A shield device of a vascular intervention robot

Abstract

The application provides a shield device of a vascular interventional robot, which comprises a shield guide wire, a shield guide wire wheel disc box, a shield guide tube and a shield guide tube wheel disc set. At least part of the shield guide wire is inserted into the shield guide tube and arranged at a central axis position inside the shield guide tube. The shield guide wire wheel disc box is used for fixing and driving the shield guide wire to move forward and backward. The shield guide tube wheel disc set is used for fixing and driving the shield guide tube to move forward and backward. In a working state, the shield guide tube and the shield guide wire are located at the central axis position of the blood vessel. The shield guide wire performs pulse reciprocating motion at a preset frequency and rotating motion at a preset rotating speed at the occluded part of the blood vessel. Through the application, the shield guide wire is used to perform pulse reciprocating motion and rotating motion at the occluded part of the blood vessel, the pecking action of a doctor is simulated, the impact frequency and the precision of the pecking action are effectively improved, the occluded blood vessel is efficiently and safely opened, and the operation efficiency and safety are improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a tunnel boring machine device for a vascular intervention robot. Background Technology

[0002] Chronic total occlusion (CTO) is one of the most difficult types of coronary artery disease to treat. CTO can lead to myocardial ischemia, heart failure, and even sudden death. CTO refers to the complete occlusion of the coronary arteries due to the continuous progression of atherosclerotic plaques or thrombus organization, with a course of more than 3 months. Its key characteristic is complete occlusion of the vessel; the coronary artery is completely blocked by plaque or thrombus, interrupting blood flow. Calcification or fibrosis forms within the vessel, increasing the difficulty of opening the occlusion. Statistics show that approximately 20%-30% of coronary artery disease patients have CTO, and its treatment outcome directly affects the improvement of myocardial perfusion, recovery of cardiac function, and long-term prognosis.

[0003] Currently, the main treatments for CTO lesions include drug therapy, surgical bypass surgery, and percutaneous coronary intervention (PCI). Among these, PCI is the preferred choice for most patients due to its minimally invasive nature. Surgeons combine lesion characteristics, instrument technology, and operator experience, employing antegrade, retrograde, and hybrid strategies to open the occluded vessel. However, CTO-PCI faces numerous technical challenges:

[0004] 1. Opening blood vessels is extremely difficult:

[0005] CTO lesions typically involve occluded segments with complex pathological structures, including dense fibrous calcification, organized old thrombi, and neovascularization. In traditional interventional treatment, the operator must manually manipulate the guidewire to "pecking" the plaque tissue of the occluded vessel, repeatedly impacting the occluded end to find potential opening pathways, making recanalization quite difficult. Furthermore, the frequency of manual manipulation is usually below 2Hz, and maintaining a stable impact angle and force is challenging, resulting in a recanalization success rate of only 60%-80%.

[0006] 2. Significant surgical risks:

[0007] Prolonged guidewire manipulation not only increases the operator's radiation exposure dose, but also easily leads to serious complications such as vascular dissection and perforation (with an incidence of about 2%-5%). In particular, when dealing with severely calcified occlusive lesions, traditional guidewire techniques are often difficult to overcome, requiring frequent instrument changes and further extending the operation time to 2-3 hours.

[0008] 3. High dependence on technology:

[0009] The success of CTO-PCI is highly dependent on the surgeon's experience. This technical barrier prevents many CTO patients from receiving effective treatment, forcing them to undergo conservative drug treatment or high-risk surgery.

[0010] Existing technologies have made several attempts:

[0011] Novel penetrating guidewires and specialized support catheters have been developed, but they still rely on manual operation and cannot overcome physiological limits. Some studies have attempted to develop guidewire driving devices, but have failed to achieve multidimensional pecking movements that simulate the dexterity of the human wrist.

[0012] Therefore, there is an urgent need in this field for an automated system that can accurately simulate the pecking motion of a doctor, improve the impact frequency and control precision, in order to overcome the technical bottlenecks in CTO-PCI, reduce surgical risks, and expand the scope of application of interventional treatment. Summary of the Invention

[0013] In view of the deficiencies in the prior art, the purpose of this application is to provide a shield tunneling device for a vascular intervention robot.

[0014] A first aspect of this application provides a shield tunneling device for a vascular interventional robot, comprising: a shield guidewire, a shield guidewire wheel box, a shield catheter, and a shield catheter wheel assembly. At least a portion of the shield guidewire is inserted into the shield catheter and positioned at the central axis position inside the shield catheter. The shield catheter is used to guide the shield guidewire. The shield guidewire wheel box is used to fix and drive the shield guidewire to move back and forth. The shield catheter wheel assembly is used to fix and drive the shield catheter to move back and forth. In the working state, the shield catheter and the shield guidewire are located at the central axis position of the blood vessel. The shield guidewire performs pulse reciprocating motion at a preset frequency and rotational motion at a preset rotational speed at the occlusion site of the blood vessel.

[0015] Optionally, the shield guide wire wheel box includes a wheel assembly, which includes a first gear, a second gear, a plurality of third gears, and a first magnetic coupling coil. The first magnetic coupling coil is disposed on the first gear, which has a slot from the tooth valley to the center point. The slot is used to embed the shield guide wire into the center point of the first gear. The second gear and the plurality of third gears are evenly surrounding the first gear and disposed on the outside of the first gear. The plurality of third gears are used to position the first gear, and the second gear is used to drive the first gear to rotate.

[0016] Optionally, the shield guide wire wheel box further includes a box body, the wheel assembly is disposed inside the box body, the box body includes a front cover, a rear cover and multiple sets of second magnetic coupling coils, the multiple sets of second magnetic coupling coils are disposed on the front cover or the rear cover, and the second magnetic coupling coils are coupled to the first magnetic coupling coils.

[0017] Optionally, the distance from the first magnetic coupling coil to the center point of the first gear is the same as the distance from each of the second magnetic coupling coils to the center point of each of the second magnetic coupling coil groups.

[0018] Optionally, when the second gear drive shaft drives the second gear to rotate, the second gear drives the first gear to rotate. If the first magnetic coupling coil and the second magnetic coupling coil have the same magnetism, the first magnetic coupling coil and the second magnetic coupling coil repel each other. If the first magnetic coupling coil and the second magnetic coupling coil have opposite magnetism, the first magnetic coupling coil and the second magnetic coupling coil attract each other. Under the coupling force of the first magnetic coupling coil and the second magnetic coupling coil, the first gear performs pulse reciprocating motion in the housing.

[0019] Optionally, the housing further includes a slider and a lead screw, the lead screw passing through the front cover and the rear cover, the slider being disposed on the lead screw and connected to the front cover or the rear cover, the slider being used to drive the housing and the first gear to move linearly along the direction of the lead screw.

[0020] Optionally, the shield guide wire wheel box further includes a first magnetic coupler and a guide wire clamp, wherein the first magnetic coupler is disposed in the guide wire clamp, and the tail end of the shield guide wire passes through the guide wire clamp and is fixed to the guide wire clamp;

[0021] The shield guide wire wheel box also includes a support platform and a second magnetic coupler. The support platform is connected to the first gear, the second magnetic coupler is located below the support platform, and the guide wire clamp is located above the support platform. The support platform is used to support the guide wire clamp, and the first magnetic coupler and the second magnetic coupler are coupled to each other.

[0022] Optionally, the shield tunnel guide wheel assembly includes a drive wheel, a driven wheel, a drive device, a silicone ring, and an elastic component. The silicone ring is respectively disposed on the drive wheel and the driven wheel. The drive device is connected to the drive wheel and is used to drive the drive wheel to rotate. The driven wheel is connected to the elastic component and is used to drive the driven wheel to connect or separate from the drive wheel. The shield tunnel guide is clamped between the drive wheel and the driven wheel.

[0023] Optionally, the shield tunneling duct includes a balloon cavity and a shield guide wire cavity. The balloon cavity is disposed outside the shield guide wire cavity. The shield guide wire cavity is used to guide the direction of the shield guide wire. The balloon cavity is used to inject liquid to fix the shield guide wire at the central axis position of the shield tunneling duct.

[0024] Optionally, the shield tunneling catheter includes an inner tube, an outer tube, and a stent assembly. The inner tube is slidably disposed inside the outer tube, and the stent assembly is disposed between the inner tube and the outer tube. The inner tube is used to guide the shield guidewire, and the stent assembly is used to support the blood vessel wall when opened, so as to keep the inner tube at the central axis position of the blood vessel.

[0025] The support assembly includes a support base, a support, and a sliding component. The support base is connected to the inner tube, one end of the support is connected to the support base, and the other end of the support is connected to the sliding component. The sliding component is slidably disposed on the outer wall of the outer tube.

[0026] The bracket includes a support rod and a support beam. One end of the support beam is connected to the bracket base, and the other end of the support beam is connected to one end of the support rod. The other end of the support rod is connected to the sliding component. The support beam is used to support the support rod, and the support rod is used to spread the bracket.

[0027] The shield tunneling device of the vascular interventional robot of this application inserts a shield guidewire into the shield catheter and holds it at the central axis of the shield catheter. The shield guidewire is fixed and driven by a shield guidewire wheel, and the shield catheter is fixed and driven by a shield catheter wheel assembly, which realizes the shield guidewire to perform pulse reciprocating motion and rotational motion at the site of vascular occlusion, simulating the doctor's pecking action. The pecking frequency can be adjusted by setting a frequency, and the rotation speed of the shield guidewire can also be controlled, effectively improving the impact frequency, rotation speed and pecking accuracy of the shield guidewire, achieving efficient and safe opening of occluded blood vessels, shortening operation time, and improving the success rate and safety of the operation.

[0028] Other technical effects resulting from the additional features will be further illustrated in the corresponding embodiments. Attached Figure Description

[0029] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0030] Figure 1 This is a schematic diagram of the overall structure of a tunnel boring machine (TBM) device for a vascular intervention robot according to an exemplary embodiment.

[0031] Figure 2 This is a schematic diagram illustrating the structure of a first gear according to an exemplary embodiment.

[0032] Figure 3 This is a schematic diagram of the structure of a shield tunnel guide wire wheel box according to an exemplary embodiment.

[0033] Figure 4 This is a partial structural schematic diagram of a shield tunnel guide wire wheel box according to an exemplary embodiment.

[0034] Figure 5 This is a partial structural schematic diagram of the front cover of a shield tunnel guide wire wheel box according to an exemplary embodiment.

[0035] Figure 6 This is a schematic diagram of a shield tunneling device structure for a partial vascular intervention robot according to an exemplary embodiment.

[0036] Figure 7 This is a schematic diagram of the structure of a shield tunnel guide vane assembly according to an exemplary embodiment.

[0037] Figure 8 This is a schematic diagram of the structure of a shield tunnel guide vane assembly according to an exemplary embodiment.

[0038] Figure 9 This is a schematic diagram of a shield tunneling duct according to an exemplary embodiment.

[0039] Figure 10 This is a schematic diagram of another shield tunneling duct according to an exemplary embodiment.

[0040] In the diagram: 10. Shield tunneling device of the vascular intervention robot; 1. Shield guide wire wheel box; 110. Wheel assembly; 111. First gear; 1111. Slot; 112. Second gear; 113. Third gear; 114. First magnetic coupling coil; 120. Box body; 121. Front cover; 122. Rear cover; 123. Second magnetic coupling coil; 124. Second gear drive shaft; 125. Third gear shaft; 126. Slider; 127. Lead screw; 130. Support platform; 140. First magnetic coupler; 150. Guide wire clamp; 160. Second magnetic coupler; 2. Shield guide wire; 3. Shield guide wheel assembly; 310. Drive wheel; 320. Driven wheel; 330. Elastic component; 4. Shield guide; 410. Balloon cavity; 420. Shield guide wire cavity; 430. Inner tube; 440. Outer tube; 450. Support assembly; 451. Support; 4511. Support rod; 4512. Support beam; 452. Sliding component; 453. Support base. Detailed Implementation

[0041] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all fall within the protection scope of the present application.

[0042] In the description of the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0043] 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 technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0044] In the description of the embodiments in this application, "multiple" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0045] The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or devices.

[0046] Existing interventional procedures for treating chronic total occlusion (CTO) require the operator to manipulate a guidewire to continuously peck at the plaque tissue in the occluded vessel, which is difficult to perform, time-consuming, and carries risks of vascular injury and perforation. To address these issues, this application provides a shield tunneling device for an interventional vascular robot.

[0047] Reference Figure 1 As shown in one embodiment of this application, a shield tunneling device 10 for a vascular intervention robot includes: a shield guide wire 2, a shield guide wire wheel box 1, a shield conduit 4, and a shield conduit wheel assembly 3.

[0048] At least a portion of the shield guide wire 2 is inserted into the shield conduit 4 and positioned at the central axis inside the shield conduit 4. The shield conduit 4 is used to guide the shield guide wire 2. The shield guide wire wheel box 1 is used to fix and drive the shield guide wire 2 to move back and forth. The shield conduit wheel assembly 3 is used to fix and drive the shield conduit 4 to move back and forth. In the working state, the shield conduit 4 and the shield guide wire 2 are located at the central axis of the blood vessel. The shield guide wire 2 performs pulse reciprocating motion at a preset frequency and rotational motion at a preset rotational speed at the occlusion site of the blood vessel.

[0049] Specifically, the frequency of the pulse reciprocating motion of the shield guide wire 2 can be adaptively adjusted according to the surgical requirements, and the rotation speed of the shield guide wire 2 can also be adaptively adjusted according to the surgical requirements.

[0050] In the above embodiments of this application, the shield guidewire 2 is inserted into the shield catheter 4 and held at the central axis position of the shield catheter 4. The shield guidewire 2 is fixed and driven to move back and forth using the shield guidewire wheel box 1, and the shield catheter 4 is fixed and driven to move back and forth using the shield catheter wheel assembly 3. This enables the shield guidewire 2 to perform pulse reciprocating motion and rotational motion at the vascular occlusion site, simulating the doctor's pecking action. The pecking frequency can be adjusted by setting a frequency, and the rotation speed of the shield guidewire 2 can also be controlled, effectively improving the impact frequency, rotation speed, and accuracy of the shield guidewire 2. This achieves efficient and safe opening of the occluded blood vessel, shortens the operation time, and improves the success rate and safety of the operation.

[0051] Figure 2 This is a schematic diagram illustrating the structure of a first gear according to an exemplary embodiment. Figure 3 This is a schematic diagram of the structure of a shield tunnel guide wire wheel box according to an exemplary embodiment. Figure 4 This is a partial structural schematic diagram of a shield tunnel guide wire wheel box according to an exemplary embodiment. Figure 5 This is a partial structural schematic diagram of the front cover of a shield tunnel guide wire wheel box according to an exemplary embodiment.

[0052] Reference Figures 2 to 5 As shown in some specific embodiments of this application, the shield guide wire wheel box 1 includes a wheel assembly 110. The wheel assembly 110 includes a first gear 111, a second gear 112, a plurality of third gears 113, and a first magnetic coupling coil 114. The first magnetic coupling coil 114 is disposed on the first gear 111. The first gear 111 is provided with a slot 1111 from the tooth valley to the center point. The slot 1111 is used to embed the shield guide wire 2 into the center point of the first gear 111.

[0053] In the above embodiments of this application, the first gear 111 is provided with a slot 1111 to limit the shield guide wire 2 to the center point of the first gear 111 and fix the shield guide wire 2.

[0054] The second gear 112 and a plurality of third gears 113 are evenly arranged around the first gear 111 and are disposed on the outside of the first gear 111. The plurality of third gears 113 are used to position the first gear 111, and the second gear 112 is used to drive the first gear 111 to rotate.

[0055] Specifically, the second gear 112 and the third gear 113 have the same structural form. The second gear 112 is used to drive the first gear 111 to rotate, and the third gear 113 is used to position the first gear 111. The total number of the second gear 112 and the third gear 113 is not less than three.

[0056] In the second gear 112 and the plurality of third gears 113, the angle between the lines connecting the center points of adjacent gears and the center points of the first gear 111 is the same.

[0057] Reference Figures 3 to 5 As shown in some specific embodiments of this application, the shield guide wire wheel box 1 further includes a box body 120, and the wheel assembly 110 is disposed inside the box body 120.

[0058] The housing 120 includes a front cover 121, a rear cover 122, and multiple sets of second magnetic coupling coils. The multiple sets of second magnetic coupling coils are disposed on the front cover 121 or the rear cover 122, and the second magnetic coupling coils are coupled to the first magnetic coupling coil 114.

[0059] Specifically, multiple sets of second magnetic coupling coils are arranged between the first magnetic coupling coil 114 and the front cover 121 or between the first magnetic coupling coil 114 and the rear cover 122.

[0060] The distance from the center point of the first magnetic coupling coil 114 to the center point of the first gear 111 is the same as the distance from the center point of each second magnetic coupling coil 123 to the center point of each second magnetic coupling coil group.

[0061] Specifically, the center point of each second magnetic coupling coil group is the same center point, and the angle between the line connecting each two adjacent second magnetic coupling coils 123 and the center point of the second magnetic coupling coil group is the same.

[0062] For example, the distance from the center point of the first magnetic coupling coil 114 to the center point of the first gear 111 is L, and the distance from the center point of each second magnetic coupling coil 123 to the center point of each second magnetic coupling coil group is also L.

[0063] The front cover 121 and the rear cover 122 of the housing 120 are combined to form a housing. Specifically, the front cover 121 is provided with a V-shaped opening, the angle of which can be set to 15-60°, for example, 30°. The bottom of the V-shaped opening of the front cover 121 is provided with a cylindrical hollow column structure. The rear cover 122 is provided with a V-shaped opening, the angle of which can be set to 15-60°, for example, also 30°. The angles of the V-shaped openings on the front cover 121 and the rear cover 122 are the same. The bottom of the V-shaped opening of the rear cover 122 is provided with a cylindrical solid column structure. The front cover 121 and the rear cover 122 are combined to form a housing 120 by inserting the cylindrical solid column structure into the cylindrical hollow column structure.

[0064] A second gear drive shaft 124 is provided on the front cover 121 and the rear cover 122. The second gear drive shaft 124 passes through the front cover 121 and the rear cover 122. The second gear 112 is fixed to the second gear drive shaft 124. The second gear drive shaft 124 is used to drive the second gear 112 to rotate. The first gear 111 is meshed with the second gear 112. When the second gear drive shaft 124 drives the second gear 112 to rotate, the second gear 112 drives the first gear 111 to rotate.

[0065] A plurality of third gear shafts 125 are provided on the front cover 121 or the rear cover 122, and the third gears 113 are respectively fixed to the third gear shafts 125.

[0066] Specifically, the second gear drive shaft 124 adopts a D-shaped, polygonal, or rod-shaped structure with key-like protrusions or recesses, and the second gear 112 and the housing 120 can slide back and forth along the second gear drive shaft 124.

[0067] For example, if the front cover 121 is provided with a plurality of third gear shafts 125, then the second magnetic coupling coil group is provided on the front cover 121, the surface of the first magnetic coupling coil 114 faces the second magnetic coupling coil group, and the first magnetic coupling coil 114 and the second magnetic coupling coil group are coupled to each other.

[0068] For example, if a plurality of third gear shafts 125 are provided on the rear cover portion 122, then the second magnetic coupling coil group is provided on the rear cover portion 122, the surface of the first magnetic coupling coil 114 faces the second magnetic coupling coil group, and the first magnetic coupling coil 114 and the second magnetic coupling coil group are coupled to each other.

[0069] The wheel assembly 110 is disposed inside the housing 120. A gap is provided between the front cover 121 and the first gear 111, and a gap is also provided between the rear cover 122 and the first gear 111. The gap can be set to 0.5-3mm, preferably, the gap is not greater than 1.5mm. For example, the gap is set to 1.5mm.

[0070] In some specific embodiments of this application, if the second magnetic coupling coil group includes 2n-1 (n>2) groups, each group of the second magnetic coupling coil group is arranged symmetrically at 180° along the center point of the first gear 111, and the magnetism of each group of the second magnetic coupling coil group is opposite, the magnetism of each two adjacent second magnetic coupling coils 123 is opposite, and the angle between the line connecting any two adjacent second magnetic coupling coils 123 and the center point of the first gear 111 is the same.

[0071] In some specific embodiments of this application, if the second magnetic coupling coil group includes 2n (n>2) groups, the second magnetic coupling coil 123 is arranged symmetrically at 180° along the center point of the first gear 111, and the magnetism of each second magnetic coupling coil group is the same, the magnetism of each two adjacent second magnetic coupling coils 123 is opposite, and the angle between the line connecting any two adjacent second magnetic coupling coils 123 and the center point of the first gear 111 is the same.

[0072] In some specific embodiments of this application, the first gear 111 meshes with the second gear 112, and when the second gear drive shaft 124 drives the second gear 112 to rotate, it drives the first gear 111 to rotate.

[0073] When the second gear drive shaft 124 drives the second gear 112 to rotate, the second gear 112 drives the first gear 111 to rotate. If the first magnetic coupling coil 114 and the second magnetic coupling coil 123 have the same magnetism, the first magnetic coupling coil 114 and the second magnetic coupling coil 123 repel each other. If the first magnetic coupling coil 114 and the second magnetic coupling coil 123 have opposite magnetism, the first magnetic coupling coil 114 and the second magnetic coupling coil 123 attract each other. Under the coupling force of the first magnetic coupling coil 114 and the second magnetic coupling coil 123, the first gear 111 performs pulse reciprocating motion in the housing 120.

[0074] For example, when the first gear 111 rotates, the first magnetic coupling coil 114 on the first gear 111 rotates to a position corresponding to the second magnetic coupling coil 123 on the front cover 121 or rear cover 122 of the housing 120. If the magnetic properties of the first magnetic coupling coil 114 and the second magnetic coupling coil 123 are opposite, the first magnetic coupling coil 114 and the second magnetic coupling coil 123 attract each other and generate linear displacement, and the first gear 111 moves toward the front cover 121 or rear cover 122 of the housing 120.

[0075] As the first gear 111 continues to rotate, when the first magnetic coupling coil 114 on the first gear 111 rotates to a position corresponding to the next second magnetic coupling coil 123 on the front cover 121 or rear cover 122 of the housing 120, the first magnetic coupling coil 114 and the second magnetic coupling coil 123 have the same magnetism. The first magnetic coupling coil 114 and the second magnetic coupling coil 123 repel each other and generate a reverse linear displacement. The first gear 111 moves in the opposite direction toward the rear cover 122 or the front cover 121 of the housing 120.

[0076] Due to the limiting effect of the front cover 121 and the rear cover 122 of the housing 120, as well as the gap between the front cover 121 and the first gear 111 and the gap between the rear cover 122 and the first gear 111, the first gear 111 forms a pulse reciprocating motion of ≤1.5mm in the housing 120, that is, the first gear 111 performs pulse reciprocating motion inside the housing 120.

[0077] Reference Figures 4 to 5 As shown in some specific embodiments of this application, the housing 120 further includes a slider 126 and a lead screw 127. The lead screw 127 passes through the front cover 121 and the rear cover 122. The slider 126 is disposed on the lead screw 127 and is connected to the front cover 121 or the rear cover 122. The slider 126 is used to drive the housing 120 and the first gear 111 to move linearly along the direction of the lead screw 127.

[0078] Figure 6 This is a schematic diagram of a tunnel boring machine (TBM) device for a partial vascular interventional robot according to an exemplary embodiment. (Refer to...) Figure 6 As shown in some specific embodiments of this application, the shield guide wire wheel box 1 further includes a first magnetic coupler 140 and a guide wire clamp 150. The first magnetic coupler 140 is disposed in the guide wire clamp 150, and the tail end of the shield guide wire 2 passes through the guide wire clamp 150 and is fixed to the guide wire clamp 150.

[0079] Specifically, one end of the shield guide wire 2 is the head end of the shield guide wire 2. In the working state, the head end of the shield guide wire 2 is used to peck at the occluded part of the blood vessel. The other end of the shield guide wire 2 is the tail end of the shield guide wire 2, which is located outside the human body.

[0080] The head end of the shield guide wire 2 can be set as conical, spherical or chamfered, and a coil is wound around the head end of the shield guide wire 2.

[0081] For example, the diameter of the shield guide wire 2 can be set to 0.014", and the length can be set to 180-300cm.

[0082] Reference Figure 6 As shown in some specific embodiments of this application, the shield guide wire wheel box 1 further includes a support platform 130 and a second magnetic coupler 160. The support platform 130 is connected to the first gear 111, the second magnetic coupler 160 is disposed below the support platform 130, and the guide wire clamp 150 is disposed above the support platform 130. The support platform 130 is used to support the guide wire clamp 150, and the first magnetic coupler 140 and the second magnetic coupler 160 are coupled to each other.

[0083] Specifically, the support platform 130 is connected to the first gear 111, the top of the support platform 130 is fixedly connected to the guide wire clamp 150, and the bottom of the support platform 130 is fixedly connected to the second magnetic coupler 160.

[0084] The magnetic coupler formed by the first magnetic coupler 140 and the second magnetic coupler 160 rotates with the rotation of the first gear 111. The first gear 111 and the housing 120 move in a straight line along the direction of the lead screw 127, and the magnetic coupler moves in a straight line along the direction of the lead screw 127 together with the first gear 111 and the housing 120.

[0085] The shield guide wire 2 is embedded in the center point of the first gear 111 through the slot 1111 on the first gear 111. Thus, under the coupling action of the first magnetic coupling coil 114 and the second magnetic coupling coil 123, the shield guide wire 2 performs pulse reciprocating motion at a preset frequency to simulate a pecking action to peck at the occluded part of the blood vessel.

[0086] In operation, the first gear 111 performs pulsed reciprocating and rotating motions, the housing 120 performs pulsed reciprocating motions, and the magnetic coupler performs pulsed reciprocating and rotating motions, driving the shield guide wire 2 to perform pulsed reciprocating and rotating motions. The head end of the shield guide wire 2 performs pulsed reciprocating impact motions and rotating motions, creating continuous impacts on the occluded blood vessel. When the impact accumulates to a certain extent, the plaque at the occluded blood vessel is pierced by the impact. Each impact displacement is ≤1.5mm, ensuring the safety of the impact of the head end of the shield guide wire 2 on the occluded blood vessel.

[0087] Because the distance of each impact is extremely small, and the length of the occluded blood vessel is much greater than the displacement of each impact, it is necessary to continuously and repeatedly impact the plaque, accumulate the movement distance, and open the occluded blood vessel.

[0088] In the above embodiments of this application, a wheel assembly 110 is set in the shield guide wire wheel box 1 to clamp and fix the shield guide wire 2. The box body 120 limits the wheel assembly 110. The coupling effect between the first magnetic coupling coil 114 and the second magnetic coupling coil 123 realizes the pulse reciprocating motion and rotational motion of the first gear 111 and the magnetic coupler. The magnetic coupler drives the shield guide wire 2 to perform pulse reciprocating impact motion and rotational motion, simulating the pecking action of a doctor, effectively improving the impact frequency, rotation speed and accuracy, and opening the occluded blood vessel efficiently and safely, thereby improving the success rate and safety of the operation.

[0089] Figure 7 This is a schematic diagram of the structure of a shield tunnel guide vane assembly according to an exemplary embodiment. Figure 8 This is a schematic diagram of the structure of a shield tunnel guide vane assembly according to an exemplary embodiment.

[0090] Reference Figures 7 to 8 As shown in some specific embodiments of this application, the shield tunnel guide wheel assembly 3 includes a drive wheel 310, a driven wheel 320, a drive device, a silicone ring, and an elastic component 330. The silicone ring is respectively disposed on the drive wheel 310 and the driven wheel 320. The drive wheel 310 is connected to the drive device, which is used to drive the drive wheel 310 to rotate. The driven wheel 320 is connected to the elastic component 330, which is used to drive the driven wheel 320 to connect or separate from the drive wheel 310. The shield tunnel guide 4 is clamped between the drive wheel 310 and the driven wheel 320.

[0091] Specifically, the drive wheel 310 and the driven wheel 320 may include one or more pairs. The bottom of the drive wheel 310 is connected to the drive device. The outer rings of the drive wheel 310 and the driven wheel 320 are covered with silicone rings. The silicone rings on the drive wheel 310 and the driven wheel 320 come into contact with each other to generate friction. As a result, the drive wheel 310 drives the driven wheel 320 to rotate.

[0092] Two sets of elastic components 330 are provided on both sides of the driven wheel 320. Under the elastic force of the elastic components 330, the drive wheel 310 and the driven wheel 320 are connected in contact. When the elastic components 330 are released, the drive wheel 310 and the driven wheel 320 are separated so as to install or remove the shield duct 4.

[0093] After the shield tunneling duct 4 is installed, the elastic component 330 is locked, the shield tunneling duct wheel assembly 3 clamps and fixes the shield tunneling duct 4, the drive device drives the drive wheel 310 to rotate, the driven wheel 320 rotates with the drive wheel 310, and the shield tunneling duct 4 moves forward or backward.

[0094] In the above embodiments of this application, the shield tunneling duct 4 is fixedly clamped by the drive wheel 310 and the driven wheel 320. The shield tunneling duct 4 moves forward and backward under the driving force of the drive device, realizing the pulse reciprocating motion of the shield tunneling duct 4.

[0095] Figure 9 This is a schematic diagram of a shield tunneling duct according to an exemplary embodiment.

[0096] Reference Figure 9 As shown in some specific embodiments of this application, the shield tunneling duct 4 includes a balloon cavity 410 and a shield guide wire cavity 420. The balloon cavity 410 is disposed outside the shield guide wire cavity 420. The shield guide wire cavity 420 is used to guide the shield guide wire 2 in direction. The balloon cavity 410 is used to inject liquid to fix the shield guide wire 2 at the central axis position of the shield tunneling duct 4.

[0097] Specifically, the shield tunneling duct 4 adopts a conical hollow double-lumen tubular structure, wherein the inner lumen is the shield guide wire lumen 420 and the outer lumen is the balloon lumen 410.

[0098] For example, when contrast agent or saline is injected into the balloon cavity 410, the balloon cavity 410 inflates and fixes the shield guidewire 2 at the central axis position of the shield guidewire cavity 420, thereby achieving fixation at the center position of the blood vessel. When the tip of the shield guidewire 2 performs pulse reciprocating impact movement at the occlusion site of the blood vessel, the tip of the shield guidewire 2 can always maintain the impact direction in the central axis direction of the blood vessel, preventing the shield guidewire 2 from touching the blood vessel wall and causing blood vessel perforation.

[0099] In the above embodiments of this application, the shield catheter 4 adopts a conical hollow double-lumen tubular structure with a balloon cavity 410 and a shield guidewire cavity 420 to maintain the position of the shield guidewire 2, fix the shield guidewire 2 at the central axis position of the blood vessel, improve the safety of the operation, and prevent the shield guidewire 2 from contacting the blood vessel wall and causing blood vessel perforation.

[0100] Figure 10 This is a schematic diagram of another shield tunneling duct according to an exemplary embodiment.

[0101] Reference Figure 10 As shown in some specific embodiments of this application, another shield catheter 4 can also be used. The shield catheter 4 includes an inner tube 430, an outer tube 440, and a stent assembly 450. The inner tube 430 is slidably disposed inside the outer tube 440, and the stent assembly 450 is disposed between the inner tube 430 and the outer tube 440. The inner tube 430 is used to guide the shield guide wire 2, and the stent assembly 450 is used to support the blood vessel wall when opened, so as to keep the inner tube at the central axis position of the blood vessel.

[0102] Specifically, both the inner tube 430 and the outer tube 440 are hollow tubular structures.

[0103] The bracket assembly 450 includes a bracket base 453, a bracket 451, and a sliding component 452. The bracket base 453 is connected to the inner tube 430. One end of the bracket 451 is connected to the bracket base 453, and the other end of the bracket 451 is connected to the sliding component 452. The sliding component 452 is slidably disposed on the outer wall of the outer tube.

[0104] Specifically, the head end of the shield guide tube 4 is located at the same end as the head end of the shield guide wire 2, and the support base 453 can be welded to the head end of the inner tube 430 and folded and retracted between the inner tube 430 and the outer tube 440.

[0105] The outer tube 440 of the shield tunnel guide 4 passes through the sliding member 452 and is located at the head end of the outer tube 440.

[0106] The bracket 451 includes a support rod 4511 and a support beam 4512. One end of the support beam 4512 is connected to the bracket base 453, and the other end of the support beam 4512 is connected to one end of the support rod 4511. The other end of the support rod 4511 is connected to the sliding component 452. The support beam 4512 is used to support the support rod 4511, and the support rod 4511 is used to spread the bracket 451.

[0107] Specifically, when the stent 451 is opened, it is umbrella-shaped, the support beam 4512 expands the support rod 4511, and the support rod 4511 expands and abuts against the inner wall of the blood vessel.

[0108] The bracket 451 of this application can be made of a nickel-titanium shape memory alloy, which has the characteristics of shape memory and super elasticity.

[0109] During application, the inner tube 430 is pushed from the tail end of the shield tube 4. The inner tube 430 and the stent assembly 450 are pushed out of the outer tube 440. The inner tube 430 pushes the stent base 453. The sliding component 452 slides on the outer wall of the outer tube 51. The support rod 4511 of the stent 451 expands and opens. The support beam 4512 supports the support rod 4511. The support rod 4511 fits tightly against the inner wall of the blood vessel. Thus, the stent 451 opens and abuts against the inner wall of the blood vessel.

[0110] The tip of the shield guide wire 2 is always kept in the central axis direction of the blood vessel in the inner tube 430 of the shield catheter 4, and undergoes pulse reciprocating impact and rotational motion. The stent assembly 450 can prevent the shield guide wire 2 from touching the blood vessel wall and causing blood vessel wall perforation.

[0111] In the above embodiments of this application, the shield catheter 4 is supported by a stent assembly 450 and held against the blood vessel wall to keep the shield guide wire 2 in the central axis direction of the blood vessel, thereby improving surgical safety and preventing the shield guide wire 2 from touching the blood vessel wall and causing perforation of the blood vessel wall.

[0112] In specific applications, any one of the above structures can be used.

[0113] This application provides a shield tunneling device 10 for a vascular interventional robot. The shield guide wire wheel box 1 moves forward along the direction of the second gear drive shaft 124, thereby driving the shield guide wire 2 to move forward. The accumulated movement distance is used to tunnel forward. The shield catheter wheel assembly 3 clamps the shield catheter and tunnels forward synchronously with the forward movement of the shield guide wire 2, forming a shield movement similar to that of a tunnel excavator. This efficiently and accurately opens the blocked blood vessel, improves surgical efficiency and success rate, and reduces the workload of doctors.

[0114] The preferred features in the above embodiments can be used individually in any embodiment, or in any combination thereof, provided they do not conflict with each other. Furthermore, parts not described in detail in the embodiments can be implemented using existing technologies.

[0115] The specific embodiments of this application have been described above. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. A shield tunneling device for a vascular intervention robot, characterized in that, include: The system comprises a shield guidewire, a shield guidewire wheel box, a shield catheter, and a shield catheter wheel assembly. At least a portion of the shield guidewire is inserted into the shield catheter and positioned at the central axis inside the shield catheter. The shield catheter is used to guide the shield guidewire. The shield guidewire wheel box is used to fix and drive the shield guidewire to move back and forth. The shield catheter wheel assembly is used to fix and drive the shield catheter to move back and forth. In the working state, the shield catheter and the shield guidewire are located at the central axis of the blood vessel. The shield guidewire performs pulse reciprocating motion at a preset frequency and rotational motion at a preset rotational speed at the site of blood vessel occlusion. The shield guide wire wheel box includes a wheel assembly, which includes a first gear, a second gear, multiple third gears, and a first magnetic coupling coil. The first magnetic coupling coil is disposed on the first gear, which has a slot from the tooth valley to the center point. The slot is used to embed the shield guide wire into the center point of the first gear. The second gear and multiple third gears are evenly surrounding the first gear and disposed on the outside of the first gear. The multiple third gears are used to position the first gear, and the second gear is used to drive the first gear to rotate. The shield guide wire wheel box also includes a box body, the wheel assembly is disposed inside the box body, the box body includes a front cover, a rear cover and multiple sets of second magnetic coupling coil groups, the multiple sets of second magnetic coupling coil groups are disposed on the front cover or the rear cover, the second magnetic coupling coil groups are coupled to the first magnetic coupling coil, and the second magnetic coupling coil group includes a second magnetic coupling coil. When the second gear drive shaft drives the second gear to rotate, the second gear drives the first gear to rotate. If the first magnetic coupling coil and the second magnetic coupling coil have the same magnetism, the first magnetic coupling coil and the second magnetic coupling coil repel each other. If the first magnetic coupling coil and the second magnetic coupling coil have opposite magnetism, the first magnetic coupling coil and the second magnetic coupling coil attract each other. Under the action of the coupling force of the first magnetic coupling coil and the second magnetic coupling coil, the first gear performs pulse reciprocating motion in the housing.

2. The shield tunneling device of the vascular intervention robot according to claim 1, characterized in that, The distance from the first magnetic coupling coil to the center point of the first gear is the same as the distance from each second magnetic coupling coil to the center point of each second magnetic coupling coil group.

3. The shield tunneling device of the vascular intervention robot according to claim 1, characterized in that, The housing also includes a slider and a lead screw. The lead screw passes through the front cover and the rear cover. The slider is disposed on the lead screw and is connected to the front cover or the rear cover. The slider is used to drive the housing and the first gear to move linearly along the direction of the lead screw.

4. The shield tunneling device of the vascular intervention robot according to claim 1, characterized in that, The shield guide wire wheel box also includes a first magnetic coupler and a guide wire clamp. The first magnetic coupler is disposed in the guide wire clamp, and the tail end of the shield guide wire passes through the guide wire clamp and is fixed to the guide wire clamp. The shield guide wire wheel box also includes a support platform and a second magnetic coupler. The support platform is connected to the first gear, the second magnetic coupler is located below the support platform, and the guide wire clamp is located above the support platform. The support platform is used to support the guide wire clamp, and the first magnetic coupler and the second magnetic coupler are coupled to each other.

5. The shield tunneling device of the vascular intervention robot according to claim 1, characterized in that, The shield tunnel guide wheel assembly includes a drive wheel, a driven wheel, a drive device, silicone rings, and an elastic component. The silicone rings are respectively disposed on the drive wheel and the driven wheel. The drive device is connected to the drive wheel and is used to drive the drive wheel to rotate. The driven wheel is connected to the elastic component and is used to drive the driven wheel to connect or separate from the drive wheel. The shield tunnel guide is clamped between the drive wheel and the driven wheel.

6. The shield tunneling device of the vascular intervention robot according to claim 5, characterized in that, The shield tunneling duct includes a balloon cavity and a shield guide wire cavity. The balloon cavity is located outside the shield guide wire cavity. The shield guide wire cavity is used to guide the direction of the shield guide wire. The balloon cavity is used to inject liquid to fix the shield guide wire at the central axis position of the shield tunneling duct.

7. The shield tunneling device of the vascular intervention robot according to claim 5, characterized in that, The shield tunneling catheter includes an inner tube, an outer tube, and a stent assembly. The inner tube is slidably disposed inside the outer tube, and the stent assembly is disposed between the inner tube and the outer tube. The inner tube is used to guide the shield guidewire, and the stent assembly is used to support the blood vessel wall when opened, so as to keep the inner tube at the central axis of the blood vessel. The support assembly includes a support base, a support, and a sliding component. The support base is connected to the inner tube, one end of the support is connected to the support base, and the other end of the support is connected to the sliding component. The sliding component is slidably disposed on the outer wall of the outer tube. The bracket includes a support rod and a support beam. One end of the support beam is connected to the bracket base, and the other end of the support beam is connected to one end of the support rod. The other end of the support rod is connected to the sliding component. The support beam is used to support the support rod, and the support rod is used to spread the bracket.

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