer diameter dimension of the convex part gradually decreases from the abutting end to the clearance end. Two such convex parts are spaced on the body, and the abutting ends of the two convex parts respectively abut against the outer shell of the opening closing piece, and the clearance ends are correspondingly arranged with the two ends of the outer shell of the opening closing piece.

6. The sheath fixator according to claim 3, characterized in that: A recessed part is provided on the inner wall of the outer shell of the opening closing piece, and the recessed part forms the avoidance structure. The deformed part of the connecting piece is located in the recessed part.

7. The sheath fixator according to claim 2, wherein: A convex rib is axially provided on the outer surface of the outer shell of the opening closing piece.

8. The sheath fixator according to claim 2, wherein: A limiting structure is provided on the body, and the limiting structure is configured to limit the axial displacement of the opening closing piece.

9. The sheath fixator according to claim 1, wherein: The opening closing piece includes a fastening structure. When the fastening structure is fastened, the opening closing piece closes at least part of the first opening.

10. An interventional surgical robot, characterized in that: It includes a fixing device, and the fixing device is configured to be connected to the sheath fixator according to any one of claims 1-9.

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