Vascular intervention surgical robot

Abstract

The utility model discloses a vascular intervention surgical robot. The vascular intervention surgical robot comprises a host, a plurality of mechanical arms, a plurality of control handles with rotatable omni-directional ends and a plurality of tail end operating mechanisms, wherein the mechanical arms are arranged on the main machine; the control handle is arranged at the free end of the mechanical arm; a plurality of end operating mechanisms are used for delivering interventional consumables, and the end operating mechanisms are arranged on the control handle so that the angle and position of the end operating mechanisms can be adjusted through the control handle. All intervention consumables are loaded at a time, the positions of the mechanical arm and the control handle are adjusted, the whole operation process is smoother, medical workers do not need to manually disassemble and replace the intervention consumables again in the process, and therefore the operation difficulty of the intervention instrument is lowered.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, in particular to a vascular intervention surgical robot. Background Art

[0002] Existing robotic arms are mostly used for motor-driven automated movement and adjustment. Manual robotic arms are realized by using dampers and locking screws. The robotic arms are mostly used to support the robot body. A linear slide rail movement mechanism is arranged inside the robot body. The end catheter guide wire execution mechanism is fixed on the linear slide rail movement mechanism. Its structure is complex, the expandability is poor, and the occupied space is large. At present, the robots on the market can only operate two interventional medical devices at the same time. During the operation, medical staff need to manually replace the interventional consumables, which is cumbersome and not conducive to the standardization and process of interventional surgery.

[0003] Therefore, how to reduce the installation difficulty of interventional consumables has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Utility Model

[0004] The utility model provides a vascular intervention surgical robot to reduce the installation difficulty of interventional consumables.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] The utility model provides a vascular intervention surgical robot, including:

[0007] A host;

[0008] A plurality of robotic arms arranged on the host;

[0009] A plurality of control handles with rotatable omnidirectional ends, and the control handles are arranged at the free ends of the robotic arms;

[0010] A plurality of end operating mechanisms for delivering interventional consumables, and the end operating mechanisms are arranged on the control handles to adjust the angles and positions of the end operating mechanisms through the control handles.

[0011] In some embodiments of the utility model, the host includes a plurality of interfaces and functional modules. The robotic arms are detachably arranged on the interfaces and are connected to the functional modules through the interfaces.

[0012] In some embodiments of the utility model, the control handle includes a first end face connected to the free end of the robotic arm and a second end face for installing the end operating mechanism, and the first end face and the second end face are arranged oppositely.

[0013] In some embodiments of the utility model, a resistance measuring mechanism and a floating mechanism are arranged on the second end face. The resistance measuring mechanism is used to measure the resistance value of the end operating mechanism, and the floating mechanism is connected to the end operating mechanism.

[0014] In some embodiments of the present utility model, the floating mechanism includes a slide rail and a slider slidably engaged with the slide rail. One of the slide rail and the slider is fixed on the second end face, and the other is fixed on the end operating mechanism.

[0015] In some embodiments of the present utility model, the extending direction of the slide rail is parallel to the delivery direction of the interventional consumables.

[0016] In some embodiments of the present utility model, the resistance measuring mechanism is a pressure sensor, and the pressure sensor is disposed between the slide rail and the slider to measure the tensile force or extrusion force between the slider and the slide rail.

[0017] In some embodiments of the present utility model, the robotic arm is a six-axis robotic arm.

[0018] In some embodiments of the present utility model, the multiple robotic arms include a front-end fixed robotic arm and at least one rear-end moving robotic arm.

[0019] In some embodiments of the present utility model, a connecting seat is further included, and the robotic arm is detachably connected to the host through the connecting seat.

[0020] It can be seen from the above technical solutions that with the present utility model, all the interventional consumables are loaded at one time, and all the robotic arms and the control handles are adjusted to the proper positions, making the whole operation process smoother. During the process, medical staff do not need to manually disassemble and replace the interventional consumables again, thus reducing the operation difficulty of the interventional instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some examples or embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to the provided drawings, and the present utility model can also be applied to other similar scenarios according to the provided drawings. Unless obvious from the language context or otherwise stated, the same reference numerals in the drawings represent the same structure or operation.

[0022] Figure 1 A three-dimensional schematic diagram of a vascular surgery robot provided by the present utility model;

[0023] Figure 2 A front view schematic diagram of a vascular surgery robot provided by the present utility model;

[0024] Figure 3 A top view schematic diagram of a vascular surgery robot provided by the present utility model;

[0025] Figure 4 is Figure 3 the sectional view taken along the A-A section in

[0026] Figure 5 is Figure 4 the enlarged view of part B in

[0027] In the illustration, 100 is the robotic arm, 200 is the interventional consumable, and 300 is the support mechanism;

[0028] 110 is the main unit, 120 is the robotic arm, 130 is the control handle, 140 is the end operating mechanism, 150 is the resistance measuring mechanism, and 160 is the floating mechanism;

[0029] 111 is the interface, 112 is the functional module; 161 is the slide rail, and 162 is the slider. Detailed implementation manners

[0030] To facilitate the reader's understanding of the technical solution of the present utility model, some concepts are explained below.

[0031] An interventional surgical robot is a surgical robot that assists medical staff in performing interventional surgeries. It usually includes a main unit, a robotic arm, and an end operating mechanism. By adjusting the posture of the robotic arm, the implementation position of the end operating mechanism is adjusted, and the host is used to control the end operating mechanism to realize the control of the interventional consumable for forward movement, backward movement, rotation, direction change, speed, etc., so as to complete the interventional surgical procedures such as angiography and stent release.

[0032] The end operating mechanism usually includes an end driving device and an execution device. When the end driving device is docked with the execution device, the transmission connection between the end driving device and the execution device can be realized to provide power support for the execution device. It should be noted that the side where the end driving device and the execution device are mutually docked is the docking side. When the docking side of the end driving device is docked with the docking side of the execution device, the execution device is in transmission connection with the end driving device. The end driving device provides power support for the execution device; under the drive of the end driving device, the execution device realizes the forward movement, backward movement, rotation, speed, etc. of the interventional consumable. There are many ways to realize the transmission connection between the end driving device and the execution device. For example, the transmission shaft of the end driving device and the transmission shaft of the execution device are connected by a flat key to realize transmission, the transmission shaft of the end driving device and the transmission shaft of the execution device are connected by a spline to realize transmission, the transmission shaft of the end driving device and the transmission shaft of the execution device are meshed by gears to realize transmission, the transmission shaft of the end driving device and the transmission shaft of the execution device are connected by fasteners to realize transmission, the transmission shaft of the end driving device and the transmission shaft of the execution device are connected by magnetic force to realize transmission, and so on.

[0033] Interventional surgery refers to a technique for diagnosis and treatment through blood vessels using interventional consumables such as guidewires, catheters, and stents under the guidance of imaging equipment. Interventional surgery can include percutaneous interventional surgery, such as percutaneous coronary intervention (PCI) (e.g., for treating ST-segment elevation myocardial infarction (STEMI)), neurovascular interventional surgery (NVI) (e.g., for treating emergent large vessel occlusion (ELVO)), peripheral vascular interventional surgery (PVI) (e.g., for critical limb ischemia (CLI), etc.). Interventional surgery can include diagnostic catheterization procedures during which one or more catheters are used to assist in the diagnosis of a patient's disease. For example, during catheter-based diagnostic procedures, contrast agents are injected through the catheter into one or more arteries and images of the patient's vascular system are obtained. Interventional surgery can also include catheter-based treatment procedures (e.g., angioplasty, stent placement, treatment of peripheral vascular diseases, clot removal, treatment of arteriovenous malformations, aneurysm treatment, etc.).

[0034] The present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only for explaining the relevant utility model and not for limiting the utility model. The described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0035] See Figures 1 to 5 , the present utility model discloses a vascular interventional surgery robot 100, which includes a host 110, a plurality of robotic arms 120, a plurality of omnidirectional rotatable control handles 130, and a plurality of end operating mechanisms 140. Among them, the plurality of robotic arms 120 are arranged on the host 110; the plurality of omnidirectional rotatable control handles 130 are arranged at the free ends of the robotic arms 120; the plurality of end operating mechanisms 140 are used to deliver interventional consumables 200, and the end operating mechanisms 140 are arranged on the control handles 130 to adjust the angles and positions of the end operating mechanisms 140 through the control handles 130.

[0036] With the adoption of the present utility model, the main body 110 is arranged on the support mechanism 300, and all the interventional consumables 200 are loaded at one time. The positions of all the robotic arms and the control handles 130 are adjusted, making the whole operation process smoother. During the process, medical staff do not need to manually disassemble and replace the interventional consumables 200 again, thus reducing the operation difficulty of the interventional instrument. Moreover, multiple end operating mechanisms 140 are respectively arranged at the free ends of multiple robotic arms 120 through the omnidirectional rotatable control handles 130, enabling the end operating mechanisms 140 to have a larger movement range and movement freedom degree. Furthermore, the movement of the interventional consumables 200 can be more accurate and complex, effectively ensuring that the vascular interventional surgical robot of the present utility model can be applied to more surgical procedures, with higher flexibility and a wider application range.

[0037] It should be noted that the present utility model does not limit the specific structure of the end operating mechanism 140, as long as the end operating mechanism 140 can drive the interventional consumables 200 to act, which is not the focus of protection of the present utility model. In addition, the above-mentioned interventional consumables 200 may include catheters and guide wires, or may also include other types of interventional consumables, such as self-expanding stents, etc. These are not restrictive, and those skilled in the art can adapt different types of interventional consumables 200 according to the actual surgical needs; the support mechanism 300 can be a surgical support mechanism such as an operating table, which is not a part of the interventional surgical robot 100. That is, the specific fixing method of the main body 110 is not limited, and those skilled in the art can set it according to the actual use needs, as long as the main body 110 can be fixed to support other structures.

[0038] In some examples, the main body 110 includes multiple interfaces 111 and functional modules 112. The robotic arms 120 are detachably arranged on the interfaces 111 and are connected to the functional modules 112 through the interfaces 111. The interfaces 111 and the functional modules 112 are correspondingly arranged. The number of the above-mentioned robotic arms 120 can be adjusted according to the surgical needs, such as two, three or more. After the number of the robotic arms 120 is determined, the robotic arms 120 are installed on the main body 110 through the interfaces 111. The number of the interfaces 111 is the same as the number of the robotic arms 120, or the number of the interfaces 111 can be more than the number of the robotic arms 120 to facilitate the selection of the appropriate positions of the interfaces 111. In other words, even when the number of the interfaces 111 is fixed, those skilled in the art can also adjust the plug-in number of the robotic arms 120 according to the actual use needs; for example, when the number of the interfaces 111 is six, only four robotic arms 120 can be used, and two interfaces 111 are in an idle state, which can more flexibly adapt to different use scenarios to increase the applicable range of the vascular interventional surgical robot.

[0039] The above-mentioned functional module 112 can drive the robotic arm 120 to adjust its angle. Specifically, the functional module 112 may include a rotating motor, which realizes power transmission to the robotic arm 120 through an interface. In order to better obtain the rotation angle of the robotic arm 120, the functional module 112 may further include an angle detector. Through this angle detector, the rotation angle of the robotic arm 120 can be measured. When the rotation angle reaches the target angle, the rotating motor stops running. The above-mentioned target angle can be adjusted according to the intraoperative requirements. Of course, the above is only an example of the functional module 112. As long as the structure can drive the robotic arm 120 to adjust its angle, it is within the protection scope of the present utility model.

[0040] In addition, in order to improve the smoothness of power transmission between the functional module 112 and the robotic arm 120, the functional module 112 may further include a transmission mechanism. The rotating motor is drivingly connected to the interface through the transmission mechanism. Among them, the transmission mechanism can be a gear transmission mechanism, a belt pulley transmission mechanism, or other structures capable of power transmission.

[0041] In some embodiments of the present utility model, the vascular intervention surgical robot further includes a connecting seat, and the robotic arm 120 is detachably connected to the host 110 through the connecting seat.

[0042] The control handles 130 are all omnidirectional head-end rotatable data acquisition handles, which are used to manually adjust and control the posture positions of the arms of the robotic arm 120. For the convenience of description, in this example, the control handle 130 includes a first end face connected to the free end of the robotic arm 120 and a second end face for installing the end operating mechanism 140. The first end face and the second end face are arranged opposite to each other.

[0043] The control handle 130 may include a control handle main body and an operating handle. The control handle main body is rotatably arranged at the end of the robotic arm 120; the operating handle is fixed on the control handle main body for medical staff to hold. It can be understood that the above-mentioned control handle main body is the main structure for realizing the functions of the control handle 130.

[0044] In some examples, the control handle main body and the end of the robotic arm 120 are connected through a damping structure. Under the action of an external force, the control handle 130 can rotate, and when the external force is withdrawn, the control handle 130 does not move relative to the end of the robotic arm 120 to stably support the end operating mechanism 140. The above is the implementation method when manually operating the control handle 130.

[0045] In addition, the handle 130 can also rotate relative to the end of the robotic arm 120. At this time, a rotating motor is provided on one of the handle 130 and the end of the robotic arm 120. A driving gear is provided on the output shaft of the rotating motor, and a driven gear that mates with the driving gear is provided on the other of the two. The angle adjustment of the end operating mechanism 140 relative to the handle 130 is achieved through the rotation of the driven gear.

[0046] In order to balance manual operation and automatic operation, the handle 130 may further include a clutch. The clutch is located between the driving gear of the rotating motor and the driven gear and is in a power-off state under normal conditions. When automatic operation is required, the clutch is in a power-on state, and the power output by the rotating motor can be transmitted to the driven gear through the clutch, ultimately realizing the rotation of the end operating mechanism 140 relative to the handle 130. When the end operating mechanism 140 reaches the required angle, the rotating motor stops running.

[0047] In some examples, the handle 130 may further include an angle detector, and the rotation angle of the end operating mechanism 140 relative to the handle 130 can also be detected through the angle detector. When the rotation angle reaches the target angle, the rotating motor stops running. The above target angle can be adjusted according to intraoperative requirements. Of course, the above is only an example of the handle 130, and any structure that can drive the end operating mechanism 140 to adjust the angle is within the protection scope of the present invention.

[0048] In order to facilitate the intraoperative acquisition of the resistance magnitude when the interventional consumable 200 enters the human blood vessel, a resistance measuring mechanism 150 and a floating mechanism 160 are provided on the second end face. The resistance measuring mechanism 150 is used to measure the resistance value of the end operating mechanism 140, and the floating mechanism 160 is connected to the end operating mechanism 140. It should be noted that the function of the floating mechanism 160 is to realize the connection between the robotic arm 120 and the end operating mechanism 140 without affecting the resistance measurement between the two, ensuring the accuracy of the measurement result.

[0049] In some examples, the floating mechanism 160 includes a slide rail 161 and a slider 162 that slidably cooperates with the slide rail 161. One of the slide rail 161 and the slider 162 is fixed on the second end face, and the other of the two is fixed on the end operating mechanism 140. That is to say, the slide rail 161 is provided on the second end face, and the slider 162 is provided on the end operating mechanism 140; or the slide rail 161 is provided on the end operating mechanism 140, and the slider 162 is provided on the second end face.

[0050] In order to reduce the influence of the cooperation between the slide rail 161 and the slider 162 on the resistance measurement, in this embodiment, the extending direction of the slide rail 161 is parallel to the delivery direction of the interventional consumable 200. The so-called delivery direction is the direction in which the interventional consumable 200 moves.

[0051] The above-mentioned resistance measuring mechanism 150 is a pressure sensor, which is located between the slide rail 161 and the slider 162 to measure the tensile force or extrusion force between the slider 162 and the slide rail 161. Alternatively, the resistance measuring mechanism 150 is a strain gauge, which senses the tensile force or extrusion force between the slider 162 and the slide rail 161 to realize the change of the force between the slider 162 and the slide rail 161, and the change of this force is finally reflected on the resistance of the interventional consumable 200.

[0052] The above-mentioned robotic arm 120 can be a four-axis robotic arm 120, a five-axis robotic arm 120 or a six-axis robotic arm 120. In some embodiments of the present invention, multiple robotic arms 120 include a front-end fixed robotic arm 120 and at least one rear-end moving robotic arm 120. It should be noted that the front-end fixed robotic arm 120 only remains stationary during the operation, and its position and posture can be adjusted before the operation so as to effectively adjust the position and posture of the interventional consumable 200 in space, and further adjust the insertion direction of the interventional consumable 200, so that the interventional consumable 200 can better enter the human blood vessel and reach the lesion position during the movement along the insertion direction.

[0053] The present invention will be specifically introduced by taking the combination of the interventional consumable 200 as a catheter and a guide wire as an example:

[0054] The vascular interventional surgical robot includes a host, three robotic arms (the first robotic arm, the second robotic arm and the third robotic arm from distal to proximal), three omnidirectional rotatable control handles (the first control handle, the second control handle and the third control handle from distal to proximal) and three end operating mechanisms (the first end operating mechanism, the second end operating mechanism and the third end operating mechanism from distal to proximal). The above-mentioned "distal" and "proximal" are defined from the perspective of medical staff, where the end close to the patient is the "distal" and the end far from the patient is the "proximal".

[0055] Before the operation, medical staff need to install the robotic arms together with the host fixed on the support mechanism, fix the three robotic arms to the host with one key, move the robotic arms to positions that do not interfere with the operation of the patient and medical staff through their respective control handles, cover the whole robotic arms with a sterile film, install the end operating mechanisms on the first control handle, the second control handle and the third control handle, and then install the first catheter, the second catheter and the guide wire (which can be understood as the interventional consumable) on the end operating mechanisms respectively, and adjust each robotic arm to a suitable position by pushing the three control handles, so that the first catheter and the second catheter are straightened and in a straight line state, and the head end of the first end operating mechanism is aligned with the entrance of the vascular sheath and has the same angle as the vascular sheath.

[0056] The end of the first fixed robotic arm is equipped with a first control handle for quick connection with the first end operating mechanism. By moving the first control handle, the state of the first fixed robotic arm can be manually adjusted so that the head end of the first end operating mechanism is properly docked with the vascular sheath. The first end operating mechanism is used to drive the first catheter to move so that the first catheter penetrates into the vascular sheath and enters the human body.

[0057] The end of the second robotic arm is equipped with a second control handle for quick clamping with the second end operating mechanism. The second end operating mechanism is used to fix the first catheter and drive the second catheter to move along the inner cavity of the first catheter. By moving the second control handle, the state of the second robotic arm can be manually adjusted so that the first catheter is straightened and coaxial with the second catheter.

[0058] The end of the third robotic arm is equipped with a third control handle for quick connection with the third end operating mechanism. The third end operating mechanism is used to fix the second catheter and drive the guide wire to move along the inner cavity of the second catheter. By moving the third control handle, the state of the third robotic arm can be manually adjusted so that the second catheter is straightened and coaxial with the front end of the guide wire.

[0059] Before the operation, the medical staff install the interventional consumables in place and manually adjust each robotic arm to the appropriate position. When driving the first end operating mechanism to move the first catheter, the second robotic arm, the third robotic arm move in a straight line at the same speed and in the same direction as the first catheter. When driving the second catheter actuator to move, the third robotic arm moves in a straight line at the same speed and in the same direction as the second catheter. When driving the guide wire to move, the first fixed arm always remains in a stationary state. Through the coordinated movement and operation of the second moving arm, the third moving arm, the first end operating mechanism, the second catheter actuator, and the third end operating mechanism, the entire surgical operation process can be completed with a single installation of three or more interventional consumables.

[0060] Above, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0061] It should be noted that for the convenience of description, only parts related to the relevant utility model are shown in the drawings. Without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other.

[0062] The above description is only a preferred embodiment of the present utility model and an explanation of the applied technical principles, and is not intended to limit the present utility model. For those skilled in the art, various modifications and variations can be made to the present utility model. The scope of the utility model involved in the present utility model is not limited to the technical solution formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the present utility model.

Claims

1. A vascular interventional surgery robot, characterized in that: include: Host (110); A plurality of mechanical arms (120) are arranged on the host (110); A plurality of omnidirectionally rotatable control handles (130), wherein the control handles (130) are arranged at the free end of the mechanical arm (120); A plurality of end operating mechanisms (140) are used for delivering interventional consumables (200); the end operating mechanisms (140) are arranged on the control handle (130) so that the angle and position of the end operating mechanisms (140) can be adjusted through the control handle (130).

2. The vascular interventional surgery robot according to claim 1, characterized in that: The host (110) comprises a plurality of interfaces (111) and functional modules (112); the mechanical arm (120) is detachably arranged on the interface (111) and connected to the functional module (112) via the interface (111).

3. The vascular interventional surgery robot according to claim 1, characterized in that: The control handle (130) comprises a first end surface connected to the free end of the mechanical arm (120) and a second end surface for mounting the end operating mechanism (140), wherein the first end surface is arranged opposite to the second end surface.

4. The vascular interventional surgery robot according to claim 3, characterized in that: The second end surface is provided with a resistance measuring mechanism (150) and a floating mechanism (160), the resistance measuring mechanism (150) being used to measure the resistance value of the end operating mechanism (140), and the floating mechanism (160) being connected to the end operating mechanism (140).

5. The vascular interventional surgery robot according to claim 4, characterized in that: The floating mechanism (160) comprises a slide rail (161) and a slider (162) slidably matched with the slide rail (161); one of the slide rail (161) and the slider (162) is fixed on the second end surface, and the other of the two is fixed on the end operating mechanism (140).

6. The vascular interventional surgery robot according to claim 5, characterized in that: The extending direction of the slide rail (161) is parallel to the delivery direction of the interventional consumable (200).

7. The vascular interventional surgery robot according to claim 6, characterized in that: The resistance measuring mechanism (150) is a pressure sensor, and the pressure sensor is located between the slide rail (161) and the slider (162) to measure the pulling force or squeezing force between the slider (162) and the slide rail (161).

8. The vascular interventional surgery robot according to any one of claims 1 to 7, characterized in that: The robotic arm (120) is a six-axis robotic arm.

9. The vascular interventional surgery robot according to any one of claims 1 to 7, characterized in that: The plurality of mechanical arms (120) include a front-end fixed mechanical arm and at least one rear-end movable mechanical arm.

10. The vascular interventional surgery robot according to any one of claims 1 to 7, characterized in that: It also includes a connection base, through which the mechanical arm (120) is detachably connected to the host (110).

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