Bifurcated valve driving module with flexible connecting pipe and using method of bifurcated valve driving module

Abstract

The invention provides a bifurcated valve driving module with a flexible connecting pipe and a using method of the bifurcated valve driving module. A rotatable part is arranged at the front end of a bifurcated valve, a valve connector is arranged at the rear end of the bifurcated valve, and a first bifurcated pipe is arranged in the middle of the bifurcated valve; the bifurcated valve is a Y valve or a T valve, and a rotatable part at the front end of the bifurcated valve is connected with the flexible connecting pipe; the port control mechanism can support and fix the bifurcation valve, the port driving mechanism is used for driving the valve connector to open or close the channel so as to prevent blood or contrast media from seeping out or clamp a guide wire or a catheter in a port, and the port rotating mechanism is used for driving a rotatable part at the front end of the bifurcation valve to rotate so as to drive the valve connector to rotate. The port control mechanism controls the rotatable part at the front end of the bifurcated valve to synchronously rotate along with the rotation of the rotary delivery mechanism, and if the two rotary motions are not completely synchronous, the flexible connecting pipe can generate torsional deformation, so that the force sensing of a force sensing element in the rotary delivery mechanism on the torsional force cannot be influenced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a bifurcated valve driving module with a flexible connecting tube and a use method thereof. Background Art

[0002] Vascular interventional procedures primarily include femoral / radial artery puncture, coordinated advancement of a guidewire and angiography catheter, digital subtraction angiography (DSA), coordinated advancement of a therapeutic guidewire and balloon catheter, and stent placement. The coordinated advancement of the guidewire, catheter, and balloon catheter is a time-consuming step in these procedures and requires X-ray image navigation. Currently, vascular interventional procedures are typically performed manually by physicians. During the procedure, DSA emits X-rays, requiring the physician to wear a heavy lead vest. This rapidly degrades the physician's stamina, concentration, and stability, leading to decreased precision and a high risk of life-threatening accidents such as intimal damage and vascular perforation and rupture caused by improper thrust. Furthermore, prolonged wear of the lead vest can damage the physician's spine. Furthermore, the cumulative damage from long-term ionizing radiation exposure significantly increases the physician's risk of leukemia, cancer, and acute cataracts. Therefore, to ensure physician health and surgical quality, research and development of interventional surgical robots is intensifying, and a growing number of robots are now being used in clinical practice.

[0003] Existing interventional surgical robots mainly adopt a master-slave end operation structure to isolate doctors from the radioactive environment. The existing interventional robot slave end device needs to clamp slender medical devices such as catheters and guide wires and move them from their proximal end to the distal end. The coordinated movement of the device drives the catheter and guide wire forward and delivers them to the lesion in the patient's body (such as within the blood vessel), making it convenient for doctors to perform subsequent related treatments such as angiography, embolization of abnormal blood vessels, dissolution of blood clots, and dilation of narrowed blood vessels.

[0004] During various interventional procedures, a Y-type or T-type valve is generally required to provide a delivery channel, allowing a catheter or guidewire to pass through the delivery channel for delivery and to close the channel when injecting contrast agents. Existing technologies rely on operators manually controlling the Y-type or T-type valve to close or open the channel, and there is currently no effective automated device to replace the doctor in adjusting and controlling the Y-type or T-type valve. Furthermore, automated control of the Y-type or T-type valve may also affect the force perception of the interventional surgical robot on the interventional consumables. Summary of the Invention

[0005] The purpose of the present invention is to provide a bifurcated valve drive module with a flexible connecting pipe and a method of using the same, so as to solve the existing technical defects and unmet technical requirements.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A bifurcated valve drive module with a flexible connecting tube includes a bifurcated valve and a port control mechanism, wherein the front end of the bifurcated valve is provided with a rotatable portion, the rear end of the bifurcated valve is provided with a valve connector, and the middle portion of the bifurcated valve is provided with a first bifurcated tube; the bifurcated valve is a Y-valve or a T-valve, and the rotatable portion at the front end of the bifurcated valve is connected to the flexible connecting tube; the port control mechanism can support and fix the bifurcated valve, and the port control mechanism includes a port drive mechanism and a port rotation mechanism, the port drive mechanism is used to drive the valve connector to open or close the channel, thereby preventing blood or contrast agent from seeping out, or clamping the guidewire or catheter in the port; the port rotation mechanism is used to drive the rotatable portion at the front end of the bifurcated valve to rotate.

[0008] Preferably, the valve joint closes the channel by axially squeezing the elastic body, and by pushing and pulling the clamping block along the axis, the clamping block squeezes the elastic body to deform the elastic body, causing the elastic body to bulge or shrink inward, thereby closing the channel, and the relative position of the clamping block on the bifurcated valve is kept fixed by a self-locking structure, and the self-locking structure adopts a tapered friction structure, a snap-fit structure or a magnetic structure;

[0009] Alternatively, the valve connector closes the channel by rotating the locking cap axially. The locking cap moves axially under the guidance of the thread to squeeze the elastic body, causing the elastic body to deform, causing the elastic body to bulge or shrink inward, thereby closing the channel. The thread achieves self-locking, keeping the relative position of the locking cap on the bifurcated valve fixed;

[0010] Or the valve connector achieves channel closure by pushing and pulling the locking block axially. The locking block moves axially under the guidance of the inclined surface or conical surface to deform the elastomer, causing the elastomer to bulge or shrink inward, thereby achieving channel closure. The relative position of the locking block on the bifurcated valve is kept fixed by a self-locking structure. The self-locking structure adopts a tapered friction structure, a snap-on structure or a magnetic structure.

[0011] Preferably, when the valve connector closes the channel by rotating the locking cap axially, the locking cap is provided with a gear ring, the port drive mechanism is provided with a drive gear meshing with the gear ring, the locking cap is provided with a zero position mark assembly, the port drive mechanism is provided with a zero position switch, and the zero position mark assembly can trigger the zero position switch on the port drive mechanism and perform zero position marking;

[0012] A loosening limit step is provided at the rear end of the bifurcated valve and behind the locking cap. When the driving gear rotates the locking cap in the reverse direction to loosen it, the locking cap will be unable to rotate further in the reverse direction when it contacts the loosening limit step.

[0013] Alternatively, when the thread of the locking cap is completely disengaged, the locking cap is in an idling state. At this time, if the locking cap is further rotated in the opposite direction, the locking cap will idlingly rotate at the rear end of the bifurcated valve, but will not be separated from the rear end of the bifurcated valve.

[0014] Preferably, the port drive mechanism and the port rotation mechanism of the port control mechanism are covered with a shell, which separates the port drive mechanism and the port rotation mechanism with a power source from the bifurcated valve without a power source, and also includes a gear transmission structure. The gears in the gear transmission structure are rotatably set on the shell to transmit the power of the power source inside the port control mechanism to the bifurcated valve, thereby realizing power transmission. The gear transmission structure includes an internal gear and an external gear, and the internal gear and the external gear are separated by an isolation structure and coaxially connected by a transmission shaft.

[0015] Preferably, the gear transmission structure is provided with two groups, namely a first gear transmission structure and a second gear transmission structure. The rotatable part at the front end of the bifurcated valve is a catheter connector. The catheter connector is provided with a first gear, and the valve connector is provided with a second gear. The external gear of the first gear transmission structure is directly meshed with the first gear, or the external gear of the first gear transmission structure is meshed with the first gear through the second transmission gear, so as to drive the catheter connector to rotate. The internal gear of the first gear transmission structure is directly meshed with the first driving gear of the port rotation driving element of the port rotation mechanism, or the internal gear of the first gear transmission structure is meshed with the first driving gear of the port rotation driving element of the port rotation mechanism through the first transmission gear.

[0016] The external gear in the second gear transmission structure is directly engaged with the second gear, or the external gear in the second gear transmission structure is engaged with the second gear through the second transmission gear, so as to drive the valve joint to rotate and control the valve joint to open or close the channel; the internal gear in the second gear transmission structure is directly engaged with the second driving gear of the valve joint drive element of the port drive mechanism, or the internal gear in the second gear transmission structure is engaged with the second driving gear of the valve joint drive element of the port drive mechanism through the first transmission gear.

[0017] Preferably, the isolation structure is a shield mounted on the shell, and the shield is provided with a first cavity, a second cavity and a partition, and the first cavity and the second cavity are separated by the partition, the external gear is rotatably arranged in the first cavity, and one side of the first cavity is provided with a first opening connected to the outside of the shell, and the external gear is meshed with the second transmission gear or the first gear of the bifurcated valve or the second gear of the bifurcated valve through the first opening, the internal gear is rotatably arranged in the second cavity, and one side of the second cavity is provided with a second opening connected to the inside of the shell, and the internal gear is meshed with the first transmission gear or the first driving gear of the port rotation driving element or the second driving gear of the valve joint driving element through the second opening, the internal gear and the external gear are connected by a transmission shaft, and the transmission shaft passes through the through hole of the partition, and a sealing ring is provided on the outer side surface of the transmission shaft or the through hole of the partition, and the sealing fit between the transmission shaft and the through hole of the partition is achieved by the sealing ring.

[0018] Preferably, the flexible connecting tube has a raised curvature so that it has a floating amount in the axial direction, and the catheter joint of the rotatable part at the front end of the bifurcation valve is sealed by means of flexible connecting tube sleeve, tapered elastic claw pressing, thread tightening, and tapered self-locking.

[0019] Preferably, the flexible connecting tube is elastic, and a pagoda head is provided on the catheter joint of the rotatable part at the front end of the bifurcated valve. The pipe opening of the flexible connecting tube is aligned with the pagoda head and put on, and an automatic sealing connection is achieved through the elastic action of the flexible connecting tube;

[0020] Alternatively, a connector is connected to the catheter connector of the rotatable part at the front end of the bifurcated valve, and a second locking cap is screwed onto the connector. The second locking cap moves axially under the guidance of the thread to push the second locking block. The second locking block squeezes the elastic body to deform the elastic body, causing the elastic body to bulge or shrink inward, thereby locking the end of the flexible connecting pipe. Self-locking is achieved through the thread, and the relative position of the second locking block on the connector is kept fixed;

[0021] Alternatively, a connector is connected to the catheter connector of the rotatable part at the front end of the bifurcated valve, a second locking cap is screwed onto the connector, an elastic clamping claw is provided on the connector, a retracting portion is provided on the connector or the second locking cap, the second locking cap moves axially under the guidance of the thread, so that the elastic clamping claw and the retracting portion move toward each other, and the claw petals of the elastic clamping claw can be closed by the action of the retracting portion to lock the end of the flexible connecting tube;

[0022] Alternatively, a Luer connector is provided at the end of the flexible connecting tube, and a threaded structure is provided on the catheter connector of the rotatable part at the front end of the bifurcated valve, and an automatic sealing connection is achieved by tightening the Luer connector of the flexible connecting tube and the threaded structure.

[0023] A method for using a bifurcated valve driving module with a flexible connecting pipe, using the bifurcated valve driving module with a flexible connecting pipe,

[0024] The port control mechanism controls the rotatable portion at the front end of the bifurcated valve to rotate synchronously with the rotation of the rotary delivery mechanism. If the rotational movement of the rotatable portion at the front end of the bifurcated valve is not completely synchronized with the rotational movement of the rotary delivery mechanism, the flexible connecting tube will be torsionally deformed, thereby not affecting the force sensing element in the rotary delivery mechanism to sense the torque.

[0025] Preferably, when the driving gear drives the locking cap to rotate in the opposite direction for several circles to ensure that the locking cap is in an idling state, the driving gear drives the locking cap to rotate forward again, so that the zero position mark component on the locking cap is triggered by the zero position switch on the port driving mechanism to mark the zero position. After the zero position is marked, the driving gear is rotated forward again and drives the locking cap to rotate to a set angle to achieve the closure of the channel, thereby preventing the elastomer from excessively squeezing the interventional consumables or insufficient squeezing to affect the closure of the channel; the zero position switch is triggered by photoelectric or magnetic induction, or the zero position switch is triggered by mechanical structure;

[0026] A loosening limit step is provided at the rear end of the bifurcation valve and behind the locking cap. When the driving gear rotates the locking cap in the opposite direction to loosen it, the locking cap presses against the loosening limit step. At this time, the motor for driving the driving gear on the port driving mechanism is stalled. The controller determines that the motor is stalled by the change of motor current or rotation angle, and then performs zero mark. Or after the stall, the driving gear drives the locking cap to rotate forward again, so that the zero mark component on the locking cap is triggered by the zero position switch on the port driving mechanism to perform zero mark. After the zero mark, the locking cap is rotated forward to the set angle to achieve the closure of the channel.

[0027] The beneficial effects of the present invention are as follows:

[0028] 1. The present invention uses a port rotation mechanism to drive the rotation of the rotatable portion at the front end of the bifurcated valve. The rotatable portion at the front end of the bifurcated valve rotates synchronously with the rotation of the rotation delivery mechanism. If the rotational motion of the rotatable portion is not completely synchronized with the rotational motion of the rotation delivery mechanism, the flexible connecting tube will be torsionally deformed, thereby not affecting the force sensing element in the rotation delivery mechanism to sense the torque.

[0029] 2. The port drive mechanism of the present invention is used to drive the valve connector to rotate and control the valve connector to open or close the channel, thereby preventing blood or contrast agent from seeping out; the valve connector closes the channel by rotating the locking cap axially, and the locking cap is provided with a gear ring, and the port drive mechanism is provided with a driving gear meshing with the gear ring, and a zero position marking assembly is provided on the locking cap, and a zero position switch is provided on the port drive mechanism. The zero position marking assembly can trigger the zero position switch on the port drive mechanism and mark the zero position. After the zero position is marked, the driving gear is rotated forward and the locking cap is driven to rotate to the set angle to achieve channel closure, thereby preventing the elastomer from excessively squeezing the interventional consumables or insufficient squeezing to affect the closure of the channel.

[0030] 3. The present invention separates the port driving mechanism and the port rotating mechanism with a power source from the sterile environment during the operation through the shell, and transmits the power of the internal power source of the port control mechanism to the bifurcation valve through the gear transmission structure on the shell to realize power transmission. The design of the internal and external gears can easily realize the spatial layout of the transmission mechanism, and the power transmission is simple and reliable, which improves the compactness of the structure and reduces the manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic structural diagram of Example 1;

[0032] Figure 2 This is one of the structural diagrams of Example 1 that does not include a housing;

[0033] Figure 3 This is the second structural diagram of Example 1 without the housing;

[0034] Figure 4 is an internal cross-sectional view of Example 1;

[0035] Figure 5 Schematic diagram of the structure of the port drive mechanism, gear transmission structure and isolation structure of Example 1;

[0036] Figure 6 Schematic diagram of the isolation structure of Example 1;

[0037] Figure 7 This is a schematic structural diagram of the locking cap of Example 1;

[0038] Figure 8 Schematic diagram of the structure of the rotary delivery mechanism and the second lubrication assembly of Example 1;

[0039] Figure 9 An internal cross-sectional view of the rotary delivery mechanism and the second lubrication assembly of Example 1;

[0040] Figure 10 This is one of the structural diagrams of Example 2;

[0041] Figure 11 This is the second structural diagram of Example 2;

[0042] Figure 12 This is a schematic structural diagram of Example 3;

[0043] Figure 13 is an internal cross-sectional view of Example 3;

[0044] Figure 14 This is a schematic diagram of the structure of a Y-valve installed on the port control mechanism of Example 4;

[0045] Figure 15 This is the second structural diagram of the port control mechanism of Example 4 equipped with a Y valve;

[0046] Figure 16 This is the third structural diagram of the port control mechanism of Example 5 equipped with a Y valve. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0048] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are 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 therefore should not be understood as limiting the present invention.

[0049] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0050] Example 1

[0051] like Figures 1 to 9As shown, a bifurcated valve driving module with a flexible connecting tube includes a bifurcated valve 1027302 and a port control mechanism 10273. The front end of the bifurcated valve 1027302 is provided with a rotatable part, the rear end of the bifurcated valve 1027302 is provided with a valve connector, and the middle part of the bifurcated valve 1027302 is provided with a first bifurcated tube; the bifurcated valve 1027302 is a Y valve or a T valve, and the rotatable part at the front end of the bifurcated valve 1027302 is connected to the flexible connecting tube 1027301; the port control mechanism 10273 can support and fix the bifurcated valve 1027302, and the front end of the port control mechanism 10273 is provided with a rotating delivery mechanism 10272, and the rotating delivery mechanism 1027 2 and the port control mechanism 10273 are arranged on a module fixing seat, which is installed on the first linear rail group 102701. The rotating shaft 1027201 of the rotating delivery mechanism 10272 is provided with a first connecting portion 1022501, and the front end of the first connecting portion extends out of the rotating delivery mechanism 10272. The first connecting portion on the rotating shaft 1027201 of the rotating delivery mechanism 10272 is locked with the second catheter through a locking structure, and the locking structure is provided at the front end of the rotating delivery mechanism 10272. A rotating sleeve 1022502 is provided in the rotating shaft 1027201 of the rotating delivery mechanism 10272, and the first connecting portion is rotatable and axially limitedly provided in the rotating sleeve. A first bearing structure is provided between the first connecting part 1022501 and the rotating sleeve. The first connecting part and the rotating sleeve are axially limited and can rotate relative to each other in the circumferential direction, so that the rotating sleeve will only be subjected to the axial force from the first connecting part and will not be subjected to the circumferential torque. The rotation delivery mechanism 10272 is also provided with an axial force sensing element for detecting the axial force exerted on the first connecting part when axially delivering the second catheter, and a circumferential force sensing element for detecting the torsional force exerted on the first connecting part when rotating the second catheter (the axial force sensing element and the circumferential force sensing element are not the technical points of this patent and are therefore not specifically introduced in this article); the first connecting part is connected to the front part of an internal connecting tube, the rear part of the internal connecting tube is connected to the front rotatable part of the bifurcation valve, and the pipeline connection between the second catheter and the bifurcation valve is realized through the internal connecting tube. The bifurcation valve is installed on the port control mechanism 10273. The internal connecting pipe is provided with a flexible connecting pipe portion, and the flexible connecting pipe portion has a raised bending amount, so that it has a floating amount in the axial direction, which can solve the interference problem of torque and axial force caused by the asynchronous axial displacement and circumferential rotation of the first connecting part and the bifurcated valve.

[0052] The port control mechanism 10273 includes a port driving mechanism 1027011 and a port rotating mechanism 1027022. The port driving mechanism 1027011 is used to drive the valve connector to open or close the channel, thereby preventing blood or contrast agent from leaking out, or clamping the guidewire or catheter in the port; the port rotating mechanism 1027022 is used to drive the rotatable part at the front end of the bifurcation valve to rotate.

[0053] The valve joint closes the channel by axially squeezing the elastomer. By pushing and pulling the clamping block along the axis, the clamping block squeezes the elastomer to deform the elastomer, causing the elastomer to bulge or shrink inward, thereby closing the channel. The relative position of the clamping block on the bifurcated valve is kept fixed by a self-locking structure. The self-locking structure adopts a tapered friction structure, a snap-fit structure or a magnetic structure.

[0054] Alternatively, the valve connector closes the channel by rotating the locking cap axially. The locking cap moves axially under the guidance of the thread to squeeze the elastic body, causing the elastic body to deform, causing the elastic body to bulge or shrink inward, thereby closing the channel. The thread achieves self-locking, keeping the relative position of the locking cap on the bifurcated valve fixed;

[0055] Or the valve connector achieves channel closure by pushing and pulling the locking block axially. The locking block moves axially under the guidance of the inclined surface or conical surface to deform the elastomer, causing the elastomer to bulge or shrink inward, thereby achieving channel closure. The relative position of the locking block on the bifurcated valve is kept fixed by a self-locking structure. The self-locking structure adopts a tapered friction structure, a snap-on structure or a magnetic structure.

[0056] In this embodiment, when the valve connector closes the channel by rotating the locking cap axially, the locking cap 10273022 is provided with a ring gear (i.e., the second gear 102730202 in this embodiment), and the port drive mechanism 1027011 is provided with a driving gear meshing with the ring gear (i.e., the outer gear 1027010102 in the second gear transmission structure in this embodiment), and the locking cap 10273022 is provided with a zero position mark component, and the port drive mechanism 1027011 is provided with a zero position switch 102701101. The zero position switch is triggered by photoelectric or magnetic induction, or the zero position switch is triggered by contact using a mechanical structure. The zero position mark component can trigger the zero position switch 102701101 on the port drive mechanism 1027011 and mark the zero position, as shown in FIG. Figure 7 As shown, in this embodiment, the zero position switch 102701101 preferably adopts a magnetic induction switch, and the zero position mark component is a magnet 10273023 set on the locking cap 10273022.

[0057] A loosening limit step 102730203 is provided at the rear end of the bifurcation valve and behind the locking cap. When the driving gear rotates the locking cap in the reverse direction to loosen it, the locking cap will be unable to rotate further in the reverse direction when it presses against the loosening limit step 102730203.

[0058] Alternatively, when the thread of the locking cap is completely disengaged, the locking cap is in an idling state. At this time, if the locking cap is further rotated in the opposite direction, the locking cap will idlingly rotate at the rear end of the bifurcated valve, but will not be separated from the rear end of the bifurcated valve.

[0059] The flexible connecting tube 1027301 has a raised curvature, which allows it to float in the axial direction. The catheter joint of the rotatable part at the front end of the bifurcation valve is sealed by sleeve connection of the flexible connecting tube 1027301, pressing of the tapered elastic claws, tightening of the threads, and self-locking of the tapered end.

[0060] The flexible connecting tube 1027301 is elastic, and a pagoda head is provided on the catheter connector of the rotatable portion at the front end of the bifurcated valve. The nozzle of the flexible connecting tube 1027301 is aligned with the pagoda head and inserted thereon, achieving an automatic sealing connection through the elastic action of the flexible connecting tube 1027301. To prevent the flexible connecting tube 1027301 from being separated from the pagoda head due to excessive liquid pressure, a clamping hoop can be provided on the outside of the pagoda head to ensure a reliable connection between the flexible connecting tube 1027301 and the pagoda head.

[0061] The port control mechanism 10273 is installed on the module fixing seat, and the port drive mechanism 1027011 and the port rotation mechanism 1027022 are covered with a shell 10270101. The shell 10270101 separates the port drive mechanism 1027011 and the port rotation mechanism 1027022 with a power source from the bifurcated valve without a power source, and also includes a gear transmission structure. The gears in the gear transmission structure are rotatably arranged in the shell 10270101 to transmit the power of the power source inside the port control mechanism to the bifurcated valve to realize power transmission. The gear transmission structure includes an internal gear 1027010103 and an external gear 1027010102. The internal gear 1027010103 and the external gear 1027010102 are separated by an isolation structure and are coaxially connected through a transmission shaft.

[0062] The gear transmission structure is provided with two groups, namely a first gear transmission structure and a second gear transmission structure. The rotatable part at the front end of the bifurcated valve is a catheter connector. A first gear 102730201 is provided on the catheter connector, and a second gear 102730202 is provided on the valve connector. The outer gear 1027010102 of the first gear transmission structure is directly meshed with the first gear 102730201, or the outer gear of the first gear transmission structure is meshed with the first gear through the second transmission gear, so as to drive the catheter connector to rotate. The inner gear 1027010103 of the first gear transmission structure is directly meshed with the first driving gear of the port rotation drive element of the port rotation mechanism 1027022, or the inner gear 1027010103 of the first gear transmission structure is meshed with the first driving gear of the port rotation drive element of the port rotation mechanism 1027022 through the first transmission gear.

[0063] The outer gear 1027010102 in the second gear transmission structure is directly meshed with the second gear 102730202, or the outer gear in the second gear transmission structure is meshed with the second gear through the second transmission gear, which is used to drive the valve joint to rotate and control the valve joint to open or close the channel; the internal gear 1027010103 in the second gear transmission structure is directly meshed with the second driving gear of the valve joint drive element of the port drive mechanism 1027011, or the internal gear 1027010103 in the second gear transmission structure is meshed with the second driving gear of the valve joint drive element of the port drive mechanism 1027011 through the first transmission gear.

[0064] The isolation structure is a shield 102703 mounted on the shell 10270101, and the shield 102703 is provided with a first cavity, a second cavity and a partition 102704. The first cavity and the second cavity are separated by the partition 102704. The outer gear 1027010102 is rotatably arranged in the first cavity. One side of the first cavity is provided with a first opening communicating with the outside of the shell 10270101. The outer gear 1027010102 is engaged with the second transmission gear or the first gear 102730201 of the bifurcated valve or the second gear 102730202 of the bifurcated valve through the first opening. The inner gear 1027010103 is rotatably arranged in the second cavity. Inside, one side of the second cavity is provided with a second opening connected to the interior of the shell 10270101, and the internal gear 1027010103 is engaged with the first transmission gear or the first driving gear of the port rotation driving element or the second driving gear of the valve joint driving element through the second opening. The internal gear 1027010103 and the external gear 1027010102 are connected by a transmission shaft 102705, and the transmission shaft 102705 passes through the through hole of the partition 102704. A sealing ring 102706 is provided on the outer side surface of the transmission shaft 102705 or the through hole of the partition 102704, and a sealing fit between the transmission shaft and the through hole of the partition is achieved by the sealing ring 102706.

[0065] like Figure 8 and Figure 9 As shown, a second lubrication assembly 103308 is installed on the rotating shaft drive seat of the rotating delivery mechanism 10272 through a lubrication connecting frame 10330801. The second lubrication assembly is located between the first connecting part of the rotating delivery mechanism 10272 and the telescopic sleeve locking mechanism 10330203 on its front side; the second lubrication assembly includes a second cavity 10330801 and a second pipe 10330802 connected to the second cavity. The second cavity is an inverted cone structure. The second cavity is filled with lubricating liquid. The second cavity is covered with a second upper cover. The outlet of the second pipe is opposite to the second conduit 10280 between the first connecting part and the telescopic sleeve locking mechanism. The lubricating liquid flows out through the second pipe and directly drips on the outer surface of the second conduit 10280 (the second conduit is a guide conduit). The lubricating liquid will flow along the second conduit 10280, thereby lubricating the outer surface of the second conduit 10280.

[0066] The lubricating liquid is heparin saline, which can effectively reduce the friction resistance between the second catheter 10280 and the hemostatic valve at the rear end of the first catheter (sheath) and the inner wall of the telescopic sleeve.

[0067] Example 2

[0068] The same parts as those in Example 1 are not described in detail. The differences between this embodiment and Example 1 are as follows:

[0069] The flexible connecting tube 1027301 has a raised curvature, which allows it to float in the axial direction. The catheter joint of the rotatable part at the front end of the bifurcation valve is sealed by sleeve connection of the flexible connecting tube 1027301, pressing of the tapered elastic claws, tightening of the threads, and self-locking of the tapered end.

[0070] like Figure 10 As shown, the catheter connector of the rotatable part at the front end of the bifurcated valve is connected to a connector 10330101, a through hole for connecting the flexible connecting tube is provided on the connector 10330101, a gasket 10330102 is provided in the through hole, an elastic body 10330104 is sandwiched between the two gaskets 10330102, a second locking block 10330103 is inserted into the through hole and abuts against one of the gaskets 10330102, and the connector 1033010 1 is screwed on with a second locking cap 10330105. The second locking cap 10330105 moves axially under the guidance of the thread, thereby pushing the second locking block 10330103. The second locking block 10330103 squeezes the elastic body 10330104 to deform the elastic body, causing the elastic body to bulge or shrink inward, thereby locking the end of the flexible connecting pipe. Self-locking is achieved through the thread, keeping the relative position of the second locking block on the connector fixed;

[0071] Alternatively, a connector is connected to the catheter connector of the rotatable part at the front end of the bifurcated valve, a second locking cap is screwed onto the connector, an elastic clamping claw is provided on the connector, a retracting portion is provided on the connector or the second locking cap, the second locking cap moves axially under the guidance of the thread, so that the elastic clamping claw and the retracting portion move toward each other, and the claw petals of the elastic clamping claw can be closed by the action of the retracting portion to lock the end of the flexible connecting tube;

[0072] Or, as Figure 11 As shown, the end of the flexible connecting tube 1027301 is provided with a Luer connector 102730101, and the catheter connector of the rotatable part at the front end of the bifurcation valve is provided with a threaded structure, and an automatic sealing connection is achieved by tightening the Luer connector of the flexible connecting tube and the threaded structure.

[0073] Example 3

[0074] The same parts as those in Example 1 are not described in detail. The difference lies in that the bifurcated valve is a Y valve as an example.

[0075] Specifically, such as Figure 12 and Figure 13As shown, each module fixing seat is covered with a shell 10270101, and the bottom of the shell 10270101 is provided with an isolation bottom plate 1027010101 that can be rotatably opened or disassembled. During the installation process, the isolation bottom plate 1027010101 is opened, and the shell is put on the module fixing seat from top to bottom, and then the isolation bottom plate 1027010101 is closed and locked, which can isolate the sterile environment of the module fixing seat from the sterile environment during the operation (functional modules such as the port control mechanism 10273 and the rotation delivery mechanism 10272 will be sterilized). The shell 10270101 is provided with several gear transmission structures, which transmit the power in the module fixing seat to the sterile bifurcation valve and / or the rotation delivery mechanism. The gear transmission structure includes It includes an internal gear 1027010103 and an external gear 1027010102, the internal gear 1027010103 is arranged in the shell 10270101, and the external gear 1027010102 is arranged outside the shell 10270101, the internal gear 1027010103 and the external gear 1027010102 are connected by a transmission shaft, the driving motor 1027010104 in the module fixing seat drives the internal gear 1027010103 to rotate through the second driving gear 1027010105, the internal gear 1027010103 drives the external gear 1027010102 to rotate through the transmission shaft, and then the external gear 1027010102 provides power to the port control mechanism 10273 and / or the rotation delivery mechanism 10272. The shell 10270101 is provided with a spring pin 1027010106, which is used to connect the rotary delivery mechanism 10272 and the conductive contacts on the module fixing seat and transmit electrical signals between the two.

[0076] The design of internal and external gears can easily realize the spatial layout of the transmission mechanism, and the power transmission is simple and reliable, so that the servo motor 1027010104 with a planetary reducer can be arranged horizontally (the installation direction of the surgical function module is vertical), thereby improving the compactness of the structure and reducing manufacturing costs.

[0077] When the isolation bottom plate 1027010101 can be rotated closed, one side of the isolation bottom plate 1027010101 is hinged to the bottom of the shell 10270101, and a locking structure is provided between the other side of the isolation bottom plate 1027010101 and the shell 10270101; the locking structure is one or a combination of a snap structure, a lock structure or a threaded structure.

[0078] As an alternative, the spring pin 1027010106 may be omitted, and a hollow portion may be provided on the shell 10270101 at a position relative to the conductive contacts on the rotating delivery mechanism 10272 and the module fixing seat, so that the conductive contacts on the rotating delivery mechanism 10272 are connected to the conductive contacts on the module fixing seat through the hollow portion.

[0079] Example 4

[0080] The same parts as those in Example 1 are not described in detail. The differences between this embodiment and Example 1 are as follows:

[0081] like Figures 14-16 As shown, a bifurcated valve (Y-valve or T-valve) is mounted on the port control mechanism, using the Y-valve as an example. A Y-valve 1022110 is mounted on the port control mechanism. The port control mechanism supports one port of the Y-valve, facilitating the second rotational delivery mechanism to lock another guidewire or catheter through the port. When the port control mechanism is used to support the Y-valve, a rotatable catheter connector is provided at the front end of the Y-valve, and a valve connector is provided at the rear end of the Y-valve. The catheter locked by the first rotational delivery mechanism is connected to the catheter connector of the Y-valve via a flexible connecting tube. The port control mechanism drives the catheter connector to rotate synchronously with the first rotational delivery mechanism to avoid interference with the force sensing component within the first rotational delivery mechanism. The port control mechanism drives the valve connector to open or close the channel, thereby preventing blood or contrast agent leakage.

[0082] Taking the port control mechanism as an example, which can support one side port of the Y valve, the specific structure of the port control mechanism is as follows: Figures 14 to 16 As shown, a fixed bin 10220110 is provided on the first upper machine base 1022010, and the Y-valve 1022110 is placed in the fixed bin 10220110. The clamping button 1021910 can be used to control the clamping or loosening of the Y-valve 1022110 by the fixed bin 10220110, so as to facilitate the quick disassembly and assembly of the Y-valve 1022110.

[0083] The front end of the Y-valve 1022110 is a catheter connector, and the rear end is a valve connector. The catheter connector of the Y-valve 1022110 is provided with a first gear B1022210, and the valve connector of the Y-valve 1022110 is provided with a second gear B1022310. An external gear B1021710 that can engage with the first gear B1022210 is rotatably provided on the first upper machine base 1022010, and an external gear A1021610 that can engage with the second gear B1022310 is rotatably provided on the first upper machine base 1022010.

[0084] The first upper machine base 1022010 is connected to the first lower machine base 1021810 through a quick-connect structure. The first lower machine base 1021810 is fixed on the upper module fixing base 10209110. The quick-connect structure can be one or a combination of threaded connection, snap connection, and lock connection.

[0085] Two motors B 1021510 are set inside the first lower machine base 1021810. The first transmission shaft 102151110 and the second transmission shaft 102151210 are rotatably set on the first lower machine base 1021810. The output shafts of the two motors B 1021510 respectively drive the first transmission shaft 102151110 and the second transmission shaft 102151210 to rotate through the bevel gear structure.

[0086] The first upper machine base 1022010 is rotatably provided with a first transmission docking shaft 102151310 and a second transmission docking shaft 102151410. The first transmission docking shaft 102151310 drives the outer gear B1021710 to rotate through the bevel gear structure, and the second transmission docking shaft 102151410 drives the outer gear A1021610 to rotate through the bevel gear structure. When the first upper machine base 1022010 is connected to the first lower machine base 1021810 through the quick connection structure, the first transmission docking shaft 102151310 is docked with the first transmission shaft 102151110 to realize circumferential linkage, and the second transmission docking shaft 102151410 is docked with the second transmission shaft 102151210 to realize circumferential linkage.

[0087] Rotating the second gear B1022310 can control the opening and closing of the channel (the channel closing mechanism is conventional and can be achieved by compressing the valve, etc., so it will not be described in detail). When the port control module needs to be used to connect the Y-valve 1022110, the clamping button 1021910 is pulled to place the Y-valve 1022110 into the fixed chamber 1022010. At the same time, the outer gear B1021710 engages with the first gear B1022210, and the outer gear A 1021610 engages with the second gear B1022310. After installation is complete, the clamping button 1021910 is released, and the clamping button 1021910, under the action of the eighth elastic element, will press the side of the Y-valve 1022110.

[0088] Motor B1021510 controls the rotation of the external gear A1021610 or the external gear B1021710. The rotation of the external gear B 1021710 controls the first gear B1022210 to drive the catheter connector of the Y-valve 1022110 to rotate, thereby causing the catheter connector to rotate synchronously with the internal connecting tube or catheter. Due to the idle sealing structure provided on the Y-valve 1022110, the Y-valve 1022110 as a whole does not need to rotate, but no liquid leakage will occur at the relative rotation point; the rotation of the external gear A1021610 drives the second gear B1022310 to rotate, thereby controlling the opening and closing of the valve to prevent blood and contrast agent from seeping out.

[0089] Example 5

[0090] A method for using a bifurcated valve drive module with a flexible connecting tube adopts a bifurcated valve drive module with a flexible connecting tube. The port control mechanism controls the rotatable portion at the front end of the bifurcated valve to rotate synchronously with the rotation of the rotation delivery mechanism. If the rotational movement of the rotatable portion at the front end of the bifurcated valve is not completely synchronized with the rotational movement of the rotation delivery mechanism, the flexible connecting tube 1027301 will undergo torsional deformation, thereby not affecting the force sensing element in the rotation delivery mechanism to sense the torque.

[0091] When the driving gear drives the locking cap to rotate in the opposite direction for several circles to ensure that the locking cap is in an idling state, the driving gear drives the locking cap to rotate forward again, so that the zero position mark component on the locking cap is triggered by the zero position switch 102701101 on the valve connector to mark the zero position. After the zero position mark, the driving gear is rotated forward again and drives the locking cap to rotate to the set angle to achieve the closure of the channel, preventing the elastomer from excessively squeezing the interventional consumables or insufficient squeezing to affect the closure of the channel; the zero position switch 102701101 adopts photoelectric or magnetic induction for inductive triggering; or the zero position switch 102701101 adopts a mechanical structure for contact triggering.

[0092] Or a loosening limit step 102730203 is provided at the rear end of the bifurcated valve and behind the locking cap. When the driving gear rotates the locking cap in the opposite direction to loosen it, the locking cap presses against the loosening limit step 102730203. At this time, the motor for driving the driving gear on the port driving mechanism is stalled. The controller determines that the motor is stalled by the change of motor current or rotation angle, and then performs zero mark. Or after the stall, the driving gear drives the locking cap to rotate forward again, so that the zero position mark component on the locking cap is triggered by the zero position switch 102701101 of the port driving mechanism to perform zero position mark. After the zero position mark, the locking cap is rotated forward to the set angle to achieve channel closure.

[0093] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, from all points of view, the embodiments should be regarded as illustrative and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and range of equivalents of the claims are included in the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

Claims

1. A bifurcated valve drive module with a flexible connecting pipe, characterized in that: It includes a bifurcated valve and a port control mechanism, the front end of the bifurcated valve is provided with a rotatable part, the rear end of the bifurcated valve is provided with a valve connector, and the middle part of the bifurcated valve is provided with a first bifurcated tube; the bifurcated valve is a Y-valve or a T-valve, and the rotatable part at the front end of the bifurcated valve is connected to the flexible connecting tube; the port control mechanism can support and fix the bifurcated valve, and the port control mechanism includes a port driving mechanism and a port rotating mechanism, the port driving mechanism is used to drive the valve connector to open or close the channel; the port rotating mechanism is used to drive the rotatable part at the front end of the bifurcated valve to rotate.

2. A bifurcated valve driving module with a flexible connecting pipe according to claim 1, characterized in that: The valve joint closes the channel by axially squeezing the elastomer. By pushing and pulling the clamping block along the axis, the clamping block squeezes the elastomer to deform the elastomer, causing the elastomer to bulge or shrink inward, thereby closing the channel. The relative position of the clamping block on the bifurcated valve is kept fixed by a self-locking structure. The self-locking structure adopts a tapered friction structure, a snap-fit structure or a magnetic structure. Alternatively, the valve connector closes the channel by rotating the locking cap axially. The locking cap moves axially under the guidance of the thread to squeeze the elastic body, causing the elastic body to deform, causing the elastic body to bulge or shrink inward, thereby closing the channel. The thread achieves self-locking, keeping the relative position of the locking cap on the bifurcated valve fixed; Or the valve connector achieves channel closure by pushing and pulling the locking block axially. The locking block moves axially under the guidance of the inclined surface or conical surface to deform the elastomer, causing the elastomer to bulge or shrink inward, thereby achieving channel closure. The relative position of the locking block on the bifurcated valve is kept fixed by a self-locking structure. The self-locking structure adopts a tapered friction structure, a snap-on structure or a magnetic structure.

3. A bifurcated valve driving module with a flexible connecting pipe according to claim 2, characterized in that: When the valve connector closes the channel by rotating the locking cap axially, the locking cap is provided with a gear ring, the port drive mechanism is provided with a drive gear meshing with the gear ring, and the locking cap is provided with a zero position mark component, the port drive mechanism is provided with a zero position switch, and the zero position mark component can trigger the zero position switch on the port drive mechanism and perform zero position marking; A loosening limit step is provided at the rear end of the bifurcated valve and behind the locking cap. When the driving gear rotates the locking cap in the reverse direction to loosen it, the locking cap abuts against the loosening limit step and cannot be rotated further in the reverse direction. Alternatively, when the thread of the locking cap is completely disengaged, the locking cap is in an idling state. At this time, if the locking cap is further rotated in the opposite direction, the locking cap will idlingly rotate at the rear end of the bifurcated valve, but will not be separated from the rear end of the bifurcated valve.

4. A bifurcated valve driving module with a flexible connecting pipe according to claim 1, characterized in that: The port drive mechanism and the port rotation mechanism of the port control mechanism are covered with a shell, which separates the port drive mechanism and the port rotation mechanism with a power source from the bifurcated valve without a power source. The shell also includes a gear transmission structure. The gears in the gear transmission structure are rotatably set on the shell to transmit the power of the power source inside the port control mechanism to the bifurcated valve to realize power transmission. The gear transmission structure includes an internal gear and an external gear. The internal gear and the external gear are separated by an isolation structure and coaxially connected by a transmission shaft.

5. A bifurcated valve driving module with a flexible connecting pipe according to claim 4, characterized in that: The gear transmission structure is provided with two groups, namely a first gear transmission structure and a second gear transmission structure. The rotatable part at the front end of the bifurcated valve is a catheter connector. The catheter connector is provided with a first gear, and the valve connector is provided with a second gear. The external gear of the first gear transmission structure is directly meshed with the first gear, or the external gear of the first gear transmission structure is meshed with the first gear through the second transmission gear, so as to drive the catheter connector to rotate. The internal gear of the first gear transmission structure is directly meshed with the first driving gear of the port rotation driving element of the port rotation mechanism, or the internal gear of the first gear transmission structure is meshed with the first driving gear of the port rotation driving element of the port rotation mechanism through the first transmission gear. The external gear in the second gear transmission structure is directly engaged with the second gear, or the external gear in the second gear transmission structure is engaged with the second gear through the second transmission gear, so as to drive the valve joint to rotate and control the valve joint to open or close the channel; the internal gear in the second gear transmission structure is directly engaged with the second driving gear of the valve joint drive element of the port drive mechanism, or the internal gear in the second gear transmission structure is engaged with the second driving gear of the valve joint drive element of the port drive mechanism through the first transmission gear.

6. A bifurcated valve driving module with a flexible connecting pipe according to claim 5, characterized in that: The isolation structure is a shield mounted on the shell, and the shield is provided with a first cavity, a second cavity and a partition, and the first cavity and the second cavity are separated by the partition, the external gear is rotatably arranged in the first cavity, and one side of the first cavity is provided with a first opening connected to the outside of the shell, and the external gear is engaged with the second transmission gear or the first gear of the bifurcated valve or the second gear of the bifurcated valve through the first opening, the internal gear is rotatably arranged in the second cavity, and one side of the second cavity is provided with a second opening connected to the inside of the shell, and the internal gear is engaged with the first transmission gear or the first active gear of the port rotation drive element or the second active gear of the valve joint drive element through the second opening, the internal gear and the external gear are connected by a transmission shaft, and the transmission shaft passes through the through hole of the partition, and a sealing ring is provided on the outer side surface of the transmission shaft or the through hole of the partition, and the sealing fit between the transmission shaft and the through hole of the partition is achieved by the sealing ring.

7. The bifurcated valve driving module with a flexible connecting pipe according to claim 1, characterized in that: The flexible connecting tube has a raised curvature, which allows it to float in the axial direction. The catheter joint of the rotatable part at the front end of the bifurcation valve is sealed by sleeve connection of the flexible connecting tube, pressing of the tapered elastic claws, tightening of the threads, and self-locking of the tapered end.

8. A bifurcated valve driving module with a flexible connecting pipe according to claim 7, characterized in that: The flexible connecting tube is elastic, and a pagoda head is provided on the catheter joint of the rotatable part at the front end of the bifurcated valve. The pipe mouth of the flexible connecting tube is aligned with the pagoda head and put on, and an automatic sealing connection is achieved through the elastic effect of the flexible connecting tube; Alternatively, a connector is connected to the catheter connector of the rotatable part at the front end of the bifurcated valve, and a second locking cap is screwed onto the connector. The second locking cap moves axially under the guidance of the thread to push the second locking block. The second locking block squeezes the elastic body to deform the elastic body, causing the elastic body to bulge or shrink inward, thereby locking the end of the flexible connecting pipe. Self-locking is achieved through the thread, and the relative position of the second locking block on the connector is kept fixed; Alternatively, a connector is connected to the catheter connector of the rotatable part at the front end of the bifurcated valve, a second locking cap is screwed onto the connector, an elastic clamping claw is provided on the connector, a retracting portion is provided on the connector or the second locking cap, the second locking cap moves axially under the guidance of the thread, so that the elastic clamping claw and the retracting portion move toward each other, and the claw petals of the elastic clamping claw can be closed by the action of the retracting portion to lock the end of the flexible connecting tube; Alternatively, a Luer connector is provided at the end of the flexible connecting tube, and a threaded structure is provided on the catheter connector of the rotatable part at the front end of the bifurcated valve, and an automatic sealing connection is achieved by tightening the Luer connector of the flexible connecting tube and the threaded structure.

9. A method for using a bifurcated valve driving module with a flexible connecting tube, using the bifurcated valve driving module with a flexible connecting tube as claimed in any one of claims 1 to 8, characterized in that: The port control mechanism controls the rotatable portion at the front end of the bifurcated valve to rotate synchronously with the rotation of the rotary delivery mechanism. If the rotational movement of the rotatable portion at the front end of the bifurcated valve is not completely synchronized with the rotational movement of the rotary delivery mechanism, the flexible connecting tube will be torsionally deformed, thereby not affecting the force sensing element in the rotary delivery mechanism to sense the torque.

10. The method for using the bifurcated valve driving module with a flexible connecting tube according to claim 9, characterized in that: When the driving gear drives the locking cap to rotate in the opposite direction for several circles to ensure that the locking cap is in an idling state, the driving gear drives the locking cap to rotate forward again, so that the zero position mark component on the locking cap is triggered by the zero position switch on the port driving mechanism to mark the zero position. After the zero position is marked, the driving gear is rotated forward again and drives the locking cap to rotate to the set angle to achieve the closure of the channel, thereby preventing the elastomer from excessively squeezing the interventional consumables or insufficient squeezing to affect the closure of the channel; the zero position switch is triggered by photoelectric or magnetic induction, or the zero position switch is triggered by mechanical structure; Alternatively, a loosening limit step is provided at the rear end of the bifurcated valve and behind the locking cap. When the driving gear rotates the locking cap in the opposite direction to loosen it, the locking cap presses against the loosening limit step. At this time, the motor for driving the driving gear on the port driving mechanism is stalled. The controller determines that the motor is stalled by the change of motor current or rotation angle, and then performs zero mark. Alternatively, after the stall, the driving gear drives the locking cap to rotate forward again, so that the zero mark component on the locking cap is triggered by the zero position switch of the port driving mechanism to perform zero mark. After the zero mark, the locking cap is rotated forward to the set angle to achieve the closure of the channel.

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