Multi-instrument combined driving device and interventional surgical instrument system

Abstract

The invention discloses a multi-instrument combined driving device and an interventional operation instrument system.The interventional operation instrument system comprises a sheathing canal, a catheter, a guide wire and a multi-instrument combined driving device, and the multi-instrument combined driving device comprises a sheathing canal driving device, a catheter driving device and a guide wire driving device which are arranged in the axial direction of the sheathing canal; on a projection plane perpendicular to the axial direction, the mounting space of the sheath tube driving device and the mounting space of the catheter driving device are at least partially overlapped, and the channel of the guide wire driving device is overlapped with at least one of the mounting space of the sheath tube driving device and the mounting space of the catheter driving device. By the adoption of the multiple independent driving devices, various operations aiming at consumables in the operation process are achieved, and whole-process auxiliary operation in the operation process is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a multi-instrument combined driving device and an interventional surgical instrument system. Background Art

[0002] Vascular intervention surgery is a treatment technique that has gradually emerged in recent years. It has the advantages of less trauma, simple operation, and accurate intervention site, so that some patients who cannot tolerate large-scale surgical operations and drug-resistant patients can receive effective treatment. Vascular intervention surgery robot is a medical device that uses robot technology to assist doctors in completing surgical operations. On the one hand, it can improve the stability of the operation, and on the other hand, it can effectively reduce the radiation damage to doctors in the operating room.

[0003] Since the interventional surgery process is relatively complicated and involves the operation of multiple consumables and instruments, the vascular interventional surgery robots currently under development can be roughly divided into two categories: one is to operate some consumables, and the other is a drive device with linkage operation of multiple consumables. For the former, it can only assist doctors to complete some surgical operations, with limited assistance efficiency, or control multiple instruments through multiple robotic arms, which increases the complexity of system and equipment layout; for the latter, because it adopts a linkage mechanism, the restraint between consumables is high, and the mechanical structure is complex, which limits its control freedom and makes its installation complex. Summary of the invention

[0004] In order to solve the above problems, the present application provides a multi-instrument joint driving device and an interventional surgical instrument system, which can realize independent driving control of multiple instruments such as sheaths, catheters and guidewires.

[0005] To achieve the above objectives, on the one hand, the present application provides a multi-instrument joint driving device, comprising:

[0006] A sheath tube driving device, connected to the sheath tube and controlling the axial movement of the sheath tube, the sheath tube driving device having an installation space for accommodating a sheath tube handle;

[0007] A catheter driving device, connected to the catheter and controlling the axial movement of the catheter, the catheter driving device having an installation space for accommodating a catheter handle;

[0008] A guidewire driving device, connected to the guidewire and controlling the axial movement of the guidewire, the guidewire driving device having a channel for installing the guidewire;

[0009] Among them, the sheath tube driving device, the catheter driving device, and the guide wire driving device are arranged along the axial direction of the sheath tube. And on the projection plane perpendicular to the axial direction, the installation spaces of the sheath tube driving device and the catheter driving device at least partially overlap, and the channel of the guide wire driving device overlaps with at least one of the installation spaces of the sheath tube driving device and the catheter driving device.

[0010] On the other hand, the present application also provides an interventional surgical instrument system, including a sheath tube, a catheter, a guide wire, and the above-mentioned multi-instrument combined driving device. The sheath tube is in transmission connection with the sheath tube driving device of the multi-instrument combined driving device, the catheter is in transmission connection with the catheter driving device of the multi-instrument combined driving device, and the guide wire is in transmission connection with the guide wire driving device of the multi-instrument combined driving device.

[0011] The beneficial effects of the present invention are as follows:

[0012] In the above interventional surgical instrument system and multi-instrument combined driving device, by adopting a plurality of independent driving devices, the sheath tube is in transmission connection with the sheath tube driving device, the catheter is in transmission connection with the catheter driving device, and the guide wire is in transmission connection with the guide wire driving device, realizing independent operation of multiple consumable instruments during the operation, improving the operation freedom of a single instrument, and avoiding the complexity and interference of linkage control. In addition, the sheath tube driving device, the catheter driving device, and the guide wire driving device are arranged along the axial direction of the sheath tube. And on the projection plane perpendicular to the axial direction, the installation spaces of the sheath tube driving device and the catheter driving device at least partially overlap, so that the sheath tube and the catheter can be on the same axis. Therefore, when the sheath tube handle and the catheter handle move relatively axially, the situation that the forward and backward movement of the catheter fails due to catheter bending can be avoided. Description of the Drawings

[0013] Figure 1 is a three-dimensional schematic diagram of an embodiment of the interventional surgical instrument system of the present application.

[0014] Figure 2 is Figure 1 the exploded schematic diagram of the interventional surgical instrument system.

[0015] Figure 3 is Figure 1 the exploded schematic diagram of the sheath tube driving device in.

[0016] Figure 4 is the cross-sectional view of the connection structure of the first transmission component, the sheath tube handle, and the first bending adjustment actuator unit.

[0017] Figure 5 is the schematic diagram of another embodiment of the first transmission component.

[0018] Figure 6 It is a schematic structural diagram of the second housing.

[0019] Figure 7 It is a schematic structural diagram of the wire driving device.

[0020] Figure 8 It is an exploded schematic diagram of the wire transmission assembly.

[0021] Figure 9 It is a cross-sectional view of the connection structure of the wire driving device, the wire transmission assembly, and the second housing.

[0022] Figure 10 It is a schematic structural diagram of the electrode transmission assembly.

[0023] Figure 11 It is a schematic structural diagram of the electrode actuating unit.

[0024] Explanation of the reference numerals in the drawings: sheath tube 1, first tube body 11, sheath tube handle 12, first bending adjustment gear 13, first rotating gear 14, first fitting sleeve 15; catheter 2, second tube body 21, catheter handle 22, second bending adjustment gear 23, second rotating gear 24, second fitting sleeve 25, anti-bending component 26; wire 3; push rod 4; sheath tube driving device 5, first linear actuating unit 51, linear motor 511, lead screw assembly 512, moving element 513, first mounting base 52, through hole 521, buckling position 522, first assembly module 53, first housing 531, first buckling structure 532, second buckling structure 533, first transmission assembly 534, first transmission part 5341, second transmission part 5342, rotating shaft 5343, rack 535, first tooth group 5351, second tooth group 5352, sliding hole 5353, first bending adjustment actuating unit 54, driving motor 541, output transmission part 542, first rotational actuating unit 55; catheter driving device 6, second linear actuating unit 61, second mounting base 62, second assembly module 63, second housing 631, wire passing through groove 6311, third buckling structure 632, fourth buckling structure 633, wire transmission assembly 634, driving wheel 6341, driven wheel 6342, transmission part 6343, movable mounting seat 6344, biasing member 6345, blocking block 6346, limiting shaft 6347, operating part 6348, electrode transmission assembly 635, fixed seat 6351, support shaft 6352, connecting block 6353, elastic member 6354, second bending adjustment actuating unit 64, second rotational actuating unit 65, force feedback assembly 66; wire driving device 7, wire driving motor 71, output member 72; electrode actuating unit 8, electrode driving motor 81, electric push rod 82, linear guide rail 83, slider 84, Z-shaped connecting plate 85, connecting shaft 86. Detailed implementation manners

[0025] In order to facilitate the understanding of the present application, the present application will be described more comprehensively below with reference to the relevant drawings. One or more embodiments of the present application are exemplarily given in the drawings to make the understanding of the technical solution disclosed in the present application more accurate and thorough. However, it should be understood that the present application can be implemented in a variety of different forms and is not limited to the embodiments described below.

[0026] The same or similar numbers in the drawings of the present application correspond to the same or similar parts; in the description of the present application, it should be understood that if the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on the present application. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0027] In the description of the present application, it should be noted in advance that the terms "proximal end" and "distal end" refer to the relative orientation, relative position, and direction of components or actions relative to each other from the perspective of the operator using the medical device. Although "proximal end" and "distal end" are not restrictive, "proximal end" usually refers to the end of the medical device that is close to the operator during normal operation, and "distal end" usually refers to the end that first enters the patient's body. The direction of the central axis of rotation of objects such as cylinders and tubes is defined as axial, and the direction perpendicular to the axial direction is defined as radial. Circumferential refers to the "circumferential direction", that is, the direction around the axis of the cylinder, tube, etc. (perpendicular to the axis and perpendicular to the cross-sectional radius). "Circumferential", "axial" and "radial" together constitute the three orthogonal directions of the cylindrical coordinates. These definitions are only for convenience of expression and do not constitute a limitation on this application.

[0028] See also Figure 1 and Figure 2 As shown, the present application provides an embodiment of an interventional surgical instrument system, which includes a sheath 1, a catheter 2, a guide wire 3, and a multi-instrument joint drive device, and the multi-instrument joint drive device includes a sheath drive device 5, a catheter drive device 6, and a guide wire drive device 7. The sheath 1 is transmission-connected to the sheath drive device 5, the catheter 2 is transmission-connected to the catheter drive device 6, and the guide wire 3 is transmission-connected to the guide wire drive device 7.

[0029] The sheath 1 includes a first tube body 11 and a sheath handle 12 disposed at the proximal end of the first tube body 11, and the sheath drive device 5 has an installation space for accommodating the sheath handle 12. The catheter 2 includes a second tube body 21 and a catheter handle 22 disposed at the proximal end of the second tube body 21, and the catheter drive device 6 has an installation space for accommodating the catheter handle 22. The guidewire drive device 7 has a channel for installing the guidewire 3.

[0030] The sheath tube drive device 5, the catheter drive device 6 and the guide wire drive device 7 are arranged along the axial direction of the sheath tube 1, and on the projection plane perpendicular to the axial direction, the installation space of the sheath tube drive device 5 and the installation space of the catheter drive device 6 at least partially overlap, and the channel of the guide wire drive device 7 overlaps with at least one of the installation space of the sheath tube drive device 5 and the installation space of the catheter drive device 6. The sheath tube 1, the catheter 2 and the guide wire 3 are coaxially arranged.

[0031] The multi-instrument joint drive device realizes multiple operations on consumables during the operation by adopting multiple independent drive devices, and realizes the full-process auxiliary operation of the operation. On the other hand, it can solve the problem that the drive device of the non-coaxial structure is prone to cause non-directional deviation of the longitudinal surgical components (including the sheath 1, the catheter 2, and the guide wire 3), resulting in inaccurate driving. The sheath drive device 5, the catheter drive device 6 and the guide wire drive device 7 are coaxially linked in three stages. The first tube body 11 of the sheath and the second tube body 21 of the catheter can be coaxial, so when the sheath handle 12 and the catheter handle 22 move relative to each other in the axial direction, the relative movement of the catheter 2 and the sheath 1 is more accurate and controllable, which can effectively solve the problem that the catheter 2 in the non-coaxial structure produces eccentric movement relative to the sheath 1, causing the forward and backward movement to fail.

[0032] like Figure 3 As shown, the sheath drive device 5 includes a first linear actuation unit 51, a first mounting base 52, a first assembly module 53, a first bending actuation unit 54 and a first rotation actuation unit 55. The first assembly module 53 includes a first housing 531, two first transmission assemblies 534, a first buckle structure 532 and a second buckle structure 533. The first assembly module 53 and the first mounting base 52 are detachably connected through the first buckle structure 532. The top of the first housing 531 has an installation space for accommodating the sheath handle 12, and the second buckle structure 533 is a flip cover that can rotate relative to the main body of the first housing 531. The sheath handle 12 is detachably connected to the installation space of the first housing 531 through the second buckle structure 533. The two first transmission assemblies 534 are installed in the first shell 531 and are respectively connected to the first bending actuation unit 54 and the first rotation actuation unit 55; the sheath handle 12 is connected to the two first transmission assemblies 534 of the first assembly module 53, and the output end of the first linear actuation unit 51 is connected to the first mounting base 52.

[0033] The catheter driving device 6 includes a second linear actuation unit 61, a second mounting base 62, a second assembly module 63, a second bending actuation unit 64 and a second rotation actuation unit 65. Figure 6 As shown, the second assembly module 63 includes a second housing 631, two second transmission assemblies (not shown), a third buckle structure 632 and a fourth buckle structure 633. The second assembly module 63 is detachably connected to the second mounting base 62 through the third buckle structure 632. The top of the second housing 631 has an installation space for accommodating the catheter handle 22. The fourth buckle structure 633 and the second buckle structure 533 are also flip covers that can rotate relative to the main body of the second housing 631. The catheter handle 22 is detachably connected to the installation space of the second housing 631 through the fourth buckle structure 633. The two second transmission assemblies are installed in the second housing 631 and are respectively connected to the second bending actuating unit 64 and the second rotating actuating unit 65. The catheter handle 22 is connected to the two second transmission assemblies of the second assembly module 63, and the output end of the second linear actuating unit 61 is connected to the second mounting base 62.

[0034] The catheter driving device 6 also includes a force feedback component 66, which includes a force feedback sensor and a force feedback mounting member, the force feedback sensor is mounted on the force feedback mounting member, and the force feedback mounting member is connected to the second mounting base 62. When the second linear actuating unit 61 is driven, the driving force needs to be transmitted to the consumable component through the force feedback sensor. After eliminating the influence of friction and other factors through the algorithm, the change of the force on the catheter 2 in the heart can be obtained, thereby feeding back data.

[0035] In this embodiment, the structures of the first buckle structure 532 and the third buckle structure 632 are the same. Taking the first buckle structure 532 as an example, the first buckle structure 532 includes at least two buckles symmetrically arranged on both sides of the first shell 531 and a spring connected between the two buckles, one end of the buckle is hinged to the first shell 531, and the other end of the buckle is buckled to the buckle position 522 on the first mounting base 52, and the middle parts of the two buckles are connected by a spring.

[0036] The sheath handle 12 is sleeved with at least one first gear and at least one first fitting sleeve 15. The first gear is used for driving connection with the first assembly module 53 of the sheath driving device 5. The first fitting sleeve 15 is axially positioned on the sheath handle 12 and is used for being clamped by the second buckle structure 533 of the first assembly module 53. In this embodiment, the sheath handle 12 is sleeved with two first gears and two first fitting sleeves 15. The two first gears are respectively a first bending adjustment gear 13 and a first rotation gear 14. The first bending adjustment gear 13 and the first rotation gear 14 are arranged at intervals along the axial direction of the sheath handle 12. The first bending adjustment gear 13 and the first rotation gear 14 are respectively in driving connection with a first bending actuation unit 54 and a first rotation actuation unit 55 through the first transmission component 534 of the first assembly module 53. The two first fitting sleeves 15 are respectively arranged beside the two first gears. The flap of the second buckle structure 533 covers the position of the first fitting sleeve 15 to limit the sheath 1 in the installation space of the first housing 531.

[0037] The catheter handle 22 is sleeved with at least one second gear and at least one second fitting sleeve 25. The second gear is used for driving connection with the second assembly module 63 of the catheter driving device 6. The second fitting sleeve 25 is axially positioned on the catheter handle 22 and is used for being clamped by the fourth buckle structure 633 of the second assembly module 63. In this embodiment, the catheter handle 22 is also sleeved with two second gears and two second fitting sleeves 25. The two second gears are respectively a second bending adjustment gear 23 and a second rotation gear 24. The second bending adjustment gear 23 and the second rotation gear 24 are arranged at intervals along the axial direction of the catheter handle 22. The second bending adjustment gear 23 and the second rotation gear 24 are respectively in driving connection with a second bending actuation unit 64 and a second rotation actuation unit 65 through the second transmission component of the second assembly module 63. The two second fitting sleeves 25 are respectively arranged beside the two second gears. The flap of the fourth buckle structure 633 covers the position of the second fitting sleeve 25 to limit the catheter 2 in the installation space of the second housing 631.

[0038] A anti-bending component 26 is arranged on the part of the catheter 2 extending into the sheath 1. The anti-bending component 26 is sleeved on the catheter 2 or built into the catheter 2 so that the catheter 2 maintains a straight state when making an axial movement, strengthening the rigidity of this section, enabling the catheter 2 to axially extend to the sheath handle 12 without bending, facilitating assembly and enabling precise control of the catheter 2. In this embodiment, the anti-bending component 26 can also be constructed as a telescopic rigid tube body. The telescopic rigid tube body is sleeved on the catheter 2 to form a channel for the catheter 2 to pass through. One end of the telescopic rigid tube body is connected to the catheter handle 22, and the other end is connected to the second housing 631 of the second assembly module 63. Of course, one end of the telescopic rigid tube body can also be connected to the catheter 2 or the first housing 531 of the first assembly module 53, and the other end is connected to the sheath 1 or the sheath handle 12.

[0039] In another embodiment of the present application, the anti-bending component 26 is a rigid tube, and the outer wall of the rigid tube is in contact with the inner wall of the catheter 2 .

[0040] The first linear actuating unit 51 has the same structure as the second linear actuating unit 61. Figure 3 As shown, it mainly includes a linear motor 511, a screw assembly 512 drivingly connected to the output shaft of the linear motor 511, and a moving element 513 screwed to the screw assembly 512. The moving element 513 is connected to the bottom of the first mounting base 52, and the rotation of the linear motor 511 is converted into linear motion through the screw assembly. When the screw assembly 512 rotates under the drive of the linear motor 511, the moving element 513 moves along the axial direction of the screw of the screw assembly 512, driving the first mounting base 52 to make linear motion, thereby realizing the feeding and retreating of the sheath 1. The second linear actuation unit 61 is similar. The linear motor 511 of the first linear actuation unit 51 is coaxially arranged with the linear motor 511 of the second linear actuation unit 61, thereby realizing that the catheter 2 and the sheath 1 can be on the same axis and make linear motion.

[0041] The first bending actuating unit 54, the first rotation actuating unit 55, the second bending actuating unit 64 and the second rotation actuating unit 65 have the same structure, and the four driving motors 541 are coaxially arranged. Figure 4 Taking the first bending adjustment actuation unit 54 as an example, it mainly includes a driving motor 541 and an output transmission member 542 connected to the driving motor 541. The output transmission member 542 is a combination of one or more of a worm, a spur gear, a friction wheel, a helical gear, and a bevel gear. The output transmission members 542 of the four actuation units can be the same or different. In this embodiment, the above four output transmission members 542 are all spur gears.

[0042] The first transmission assembly 534 and the second transmission assembly have the same structure. Figure 4 Taking the first transmission assembly 534 as an example, the first transmission assembly 534 has a first transmission part 5341 and a second transmission part 5342 which are arranged in linkage. The first transmission part 5341 and the second transmission part 5342 are arranged at intervals. The first transmission part 5341 and the second transmission part 5342 are respectively fixed to the two ends of the rotating shaft 5343 to achieve the sterilization transmission effect of the first transmission assembly 534. The first transmission part 5341 is transmission-connected with the first bending actuating unit 54 or the first rotating actuating unit 55, and the second transmission part 5342 is cooperatively connected with the sheath handle 12.

[0043] Since the first transmission part 5341 and the second transmission part 5342 are arranged at intervals, the sheath tube 1 drive control device is not directly connected to the already sterilized sheath tube handle 12. For the same drive control device, whether it is reinstalled or another sheath tube 1 is replaced, the sterilization effect of the consumables can be maintained. The transmission principle of the catheter 2 is the same and will not be elaborated here.

[0044] In this embodiment, the first transmission part 5341 is a spur gear, and the second transmission part 5342 is a spur gear. In other embodiments, the first transmission part 5341 and the second transmission part 5342 can also be one of a friction wheel, a helical gear, and a bevel gear. The first transmission part 5341 and the second transmission part 5342 can be the same or different.

[0045] In another embodiment of the present application, the first transmission assembly 534 or the second transmission assembly can also be configured as a rack 535. Taking the first transmission assembly 534 as an example, combined with Figure 5 As shown, the rack 535 includes a rack 535 body, and a first tooth group 5351 and a second tooth group 5352 arranged on opposite sides of the rack 535 body. The first tooth group 5351 is the first transmission part 5341, and the second tooth group 5352 is the second transmission part 5342. In order to realize the transmission of the rack 535, the rack 535 body is provided with a long strip-shaped sliding hole 5353, and two rotating shafts 5343 are inserted into the sliding hole 5353. The two rotating shafts 5343 are arranged at intervals, and the interval distance is less than the length of the sliding hole 5353. Under the support and limit of the rotating shafts 5343, the rack 535 moves horizontally to realize the transmission between the multi-instrument combined drive device and the longitudinally long surgical member.

[0046] In order to realize the transmission connection between the first transmission assembly 534 and the second transmission assembly, taking the first transmission assembly 534 as an example, openings are respectively provided at the top and bottom of the first housing 531. The first transmission part 5341 is exposed from the opening at the bottom of the first housing 531, and the second transmission part 5342 is exposed from the opening at the top of the first housing 531; the first mounting base 52 is provided with a through hole 521 corresponding to the output transmission member 542, and the top of the output transmission member 542 is exposed from the through hole 521 and is in transmission connection with the first transmission part 5341.

[0047] The first assembly module 53 and the second assembly module 63 are each pre-assembled into an integrated modular component. The rotation and bending of the longitudinally long surgical member are realized through the transmission components in the assembly module. The whole of the catheter drive device 6 or the sheath tube drive device 5 does not rotate accordingly, and only linear motion occurs in the assembly module. Therefore, the motor wire and the sensor wire do not need to rotate with the motor, making the circuit connection simpler; and the rotation of the longitudinally long surgical member itself is not restricted, and the rotation angle range is greatly increased.

[0048] The guide wire driving device 7 is installed on the second mounting base 62 of the catheter driving device 6. Placing the guide wire driving device 7 and the catheter driving device 6 on the same base makes the overall structure simpler and the space more compact. As Figure 7 shown, the guide wire driving device 7 includes a guide wire driving motor 71 and an output member 72 connected to the guide wire driving motor 71. Combining Figure 8 with Figure 9 shown, the second assembly module 63 of the catheter driving device 6 further includes a guide wire transmission assembly 634. The guide wire transmission assembly 634 includes a limit shaft 6348, a driving wheel 6341, a driven wheel 6342, a transmission member 6343, a movable mounting seat 6344, and a biasing member 6345 located outside the second housing 631. The movable mounting seat 6344 is movably mounted to the second housing 631 through two limit shafts 6347. One end of the limit shaft 6347 away from the movable mounting seat 6344 passes through the second housing 631 and is connected to the limit shaft 6348. The driving wheel 6341 and the driven wheel 6342 are both rotatably arranged and cooperate with each other to drive the guide wire 3 clamped between the driving wheel 6341 and the driven wheel 6342 to move. The driven wheel 6342 is rotatably arranged on the movable mounting seat 6344. The biasing member 6345 provides a biasing force to the movable mounting seat 6344 so that the driven wheel 6342 abuts against the driving wheel 6341. The transmission member 6343 is in transmission connection with the driving wheel 6341. A part of the transmission member 6343 protrudes from the second assembly module 63 for detachably connecting to the output member 72.

[0049] In this embodiment, the biasing member 6345 is a spring. The spring is sleeved on the limit shaft 6347 and is in a compressed state. One end of the spring abuts against the inner wall of the second housing 631, and the other end of the spring abuts against the movable mounting seat 6344. The two limit shafts 6347 ensure that the driven wheel 6342 only moves along the direction of the limit shaft 6347 when moving, without shifting in other directions, and at the same time can limit the position of the spring.

[0050] The transmission member 6343 is a transmission shaft. The transmission shaft is rotatably installed in the second housing 631 through a bearing. The driving wheel 6341 is fixedly arranged on the transmission shaft. The end of the transmission shaft includes a joint portion, and the joint portion protrudes from the housing.

[0051] The joint portion is provided with a shaft hole. The shape of the shaft hole is an irregular shape such as a triangle, a square, a star, a flower, a cross, or a polygon. The top shape of the output member 72 corresponds to the shape of the shaft hole. In this embodiment, the output member 72 is a petal shaft, and another part of the transmission member 6343 is provided with a petal hole adapted to the petal shaft. The design of the petal shaft can easily realize the connection between the shaft holes and can transmit power at the same time. When the power of the guide wire driving motor 71 is transmitted to the driving wheel 6341 through the petal shaft, the guide wire 3 will move forward and backward under the action of friction.

[0052] like Figure 6 As shown, the second housing 631 is provided with a wire-passing slot 6311 for the guide wire 3 to pass through, and the position of the wire-passing slot 6311 is correspondingly arranged between the driving wheel 6341 and the driven wheel 6342, so that the guide wire 3 can be clamped between the driving wheel 6341 and the driven wheel 6342 after passing through the housing. The movable mounting seat 6344 is provided with a blocking block 6346, which is horizontally arranged in the wire-passing slot 6311 and suspended above the driving wheel 6341 and the driven wheel 6342 in a static state to limit the guide wire 3 from moving upward.

[0053] When installing the guide wire 3, pull the limit shaft 6348, the movable mounting seat 6344 is away from the driving wheel 6341, and a gap appears between the driving wheel 6341 and the driven wheel 6342. Then put the guide wire 3 in, loosen the limit shaft 6348, and under the action of the biasing member 6345, the driving wheel 6341 and the driven wheel 6342 will clamp the guide wire 3. At the same time, the wire groove 6311 is used to limit the position of the guide wire 3 so that the guide wire 3 will not fall and will not be separated from the two wheels. The movable mounting seat 6344 is provided with a blocking block 6346, which can limit the guide wire 3 from moving upward when in working state, thereby avoiding the situation where the guide wire 3 is separated from the two wheels due to movement.

[0054] like Figure 2 As shown, the multi-instrument joint driving device also includes an electrode actuation unit 8, which is installed on the second mounting base 62. The second assembly module 63 of the catheter driving device 6 also includes an electrode transmission assembly 635, which is installed in the second shell 631. The distal end of the catheter 2 is connected to the electrode assembly, and the other end of the electrode assembly is fixedly connected to the push rod 4. The electrode actuation unit 8 is transmission-connected to the push rod 4 through the electrode transmission assembly 635 to control the relative movement of the push rod 4 and the catheter 2 to achieve the morphological change of the electrode assembly. In one embodiment, the catheter 2 can be an ablation catheter, including an outer tube and an inner tube inserted into the outer tube, wherein the distal end of the outer tube is connected to one end of the electrode assembly, and the proximal end of the outer tube is connected to the catheter handle 22; the distal end of the inner tube is connected to the other end of the electrode assembly, and the proximal end of the inner tube is connected to the push rod 4 through the catheter handle 22. The electrode assembly can be an electrode that can be used for ablation set on the supporting frame of the basket structure, and then the electrode braking unit 8 drives the push rod 4 to move axially relative to the catheter 2. Since one end of the electrode assembly is connected to the catheter 2, and the other end is directly or indirectly connected to the push rod 4, when the push rod 4 moves toward the distal or proximal direction of the catheter 2, the electrode assembly is driven to deform, such as changing the axial distance and diameter (radial perpendicular to the axial direction) of the basket structure.

[0055] like Figure 10As shown in the figure, the electrode drive assembly 635 includes two fixed seats 6351, two support shafts 6352 connected between the two fixed seats 6351, a connecting block 6353, and an elastic member 6354. The elastic member 6354 is a spring sleeved on the support shaft 6352. The connecting block 6353 has a cross-shaped structure. The support shaft 6352 slidably passes through the left and right sides of the connecting block 6353. The electrode actuating unit 8 is drivingly connected to the lower end of the connecting block 6353. An installation groove is provided at the upper end of the connecting block 6353, and the push rod 4 is limited and fixed in the installation groove. The spring is arranged between one side of the connecting block 6353 and the corresponding fixed seat 6351. The spring provides a biasing force to the connecting block 6353 to position the connecting block 6353 in a fixed initial position in the free state. In other embodiments, the support shaft 6352 can also be one.

[0056] As Figure 11 shown, the electrode actuating unit 8 includes an electrode drive motor 81, an electric push rod 82 driven by the electrode drive motor 81 to move linearly, a linear guide rail 83, a slider 84 slidably arranged on the guide rail, a Z-shaped connecting plate 85, and a connecting shaft 86. The electric push rod 82 is connected to one end of the Z-shaped connecting plate 85. The linear slide rail is connected to one end of the Z-shaped connecting plate 85. The linear guide rail 83 is arranged in parallel with the electric push rod 82. One end of the connecting shaft 86 is vertically connected to the middle of the Z-shaped connecting plate 85. A jack is provided at the lower end of the connecting block 6353, and the other end of the connecting shaft 86 is inserted into the jack of the connecting block 6353. The Z-shaped connecting plate 85 is connected to the electric push rod 82 to provide power for the telescopic movement of the electrode assembly. At the same time, the Z-shaped connecting plate 85 is connected to the linear guide rail 83 to limit the movement direction of the Z-shaped connecting plate 85 so that it moves stably in a direction parallel to the electric push rod 82.

[0057] In the above interventional surgical instrument system and multi-instrument combined drive device, multiple drive devices cooperate in a relatively compact space, move independently without interfering with each other, can separately control the movement, rotation, bending and other actions of the longitudinal surgical component, reduce the complexity of the combined drive of the catheter 2 and the sheath 1, realize the operator's operation of multiple instruments, the movement of each component is simpler, more stable and reliable, and the installation and replacement of consumable instruments such as the guide wire 3, the catheter 2, and the sheath 1 are more simple and convenient, and to a certain extent, the isolation between the consumables and the drive device is realized to ensure the sterility of the consumables.

[0058] The above embodiments are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary engineering and technical personnel in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A multi-instrument combined drive device, characterized in that, Comprising: A sheath tube driving device, connected to the sheath tube and controlling the axial movement of the sheath tube, the sheath tube driving device having an installation space for accommodating a sheath tube handle; A catheter driving device, connected to the catheter and controlling the axial movement of the catheter, the catheter driving device having an installation space for accommodating a catheter handle; A guide wire driving device, connected to the guide wire and controlling the axial movement of the guide wire, the guide wire driving device having a channel for installing the guide wire; Wherein, the sheath tube driving device, the catheter driving device and the guide wire driving device are arranged along the axial direction of the sheath tube, and on a projection plane perpendicular to the axial direction, at least part of the installation space of the sheath tube driving device and the installation space of the catheter driving device overlap, and the channel of the guide wire driving device overlaps with at least one of the installation space of the sheath tube driving device and the installation space of the catheter driving device.

2. The multi-instrument combined driving device according to claim 1, wherein: The sheath tube driving device includes a first linear actuation unit, a first installation base and a first assembly module. The output end of the first linear actuation unit is in transmission connection with the first installation base, the first installation base is detachably connected to the first assembly module, and the first assembly module has the installation space for accommodating the sheath tube handle.

3. The multi-device combined driving device according to claim 2, wherein: The sheath tube driving device further includes a first bending adjustment actuation unit and a first rotation actuation unit. The first bending adjustment actuation unit and the first rotation actuation unit are installed on the first installation base. The first assembly module includes two first transmission components, and the two first transmission components are respectively detachably connected to the first bending adjustment actuation unit and the first rotation actuation unit.

4. The multi-device combined driving device according to claim 3, wherein: The motors of the first bending adjustment actuation unit and the first rotation actuation unit are coaxially arranged.

5. The multi-instrument combined drive device according to claim 3, characterized in that: The first assembly module further includes a first snap structure and a second snap structure. The first assembly module is detachably connected to the first installation base through the first snap structure, the sheath tube handle is detachably connected to the installation space of the first assembly module through the second snap structure, and the sheath tube handle is in transmission connection with the two first transmission components of the first assembly module.

6. The multi-instrument combined drive device according to claim 1, characterized in that: The catheter driving device includes a second linear actuation unit, a second installation base and a second assembly module. The output end of the second linear actuation unit is in transmission connection with the second installation base, the second installation base is detachably connected to the second assembly module, and the second assembly module has the installation space for accommodating the catheter handle.

7. The multi-instrument combined driving device according to claim 6, characterized in that: The catheter driving device further includes a force feedback component, the force feedback component includes a force feedback sensor and a force feedback mounting member, the force feedback sensor is installed on the force feedback mounting member, and the force feedback mounting member is connected to the second installation base.

8. The multi-instrument combined driving device according to claim 6, characterized in that: The catheter driving device further includes a second bending adjustment actuation unit and a second rotation actuation unit. The second bending adjustment actuation unit and the second rotation actuation unit are installed on the second installation base. The second assembly module includes two second transmission components, and the two second transmission components are respectively detachably connected to the second bending adjustment actuation unit and the second rotation actuation unit.

9. The multi-instrument combined drive device according to claim 8, characterized in that: The motor of the second bending actuating unit and the motor of the second rotating actuating unit are coaxially arranged.

10. The multi-instrument combined drive device according to claim 8, characterized in that: The second assembly module further includes a third snap structure and a fourth snap structure. The second assembly module is detachably connected to the second mounting base through the third snap structure. The catheter handle is detachably connected to the installation space of the second assembly module through the fourth snap structure. The catheter handle is in transmission connection with two second transmission components of the second assembly module.

11. The multi-instrument combined driving device according to claim 2 or 6, characterized in that: The first linear actuating unit of the sheath driving device and the second linear actuating unit of the catheter driving device are coaxially arranged.

12. The multi-instrument combined drive device according to claim 1 or 6, characterized in that: The guide wire driving device is installed on the second mounting base of the catheter driving device. The guide wire driving device includes a guide wire driving motor and an output member connected to the guide wire driving motor. The second assembly module of the catheter driving device further includes a guide wire transmission assembly. The guide wire transmission assembly includes a driving wheel, a driven wheel, a transmission member, a movable mounting seat and a biasing member. The driving wheel and the driven wheel are rotatably arranged and cooperate with each other to drive the guide wire clamped between the driving wheel and the driven wheel to move. The driven wheel is rotatably arranged on the movable mounting seat. The biasing member provides a biasing force to the movable mounting seat so that the driven wheel abuts against the driving wheel. The transmission member is in transmission connection with the driving wheel. A part of the transmission member protrudes from the second assembly module for detachably connecting the output member.

13. The multi-instrument combined drive device according to claim 1, wherein: It further includes an electrode actuating unit. One end of the electrode assembly is connected to the distal end of the catheter, and the other end of the electrode assembly is connected to a push rod. The electrode actuating unit is in transmission connection with the push rod to control the electrode assembly to change its shape.

14. The multi-instrument combined drive device according to claim 13, wherein: The second assembly module of the catheter driving device further includes an electrode transmission assembly. The electrode transmission assembly includes a connecting block and an elastic member. The electrode actuating unit is in transmission connection with the connecting block. The push rod is detachably connected to the connecting block. The elastic member provides a biasing force to the connecting block to position the connecting block in a fixed initial position in the free state.

15. An interventional surgical instrument system, characterized in that: It includes a sheath, a catheter, a guide wire and the multi-instrument combined driving device according to any one of claims 1-14. The sheath is in transmission connection with the sheath driving device of the multi-instrument combined driving device. The catheter is in transmission connection with the catheter driving device of the multi-instrument combined driving device. The guide wire is in transmission connection with the guide wire driving device of the multi-instrument combined driving device.

16. The interventional surgical instrument system according to claim 15, wherein: The sheath includes a first tube body and a sheath handle arranged at the proximal end of the first tube body. At least one first gear and at least one first fitting sleeve are sleeved on the sheath handle. The first gear is used for transmission connection with the first assembly module of the sheath driving device. The first fitting sleeve is axially positioned on the sheath handle. The first fitting sleeve is used for being clamped by the second snap structure of the first assembly module.

17. The interventional surgical instrument system according to claim 16, wherein: The at least one first gear includes a first bending gear and a first rotating gear. The first bending gear and the first rotating gear are arranged at intervals along the axial direction of the sheath handle. The first bending gear and the first rotating gear are respectively and correspondingly connected to a first bending actuation unit and a first rotating actuation unit through a first transmission component of the first assembly module.

18. The interventional surgical instrument system according to claim 15, characterized in that: The catheter includes a second tube body and a catheter handle provided at the proximal end of the second tube body. At least one second gear and at least one second fitting sleeve are sleeved on the catheter handle. The second gear is used for being in transmission connection with a second assembly module of the catheter driving device. The second fitting sleeve is axially positioned on the catheter handle and is used for being clamped by a fourth snap structure of the second assembly module.

19. The interventional surgical instrument system according to claim 18, wherein: The at least one second gear includes a second bending gear and a second rotating gear. The second bending gear and the second rotating gear are arranged at intervals along the axial direction of the catheter handle. The second bending gear and the second rotating gear are respectively and correspondingly connected to a second bending actuation unit and a second rotating actuation unit through a second transmission component of the second assembly module.

20. The interventional surgical instrument system according to claim 18, wherein: An electrode assembly is connected to the distal end of the catheter. The other end of the electrode assembly is fixedly connected to a push rod. The push rod is in transmission connection with an electrode actuation unit of the multi-instrument combined driving device through an electrode transmission component of the second assembly module.

21. The interventional surgical instrument system according to claim 15, characterized in that: The sheath, the catheter and the guide wire are coaxially arranged.

22. The interventional surgical instrument system according to claim 15 or 21, characterized in that: A bending prevention assembly is arranged on a part of the catheter extending into the sheath. The bending prevention assembly is sleeved on the catheter or is disposed inside the catheter so that the catheter maintains a straight state when making an axial movement.

23. The interventional surgical instrument system according to claim 22, wherein: The bending prevention assembly is a rigid tube body, and the outer wall of the rigid tube body is in contact with the inner wall of the catheter. Or the bending prevention assembly is a telescopic rigid tube body. The telescopic rigid tube body is sleeved on the catheter to form a channel through which the catheter can pass. One end of the telescopic rigid tube body is connected to the catheter or the catheter driving device, and the other end is connected to the sheath or the sheath driving device.

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