Driving device and interventional surgical robot

Abstract

The utility model provides a driving device which is used for an interventional surgical robot and comprises a main body, a power set, an elastic piece and a clamping set. One end of the main body is installed at the slave end of the interventional surgery robot in a sliding mode, the main body is provided with a containing part, and a first opening is formed in the bottom wall of the containing part. And the power unit is mounted in the main body. The elastic piece is contained in the main body, and one end of the elastic piece is installed on the main body. The clamping set comprises a connecting part and a clamping part, the connecting part is contained in the main body and connected with the other end of the elastic piece and the power set, the connecting part is further connected with the clamping part through the first opening, the elastic force of the elastic piece acts on the connecting part, and the clamping part is connected with the power set. The clamping part is biased, so that the slender medical instrument can pass through the clamping part; and the power unit can drive the connecting part to overcome the elastic force and drive the clamping part to move until the slender medical instrument is clamped.

Description

Technical Field

[0001] The present invention belongs to the field of medical robots, and in particular relates to a driving device and an interventional surgery robot. Background Art

[0002] Cardiovascular and cerebrovascular diseases are a general term for cardiovascular and cerebrovascular diseases, and generally refer to ischemic or hemorrhagic diseases of the heart, brain and systemic tissues caused by hyperlipidemia, blood viscosity, atherosclerosis, hypertension, etc. At present, a very effective method for treating cardiovascular and cerebrovascular diseases is vascular interventional surgery. However, when performing vascular interventional surgery manually, doctors wear lead suits weighing 20 kilograms and are exposed to X-ray radiation to perform surgery on patients, which greatly increases the doctor's risk of cancer due to X-ray radiation and orthopedic-related occupational diseases caused by lead suits weighing 20 kilograms. Currently, companies, universities, and research institutions are developing interventional surgery robots. Doctors can operate the interventional surgery robot's drive device in an environment isolated from X-ray radiation to move and / or rotate catheters, guide wires and other slender medical devices for interventional surgery, which can solve this problem well.

[0003] However, in the current interventional surgical robots, when the operator controls the driving device of the interventional surgical robot to move the catheter, guidewire and other slender medical devices out of the patient's body, when the driving device needs to be reset, the driving device first needs to loosen the catheter, guidewire and other slender medical devices, and then perform the reset movement. At this time, the catheter, guidewire and other slender medical devices, especially the head end of the guidewire-type slender medical devices, will have uncontrolled movement in the blood vessel. This uncontrolled movement of the head end will bring great safety hazards to patients. Therefore, designing a driving device and an interventional surgical robot that can control the uncontrolled movement of the head end of slender medical devices such as catheters and guidewires is a technical problem that urgently needs to be solved. Summary of the invention

[0004] The purpose of the present invention is to provide a driving device and an interventional surgical robot, which aims to solve the uncontrolled movement technical problems of the tip ends of slender medical devices such as catheters and guidewires in the prior art, prevent the tip ends of slender medical devices such as catheters and guidewires from causing damage to blood vessels, and improve the safety of interventional surgery.

[0005] In a first aspect, an embodiment of the present invention provides a driving device for an interventional surgical robot, characterized in that it includes:

[0006] A main body, one end of which is slidably mounted on the slave end of the interventional surgery robot, the main body is provided with a receiving portion, and a bottom wall of the receiving portion is provided with a first opening;

[0007] A power group, installed inside the main body;

[0008] An elastic member, accommodated inside the main body, with one end mounted on the main body;

[0009] A clamping group, comprising a connecting portion and a clamping portion, wherein the connecting portion is accommodated inside the main body and connected to the other end of the elastic member and the power group, and the connecting portion is also connected to the clamping portion through the first opening, and the elastic force of the elastic member acts on the connecting portion, so that the clamping portion is biased to allow a slender medical device to pass through;

[0010] The power group can drive the connecting part to overcome the elastic force and drive the clamping part to move until the elongated medical device is clamped.

[0011] Furthermore, the accommodating portion is also provided with a protruding portion, and the clamping portion is offset away from the protruding portion, so that the slender medical device can pass therebetween.

[0012] Furthermore, the side wall of the proximal end of the accommodating portion is also provided with a first avoidance opening, the protrusion is formed by the side wall of the proximal end of the accommodating portion protruding outward, and the clamping portion extends out of the first avoidance opening and corresponds to the protrusion.

[0013] Furthermore, the clamping portion and the protruding portion are both provided with an arc-shaped structure.

[0014] Furthermore, the arc-shaped structure of the clamping portion is provided with double wings, and both of the double wings are provided with notches.

[0015] Furthermore, the arc-shaped structure of the protrusion is also provided with double wings.

[0016] Furthermore, the main body includes an outer shell, an inner shell and a base, the outer shell cover is arranged on the inner shell, one end of the base is slidably installed on the slave end, and the other parts are installed on the inner shell.

[0017] Furthermore, the accommodating portion is formed by a depression of the outer shell, an extending wall is provided on the inner side of the bottom wall of the accommodating portion, and the one end of the elastic member is mounted on the extending wall.

[0018] Furthermore, the inner shell matches the outer shell in shape, the inner shell and the corresponding parts of the accommodating portion are sunken to form a supporting portion and a vertical portion, and the supporting portion and the bottom wall of the accommodating portion form an accommodating space.

[0019] In a second aspect, an embodiment of the present invention provides an interventional surgical robot, comprising: the driving device as described in the first aspect;

[0020] Catheters and guidewires;

[0021] A hemostatic valve is installed in the receiving portion of the driving device and connected to the power group. The tail end of the catheter is installed at the distal end of the hemostatic valve. The power group can drive the hemostatic valve to drive the catheter to rotate.

[0022] A rotation drive device, one end of which is slidably mounted on the slave end of the interventional surgery robot, and is used to rotate and / or move the guide wire;

[0023] When the rotary drive device clamps the guide wire and slides on the slave end toward or away from the drive device to move the guide wire, when the movement of the guide wire is completed, the clamping group of the drive device clamps the guide wire and the rotary drive device releases the guide wire.

[0024] The beneficial effects of the present invention are: it can effectively prevent the uncontrolled movement of the head end of slender medical devices such as catheters and guidewires from causing damage to blood vessels, thereby improving the safety of interventional surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a structural schematic diagram of a driving device provided by an embodiment of the present invention;

[0026] Figure 2 yes Figure 1 An exploded schematic diagram of the driving device without the elongated medical device;

[0027] Figure 3 yes Figure 1 A schematic diagram of the structure of the driving device after removing the slender medical device and sectioning along the AA direction;

[0028] Figure 4 The embodiment of the present invention provides Figure 1 A schematic structural diagram of an interventional surgical robot with a driving device. DETAILED DESCRIPTION

[0029] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0030] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated connection, or even a connection that can move relatively; 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 elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] In the description of the present invention, the terms "length", "diameter", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0032] The term "slender medical device" used in the present invention includes but is not limited to various guidewires and catheters used for diagnosis or treatment. That is to say, when the term "slender medical device" is used, it can be a guidewire or a catheter, depending on different specific needs.

[0033] The direction "far" used in the present invention is the direction toward the patient, and the direction "near" is the direction away from the patient. The terms "up" and "upper part" refer to the general direction away from the direction of gravity, and the terms "bottom", "lower" and "lower part" refer to the general direction of gravity. The term "front" refers to the side of the interventional surgical robot facing the user from the end device, and "forward" refers to the direction in which the guide wire or catheter is displaced into the body of the surgical patient. The term "backward" refers to the side of the interventional surgical robot facing away from the user from the end device, and "backward" refers to the direction in which the guide wire or catheter is displaced out of the body of the surgical patient. The term "inwardly" refers to the internal part of the feature. The term "outwardly" refers to the outside part of the feature. The term "rotation" includes "forward" and "reverse", wherein "forward" refers to the direction in which the guide wire or catheter is rotated into the body of the surgical patient, and "reverse" refers to the direction in which the guide wire or catheter is rotated out of the body of the surgical patient.

[0034] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the feature. In the description of the present invention, "multiple" or "plurality" means two or more.

[0035] Finally, it should be noted that, if there is no conflict, the embodiments of the present invention and the various features in the embodiments can be combined with each other, and all are within the protection scope of the present invention. In addition, all or part of the steps in the above method can be executed in a computer system such as a set of computer executable instructions, and although the steps are listed in the order of 1, 2, 3..., in some cases, the steps shown or described can be executed in a different order than here.

[0036] See also Figures 1 to 4 , a driving device 10 provided in an embodiment of the present application, for an interventional surgical robot, the interventional surgical robot comprising a slave end 1 and a master end (not shown), the slave end 1 and the master end are connected and communicated with each other through a wired cable or WIFI, Bluetooth, etc., the slave end 1 is placed in a catheter room (interventional operating room), the master end can be placed on a radiation-proof workbench in the catheter room or on a workbench outside the catheter room, and the doctor can manually operate the master end in front of the workbench to control the slave end 1. The driving device 10 comprises a main body 11, a power group 12, an elastic member 13 and a clamping group 14. The main body 11 is slidably mounted on the slave end 1 at one end, and is provided with a receiving portion 110, and a bottom wall 111 of the receiving portion 110 is provided with a first opening 112. The power group 12 is mounted inside the main body 11. The elastic member 13 is accommodated inside the main body 11, and one end is mounted on the main body 11. The clamping group 14 includes a connecting portion 141 and a clamping portion 142. The connecting portion 141 is accommodated inside the main body 11 and is connected to the other end of the elastic member 13 and the power group 12. The connecting portion 141 is also connected to the clamping portion 142 through the first opening 112. The elastic force of the elastic member 13 acts on the connecting portion 141, so that the clamping portion 142 is biased to allow the slender medical device 20 to pass through; the power group 12 can drive the connecting portion 142 to overcome the elastic force and drive the clamping portion 142 to move until the slender medical device 20 is clamped.

[0037] Exemplarily, the connecting portion 141 and the clamping portion 142 are connected by a pin or a pin-like element, and can move in the first opening 112. The clamping portion 142 can be a two-sided structure, both of which can move, or only one side of the structure can move. It can be understood that the situation where both sides of the structure can move is that the elastic force of the elastic member 13 acts on the connecting portion 141 to produce a bias, and drives the two side structures of the clamping portion 142 to also be biased, and are in an open state to allow the slender medical device 20 to pass through; when working, the power group 12 drives the connecting portion 141 to overcome the elastic force and reset as needed, and drives the two side structures of the clamping portion 142 to reset and close, thereby clamping the slender medical device 20. Similarly, the situation in which only one side of the structure can move is that the elastic force of the elastic member 13 acts on the connecting portion 141 to generate a bias, and drives the structure of the one side of the clamping portion 142 to also be biased, that is, one side is biased away from the other side, so that the slender medical device 20 can pass through; when working, the connecting portion 141 overcomes the elastic force to reset, and drives the structure of the one side of the clamping portion 142 to reset close to the other side structure, thereby clamping the slender medical device 20.

[0038] In some embodiments, the receiving portion 110 is further provided with a protrusion 113 , and the clamping portion 142 is offset away from the protrusion 113 , so that the elongated medical device 20 can pass therebetween.

[0039] It can be understood that the elastic force of the elastic member 13 acts on the connecting portion 142 , and the connecting portion 141 drives the clamping portion 142 to be biased away from the protruding portion 113 , and the clamping portion 142 and the protruding portion 113 form a space through which the slender medical device 20 can pass.

[0040] Furthermore, the side wall 114 at the proximal end of the accommodating portion 110 is further provided with a first avoidance opening 115 , the protrusion 113 is formed by the proximal side wall 114 of the accommodating portion 110 protruding outward, and the clamping portion 142 extends out of the first avoidance opening 115 and corresponds to the protrusion 113 .

[0041] Further, the clamping portion 141 and the protruding portion 113 both have an arc-shaped structure. Exemplarily, the corresponding portions of the clamping portion 141 and the protruding portion 113 are both provided with arc-shaped structures that match each other.

[0042] Furthermore, the arc-shaped structure of the clamping portion 142 is provided with two wings 1420, and each of the two wings is provided with a notch 1421. Exemplarily, the notch 1421 is substantially triangular in shape, which can better support the elongated medical device 20.

[0043] Furthermore, the arc-shaped structure of the protruding portion 113 is also provided with double wings 1131, and when the clamping portion 142 is close to the protruding portion 113, one of the double wings 1420 (or the double wings 1131) of one of them can enter the gap between the double wings 1131 (or the double wings 1420) of the other, thereby clamping the elongated medical device 20 in the notch 1421. Exemplarily, the outer one of the double wings 1420 of the clamping portion 142 can enter the gap between the double wings 1131 of the protruding portion 113.

[0044] In some embodiments, the main body 11 includes an outer shell 15, an inner shell 16 and a base 17, the outer shell 15 is covered on the inner shell 16, one end of the base 17 is slidably mounted on the slave end 1 of the interventional surgical robot, and the other parts are mounted on the inner shell 16.

[0045] Furthermore, the accommodating portion 110 is formed by a depression of the housing 15 , and an extending wall 1110 is disposed inside the bottom wall 111 of the accommodating portion 110 , and the one end of the elastic member 13 is mounted on the extending wall 1110 .

[0046] Furthermore, the inner shell 16 matches the outer shell 15 in shape, and the corresponding parts of the inner shell 16 and the accommodating portion 110 sink to form a supporting portion 161 and a vertical portion 162 . The supporting portion 161 and the bottom wall 111 of the accommodating portion 110 form an accommodating space.

[0047] Furthermore, the housing 15 includes an upper cover 150 , a bottom shell 151 and a flip cover 152 . The flip cover 152 can be rotated to open or close and cover the accommodating portion 110 .

[0048] Further, the side wall of the far end of the accommodating portion 110 is provided with a second avoidance opening 116, and the bottom wall 111 of the accommodating portion 110 is provided with a second opening 117. The support portion 161 of the inner shell 16 is provided with a third opening (not shown), and the vertical portion 162 of the inner shell 16 is provided with a fourth opening 1621. The power group 12 includes a first power part 121 and a second power part 122. The first power part 121 includes an actuator 1211 and a pusher 1212, and the actuator 1211 and the pusher 1212 are both installed on the base 17, and the output end of the actuator 1211 is connected to one end of the pusher 1212, and the other end of the pusher 1212 passes through the fourth opening 1621 and is connected to the connecting portion 141 of the clamping group 14. The second power part 122 includes a motor 1221 and a transmission group 1222, and the motor 1221 is installed on the base 17. The output end of the motor 1221 is provided with a gear (not shown). The transmission group 1222 is accommodated in the accommodation space formed by the support portion 161 and the bottom wall 111 of the accommodation portion 110. Both ends of the transmission group 1222 are provided with gears (not shown) and the rotation of the gear at one end can drive the rotation of the gear at the other end. The gear at the output end of the motor 1221 passes through the third opening and meshes with the gear at one end of the transmission group 1222.

[0049] It can be understood that one end of the connecting portion 141 of the clamping group 14 is connected to the pushing member 1212, and the other end of the connecting portion 141 is connected to one end of the elastic member 13, and the other end of the elastic member 13 is installed on the extending wall 1110 of the bottom wall 111 of the accommodating portion 110. Most of the time, the elastic force of the elastic member 13 acts on the connecting portion 141, driving the clamping portion 142 to be biased, that is, the slender medical device 10 can pass through the clamping portion 142 (in the case of a bilateral structure), or the slender medical device 10 can pass through the clamping portion 142 (in the case of a unilateral structure) and the protrusion 113. The actuator 1211 of the first power unit 121 works as needed, driving the pushing member 1212 to move and driving the connecting portion 141 to move, thereby overcoming the elastic force of the elastic member 13, so that the clamping portion 142 is closed (in the case of a bilateral structure) or the clamping portion 142 (in the case of a unilateral structure) is close to the protrusion 113 and clamps the slender medical device 10.

[0050] Exemplarily, the elastic member 13 may be an elastic element such as a leaf spring, a coil spring, a torsion bar spring, a gas spring, or a rubber spring.

[0051] Preferably, the elastic member 13 is a coil spring.

[0052] The embodiment of the present application also provides an interventional surgical robot, comprising the aforementioned driving device 10, and also comprising a catheter 50, a guide wire 60, a hemostatic valve 40 and a rotation driving device 30. The hemostatic valve 40 is installed in the accommodating portion 110 of the driving device 10 and is connected to the power group 12. The tail end of the catheter 50 is installed at the distal end of the hemostatic valve 40. The power group 12 can drive the hemostatic valve 40 to drive the catheter 50 to rotate. One end of the rotation driving device 30 is slidably installed on the slave end 1 of the interventional surgical robot, and is used to clamp, rotate and / or move the guide wire 60. When the rotation driving device 30 clamps the guide wire 60 and slides on the slave end 1 to move the guide wire 60 close to or away from the driving device 10, when the movement of the guide wire 60 is completed, the clamping group 14 of the driving device 10 clamps the guide wire 60, and the rotation driving device 30 loosens the guide wire 60.

[0053] Furthermore, the distal end of the hemostatic valve 40 is provided with a Luer connector (not shown), and the Luer connector is provided with a gear. When the hemostatic valve 40 is mounted on the accommodating portion 110 of the driving device 10, the Luer connector is partially supported on the second avoidance opening 116, and the gear portion of the Luer connector passes through the second opening 117 and meshes with the gear at the other end of the transmission group 1222 of the second power unit 122. The tail end of the catheter 50 is mounted on the Luer connector at the distal end of the hemostatic valve 40. The guide wire 60 is clamped on the rotary driving device 30, and passes between the clamping portion 142 and the protruding portion 113, and then penetrates from the tail end of the hemostatic valve 40, and sequentially passes through the hemostatic valve 40 and the catheter 50 until it passes out of the head end of the catheter 50.

[0054] It can be understood that the driving device 10 slides on the slave end 1 to drive the catheter 50 to move. The motor 1221 of the second power unit 122 works as needed, and the gear at the output end of the motor 1221 rotates. The gear of the Luer connector is driven to rotate through the transmission group 1222, thereby driving the catheter 50 to rotate. The rotation driving device 30 slides on the driving device 10 to drive the guide wire 60 to move. The rotation driving device 30 can rotate the guide wire 60 as needed. When the rotation driving device 30 slides in the direction of the slave end 1 close to the driving device 10 and moves the guide wire 60 to a predetermined position, the rotation driving device 30 needs to be slid in the direction away from the driving device 10 to reset. At this time, the first power unit 121 will work immediately, and then the clamping portion 142 will clamp the guide wire 60 close to the protruding portion 113, and then the rotation driving device 30 loosens the guide wire 60 and slides in the direction away from the driving device 10 to reset. Similarly, when the rotary drive device 30 slides from the end 1 in the direction away from the drive device 10 and moves the guide wire 60 to a predetermined position, the rotary drive device 30 needs to be slid in the direction close to the drive device 10 to be reset. At this time, the first power unit 121 will work immediately, and then the clamping portion 142 will approach the protrusion 113 to clamp the guide wire 60, and then the rotary drive device 30 loosens the guide wire 60 and slides in the direction close to the drive device 10 to reset.

[0055] Those skilled in the art will appreciate that all or part of the steps in the above method can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, such as a read-only memory, a disk or an optical disk. Optionally, all or part of the steps in the above embodiment can also be implemented using one or more integrated circuits. Accordingly, each module / unit in the above embodiment can be implemented in the form of hardware or in the form of a software functional module. The present invention is not limited to any particular form of combination of hardware and software.

[0056] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims of the present invention.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A driving device for an interventional surgical robot, characterized in that: include: A main body, one end of which is slidably mounted on the slave end of the interventional surgery robot, the main body is provided with a receiving portion, and a bottom wall of the receiving portion is provided with a first opening; A power group, installed inside the main body; An elastic member, accommodated inside the main body, with one end mounted on the main body; A clamping group, comprising a connecting portion and a clamping portion, wherein the connecting portion is accommodated inside the main body and connected to the other end of the elastic member and the power group, and the connecting portion is also connected to the clamping portion through the first opening, and the elastic force of the elastic member acts on the connecting portion, so that the clamping portion is biased to allow a slender medical device to pass through; The power group can drive the connecting part to overcome the elastic force and drive the clamping part to move until the elongated medical device is clamped.

2. The driving device according to claim 1, characterized in that: The receiving portion is further provided with a protruding portion, and the clamping portion is offset away from the protruding portion, so that the elongated medical device can pass through the protruding portion.

3. The driving device according to claim 2, characterized in that: The side wall of the proximal end of the accommodating portion is further provided with a first avoidance opening, the protruding portion is formed by the side wall of the proximal end of the accommodating portion protruding outward, and the clamping portion extends out of the first avoidance opening and corresponds to the protruding portion.

4. The driving device according to claim 3, characterized in that: The clamping portion and the protruding portion are both provided with an arc-shaped structure.

5. The driving device according to claim 4, characterized in that: The arc-shaped structure of the clamping portion is provided with two wings, and both of the two wings are provided with notches.

6. The driving device according to claim 5, characterized in that: The arc-shaped structure of the protrusion is also provided with double wings.

7. The driving device according to any one of claims 1 to 6, characterized in that: The main body comprises an outer shell, an inner shell and a base. The outer shell cover is arranged on the inner shell. One end of the base is slidably mounted on the slave end, and the other parts are mounted on the inner shell.

8. The driving device according to claim 7, characterized in that: The accommodating portion is formed by a depression of the housing, an extending wall is provided on the inner side of the bottom wall of the accommodating portion, and the one end of the elastic member is mounted on the extending wall.

9. The driving device according to claim 8, characterized in that: The inner shell matches the outer shell in shape, and the corresponding parts of the inner shell and the accommodating portion are sunken to form a supporting portion and a vertical portion, and the supporting portion and the bottom wall of the accommodating portion form an accommodating space.

10. An interventional surgery robot, characterized in that: include: A driving device as claimed in any one of claims 1 to 9; Catheters and guidewires; A hemostatic valve is installed in the receiving portion of the driving device and connected to the power group. The tail end of the catheter is installed at the distal end of the hemostatic valve. The power group can drive the hemostatic valve to drive the catheter to rotate. A rotation drive device, one end of which is slidably mounted on the slave end of the interventional surgery robot, and is used to clamp, rotate and / or move the guide wire; When the rotary drive device clamps the guide wire and slides on the slave end toward or away from the drive device to move the guide wire, when the movement of the guide wire is completed, the clamping group of the drive device clamps the guide wire and the rotary drive device releases the guide wire.

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