Controllable bending catheter sheath device and surgical robot

Abstract

The utility model discloses a controllable bending catheter sheath device and surgical robotic.The controllable bending catheter sheath device comprises a catheter sheath, a bending control wire and a catheter base, the controllable bending catheter sheath device further comprises a driving mechanism, the driving mechanism is connected to the bending control wire and used for driving the bending control wire to slide in the axial direction of the catheter sheath, and the catheter base is connected with the driving mechanism. The driving mechanism comprises a sliding block connected to the bending control wire; the guide sliding structure is installed on the guide pipe base and extends in the axial direction, and the sliding block is installed on the guide sliding structure and can slide in the extending direction of the guide sliding structure; the transmission rod is installed on the guide pipe seat and extends in the axial direction, and the transmission rod is connected to the sliding block; the power unit is connected to the transmission rod and used for driving the transmission rod to move. The power unit drives the transmission rod to move, the guide sliding structure is matched with the transmission rod, accurate movement of the bending control wire can be achieved, and then accurate control over the bending angle of the catheter sheath is achieved.

Description

Technical Field

[0001] The utility model relates to a medical device, in particular to a controllable bending catheter sheath device and a surgical robot. Background Art

[0002] Among interventional treatment technologies, vascular interventional treatment is the sub-sector with the highest technical requirements and entry barriers, and the related consumables used account for a relatively high proportion of high-value consumables. One of the indispensable and high-value consumables is the vascular intervention catheter. However, the vascular pathways in the human body often have individual differences due to the human body. A catheter with a single angle cannot match each person's vascular structure. If the angle of the catheter cannot match the human vascular structure, it will inevitably affect its delivery and positioning during surgery, thereby greatly increasing the difficulty of operation and the risk of surgical complications. However, the existing adjustable curved sheath handle usually manually controls the delivery system to complete the interventional surgery, which is greatly affected by the operator's skills and experience, and the accuracy of surgical control is difficult to guarantee. In addition, in traditional interventional surgery, the operator will be exposed to X-ray radiation for a long time, which affects the operator's health. Utility Model Content

[0003] The technical problem to be solved by the present invention is to overcome the defect in the prior art that there is a lack of an adjustable bending sheath tube device for remote operation, and to provide a controllable bending catheter sheath device and a surgical robot.

[0004] The utility model solves the above technical problems through the following technical solutions:

[0005] A controllable bending catheter sheath device includes a catheter sheath, a bending control wire, and a catheter seat. The controllable bending catheter sheath device also includes a drive mechanism, the drive mechanism being connected to the bending control wire and configured to drive the bending control wire to slide along the axial direction of the catheter sheath. The drive mechanism includes:

[0006] A slider connected to the bending control wire;

[0007] A guide sliding structure is mounted on the catheter seat and extends along the axial direction, and the slider is mounted on the guide sliding structure and can slide along the extension direction of the guide sliding structure;

[0008] a transmission rod, mounted on the catheter seat and extending along the axial direction, the transmission rod being connected to the slider;

[0009] The power unit is connected to the transmission rod and is used to drive the transmission rod to move.

[0010] In this solution, the controllable bending catheter sheath device installs a slider on a transmission rod, uses a power unit to drive the transmission rod to move, and cooperates with the sliding guide structure and the transmission rod to move the slider along the axial direction of the catheter sheath, thereby pulling the bending control wire to move, thereby realizing remote control of the bending angle of the distal end of the catheter sheath, avoiding the doctor's exposure to X-ray radiation, protecting the doctor's health, and simple and convenient operation.

[0011] Preferably, the transmission rod is a screw, the screw is threadedly connected to the slider, and the power unit is connected to the screw to drive the screw to rotate.

[0012] In this solution, the transmission rod is a screw, which is convenient for converting the rotational motion of the screw into the linear motion of the slider, thereby achieving precise adjustment of the displacement. Of course, in other alternative solutions, the transmission rod can directly drive the slider to move.

[0013] Preferably, the guide structure includes a slide groove and a protrusion, wherein the slide groove is provided inside the catheter seat and extends along the axial direction, the protrusion is connected to the slider, and the protrusion is embedded in the slide groove and can slide along the extension direction of the slide groove;

[0014] Alternatively, the guide structure includes a slide groove and a protrusion, the protrusion is provided on the catheter seat and extends along the axial direction, the slide groove is provided on the slider, the slide groove is sleeved on the protrusion and can slide along the extension direction of the protrusion.

[0015] In this embodiment, the guide structure not only connects the slider to the catheter seat but also guides the slider, allowing it to rise and fall along the axial direction of the transmission rod. The guide structure, in which the raised portion is embedded within the chute, offers a simple structure and easy installation. Of course, in other embodiments, the chute and raised portion can be replaced with other structures that provide a guide function.

[0016] Preferably, the driving mechanism further includes a gear set, and the power unit is connected to the transmission rod via the gear set.

[0017] In this solution, the above structural setting is adopted to facilitate adjusting the rotation speed of the transmission rod by adjusting the transmission ratio of the gear set, and adjusting the position between the transmission rod and the power unit by the cooperation of the gear set.

[0018] Preferably, the gear set includes a first gear, a second gear and a third gear, the first gear shaft is connected to the power unit, the second gear shaft is connected to the transmission rod, and the third gear is engaged with the first gear and the second gear respectively.

[0019] In this solution, the above-mentioned structural arrangement is adopted to facilitate flexible setting of the position between the motor and the transmission rod, so as to fully utilize the space on the catheter seat and prevent interference.

[0020] Preferably, the power unit is a motor or a knob.

[0021] In this solution, the power unit is a motor, which facilitates adjusting the rotation speed of the transmission rod by adjusting the speed of the motor. The power unit is a knob, which facilitates controlling the bending angle of the catheter sheath by manually operating the knob.

[0022] Preferably, there are multiple bending control wires and multiple driving mechanisms, and the bending control wires and the driving mechanisms are arranged in a one-to-one correspondence. The multiple driving mechanisms are arranged on the catheter seat at intervals along the circumferential direction of the catheter seat.

[0023] In this solution, the above-mentioned structural arrangement can realize bending control in multiple directions at the distal end of the catheter sheath to meet the diverse needs of interventional surgery.

[0024] A surgical robot comprises an interventional surgery platform and the controllable bending catheter sheath device as described above, wherein the interventional surgery platform is detachably connected to a catheter seat of the controllable bending catheter sheath device.

[0025] In this solution, the above-mentioned structural arrangement is adopted to facilitate installation of the controllable-bend catheter sheath device on the interventional surgery platform, and the interventional surgery platform serves as a support seat.

[0026] Preferably, at least two buckles are provided on the circumferential side of the catheter seat, and the controllable bending catheter sheath device is respectively engaged and connected with the card slots on the interventional surgery platform through the at least two buckles.

[0027] In this solution, the controllable bending catheter sheath device is connected to the interventional surgery platform through a buckle, and is extremely convenient to install and disassemble.

[0028] Preferably, the power unit is a motor, which is installed inside the interventional surgery platform and is connected to the transmission rod via a gear set.

[0029] In this solution, the above-mentioned structural arrangement is adopted so that the motor is not arranged in the catheter seat, thereby saving space in the catheter seat, optimizing the structural arrangement, and facilitating the miniaturization of the surgical robot.

[0030] On the basis of conforming to the common sense in this field, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present utility model.

[0031] The positive progressive effect of the present invention is that the controllable bending catheter sheath device installs a slider on a transmission rod, uses a power unit to drive the transmission rod to move, and cooperates with the sliding guide structure and the transmission rod to move the slider along the axial direction of the catheter sheath, thereby pulling the bending control wire to move, thereby realizing remote control of the bending angle of the distal end of the catheter sheath, avoiding exposure of doctors to X-ray radiation, protecting the health of doctors, and simple and convenient operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic structural diagram of a controllable bending catheter sheath device according to a preferred embodiment of the present invention.

[0033] Figure 2 This is a schematic diagram of the partial internal structure of a controllable bending catheter sheath device according to a preferred embodiment of the present invention. Figure 1 .

[0034] Figure 3 This is a schematic diagram of the partial internal structure of a controllable bending catheter sheath device according to a preferred embodiment of the present invention. Figure 2 .

[0035] Figure 4 This is a structural schematic diagram of a controllable bending catheter sheath device installed on an interventional surgery platform in a preferred embodiment of the present invention.

[0036] Description of reference numerals:

[0037] Introducer sheath 1

[0038] Control bending wire 2

[0039] Catheter seat 3

[0040] Buckle 31

[0041] Drive mechanism 4

[0042] Slider 41

[0043] Guide structure 42

[0044] Chute 421

[0045] Transmission rod 43

[0046] Power Unit 44

[0047] Gear set 45

[0048] First gear 451

[0049] Second gear 452

[0050] The third gear 453

[0051] Interventional Surgery Platform 10

[0052] Axial direction 100 DETAILED DESCRIPTION

[0053] The present invention will be described more clearly and completely below by way of embodiments in conjunction with the accompanying drawings, but the present invention is not limited to the scope of the embodiments.

[0054] like Figures 1-4 As shown, this embodiment discloses a controllable bending catheter sheath device, which includes a catheter sheath 1, a bending control wire 2, a catheter hub 3, and a drive mechanism 4. The drive mechanism 4 is connected to the bending control wire 2 and is used to drive the bending control wire 2 to slide along the axial direction 100 of the catheter sheath 1, thereby controlling the bending angle and direction of the distal end of the catheter sheath 1. The drive mechanism 4 includes a slider 41, a guide structure 42, a transmission rod 43, and a power unit 44. The slider 41 is connected to the bending control wire 2. The guide structure 42 is mounted on the catheter hub 3 and extends along the axial direction 100. The slider 41 is mounted on the guide structure 42 and can slide along the extension direction of the guide structure 42. The transmission rod 43 is mounted on the catheter hub 3 and extends along the axial direction 100. The transmission rod 43 is connected to the slider 41. The power unit 44 is connected to the transmission rod 43 and is used to drive the transmission rod 43 to move. The bending control wire 2 is disposed within the catheter sheath 1. By pulling the bending control wire 2, the distal end of the catheter sheath 1 can be controlled. The controllable bending catheter sheath device installs a slider 41 on a transmission rod 43, uses a power unit 44 to drive the transmission rod 43 to move, and cooperates with the guide structure 42 and the transmission rod 43 to move the slider 41 along the axial direction 100 of the catheter sheath 1, thereby pulling the control bending wire 2 to move, thereby realizing remote control of the bending angle of the distal end of the catheter sheath 1, and the operation is simple and convenient.

[0055] In this embodiment, the transmission rod 43 is a screw, the slider 41 is threadedly connected to the screw, and the power unit 44 is used to drive the screw to rotate, so that the rotational motion of the screw is converted into linear movement of the slider 41, thereby achieving precise adjustment of the displacement. Of course, in other alternative embodiments, the transmission rod can directly drive the slider to move.

[0056] like Figure 2 and Figure 3 As shown, in this embodiment, the guide structure 42 includes a slide groove 421 and a protrusion. The slide groove 421 is disposed within the catheter adapter 3 and extends along the axial direction 100. The protrusion is connected to the slider 41, embedded in the slide groove 421, and can slide along the extension direction of the slide groove 421. The protrusion and the slider 41 are integrally provided, and the slider 41 is embedded in the slide groove 421 and slides within the slide groove 421. The provision of the guide structure 42 not only serves to connect the slider 41 with the catheter adapter 3, but also provides guidance for the slider 41, allowing it to rise and fall along the axial direction 100 of the transmission rod 43.

[0057] In another embodiment, the guide structure includes a slide groove and a raised portion. The raised portion is disposed on the catheter seat and extends in the axial direction. The slide groove is disposed on the slider. The slide groove is sleeved around the raised portion and can slide along the extending direction of the raised portion. The guide structure, in which the raised portion is embedded in the slide groove, has a simple structure and is easy to install.

[0058] Of course, in other embodiments, the sliding groove and the protrusion may be replaced by other structures with a sliding guide function.

[0059] like Figure 2 As shown, in this embodiment, the driving mechanism 4 also includes a gear set 45, and the power unit 44 is connected to the transmission rod 43 through the gear set 45, so that the rotation speed of the transmission rod 43 can be adjusted by adjusting the transmission ratio of the gear set 45, and the position between the transmission rod 43 and the power unit 44 can be adjusted by cooperating with the gear set 45.

[0060] like Figure 2 As shown, in this embodiment, the gear set 45 includes a first gear 451, a second gear 452 and a third gear 453. The first gear 451 is axially connected to the power unit 44, the second gear 452 is axially connected to the transmission rod 43, and the third gear 453 is respectively engaged with the first gear 451 and the second gear 452, so as to facilitate flexible setting of the position between the motor and the transmission rod 43 to fully utilize the space on the catheter seat 3 and prevent interference.

[0061] like Figure 4 As shown, in this embodiment, the power unit 44 is a motor, which can be used to adjust the rotation speed of the transmission rod 43 by adjusting the rotation speed of the motor. The motor is installed in the interventional surgery platform 10 to save space in the catheter seat 3.

[0062] In another embodiment, the power unit is a knob, which facilitates the control of the bending angle of the catheter sheath 1 by manually operating the knob.

[0063] There are multiple bending control wires 2 and drive mechanisms 4, and the bending control wires 2 and drive mechanisms 4 are arranged in a one-to-one correspondence. Multiple drive mechanisms 4 are arranged on the catheter seat 3 at intervals along the circumferential direction of the catheter seat 3, which can realize bending control in multiple directions of the distal end of the catheter sheath 1 to meet the diverse needs of interventional surgery.

[0064] In one embodiment, there are four bending control wires 2 and four driving mechanisms 4 , which can realize bending control in four directions of the distal end of the catheter sheath 1 .

[0065] like Figure 4As shown, this embodiment further discloses a surgical robot, which includes an interventional surgery platform 10 and the controllable bend catheter sheath device described above. The interventional surgery platform 10 is detachably connected to the catheter seat 3 of the controllable bend catheter sheath device, facilitating installation of the controllable bend catheter sheath device on the interventional surgery platform 10. The interventional surgery platform 10 serves as a support seat.

[0066] like Figures 1-4 As shown, specifically, at least two buckles 31 are provided on the circumferential side of the catheter seat 3, and the controllable bending catheter sheath device is respectively engaged with the card slots on the interventional surgery platform 10 through at least two buckles 31, and the installation and disassembly of the controllable bending catheter sheath device are extremely convenient.

[0067] like Figure 4 As shown, in this embodiment, the power unit 44 is a motor, which is installed inside the interventional surgery platform 10. The motor is connected to the transmission rod 43 through a gear set 45, so that the motor is not set in the catheter seat 3, so as to save space in the catheter seat 3, optimize the structural setting, and facilitate miniaturization of the surgical robot.

[0068] In the description of this article, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship 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 device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0069] Although specific embodiments of the present invention have been described above, those skilled in the art will appreciate that these are merely illustrative and that the scope of protection of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, and such changes and modifications are intended to fall within the scope of protection of the present invention.

Claims

1. A controllable bending catheter sheath device, comprising a catheter sheath, a bending control wire and a catheter seat, characterized in that: The controllable bending catheter sheath device further includes a driving mechanism, which is connected to the bending control wire and is used to drive the bending control wire to slide along the axial direction of the catheter sheath. The driving mechanism includes: A slider connected to the bending control wire; A guide sliding structure is mounted on the catheter seat and extends along the axial direction, and the slider is mounted on the guide sliding structure and can slide along the extension direction of the guide sliding structure; a transmission rod, mounted on the catheter seat and extending along the axial direction, the transmission rod being connected to the slider; The power unit is connected to the transmission rod and is used to drive the transmission rod to move.

2. The controllable bend catheter sheath device according to claim 1, wherein: The transmission rod is a screw rod, the screw rod is threadedly connected to the slider, and the power unit is connected to the screw rod to drive the screw rod to rotate.

3. The controllable bend catheter sheath device according to claim 2, wherein: The guide structure includes a slide groove and a protrusion, wherein the slide groove is arranged inside the catheter seat and extends along the axial direction, the protrusion is connected to the slider, and the protrusion is embedded in the slide groove and can slide along the extension direction of the slide groove; Alternatively, the guide structure includes a slide groove and a protrusion, the protrusion is provided on the catheter seat and extends along the axial direction, the slide groove is provided on the slider, the slide groove is sleeved on the protrusion and can slide along the extension direction of the protrusion.

4. The controllable bend catheter sheath device according to claim 2, wherein: The driving mechanism further includes a gear set, and the power unit is connected to the transmission rod via the gear set.

5. The controllable bend catheter sheath device according to claim 4, wherein: The gear set includes a first gear, a second gear and a third gear. The first gear shaft is connected to the power unit, the second gear shaft is connected to the transmission rod, and the third gear is engaged with the first gear and the second gear respectively.

6. The steerable bend catheter sheath device according to claim 4, wherein: The power unit is a motor or a knob.

7. The steerable bend catheter sheath device according to claim 1, wherein: There are multiple bending control wires and multiple driving mechanisms, and the bending control wires and the driving mechanisms are arranged in a one-to-one correspondence. The multiple driving mechanisms are arranged on the catheter seat at intervals along the circumferential direction of the catheter seat.

8. A surgical robot, characterized in that: It comprises an interventional surgery platform and a controllable bending catheter sheath device according to any one of claims 1 to 7, wherein the interventional surgery platform is detachably connected to the catheter seat of the controllable bending catheter sheath device.

9. The surgical robot according to claim 8, wherein: At least two buckles are provided on the circumferential side of the catheter seat, and the controllable bending catheter sheath device is respectively engaged and connected with the card slots on the interventional surgery platform through the at least two buckles.

10. The surgical robot according to claim 9, wherein: The power unit is a motor, which is installed inside the interventional surgery platform and is connected to the transmission rod via a gear set.

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