Novel interventional robot equipment

Abstract

The utility model discloses novel interventional robot equipment, and belongs to the technical field of medical instruments. Comprising a base, a plurality of control arms, an adjusting platform and a positioning assembly, one ends of the control arms are distributed and connected to the base at equal angles, the other ends of the control arms are connected to the adjusting platform through execution elements, the control arms are driven by a driving mechanism, and the driving mechanism is integrally arranged in the base; the positioning assembly comprises a first guiding element and a second guiding element, the first guiding element is installed on the outer side of the adjusting platform, the second guiding element is installed on the outer side of the base, a first ball head is rotatably installed on the first guiding element, a second ball head is rotatably installed on the second guiding element, and through holes are formed in the first ball head and the second ball head; an interventional tool passes through the two sets of through-holes and extends to an occlusion target. The movement range of the ball head is enlarged, and the requirement for multi-degree-of-freedom adjustment of the intervention tool is met.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, and in particular to a novel interventional robot device. Background Art

[0002] Interventional robotic equipment is a high-precision intelligent device used to assist medical interventional surgery, helping doctors achieve more precise operations in minimally invasive surgery. It optimizes the accuracy and efficiency of complex operations through robotic arms, image navigation systems, and automation technology, and is widely used in interventional treatments in the fields of cardiovascular, neurological, and tumors.

[0003] The existing interventional tool adjustment mechanism is shown in the adjustment mechanism in the control system and method for operating a robot in Chinese application No. CN202010759433.0, which includes a base, multiple groups of arms and a platform. The two ends of the arms are connected to the base and the platform respectively. A ball joint is provided at the center of the platform. The ball joint is detachably fixed to the platform through multiple outwardly extending support structures. The interventional tool slides along the hole on the ball joint to insert the interventional tool into the patient's body.

[0004] The existing technology has the following defects: in actual use, interventional surgery often needs to be performed in a relatively small space, and the angle and range of movement of the ball joint are limited by the supporting structure. The insufficient range of movement of the ball joint makes it impossible for the interventional tool to achieve multi-degree-of-freedom adjustment. Interventional surgery is difficult to adjust to a specific angle during the operation, which leads to poor flexibility and accuracy of the surgical operation. Therefore, there is room for improvement. Utility Model Content

[0005] In order to solve the above-mentioned technical problems, the utility model provides a new interventional robot device to solve the technical problem that the activity angle and range of the ball joint are limited by the position of the base and the platform, and the activity range of the ball joint is insufficient to meet the multi-degree-of-freedom adjustment of the interventional tool.

[0006] The utility model is realized by the following technical solutions:

[0007] A new type of interventional robotic device includes a base, multiple groups of manipulator arms, an adjustment platform and a positioning assembly, one end of each group of manipulator arms is connected to the base at an equal angle, the other end of the manipulator arm is connected to the adjustment platform through an actuator, the manipulator arm is driven by a driving mechanism, and the driving mechanism is integrated in the base, the positioning assembly includes a first guide element and a second guide element, the first guide element is installed on the outside of the adjustment platform, the second guide element is installed on the outside of the base, a first ball head is rotatably installed on the first guide element, and a second ball head is rotatably installed on the second guide element, the first ball head and the second ball head are both provided with through holes, and the interventional tool passes through the two groups of through holes and extends to the occlusion target.

[0008] Preferably, the first guide element is arranged in a straight line on the adjustment platform, the second guide element includes a first adjustment shaft and a second adjustment shaft, the first adjustment shaft is arranged on the base, one end of the second adjustment shaft is hinged to the first adjustment shaft, and the second ball head is rotatably installed on the other end of the second adjustment shaft.

[0009] Preferably, the first adjustment shaft and the second adjustment shaft are both configured as telescopic structures, the second adjustment shaft is disposed at the telescopic end of the first adjustment shaft, and the second ball head is rotatably mounted on the telescopic end of the second adjustment shaft.

[0010] Preferably, a first sliding groove is provided on the base, and one end of the first adjusting shaft can slide along the first sliding groove.

[0011] Preferably, a second sliding groove is provided on the adjustment platform, and the first guide element can slide along the second sliding groove.

[0012] Preferably, the first guide element is configured as a telescopic structure, and the first ball head is rotatably mounted on the telescopic end of the first guide element.

[0013] Preferably, an elastic support frame is further arranged between the base and the adjustment platform, and the elastic support frames are provided in multiple groups and distributed in a circular array.

[0014] Preferably, the base is provided with arc-shaped mounting grooves, and the mounting grooves are provided in two groups.

[0015] The beneficial effects of the utility model are:

[0016] By embedding the drive mechanism inside the base, the appearance of the device is made more compact, allowing operators to operate flexibly in a narrower environment, thereby improving the mobility and ease of use of the device; by fixing the positioning component to the outside of the device, the flexibility and maneuverability of the interventional tool can be increased, so that the interventional tool has a larger range of motion and reduces the limitation of the surgical space; the setting of two sets of ball heads provides more constraints and support for the interventional tool during operation, reduces the swing and offset of the interventional tool, and thus improves the accuracy of fine-tuning calibration;

[0017] Through the combination of the first adjustment axis and the second adjustment axis, the second ball head can be adjusted in multiple degrees of freedom, allowing the interventional tool to be flexibly positioned in three-dimensional space to adapt to different surgical needs, while expanding the adjustment range of the interventional tool so that it can adapt to different patients and different lesions; through the telescopic mechanism, the effective length of the second guide element can be adjusted, so that the interventional tool can better adapt to different surgical scenarios, especially in the case of complex anatomical structures or deep target locations, reducing the interference of the surgical process with surrounding tissues;

[0018] By setting the arc-shaped mounting groove, it can be conveniently fixed to the clamping device, providing a reliable connection point, which can ensure that the clamping device will not loosen or move during operation, thereby enhancing the stability of the overall equipment. Setting two groups of arc-shaped mounting grooves can provide redundant connection points, so that when one group of grooves has problems, the other group can still ensure the stability of the clamping device and improve the reliability of the equipment; the streamlined design of the arc-shaped groove can effectively reduce mechanical stress concentration and disperse the load, thereby reducing wear on the connection parts and improving the durability of the equipment.

[0019] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the background technology, the drawings required for use in the embodiments of the utility model or the background technology will be described below.

[0021] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and, together with the specification, are used to illustrate the technical solutions disclosed in the present utility model.

[0022] Figure 1 This is a schematic diagram of the overall structure of the interventional robot device of the utility model;

[0023] Figure 2 for Figure 1 The enlarged view of point A in the middle;

[0024] Figure 3 for Figure 1 The enlarged view of point B in the middle;

[0025] Figure 4 for Figure 1 Enlarged view of point C in the middle.

[0026] Legend: 1. Base; 2. Manipulator arm; 3. Adjustment platform; 4. Positioning assembly; 41. First guide element; 42. Second guide element; 421. First adjustment axis; 422. Second adjustment axis; 5. First ball head; 6. Second ball head; 7. Through hole; 8. Intervention tool; 9. First slide groove; 10. Second slide groove; 11. Elastic support frame; 12. Mounting groove; 13. Actuator. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0029] In conjunction with the accompanying drawings, some embodiments of the present invention are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0030] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0031] See also Figure 1-Figure 4A novel interventional robot device includes a base 1, multiple groups of manipulator arms 2, an adjustment platform 3 and a positioning assembly 4, one end of each group of manipulator arms 2 is connected to the base 1 at an equal angle, the other end of the manipulator arm 2 is connected to the adjustment platform 3 through an actuator 13, the manipulator arm 2 is driven by a driving mechanism, and the driving mechanism is integrated in the base 1, the positioning assembly 4 includes a first guide element 41 and a second guide element 42, the first guide element 41 is installed on the outer side of the adjustment platform 3, the second guide element 42 is installed on the outer side of the base 1, a first ball head 5 is rotatably installed on the first guide element 41, and a second ball head 6 is rotatably installed on the second guide element 42, the first ball head 5 and the second ball head 6 are both provided with through holes 7, and an interventional tool 8 passes through the two groups of through holes 7 and extends to the occlusion target.

[0032] In the interventional robot device, the base 1 is set as a circular ring structure, and the first ball head 5 and the second ball head 6 are connected with a driving mechanism for holding the interventional tool 8 and controlling the interventional tool 8 to be inserted into the patient's body. The adjustment platform 3 set with a circular ring structure can better fit the patient's body surface and provide a more stable support and operation platform. The first guide element 41 and the second guide element 42 are set on the outside of the adjustment platform 3, and the first ball head 5 and the second ball head 6 are respectively rotatably installed on the positioning component 4, so that the interventional tool 8 can move outside the device, so that the interventional tool 8 has a larger adjustment range and adjustment amplitude, and the adjustment flexibility of the interventional tool 8 is improved.

[0033] The external operator inputs instructions through the console or other control devices. These instructions include positioning, moving, rotating and other operations of the actuator 13. The input instructions are converted into electrical signals or other forms of signals through the control system, and then transmitted to the connected manipulator arm 2 through the actuator 13. The actuator 13 that receives the instructions will control the position, angle or other parameters of the connected manipulator arm 2 according to the instructions. The actuator 13 contains sensors and actuators. The sensors are used to detect the position and state of the manipulator arm 2, and the actuators are used to control the movement of the manipulator arm 2. After receiving the instructions, the actuator 13 will adjust the position and angle of the manipulator arm 2 through the internal control system to meet the requirements of the surgical operation.

[0034] The drive mechanism is embedded inside the base 1, making the appearance and structure of the device more compact. This design significantly reduces the external space occupied by the device, allowing operators to operate flexibly in a smaller environment, thereby improving the maneuverability and ease of use of the device. Since the drive mechanism is hidden inside, the interventional tool 8 will not be disturbed by the drive mechanism during insertion, which reduces friction and collision during the insertion process, improves the smoothness of the tool movement, and ensures the accuracy of the intervention path. In addition, this design makes the insertion path of the interventional tool 8 more direct, reduces the path deviation that may be caused by external structures, achieves more precise control, and significantly reduces the deviation between the insertion point and the pivot point. The integrated design of the drive mechanism also enhances the overall structural stability of the device and reduces the distortion and instability that may be caused to the connecting arm by external forces, which is crucial for performing complex interventional operations and ensures the accurate position and effect of the interventional tool 8.

[0035] The setting of two groups of ball heads increases the control points of the interventional tool 8 from one group in the prior art to two groups, providing more constraints and supports for the interventional tool 8 during operation. The two groups of control points determine that the interventional tool 8 and the cutting direction of the occluded target are located on the same straight line, reducing the swing and deviation of the interventional tool 8, so that the interventional tool 8 remains stable during the insertion process, thereby improving the accuracy of fine-tuning calibration; the doctor can more accurately control the insertion depth and direction of the interventional tool 8, thereby improving the accuracy of the interventional operation.

[0036] The height of the adjustment platform 3 relative to the base 1 is determined in the calibration stage before the operation according to the specifications of the interventional tool 8, the use requirements, the physiological conditions of the patient and other factors. The multiple groups of manipulator arms 2 are connected to the drive assembly to coordinately adjust the movement of the adjustment platform 3 on the same plane. During the adjustment process, the interventional tool 8 is loosely held by the first ball head 5, the second ball head 6 and the drive mechanism, and is freely pivoted or rotated around the occluded target, so that the interventional tool 8 is inserted into the occluded target at a specific angle.

[0037] Among them, occlusion targets include inspection targets and treatment targets. For example, in the inspection of the vascular system, coronary angiography, pulmonary angiography, carotid angiography, etc. can be used to help doctors understand the condition of blood vessels and diagnose vascular diseases; in interventional tumor embolization therapy and interventional radiotherapy, tumors, vascular malformations and other diseases are treated through radiological intervention; as well as percutaneous tumor ablation, interventional tumor embolization therapy, etc., tumors are treated through interventional means to reduce surgical trauma; cardiac pacemaker implantation, heart valve replacement, etc., are used to treat heart diseases and improve heart function through interventional means.

[0038] The positioning component 4 is fixedly connected to the outside of the device, so that the interventional tool 8 can be moved outside the device, which can increase the flexibility and maneuverability of the interventional tool 8. This design can make it easier for the interventional tool 8 to reach the target position that needs treatment or examination during the operation, improving the operability and convenience of the operation; the support frame is fixedly connected to the outside of the device, and the adjustment platform 3 of the device can more flexibly control the movement of the interventional tool 8 during the movement. Since the interventional tool 8 is active on the outside of the device, the interventional tool 8 can have a larger range of activities, and the position and angle of the interventional tool 8 can be adjusted more accurately to meet the needs of different surgical scenes, and the multi-dimensional adjustment of the interventional tool 8 can be achieved; the design of making the interventional tool 8 move outside the device can reduce the limitation of the surgical space. In some surgical scenes, the surgical space may be limited, resulting in the limitation of the operation of the interventional tool 8. Placing the interventional tool 8 on the outside of the device can reduce the occupation of the surgical space, thereby improving the flexibility and efficiency of the operation.

[0039] During the surgical operation, the base 1 can be adhered to the patient's body by tape or other fixing means, or it can be fixed on other mechanisms. When the base 1 is fixed on other mechanisms, the control point is closer to the patient's body, which can reduce the offset caused by the insertion of the interventional tool 8, thereby improving the positioning accuracy; the interventional tool 8 can select a suitable direction to pass through the through hole 7, and multiple groups of manipulator arms 2 work together to control the adjustment platform 3 for position adjustment, thereby realizing the orientation adjustment of the interventional tool 8 in a larger range.

[0040] A limit piece is also provided on the interventional tool 8, and the limit piece is fixed at the end of the interventional tool 8 away from the occlusion target. After confirming the insertion direction and depth of the interventional tool 8, each group of ball heads is locked, and the driving mechanism holds the interventional tool 8 so that the distance between the limit piece and the ball head is approximately equal to the insertion depth of the interventional tool 8 into the patient's body, thereby limiting the insertion depth of the interventional tool 8 into the patient's body, avoiding excessive insertion of the interventional tool 8, and ensuring the accuracy and safety of the interventional surgery.

[0041] In order to adapt to different surgical needs and expand the adjustment range of the interventional tool 8, based on this, in one embodiment, the first guide element 41 is arranged in a straight line on the adjustment platform 3, and the second guide element 42 includes a first adjustment shaft 421 and a second adjustment shaft 422. The first adjustment shaft 421 is arranged on the base 1, and one end of the second adjustment shaft 422 is hinged to the first adjustment shaft 421, and the second ball head 6 is rotatably mounted on the other end of the second adjustment shaft 422. The combination of the first adjustment shaft 421 and the second adjustment shaft 422 enables the second ball head 6 to be adjusted in multiple degrees of freedom. This multi-dimensional adjustment capability expands the range of motion of the ball head, meets the multi-degree-of-freedom adjustment of the interventional tool 8, allows the interventional tool 8 to be flexibly positioned in three-dimensional space, and adapts to different surgical needs. At the same time, it expands the adjustment range of the interventional tool 8 so that it can adapt to different patients and different lesions.

[0042] In order to allow the operator to use the tool more flexibly in a narrow space and reduce the interference of the surgical process on the surrounding tissues, based on this, in one embodiment, the first adjustment shaft 421 and the second adjustment shaft 422 are both configured as telescopic structures, the second adjustment shaft 422 is disposed at the telescopic end of the first adjustment shaft 421, and the second ball head 6 is rotatably mounted on the telescopic end of the second adjustment shaft 422. Through the telescopic mechanism, the effective length of the second guide element 42 can be adjusted, so that the interventional tool 8 can better adapt to different surgical scenarios, especially in the case of complex anatomical structures or deep target locations, the insertion depth and angle of the tool can be flexibly changed; the telescopic design allows the positioning component 4 to achieve greater freedom of movement during operation, allowing the operator to use the tool more flexibly in a narrow space and reduce the interference of the surgical process on the surrounding tissues.

[0043] In order to enable the device to better meet the operating requirements in different scenarios and improve the overall adaptability, based on this, in one embodiment, a first slide groove 9 is provided on the base 1, and one end of the first adjustment shaft 421 can slide along the first slide groove 9. As the anatomical structure and lesion location of different patients change, the sliding space provided by the first slide groove 9 can adapt to various surgical needs, so that the device can better meet the operating requirements in different scenarios and improve the overall adaptability; in interventional surgery, it is very important to accurately grasp the path of the tool. The setting of the slide groove can change the relative position of the first adjustment shaft 421, thereby optimizing the movement path of the interventional tool 8 and improving the fluency and efficiency of the operation.

[0044] In order to finely adjust the positioning of the interventional tool 8 according to specific surgical requirements and make the entire system more flexible when operating in a narrow space, based on this, in one embodiment, a second slide groove 10 is provided on the adjustment platform 3, and the first guide element 41 can slide along the second slide groove 10. Through the movement of the second slide groove 10, the operator can finely adjust the positioning of the interventional tool 8 according to specific surgical requirements to ensure that it can accurately reach the target area; the free sliding of the second slide groove 10 can make the entire system more flexible when operating in a narrow space, and the operator can quickly adjust the tool position according to feedback to avoid damage to surrounding tissues.

[0045] In order to more flexibly adapt to different occluded target structures and improve the accuracy of the operation, based on this, in one embodiment, the first guide element 41 is set as a retractable structure, and the first ball head 5 is rotatably installed on the retractable end of the first guide element 41. The retractable first guide element 41 can adjust the length according to different surgical requirements, and can more flexibly adapt to different occluded target structures, thereby improving the effectiveness of the operation; by adjusting the telescopic length of the first guide element 41, the operator can accurately control the position of the first ball head 5, directly affecting the entrance angle and depth of the interventional tool 8 at the target position, improving the accuracy of the operation and reducing the potential risk of complications.

[0046] In order to provide the necessary stability for the adjustment platform 3 and effectively absorb the vibration from the operation process, based on this, in one embodiment, an elastic support frame 11 is also provided between the base 1 and the adjustment platform 3, and the elastic support frame 11 is provided in multiple groups and distributed in a circumferential array. The elastic support frame 11 provides the necessary stability for the adjustment platform 3 and helps to maintain the balance of the platform during the operation process. It is very important for maintaining the position and accuracy of the tool to avoid surgical errors caused by vibration or instability; the elastic support frame 11 can effectively absorb the vibration from the operation process, which helps to reduce the interference with the interventional tool 8, thereby improving the operator's operation accuracy and the reliability of the overall equipment.

[0047] In order to ensure that the clamping device will not loosen or shift during operation and enhance the stability of the overall device, based on this, in one embodiment, an arc-shaped mounting groove 12 is provided on the base 1, and two groups of mounting grooves 12 are provided. The arc-shaped mounting groove 12 can be conveniently fixed to the clamping device, providing a reliable connection point, which can ensure that the clamping device will not loosen or shift during operation, thereby enhancing the stability of the overall device. The two groups of arc-shaped mounting grooves 12 can provide redundant connection points, so that when one group of grooves has problems, the other group can still ensure the stability of the clamping device and improve the reliability of the device; the streamlined design of the arc-shaped groove can effectively reduce the concentration of mechanical stress and disperse the load, thereby reducing the wear on the connection parts and improving the durability of the device.

[0048] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A novel interventional robotic device, characterized in that: The invention comprises a base (1), a plurality of groups of manipulating arms (2), an adjustment platform (3) and a positioning assembly (4), wherein one end of each group of the manipulating arms (2) is movably connected to the base (1) at an equal angle, and the other end of the manipulating arm (2) is connected to the adjustment platform (3) via an actuator (13), and the manipulating arm (2) is driven by a driving mechanism, which is arranged in the base (1); the positioning assembly (4) comprises a first guide element (41) and a second guide element (42), wherein the first guide element (41) is arranged outside the adjustment platform (3), and a second guide element (42) is rotatably mounted on the first guide element (41). A ball head (5), the second guide element (42) is installed on the outer side of the base (1), the second guide element (42) includes a first adjustment shaft (421) and a second adjustment shaft (422), the first adjustment shaft (421) is arranged on the base (1), one end of the second adjustment shaft (422) is hinged to the first adjustment shaft (421), and a second ball head (6) is rotatably installed on the other end of the second adjustment shaft (422), the first ball head (5) and the second ball head (6) are both provided with through holes (7), and the intervention tool (8) passes through the two groups of through holes (7) and extends to the occlusion target.

2. A novel interventional robotic device according to claim 1, characterized in that: The first adjustment shaft (421) and the second adjustment shaft (422) are both configured as telescopic structures; the second adjustment shaft (422) is disposed at the telescopic end of the first adjustment shaft (421); and the second ball head (6) is rotatably mounted on the telescopic end of the second adjustment shaft (422).

3. A novel interventional robotic device according to claim 2, characterized in that: The base (1) is provided with a first sliding groove (9), and one end of the first adjustment shaft (421) slides along the first sliding groove (9).

4. A novel interventional robotic device according to claim 2, characterized in that: The adjustment platform (3) is provided with a second sliding groove (10), and the first guide element (41) slides along the second sliding groove (10).

5. A novel interventional robotic device according to claim 4, characterized in that: The first guide element (41) is configured as a telescopic structure, and the first ball head (5) is rotatably mounted on the telescopic end of the first guide element (41).

6. The novel interventional robotic device according to claim 1, characterized in that: An elastic support frame (11) is also provided between the base (1) and the adjustment platform (3), and the elastic support frames (11) are provided in multiple groups and distributed in a circular array.

7. A novel interventional robotic device according to claim 6, characterized in that: The base (1) is provided with arc-shaped installation grooves (12), and the installation grooves (12) are provided in two groups.

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