Hand-held catheter pushing robot

Abstract

The invention discloses a hand-held catheter pushing robot. The hand-held catheter pushing robot comprises a catheter pushing device and a disposable sterile part, the catheter pushing device comprises a hand supporting part, a position adjusting part, a first pushing part and a first clamping part, the hand supporting part is used for supporting the arm of a patient, and the position adjusting part is used for driving the first pushing part, the first clamping part and the disposable sterile part to move in the front-back direction; the first pushing part and the first clamping part are respectively used for providing power for pushing a catheter and clamping the catheter for the disposable sterile part; the disposable sterile part comprises a sterile box and a sterile clamp which are arranged in a split mode, a second pushing component and a second clamping component are arranged in the sterile box, the sterile box is detachably installed on the moving part of the position adjusting component, after installation, the second pushing component is in transmission connection with the first pushing component, the second clamping component is in transmission connection with the first clamping component, and the sterile clamp is detachably installed on the moving part of the position adjusting component. The second pushing component is used for pushing a catheter, the second clamping component is used for clamping the catheter, and the sterile clamp is detachably installed on the moving part of the position adjusting component and used for clamping a catheter sheath. The device has the characteristics of small size, light weight, flexibility in placement, simplicity and convenience in assembly, disassembly and combination, accuracy in positioning, capability of meeting disinfection requirements and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a hand-held catheter pushing robot. BACKGROUND

[0002] Cardiovascular and cerebrovascular diseases are one of the main causes of human disease death, which seriously affects personal health and normal life. Cardiovascular and cerebrovascular minimally invasive interventional therapy is a main treatment for cardiovascular and cerebrovascular diseases. Compared with traditional surgery, it has obvious advantages such as small incision and short postoperative recovery time. Cardiovascular and cerebrovascular interventional surgery is a process of sending catheters, guide wires and stents and other instruments into the patient's body by the doctor manually to complete the treatment.

[0003] The interventional surgery has the following problems: firstly, during the operation, the doctor's physical decline is fast due to the X-ray emitted by the DSA, and the attention and stability will also decrease, which will lead to the decrease of operation precision, and accidents such as endovascular injury and blood vessel perforation caused by improper pushing force, which will endanger the patient's life; secondly, the accumulation of long-term ionizing radiation will greatly increase the probability of the doctor suffering from leukemia, cancer and acute cataract. The phenomenon that the doctor continuously accumulates radiation due to doing interventional surgery has become a problem that cannot be ignored, which damages the professional life of the doctor and restricts the development of interventional surgery.

[0004] By means of robot technology, the above problems can be effectively solved, and the operation precision and stability can be greatly improved, and the harm of radiation to the interventional doctor can be effectively reduced, and the probability of intraoperative accidents can be reduced.

[0005] The current interventional surgery robot has the following problems in the clinical catheter pushing process: 1. The mechanical arm is large, which is not convenient for positioning during the operation and has low efficiency; 2. The mechanical arm is far away from the arm, the catheter pushing resistance is large, the mechanical arm is easy to shake, and it is difficult to accurately position; 3. The catheter needs to be replaced many times during the interventional surgery, the existing interventional robot has large volume and occupies more space of the catheter bed, so that the doctor is difficult to operate bedside; 4. The weight of the slave device of the existing interventional robot is large, which is time-consuming and laborious during installation and removal; 5. The disinfection of the robot is more complicated, which does not meet the actual operation requirements. SUMMARY

[0006] Therefore, the present application provides a hand-held catheter pushing robot to solve one or more of the above technical problems.

[0007] In order to achieve the above purpose, the present application provides the following technical scheme:

[0008] A hand-held catheter pushing robot, comprising a catheter pushing device and a disposable sterile part.

[0009] The catheter pushing device comprises a hand supporting part, a position adjusting part, a first pushing part and a first clamping part; the hand supporting part is used for supporting the arm of a patient; the fixed part of the position adjusting part is connected with the hand supporting part, and the moving part of the position adjusting part is provided with the first pushing part and the first clamping part; the position adjusting part is used for driving the first pushing part, the first clamping part and the disposable sterile part to move in the front-back direction; the first pushing part and the first clamping part are respectively used for providing the disposable sterile part with the power of pushing the catheter and clamping the catheter.

[0010] The disposable sterile part comprises a sterile box and a sterile clamp which are separately arranged; the second pushing part and the second clamping part are arranged in the sterile box; the sterile box is detachably mounted on the moving part of the position adjusting part; after being mounted, the second pushing part is in transmission connection with the first pushing part, and the second clamping part is in transmission connection with the first clamping part; the second pushing part is used for pushing the catheter, and the second clamping part is used for clamping the catheter; the sterile clamp is detachably mounted on the moving part of the position adjusting part and is used for clamping the catheter sheath.

[0011] Further, the hand supporting part comprises a shell, the upper surface of the shell is provided with a semicircular hand supporting groove which is recessed downward, and the hand supporting groove is arranged in the front-back direction and penetrates through the front and back ends of the shell.

[0012] Further, the position adjusting part comprises a guide rail, a sliding block, a stand, a motor support, a screw rod motor, a first rotating shaft, a connecting plate and a button; the guide rail is mounted in the shell in the front-back direction; the sliding block is slidably mounted on the guide rail; the stand is mounted on the sliding block; the screw rod motor is mounted in the shell; the screw rod of the screw rod motor is arranged in the front-back direction and is screwed with the stand or the sliding block; the top of the shell is provided with a rectangular opening; the upper end of the stand extends out of the rectangular opening; one end of the connecting plate is rotatably mounted on the top of the stand through the first rotating shaft; the first rotating shaft is arranged in the left-right direction; the connecting plate is used for mounting the first pushing part and the first clamping part and detachably mounting the sterile box and the sterile clamp; the button is mounted on the top of the shell; the button is electrically connected with the screw rod motor to control the forward and reverse rotation of the screw rod motor.

[0013] Further, the sterile box comprises a bottom plate and a mounting support which is integrally arranged on the bottom plate; one end of the mounting support and one end of the connecting plate are respectively provided with magnets on the lower side and the upper side; the sterile box and the connecting plate are fixed by the magnetic attraction of the magnets.

[0014] Further, the clamping component comprises a movable frame and a spring, one end of the movable frame is provided with a sliding shaft extending in left-right direction, the mounting support is provided with a sliding hole through which the sliding shaft passes, the sliding shaft is slidably arranged in the sliding hole and the end of the sliding shaft extends out of the sterile box, the spring is arranged on the sliding shaft and is used for keeping the sliding shaft in the extended state; the sterile box further comprises a first friction wheel and a second friction wheel vertically arranged respectively, the first friction wheel is rotatably arranged on the movable frame, the second friction wheel is rotatably arranged on the bottom plate, and the second friction wheel is located on the side of the first friction wheel away from the sliding shaft; the first clamping component comprises a first servo motor and an eccentric wheel, the first servo motor is fixed to the lower side of the connecting plate, and the eccentric wheel is arranged on the motor shaft of the first servo motor, the eccentric wheel can act on the end of the sliding shaft to move the sliding shaft inward, thereby driving the first friction wheel arranged on the movable frame to move close to the second friction wheel to clamp the catheter.

[0015] Further, the sterile box further comprises an upper cover, the upper cover is hingedly arranged on the mounting support, the upper cover and the bottom plate are respectively provided with a semicircular hole, and the two semicircular holes can cooperate to form a catheter passing hole through which the catheter passes, and the axis of the catheter passing hole is located between the first friction wheel and the second friction wheel in the clamped state.

[0016] Further, the first pushing component comprises a second servo motor, a first gear and a first bevel gear, the second servo motor is fixed to the lower side of the connecting plate and located above the first servo motor, the first gear is arranged on the motor shaft of the second servo motor, and the first bevel gear is vertically arranged on the connecting plate; the second pushing component comprises a second bevel gear, a second gear, a fourth gear and a third gear, the second bevel gear is vertically arranged on the mounting support, the axis of the second gear extends in front-back direction, the gear shaft of the second gear is rotatably arranged on the mounting support, the axis of the fourth gear extends in front-back direction, the gear shaft of the fourth gear is movably arranged on the movable frame, and the third gear is vertically arranged on the movable frame.

[0017] Wherein, one end of the first gear and the first bevel gear is in vertical transmission, the other end of the first bevel gear and one end of the second bevel gear are in coaxial or parallel transmission, the other end of the second bevel gear and the second gear are in vertical transmission, one end of the gear shaft of the second gear and one end of the gear shaft of the fourth gear are in circumferential limiting sliding insertion, the fourth gear and the third gear are in vertical transmission, and the third gear and the first friction wheel are in transmission connection.

[0018] Further, the first friction wheel is mounted on a second rotating shaft, and the first friction wheel rotates synchronously with the second rotating shaft, the second rotating shaft is rotatably mounted on the movable frame; the second friction wheel is mounted on a third rotating shaft, and the second friction wheel rotates synchronously with the third rotating shaft, the third rotating shaft is rotatably mounted on the bottom plate; the gear shaft of the third gear is fixedly connected with the shaft end of the second rotating shaft; the second rotating shaft and the third rotating shaft are respectively provided with a synchronous gear, when the first friction wheel and the second friction wheel are in the clamping state, the two synchronous gears are engaged to make the first friction wheel and the second friction wheel in opposite rotating states.

[0019] Further, the upper and lower sides of the movable frame are respectively provided with guide protrusions, the bottom plate and the mounting bracket are respectively provided with guide grooves corresponding to the positions of the guide protrusions, the guide grooves are arranged along the left and right directions, and the guide protrusions are slidingly arranged in the guide grooves.

[0020] Further, the side of the sterile clamp is provided with a transversely protruding insertion slot, one side of the connecting plate is provided with an insertion strip for being inserted with the insertion slot, the insertion strip and the insertion slot form a sliding insertion structure and have circumferential limiting, the bottom of the insertion slot and the head end of the insertion strip are respectively provided with magnets, and the sterile clamp and the connecting plate are fixed by magnetism.

[0021] The present application has the following advantages:

[0022] 1. The hand support type design is adopted, the hand support part supports the patient's arm, part of the robot is located below the patient's arm, the distance from the robot to the puncture part on the patient's arm can be shortened, the position can be flexibly adjusted, the robot is convenient to position, and the operation efficiency is improved.

[0023] 2. When in use, the robot is placed on the catheter bed, the patient's arm can press the robot, the catheter sheath and the robot are connected by the sterile clamp, so that the robot and the catheter and the arm do not move relatively during the pushing process, and the stability of the catheter pushing is ensured.

[0024] 3. The overall structure is simple and stable, the modular structure design is adopted, the disassembly and assembly are simple, the structure is compact, and the robot is very suitable for the operation environment; the reasonable layout makes the end device have a smaller volume, basically does not occupy the space above the catheter bed, and facilitates the doctor to replace the catheter and other operation operations.

[0025] 4. The robot is small in size and light in weight, can be flexibly placed on the catheter bed, saves time and labor during installation and removal, and is convenient for postoperative storage in the catheter room.

[0026] 5. The disposable sterile part is used, and a new sterile box is replaced for each operation, which effectively solves the problem of difficult disinfection of the surgical robot.

[0027] 6. The first clamping part drives the second clamping part, so that the first friction wheel and the second friction wheel can be clamped or loosened, and the upper cover can be opened and closed, facilitating replacement of the catheter.

[0028] 7. After the first friction wheel and the second friction wheel clamp the catheter, under the action of the first pushing part and the second pushing part, the catheter can be pushed and withdrawn by rotating the friction wheel.

[0029] 8. The sterile box and the sterile clamp are connected with the position adjusting part in a magnetic attraction fixing mode, facilitating installation and disassembly.

[0030] 9. The eccentric wheel pushes the sliding shaft, so that the movable frame moves towards the second friction wheel, thereby reducing the distance between the first friction wheel and the second friction wheel, and finally clamping the catheter; after the eccentric wheel reverses by a certain angle, the movable frame is reset under the action of the spring, and the two groups of friction wheels are far away from each other, thereby loosening the catheter.

[0031] 10. The gear shaft of the second gear and the gear shaft of the fourth gear adopt a sliding plug-in mode to transmit torque, so as to ensure that the power of the first pushing part is transmitted to the first friction wheel through the second pushing part.

[0032] 11. The first pushing part and the first clamping part both contain a motor, which has a high cost, while the second pushing part and the second clamping part do not contain such a high-cost device; by setting the second pushing part and the second clamping part in the disposable sterile box, the manufacturing and use cost of the sterile box is reduced.

[0033] 12. After the two groups of friction wheels are clamped, the first friction wheel drives the second friction wheel through the synchronous gear, so that the catheter can be pushed and withdrawn more smoothly.

[0034] 13. The doctor can control the robot to push the catheter into the designated position in the patient's body through the control device outside the operating room, avoiding the risk of X-ray injury to the doctor.

[0035] The above summary is only for the purpose of the description and is not intended to limit in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features will be readily apparent to those skilled in the art by reference to the drawings and the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only exemplary, and for those skilled in the art, other drawings can also be obtained from the provided drawings without creative labor.

[0037] The structures, proportions, sizes, etc. shown in the specification are only used to cooperate with the content disclosed in the specification, to be understood and read by those skilled in the art, and do not have technical significance, and any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effect and purpose that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0038] Figure 1 A structural schematic diagram of a hand-held catheter pushing robot provided by an embodiment of the present application;

[0039] Figure 2 A structural schematic diagram of another view of a hand-held catheter pushing robot provided by an embodiment of the present application;

[0040] Figure 3 A structural schematic diagram of a catheter pushing device of a hand-held catheter pushing robot provided by an embodiment of the present application;

[0041] Figure 4 A structural schematic diagram of a catheter pushing device of a hand-held catheter pushing robot provided by an embodiment of the present application, after removing the hand-held component;

[0042] Figure 5 An exploded view of a catheter pushing device of a hand-held catheter pushing robot provided by an embodiment of the present application;

[0043] Figure 6 A structural schematic diagram of a sterile box of a disposable sterile part of a hand-held catheter pushing robot provided by an embodiment of the present application;

[0044] Figure 7 A structural schematic diagram of a sterile box of a disposable sterile part of a hand-held catheter pushing robot provided by an embodiment of the present application, after removing the upper cover;

[0045] Figure 8 A structural schematic diagram of a sterile box of a disposable sterile part of a hand-held catheter pushing robot provided by an embodiment of the present application, after removing the upper cover and from another view;

[0046] Figure 9An exploded view of a sterile box of a disposable sterile part of a hand-held catheter pushing robot provided by an embodiment of the present application;

[0047] Figure 10 A structural schematic view of a sterile clamp of a disposable sterile part of a hand-held catheter pushing robot provided by an embodiment of the present application;

[0048] Figure 11 A schematic view of a hand-held catheter pushing robot placed on a catheter bed provided by an embodiment of the present application.

[0049] In the figure: 101, catheter; 102, catheter sheath; 21, hand-held part; 22, position adjusting part; 23, first pushing part; 24, first clamping part; 201, first rotating shaft; 202, first servo motor; 203, second servo motor; 204, first gear; 205, connecting plate; 206, eccentric wheel; 207, first bearing; 208, first helical gear; 209, motor support; 210, screw motor; 211, first button; 212, second button; 213, housing; 214, first connecting piece; 215, guide rail; 216, sliding block; 217, stand; 218, hand-held slot; 219, rectangular port; 220, side protruding plate; 221, rectangular magnet; 222, insertion strip; 31, sterile box; 32, sterile clamp; 33, second pushing part; 34, second clamping part; 301, upper cover; 302, second gear; 303, second helical gear; 304, second bearing; 305, bottom plate; 306, movable frame; 307, spring; 308, third bearing; 309, second rotating shaft; 310, first friction wheel; 311, fourth bearing; 312, third rotating shaft; 313, fifth bearing; 314, second friction wheel; 315, third gear; 316, sixth bearing; 317, seventh bearing; 318, fourth gear; 319, eighth bearing; 320, second connecting piece; 321, vertical rectangular frame; 322, horizontal rectangular frame; 323, guide protrusion; 324, guide groove; 325, insertion slot; 326, catheter passing hole; 327, sliding shaft; 328, blocking piece; 329, synchronous gear. DETAILED DESCRIPTION

[0050] The present application is described and explained with additional specificity and detail through the use of the accompanying drawings in which:

[0051] As Figures 1-11As shown, the present embodiment provides a hand-held catheter pushing robot, which mainly consists of a catheter pushing device and a disposable sterile part. The overall structure adopts a compact design, so that the interventional surgery robot can occupy a smaller volume. The use method is as follows: before the surgery starts, the robot is placed at a suitable position on the catheter bed; after the patient lies on the catheter bed, the arm is placed on the hand support part 21 of the catheter pushing robot. After the patient's arm is punctured, the sterile box 31 and the sterile clamp 32 are installed on the robot, and after the catheter is inserted into the catheter sheath, the robot is adjusted to a suitable position, the sterile box 31 is opened, the catheter is placed in the catheter passing hole 326 (herein, a semicircular hole on the bottom plate) of the sterile box 31, and the upper cover is closed. The sterile clamp 32 is used to hold the tail end of the catheter sheath, and after the installation is completed, the operation is performed outside the operating room, the two groups of friction wheels clamp the catheter, and then the pushing is performed.

[0052] The catheter pushing device is used to complete the forward pushing and backward retracting actions of the catheter in the interventional surgery. It mainly includes a hand support part 21, a position adjusting part 22, a first pushing part 23, and a first clamping part 24. The hand support part 21 is placed on the catheter bed to support the patient's arm. The position adjusting part 22 can be moved forward and backward by using the buttons. The disposable sterile part includes a sterile box 31 and a sterile clamp 32, and the sterile box 31 is further provided with a second pushing part 33 and a second clamping part 34. The pushing part is used to drive the rotation of the two groups of friction wheels to drive the catheter to move forward or backward. The clamping part is used to realize the opening and clamping actions of the two groups of friction wheels.

[0053] The disposable sterile part is processed by using medical plastic materials, can be magnetically connected with the catheter pushing robot, and has been subjected to ethylene oxide sterilization treatment to ensure the sterile environment in the surgery. A new sterile part is used for each surgery, so that the disinfection of the catheter pushing robot can be avoided. The sterile part includes the sterile box 31 and the sterile clamp 32. The sterile clamp 32 is used to fix the catheter pushing robot and the catheter sheath. The sterile box 31 is used to connect the catheter pushing robot and the catheter.

[0054] Specifically, as shown in Figure 1 、 2 , 11, before the surgery starts, the hand-held catheter pushing robot provided in the present embodiment can be placed at a suitable position on the catheter bed, and after the patient lies on the bed, the arm is placed in the hand support groove 218 of the device. Because the volume is small, it only occupies a small space on the catheter bed, and does not affect the other operation actions of the doctor during the surgery. Among them, the sterile clamp 32 is used to clamp the catheter sheath 102, and the sterile box 31 is used to push the catheter 101.

[0055] As shown in Figures 3-5As shown, in the catheter pushing device, the shell 213 is designed with a semicircular large groove, i.e. a hand holding groove 218, which is used to support the patient's arm. The top of the shell 213 is provided with a rectangular port 219, which is arranged along the front and back direction and located at one side of the hand holding groove 218. Through the rectangular port 219, the fixed part of the position adjusting component 22 installed inside the shell 213 can be connected with the moving part of the position adjusting component 22 located outside the shell 213, so as to fully utilize the internal space of the shell 213 and reduce the overall volume of the robot. The shell 213 is internally provided with a motor support 209, a lead screw motor 210, a first connecting piece 214, a guide rail 215 and a sliding block 216. The motor support 209 and the first connecting piece 214 are fixed to the inner wall of the shell 213, the guide rail 215 is fixed to the first connecting piece 214, the sliding block 216 is installed on the guide rail 215, and the lead screw motor 210 is installed on the motor support 209. The rectangular port 219 is provided with a stand 217, the lower end or lower part of the stand 217 is fixed with the sliding block 216, and the upper part of the stand 217 extends out of the rectangular port 219 and is located outside the shell 213. The stand 217 serves as the connecting part of the fixed part and the moving part of the position adjusting component 22. The bottom of the stand 217 is provided with a side protruding plate 220, and the lead screw of the lead screw motor 210 is matched (screwed or screwed) with the threaded hole on the side protruding plate 220 of the stand 217. Optionally, the sliding block 216 is provided with a threaded hole, and the lead screw of the lead screw motor 210 is matched with the threaded hole of the sliding block 216. The top of the shell 213 is also provided with a first button 211 and a second button 212, and the two buttons are respectively electrically connected with the lead screw motor 210. The two buttons are interlocked, and only one of them can be pressed at the same time. The forward and reverse rotation of the lead screw motor 210 is controlled through the first button 211 and the second button 212, so as to adjust the position of the stand 217 on the guide rail 215, i.e. to adjust the front and back position, so as to accurately position the puncture point of the hand, so as to install the robot. The stand 217 is provided with two spaced apart lugs above, each of the two lugs is provided with a through hole, one end of a connecting plate 205 is also provided with a through hole, and a first rotating shaft 201 is arranged in the three through holes. The connecting plate 205 can rotate along the first rotating shaft 201. The first rotating shaft 210 is tightly connected with the connecting plate 205 and / or the stand 217, has rotation damping, can make the connecting plate 205 rotate under stress and lock in the position when the external force is cancelled. The connecting plate 205 is provided with a magnet (uses a rectangular magnet 221 or a magnetic sheet to increase the adsorption area), which is used to be adsorbed and connected with the sterile box 31.The first bearing 207 is installed in a round hole on one side of the connecting plate 205, the first bevel gear 208 is matched with the first bearing 207, and the lower end of the first bevel gear 208 is vertically meshed with the first gear 204. The upper end of the first bevel gear 208 is an umbrella-shaped gear, which is used in cooperation with the inner part of the sterile box 31. The side of the connecting plate 205 has a plug 222, which is used in cooperation with the slot 325 of the sterile clamp 32; the plug 222 and the slot 325 are rectangular structures, which are used to prevent the sterile clamp 32 from rotating around the plug 222; the slot 325 and the plug 222 are provided with magnets, which are magnetically attracted and fixed. Under the rotation of the second servo motor 203, the clockwise and counterclockwise rotation of the first bevel gear 208 can be driven, so as to drive the rotation of the friction wheel in the sterile box 31, and the forward and backward pushing actions of the catheter are realized. Under the rotation of the first servo motor 202, the eccentric wheel 206 can be driven to rotate, so as to realize the clamping and loosening actions of the friction wheel on the catheter.

[0056] As Figures 6-10As shown, the sterile part includes a sterile clamp 32 and a sterile box 31. After sterilization, the sterile part can ensure the sterile environment of the operation. The sterile clamp 32 is a clamp, one end of the clamp is provided with a slot 325, a magnet is arranged in the slot 325, and the magnet can be matched and adsorbed with the insertion strip 222 on the side of the connecting plate 205. A torsional spring is arranged in the clamp, and in the normal state, the clamp is in a closed loop state. The doctor can manually pinch the handle of the clamp to open the clamp, and the lower part of the clamp holds the external part of the catheter sheath, so that the catheter pushing robot and the catheter sheath are connected as a whole, and the catheter pushing robot provides support force for the catheter during pushing. The sterile box 31 can be connected with the catheter pushing device. A magnet is arranged on the bottom plate 305 for adsorbed connection with the magnet on the connecting plate 205; exemplarily, a fixed support is formed in an integral structure on the bottom plate 305, the fixed support includes a vertical rectangular frame 321 and a horizontal rectangular frame 322, the vertical rectangular frame 321 is located on the upper side of one end of the bottom plate 305, the horizontal rectangular frame 322 is located on the top of the vertical rectangular frame 321, one end of the horizontal rectangular frame 322 is flush with the vertical rectangular frame 321, and the other end extends away from the bottom plate 305, and the magnet is fixed on the lower side of the horizontal rectangular frame 322. The top of the horizontal rectangular frame 322 is provided with two lugs, each of which is provided with a through hole, and the upper cover 301 can rotate about the through hole to open and close the upper cover 301; the upper cover is made of transparent material, and the doctor can see the running condition in the machine through the upper cover. The movable frame 306 is placed on the bottom surface of the bottom plate 305, the movable frame 306 is provided with a guide lug 323 on the upper side and the lower side, a square guide groove 324 is arranged on the bottom surface of the bottom plate 305, a lug plate is arranged on the side of the fixed support, and a square guide groove 324 is also arranged on the lower side of the lug plate, the two guide lugs 323 are respectively in sliding fit with the two guide grooves 324, so that the movable frame 306 can slide in the left-right direction. The side of the movable frame 306 facing the vertical rectangular frame 321 is provided with a sliding shaft 327, the vertical rectangular frame 321 is provided with two sliding holes, the sliding shaft 327 is arranged in the sliding holes, the spring 307 is arranged on the shaft section of the sliding shaft 327 in the vertical rectangular frame 321, the sliding shaft 327 is provided with a baffle 328, and the baffle 328 is in the vertical rectangular frame 321, one end of the spring 307 is blocked by the baffle 328, and the other end acts on the side wall plate of the vertical rectangular frame 321 close to the movable frame, so that under the action of the spring 307, the movable frame 306 moves towards the side close to the vertical rectangular frame 321, and the baffle 328 abuts against the other side wall plate of the vertical rectangular frame 321.The end of the sliding shaft 327 away from the movable frame 306 extends outside the vertical rectangular frame 321 (i.e. outside the sterile box 31) and can cooperate with the eccentric wheel 206. By adjusting the rotation angle of the eccentric wheel, the movable frame 306 can be pushed to move different distances away from the side of the vertical rectangular frame 321. By adjusting the rotation angle of the first servo motor 202, the clamping force of the two groups of friction wheels can be controlled. The second bearing 304 is installed on the bottom wall plate of the horizontal rectangular frame 322. The second bevel gear 303 cooperates with the second bearing 304. The second bevel gear 303 is below the umbrella-shaped gear, which can mesh with the first bevel gear 208. The seventh bearing 317 is installed on the side wall plate of the horizontal rectangular frame 322 facing the movable frame 306. The second gear 302 cooperates with the seventh bearing 317. The second gear 302 meshes with the second bevel gear 303. The side of the second gear 302 facing the movable frame 306 is a gear shaft with an internal hexagonal groove. The side of the fourth gear 318 facing the second gear 302 is a hexagonal gear shaft. The gear shaft of the second gear 302 and the gear shaft of the fourth gear 318 can be slidably inserted. The eighth bearing 319 is installed in the circular hole of the upper vertical plate of the movable frame 306. The fourth gear 318 cooperates with the eighth bearing 319. The fourth gear 318 meshes with the third gear 315. The fifth bearing 313 is installed in the circular hole of the upper horizontal plate of the movable frame 306. The third gear 315 cooperates with the fifth bearing 313. The lower end of the gear shaft of the third gear 315 is fixedly connected with the second rotating shaft 309. The first friction wheel 310 is installed on the second rotating shaft 309 and rotates synchronously. The third bearing 308 is installed in the circular hole of the lower horizontal plate of the movable frame 306. The lower end of the second rotating shaft 309 cooperates with the third bearing 308. In this way, the first friction wheel 310 can be rotated under the drive of the second servo motor 203. The fourth bearing 311 is installed on the upper part of the bottom plate 305. The lower end of the third rotating shaft 312 cooperates with the fourth bearing 311. The second friction wheel 314 is installed on the third rotating shaft 312 and rotates synchronously. One end of the second connecting piece 320 is installed on the side of the bottom plate 305. The upper horizontal plate thereof is provided with a circular hole. The sixth bearing 316 is installed in the circular hole above the second connecting piece 320. The upper end of the third rotating shaft 312 cooperates with the sixth bearing 316. The bottom parts of the second rotating shaft 309 and the third rotating shaft 312 are respectively provided with a synchronous gear 329. The parameters of the two synchronous gears 329 are the same. After the first friction wheel 310 and the second friction wheel 314 are closed, the two synchronous gears 329 mesh with each other. In this way, when the second servo motor 203 rotates, the first friction wheel 310 and the second friction wheel 314 can be rotated in opposite directions through the transmission of various gears, thereby achieving the effect of pushing the catheter forward or backward.

[0057] The hand-held catheter pushing robot of the embodiment is used in interventional surgery to realize forward pushing and backward withdrawing of the catheter. The doctor can control the robot to push the catheter into the designated position in the patient's body through the control device (remote control or line control, at least the second servo motor for providing power for pushing and backward withdrawing) outside the operating room, avoiding the risk of X-ray injury to the doctor. The hand-held structure occupies small space on the operating table, is convenient for the doctor to operate, and can achieve the same effect as the actual interventional surgery operation of the doctor.

[0058] The hand-held catheter pushing robot of the embodiment is used in interventional surgery to realize forward pushing and backward withdrawing of the catheter. The doctor can control the robot to push the catheter into the designated position in the patient's body through the control device (remote control or line control, at least the second servo motor for providing power for pushing and backward withdrawing) outside the operating room, avoiding the risk of X-ray injury to the doctor. The hand-held structure occupies small space on the operating table, is convenient for the doctor to operate, and can achieve the same effect as the actual interventional surgery operation of the doctor.

[0059] The hand-held catheter pushing robot of the embodiment has at least the following advantages:

[0060] 1. The hand-held design makes the robot placed under the patient's arm, which is very close to the puncture site on the patient's arm, and the device can be flexibly adjusted in position, so that the robot is convenient to position, improving the operation efficiency.

[0061] 2. The robot is placed on the catheter bed, and the patient's arm can press the robot, and the catheter sheath and the robot are connected as a whole through the sterile clamp, so that the robot, the catheter and the arm do not move relatively during pushing, thereby ensuring the stability of the catheter pushing.

[0062] 3. The overall structure is simple and stable, and the modular structure design is simple to disassemble and assemble, compact, and very suitable for the operating environment. The reasonable layout makes the end device have a smaller volume, which basically does not occupy the space above the catheter bed, facilitating the doctor to replace the catheter and other surgical operations.

[0063] 4. The robot is small and light in weight, can be flexibly placed on the catheter bed, saves time and effort during installation and removal, and is convenient for storage in the catheter room after the operation.

[0064] 5. The disposable sterile device is used, and a new sterile box is replaced for each operation, effectively solving the problem of sterilization difficulty of the surgical robot.

[0065] Although the present application has been fully described in the foregoing description with a certain degree of particularity, it is to be understood that modifications and improvements thereof will occur to those skilled in the art. Accordingly, it is intended that the scope of the present application be defined by the appended claims rather than the description of the foregoing examples.

Claims

1. A hand-held catheter delivery robot, characterized in that, Includes catheter delivery devices and disposable sterile components; The catheter pushing device includes a hand support component (21), a position adjustment component (22), a first pushing component (23), and a first clamping component (24); the hand support component (21) is used to support the patient's arm; the fixed part of the position adjustment component (22) is connected to the hand support component (21), and the moving part of the position adjustment component (22) is equipped with the first pushing component (23) and the first clamping component (24); the position adjustment component (22) is used to drive the first pushing component (23), the first clamping component (24), and the sterile component to move in the front-back direction; the first pushing component (23) and the first clamping component (24) are respectively used to provide the sterile component with the power to push the catheter (101) and clamp the catheter (101); The sterile component includes a separate sterile box (31) and a sterile clamp (32). The sterile box (31) is provided with a second pushing component (33) and a second clamping component (34). The sterile box (31) is detachably installed on the moving part of the position adjustment component (22). After installation, the second pushing component (33) is drivenly connected to the first pushing component (23), and the second clamping component (34) is drivenly connected to the first clamping component (24). The second pushing component is used to push the catheter (101), and the second clamping component is used to clamp the catheter (101). The sterile clamp (32) is detachably installed on the moving part of the position adjustment component and is used to clamp the catheter sheath (102).

2. The hand-held catheter pushing robot according to claim 1, characterized in that, The hand support component (21) includes a housing (213), and the upper surface of the housing (213) is provided with a semi-circular hand support groove (218) formed by a downward indentation. The hand support groove (218) is arranged in the front-back direction and passes through the front and rear ends of the housing (213).

3. The hand-held catheter pushing robot according to claim 2, characterized in that, The position adjustment component (22) includes a guide rail (215), a slider (216), a column (217), a motor bracket (209), a lead screw motor (210), a first rotating shaft (201), a connecting plate (205), and a button; the guide rail (215) is installed in the housing (213) along the front-back direction, the slider (216) is slidably installed on the guide rail (215), the column (217) is installed on the slider (216), the lead screw motor (210) is installed in the housing (213), the lead screw of the lead screw motor (210) is arranged along the front-back direction and screwed onto the column (217) or the slider (216), the housing (215) is installed in the housing (213), the lead screw of the lead screw motor (210) is arranged along the front-back direction and screwed onto the column (217) or the slider (216), the housing (215) is installed in the housing (209), the first rotating shaft (201), the first rotating shaft (201), the connecting plate (205), and the button; the guide rail (215) is installed in the housing (213), the first rotating shaft (216) is installed in the housing (209), the first rotating shaft (201 ... A rectangular opening (219) is provided at the top of the 13), and the upper end of the column (217) extends out of the rectangular opening (219). One end of the connecting plate (205) is rotatably mounted on the top of the column (217) via the first rotating shaft (201). The first rotating shaft (201) is arranged in the left-right direction. The connecting plate (205) is used to install the first pushing component (23) and the first clamping component (24), and to detachably install the sterile box (31) and the sterile clamp (32). The button is installed on the top of the outer shell (213), and the button is electrically connected to the lead screw motor (210) to control the forward and reverse rotation of the lead screw motor (210).

4. The hand-held catheter pushing robot according to claim 3, characterized in that, The sterile box (31) includes a base plate (305) and an integral mounting bracket on the base plate (305). Magnets are respectively provided on the lower side of one end of the mounting bracket and the upper side of one end of the connecting plate (205). The sterile box (31) and the connecting plate (205) are magnetically attracted to each other by the magnets.

5. The hand-held catheter pushing robot according to claim 4, characterized in that, The clamping component includes a movable frame (306) and a spring (307). One end of the movable frame (306) is provided with a sliding shaft (327) extending in the left-right direction. The mounting bracket is provided with a sliding hole for the sliding shaft (327) to pass through. The sliding shaft (327) slides through the sliding hole and its end extends out of the sterile box (31). The spring (307) passes through the sliding shaft (327) and is used to keep the sliding shaft (327) in an outwardly extended rotational state. The sterile box (31) also includes a first friction wheel (310) and a second friction wheel (314) respectively arranged vertically. The first friction wheel (310) is rotatably mounted on the movable frame (306). Two friction wheels (314) are rotatably mounted on the base plate (305). The second friction wheel (314) is located on the side of the first friction wheel (310) away from the sliding shaft (327). The first clamping component (24) includes a first servo motor (202) and an eccentric wheel (206). The first servo motor (202) is fixed to the lower side of the connecting plate (205). The eccentric wheel (206) is mounted on the motor shaft of the first servo motor (202). The eccentric wheel (206) can interact with the end of the sliding shaft (327) to move the sliding shaft (327) inward, thereby driving the first friction wheel (310) mounted on the movable frame (306) to approach the second friction wheel (314) to clamp the guide tube (101).

6. The hand-held catheter pushing robot according to claim 5, characterized in that, The sterile box (31) also includes a top cover (301), which is detachably mounted on the mounting bracket. The top cover (301) and the bottom plate (305) are respectively provided with semi-circular holes. The two semi-circular holes can cooperate to form a catheter passage hole (326) for the catheter (101) to pass through. The axis of the catheter passage hole (326) is located between the first friction wheel (310) and the second friction wheel (314) in the clamped state.

7. The hand-held catheter pushing robot according to claim 5, characterized in that, The first pushing component (23) includes a second servo motor (203), a first gear (204), and a first helical gear (208). The second servo motor (203) is fixed to the lower side of the connecting plate (205) and located above the first servo motor (202). The first gear (204) is mounted on the motor shaft of the second servo motor (203), and the first helical gear (208) is vertically mounted on the connecting plate (205). The second pushing component (33) includes a second helical gear (303), a first gear (204), and a first helical gear (208). The system comprises a second gear (302), a fourth gear (318), and a third gear (315). The second helical gear (303) is vertically mounted on the mounting bracket. The axis of the second gear (302) is arranged in the front-rear direction, and the gear shaft of the second gear (302) is rotatably mounted on the mounting bracket. The axis of the fourth gear (318) is arranged in the front-rear direction, and the gear shaft of the fourth gear (318) is movably mounted on the movable frame (306). The third gear (315) is vertically mounted on the movable frame (306). In this configuration, one end of the first gear (204) and the first helical gear (208) meshes and drives in a vertical transmission manner, the other end of the first helical gear (208) and one end of the second helical gear (303) mesh and drive in a coaxial or parallel transmission manner, the other end of the second helical gear (303) meshes and drives the second gear (302) in a vertical transmission manner, one end of the gear shaft of the second gear (302) and one end of the gear shaft of the fourth gear (318) are slidably inserted in a circumferential limiting manner, the fourth gear (318) meshes and drives the third gear (315) in a vertical transmission manner, and the third gear (315) is connected to the first friction wheel (310) in a transmission connection.

8. The hand-held catheter pushing robot according to claim 7, characterized in that, The first friction wheel (310) is mounted on the second rotating shaft (309), and the first friction wheel (310) rotates synchronously with the second rotating shaft (309). The second rotating shaft (309) is rotatably mounted on the movable frame (306). The second friction wheel (314) is mounted on the third rotating shaft (312), and the second friction wheel (314) rotates synchronously with the third rotating shaft (312). The third rotating shaft (312) is rotatably mounted on the base plate (305). The gear shaft of the third gear (315) is fixedly connected to the shaft end of the second rotating shaft (309). A synchronous gear (329) is respectively provided on the second rotating shaft (309) and the third rotating shaft (312). When the first friction wheel (310) and the second friction wheel (314) are clamped, the two synchronous gears (329) mesh to make the first friction wheel (310) and the second friction wheel (314) rotate in opposite directions.

9. The hand-held catheter pushing robot according to claim 5, characterized in that, The movable frame (306) is provided with guide protrusions (323) on its upper and lower sides respectively. The base plate (305) and the mounting bracket are provided with guide grooves (324) corresponding to the positions of the guide protrusions (323). The guide grooves (324) are arranged in the left and right direction, and the guide protrusions (323) are slidably disposed in the guide grooves (324).

10. The hand-held catheter pushing robot according to claim 3, characterized in that, The sterile clip (32) has a horizontally protruding slot (325) on its side. The connecting plate (205) has a strip (222) on one side for inserting into the slot (325). The strip (222) and the slot (325) form a sliding insertion structure and have circumferential limiting. The bottom of the slot (325) and the head of the strip (222) are respectively provided with magnets. The sterile clip (32) and the connecting plate (205) are fixed by magnetic attraction.

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