A robotic system for multi-pathway vascular interventional surgery

Abstract

This invention provides a multi-pathway vascular interventional surgical robot system, including an operating table, an operating table surface, a multi-pathway system, and a surgical robot. The operating table surface is movably mounted on the operating table via a support frame and can switch between horizontal and vertical states. The multi-pathway system includes a quick-release module and a sliding assembly. The sliding assembly includes a quick-release Y-valve locking mechanism. The surgical robot cooperates with the quick-release Y-valve locking mechanism to drive the catheter and guidewire. The surgical robot has two robotic arms, left and right, each with a gripper at its end. The grippers hold and deliver the catheter and guidewire from the operating table surface. This invention, through the collaboration between the multi-pathway system and the surgical robot, ensures that the multiple pathways are independent, reducing the possibility of motion interference, positional coupling, tension interference, and other problems. The sliding assembly has different forms depending on the specifications of the consumables, enabling compatibility with multiple instruments and adapting to a wider range of surgical procedures.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a multi-pathway vascular interventional surgical robot system. Background Technology

[0002] Interventional vascular surgery is currently the core minimally invasive procedure for the clinical treatment of cardiovascular and panvascular diseases such as coronary heart disease, peripheral vascular stenosis and occlusion, cerebral ischemia, and aortic disease. Compared with traditional open surgery, it has advantages such as less trauma, faster postoperative recovery, lower complication rate, and higher patient tolerance, and has become the mainstream clinical treatment for vascular diseases. In some complex procedures, multiple guidewires, catheters, balloons, or stents often need to be used simultaneously, which is extremely difficult to coordinate manually. The surgical procedure is cumbersome and time-consuming, placing extremely high demands on the operator's physical strength and concentration.

[0003] A Chinese patent with publication number CN221904006U discloses an interventional surgical robot, including a main body, a first driving device, a second driving device, and an angiography module or a quick-exchange module. The first driving device is mounted on the main body and is used to connect and drive a catheter. The second driving device is slidably mounted on the main body and is used to clamp and drive a guidewire. The angiography module or the quick-exchange module is detachably mounted on the distal end of the second driving device. The angiography module is used for guidewire insertion and for connecting an external infusion device, and the quick-exchange module is used to clamp and drive a rapid exchange device.

[0004] Current mainstream robotic systems for vascular interventional surgery generally suffer from core technical deficiencies, such as a single-pathway structure and insufficient multi-instrument coordination capabilities. Single-pathway systems can only achieve independent control of a single guidewire or a single set of catheters / balloons / stents. Other auxiliary pathways only have simple clamping, fixation, or passive follow-up functions, lacking independent drive, active delivery, continuous feeding, and rotational control capabilities, and cannot complete synchronous, asynchronous, or coordinated operations of multiple instruments. Multi-pathway systems are prone to problems such as motion interference, positional coupling, and tension interference. If multiple pathways share a drive structure, control link, or execution space, problems such as inter-pathway motion interference, push force crosstalk, and catheter synchronous displacement are highly likely to occur. This not only fails to improve surgical efficiency but also significantly increases surgical risks such as vasospasm, intimal tear, instrument jamming, and positioning inaccuracy. The pathway structure, clamping method, drive stroke, and force feedback threshold are mostly designed for a single standard instrument, making it difficult to be compatible with multiple types, specifications, and different exchange methods of interventional instruments at the same time. Existing robotic systems often require repeated disassembly and assembly of actuators, replacement of pathway modules, and interruption of surgical procedures, which seriously reduces surgical continuity, prolongs surgical time, and increases the risk of intraoperative infection and instrument operation errors.

[0005] Therefore, in order to address the problems of existing vascular interventional surgical robots, such as single access pathway, poor coordination, insufficient operational compatibility, and weak safety control, there is a need to provide a vascular interventional surgical robot system that can realize multiple access pathways to solve the above problems. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the purpose of this invention is to provide a multi-pathway vascular interventional surgical robot system.

[0007] According to the present invention, a multi-pathway vascular interventional surgical robot system is provided, comprising: an operating table, an operating table surface, a multi-pathway system, and a surgical robot. The operating table surface is movably mounted on the operating table via a support frame, and the operating table surface is capable of switching between a horizontal state and a vertical state. The multi-path system includes a quick-release module and a sliding assembly. The operating table is equipped with multiple parallel linear guides via the quick-release module. Multiple detachable sliding assemblies are installed on the linear guides. The sliding assembly includes a quick-release Y-valve locking mechanism. The surgical robot cooperates with the quick-release Y-valve locking mechanism to drive the catheter guidewire. The surgical robot has two robotic arms, left and right, with grippers at the ends of the two robotic arms. The grippers hold and deliver catheters and guidewires on the operating table.

[0008] Preferably, the support frame includes: a side rail slider, a support rod, and a rotating shaft. The operating table has a transverse operating table side rail. The side rail slider is mounted on the operating table side rail, and the two form a sliding pair. The support frame can move along the direction of the operating table side rail via the side rail slider. The support rod is vertically inserted into the side rail slider and can move up and down. The support rod is provided with a locking device. The operating table is mounted on the rotating shaft. The operating table can switch between a horizontal and a vertical state by rotating the rotating shaft. The operating table is provided with a locking device.

[0009] Preferably, a guide rail is mounted on the rotating shaft, and multiple wear-resistant sliders matching the guide rail are provided on the back of the operating table. The operating table can move along the direction of the guide rail via the wear-resistant sliders.

[0010] Preferably, the operating table has side rails on both opposite sides. Two support frames are installed on one side of the operating table side rail, and a side rail support seat is installed on the other side of the operating table side rail. The side rail support seat includes a support base, a connecting rod, and a side rail support rod. The side rail support rod is vertically installed on the operating table side rail via a slider, and the two cooperate to form a sliding pair. The connecting rod is installed on the top of the side rail support rod, and the two cooperate to form a rotating pair. The top of the connecting rod is fastened to the support base. The support base is used to support the operating table surface.

[0011] Preferably, multiple quick-release modules are installed in parallel on the operating table, and multiple linear guides are installed in parallel on the quick-release modules, with the linear guides perpendicular to the quick-release modules. Each quick-release module includes: a module body, a locking knob, a cam knob, and a positioning reference ball. The module body switches between locked and unlocked states with the operating table via the locking knob, and the module body switches between locked and unlocked states with the linear guides via the cam knob. The positioning reference ball is used for robotic arm navigation and positioning.

[0012] Preferably, the top surface of the module body is provided with multiple quick-release slots, each of which is provided with a corresponding cam knob, and both ends of the module body are provided with locking knobs.

[0013] Preferably, the quick-release Y-valve locking mechanism includes a locking structure, a Y-valve mounting block, and a main body. The main body is mounted on a linear guide rail via a slider, and the two cooperate to form a sliding pair. The sliding component can move along the direction of the linear guide rail. The Y-valve mounting block is located at the head of the main body, and the Y-valve is laterally fastened to the Y-valve mounting block. The Y-valve switches between locked and unlocked states through the locking structure. The Y-valve mounting block is provided with a weak structure, and the Y-valve is separated from the Y-valve mounting block by pinching the weak structure.

[0014] Preferably, the tail of the main body is provided with a support structure, and a rotatable support cap is installed on the support structure. The guide wire extends horizontally through the support structure and the support cap into the Y valve.

[0015] Preferably, the Y-valve includes a main pipeline and a branch pipeline. The Y-valve mounting block is provided with a contoured groove matching the shape of the Y-valve. The end of the main pipeline is provided with a knob for locking the guide wire. The front end of the knob is provided with a square block. The Y-valve mounting block is provided with a corresponding square slot. The square block and the square slot are interference-fitted. A fan-shaped reinforcing rib is provided between the main pipeline and the branch pipeline. A raised inclined surface is provided in the contoured groove. The fan-shaped reinforcing rib is engaged with the raised inclined surface. The weak structure is I-shaped. The groove wall of the weak structure fits against the top of the branch pipeline. The pinching force direction of the weak structure is perpendicular to the installation direction of the Y-valve.

[0016] Preferably, the locking structure includes: a button, a pressure pin, a fixing block, a rotating cam, a spring, and a locking pin. The button is fastened to the top of the pressure pin. The pressure pin passes through the fixing block and is connected to the rotating cam via gear meshing. The bottom of the fixing block is provided with a toothed structure. The pressure pin, the fixing block, and the rotating cam work together to switch between the locked and unlocked states. The bottom of the rotating cam is connected to the top of the locking pin via a spring.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention utilizes a multi-path system installed on the operating table to collaborate with the surgical robot. The multiple pathways are independent of each other, reducing the likelihood of motion interference, positional coupling, and tension disturbances. Multiple sliding components are mounted on linear guides, each with different forms depending on the specifications of the consumables, enabling compatibility with multiple instruments and modular expansion to accommodate more surgical procedures. Support frames, side rail support seats, and quick-release modules serve as supporting and quick-release installation structures, achieving multi-directional adjustability on the three-dimensional frame of the operating table, as well as synchronous collaborative control and safety interlocking. This streamlines and clarifies the entire surgical procedure, reducing operational difficulty and complexity.

[0018] 2. This invention provides an independent surgical platform by using a support frame as the connecting support structure of the operating table. It can effectively utilize the upper space from the patient's femoral artery to the foot for the placement of interventional consumables such as guidewires and catheters during the operation. This solves the problem of insufficient space for consumables in traditional interventional surgery or the need for nurses to frequently tidy them up. It also solves the problem of the rigid requirement for guidewires and catheters to be kept horizontal and straight in interventional robotic surgery.

[0019] 3. This invention utilizes linear guides, quick-release modules, and sliding components to establish multiple pathways on the operating table surface. Each pathway is equipped with replaceable consumable components, which can be used independently or linked together. All connection structures adopt quick-release structures, which can provide consumable components of different specifications according to different surgical needs, and can realize multiple functions such as guidewire and catheter delivery, support, and free locking. By adopting multiple sliding structure combinations and quick-release locking structures, the three-dimensional frame of the operating table surface can be adjusted in multiple directions, solving the problem that temporary tabletops may be ill-fitting and affect the patient's leg space.

[0020] 4. This invention utilizes a Y-valve mounting block suitable for installing and fixing Y-valves of various specifications. This allows for horizontal installation of the Y-valve, reducing interference between the robotic arm and catheter guidewires / infusion lines, and enabling precise operation of multiple pathways and remotely operated robotic arms. The installation method is simplified to a push-lock mechanism, and an installation bevel is designed to physically prevent loosening. As a disposable consumable, the Y-valve mounting block adopts a point-destruction structure, which not only prevents premature damage to the Y-valve during installation and operation but also saves postoperative disassembly time and ensures that doctors can immediately take over the surgery in case of emergencies. Attached Figure Description

[0021] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1This is a schematic diagram illustrating the structure of a multi-pathway vascular interventional surgical robot system, which is the main feature of this invention. Figure 2 This is a schematic diagram illustrating the multi-pathway system installed on a general surgical platform, which is the main feature of this invention. Figure 3 This is a schematic diagram illustrating the structure of a retractable, universal interventional surgical platform based on the side rails of an operating table, which is the main feature of this invention. Figure 4 This is a schematic diagram illustrating the horizontal state of the operating table, which is the main feature of this invention. Figure 5 This is a schematic diagram illustrating the folded state of the operating table, which is the main feature of this invention. Figure 6 This is a schematic diagram illustrating the side rail support seat when the operating table is in a folded state, which is the main feature of this invention. Figure 7 This is a side view that mainly illustrates the support frame of the present invention; Figure 8 This is a front view of the support frame, which is the main feature of this invention. Figure 9 This is a schematic diagram illustrating the structure of the support rod, which is the main feature of this invention. Figure 10 This is a schematic diagram illustrating the installation of the support rod, which is the main feature of this invention. Figure 11 This is a schematic diagram illustrating the structure of the side rail slider, which is the main feature of this invention. Figure 12 This is a schematic diagram illustrating the structure of the lock cap, which is the main feature of this invention. Figure 13 This is a top view of the lock cap, which is the main feature of this invention; Figure 14 This is a schematic diagram illustrating the locking mechanism of the lock cap, which is the main feature of this invention. Figure 15 This is a schematic diagram illustrating the structure of the support plate, which is the main feature of this invention. Figure 16 This is a schematic diagram illustrating the structure of the support frame, which is the main feature of this invention. Figure 17 This is a schematic diagram illustrating the structure of the rotating shaft, which is the main feature of this invention. Figure 18 This is a schematic diagram illustrating the structure of the side rail support base, which is the main feature of this invention. Figure 19 This is a schematic diagram illustrating the locking of the side rail support base, which is the main feature of this invention. Figure 20 This is a schematic diagram illustrating the structure of the side rail support rod, which is the main feature of this invention. Figure 21 This is a schematic diagram illustrating the structure of the connecting rod, which is the main feature of this invention. Figure 22 This is a schematic diagram illustrating the structure of the operating table, which is the main feature of this invention. Figure 23 This is a schematic diagram illustrating the structure of a multi-channel system installed on the operating table, which is the main feature of this invention. Figure 24 This is a schematic diagram illustrating the structure of the linear guide rail, which is the main feature of this invention. Figure 25 This is a schematic diagram illustrating the structure of the quick-release module, which is the main feature of this invention. Figure 26 This is a schematic diagram illustrating the structure of the locking knob, which is the main feature of this invention. Figure 27 This is a schematic diagram illustrating the locking mechanism of the locking knob, which is the main feature of this invention. Figure 28 This is a schematic diagram illustrating the structure of the cam knob, which is the main feature of this invention. Figure 29 This is a schematic diagram illustrating the main features of the invention: the cam-shaped knob unlocking mechanism. Figure 30 This is a schematic diagram illustrating the cam knob locking mechanism, which is the main feature of this invention. Figure 31 This is a schematic diagram illustrating the structure of the positioning reference sphere, which is the main feature of this invention. Figure 32 This is a cross-sectional view of the positioning reference sphere, which is the main feature of this invention. Figure 33 This is a schematic diagram illustrating the structure of the quick-release Y-valve locking mechanism, which is the main feature of this invention. Figure 34 This is a cross-sectional view of the present invention, mainly illustrating the locking of the sliding component; Figure 35 This is a schematic diagram illustrating the structure of the sliding component, which is the main feature of this invention. Figure 36 This is a schematic diagram illustrating the main structure of the slider body of the present invention; Figure 37 This is a schematic diagram of the bottom of the slider body, which is the main feature of this invention. Figure 38 This is a schematic diagram illustrating the structure of the slider, which is the main feature of this invention. Figure 39 This is a side view of the slider, which is the main feature of this invention. Figure 40 This is a schematic diagram illustrating the main features of the invention: the Y valve is mounted on the Y valve mounting block. Figure 41 This is a schematic diagram illustrating the structure of the Y-valve, which is the main feature of this invention. Figure 42 This is a schematic diagram illustrating the structure of the Y-valve mounting block, which is the main feature of this invention. Figure 43 This is a schematic diagram illustrating the structure of the guide wire limiting cap, which is the main feature of this invention. Figure 44This is a schematic diagram illustrating the structure of the sliding assembly used to support the guide wire, which is the main feature of this invention. Figure 45 This is a schematic diagram illustrating the locking structure of the present invention. Figure 46 This is a schematic diagram illustrating the locking principle of the locking structure, which is the main feature of this invention. Figure 47 This is a schematic diagram illustrating the structure of the pressure pin, which is the main feature of this invention. Figure 48 This is a schematic diagram illustrating the structure of the fixing block, which is the main feature of this invention. Figure 49 This is a schematic diagram illustrating the structure of the rotary cam, which is the main feature of this invention.

[0022] The diagram shows: surgical robot 1, operating table 2, operating table surface 3, support frame 4, side rail support seat 5, quick-release module 6, sliding assembly 7, Y valve 8, guide wire 9, operating table side rail 21, wear-resistant slider 31, linear guide rail 32, guide rail quick-release slot 321, slider groove 322, quick-release interface 33, spring pull pin locking hole 34, side rail slider 41, hand-tightening handle 411, support rod 42, adjusting screw 421, positioning hole 422, equidistant circular hole 423, anti-loosening bolt 424, rotating shaft 43, rotating shaft hole 4 31, Connecting bolt; 432, Support plate; 44, Limiting block; 441, Spring pin; 442, Guide rail; 45, Lock cap; 46, Lock cap button; 461, Lock cap positioning pin; 462, Lock cap spring; 4621, U-groove; 463, Set screw; 464, Support base; 51, Connecting rod; 52, Connecting rod toothed structure; 521, Side rail support rod; 53, Side rail support rod toothed structure; 531, Locking button; 54, Locking button spring; 541, Module body; 61, Locking knob; 62, Opening retaining ring; 621, Locking knob handle; 622 623, semi-circular stepped annular groove, 63, cam knob, 631, threaded hole, 632, cam knob handle, 633, cam knob limiting structure, 634, cam knob cross-section, 635, positioning reference ball, 64, registration ball, positioning reference ball mounting threaded hole, 642, quick-release slot, 65, slider body, 71, raised pin, 712, toothed protrusion, 713, slide rail, 72, anti-detachment protrusion, 722, Y valve mounting block, 73, square slot, 731, guide wire limit cap, opening 741, 742, 75, 75, 75, 76, 761, 762, 763, 7631, 7632, 764, 7641, 7642, 7643, 7644, 765, 7651, 7652, 7666, 81, 82, 83, 84, 84. Detailed Implementation

[0023] The present invention 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 invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0024] like Figures 1 to 49 As shown, a multi-pathway vascular interventional surgical robot system provided by the present invention includes: an operating table 2, an operating table 3, a multi-pathway system, and a surgical robot 1. The operating table 3 is movably mounted on the operating table 2 via a support frame 4, and the operating table 3 can switch between a horizontal state and a vertical state. The multi-pathway system includes a quick-release module 6 and a sliding assembly 7. The operating table 3 is equipped with multiple parallel linear guide rails 32 via the quick-release module 6. Multiple detachable sliding assemblies 7 are mounted on the linear guide rails 32. The sliding assembly 7 includes a quick-release Y-valve locking mechanism. The surgical robot 1 cooperates with the quick-release Y-valve locking mechanism to drive the catheter guidewire. The surgical robot 1 is provided with two robotic arms, left and right, and each robotic arm has a gripper at its end, which grips and delivers the catheter guidewire on the operating table.

[0025] The retractable interventional surgery platform based on the operating table side rail consists of an operating table surface 3 and a support frame 4. The support frame 4 includes: a side rail slider 41, a support rod 42, a rotating shaft 43, and a support plate 44. The operating table 2 has a transverse operating table side rail 21 on its side. The side rail slider 41 is mounted on the operating table side rail 21, and the two form a sliding pair. The support frame 4 can move along the direction of the operating table side rail 21 via the side rail slider 41. The support rod 42 is vertically inserted into the side rail slider 41 and can move up and down. The support rod 42 is equipped with a locking device. The rotating shaft 43 is mounted on the top of the support rod 42 and can rotate around the connection between the two. The support plate 44 is fastened to the rotating shaft 43. A guide rail 45 is fastened to the support plate 44. The operating table surface 3 is mounted on the guide rail 45, and the two form a sliding pair. The operating table surface 3 is equipped with a locking device. The operating table surface 3 can switch between horizontal and vertical states by rotating the rotating shaft 43.

[0026] In practical applications, operating table 2 has side rails 21 on both sides of the operating table 2. Two support frames 4 are installed on one side of the operating table side rail 21, and a side rail support seat 5 is installed on the other side of the operating table side rail 21. The position distribution of the two support frames 4 on one side of the operating table side rail 21 is mainly based on the width of the surgical robot trolley and is determined in combination with the overall weight and stress analysis of the operating table surface. The side rail support seat 5 serves as an auxiliary support (optional) to provide auxiliary support when the operating table surface 3 is pulled to its maximum stroke due to deformation caused by the overall weight. The main support position is near the rear end of the operating table 2.

[0027] The rotating shaft 43 includes a semi-circular part and a straight part. One end of the semi-circular part is connected to the straight part, and the other end is provided with a rotating shaft hole 431. It is connected to the support rod 42 by a butt bolt 432 to form a rotating pair. The rotating shaft 43 can rotate ≥270° around the support rod 42. The support plate 44 is fixedly installed on the straight part. Preferably, the support plate 44 is rigidly connected to the rotating shaft 43 by a countersunk bolt, and the guide rail 45 is rigidly connected to the support plate 44 by a cylindrical head bolt.

[0028] A limiting block 441 and a spring pin 442 are installed at the end of the support plate 44 away from the support rod 42. The limiting block 441 is used to prevent the operating table 3 from derailing when it is pulled out and to limit its maximum stroke. The operating table 3 is provided with a corresponding spring pin locking hole 34. After the operating table 3 moves to a suitable position, it is locked by the spring pin 442. A limiting groove is provided at the end of the support plate 44 near the support rod 42. When the operating table 3 is in a horizontal state, the support plate 44 is tightly engaged with the support rod 42 through the limiting groove. The support rod 42 is provided with a corresponding adjusting screw 421. The surface contact and limiting fixation between the support plate 44 and the support rod 42 serves as the main support. At the same time, the support plate 44 can effectively ensure the straightness of the guide rail 45 and reduce the deformation and tilting of the operating table 3. The upper part of the support rod 42 is provided with an adjusting screw 421, which is used to adjust the surface when the contact surface between the support plate 44 and the support rod 42 is worn, or when the operating table 3 is pulled to its maximum stroke and the operating table 3 is not level after contact. The lower part is also provided with an anti-disengagement bolt 424 to prevent the support rod 42 from disengaging from the side rail slider 41.

[0029] The upper part of the support rod 42 is provided with a positioning hole 422, and the lower part of the support rod 42 is provided with multiple equidistant circular holes 423, preferably seven circular holes, for adjusting the height of the operating table surface 3. Two locking caps 46 are installed on the support rod 42. The positioning hole 422 cooperates with the upper locking cap 46 to assist in supporting the rotating shaft 43, and the equidistant circular holes 423 cooperate with the lower locking cap 46 to adjust the height of the support rod 42, that is, to precisely position the height of the operating table surface 3. Inserting the locking pin 462 of the upper locking cap 46 into the positioning hole 422 on the upper part of the support rod 42 locks the rotating shaft 43, preventing it from rotating around the rotating shaft hole 431.

[0030] The lock cap 46 is fitted onto the support rod 42. A through hole matching the shape of the support rod 42 is formed in the center of the lock cap 46. The lock cap 46 includes a lock cap button 461 and a lock cap positioning pin 462. The lock cap positioning pin 462 is driven by the lock cap button 461 to insert into or move away from the support rod 42. Pressing the lock cap button 461 compresses the lock cap spring 4621 inside the lock cap 46, and releasing the lock cap button 461 releases the lock cap spring 4621, thus extending and retracting the lock cap positioning pin 462. The lock cap 46 has U-shaped grooves 463 at both ends of its main body. Set screws 464 ensure the overall structural integrity and functionality of the lock cap 46.

[0031] The side rail slider 41 has a through hole that matches the shape of the support rod 42, and the side rail slider 41 is located below the locking cap 46. The support rod 42 has an anti-loosening bolt 424 at its bottom, and the side rail slider 41 has a locking handle 411 that passes laterally through the side rail slider 41 and abuts against the support rod 42. The support rod 42 has a square cross-section, allowing it to be vertically inserted into the square hole in the middle of the side rail slider 41. The locking handle 411 is used to lock it to the operating table side rail 21. A single support frame 4 contains two locking caps 46, each with a square hole matching the cross-section of the support rod 42 for installation. Pressing the locking cap button 461 allows the locking cap 46 to move up and down along the support rod 42.

[0032] The back of the operating table surface 3 is equipped with multiple wear-resistant sliders 31 that match the guide rail 45, preferably three wear-resistant sliders 31 at each end. The wear-resistant sliders are made of high-molecular-weight polyethylene. The operating table surface 3 can move along the guide rail 45 via the wear-resistant sliders 31. The installation length of the wear-resistant sliders 31 has a certain margin compared to the total length of the guide rail 45, allowing for position adjustment of the operating table surface 3 within a certain range along the guide rail 45. The operating table surface 3 is equipped with a quick-release interface 33, providing an open interface that can adapt to different surgical procedures and different consumable installation requirements in interventional surgery. Furthermore, the surface of the operating table surface 3 has a hollow structure, mainly for the purpose of weight reduction and preventing structural deformation.

[0033] After the spring pin 442 locks the operating table surface 3, release the side rail slider 41 and turn the handle 411. Press the locking button 461 of the locking cap 46 and move it down a certain distance along the support rod 42. Fold the operating table surface 3 to 270° (vertical state) along the connecting bolt 432. Press the locking button 461 and slowly move it up to the highest point along the support rod 42, while simultaneously lowering the operating table surface 3 to the lowest position to complete the folding and storage state on one side.

[0034] The side rail support 5 is mainly used to assist in supporting the operating table surface 3, preventing deformation caused by excessive lever arm length when the operating table surface 3 is pulled out. The side rail support 5 includes: a support base 51, a connecting rod 52, a side rail support rod 53, and a side rail slider 41. The side rail support rod 53 is vertically mounted on the operating table side rail 21 via the side rail slider 41, and the two cooperate to form a sliding pair. The connecting rod 52 is mounted on the top of the side rail support rod 53, and the two cooperate to form a rotating pair. The top of the connecting rod 52 is fastened to the support base 51 with bolts and cannot be rotated. The support base 51 is used to support the operating table surface 3, and the lower part of the side rail support rod 53 is provided with anti-loosening bolts. Similar to the support frame 4, the side rail support 5 is mounted on the operating table side rail 21 via the side rail slider 41 and locked by turning the handle 411. The operating table side rail 21 is a common standard part with a uniform model and size in the market, so this application can be used to adapt to all operating tables 2. When the handle 411 is released, the side rail slider 41 can slide along the side rail 21 of the operating table to adjust the position of the entire operating table surface along the side rail 21 of the operating table. Similarly, the side rail support 5 can move up and down to adjust the height of the support 51.

[0035] The connecting rod 52 and the side rail support rod 53 are connected by bolts. The connecting rod 52 can rotate along the bolt axis. A locking button 54 is provided at the connection between the connecting rod 52 and the side rail support rod 53. The mating ends of the connecting rod 52 and the side rail support rod 53 are respectively provided with toothed mating surfaces. Pressing the locking button 54 will rotate the connecting rod 52 along the bolt axis. The mating ends of the side rail support 51 and the connecting rod 52 are respectively marked to indicate the two states of storage and support. When rotated to the support state, the support surface of the support 51 is horizontal.

[0036] This application provides an independent surgical platform by using a support frame 4 as the connecting support structure for the operating table 3. It can effectively utilize the upper space from the patient's femoral artery to the foot for the placement of interventional consumables such as guidewires and catheters during the operation. This solves the problem of insufficient space for consumables in traditional interventional surgery or the need for nurses to frequently tidy them up. It also solves the problem of the rigid requirement for guidewires and catheters to be kept horizontal and straight in interventional robotic surgery.

[0037] This application solves the problem of non-foldable storage by using the rotation axis 43 of the support frame 4, which allows the operating table surface 3 to rotate around its rotation axis 270°, and by using the side rail slider 41 and the support rod 42 to adjust the height.

[0038] This application is mounted on the side rail 21 of the operating table and does not require frequent disassembly after installation, making it convenient for interventional surgery and easy to fold and store. The operating table 3 has a certain range of height and position adjustment to accommodate operating tables 2 of different sizes and patients of different body types.

[0039] Multiple quick-release modules 6 are mounted in parallel on the operating table 3, and multiple linear guide rails 32 are mounted in parallel on the quick-release modules 6, with the linear guide rails 32 perpendicular to the quick-release modules 6. Each quick-release module 6 includes: a module body 61, a locking knob 62, a cam knob 63, and a positioning reference ball 64. The module body 61 switches between locked and unlocked states with the operating table 3 via the locking knob 62, and with the linear guide rails 32 via the cam knob 63. The positioning reference ball 64 is used for robotic arm navigation and positioning. A sliding component 7 is mounted on the linear guide rails 32, and the two cooperate to form a sliding pair. The sliding component 7 can move along the direction of the linear guide rails 32. The sliding component 7 includes a split support structure or an integrated support structure. This application is based on an operating table 3 mounted on an operating bed 2, but the representation of the operating table 3 is not limited to the illustrations.

[0040] The module body 61 is mainly used for connecting and fixing multiple channels. The top surface of the module body 61 is provided with multiple quick-release slots 65, each of which is equipped with a corresponding cam knob 63. Locking knobs 62 are provided at both ends of the module body 61. Preferably, the top surface of the module body 61 is provided with five quick-release slots 65. The cam knob 63 has a threaded hole 631 at its bottom and is connected to the module body 61 by bolts. A cam mechanism 632 is located in the middle of the cam knob 63, and the other end of the cam mechanism 632 is a cam knob limiting structure 634. A cam knob handle 633 is located at the top of the cam knob 63. The end face of the cam knob handle 633 is non-circular, with a cam knob cross-section 635 formed on one side. The cam mechanism 632 can switch between locked and unlocked states with the linear guide rail 32 by rotating the cam knob handle 633. Specifically, rotating the cam knob limiting structure 634 to the cam knob cross-section 635 via the cam knob handle 633 locks the mechanism, and rotating the cam mechanism 632 to the cam knob cross-section 635 unlocks the mechanism.

[0041] An open retaining ring 621 is provided in the middle of the locking knob 62. The locking knob 62 is connected to the module body 61 through the open retaining ring 621. A locking knob handle 622 is provided at the top of the locking knob 62. A semi-circular stepped annular groove 623 is provided at the bottom of the locking knob 62. The semi-circular stepped annular groove 623 can switch between the locked and unlocked states with the operating table surface 3 by rotating the locking knob handle 622.

[0042] The end of the positioning reference ball 64 is a registration ball 641, which is mainly used for navigation and positioning of the robotic arm. The installation position of the positioning reference ball 64 is based on the position of the quick-release slot 65, and the connection method is bolt connection. It is connected and fixed through the positioning reference ball mounting threaded hole 642. Preferably, there are two positioning reference balls 64, which simultaneously meet the reachability range and registration accuracy of the robotic arm end gripper.

[0043] The bottom surface of the linear guide rail 32 is provided with a quick-release slot 321 that matches the quick-release module 6, and the top surface of the linear guide rail 32 is provided with a slider groove 322 that matches the sliding component 7.

[0044] The sliding component 7 has different forms of expression depending on the specifications of the consumables.

[0045] In one specific embodiment, the sliding assembly 7 includes a split structure for mounting the Y-valve and supporting the catheter guidewire, comprising: a slider body 71, a slider 72, a Y-valve mounting block 73, and a guidewire limiting cap 74. The slider body 71 and slider 72 are fastened together by a snap-fit ​​connection. The slider 72 is provided with an anti-dislodgement protrusion 721 and a keyway 722. The slider body 71 and slider 72 are connected by a one-time snap-fit ​​structure. The keyway 722 is used to connect and fix to the bottom of the slider body 71, specifically in the form of a slot. The slider 72 is a POM slider with a smooth surface and good machinability. The Y-valve mounting block 73 is mounted on the head of the slider body 71. The guidewire limiting cap 74 is mounted on the support structure at the tail of the slider body 71 via a shaft, providing support for the catheter guidewire and facilitating the installation and removal of the catheter guidewire during surgery, reducing delivery difficulty.

[0046] The sliding assembly 7 also includes a locking structure 76 to prevent the sliding assembly 7 from moving during guidewire and catheter delivery. The locking structure 76 includes: a button 761, a locking pin 762, a pressure pin 763, a fixing block 764, a rotating cam 765, and a spring 766. The fixing block 764 has two high and low positions, which, through meshing with the two positions of the button 761, form a height difference to achieve locking and releasing of the structure. The locking structure 76 is simple to operate, convenient for doctors, and also meets the requirements of automated operation by surgical robots.

[0047] In one specific embodiment, the sliding component 7 includes an integral structure for supporting the guide wire. The sliding component 7 includes a lower slider structure 75 and an upper support structure, and the support structure has a guide wire support hole 751.

[0048] The linear guide 32 has a length ≥1200mm, which is used to meet the standard dimensions of consumables such as guidewires and catheters in interventional surgery. The linear guide 32 consists of an aluminum alloy guide rail with a smooth surface and low coefficient of friction.

[0049] Linear guide rails 32 are mounted on one or more quick-release modules 6, with no fewer than five linear guide rails 32. In practical applications, any single or multiple access routes can be selected according to surgical needs, and based on the selected access routes, the required sliding components 7 are installed for installing interventional consumables such as Y-valve 8 and guidewire 9. In one specific embodiment, the five access routes from bottom to top are: third access route, first access route, second access route, fourth access route, and fifth access route. Among them, the first to third access routes converge via the Y-valve at the front end of the second access route to enter the human blood vessel through the femoral artery in the patient's right leg, and the fourth to fifth access routes converge via the Y-valve at the front end of the fourth access route to enter the human blood vessel through the femoral artery in the patient's left leg.

[0050] This application, based on the operating table surface 3, utilizes linear guide rails 32, quick-release modules 6, and sliding components 7 to establish multiple access routes. Each route is equipped with replaceable consumable components, which can be used independently or linked together. Furthermore, all connection structures adopt a quick-release design, enabling the provision of different specifications of consumable components according to various surgical needs, including guidewire and catheter delivery, support, and free locking mechanisms. Temporary tabletops for some interventional surgeries require custom customization based on the operating table width and patient size. This application, through the combination of multiple sliding structures and a quick-release locking mechanism, achieves multi-directional adjustability on the three-dimensional frame of the operating table, solving the problem of potential misfits in temporary tabletops that could affect patient legroom.

[0051] This application utilizes an aluminum alloy linear guide rail combined with a high-molecular-weight polyethylene slider to establish multiple pathways. The low friction between the two materials avoids affecting force sensing during guide wire delivery. Digital layout and positioning of each pathway streamlines and clarifies the entire surgical procedure, reducing operational difficulty and complexity. A positioning reference ball 64 is installed for establishing coordinate relationships in robotic surgery, enabling automated robotic surgery. The use of multiple quick-release structures interconnected solves the problems of increased consumables and complex installation associated with multi-pathway control, reducing surgical preparation time.

[0052] The sliding assembly 7 includes a locking structure 76, a Y-valve mounting block 73, and a slider body 71. The slider body 71 is mounted on the linear guide rail 32 via a slider 72, and the two cooperate to form a sliding pair. The sliding assembly 7 can move along the direction of the linear guide rail 32. The Y-valve mounting block 73 is located at the head of the slider body 71. The Y-valve 8 is laterally fastened to the Y-valve mounting block 73. The Y-valve mounting block 73 is provided with a weak structure that can be broken by pinching. The Y-valve 8 is separated from the Y-valve mounting block 73 by pinching the weak structure. The locking structure 76 includes a button 761 and a locking pin 762. The locking structure 76 switches between the locked state and the unlocked state by pressing the button 761. The tail of the slider body 71 is provided with a support structure. A rotatable guide wire limit cap 74 is installed on the support structure. The guide wire 9 extends horizontally through the support structure and the guide wire limit cap 74 into the Y-valve 8.

[0053] The slider 72 includes a POM slider, and the linear guide 32 includes an aluminum alloy guide, so that the sliding component 7 can slide smoothly on the linear guide 32 via the slider 72.

[0054] The locking structure 76 also includes: a pressure pin 763, a fixing block 764, a rotating cam 765, and a spring 766. The button 761 is fastened to the top of the pressure pin 763. The pressure pin 763 passes through the fixing block 764 and is connected to the rotating cam 765 via gear engagement. The bottom of the fixing block 764 has a corresponding toothed structure 7641. The pressure pin 763, fixing block 764, and rotating cam 765 work together to switch between locked and unlocked states. The bottom of the rotating cam 765 is connected to the top of the locking pin 762 via the spring 766. The spring 766 provides both downward locking force and rebound force. The downward locking force ensures that the locking pin 762 extends and locks, while the rebound force ensures the structure is released. The button 761 is bolted to the pressure pin 763, and pressing the button 761 causes the pressure pin 763 to reciprocate.

[0055] The end of the pressure pin 763 is provided with multiple pressure pin protrusion keyways 7631 along the circumferential direction, and the fixing block 764 is provided with multiple closed slide grooves 7642. The pressure pin protrusion keyways 7631 can reciprocate along the closed slide grooves 7642. The rotary cam 765 is provided with multiple rotary cam protrusion keyways 7651 along the circumferential direction, and the fixing block 764 is provided with open slide grooves 7643. The rotary cam protrusion keyways 7651 can reciprocate along the open slide grooves 7643. The closed slide grooves 7642 and the open slide grooves 7643 are distributed circumferentially at intervals. The end of the pressure pin 763 is provided with a pressure pin rack 7632, and the top of the rotary cam protrusion keyway 7651 of the rotary cam 765 is correspondingly provided with a rotary cam rack 7652. The pressure pin rack 7632 is meshed with the rotary cam rack 7652. The end of the fixing block 764 is provided with a toothed structure 7641 that meshes with the rotary cam rack 7652. The rotary cam protrusion keyway 7651 of the rotary cam 765 can be driven by the pressure pin 763 to leave the open slide groove 7643 and the toothed structure 7641.

[0056] The locking mechanism 76 operates as follows: The pressing pin 763 is pressed down, and the keyway 7631 at its end slides along the closed groove 7642 of the fixing block 764. Since the pin rack 7632 at its end meshes with the rotating cam rack 7652 of the rotating cam 765, the keyway 7651 of the rotating cam 765 slides along the open groove 7643 of the fixing block 764 until it slides out of the open groove 7643. Because the fixing block 764 also has a toothed structure 7641 at its end, the rotating cam 765 is converted from linear motion to rotational motion. After the rotating cam rack 7652 of the rotating cam 765 rotates, it meshes with the toothed structure 7641 at the end of the fixing block 764, completing the locking process. When pressed again, the above process is repeated, but the rotating cam 765 rotates again, and the rotating cam protruding keyway 7651 slides into the open slide groove 7643 of the fixed block 764 again, completing the release.

[0057] The Y-valve 8 includes a main pipe 81 and a branch pipe 82. A contoured groove matching the shape of the Y-valve 8 is provided on the Y-valve mounting block 73. A knob 84 for locking the guide wire is provided at the end of the main pipe 81. A square block is provided at the front end of the knob 84, and a corresponding square slot 731 is provided on the Y-valve mounting block 73. The square block and the square slot 731 are interference-fitted, serving as the main fixing feature point. An acute angle is formed between the main pipe 81 and the branch pipe 82; this triangular structure serves as an auxiliary fixing support point. A fan-shaped reinforcing rib 83 is provided between the main pipe 81 and the branch pipe 82 as an anti-detachment support point. Furthermore, a raised inclined surface is provided within the contoured groove, and the fan-shaped reinforcing rib 83 engages with the raised inclined surface.

[0058] In practical applications, the Y-valve 8 is horizontally offset and placed into the contoured groove of the Y-valve mounting block 73. The Y-valve 8 is pushed forward, and when the triangular structure of the Y-valve 8 is tightened, the square block at the front end of the knob 84 is engaged in the square slot 731 of the Y-valve mounting block 73, with the slot being an interference fit. The contoured groove of the Y-valve mounting block 73 also has a raised inclined surface structure. When the square slot 731 is in interference fit, the fan-shaped reinforcing rib 83 of the Y-valve 8 is engaged in the raised inclined surface.

[0059] Furthermore, the Y-valve mounting block 73 is provided with a weak structural point. When this structural point is pinched, the weak point will break. The weak structure is I-shaped, and the groove wall of the weak structure is attached to the top of the branch pipe 82. The pinching force direction of the weak structure is perpendicular to the installation direction of the Y-valve 8.

[0060] The supporting structure at the tail of the slider body 71 is symmetrically provided with protruding pins 711, and the guide wire limiting cap 74 is correspondingly provided with a cotter pin hole 741. The guide wire limiting cap 74 can rotate along the axis of the protruding pins 711. The supporting structure is provided with toothed protrusions 712, and the guide wire limiting cap 74 is correspondingly provided with toothed grooves 742. When the guide wire limiting cap 74 rotates to fit against the supporting structure, the toothed protrusions 712 and the toothed grooves 742 are misaligned and engaged. The supporting structure adopts a folding cap structure to provide support for the delivery of the guide wire over a certain distance.

[0061] The bottom of the slider body 71 is provided with a slide rail 713, and the top of the slider 72 is provided with staggered keyways 722. The slider 72 and the slider body 71 are fastened together by the slide rail 713 and the keyway 722. The top of the keyway 722 is provided with an anti-detachment protrusion 721. The slider 72 and the slider body 71 adopt a keyway mating structure, which generally has staggered keyways 722 and slide rail 713 respectively. The top of the keyway 722 is provided with an anti-detachment structure.

[0062] The Y-valve mounting block 73 of this application is suitable for installing and fixing Y-valves of various specifications. By installing the Y-valve 8 horizontally, it reduces interference between the robotic arm operation and the catheter guidewire and infusion line, enabling precise operation of multiple pathways and remotely operated robotic arms. The installation method is simplified to a push-lock mechanism, and an installation bevel is designed for physical anti-loosening. Furthermore, the Y-valve mounting block 73, as a disposable consumable, adopts a point-destruction structure, which not only prevents premature damage to the Y-valve 8 during installation and operation, but also saves postoperative disassembly time and allows the surgeon to immediately take over the operation in case of emergencies.

[0063] The locking structure 76 of this application adopts a spring + toothed locking structure, which converts linear motion into rotational motion to achieve locking and releasing of the mechanism. The overall locking and releasing of the mechanism is achieved by pressing the structure, which is simple to operate for both the doctor and the robotic arm, and solves the problem of needing to occupy the doctor's left hand / robotic arm for a long time during surgery to fix the Y valve.

[0064] This application utilizes a multi-path system installed on the operating table 3 to collaborate with the surgical robot. The multiple paths are independent of each other, reducing the possibility of problems such as motion interference, position coupling, and tension interference. Multiple sliding components 7 are installed on linear guide rails 32. The sliding components 7 have different forms depending on the specifications of consumables, enabling multi-instrument compatibility and modular expansion to adapt to more surgical procedures. Through the support frame 4, side rail support seat 5, and quick-release module 6 as support and quick-release installation structural components, it is possible to achieve multi-directional adjustment on the three-dimensional frame of the operating table, as well as synchronous collaborative control and safety interlocking, making the entire surgical operation process streamlined and clear, and reducing the difficulty and complexity of operation.

[0065] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying 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.

[0066] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A multi-pathway vascular interventional surgical robot system, characterized in that, include: The operating table, operating table surface, multi-access system, and surgical robot are included. The operating table surface is movably mounted on the operating table via a support frame and can switch between horizontal and vertical states. The multi-path system includes a quick-release module and a sliding assembly. The operating table is equipped with multiple parallel linear guides via the quick-release module. Multiple detachable sliding assemblies are installed on the linear guides. The sliding assembly includes a quick-release Y-valve locking mechanism. The surgical robot cooperates with the quick-release Y-valve locking mechanism to drive the catheter guidewire. The surgical robot has two robotic arms, left and right, with grippers at the ends of the two robotic arms. The grippers hold and deliver catheters and guidewires on the operating table.

2. The multi-pathway vascular interventional surgical robot system as described in claim 1, characterized in that, The support frame includes: a side rail slider, a support rod, and a rotating shaft. The operating table has a transverse operating table side rail. The side rail slider is mounted on the operating table side rail, and the two form a sliding pair. The support frame can move along the direction of the operating table side rail via the side rail slider. The support rod is vertically inserted into the side rail slider and can move up and down. The support rod is equipped with a locking device. The operating table is mounted on the rotating shaft. The operating table can switch between horizontal and vertical states by rotating the rotating shaft. The operating table is equipped with a locking device.

3. The multi-pathway vascular interventional surgical robot system as described in claim 2, characterized in that, A guide rail is mounted on the rotating shaft, and multiple wear-resistant sliders matching the guide rail are provided on the back of the operating table. The operating table can move along the direction of the guide rail via the wear-resistant sliders.

4. The multi-pathway vascular interventional surgical robot system as described in claim 2, characterized in that, The operating table has side rails on both sides. Two support frames are installed on one side of the operating table side rail, and a side rail support seat is installed on the other side of the operating table side rail. The side rail support seat includes a support base, a connecting rod, and a side rail support rod. The side rail support rod is vertically installed on the operating table side rail by a slider, and the two cooperate to form a sliding pair. The connecting rod is installed on the top of the side rail support rod, and the two cooperate to form a rotating pair. The top of the connecting rod is fastened to the support base. The support base is used to support the operating table surface.

5. The multi-pathway vascular interventional surgical robot system as described in claim 1, characterized in that, Multiple quick-release modules are installed in parallel on the operating table. Multiple linear guides are installed in parallel on the quick-release modules, and the linear guides are perpendicular to the quick-release modules. Each quick-release module includes: a module body, a locking knob, a cam knob, and a positioning reference ball. The module body switches between locked and unlocked states with the operating table via the locking knob, and the module body switches between locked and unlocked states with the linear guides via the cam knob. The positioning reference ball is used for robotic arm navigation and positioning.

6. The multi-pathway vascular interventional surgical robot system as described in claim 5, characterized in that, The top surface of the module body is provided with multiple quick-release slots, and each quick-release slot is provided with a corresponding cam knob. Both ends of the module body are provided with locking knobs.

7. The multi-pathway vascular interventional surgical robot system as described in claim 5, characterized in that, The quick-release Y-valve locking mechanism includes a locking structure, a Y-valve mounting block, and a main body. The main body is mounted on a linear guide rail via a slider, and the two cooperate to form a sliding pair. The sliding component can move along the direction of the linear guide rail. The Y-valve mounting block is located at the head of the main body, and the Y-valve is laterally fastened to the Y-valve mounting block. The Y-valve switches between locked and unlocked states through the locking structure. The Y-valve mounting block is provided with a weak structure, and the Y-valve is separated from the Y-valve mounting block by pinching the weak structure.

8. The multi-pathway vascular interventional surgical robot system as described in claim 7, characterized in that, The tail of the main body is provided with a support structure, on which a rotatable support cap is installed. The guide wire extends horizontally through the support structure and the support cap into the Y valve.

9. The multi-pathway vascular interventional surgical robot system as described in claim 7, characterized in that, The Y-valve includes a main pipe and branch pipes. The Y-valve mounting block is provided with a contoured groove matching the shape of the Y-valve. The end of the main pipe is provided with a knob for locking the guide wire. The front end of the knob is provided with a square block. The Y-valve mounting block is provided with a corresponding square slot. The square block and the square slot are interference-fitted. A fan-shaped reinforcing rib is provided between the main pipe and the branch pipe. A raised inclined surface is provided in the contoured groove. The fan-shaped reinforcing rib is engaged with the raised inclined surface. The weak structure is I-shaped. The groove wall of the weak structure fits against the top of the branch pipe. The pinching force direction of the weak structure is perpendicular to the installation direction of the Y-valve.

10. The multi-pathway vascular interventional surgical robot system as described in claim 7, characterized in that, The locking structure includes: a button, a pressure pin, a fixing block, a rotating cam, a spring, and a locking pin. The button is fastened to the top of the pressure pin. The pressure pin passes through the fixing block and is connected to the rotating cam through gear meshing. The bottom of the fixing block is provided with a toothed structure. The pressure pin, the fixing block, and the rotating cam work together to switch between the locked and unlocked states. The bottom of the rotating cam is connected to the top of the locking pin through a spring.

Images