Vascular intervention robot slave end auxiliary subsystem for cardiac ablation operation

Abstract

The utility model discloses a slave-end auxiliary subsystem of a vascular intervention robot for a cardiac ablation operation. The slave-end auxiliary subsystem comprises a control unit I for adjusting the rotation angle of a grab handle; the sliding table assembly I is used for adjusting the extending position of the guide pipe; the control unit II is arranged at the front end of the control unit I and is used for leading out the side catheter through a clamping grab handle so as to adjust the curvature of the tip end of the catheter; the supporting piece is arranged on the base and used for supporting the grab handle leading-out guide pipe in space; wherein the control unit I is provided with a force sensor for detecting the stress of the catheter in real time. The utility model provides a vascular intervention robot slave end auxiliary subsystem for a cardiac ablation operation, which can detect the stress of a catheter in real time through a force sensor in the ablation operation treatment process, control the tip of the catheter to automatically follow the cardiac pulsation to perform corresponding actions, and realize the accurate following of the movement of the heart wall.

Description

Technical Field

[0001] The utility model relates to the field of cardiac radiofrequency ablation equipment, and more specifically, to a vascular intervention robot slave-end auxiliary subsystem for cardiac ablation surgery. Background Art

[0002] Cardiac radiofrequency ablation (catheterradiofrequency ablation) is an interventional technology that inserts an electrode catheter into a specific part of the heart cavity through a vein or artery, releases radiofrequency current to cause local endocardial and subendocardial myocardial coagulative necrosis, and blocks the abnormal conduction bundle and origin point of rapid arrhythmia.

[0003] In the prior art, the main problem is that although the existing products have integrated a force feedback system, that is, a force sensor is added to the terminal drive structure to generate a "sense of touch" on the doctor's end, there is a lack of structure to support, guide, and position the catheter during catheter intervention, such as a cardiac radiofrequency ablation catheter contact force control device with patent application number 202210431033.6. This makes it impossible to transmit the force applied to the catheter by the control unit during catheter intervention well, so that the control effect during catheter intervention is also affected simultaneously, increasing the difficulty and time of intervention. Therefore, in the actual implementation process, manpower is usually required to adjust the catheter. Utility Model Content

[0004] An object of the present invention is to solve the above-mentioned problems and / or disadvantages and to provide advantages which will be described below.

[0005] In order to achieve these purposes and other advantages of the utility model, a vascular intervention robot slave-end auxiliary subsystem for cardiac ablation surgery is provided, including a control unit I for spatially supporting the catheter handle portion and adjusting the rotation angle of the handle; a slide assembly I arranged on a base and cooperating with the bottom of the control unit I to adjust the catheter extension position; a control unit II arranged at the front end of the control unit I and adjusting the curvature of the catheter tip by clamping the handle to lead out the side catheter; and also including: a support member arranged on the base to spatially support the handle to lead out the catheter;

[0006] Wherein, the control unit I is provided with a force sensor for real-time detection of the force applied to the catheter;

[0007] The support member comprises: a mounting plate arranged in front of the slide assembly I, and a telescopic sleeve arranged on the mounting plate for guiding, limiting and supporting the catheter in space.

[0008] Preferably, the control unit I comprises:

[0009] A lower shell body that spatially supports the handle has connecting shafts on both sides thereof through which the handle can pass;

[0010] A clamping unit I and a clamping unit II are arranged in the lower housing through a slide assembly II and fix the handle;

[0011] The fixing parts I and II are arranged opposite to each other in space and matched with the upper slide I of the slide assembly I, and a bearing for the connecting shaft to pass through is arranged on the upper part of each fixing part;

[0012] A power mechanism I disposed on one side of the fixing member I;

[0013] Wherein, a gear is arranged on the connecting shaft adjacent to the power mechanism I, and the power output end of the power mechanism I is spatially meshed with the gear;

[0014] The force sensor is arranged on the clamping unit II which is far away from the power mechanism I.

[0015] Preferably, the control unit II is configured to include:

[0016] A slide assembly III disposed on the fixing member II;

[0017] A clamping unit III is arranged on the slide II of the slide assembly III and is used to cooperate with the fixing ring on the catheter;

[0018] Wherein, the clamping jaws of the clamping unit III are provided with limiting grooves matching with the fixing ring.

[0019] Preferably, the slide assembly III is configured to include:

[0020] A U-shaped base with a slide rail disposed thereon;

[0021] The power output end of the servo motor arranged on one side of the base passes through the U-shaped base and is transmission-connected to the slide table II on the slide rail;

[0022] Wherein, a bearing matching with the power output end of the steering gear is arranged on the U-shaped base.

[0023] Preferably, a mounting groove matching with the clamping unit I and the clamping unit II is provided in the lower shell.

[0024] Preferably, the clamping unit I, the clamping unit II, and the clamping unit III are all configured to include:

[0025] The mounting frame comprises a mounting plate and partitions I and II arranged thereon;

[0026] A power mechanism II is arranged on one side of the partition I;

[0027] The clamping jaws I and II are arranged between the partition plates I and II and are arranged opposite to each other;

[0028] Wherein, each clamping jaw comprises: a clamping end and an engaging end which are arc-shaped in space;

[0029] The meshing end of the clamping jaw I is configured to be transmission-connected with the power output end of the power mechanism II, and the meshing end of the clamping jaw II is rotatably arranged on the partition I or the partition II, and the meshing ends of the clamping jaw I and the clamping jaw II cooperate with each other in space.

[0030] The present invention includes at least the following beneficial effects: First, the slave-end control subsystem of the present invention can detect the force on the catheter in real time through the force sensor during the ablation surgery, and control the catheter tip to automatically follow the heart beat to perform corresponding actions, thereby achieving accurate tracking of the movement of the heart wall.

[0031] Secondly, compared with the prior art, the utility model provides a support member, so that during the intervention process of the catheter, the telescopic sleeve can be stretched to spatially support, guide and position the catheter of the flexible structure, so that the intervention process is smoother. When the catheter is used in the later stage, the telescopic sleeve can be retracted as needed so that it will not interfere with and affect the operation of the catheter by the clamping unit III, and has better stability.

[0032] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the structure of a slave control subsystem in another embodiment of the utility model;

[0034] Figure 2 for Figure 1 Schematic diagram of the structure without the upper shell;

[0035] Figure 3 for Figure 2 A partial enlarged schematic diagram of

[0036] Figure 4 for Figure 2 A partial enlarged schematic diagram from another viewing angle;

[0037] Figure 5 This is a schematic diagram of the structure of the lower shell of the utility model;

[0038] Figure 6 It is a structural schematic diagram of the clamping unit III of the utility model;

[0039] Figure 7 for Figure 6 Schematic diagram of the structure of the middle clamping jaw;

[0040] Figure 8 for Figure 6 Schematic diagram of the structure of the middle clamping jaw cooperation. DETAILED DESCRIPTION

[0041] The present invention will be further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0042] It should be understood that terms such as “having”, “including” and “comprising” used herein do not specify the existence or addition of one or more other elements or combinations thereof.

[0043] It should be noted that in the description of the present invention, the orientation or position relationship indicated by the term is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0044] In the description of the present utility model, unless otherwise clearly stipulated and limited, the terms "installed", "provided with", "sleeved / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be a direct connection or an indirect connection through an intermediate medium. It can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the utility model can be understood according to specific circumstances.

[0045] In addition, in the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0046] Example 1

[0047] A vascular intervention robot slave auxiliary subsystem for cardiac ablation surgery, the structure of which is as follows Figure 1-2 As shown, including:

[0048] A control unit I for spatially supporting the catheter handle portion and adjusting the rotation angle of the handle;

[0049] A slide assembly I8 disposed on the base 26 and cooperating with the bottom of the control unit I to adjust the extension position of the catheter;

[0050] A control unit II is arranged at the front end of the control unit I and leads out the side catheter by clamping the handle to adjust the curvature of the catheter tip;

[0051] A support member is provided on the base 26 to support the handle leading-out conduit in space. In actual application, the support member includes a mounting plate 25 provided at the front end of the slide Ⅰ9, which is used to provide auxiliary support to the conduit 10 in space, and a telescopic sleeve 23 is provided on the mounting plate 25 to guide, limit and support the conduit 10 in space;

[0052] Wherein, the control unit I is provided with a force sensor 2 for detecting the force applied to the catheter in real time.

[0053] Working principle: In practical applications, the slave control subsystem of this solution can detect the force on the catheter in real time through the force sensor 2 during the ablation surgery, and control the tip of the catheter to automatically follow the heart beat to perform corresponding actions, thereby achieving accurate tracking of the movement of the heart wall;

[0054] It should be further explained that the present solution provides a support member, which, compared with the prior art, can support, guide and position the flexible structure catheter 10 in space by lengthening the telescopic sleeve 23 during the intervention process of the catheter 10, so as to make the intervention process smoother. When the catheter 10 is used in the later stage, the telescopic sleeve 23 can be retracted as needed so that it will not interfere with and affect the operation of the catheter by the clamping unit III 14, and has better stability.

[0055] Example 2

[0056] This embodiment 2 is a preferred embodiment of the present invention, and its specific structure is as follows Figure 1-Figure 5 As shown, the following improvements are disclosed based on Implementation 1:

[0057] The control unit I comprises:

[0058] The lower shell 1 spatially supports the handle, and is provided with connecting shafts 3 on both sides thereof for the handle to pass through. The lower shell 1 is provided with mounting grooves 24 matched with the clamping unit I 17 and the clamping unit II 18, so that the structural parts are closely matched and the structure is compact.

[0059] A clamping unit I17 and a clamping unit II18 are arranged in the lower housing 1 through a slide assembly II and fix the handle;

[0060] The fixing parts I and II are arranged opposite to each other in space and matched with the slide I on the slide assembly I8, and a bearing is arranged on the top of each fixing part for the connecting shaft 3 to pass through;

[0061] A power mechanism I disposed on one side of the fixing member I;

[0062] Among them, a gear 4 is arranged on the connecting shaft 3 adjacent to the power mechanism I, and the power output end of the power mechanism I is spatially meshed with the gear 4;

[0063] The force sensor 2 is arranged on the clamping unit II which is far away from the power mechanism I.

[0064] Working principle: In actual application, the power mechanism I adopts a stepper motor 5, and the gear 4 is connected to the power output shaft of the stepper motor 5 arranged on one side, so as to control the rotation of the lower housing 1 through the power output of the stepper motor 5, and the handle 11 of the catheter 10 is inserted into the connecting shaft 3;

[0065] The connecting shafts 3 at both ends of the lower housing 1 are mounted on a T-shaped support bearing seat 6, and a bearing for the connecting shaft 3 to pass through is provided on the T-shaped support bearing seat 6. Furthermore, the T-shaped support bearing seat 6 is connected to the slide Ⅰ9 on the slide assembly Ⅰ8 through a matching connecting piece 7, so that when the slide Ⅰ9 changes position, the position of the lower housing 1 is driven to change, thereby completing the feeding and withdrawal operation of the catheter 10;

[0066] The interior of the lower housing 1 is provided with a slide assembly II corresponding to the clamping claws on the fixed clamping unit I 17 and the clamping unit II 18, and the clamping claw II close to the clamping unit III 14 is connected to the force sensor 2, and the clamping claws I 19 and II 20 on the fixed clamping unit I 17 and the clamping unit II 18 are provided with an anti-slip layer 21 at the position matching with the handle 11;

[0067] The upper shell 22 is fixedly connected to the lower shell 1 after the handle 11 is installed;

[0068] The lower shell 1 and the upper shell and the matching parts are integrally fixed and supported on the slide Ⅰ9 of the slide assembly Ⅰ8 through the fixing parts 7.

[0069] Example 3

[0070] This embodiment 3 is a preferred embodiment of the present utility model, and the specific structure is as follows Figure 1-Figure 5 As shown, the following improvements are disclosed based on Implementation 1:

[0071] The control unit II is configured to include:

[0072] A slide assembly III 12 disposed on the fixing member II;

[0073] A clamping unit III14 disposed on the slide II29 of the slide assembly III12 and used to cooperate with the fixing ring on the catheter;

[0074] Wherein, the clamping jaws of the clamping unit III are provided with limiting grooves matching with the fixing ring;

[0075] The slide assembly III 12 is configured to include:

[0076] A U-shaped base 27 on which a slide rail 28 is disposed;

[0077] The steering gear 23 is arranged on one side of the base 27, and its power output end passes through the U-shaped base and is transmission-connected to the slide table II 29 on the slide rail 28;

[0078] The U-shaped base 27 is provided with a bearing (not shown) matched with the power output end of the steering gear 13 .

[0079] Working principle: A small slide assembly III12 is installed outside the front end bearing of the T-shaped support bearing seat 6, and a clamping unit III14 driven by a steering gear 13 is provided on the slide assembly III12, so that the clamping unit III14 clamps the fixing ring 15 on the catheter 10, and the slide assembly III12 drives the clamping unit III14 to change its position in space, so as to control the bending degree of the tip of the catheter 10, and the clamping claw III24 of the clamping unit III14 is provided with a limiting groove 16 that matches the fixing ring 15;

[0080] Example 4

[0081] This embodiment 4 is a preferred embodiment of the present utility model, and its specific structure is as follows Figure 1-Figure 2 , Figure 6-Figure 8 As shown, the following improvements are disclosed based on Implementation 1:

[0082] The clamping unit I 17, the clamping unit II 18, and the clamping unit III 14 are all configured to include:

[0083] The mounting frame includes a mounting plate 30 and a partition plate I 31 and a partition plate II 32 arranged thereon;

[0084] A power mechanism II 33 disposed on one side of the partition I 31;

[0085] The clamping jaws are arranged between the partition I 31 and the partition II 32 and are arranged opposite to each other;

[0086] Each of the clamping jaws comprises: a clamping end 34 and an engaging end 35 which are arc-shaped in space;

[0087] The meshing end of one of the jaws is configured to be transmission-connected to the power output end of the power mechanism II 33, and the meshing end of the other jaw is rotatably disposed on the partition I 31 or the partition II 32, and the meshing ends of the jaws cooperate with each other in space.

[0088] This solution designs the structure of the clamping unit so that its space occupancy rate is small, the volume of the equipment is controllable, and the stability of the structural coordination is better. At the same time, it can ensure that the stability of the equipment clamping meets the use requirements, and the cost controllability is also better. When in use, the force is transmitted to the meshing end of one of the jaws through the power output end of the power mechanism II33, and the coordination of the meshing ends of the two jaws causes the other jaw to rotate as well, completing the spatial position change of the two jaws and completing the clamping and releasing operations.

[0089] The above solutions are only an illustration of a preferred example, but are not limited thereto. When implementing the present utility model, appropriate replacement and / or modification can be performed according to user needs.

[0090] The number of devices and processing scales described here are used to simplify the description of the utility model. Applications, modifications and variations of the utility model are obvious to those skilled in the art.

[0091] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily realized. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described here.

Claims

1. A vascular intervention robot slave auxiliary subsystem for cardiac ablation surgery, comprising a control unit I for spatially supporting a catheter handle portion and adjusting the handle rotation angle; a slide assembly I arranged on a base and cooperating with the bottom of the control unit I to adjust the catheter extension position; The control unit II is arranged at the front end of the control unit I and leads out the side catheter through the clamping handle to adjust the curvature of the catheter tip; it is characterized by: Also includes: A support member is arranged on the base and spatially supports the handle lead-out conduit; Wherein, the control unit I is provided with a force sensor for real-time detection of the force applied to the catheter; The support member comprises: a mounting plate arranged in front of the slide assembly I, and a telescopic sleeve arranged on the mounting plate for guiding, limiting and supporting the catheter in space.

2. The vascular intervention robot slave auxiliary subsystem for cardiac ablation surgery according to claim 1, characterized in that: The control unit I comprises: A lower shell body that spatially supports the handle has connecting shafts on both sides thereof through which the handle can pass; A clamping unit I and a clamping unit II are arranged in the lower housing through a slide assembly II and fix the handle; The fixing parts I and II are arranged opposite to each other in space and matched with the upper slide I of the slide assembly I, and a bearing for the connecting shaft to pass through is arranged on the upper part of each fixing part; A power mechanism I disposed on one side of the fixing member I; Wherein, a gear is arranged on the connecting shaft adjacent to the power mechanism I, and the power output end of the power mechanism I is spatially meshed with the gear; The force sensor is arranged on the clamping unit II which is far away from the power mechanism I.

3. The vascular intervention robot slave auxiliary subsystem for cardiac ablation surgery according to claim 2, characterized in that: The control unit II is configured to include: A slide assembly III disposed on the fixing member II; A clamping unit III is arranged on the slide II of the slide assembly III and is used to cooperate with the fixing ring on the catheter; Wherein, the clamping jaws of the clamping unit III are provided with limiting grooves matching with the fixing ring.

4. The vascular intervention robot slave auxiliary subsystem for cardiac ablation surgery according to claim 3, characterized in that: The slide assembly III is configured to include: A U-shaped base with a slide rail disposed thereon; The power output end of the servo motor arranged on one side of the base passes through the U-shaped base and is transmission-connected to the slide table II on the slide rail; Wherein, a bearing matching with the power output end of the steering gear is arranged on the U-shaped base.

5. The vascular intervention robot slave auxiliary subsystem for cardiac ablation surgery according to claim 2, characterized in that: The lower shell body is provided with a mounting groove matched with the clamping unit I and the clamping unit II.

6. The vascular intervention robot slave auxiliary subsystem for cardiac ablation surgery according to claim 3, characterized in that: The clamping unit I, the clamping unit II, and the clamping unit III are all configured to include: The mounting frame comprises a mounting plate and partitions I and II arranged thereon; A power mechanism II is arranged on one side of the partition I; The clamping jaws I and II are arranged between the partition plates I and II and are arranged opposite to each other; Wherein, each clamping jaw comprises: a clamping end and an engaging end which are arc-shaped in space; The meshing end of the clamping jaw I is configured to be transmission-connected with the power output end of the power mechanism II, and the meshing end of the clamping jaw II is rotatably arranged on the partition I or the partition II, and the meshing ends of the clamping jaw I and the clamping jaw II cooperate with each other in space.

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