Interventional operation conveying system and interventional operation robot

Abstract

The utility model discloses an interventional operation delivery system and interventional operation robot, implantation device includes implantation seat, transmission rod and control wire, control wire and transmission rod are connected to surgical clip and are used for controlling the surgical clip to open and close, implantation device also includes drive mechanism, drive mechanism is connected to control wire or transmission rod, drive mechanism includes: slide block, and the slide block is connected to the control wire or transmission rod. The connecting rod is connected with the control wire or the transmission rod; the sliding guide structure is installed on the implantation seat and extends in the axial direction of the implantation seat, and the sliding block is installed on the sliding guide structure and can slide in the axial direction; the driving rod is mounted on the implanting seat and extends in the axial direction, and the driving rod is in threaded connection with the sliding block; and the power unit is connected to the driving rod and used for driving the driving rod to rotate. The sliding block is installed on the driving rod, the driving rod is driven by the power unit to move, the sliding guide structure and the driving rod are matched to enable the sliding block to move, then the control wire or the transmission rod is pulled to move, opening and closing control over the surgical clamp is achieved, and operation is easy and convenient.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of medical instruments, in particular to a kind of intervention operation delivery system and intervention operation robot. BACKGROUND

[0002] Human heart structure is very complex, especially mitral valve structure is more complex than aortic valve, mitral valve structure annulus shape is irregular, ventricular cavity multiple chordae tendineae seriously interfere with the implantation and positioning of intervention valve. Therefore, for transcatheter valve replacement surgery (including transcatheter aortic replacement surgery, transcatheter mitral valve replacement surgery, etc.), accurate positioning of valve stent is one of the key factors for successful surgery. This requires that the delivery system can achieve precise operation, especially the guiding transmission of the delivery system, self-locking and other operations. Non-precise operation of the delivery system can cause operator errors during the entire surgical procedure, inaccurate positioning of the valve stent, and can even cause the patient to develop serious problems such as paravalvular leakage / regurgitation. However, in the existing intervention surgery, the control wire or control line of the delivery system is directly controlled by hand to complete the intervention surgery, which is greatly affected by the skill and experience of the operator, and the surgical control precision is difficult to guarantee. SUMMARY

[0003] The technical problem to be solved by the utility model is to overcome the defect that there is no intervention operation delivery system in the prior art, and to provide an intervention operation delivery system and an intervention operation robot.

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

[0005] An intervention operation delivery system includes an implant device for controlling the opening and closing of a surgical clamp, the implant device includes an implant seat, a transmission rod and a control wire, the control wire and the transmission rod are connected to the surgical clamp, the implant device further includes a driving mechanism connected to the control wire or transmission rod, the driving mechanism includes:

[0006] A sliding block connected to the control wire or the transmission rod;

[0007] A guide sliding structure installed on the implant seat and extending in the axial direction of the implant seat, the sliding block is installed on the guide sliding structure and can slide in the axial direction;

[0008] A drive rod installed on the implant seat and extending in the axial direction, the drive rod is connected to the sliding block;

[0009] A power unit connected to the drive rod for driving the drive rod to move.

[0010] In the present scheme, the interventional surgery delivery system drives the driving rod to move by using the power unit through installing the slider on the driving rod, and the cooperation of the guide sliding structure and the driving rod makes the slider slide along the axial direction of the implant seat, thereby dragging the control wire or transmission rod to move, so as to realize the opening and closing control of the surgical clip, which is simple and convenient to operate. The setting of the guide sliding structure plays a role in connecting the slider and the implant seat, limiting the rotation of the slider, and on the other hand, the guide sliding structure provides a guide function for the slider, so that the slider slides along the axial direction of the implant seat smoothly.

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

[0012] In the present scheme, the driving rod is a screw rod, which is convenient for converting the rotary motion of the screw rod into the linear motion of the slider, so as to realize the accurate adjustment of displacement. Of course, in other alternative schemes, the driving rod can directly drive the slider to move.

[0013] Preferably, the guide sliding structure comprises a sliding groove and a protruding part, the sliding groove is arranged inside the implant seat and extends along the axial direction of the implant seat, and the protruding part is connected to the slider, and the protruding part is embedded in the sliding groove and can slide along the extension direction of the sliding groove.

[0014] Alternatively, the guide sliding structure comprises a sliding groove and a protruding part, the protruding part is arranged in the implant seat and extends along the axial direction of the implant seat, and the sliding groove is arranged in the slider, and the sliding groove is sleeved on the protruding part and can slide along the extension direction of the protruding part.

[0015] In the present scheme, the guide sliding structure in which the protruding part is embedded in the sliding groove is simple in structure and convenient to install. Of course, in other schemes, the sliding groove and the protruding part can also be replaced by other structures with guide sliding function. For example, the cooperation of the sliding rod and the sliding hole on the slider can also play a guide sliding role.

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

[0017] In the present scheme, the above structure is adopted, which is convenient for adjusting the rotating speed of the driving rod by adjusting the transmission ratio of the gear set, and adjusting the position between the driving rod and the power unit through the cooperation of the gear set.

[0018] Preferably, the gear set comprises a first gear, a second gear and a third gear, the first gear is connected to the power unit in the form of shaft, the second gear is connected to the driving rod in the form of shaft, and the third gear is engaged with the first gear and the second gear respectively.

[0019] In the scheme, the above structure is adopted, so that the position between the motor and the driving rod can be flexibly set, the space on the implant seat is fully utilized, and interference is prevented.

[0020] Preferably, the control wires and the driving mechanisms are one-to-one corresponding to each other, the number of the control wires and the driving mechanisms is multiple, and the multiple driving mechanisms are arranged along the circumferential direction of the implant seat.

[0021] In the scheme, the above structure is adopted, so that the multiple states of the surgical clip can be controlled, and the diversification requirement of the interventional surgery is met.

[0022] Preferably, the driving rod is connected to the middle part of the surgical clip for controlling the opening and closing of the surgical clip, the number of the control wires is two, the two control wires are connected to the left wing clip and the right wing clip of the surgical clip respectively for controlling the opening and closing of the left wing clip and the right wing clip respectively.

[0023] In the scheme, the above structure is adopted, so that the opening and closing control of the surgical clip body, the opening and closing control of the left wing clip, and the opening and closing control of the right wing clip are realized, and the operation precision of the interventional surgery is improved.

[0024] Preferably, the driving mechanism further comprises a wire rod, the wire rod is installed at the end of the sliding block away from the driving rod, the extension direction of the wire rod is the same as the extension direction of the driving rod, and the sliding block is connected to the control wire through the wire rod.

[0025] In the scheme, the above structure is adopted, so that the driving rod and the control wire are arranged in a staggered manner on the implant seat, and interference between multiple components is prevented.

[0026] Preferably, the power unit is an electric motor or a knob.

[0027] In the scheme, the power unit is an electric motor, so that the rotation speed of the driving rod can be adjusted by adjusting the rotation speed of the electric motor, and the rotation speed of the electric motor can be controlled by an intelligent controller, so that intelligent control of the clip is realized. The power unit is a knob, so that the bending angle of the catheter sheath can be controlled by manually operating the knob.

[0028] Preferably, the interventional surgery delivery system further comprises a bending control device, the bending control device comprises a catheter sheath and a catheter seat, the implant device comprises a sheath pipe, the sheath pipe is arranged in the catheter sheath, and the catheter seat and the implant seat are detachably connected.

[0029] In the scheme, the bending control device is used for controlling the bending of the distal end of the catheter sheath by pulling the bending control wire. The catheter seat and the implant seat are detachably connected, so that the bending control device and the implant device can be integrated into one, and the volume is reduced.

[0030] An interventional surgery robot comprises the interventional surgery delivery system as described above.

[0031] 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.

[0032] The positive and progressive effects of the present invention are as follows: the interventional surgical delivery system mounts a slider on a drive rod, utilizes a power unit to drive the drive rod, and cooperates with the guide structure and the drive rod to slide the slider along the axial direction of the implant seat, thereby pulling the control wire or transmission rod to move, thereby achieving the opening and closing control of the surgical clamp, which is simple and convenient to operate. The guide structure not only connects the slider to the implant seat, limiting the rotation of the slider, but also provides a guide for the slider, allowing the slider to slide smoothly along the axial direction of the implant seat. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a structural diagram of an interventional surgery delivery system according to a preferred embodiment of the present invention.

[0034] Figure 2 The internal structure of the implant device of a preferred embodiment of the present invention is shown in FIG. Figure 1 .

[0035] Figure 3 A schematic diagram of the partial structure of an implant device according to a preferred embodiment of the present invention Figure 2 .

[0036] Figure 4 A schematic diagram of the partial structure of an implant device according to a preferred embodiment of the present invention Figure 3 .

[0037] Figure 5 This is a schematic structural diagram of a clip according to an embodiment of the present utility model.

[0038] Description of reference numerals:

[0039] Implant device 1

[0040] Implant seat 11

[0041] Control wire 12

[0042] Sheath 13

[0043] Driving mechanism 14

[0044] Slider 141

[0045] Guide structure 142

[0046] Chute 1421

[0047] Drive rod 143

[0048] Wire rod 144

[0049] Gear set 145

[0050] First gear 1451

[0051] Second gear 1452

[0052] Third gear 1453

[0053] Transmission rod 15

[0054] Surgical clip 2

[0055] Left wing clip 21

[0056] Right wing clip 22

[0057] Bending device 3

[0058] Introducer Sheath 31

[0059] Catheter seat 32

[0060] Axial direction 100 DETAILED DESCRIPTION

[0061] 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.

[0062] like Figures 1-5 As shown, this embodiment discloses an interventional surgical delivery system, which includes an implant device 1, which is used to control the opening and closing of a surgical clip 2. The implant device 1 includes an implant seat 11, a control wire 12 and a transmission rod 15, and the control wire 12 and the transmission rod 15 are both connected to the surgical clip 2 (as shown in FIG. Figure 5 As shown in the figure), the implant device 1 also includes a driving mechanism 14, which is connected to the control wire 12 or the transmission rod 15. The driving mechanism 14 includes a slider 141, a sliding guide structure 142, a driving rod 143 and a power unit (not shown in the figure), the slider 141 is connected to the control wire 12 or the transmission rod 15, the sliding guide structure 142 is installed on the implant seat 11 and extends along the axial direction 100 of the implant seat 11, the slider 141 is installed on the sliding guide structure 142 and can slide along the axial direction 100, the driving rod 143 is installed on the implant seat 11 and extends along the axial direction 100, and the driving rod 143 is connected to the slider 141. The power unit is connected to the driving rod 143 and is used to drive the driving rod 143 to move.

[0063] like Figures 2-4As shown, in this embodiment, the interventional surgical delivery system is configured such that a slider 141 is mounted on a drive rod 143, and the drive rod 143 is driven by a power unit. The guide structure 142 and the drive rod 143 cooperate to cause the slider 141 to slide along the axial direction 100 of the implant seat 11, thereby pulling the control wire 12 or the transmission rod 15 to move, thereby controlling the opening and closing of the surgical clip 2. The operation is simple and convenient. The guide structure 142, on the one hand, serves to connect the slider 141 to the implant seat 11, thereby limiting the rotation of the slider 141. On the other hand, the guide structure 142 provides a guide for the slider 141, allowing the slider 141 to slide along the axial direction 100 of the implant seat 11, thereby achieving smooth sliding.

[0064] In this embodiment, the drive rod 143 is a screw that is threadedly connected to the slider 141. The power unit is used to drive the screw to rotate, thereby converting the rotational motion of the screw into linear motion of the slider 141, thereby achieving precise adjustment of the displacement. Of course, in other alternative embodiments, the drive rod can directly drive the slider to move.

[0065] like Figures 2-4 As shown, in this embodiment, the driving mechanism 14 also includes a wire rod 144, which is installed on the end of the slider 141 away from the driving rod 143. The extension direction of the wire rod 144 is the same as the extension direction of the driving rod 143. The slider 141 is connected to the control wire 12 through the wire rod 144, which facilitates the staggered arrangement of the driving rod 143 and the control wire 12 on the implant seat 11, optimizes the parts arrangement, and prevents interference between multiple components.

[0066] like Figures 2-4 As shown, in this embodiment, the guide sliding structure 142 includes a slide groove 1421 and a protrusion. The slide groove 1421 is arranged inside the implant seat 11 and extends along the axial direction 100 of the implant seat 11. The protrusion is connected to the slider 141. The protrusion and the slider 141 are integrally arranged. The protrusion is embedded in the slide groove 1421 and can slide along the extension direction of the slide groove 1421. The guide sliding structure 142 in which the protrusion is embedded in the slide groove 1421 has a simple structure and is easy to install. Of course, in other embodiments, the slide groove and the protrusion can also be replaced by other structures with a guide sliding function. For example, the slide rod cooperates with the slide hole on the slider to also play a guide sliding role.

[0067] In another embodiment, the guide structure includes a slide groove and a protrusion, the protrusion is arranged on the implant seat and extends along the axial direction of the implant seat, the slide groove is arranged on the slider, the slide groove is sleeved on the protrusion and can slide along the extension direction of the protrusion.

[0068] like Figure 2As shown, in this embodiment, the driving mechanism 14 also includes a gear set 145, and the power unit is connected to the driving rod 143 through the gear set 145, so that the rotation speed of the driving rod 143 can be adjusted by adjusting the transmission ratio of the gear set 145, and the position between the driving rod 143 and the power unit can be adjusted by cooperating with the gear set 145, thereby optimizing the parts layout and saving installation space.

[0069] like Figure 2 As shown, specifically in this embodiment, the gear set 145 includes a first gear 1451, a second gear 1452 and a third gear 1453. The first gear 1451 is axially connected to the power unit, the second gear 1452 is axially connected to the drive rod 143, and the third gear 1453 is respectively engaged with the first gear 1451 and the second gear 1452, so as to facilitate the flexible setting of the position between the power unit and the drive rod 143 to make full use of the space on the implant seat 11 and prevent interference. At the same time, it is also convenient to adjust the speed of the drive rod 143 by adjusting the transmission ratio of the gear set 145.

[0070] like Figures 2-5 As shown, in this embodiment, the control wire 12 and the transmission rod 15 are respectively provided in a one-to-one correspondence with the drive mechanism 14. There are multiple control wires 12 and multiple drive mechanisms 14, and multiple drive mechanisms 14 are provided on the implant seat 11 at intervals along the circumferential direction of the implant seat 11, which can realize the control of multiple states of the surgical clip 2 to meet the diverse needs of interventional surgery.

[0071] like Figure 2 and Figure 5 As shown, in this embodiment, a transmission rod 15 is connected to the middle portion of the surgical clip 2 to control the opening and closing of the surgical clip 2. Two control wires 12 are connected to the left wing 21 and the right wing 22 of the surgical clip 2, respectively, to control the opening and closing of the left wing 21 and the right wing 22. By pulling the control wires 12 and the transmission rod 15, the surgical clip 2 can be opened and closed, and the left wing 21 and the right wing 22 can be opened and closed, respectively, thereby improving the operating precision of interventional procedures. Figure 5 The surgical clip shown is prior art, and its structure and working principle are not described in detail here. Of course, the driving mechanism of the present application can also be connected to and control surgical clips of other structures.

[0072] In this embodiment, the power unit is a motor (not shown in the figure), which makes it convenient to adjust the rotation speed of the driving rod 143 by adjusting the speed of the motor, and also convenient to control the speed of the motor through an intelligent controller, thereby realizing intelligent control of the surgical clamp.

[0073] In another embodiment, the power unit is a knob, which facilitates the control of the bending angle of the distal end of the catheter sheath 31 by manually operating the knob.

[0074] As Figure 1 shown, in the present embodiment, the interventional operation delivery system further comprises a steering device 3, the steering device 3 comprises a catheter sheath 31 and a catheter seat 32, the implant device 1 comprises a sheath tube 13, the sheath tube 13 is sleeved on the catheter sheath 31, and the catheter seat 32 and the implant seat 11 are detachably connected. The steering device 3 is used for controlling the steering of the distal end of the catheter sheath 31 by pulling a steering wire. The catheter seat 32 and the implant seat 11 are detachably connected, so that the steering device 3 and the implant device 1 are integrated into one, and the volume is reduced.

[0075] The present embodiment further discloses an interventional operation robot, which comprises the interventional operation delivery system as described above.

[0076] In the description herein, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0077] Although the specific embodiments of the present application are described above, those skilled in the art should understand that this is only an example, the protection scope of the present application is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present application, but these changes and modifications all fall within the protection scope of the present application.

Claims

1. An interventional surgical delivery system, comprising an implant device for controlling the opening and closing of a surgical clip, the implant device comprising an implant seat, a transmission rod, and a control wire, wherein the control wire and the transmission rod are both connected to the surgical clip, characterized in that: The implant device further includes a drive mechanism connected to the control wire or the transmission rod, and the drive mechanism includes: a slider connected to the control wire or the transmission rod; A guide sliding structure is mounted on the implant seat and extends along the axial direction of the implant seat, and the slider is mounted on the guide sliding structure and can slide along the axial direction; a driving rod, mounted on the implant seat and extending along the axial direction, the driving rod being connected to the slider; The power unit is connected to the driving rod and is used to drive the driving rod to move.

2. The interventional surgery delivery system according to claim 1, wherein: The driving rod is a screw rod, the screw rod is threadedly connected to the slider, and the power unit is used to drive the screw rod to rotate.

3. The interventional surgery delivery system according to claim 2, wherein: The guide structure includes a slide groove and a protrusion, wherein the slide groove is arranged inside the implant seat and extends along the axial direction of the implant seat, 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 arranged on the implant seat and extends along the axial direction of the implant seat, the slide groove is arranged on the slider, the slide groove is sleeved on the protrusion and can slide along the extension direction of the protrusion.

4. The interventional surgery delivery system according to claim 2, wherein: The driving mechanism further includes a gear set, and the power unit is connected to the driving rod via the gear set; 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 driving rod, and the third gear is engaged with the first gear and the second gear respectively.

5. The interventional surgery delivery system according to claim 1, wherein: The control wires and the transmission rods are respectively arranged in one-to-one correspondence with the driving mechanisms. There are multiple control wires and multiple driving mechanisms, and the multiple driving mechanisms are arranged on the implant seat at intervals along the circumferential direction of the implant seat.

6. The interventional surgery delivery system according to claim 5, wherein: The transmission rod is connected to the middle part of the surgical clamp for controlling the opening and closing of the surgical clamp. There are two control wires, which are respectively connected to the left wing clamp and the right wing clamp of the surgical clamp for controlling the opening and closing of the left wing clamp and the right wing clamp respectively.

7. The interventional surgery delivery system according to claim 1, wherein: The driving mechanism further includes a wire rod, which is mounted on an end of the slider away from the driving rod. The extension direction of the wire rod is the same as that of the driving rod. The slider is connected to the control wire through the wire rod.

8. The interventional surgery delivery system according to any one of claims 2 to 7, wherein: The power unit is a motor or a knob.

9. The interventional surgery delivery system according to claim 1, wherein: The interventional surgery delivery system also includes a bending control device, which includes a catheter sheath and a catheter seat. The implant device includes a sheath tube, which is passed through the catheter sheath. The catheter seat and the implant seat are detachably connected.

10. An interventional surgical robot, characterized in that: The interventional surgery robot includes the interventional surgery delivery system according to any one of claims 1 to 9.

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