An interventional instrument operating system for generating a composite motion of an interventional instrument

Abstract

The application discloses a set of interventional operation instrument operation system for pan-vascular interventional operation, which can be used for interventional operation treatment of cardiovascular diseases, cerebrovascular diseases, peripheral vascular diseases, hepatobiliary diseases and the like. The system is characterized in that the rotating and up-and-down movement of the friction wheel with distributed convex-concave helical lines on the outer surface of the operating end of the interventional operation instrument drives the interventional operation instrument to realize compound movement, the doctor operates the master control end to generate compound movement instructions of the linear and rotating movement of the interventional operation instrument through the control rod with supports at two ends, and the communication and control system performs signal transmission and control between the master control end and the operating end.

Description

Technical Field

[0001] This invention belongs to the field of surgical robots, and specifically relates to an operating system for interventional surgical instruments that generates complex motions of interventional surgical instruments. Background Technology

[0002] The operating system of interventional surgical instruments includes a master control unit (remote control unit) and an execution unit (slave unit). The surgeon controls the execution unit via the master control unit to manipulate the movement of the interventional surgical instruments inside the body. Interventional surgical instruments include guidewires, catheters, balloons, thrombectomies, etc. To reach the lesion in the complex vascular network, the interventional surgical instruments need to perform both linear and rotational movements simultaneously, forming a composite motion combining linear and rotational movements. The operation that achieves this motion is also known as a push-twist maneuver.

[0003] The operating system for interventional surgical instruments, also known as an interventional surgical aid (often referred to as a surgical robot), still has many problems and shortcomings. Currently, most domestic and international master control units use two joysticks to control the linear and rotary movements of the interventional surgical instruments respectively. Surgeons need to use two hands to control these two joysticks separately, preventing simultaneous operation. This is vastly different from the single-handed linear and rotary operation of catheters and guidewires in vascular interventional surgery, violating the surgical experience and operational intuition accumulated by surgeons over long-term practice. This necessitates specialized training for correct operation, and for experienced senior surgeons, their valuable accumulated experience can become an obstacle to mastering new operating methods, easily leading to errors and a decline in surgical quality. Corresponding to the operation method of the master control unit, most current interventional surgical operating systems separate the execution units for linear motion operations (delivery) and rotary motion operations (twisting), meaning that linear motion cannot be performed while rotary motion is being performed. In summary, a major problem with current interventional surgical operating systems is that the design of the master control unit and the execution unit separates delivery and twisting operations. US Patent 10245112 from Corindus, Inc., and Chinese Patents CN105534599A and CN113729960A are typical examples of this design. These patents, besides using different operating handles to control the rotational and linear motions of the interventional surgical instruments at the main control end, decouple the linear and rotational motions of the instruments in terms of the actuator. Using different drive devices to achieve the motion fails to achieve the ideal pushing and twisting motion, resulting in a severe deficiency in the ability to access complex blood vessels. Summary of the Invention

[0004] This invention aims to solve one of the technical problems existing in the prior art. To this end, this invention proposes an interventional surgical instrument operating system capable of generating complex movements of interventional surgical instruments.

[0005] The interventional surgical instrument operating system includes an actuator. This actuator can simultaneously achieve a composite motion of linear and rotary movements of the interventional surgical instrument, realizing an ideal pushing and twisting motion with advantages such as good driving effect, high accuracy, and strong reliability. A matching master control terminal, also known as a remote control terminal, provides a simulated guidewire holder used by a surgeon and can directly generate pushing and twisting motion commands, which are transmitted to the actuator via a communication module.

[0006] To achieve the above objectives, an execution end is provided according to an embodiment of the first aspect of the present invention. The execution end includes: a plurality of first friction wheels arranged along a first horizontal direction; and a plurality of second friction wheels arranged along the first horizontal direction. The plurality of first friction wheels are correspondingly arranged opposite to the plurality of second friction wheels in a second horizontal direction and are adapted to jointly clamp interventional surgical instruments. The outer surfaces of the plurality of first and second friction wheels are distributed with cylindrical helical lines of a certain helix angle, typically less than 90 degrees (an acute angle). These lines are stepped, forming an uneven spiral pattern on the surface of the friction wheels. This pattern prevents slippage between the interventional surgical instruments and the friction wheels while simultaneously achieving simultaneous rotational and linear motion. The gap between each pair of friction wheels can be adjusted to accommodate the operation of interventional surgical instruments of different diameters. For ease of description, this friction wheel, which simultaneously generates linear and rotational composite motion and has an anti-slip function, is simply referred to as a friction wheel, and the cylindrical helical lines with a certain helix angle are simply referred to as cylindrical helical lines. On the friction wheel, the helix angles of the multiple cylindrical helices are all the same. The directions of rotation of the cylindrical helices of two adjacent first friction wheels are opposite, the directions of rotation of the cylindrical helices of two adjacent second friction wheels are opposite, and the directions of rotation of the cylindrical helices of opposite first and second friction wheels are opposite.

[0007] The friction wheel is mounted on a rotating spline shaft. Correspondingly, the interior of the friction wheel is gear-shaped. In this way, the friction wheel does not rotate relative to the rotating shaft. That is, the rotational motion of the friction wheel is the same as the rotational motion of the shaft. However, the friction wheel can move up and down along the rotating spline shaft while rotating. Thus, under the drive of the drive device, it can simultaneously achieve rotational motion and vertical linear motion.

[0008] According to the embodiment of the present invention, the actuator can realize the combined motion of the interventional surgical instrument in both forward and backward movement and left and right rotation, which is the ideal pushing and twisting motion. It also has the function of preventing the interventional instrument from slipping, and has the advantages of simulating manual operation by doctors, high accuracy, and strong reliability.

[0009] In addition, the execution terminal according to the above embodiments of the present invention may also have the following additional technical features:

[0010] According to one embodiment of the present invention, the actuator further includes: a first lifting seat, wherein a plurality of first friction wheels are disposed on the first lifting seat, and the first lifting seat is movable; a second lifting seat, wherein a plurality of second friction wheels are disposed on the second lifting seat, and the second lifting seat is movable; and a rotary drive device, wherein the rotary drive device is respectively connected to the first lifting seat and the second lifting seat and is adapted to drive the first lifting seat and the second lifting seat to move in opposite directions.

[0011] The surgical execution end also includes a gap adjustment drive device, which is mounted on the base and is connected to the movable seat via a transmission.

[0012] According to one embodiment of the present invention, the rotary drive device includes: a vertical motion drive motor; a crank, the center of which is connected to the motor shaft of the vertical motion drive motor; a first connecting rod, the two ends of which are pivotally connected to one end of the crank and the first lifting seat, respectively; and a second connecting rod, the two ends of which are pivotally connected to the other end of the crank and the second lifting seat, respectively.

[0013] According to one embodiment of the present invention, the actuating end further includes a radial limiting member, the interventional surgical instrument being adapted to be axially movable and circumferentially rotatable within the radial limiting member, the radial limiting member being adapted to restrict the radial movement of the interventional surgical instrument.

[0014] According to one embodiment of the present invention, the execution end further includes: a first rotary drive device, which is respectively connected to a plurality of first friction wheels in a transmission connection, and the first rotary drive device is adapted to drive the plurality of first friction wheels to rotate at the same speed and in the same direction; and a second rotary drive device, which is respectively connected to a plurality of second friction wheels in a transmission connection, and the second rotary drive device is adapted to drive the plurality of second friction wheels to rotate at the same speed and in the same direction, wherein the rotation directions of the plurality of first friction wheels and the plurality of second friction wheels are opposite.

[0015] Given that interventional procedures typically involve inserting various interventional instruments into the patient's lesion and manipulating the lesion, an execution end is proposed according to an embodiment of the second aspect of the present invention. The execution end includes: a second interventional instrument (typically a catheter) operation module, the second interventional instrument operation module including the execution end described in the embodiment of the first aspect of the present invention; and / or a first interventional instrument (typically a guidewire) operation module, the first interventional instrument operation module including the execution end described in the embodiment of the first aspect of the present invention.

[0016] The second interventional surgical instrument operation module also integrates a third interventional surgical instrument operation module. This module consists of two sets of symmetrically placed rollers with opposite rotation directions, used to deliver interventional surgical instruments that do not require rotational movement, such as balloons for delivering vascular stents.

[0017] The interventional surgical instrument operating system according to an embodiment of the present invention, by utilizing the execution end described in the second aspect of the present invention, can realize the simultaneous back-and-forth movement and rotational movement of the interventional surgical instrument, i.e., ideal pushing and twisting movement, which can prevent the interventional instrument from slipping, and has the advantages of simulating manual operation by doctors, high accuracy, and strong reliability.

[0018] According to one embodiment of the present invention, the main control unit of the interventional surgical instrument operating system further includes: a cylindrical operating lever, a linear motion module with a displacement sensor, a rotary motion module with a rotary encoder, a DC motor providing rotational force feedback, a linear motor providing linear force feedback, a low-resistance transmission mechanism decoupling the forward and backward linear motion from the rotary motion, and a frame. The displacement sensor detects the direction and amplitude of hand movement; the forward and backward movements are consistent with the forward and backward movements of the interventional surgical instrument driven by the actuator. The distance the front end moves forward defines the speed at which the interventional surgical instrument is driven forward by the actuator. The encoder outputs an angle and direction consistent with the rotational angle and direction of the interventional surgical instrument driven by the actuator.

[0019] According to one embodiment of the present invention, the linear motor is a voice coil motor.

[0020] According to an embodiment of the present invention, the cylindrical operating lever included in the main control terminal of the interventional surgical instrument operating system is characterized in that: the cylindrical operating lever, simulating an interventional surgical instrument holder, has a knurled or grooved surface to prevent slippage of the human hand. A wrist support is also installed below the operating lever, and the wrist support is mounted on the frame.

[0021] According to one embodiment of the present invention, the main control terminal of the interventional surgical instrument operating system further includes an end control box, which is equipped with a speed scaler, angular velocity scaler, displacement amplitude scaler, and rotation amplitude scaler for the motion commands of the interventional surgical instrument generated by the main control terminal, so that the user can select to increase or decrease the motion speed and motion amplitude of the interventional surgical instrument according to the specific situation.

[0022] According to one embodiment of the present invention, the end control box is equipped with a controller. The controller communicates with the linear motor, the displacement detection device, the drive motor, and the angle detection device through the communication device with the execution end. The controller processes the linear delivery resistance power obtained by the execution end and controls the linear motor to provide axial feedback resistance for the axial movement of the operating rod. The controller processes the rotational resistance power obtained by the execution end and controls the drive motor to provide rotational feedback resistance torque for the rotation of the operating rod. The controller is adapted to control the execution end according to the axial displacement direction, the axial displacement distance, and the rotation angle.

[0023] According to one embodiment of the present invention, the communication device for establishing signal communication between the master control terminal and the execution terminal can be wired or wireless.

[0024] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0026] Figure 1 This is a schematic diagram of the operating system of interventional surgical instruments according to an embodiment of the present invention.

[0027] Figure 2 This is a schematic diagram of the structure of the catheter operation box and catheter operation module of the execution end according to an embodiment of the present invention.

[0028] Figure 3 This is a schematic diagram of the structure of the catheter operation module of the execution end according to an embodiment of the present invention.

[0029] Figure 4 This is a partial structural diagram of the execution end according to an embodiment of the present invention.

[0030] Figure 5 This is a partial structural diagram of the execution end according to an embodiment of the present invention.

[0031] Figure 6 This is a partial structural diagram of the execution end according to an embodiment of the present invention.

[0032] Figure 7 This is a partial structural diagram of the execution end according to an embodiment of the present invention.

[0033] Figure 8This is a schematic diagram of the structure of the guidewire balloon operation box, guidewire operation module, and balloon catheter operation module of the execution end according to an embodiment of the present invention.

[0034] Figure 9 This is a schematic diagram of the structure of the guidewire operation module and the balloon catheter operation module at the execution end according to an embodiment of the present invention.

[0035] Figure 10 This is a schematic diagram of the structure of the guide wire operation module of the execution end according to an embodiment of the present invention.

[0036] Figure 11 This is a schematic diagram of the structure of the execution end of the balloon catheter operation module according to an embodiment of the present invention.

[0037] Figure 12 This is a schematic diagram of the structure of the execution end of the balloon catheter operation module according to an embodiment of the present invention.

[0038] Figure 13 This is a partial structural diagram of the execution end according to an embodiment of the present invention.

[0039] Figure 14 This is a schematic diagram of the Y-type valve positioning device of the balloon catheter operation module at the execution end according to an embodiment of the present invention.

[0040] Figure 15 This is a schematic diagram of the roller trolley and passively damped robotic arm at the execution end according to an embodiment of the present invention.

[0041] Figure 16 This is a schematic diagram of the passively damped robotic arm at the execution end according to an embodiment of the present invention.

[0042] Figure 17 This is a schematic diagram of the main control terminal of the interventional surgical instrument operating system according to an embodiment of the present invention.

[0043] Figure 18 This is a schematic diagram of the motion of a surgical instrument implemented by the operating system execution terminal of the interventional surgical instrument according to an embodiment of the present invention.

[0044] Figure 19 It is an interventional surgical instrument placement guide device included in the execution end according to an embodiment of the present invention to prevent the interventional surgical instrument from moving radially up and down.

[0045] Figure reference numerals: Interventional surgical instrument operating system 1, catheter operation box 100, catheter operation module 110, guidewire and balloon operation box 200, guidewire operation module 210, balloon and catheter operation module 220, Y-valve positioning device 230, elastic claw 231, passively damped robotic arm 300, support arm 310, adapter 311, first bend 312, second bend 313, third bend 314, connecting seat 320, support tube 330, connecting tube 340, roller trolley 400, support 410, support rod 420, roller 430, interventional surgical execution end 1000, first friction wheel 1011, second friction wheel 1012, cylindrical helix 1013. Key shaft 1014, driven gear 1015, friction wheel base 1016, first lifting seat 1021, second lifting seat 1022, up-and-down motion drive motor 1031, crank 1032, first connecting rod 1033, second connecting rod 1034, radial limiting component 1040, base 1050, fixed seat 1061, moving seat 1062, gap adjustment drive device 1070, first rotary drive device 1081, second rotary drive device 1082, main control end 20, operating lever 21, linear motor 22, displacement detection device 23, drive motor 24, ball spline structure 25, controller 26, hand support pad 27, communication device 30, Y-type valve 2. Detailed Implementation

[0046] This application is based on the inventor's discoveries and understanding of the following facts and problems:

[0047] The operating system of interventional surgical instruments includes a master control end and an execution end. The surgeon controls the execution end by operating the master control end, and the drive mechanism of the execution end drives interventional surgical instruments such as guidewires and catheters.

[0048] In the related technology, the execution end of the interventional surgical instrument operating system uses a friction wheel to drive the interventional surgical instrument. The friction wheel has two motion forms: rotational motion and up-and-down motion. In order to simultaneously realize the linear and rotational motion of the interventional surgical instrument, a cylindrical spiral pattern with a certain helix angle needs to be arranged on the outer surface of the friction wheel. These patterns are stepped, forming an uneven spiral pattern on the surface of the friction wheel, and preventing slippage between the interventional surgical instrument and the friction wheel, which would affect the driving effect and driving accuracy of the interventional surgical instrument.

[0049] Furthermore, some interventional surgical instrument operating systems in related technologies, in order to simulate the surgeon's hand operation habits and make the main control end more consistent with the surgeon's hand operation habits, can also have the execution end provide feedback to the main control end on the resistance encountered by the interventional surgical instrument, simulating the resistance encountered by the interventional surgical instrument when the surgeon operates the main control end. In other words, the motion signal generated by the main control end needs to correspond one-to-one with the motion signal of the execution end, and be able to reproduce the linear motion resistance and rotational motion resistance (resistance torque) received by the interventional surgical instrument operated by the execution end.

[0050] The inventors believe that the core of achieving a composite motion of simultaneous linear and rotational motion of surgical instruments, i.e., an ideal push-twisting motion, lies in the fact that the friction wheels holding the interventional surgical instruments can simultaneously achieve radial movement (vertical movement) and rotational movement perpendicular to the linear movement direction of the interventional surgical instruments. The vertical movement of a pair of opposing friction wheels achieves the rotational movement of the interventional surgical instruments, while the opposite rotational movement of these friction wheels achieves the linear movement of the interventional surgical instruments. The structure that enables this movement of the friction wheels is to mount the friction wheels on a splined shaft, thus simultaneously achieving both linear and rotational movements of the friction wheels. Correspondingly, the operating lever at the main control end uses a splined shaft connected to a rotary encoder and a linear motion position sensor at each end of the lever, thereby simultaneously generating linear and rotational motion control command signals. The linear motor and DC motor mentioned only provide the ability to simulate the resistance and resistance torque experienced by the interventional surgical instruments inside the human body, providing the surgeon operating the main control end with the feeling of directly manipulating the interventional surgical instruments manually, i.e., implementing force feedback.

[0051] When driving interventional surgical instruments to rotate and move linearly, encountering resistance / resistance torque increases the input power of the motor driving the friction wheel. To obtain the resistance and resistance torque (rotational resistance) experienced by the interventional surgical instruments, a force sensor needs to be calibrated to establish the relationship between resistance / resistance torque and changes in input power, forming a transformation function. One implementation method is to use the actuator to push and rotate a rigid rod with a six-degree-of-freedom force sensor in the middle. The front end of the rod is inserted into a container filled with electromagnetic rheological fluid. By controlling the damping value of the electromagnetic rheological fluid, the input power under different resistances and resistance torques can be obtained, establishing a relationship function with the force sensor output value, and thus obtaining the relationship function between the motor input power and the resistance / resistance torque. Similarly, this method is used at the main control end to obtain the relationship function between the input power of the linear motor / DC motor and the resistance / resistance torque it generates.

[0052] In actual operation, since the motor-driven delivery and rotation mechanism also requires electrical power, the interventional surgical instrument needs to be operated to perform linear and rotational movements before entering the patient's body to obtain the motor input power value, which is used as the initial value. When calculating the resistance and resistance torque encountered when the interventional surgical instrument enters the patient's body, it is subtracted from the measured power value.

[0053] For this type of interventional surgical instrument operating system, the slippage between the friction wheel and the interventional surgical instrument can seriously affect the accuracy of resistance feedback, causing the doctor to be unable to accurately judge the resistance encountered by the interventional surgical instrument during the operation, which seriously affects the progress of the operation.

[0054] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0055] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention 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, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0056] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0057] In the description of this invention, guidewires and catheters, two commonly used interventional surgical instruments, are used as examples. However, in actual surgical operations, other types of interventional surgical instruments may be used.

[0058] The surgical execution terminal 1000 according to an embodiment of the present invention is described below with reference to the accompanying drawings.

[0059] First refer to Figures 1-17 The operating system 1 for interventional surgical instruments according to an embodiment of the present invention is described.

[0060] The interventional surgical instrument operating system 1 according to an embodiment of the present invention includes a main control terminal 20, a communication device 30, and an execution terminal.

[0061] The execution end communicates with the main control end 20 through the communication device 30.

[0062] The surgeon operates the master control terminal 20 to control the execution terminal, which in turn drives the interventional surgical instruments.

[0063] According to embodiments of the present invention, the execution end includes at least a catheter operation module 110 and / or a guidewire operation module 210.

[0064] The catheter operation module 110 includes an interventional surgery execution terminal 1000 according to an embodiment of the present invention.

[0065] The guidewire operation module 210 includes an interventional surgery execution end 1000 according to an embodiment of the present invention.

[0066] Specifically, the execution end 10 according to embodiments of the present invention may include a catheter manipulation module 110, a guidewire manipulation module 210, and a balloon catheter manipulation module 220. The catheter manipulation module 110 is adapted to manipulate a catheter, the guidewire manipulation module 210 is adapted to manipulate a guidewire, and the balloon catheter manipulation module 220 is adapted to manipulate a balloon catheter. The catheter manipulation module 110, the guidewire manipulation module 210, and the balloon catheter manipulation module 220 may include an interventional surgery execution end 1000 according to the same or different embodiments of the present invention.

[0067] The execution end of the interventional surgical instrument operating system includes: multiple friction wheels that clamp and transport interventional surgical instruments. The outer surface of the friction wheels is decorated with multiple cylindrical spiral lines with acute helix angles. The lines are stepped, forming an uneven spiral pattern on the surface of the friction wheels.

[0068] The plurality of friction wheels includes: a plurality of first friction wheels arranged along a first horizontal direction; a plurality of second friction wheels arranged along the first horizontal direction, wherein the plurality of first friction wheels are respectively arranged opposite to the plurality of second friction wheels in a second horizontal direction perpendicular to the first horizontal direction, and together clamp the interventional surgical instrument, wherein the cylindrical helix on the outer surface of all the first friction wheels has the opposite direction of rotation to the cylindrical helix on the outer surface of all the second friction wheels.

[0069] The operating system of the interventional surgical instrument also includes a rotating spline shaft, on which a friction wheel is mounted. Correspondingly, the friction wheel has a gear shape inside, and the friction wheel can move up and down along the rotating spline shaft while rotating.

[0070] The actuator of the interventional surgical instrument operating system further includes: a fixed base; a movable base; a lifting base; and an actuator housing base plate. The fixed base is fixed to the inner surface of the actuator housing base plate. The movable base is mounted on a linear motion slide rail, and the lower part of the linear motion slide rail is fixed to the inner surface of the actuator housing base plate. The lifting base includes: a first lifting base, on which multiple first friction wheels are disposed, and the first lifting base is movable, driving the multiple first friction wheels to move up and down along multiple splined rotating shafts respectively. The first lifting base is mounted on the fixed base, and the multiple splined rotating shafts are mounted on the fixed base; and a second lifting base, on which multiple second friction wheels are disposed, and the second lifting base is movable, driving the multiple second friction wheels to move up and down along multiple splined rotating shafts respectively. The second lifting base is mounted on the movable base, and the multiple splined rotating shafts are mounted on the movable base. The up and down movement directions of the multiple first friction wheels are opposite to the up and down movement directions of the multiple second friction wheels, forming an alternating up and down movement, which, combined with the synchronous rotational movement of the friction wheels, forms a combined rotational and linear motion of the interventional surgical instrument.

[0071] The execution end of the interventional surgical instrument operating system includes a friction wheel rotation drive device, which includes: a first rotation drive device, which includes a motor and a gear transmission device, and is respectively connected to a plurality of first friction wheels, wherein the first rotation drive device drives the plurality of first friction wheels to rotate at the same speed and in the same direction; and a second rotation drive device, which includes a motor and a gear transmission device, and is respectively connected to a plurality of second friction wheels, wherein the second rotation drive device drives the plurality of second friction wheels to rotate at the same speed and in the same direction, and the rotation directions of the plurality of first friction wheels and the plurality of second friction wheels are opposite.

[0072] The execution end of the interventional surgical instrument operating system includes a friction wheel up-and-down motion drive device, which converts the rotational motion of the drive motor into the linear up-and-down motion of the lifting seat by a pair of crank-connecting rod mechanisms. The friction wheel up-and-down motion drive device includes: a crank, the center of which is connected to the motor shaft of the up-and-down motion drive motor; a first connecting rod, the two ends of which are pivotally connected to one end of the crank and the first lifting seat respectively, driving the first lifting seat to move up and down; and a second connecting rod, the two ends of which are pivotally connected to the other end of the crank and the second lifting seat respectively, driving the second lifting seat to move up and down.

[0073] The operating system of interventional surgical instruments includes a gap adjustment drive device, which comprises: a linear motion push rod arranged parallel to the linear motion slide rail, the fixed part of which is fixed to the inner surface of the bottom plate of the operating device housing, and the extendable part of which is connected to the bottom of the movable seat; and a displacement sensor that records the distance between the movable seat and the fixed seat.

[0074] The operating system of the interventional surgical instrument also includes a limit switch system for limiting the up-and-down movement of the friction wheel. When the friction wheel moves up or down to the maximum stroke of the lifting seat, the limit switch can be triggered, and the automatic reset execution end can achieve automatic reset.

[0075] The gap adjustment drive device has an automatic reset function. When the limit switch is triggered, the gap adjustment drive device drives the moving seat and the fixed seat to separate. The displacement sensor records the separation distance. The friction wheel up-and-down movement drive device moves the first lifting seat and the second lifting seat to the initial movement position. Then, the gap adjustment drive device moves the moving seat back to the position before separation according to the movement distance recorded by the displacement sensor, and clamps the interventional surgical instrument again.

[0076] The execution end of the interventional surgical instrument operating system also includes: an interventional surgical instrument placement guide device, which is divided into multiple modules. Each module includes a base and a top cover. The base of each module is structurally connected to form a whole. The base and the top cover have a groove in the middle, and two opposite holes are formed. The interventional surgical instrument passes through the middle. The width of the groove is smaller than the diameter of the interventional surgical instrument placed on it, and the depth of the groove is smaller than the radius of the interventional surgical instrument placed on it. The multiple modules include a first module, a second module, and a third module. The first module is installed between two friction wheels arranged side by side along a first horizontal direction. The base and the top cover form a three-dimensional structure. The top cover connects multiple upright structures located between friction wheels arranged adjacent to each other along the first horizontal direction along a second horizontal direction. The second module and the third module are respectively installed outside the sides of the multiple friction wheels arranged side by side along the first horizontal direction and the second horizontal direction, and are planar structures. The top cover is outside the friction wheels arranged side by side.

[0077] A method for measuring the resistance and resistance torque experienced by an interventional surgical instrument includes: detecting the resistance and rotational resistance torque experienced by the interventional surgical instrument delivered by the actuator; the method for measuring the resistance involves placing the interventional surgical instrument between first and second friction wheel sets, clamping it, and before the interventional surgical robot enters the patient's body, first measuring the input power of the up-down motion drive motor and the rotation drive motor, referred to as the initial value of the input power; then, after the interventional surgical instrument enters the patient's body, measuring the input power of the up-down motion drive motor and the rotation drive motor again; subtracting the initial value of the input power from the measured value, the difference is taken as the resistance power consumed by the interventional surgical instrument; and using a conversion formula, the resistance and resistance torque experienced by the interventional surgical instrument after entering the patient's body are obtained; the conversion formula is obtained experimentally.

[0078] An execution end includes: a first interventional surgical instrument operation module, the first interventional surgical instrument operation module including the execution end of the interventional surgical instrument operating system according to the above embodiments of the present invention; and / or a second interventional surgical instrument operation module, the second interventional surgical instrument operation module including the execution end of the interventional surgical instrument operating system according to the above embodiments of the present invention; a third interventional surgical operation module, and the second interventional surgical instrument operation module are mounted on the same base plate, pushing interventional surgical instruments that do not require rotational ultrasound, including a plurality of third friction wheels arranged along a third horizontal direction and a plurality of fourth friction wheels arranged along a first horizontal direction, the rotation directions of the plurality of third friction wheels and the rotation directions of the plurality of fourth friction wheels being opposite, and driven by the same drive motor through a gear set.

[0079] The actuator also includes: a roller trolley, which includes a support, a support rod, and rollers. The support rod is mounted on the support, and the rollers are mounted on the lower surface of the support; and a joint angle adjustable locking robotic arm, which is mounted on the support rod. The robotic arm includes at least two arms, and the first interventional surgical instrument operation module and the second interventional surgical instrument operation module are respectively mounted on the two arms.

[0080] An interventional surgical instrument operating system includes: a master control terminal; a communication device that can establish a signal communication link between an execution terminal and the master control terminal using a cable / wireless network; and an execution terminal, wherein the execution terminal is the execution terminal according to claims 1-13, and the execution terminal communicates with the master control terminal through the communication device.

[0081] The main control unit includes: a cylindrical operating lever; a linear motion module with a displacement sensor; and a rotary motion module with a rotary encoder.

[0082] The cylindrical operating lever simulates a gripper for holding interventional surgical instruments. Its surface is knurled or has grooved patterns. The first end is connected to the moving part of a linear motor, and the second end is connected to the rotating part of a DC motor via a splined shaft. The operating lever can move back and forth along the splined shaft. The distance the operating lever moves towards the linear motor defines the speed at which the actuator manipulates the interventional surgical instrument to move forward. The greater the distance, the higher the speed.

[0083] The linear motion module with a displacement sensor includes: a displacement sensor; a linear motor; the displacement sensor detects the direction and amplitude of movement of the operating rod, and the forward and backward movements are consistent with the forward and backward movements of the interventional surgical instruments manipulated by the actuator; the linear motor provides force feedback in the linear direction, and the moving part is connected to one end of the operating rod.

[0084] The rotary motion module with a rotary encoder includes: a rotary encoder; a DC motor; the rotary encoder measures the rotation angle and angular velocity of the operating lever, and the direction of the output angle is consistent with the rotation direction of the interventional surgical instrument manipulated by the actuator; the DC motor provides torque feedback in the direction of rotation, and the rotating part and the operating lever are connected via splines.

[0085] The main control unit also includes a main control unit control box, which is equipped with a scaler that proportionally amplifies or reduces the linear motion amplitude, linear motion speed, rotation angle, and rotation angular velocity of the interventional surgical instruments produced by the main control unit.

[0086] The main control box further includes a controller; the controller communicates with the linear motor, the displacement sensor, the DC motor, and the rotary encoder through the communication device and with the actuator. The controller uses the resistance obtained from the actuator to control the linear motor to provide axial feedback resistance for the axial movement of the operating lever. The controller uses the resistance torque obtained from the actuator to control the DC motor to provide rotational feedback resistance torque for the rotation of the operating lever. The controller controls the actuator according to the axial displacement direction, the axial displacement distance, and the rotation angle.

[0087] like Figures 2-13 As shown, the surgical execution end 1000 according to an embodiment of the present invention includes a plurality of first friction wheels 1011 and a plurality of second friction wheels 1012.

[0088] Multiple first friction wheels 1011 are arranged along a first horizontal direction (the vertical direction is shown by the arrows in the figure, and the horizontal direction is perpendicular to the vertical direction). Multiple second friction wheels 1012 are arranged along the first horizontal direction. The multiple first friction wheels 1011 and the multiple second friction wheels 1012 are respectively arranged opposite each other in a second horizontal direction and are suitable for jointly clamping interventional surgical instruments. Each of the multiple first friction wheels 1011 and the multiple second friction wheels 1012 is provided with a cylindrical helix 1013. The helix angle of the multiple cylindrical helixes 1013 is the same. The direction of rotation of the cylindrical helixes 1013 of two adjacent first friction wheels 1011 is opposite, the direction of rotation of the cylindrical helixes 1013 of two adjacent second friction wheels 1012 is opposite, and the direction of rotation of the cylindrical helixes of opposite first friction wheels 1011 and second friction wheels 1012 is opposite.

[0089] Specifically, interventional surgical instruments may include guidewires, catheters, balloons, thrombectomies, etc.

[0090] The first horizontal direction and the second horizontal direction do not coincide; preferably, the first horizontal direction and the second horizontal direction are perpendicular to each other.

[0091] Multiple first friction wheels 1011 are adapted to rotate at the same speed and in the same direction, and multiple second friction wheels 1012 are adapted to rotate at the same speed and in the same direction, with the rotation directions of the first friction wheels 1011 and the second friction wheels 1012 being opposite.

[0092] The rotation of the first friction wheel 1011 and the second friction wheel 1012 can cause the clamped interventional surgical instrument to move along its own axis, thereby realizing the delivery drive of the interventional surgical instrument.

[0093] The helix angle of the cylindrical helix 1013 can be adjusted according to actual needs while ensuring that the helix angle of the cylindrical helix 1013 of all friction wheels is the same, so as to achieve different kinematic characteristics.

[0094] Taking three friction wheels 1011 and 1012 as an example, and a guidewire as an interventional surgical instrument, the first friction wheel 1011 and the second friction wheel 1012 are grouped together. Multiple groups of friction wheels are divided into three groups along the first horizontal direction. Taking the first group of friction wheels as an example, let the guidewire's forward speed be u, its rotational angular velocity be ω, and its average radius be r. Then, the velocity at the contact point between the guidewire and the first friction wheel 1011 is represented by a vector (u, ωr), and the velocity at the contact point between the guidewire and the second friction wheel 1012 is represented by a vector (u, -ωr). The velocity of the guidewire contact point along the axial direction of the first friction wheel 1011 is ωr, and the velocity along the axial direction of the second friction wheel 1012 is -ωr; the two are in opposite directions. Figure 18As shown in Figure a, taking the first friction wheel 1011 as an example, let its helix angle be α. The velocity at the guide wire contact point can be projected onto the velocity u1 parallel to the helical direction of the cylindrical helix 1013 and the velocity v1 perpendicular to the helical direction. The specific numerical values ​​are as follows:

[0095] u1 = u × cosα + ωr × sinα;

[0096] v1 = -u × sinα + ωr × cosα.

[0097] like Figure 18 As shown in Figure b, the second friction wheel 1012, which is opposite to the first friction wheel 1011, has the same helical direction and helix angle α. The velocity at the guide wire contact point can also be decomposed by vector decomposition into a velocity u2 parallel to the helical direction and a velocity v2 perpendicular to the helical pattern direction. The magnitudes of u2 and v2 are the same as the magnitudes of u1 and v1. Therefore, for the same pair of friction wheels, the motion relationship between the friction wheels on both sides and the guide wire is the same, avoiding the phenomenon of one side being tightly fitted while the other side slips.

[0098] like Figure 18 As shown in Figure c, the second set of friction wheels rotates in the opposite direction to the first set of friction wheels, wherein:

[0099] u3=u×cosα-ωr×sinα;

[0100] v3=u×sinα+ωr×cosα.

[0101] The sizes of u4 and v4 are the same as those of u3 and v3. The cylindrical helix 1013 of the first and third friction wheels have the same direction of rotation, while the second friction wheel is opposite to both the first and third friction wheels. Therefore, regardless of the working state of the friction wheels, the resistance directions of adjacent friction wheels can be guaranteed to be opposite, which can prevent the guide wire from sliding up and down.

[0102] According to an embodiment of the present invention, the interventional surgical execution end 1000 is provided with a plurality of first friction wheels 1011 and a plurality of second friction wheels 1012. Each of the plurality of first friction wheels 1011 and the plurality of second friction wheels 1012 is provided with a cylindrical helix 1013. The helix angles of the plurality of cylindrical helixes 1013 are all the same. The rotation directions of the cylindrical helixes 1013 of two adjacent first friction wheels 1011 are opposite, and the rotation directions of the cylindrical helixes 1013 of two adjacent second friction wheels 1012 are opposite. The rotation directions of the cylindrical helixes of opposite first friction wheels 1011 and second friction wheels 1012 are also opposite. This design prevents relative slippage between the clamped interventional surgical instrument and the friction wheels. Compared with the execution end of the interventional surgical instrument operating system in related technologies, this design improves the driving effect and accuracy of the interventional surgical instrument. Moreover, for interventional surgical instrument operating systems with resistance feedback function, the resistance feedback can be more accurate, making the doctor's judgment of the movement state of the interventional surgical instrument more reliable and improving the reliability of the surgical process.

[0103] Therefore, the interventional surgical execution end 1000 according to the embodiment of the present invention can prevent the interventional device from slipping and has the advantages of good driving effect, high accuracy and high reliability.

[0104] The interventional surgery execution terminal 1000 according to a specific embodiment of the present invention is described below with reference to the accompanying drawings.

[0105] In some specific embodiments of the present invention, such as Figures 2-13 As shown, the surgical execution end 1000 according to an embodiment of the present invention includes a plurality of first friction wheels 1011 and a plurality of second friction wheels 1012.

[0106] In some embodiments, such as Figures 2-10As shown, the interventional surgery execution end 1000 also includes a first lifting seat 1021 and a second lifting seat 1022. Multiple first friction wheels 1011 are disposed on the first lifting seat 1021, which is movable. Multiple second friction wheels 1012 are disposed on the second lifting seat 1022, which is also movable. The rotary drive device is respectively connected to the first lifting seat 1021 and the second lifting seat 1022 and is adapted to drive the first lifting seat 1021 and the second lifting seat 1022 to move in opposite directions. In other words, the rotary drive device drives the first lifting seat 1021 to rise while simultaneously driving the second lifting seat 1022 to fall, and vice versa. In this way, the first lifting seat 1021 and the second lifting seat 1022 can be raised and lowered in opposite directions, causing the first friction wheel 1011 and the second friction wheel 1012 to rise and fall in opposite directions, thereby driving the interventional surgical instrument held by the first friction wheel 1011 and the second friction wheel 1012 to rotate circumferentially, thus realizing the rotational drive of the interventional surgical instrument.

[0107] In other words, the delivery of interventional surgical instruments can be achieved by rotating the first friction wheel 1011 and the second friction wheel 1012, and the rotation of interventional surgical instruments can be achieved by the axial reverse lifting of the first friction wheel 1011 and the second friction wheel 1012. This facilitates the simultaneous delivery and rotation of interventional surgical instruments, which is more in line with the doctor's operating habits and intuition. It makes it easier to reproduce the scenario of directly operating interventional surgical instruments, allowing doctors to apply their existing experience, avoid the need for a change in thinking mode, and facilitate the operation of doctors. Moreover, it makes it easier for interventional surgical instruments to perform more complex movements and improves the ability of interventional surgical instruments to enter complex blood vessels.

[0108] Specifically, the interventional surgery execution terminal 1000 also includes a first upper limit switch, a first lower limit switch, a second upper limit switch, and a second lower limit switch, all of which are electrically connected to the rotary drive device. The first upper limit switch is triggered when the first lifting seat 1021 rises to its upper limit position, and the first lower limit switch is triggered when the first lifting seat 1021 falls to its lower limit position. Similarly, the second upper limit switch is triggered when the second lifting seat 1022 rises to its upper limit position, and the second lower limit switch is triggered when the second lifting seat 1022 falls to its lower limit position, thereby timely controlling the rotary drive device to stop driving.

[0109] Thrust ball bearings may be provided between the first friction wheel 1011 and the first lifting seat 1021, and between the second friction wheel 1012 and the second lifting seat 1022, to reduce friction.

[0110] Specifically, such as Figure 10As shown, the rotary drive device includes a vertical motion drive motor 1031, a crank 1032, a first connecting rod 1033, and a second connecting rod 1034. The center of the crank 1032 is connected to the motor shaft of the vertical motion drive motor 1031. The two ends of the first connecting rod 1033 are pivotally connected to one end of the crank 1032 and the first lifting seat 1021, respectively. The two ends of the second connecting rod 1034 are pivotally connected to the other end of the crank 1032 and the second lifting seat 1022, respectively. Specifically, the vertical motion drive motor 1031 is a motor with a reduction gear mechanism to reduce the speed and increase the torque. The reduction gear mechanism can be a planetary gear reducer, a gear reducer, or a cycloidal pinwheel reducer, etc. When the up-and-down motion drive motor 1031 rotates, one end of the crank 1032 rises and the other end falls. The rising end drives one of the connected first link 1033 and second link 1034 to rise, and the falling end drives the other of the connected first link 1033 and second link 1034 to fall, thereby further driving one of the first lifting seat 1021 and second lifting seat 1022 to rise and the other of the first lifting seat 1021 and second lifting seat 1022 to fall, realizing the reverse lifting of the first lifting seat 1021 and the second lifting seat 1022.

[0111] Advantageously, such as Figure 3 As shown, the interventional surgical execution end 1000 also includes a radial limiting member 1040. The interventional surgical instrument is adapted to be axially movable and circumferentially rotatable within the radial limiting member 1040, which restricts the radial movement of the interventional surgical instrument. Specifically, the radial limiting member 1040 may include a groove and a cover plate, both of which have grooves. The interventional surgical instrument is adapted to fit into the groove. The cover plate is detachably mounted on the groove to facilitate the installation of the interventional surgical instrument. This prevents the interventional surgical instrument from radially moving under the drive of the first friction wheel 1011 and the second friction wheel 1012, especially under rotary drive, ensuring that the interventional surgical instrument can only perform axial movement and circumferential rotation, i.e., delivery movement and rotational movement, further improving the reliability of the interventional surgical instrument drive.

[0112] Specifically, the radial limiting member 1040 is detachable for easy replacement and can be used only once, thereby facilitating the cleaning and maintenance of the interventional surgical instrument operating system 1.

[0113] More specifically, such as Figures 2-12As shown, the interventional surgery execution end 1000 also includes a base 1050, a fixed seat 1061, a movable seat 1062, and a gap adjustment drive device 1070. The fixed seat 1061 is mounted on the base 1050, and multiple first friction wheels 1011 are mounted on the fixed seat 1061. The movable seat 1062 is movably mounted on the base 1050 along a second horizontal direction, and multiple second friction wheels 1012 are mounted on the movable seat 1062. The gap adjustment drive device 1070 is mounted on the base 1050 and is driveably connected to the movable seat 1062. Specifically, the gap adjustment drive device 1070 can be manually driven, such as a lead screw and slider structure, or electrically controlled, such as a cylinder, push rod motor, or gear and rack structure. The movable seat 1062 can be movably mounted on the base plate 1050 via a guide rail and slider structure. The positions and heights of the movable seat 1062 and the fixed seat 1061 can be adjusted according to the thickness of the guide rail slider to ensure that the first friction wheel 1011 and the second friction wheel 1012 are at the same height in the horizontal plane. This allows the gap between the fixed seat 1061 and the movable seat 1062 to be adjusted by the gap adjustment drive device 1070, thereby adjusting the gap between the first friction wheel 1011 and the second friction wheel 1012. For example, the gap between the first friction wheel 1011 and the second friction wheel 1012 can be increased first, and then the gap can be decreased after the interventional surgical instrument is inserted to facilitate the installation of the interventional surgical instrument. Adjusting the gap between the first friction wheel 1011 and the second friction wheel 1012 can also adapt to interventional surgical instruments of different sizes, improving the applicability of the interventional surgical execution end 1000.

[0114] Specifically, the first lifting seat 1021 is movably mounted on the fixed seat 1061, and the second lifting seat 1022 is movably mounted on the movable seat 1062. A plurality of first friction wheels 1011 are mounted on the first lifting seat 1021, and a plurality of second friction wheels 1012 are mounted on the second lifting seat 1022.

[0115] In some embodiments, such as Figure 5 and Figure 7As shown, the interventional surgery execution end 1000 also includes a first rotary drive device 1081 and a second rotary drive device 1082. The first rotary drive device 1081 is connected to a plurality of first friction wheels 1011, and is adapted to drive the plurality of first friction wheels 1011 to rotate at the same speed and in the same direction. The second rotary drive device 1082 is connected to a plurality of second friction wheels 1012, and is adapted to drive the plurality of second friction wheels 1012 to rotate at the same speed and in the same direction, with the rotation directions of the plurality of first friction wheels 1011 and the plurality of second friction wheels 1012 being opposite. This allows the first rotary drive device 1081 to drive the plurality of first friction wheels 1011, and the second rotary drive device 1082 to drive the plurality of second friction wheels 1012, facilitating the same speed and direction of rotation of the first friction wheels 1011 and the second friction wheels 1012, and facilitating the opposite rotation of the first friction wheels 1011 and the second friction wheels 1012.

[0116] Specifically, the first rotary drive device 1081 is mounted on the fixed base 1061, and the second rotary drive device 1082 is mounted on the movable base 1062.

[0117] The first friction wheel 1011 and the second friction wheel 1012 are detachably configured for easy replacement. Both the first friction wheel 1011 and the second friction wheel 1012 can be disposable to facilitate the cleaning and maintenance of the interventional surgical instrument operating system 1.

[0118] like Figure 13 As shown, each friction wheel is detachably mounted on the friction wheel base 1016 to facilitate the replacement of the friction wheel. Relative rotation between the friction wheel and the friction wheel base 1016 can be restricted by a cross-groove.

[0119] The friction wheel base 16 is axially movably mounted on the key shaft 1014 and rotates together with the key shaft 1014, so as to drive the friction wheel and allow the friction wheel to move up and down simultaneously. A driven gear 1015 can be connected to the key shaft 1014. Two adjacent driven gears 1015 can each mesh with a transmission gear, which meshes with the driving gear connected to the rotary drive device. The multiple driven gears 1015 and the transmission gear have the same module and number of teeth so that multiple friction wheels driven by a single rotary drive device rotate at the same speed and direction.

[0120] A baffle may be provided above the driven gear 1015 to prevent fluid from entering the transmission part during surgery and affecting the transmission effect.

[0121] In some embodiments, such as Figures 2-10 As shown, there can be three of each of the first friction wheel 1011 and the second friction wheel 1012 to simulate the operation of three fingers of a human hand.

[0122] In other embodiments, such as Figure 11 As shown, there can be two of each of the first friction wheel 1011 and the second friction wheel 1012, and the rotary drive device can be one and connected to multiple first friction wheels 1011 and multiple second friction wheels 1012.

[0123] The execution end according to an embodiment of the present invention is described in detail below. The execution end according to an embodiment of the present invention includes a catheter manipulation module 110 and / or a guidewire manipulation module 210.

[0124] The catheter operation module 110 includes the interventional surgery execution end 1000 according to the above embodiments of the present invention.

[0125] The guidewire operation module 210 includes the interventional surgery execution end 1000 according to the above embodiments of the present invention.

[0126] According to the embodiment of the present invention, by utilizing the interventional surgery execution end 1000 of the present invention, slippage of the interventional device can be prevented, and it has the advantages of good driving effect, high accuracy and high reliability.

[0127] Specifically, such as Figure 1 , Figure 15 and Figure 16 As shown, the execution end also includes a roller trolley 400 and a passively damped robotic arm 300. The roller trolley 400 includes a support 410, a support rod 420, and rollers 430. The support rod 420 is mounted on the support 410, and the rollers 430 are located on the lower surface of the support 410. Specifically, there are multiple rollers 430, each with a damping structure and a locking device, to ensure that the roller trolley 400 can be stopped on the ground and prevent it from moving arbitrarily. The passively damped robotic arm 300 is mounted on the support rod 420 and includes at least two arms 310. The catheter operation module 110 and the guidewire operation module 210 are respectively mounted on the two arms 310. This allows the execution end to be moved as a whole by moving the roller trolley 400. By operating the passively damped robotic arm 300, the specific positions of the catheter operation module 110 and the guidewire operation module 210 can be adjusted to find a suitable surgical location.

[0128] Specifically, the passively damped robotic arm 300 may include a connecting seat 320, a support tube 330, a connecting tube 340, and two support arms 310. Each support arm 310 may include an adapter 311, a first bend 312, a second bend 313, and a third bend 314. The connecting seat 320 is connected to the upper end of the support rod 420 of the roller trolley 400. The lower end of the support tube 330 is rotatably connected to the connecting seat 320 via a damping joint. The middle part of the connecting tube 340 is rotatably connected to the upper end of the support tube 330 via a damping joint. The two ends of the connecting tube 340 are respectively rotatably connected to the third bend tube 314 of the two support arms 310 via damping joints. The second bend tube 313 and the third bend tube 314 are rotatably connected via damping joints. The first bend tube 312 and the second bend tube 313 are rotatably connected via damping joints. The adapter seat 311 is rotatably connected to the first bend tube 312 via a damping joint. The two adapter seats 311 are respectively connected to the catheter operation module 110 and the guidewire operation module 210. This allows the passively damped robotic arm 300 to have multiple degrees of freedom and to be suspended via damping joints to facilitate adjustment of the position and orientation of the catheter operation module 110 and the guidewire operation module 210.

[0129] The actuator according to an embodiment of the present invention includes a catheter operation module 110, a guidewire operation module 210, and a balloon catheter operation module 220. The catheter operation module 110 is mounted on a catheter operation housing 100 and is adapted to operate the catheter. The guidewire operation module 210 and the balloon catheter operation module 220 are mounted on a guidewire-balloon operation housing 200 and are adapted to operate the guidewire and balloon catheter, respectively. The catheter operation housing 100 is connected to an adapter 311 of one of the support arms 310, and the guidewire-balloon operation housing 200 is connected to an adapter 311 of the other support arm 310.

[0130] The guidewire balloon operation box 200 is also equipped with a Y-type valve positioning device 230, and the Y-type valve 2 is suitable for installation on the Y-type valve positioning device 230. The Y-type valve positioning device 230 is equipped with an elastic claw 231, which can be provided with elastic force by a torsion spring. One side of the elastic claw 231 is provided with a clearance groove to avoid the branch pipe of the Y-type valve 2.

[0131] On the guidewire balloon operation box 200, the delivery direction of the balloon catheter operation module 220 is arranged at a certain angle to the delivery direction of the guidewire operation module 210, so as to facilitate the adaptation to the Y-type valve 2.

[0132] The catheter operation module 110, guidewire operation module 210, and balloon catheter operation module 220 can each adopt the same or different implementation methods as described in the interventional surgery execution end 1000.

[0133] In some embodiments, such as Figures 2-7As shown, the interventional surgery execution end 1000 of the catheter operation module 110 needs to perform rotation and delivery operations, so it needs to include multiple first friction wheels 1011, second friction wheels 1012, first lifting seat 1021, second lifting seat 1022, rotation drive device, base 1050, fixed seat 1061, moving seat 1062, gap adjustment drive device 1070, first rotation drive device 1081 and second rotation drive device 1082.

[0134] like Figures 8-10 As shown, the interventional surgery execution end 1000 of the guidewire operation module 210 also needs to perform rotation and delivery operations, and may also include multiple first friction wheels 1011, second friction wheels 1012, first lifting seat 1021, second lifting seat 1022, rotation drive device, base 1050, fixed seat 1061, moving seat 1062, gap adjustment drive device 1070, first rotation drive device 1081 and second rotation drive device 1082.

[0135] like Figure 11 and Figure 12 As shown, the interventional surgery execution end 1000 of the balloon catheter operation module 220 can only perform delivery operations and may include multiple first friction wheels 1011, second friction wheels 1012, base 1050, fixed seat 1061, movable seat 1062, and gap adjustment drive device 1070.

[0136] The balloon catheter operation module 220 may include a rotary drive device and is adapted to be driven by a plurality of first friction wheels 1011 and a plurality of second friction wheels 1012 via a gear set. Its movable seat 1062 may have a disengaged position and an engaged position. When the movable seat 1062 is in the disengaged position, the gears connected to the first friction wheels 1011 disengage from the gears connected to the second friction wheels 1012. When the movable seat 1062 is in the engaged position, the gears connected to the first friction wheels 1011 engage with the gears connected to the second friction wheels 1012 to achieve transmission. This allows the movable seat 1062 to be moved to the disengaged position during balloon catheter installation and then moved back to the engaged position after installation.

[0137] The gap adjustment drive device 1070 of the balloon catheter operation module 220 can be manually adjusted, such as by rotating a handle, a ball rocker, or a push-pull handle.

[0138] The interventional surgical instrument operating system 1 according to an embodiment of the present invention is described in detail below. The interventional surgical instrument operating system 1 according to an embodiment of the present invention includes a main control terminal 20, a communication device 30, and an execution terminal.

[0139] The execution terminal is the execution terminal according to the above embodiments of the present invention, and the execution terminal communicates with the main control terminal 20 through the communication device 30.

[0140] Specifically, the communication device 30 can be a wired communication device or a wireless communication device.

[0141] The interventional surgical instrument operating system 1 according to an embodiment of the present invention, by utilizing the execution end according to the above embodiment of the present invention, can realize the linear and rotational compound motion of the interventional surgical instrument, that is, the ideal state of push-twist motion, to prevent the interventional instrument from slipping, and has the advantages of simulating manual operation by doctors, high accuracy, and strong reliability.

[0142] Furthermore, doctors can operate the main control terminal 20 outside the operating room or even remotely, and remotely control the execution terminal to perform surgery on patients via the communication device 30. This method can protect doctors from X-ray radiation, safeguarding their health; at the same time, due to its remote control feature, doctors can also perform remote surgeries across regions, which is beneficial to improving the treatment level in remote areas and areas with poor medical conditions, and saves doctors' travel time.

[0143] The doctor operates the main control terminal 20, which reads and measures the doctor's actions and sends this data to the execution terminals via the communication device 30. The two execution terminals receive motion control information and, based on the control information flow, perform corresponding advance, retraction, and rotation operations of the interventional surgical instruments to complete the surgery.

[0144] Specifically, the actuator is adapted to detect the delivery resistance and rotational resistance experienced by the interventional surgical instrument. More specifically, the rotary drive device and the rotary drive device may have force feedback functionality, for example, a force feedback motor.

[0145] Advantageously, such as Figure 17 As shown, the main control terminal 20 includes an operating lever 21, a linear motor 22, a displacement detection device 23, a drive motor 24, an angle detection device, and a controller 26.

[0146] The operating lever 21 is axially movable and rotatable along its central axis. A linear motor 22 is connected to the operating lever 21. A displacement detection device 23 is adapted to detect the axial displacement direction and axial displacement distance of the operating lever 21. A drive motor 24 is connected to the operating lever 21 via a ball spline structure 25. The angle detection device is adapted to detect the rotation angle of the operating lever 21. The controller 26 is electrically connected to the linear motor 22, the displacement detection device 23, the drive motor 24, and the angle detection device, and is adapted to communicate with the actuator via a communication device 30.

[0147] The controller 26 is adapted to control the linear motor 22 to provide axial feedback resistance for the axial movement of the operating lever 21 according to the delivery resistance, the controller 26 is adapted to control the drive motor 24 to provide rotational feedback resistance for the rotation of the operating lever 21 according to the rotational resistance, and the controller 26 is adapted to control the actuator according to the axial displacement direction, the axial displacement distance and the rotation angle.

[0148] Specifically, the linear motor 22 can be a linear motor. The displacement detection device 23 can be a laser displacement sensor, ultrasonic displacement sensor, radar, grating ruler, etc. Here, we take a laser displacement sensor as an example. The angle detection device can be set on the drive motor 24. The main control terminal 20 also includes a hand support pad 27 suitable for supporting the doctor's hand.

[0149] The doctor can perform axial movement and rotation operations on the operating lever 21 simultaneously. The displacement detection device 23 and the angle detection device can read the rotation angle and the magnitude of the positive and negative displacement of the axial movement of the operating lever 21. Signals are sent to the actuator via the controller 26 and the communication device 30 to drive the interventional surgical instruments to perform the corresponding operations.

[0150] The delivery resistance and rotational resistance detected by the actuator are sent back to the controller 26 via the communication device 30. The controller 26 drives the linear motor 22 and the drive motor 24 to provide resistance in the corresponding directions, so as to simulate the resistance experienced by the interventional surgical instrument on the operating lever 21.

[0151] The ball spline structure 25 decouples the linear and rotary motions of the operating lever 21. A ball spline nut is fitted onto a ball spline shaft, which is connected to the operating lever 21. The ball spline nut is connected to the rotor portion of the drive motor 24. This ensures that the linear motion of the operating lever 21 does not affect the drive motor 24; only the rotary motion is transmitted to the drive motor 24.

[0152] The controller 26 may have a display interface that shows the operating status and parameters of the interventional surgical instrument operating system 1. The display interface may include a function switching device and a proportional adjustment device. The function switching device is suitable for switching the operating modules controlled by the main control terminal 20 between the catheter operation module 110, the guidewire operation module 210, and the balloon catheter operation module 220. The proportional adjustment device can adjust the ratio between the movement amplitude of the operating lever 21 and the movement amplitude of the interventional surgical instrument driven by the actuator.

[0153] The following is for reference. Figures 1-17The operation process of the interventional surgical instrument operating system 1 according to an embodiment of the present invention is described. The execution end is placed in the operating room and communicates with the main control end 20 via a communication device 30. The doctor installs the catheter on the catheter operation box 100 and installs the guidewire, angiography catheter, and balloon catheter into the corresponding positions of the guidewire and balloon operation box 200, respectively. The doctor operates the operating lever 21 of the main control end 20, and the operation of the doctor's hand is recorded and read by the main control end 20. The operation data is decomposed into the displacement of forward and backward delivery and the rotation angle of the twisting motion, and transmitted to the catheter operation module 110, guidewire operation module 210, and balloon catheter operation module 220 of the execution end via the communication device 30. The controller 26 has a function switching device, which can be used to determine the interventional surgical execution end 1000 controlled by the main control end 20. The doctor can control the displacement speed and direction of the interventional surgical instrument at the execution end by moving the lever 21 back and forth; the doctor can control the rotation angle and direction of the interventional surgical instrument at the execution end by twisting the lever 21. These two operations can be performed synchronously and in real time, enabling the doctor to operate remotely outside the operating room.

[0154] While the doctor controls the movement of the interventional surgical instrument at the execution end, the resistance and torque experienced by the instrument at the execution end are recorded by the drive device and transmitted to the main control unit 20 via the communication device 30. This resistance and torque data is fed back through the linear motor 22 and drive motor 24 of the main control unit 20. The resistance to the feed motion is achieved through the linear motor 22, and the resistance torque to the rotational motion is achieved through the drive motor 24. Therefore, during actual operation, the doctor controls the movement of the controlled interventional surgical instrument at the execution end while holding the operating lever 21, and the force state of the instrument is also fed back to the doctor through the main control unit 20. Furthermore, the doctor's forward and backward delivery and twisting operations can be completed simultaneously with a single operating lever 21, eliminating the need for two separate handles, thus achieving an intuitive operating experience and lowering the barrier to entry for doctors.

[0155] When a pair of friction wheels arranged opposite each other move up and down relative to rotate an interventional surgical instrument, it may cause the interventional surgical instrument to move up and down. To avoid this situation, Figure 19 An interventional surgical instrument placement guide device 1040, according to an embodiment of the present invention, is provided to prevent radial vertical movement of interventional surgical instruments. In the figure, 1042 and 1043 are interventional surgical instrument passage holes formed by the grooves in the middle of the upper and lower cover plate structures.

[0156] The guiding device is divided into multiple modules, each module including a top cover and a base 1042. The bases of the modules are connected to each other to form a whole. There is a groove in the middle of the base and the top cover, and holes 1043 are formed in pairs. Interventional surgical instruments pass through the middle. The width of the groove is smaller than the diameter of the interventional surgical instrument placed on it, and the depth of the groove is smaller than the radius of the interventional surgical instrument placed on it. 1041 is the top cover plate, which is inserted into the base structure 1042 connecting multiple modules from the outside. 1044 is the cover plate of the middle structure, which is directly inserted into the base structure 1042 in the vertical direction.

[0157] Figure 19 One embodiment includes three modules; the first module is installed between two friction wheels arranged side by side along a first horizontal direction, the base and the top cover form a three-dimensional structure, and the top cover connects a plurality of upright structures located between friction wheels arranged adjacent to each other along the first horizontal direction along a second horizontal direction; the second and third module structures are respectively installed on both sides of the plurality of friction wheels arranged side by side along the first horizontal direction and along the second horizontal direction.

[0158] For complex vascular networks, it is often necessary to reduce the forward speed and rotational angular velocity of interventional surgical instruments. This is achieved by proportionally reducing the amplitude of linear motion and rotational angle generated by the master control unit, thus enabling more precise operation. Therefore, a scaler is installed on the master control unit's control box to amplify or reduce the linear motion amplitude, linear motion speed, rotational angle, and rotational angular velocity generated by the master control unit to manipulate the interventional surgical instruments. One implementation uses two knobs to define the linear motion scaling ratio and the rotational motion scaling ratio respectively, with one scaling ratio defined as ten scales from 1x to 0.1x.

[0159] Other configurations and operations of the interventional surgical instrument operating system 1 according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0160] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0161] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An execution end of an interventional procedure instrument operating system, characterized in that include: Multiple friction wheels clamp and transport interventional surgical instruments. The outer surface of the friction wheels is decorated with multiple cylindrical spiral lines with acute helix angles. The lines are stepped, forming an uneven spiral pattern on the surface of the friction wheels.

2. The execution end of an interventional procedure instrument operation system according to claim 1, characterized in that, The plurality of friction wheels include: A plurality of first friction wheels are arranged along a first horizontal direction; Multiple second friction wheels are arranged along a first horizontal direction, and multiple first friction wheels are arranged opposite to multiple second friction wheels in a second horizontal direction perpendicular to the first horizontal direction, together clamping the interventional surgical instrument. The cylindrical helixes on the outer surfaces of all first friction wheels have opposite directions of rotation to the cylindrical helixes on the outer surfaces of all second friction wheels.

3. The execution end of an interventional procedure instrument operation system according to claim 1, characterized in that, It also includes a rotating spline shaft, on which a friction wheel is mounted. Correspondingly, the friction wheel has a gear shape inside, and the friction wheel can move up and down along the rotating spline shaft while rotating.

4. The execution end of an interventional procedure instrument operation system according to claim 2, characterized in that, Also includes: Fixed base; Portable seat; Adjustable seat; An actuator housing base plate, a fixed seat fixed to the inner surface of the actuator housing base plate, a movable seat mounted on a linear motion slide rail, and the lower part of the linear motion slide rail fixed to the inner surface of the actuator housing base plate; the lifting seat includes: A first lifting seat, on which a plurality of the plurality of first friction wheels are disposed, the first lifting seat is movable up and down, driving the plurality of first friction wheels to move up and down along the plurality of splined rotating shafts respectively, the first lifting seat is mounted on a fixed seat, and the plurality of splined rotating shafts are mounted on the fixed seat; The second lifting seat has multiple second friction wheels mounted on it. The second lifting seat is movable, driving the multiple second friction wheels to move up and down along the multiple splined rotating shafts. The second lifting seat is mounted on the movable seat, and the multiple splined rotating shafts are mounted on the movable seat. The up and down movement directions of the multiple first friction wheels are opposite to the up and down movement directions of the multiple second friction wheels, forming an alternating up and down movement. This movement is then combined with the synchronous rotation of the friction wheels to form a combined rotational and linear motion of the interventional surgical instrument.

5. The execution end of an interventional procedure instrument operation system according to claim 2, characterized in that, Includes a friction wheel rotation drive device, which includes: A first rotary drive device, comprising a motor and a gear transmission device, is respectively connected to a plurality of first friction wheels, and the first rotary drive device drives the plurality of first friction wheels to rotate at the same speed and in the same direction. The second rotary drive device includes a motor and a gear transmission device, which are respectively connected to the plurality of second friction wheels. The second rotary drive device drives the plurality of second friction wheels to rotate at the same speed and in the same direction, and the rotation direction of the plurality of first friction wheels is opposite to that of the plurality of second friction wheels.

6. The execution end of the interventional surgical instrument operating system according to claim 4, characterized in that, The device includes a friction wheel up-and-down motion drive mechanism, which uses a pair of crank-connecting rod mechanisms to convert the rotational motion of the drive motor into the linear up-and-down motion of the lifting platform. The friction wheel up-and-down motion drive mechanism includes: A crank, the center of which is connected to the motor shaft of the up-and-down motion drive motor; The first connecting rod has its two ends pivotally connected to one end of the crank and the first lifting seat, respectively, driving the first lifting seat to move up and down. The second connecting rod has its two ends pivotally connected to the other end of the crank and the second lifting seat, respectively, driving the second lifting seat to move up and down.

7. The execution end of an interventional procedure instrument operation system according to claim 4, characterized in that, Includes a gap adjustment drive device, the gap adjustment drive device comprising: A linear motion push rod is arranged parallel to the linear motion slide rail. Its fixed part is fixed to the inner surface of the bottom plate of the actuator housing, and its extendable part is connected to the bottom of the movable seat. A displacement sensor records the distance between the movable seat and the fixed seat.

8. The execution end of an interventional procedure instrument operation system according to claim 4, characterized in that, Also includes: The limit switch system used to limit the up-and-down movement of the friction wheel can trigger the limit switch when the friction wheel moves up or down to the maximum stroke of the lifting seat, and the automatic reset actuator will automatically reset the wheel.

9. The execution end of an interventional procedure instrument operation system according to claim 7, characterized in that, The gap adjustment drive device has an automatic reset function. When the limit switch is triggered, the gap adjustment drive device drives the moving seat and the fixed seat to separate. The displacement sensor records the separation distance. The friction wheel up-and-down movement drive device moves the first lifting seat and the second lifting seat to the initial movement position. Then, the gap adjustment drive device moves the moving seat back to the position before separation according to the movement distance recorded by the displacement sensor, and clamps the interventional surgical instrument again.

10. The execution end of the interventional procedure instrument operating system of claim 1, characterized in that Also includes: An interventional surgical instrument placement guide device is divided into multiple modules. Each module includes a base and a top cover. The base of each module is structurally connected to form a whole. The base and the top cover have a groove in the middle, and two opposite holes are formed. The interventional surgical instrument passes through the middle. The width of the groove is smaller than the diameter of the interventional surgical instrument placed on it, and the depth of the groove is smaller than the radius of the interventional surgical instrument placed on it. The multiple modules include a first module, a second module, and a third module. The first module is installed between two friction wheels arranged side by side along a first horizontal direction. The base and the top cover form a three-dimensional structure. The top cover connects multiple upright structures located between friction wheels arranged adjacent to each other along the first horizontal direction along a second horizontal direction. The second and third modules are respectively installed on both sides of the multiple friction wheels arranged side by side along the first horizontal direction and the second horizontal direction. They are planar structures with a top cover outside the side-by-side friction wheels.

11. A method for measuring the resistance and resistance torque experienced by an interventional surgical instrument, characterized in that, include: The resistance and rotational resistance torque experienced by the interventional surgical instruments delivered by the actuator are detected. The method for measuring resistance involves placing the interventional surgical instrument between the first and second friction wheel sets and clamping it in place. Before the interventional surgical robot enters the patient's body, the input power of the up-and-down motion drive motor and the rotation drive motor is measured first, referred to as the initial input power value. Then, after the interventional surgical instrument enters the patient's body, the input power of the up-and-down motion drive motor and the rotation drive motor is measured again. The difference between the measured value and the initial input power value is taken as the resistance power consumed by the interventional surgical instrument. The resistance and resistance torque experienced by the interventional surgical instrument after entering the patient's body are obtained through a conversion formula; the conversion formula is obtained experimentally.

12. An execution terminal, characterized in that, include: A first interventional surgical instrument operation module, comprising an execution end of an interventional surgical instrument operating system according to any one of claims 1-10; And / or a second interventional surgical instrument operation module, wherein the second interventional surgical instrument operation module includes an execution end of the interventional surgical instrument operating system according to any one of claims 1-10; The third interventional surgery operation module and the second interventional surgery instrument operation module are mounted on the same base plate. They push interventional surgical instruments that do not require rotational ultrasound, including multiple third friction wheels arranged along the third horizontal direction and multiple fourth friction wheels arranged along the first horizontal direction. The rotation directions of the multiple third friction wheels and the multiple fourth friction wheels are opposite, and they are driven by the same drive motor through a gear set.

13. The execution terminal according to claim 12, characterized in that, Also includes: A roller trolley, comprising a support, a support rod, and rollers, wherein the support rod is disposed on the support and the rollers are disposed on the lower surface of the support; The joint angle is adjustable and lockable robotic arm, which is mounted on the support rod. The robotic arm includes at least two support arms, and the first interventional surgical instrument operation module and the second interventional surgical instrument operation module are respectively mounted on the two support arms.

14. An interventional surgical instrument operating system, characterized in that, include: Main control terminal; The communication device can establish signal communication between the execution end and the master end using cable / wireless network; The execution end is the execution end according to claims 1-13, and the execution end communicates with the main control end through the communication device.

15. The interventional surgical instrument operating system according to claim 14, characterized in that, The main control unit includes: Cylindrical operating lever; Linear motion module with displacement sensor; Rotary motion module with rotary encoder.

16. The interventional surgical instrument operating system according to claim 15, characterized in that: The cylindrical operating rod simulates a clamp for holding interventional surgical instruments. Its surface is knurled or has grooved patterns. The first end is connected to the moving part of a linear motor, and the second end is connected to the rotating part of a DC motor through a spline shaft. The operating rod can move back and forth along the spline shaft. The distance the control lever moves toward the linear motor defines the speed at which the surgical instrument is moved forward by the actuator; the greater the distance, the higher the speed.

17. The interventional surgical instrument operating system according to claim 15, characterized in that: The linear motion module with a displacement sensor includes: Displacement sensor; A linear motor; the displacement sensor detects the direction and amplitude of movement of the operating lever, and the forward and backward movements are consistent with the forward and backward movements of the interventional surgical instruments manipulated by the actuator; the linear motor provides force feedback in the linear direction, and the moving part is connected to one end of the operating lever.

18. The interventional surgical instrument operating system according to claim 17, characterized in that: The rotary motion module with a rotary encoder includes: Rotary encoder; A DC motor; the rotary encoder measures the rotation angle and angular velocity of the operating lever, and the direction of the output angle is consistent with the rotation direction of the interventional surgical instrument manipulated by the actuator; the DC motor provides torque feedback in the rotation direction, and the rotating part and the operating lever are connected via splines.

19. The interventional surgical instrument operating system according to claim 18, characterized in that, The main control unit also includes: The main control box is equipped with a scaler that amplifies or reduces the linear motion amplitude, linear motion speed, rotation angle, and rotation angular velocity of the interventional surgical instruments produced by the main control end.

20. The interventional surgical instrument operating system according to claim 19, characterized in that, The main control box also includes: Controller; The controller communicates with the linear motor, the displacement sensor, the DC motor, and the rotary encoder via the communication device and with the actuator. The controller uses the resistance obtained from the actuator to control the linear motor to provide axial feedback resistance for the axial movement of the operating lever. The controller uses the resistance torque obtained from the actuator to control the DC motor to provide rotational feedback resistance torque for the rotation of the operating lever. The controller controls the actuator based on the axial displacement direction, the axial displacement distance, and the rotation angle.

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