Interventional device and rope-magnetic double-control catheter surgical robot

Abstract

The utility model discloses an intervention device and a rope-magnetic double-control catheter surgical robotic.The intervention device comprises a fixing disc, an intervention catheter, a rope fixing assembly and a magnetic part, and the intervention catheter is connected with the fixing disc; the intervention catheter comprises a plurality of basic units which are hinged in sequence; the intervention catheter is provided with a wiring channel extending in the axial direction. One end of the rope fixing assembly is connected with the fixing disc, and the other end passes through the wiring channel and extends to the end, deviating from the fixing disc, of the intervention catheter; the rope fixing assembly is used for restraining the interventional catheter; the magnetic piece is arranged on the intervention catheter; the magnetic part is used for sensing an external magnetic field to drive the intervention catheter to rotate. The magnetic part and the rope fixing assembly are combined, flexible switching between the flexible state and the rigid state of the interventional catheter is achieved, the problem that a traditional interventional catheter cannot be remotely and actively controlled is solved, the mechanical property of the catheter is good, and fracture reduction and fixation can be completed by resisting the traction force of muscles.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to an interventional device and a catheter surgery robot with dual control via rope and magnetic field. Background Technology

[0002] Anatomical reduction and fixation are the mainstream methods for treating unstable fractures or intra-articular fractures. However, traditional open reduction and internal fixation techniques are accompanied by problems such as greater trauma, difficulty in exposing the surgical field, risk of neurovascular injury, and a slow bone healing process. Interventional diagnostic and treatment techniques, through minimally invasive methods, use small incisions to quickly reach the medullary cavity for fixation and reduction. They have the advantages of less trauma, faster recovery, and lower cost, and have been widely used in orthopedic diagnosis and treatment.

[0003] The typical instrument used in interventional diagnostic and treatment techniques is a flexible, slender catheter. During the procedure, with the assistance of an X-ray machine, 3D ultrasound equipment, or a built-in camera system, the physician manually manipulates the catheter to deliver it to the target area. The catheter serves as a pathway for procedures such as tissue sampling and drug release, thereby achieving the therapeutic goal.

[0004] However, existing interventional catheters cannot be remotely controlled, and manual operation can easily damage the inner wall of the patient's tissues, requiring doctors to undergo long-term training to become proficient in their operation; furthermore, interventional catheters have poor mechanical properties and are unable to resist muscle traction, affecting the reduction and fixation of fractures.

[0005] Therefore, existing technologies still need improvement. Utility Model Content

[0006] In view of the shortcomings of the prior art, this utility model aims to provide an interventional device and a cable-magnetic dual-control catheter surgery robot to solve the problem that traditional catheters cannot be remotely and actively controlled, reduce the damage to patients during intervention, and improve the defects of traditional catheters in poor mechanical properties and inability to complete fracture reduction.

[0007] This utility model is achieved through the following technical solution:

[0008] An interventional device, wherein the interventional device comprises:

[0009] Fixed plate;

[0010] An interventional catheter is connected to the fixed plate; the interventional catheter includes several basic units that are hinged together in sequence; the interventional catheter is provided with a wiring channel extending in the axial direction;

[0011] The cord securing assembly has one end connected to the fixing plate and the other end extending through the wiring channel to the end of the interventional catheter opposite to the fixing plate; the cord securing assembly is used to restrain the interventional catheter.

[0012] A magnetic component is disposed on the interventional catheter; the magnetic component is used to sense an external magnetic field to drive the interventional catheter to rotate.

[0013] The interventional device includes a hollow fixed plate forming a receiving cavity, with threaded through holes and connecting holes on both sides of the receiving cavity; the connecting holes are used to insert the interventional catheter.

[0014] The rope securing assembly includes:

[0015] A connecting component is screwed into the threaded hole; one end of the connecting component extends to the side of the fixing plate opposite to the interventional catheter and is provided with a threaded end; the other end is inserted into the receiving cavity and is provided with a connecting end.

[0016] The nut is screwed onto the threaded end;

[0017] A rope is arranged within the wiring channel, with one end connected to the connecting end and the other end extending to the end of the interventional catheter away from the fixation plate.

[0018] The interventional device, wherein the interventional catheter includes an end cap; the end cap is disposed at one end of the interventional catheter opposite to the fixing plate and is connected to the basic unit; the end cap is used to connect the rope.

[0019] The interventional device, wherein the connecting end includes:

[0020] A bearing, wherein the inner ring of the bearing is fitted onto the connecting component;

[0021] The connector has one end fitted onto the outer ring of the bearing and the other end connected to the rope.

[0022] The interventional device includes at least two magnetic elements, which are spaced apart on the interventional catheter to sense an external magnetic field and drive the interventional catheter to rotate.

[0023] The interventional device, wherein the basic unit includes a flexible tube, the flexible tube is provided with the wiring channel, and the magnetic component is sleeved on the flexible tube;

[0024] The hose has a female connector at one end and a male connector at the other end; the female connector is hinged to the male connector on the adjacent basic unit.

[0025] The interventional device wherein the female connector is a spherical groove and the male connector is a spherical connector.

[0026] Interventional device, wherein the fixation plate includes:

[0027] A fixing plate is provided with the threaded through hole; the connecting component is screwed onto the fixing plate through the threaded through hole.

[0028] The base is connected to the fixing plate at one end to form the receiving cavity; the other end of the base is provided with a connection hole for assembling the interventional catheter.

[0029] The interventional device wherein the diameter of the connecting hole is smaller than the outer diameter of the interventional catheter.

[0030] This application also discloses a cable-magnetically controlled catheter surgery robot, wherein the cable-magnetically controlled catheter surgery robot includes the interventional device described in any one of the above-mentioned claims.

[0031] Compared with the prior art, the embodiments of this utility model have the following advantages:

[0032] This application provides an interventional device and a cable-magnetically controlled catheter surgical robot. Through magnetic drive technology, the direction of the interventional catheter can be precisely and flexibly adjusted; simultaneously, the cable-fixation component enhances the catheter's resistance to muscle tension. Therefore, the interventional catheter can better adapt to the internal environment, enabling precise surgical procedures and solving the problem of traditional interventional catheters being unable to be remotely and actively controlled. The catheter also possesses good mechanical properties, allowing it to resist muscle tension and complete fracture reduction and fixation. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is an exploded view of the interventional device of this utility model;

[0035] Figure 2 This is a schematic diagram of the basic unit structure of the intervention device of this utility model;

[0036] Figure 3 This is a partial structural schematic diagram of the interventional device of this utility model;

[0037] Figure 4 This is a schematic diagram of the structure of the fixing plate of the intervention device of this utility model;

[0038] Figure 5 This is a partial structural schematic diagram of the interventional device of this utility model;

[0039] Figure 6This is a schematic diagram of the intervention device of this utility model in a bent state.

[0040] Among them, 100 is a fixing plate; 110 is a fixing plate; 111 is a threaded hole; 112 is a groove; 113 is a screw; 120 is a base; 121 is a connecting hole; 130 is a receiving cavity; 200 is an interventional catheter; 210 is a basic unit; 211 is a hose; 212 is a female connector; 213 is a male connector; 220 is a wiring channel; 230 is an end cap; 300 is a rope fastening assembly; 310 is a connecting component; 311 is a threaded end; 312 is a connecting end; 312A is a bearing; 312B is a connector; 320 is a nut; 330 is a rope; and 400 is a magnetic component. Detailed Implementation

[0041] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Existing interventional catheters cannot be remotely controlled, and manual operation can easily damage the patient's tissue lining, requiring doctors to undergo long-term training to become proficient in their operation; furthermore, interventional catheters have poor mechanical properties, making them unable to resist muscle traction forces, which affects the reduction and fixation of fractures.

[0043] In view of the above-mentioned problems in the prior art, the present invention provides an interventional device, such as... Figure 1 and Figure 2 As shown, the interventional device includes a fixed plate 100, an interventional catheter 200, a rope fastening assembly 300, and a magnetic element 400. The interventional catheter 200 is connected to the fixed plate 100. The interventional catheter 200 includes several basic units 210 that are hinged in sequence. The interventional catheter is provided with a wiring channel 220 extending in the axial direction. One end of the rope fastening assembly 300 is connected to the fixed plate 100, and the other end of the rope fastening assembly 300 extends through the wiring channel 220 to the end of the interventional catheter 200 facing away from the fixed plate 100. The rope fastening assembly 300 is flexible and is used to restrain the interventional catheter 200. The magnetic element 400 is provided on the interventional catheter 200. The magnetic element 400 is used to sense an external magnetic field to drive the interventional catheter 200 to rotate.

[0044] In use, first loosen the rope fastening assembly 300. At this time, the interventional catheter 200 can rotate freely. The external magnetic field generates an attraction force on the magnetic component 400, which precisely controls the rotation of the interventional catheter 200, thereby realizing remote control of the deflection angle of the interventional catheter 200 until it reaches the target area. Then, adjust the rope fastening assembly 300 to tighten the interventional catheter 200 and keep it in a taut state. At this time, the interventional catheter 200 is fixed and cannot be rotated.

[0045] As can be seen, by setting the rope fixing component 300 and the magnetic component 400, this embodiment enables the interventional catheter 200 to flexibly switch between a flexible state and a rigid state. This allows the interventional catheter 200 to not only be remotely controlled during application, but also to maintain its positioning stability, thereby improving the control accuracy and mechanical properties of the interventional catheter 200 and facilitating operation and use.

[0046] Specifically, such as Figure 1 and Figure 2 As shown, the interventional device disclosed in this embodiment consists of a fixation plate 100, an interventional catheter 200, a rope fixation assembly 300, and a magnetic component 400, and can be used in medical scenarios. For example, in surgical clinical work, when encountering multiple fractures, medical staff insert multiple sequentially hinged basic units 210 on the interventional catheter 200 into the patient's medullary cavity, and then use an external magnetic field to apply magnetic force to the magnetic component 400 to precisely control the turning angle of the interventional catheter 200, so that the interventional catheter 200 can smoothly connect all the bone fragments through a complex path; then, the medical staff continue to adjust the deflection angle and direction of the interventional catheter 200 to connect the various bone fragments at the fracture site in sequence, so that the bone fragments are arranged in their original order and direction, ensuring the accuracy and effectiveness of fracture reduction; finally, the medical staff tighten the rope fixation assembly 300 to keep the rope taut, so that the interventional catheter 200 switches to a rigid state, thereby fixing the bone fragments and completing the alignment and reduction of the bone fragments.

[0047] As can be seen, this embodiment improves the accuracy and mechanical properties of the fracture surgery interventional device through the guiding effect of the magnetic component 400 and the fixing effect of the rope fixation component 300, enabling medical staff to control the interventional device more stably, effectively reduce and fix fracture fragments, reduce the operational difficulty of fracture surgery, and significantly improve the success rate of interventional surgery.

[0048] In addition, in this embodiment, the interventional catheter 200 can also serve as a delivery channel for surgical instruments to meet the special needs of different fracture types and locations, providing a flexible and diverse selection of instruments for complex surgeries, such as a delivery channel for reamers or intramedullary nails.

[0049] Specifically, when treating femoral shaft fractures, medical staff need to accurately position the intramedullary nail within the medullary cavity to stabilize the fracture site. Traditional surgical methods may require larger incisions and more tissue dissection, while using the interventional catheter 200 as a delivery channel allows for precise guidance of the intramedullary nail into the medullary cavity through a smaller incision. In actual use, medical staff use an external magnetic field to control the interventional catheter 200 to precisely position it at the fracture site. The intramedullary nail is then pushed into the medullary cavity through the interventional catheter 200 channel, followed by fracture reduction and fixation.

[0050] As can be seen, this embodiment delivers surgical instruments through the interventional catheter 200, ensuring that the surgical instruments can accurately reach the designated position, improving the precision of the operation, and providing a flexible and diverse selection of instruments for complex surgeries.

[0051] In another embodiment of this utility model, one side of the fixing plate 100 can fix the interventional device as a whole to the main body of the surgical robot, and the other side of the fixing plate 100 is connected to the interventional catheter 200 and the rope fixation assembly 300. In actual use, medical staff can control the interventional device through the external robot to achieve the same effect.

[0052] As can be seen, this embodiment fixes the interventional device onto the surgical robot, allowing medical staff to perform interventional operations quickly and accurately within the complex medullary cavity of the human bone without directly operating the interventional device. This ultimately achieves minimally invasive treatment of fractures and effectively reduces common problems in traditional open reduction and internal fixation treatments, such as difficult surgical exposure, large bed space, and slow bone healing.

[0053] In another embodiment of this utility model, such as Figure 1 , Figure 3 and Figure 4 As shown, the fixed plate 100 is specifically configured to be hollow and have a receiving cavity 130. The receiving cavity 130 has a threaded through hole 111 and a connecting hole 121 on both sides respectively; wherein, the connecting hole 121 is used to insert the interventional catheter 200.

[0054] The rope fastening assembly 300 specifically consists of a connecting component 310, a nut 320, and a rope 330. The connecting component 310 is screwed into the threaded hole 111, and one end of the connecting component 310 extends to the side of the fixing plate 100 away from the interventional catheter 200, and is provided with a threaded end 311. The other end of the connecting component 310 is inserted into the receiving cavity 130 and is provided with a connecting end 312. The nut 320 is screwed into the threaded end 311. The rope 330 is arranged in the wiring channel 220, and one end of the rope 330 is connected to the connecting end 312, and the other end extends to the end of the interventional catheter 200 away from the fixing plate 100.

[0055] In practical use, magnetic induction technology is first used to precisely control the magnetic component 400, which drives the interventional catheter 200 to rotate until the interventional catheter 200 accurately reaches the target area. Then, the nut 320 is rotated, which pulls the connecting component 310 and the rope 330, thereby tightening the rope 330 and keeping it in a taut state. In this way, the interventional catheter 200 can be controlled by the rope fixing component 300 and the magnetic component 400, realizing the switching of the interventional catheter 200 between a flexible state and a flexible state.

[0056] Specifically, during fracture diagnosis and treatment, medical staff first adjust the nut 320 to put the interventional catheter 200 in a relaxed state, i.e. a flexible state. In this state, the interventional catheter 200 can rotate freely. Then, by applying magnetic force to the magnetic component 400 through an external magnetic field, the interventional catheter 200 in the relaxed state is delivered to the fracture area. This enables remote control of the interventional catheter 200 to reach the lesion area through a complex path, reducing the secondary injury that may be caused to the patient when manually operating the catheter.

[0057] When the interventional catheter 200 reaches the lesion area, medical staff readjust the nut 320, tightening the connecting component 310 and increasing the frictional force between the basic units 210 on the interventional catheter 200. At this point, the interventional catheter 200 enters a tensioned state, i.e., transforms into a rigid state. In the rigid state, the interventional catheter 200 can resist the pulling force of muscles and maintain the shape achieved in the flexible state, completing the reduction of bone fragments at the fracture site and the intervention of instruments. In this way, the direction of the interventional catheter 200 can be adjusted by using a magnetic field to achieve precise directional adjustment; further fine-tuning of the nut 320 gradually switches the interventional catheter 200 to a rigid state to maintain the stability of the interventional catheter 200's shape, thereby improving the accuracy of the surgical operation.

[0058] By controlling the switching of the interventional device between flexible and rigid states, medical staff can effectively complete fracture reduction and fixation surgery, effectively solving the problem that traditional catheters cannot be remotely and actively controlled, improving the shortcomings of traditional catheters in terms of mechanical properties and their inability to complete fracture reduction, and providing a more precise, safe and effective solution for fracture treatment surgery.

[0059] In another embodiment of this utility model, such as Figure 1 and Figure 2As shown, the interventional catheter 200 is also equipped with an end cap 230. In actual installation, the end cap 230 is located at the end of the interventional catheter 200 away from the fixing plate 100 and is connected to the basic unit 210. The end cap 230 is used to connect the rope 330 to fix one end of the rope 330, ensuring that the rope 330 can constrain each basic unit 210. When it is necessary to switch the interventional catheter to a rigid state, the relative positions between the basic units 210 are gradually fixed by tightening the rope 330. This fixing method can ensure that the arrangement of the basic units 210 in the rigid state is consistent with the arrangement in the flexible state, thereby effectively constraining the interventional catheter 200 and allowing the interventional catheter 200 to flexibly switch between the flexible and rigid states to meet different surgical needs.

[0060] During use, medical staff can adjust the curvature of the interventional catheter 200 according to the patient's actual condition. Then, by operating the nut 320, they can precisely pull the rope 330 to switch the interventional catheter 200 to a rigid state, effectively resisting muscle tension. This switching method ensures that the shape of the catheter in the rigid state remains consistent with the shape achieved in the flexible state, which not only improves the accuracy and safety of the surgery but also provides medical staff with greater operational flexibility.

[0061] Specifically, such as Figure 3 As shown, the connection end 312 includes a bearing 312A and a connector 312B. The inner ring of the bearing 312A is sleeved on the connection component 310. One end of the connector 312B is sleeved on the outer ring of the bearing 312A, and the other end is connected to the rope 330, so that the rope 330 can be more securely connected to the connection component 310, ensuring the overall controllability of the intervention device.

[0062] In actual setup, adjusting the nut 320 allows the connecting component 310 to move axially, thereby adjusting the bending of the rope 330 via the bearing 312A and connector 312B. Since the rope 330 is not directly connected to the connecting component 310, direct friction between them is effectively reduced, extending the rope's service life and further improving the transmission efficiency of the connecting component 310.

[0063] Specifically, in a hospital environment, medical staff can adjust the bending of the rope 330 by adjusting the nut 320 to drive the connecting component 310, bearing 312A, and connector 312B, according to the patient's actual condition. This connection method improves transmission efficiency, allowing medical staff to flexibly adjust the state of the rope 330, enabling flexible switching between flexible and rigid states of the interventional device, improving the flexibility and precision of surgical operations, and providing greater operational convenience for medical staff.

[0064] In another embodiment of this utility model, such as Figure 1 and Figure 2 As shown, at least two magnetic elements 400 are provided, spaced apart on the interventional catheter 200, for sensing external magnetic fields to drive the interventional catheter to rotate. By spaced the magnetic elements 400, the interventional catheter 200 can be adjusted more precisely in different directions and angles. This spaced arrangement of magnetic elements 400 provides better torque distribution, enabling the interventional catheter 200 to achieve smooth and continuous movement when bending or adjusting direction, improving the flexibility of the interventional catheter 200 and reducing stress and potential damage to surrounding tissues during operation. Therefore, medical personnel can control the interventional catheter 200 more freely, allowing it to accurately reach the target area without being limited by complex internal pathways, thus improving the navigation capability of the interventional catheter 200 within the body.

[0065] In actual setup, the magnetic component 400 can be installed on the basic unit connected to the end cap 230 and another basic unit spaced apart from it. Under the action of an external magnetic field, the magnetic component 400 can precisely control the rotation of the interventional catheter 200, further improving the positioning accuracy of the interventional catheter 200.

[0066] In practical use, medical staff can flexibly control the deflection angle of the interventional catheter 200 by adjusting the magnetic field, so that the interventional catheter 200 avoids important tissues and structures, smoothly passes through the complex medullary cavity, and accurately reaches the patient's lesion area, reducing interference and damage to healthy tissues, improving the success rate of fracture surgery, and reducing the degree of trauma.

[0067] In one specific embodiment of this utility model, such as Figure 2 As shown, the basic unit 210 includes a flexible tube 211 with a wiring channel 220. In actual installation, the magnetic component 400 is sleeved on the flexible tube 211. One end of the flexible tube 211 is provided with a female connector 212 and the other end is provided with a male connector 213. The female connector 212 is connected to the male connector 213 provided on the adjacent basic unit 210 by a hinge.

[0068] In practical use, one end of the rope 330 is connected to the connector 312B, and the other end passes through the wiring channel 220 on the hose 211 until it is connected to the end cap 230. Medical staff control the tightness of the rope 330 by adjusting the nut 320. When the nut 320 is tightened, the rope 330 is tightened accordingly, which generates friction between the several basic units 210 and the rope 330. The friction can effectively restrict the free rotation of the interventional catheter 200. As a result, the relative movement between the various basic units 210 of the interventional catheter 200 is restricted, thereby changing the interventional catheter 200 from a flexible state to a rigid state.

[0069] Specifically, such as Figure 2 As shown, the female connector 212 is configured with a spherical groove, and the male connector 213 is configured with a spherical connector. The female connector 212 and the male connector 213 configured on the adjacent basic unit 210 are paired and hinged together. The pairing of the spherical groove and the spherical connector reduces the friction of the contact surfaces between the basic units 210, improves the flexibility of the connection between the basic units, and also extends the service life of the instrument.

[0070] In practical use, the spherical connection structure allows the interventional catheter 200 to move in multiple directions. Specifically, during the operation, medical staff can make fine adjustments to the position, direction and angle of the interventional catheter 200 according to the specific situation, so that the interventional catheter 200 can pass smoothly through the complex medullary cavity and reach the target position more accurately, thereby improving the precision of the fracture interventional surgery and increasing the success rate of the fracture surgery.

[0071] In one specific embodiment of this utility model, such as Figure 6 As shown, multiple basic units 210 are provided, and each basic unit 210 is fitted with a magnetic ring. Each magnetic ring can drive the interventional catheter 200 to rotate under the control of an external magnetic field. This arrangement allows the magnetic field to act evenly on multiple parts of the interventional catheter 200, thereby ensuring that the interventional catheter 200 maintains a stable trajectory when performing precise rotational movements in multiple directions and angles, further improving the accuracy of directional control of the interventional catheter 200.

[0072] Specifically, medical staff insert the basic unit 210 into the patient's medullary cavity. Using an external magnetic field, they precisely control the magnetic rings fitted on each basic unit 210, allowing the interventional catheter 200 to pass through the complex internal environment until it reaches the fracture area. After reaching the fracture area, the medical staff continue to fine-tune the deflection angle and direction of the magnetic rings on each basic unit 210, so that each basic unit 210 can effectively pull the individual bone fragments in the fracture area and connect them sequentially. In this way, the bone fragments can be arranged in a predetermined order and direction, thereby ensuring the accuracy and effectiveness of fracture reduction.

[0073] In another embodiment of this utility model, such as Figure 1 and Figure 4 As shown, the fixed plate 100 includes a fixed plate 110 and a base 120. The fixed plate 110 is provided with a threaded through hole 111, and the connecting component 310 is screwed onto the fixed plate 110 through the threaded through hole 111. One end of the base 120 is connected to the fixed plate 110 and is combined with the fixed plate 110 to form a receiving cavity 130. The other end of the base 120 is provided with a connecting hole 121 for assembling the interventional catheter 200.

[0074] In this embodiment, the interventional catheter 200 is inserted into the connection hole 121 and tightly connected to the fixation plate 110 using an interference fit. This interference fit requires a certain amount of pressure to be applied during catheter insertion, thereby ensuring a stable connection between the catheter and the fixation plate 100. Simultaneously, this connection method effectively transmits power, ensuring that the interventional catheter does not unexpectedly loosen or shift during the procedure. In use, medical personnel can flexibly control the interventional catheter 200, achieving precise positioning and operation, meeting the high precision requirements of the procedure, and further improving the success rate of the surgery.

[0075] Specifically, in actual installation, the diameter of the connection hole 121 is smaller than the outer diameter of the interventional catheter 200 to ensure that the interventional catheter 200 can fit tightly in the base 120. For ease of understanding, the basic unit of the interventional catheter 200 that is opposite to the end cap 230 and connected to the base 120 is named the end basic unit (not shown in the attached figure).

[0076] In use, the distal basic unit is inserted into the connecting hole 121 and tightly fitted onto the fixing plate 110 using an interference fit. The central axis of the distal basic unit and the central axis of the fixing plate 100 are on the same straight line. The distal basic unit serves as the fixing point for the interventional catheter 200, bearing and transmitting force. This method fixes one end of the interventional catheter 200 while allowing the other end to rotate freely, improving the stability of the interventional catheter 200 during use and ensuring its controllability. Furthermore, this tight fit also helps ensure effective power transmission, enabling medical personnel to more precisely control the interventional catheter 200 and meet the stringent requirements for precision and stability during surgery.

[0077] In another embodiment of this utility model, such as Figure 5 As shown, the fixing plate 110 is also provided with a groove 112. In actual installation, the screw 113 is inserted into the groove 112 to connect the fixing plate 110 and the base 120, making the connection between the fixing plate 110 and the base 120 more secure and less prone to loosening or misalignment, thereby enhancing the overall stability of the interventional device and simplifying the assembly process of the interventional device.

[0078] In use, this robust connection method ensures the reliability of the fixation plate 100 during surgery, reduces the risks that may arise from unstable connections, and ensures the stability and safety of the interventional device during use. In some embodiments, to achieve both stability and aesthetics in the connection between the fixation plate 110 and the base 120, the groove 112 can be designed as an arc-shaped countersunk groove, and the screw 113 can be a countersunk screw. In this case, the head of the countersunk screw can be fully embedded in the arc-shaped countersunk groove, flush with the surface of the fixation plate. This not only improves the stability of the connection between the fixation plate 110 and the base 120, but also provides a smoother surface, enhances aesthetics, and improves the overall performance and practicality of the medical device.

[0079] Based on the above embodiments, this utility model also provides a cable-magnetic dual-control catheter surgery robot. This cable-magnetic dual-control catheter surgery robot includes the interventional device described in any of the above embodiments. The interventional device includes: a fixation plate; an interventional catheter connected to the fixation plate; the interventional catheter includes several sequentially hinged basic units; a wiring channel extending axially on the interventional catheter; a cable fixing assembly, one end connected to the fixation plate, and the other end extending through the wiring channel to the end of the interventional catheter opposite to the fixation plate; the cable fixing assembly is used to constrain the interventional catheter; a magnetic element is disposed on the interventional catheter; the magnetic element is used to sense an external magnetic field to drive the interventional catheter to rotate. This application, by combining the magnetic element and the cable fixing assembly, achieves flexible switching between the flexible and rigid states of the interventional catheter, solving the problem that traditional interventional catheters cannot be remotely and actively controlled. The catheter has good mechanical properties and can resist muscle traction to complete fracture reduction and fixation.

[0080] In summary, this invention provides an interventional device and a cable-magnetic dual-control catheter surgery robot. The interventional device includes: a fixation plate; an interventional catheter connected to the fixation plate; the interventional catheter comprising several sequentially hinged basic units; a wiring channel extending axially on the interventional catheter; a cable securing assembly, one end connected to the fixation plate, and the other end extending through the wiring channel to the end of the interventional catheter opposite to the fixation plate; the cable securing assembly is used to constrain the interventional catheter; a magnetic element is disposed on the interventional catheter; the magnetic element is used to sense an external magnetic field to drive the interventional catheter to rotate. This invention, by combining the magnetic element and the cable securing assembly, achieves flexible switching between the flexible and rigid states of the interventional catheter, aiming to overcome the limitations of traditional interventional catheters in remote active control, while improving the mechanical properties of the catheter, enabling it to more effectively resist muscle traction, thereby successfully completing fracture reduction and fixation.

[0081] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0082] It should be noted that this utility model uses an interventional device as an example to introduce the specific structure and working principle of the utility model, but the application of this utility model is not limited to interventional devices, and can also be applied to the production and use of other similar workpieces.

[0083] It should be understood that this invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this invention is limited only by the appended claims.

[0084] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An interventional device, characterized in that, include: Fixed plate; An interventional catheter is connected to the fixed plate; the interventional catheter includes several basic units that are hinged together in sequence; the interventional catheter is provided with a wiring channel extending in the axial direction; The cord securing assembly has one end connected to the fixing plate and the other end extending through the wiring channel to the end of the interventional catheter opposite to the fixing plate; the cord securing assembly is used to restrain the interventional catheter. A magnetic component is disposed on the interventional catheter; the magnetic component is used to sense an external magnetic field to drive the interventional catheter to rotate.

2. The interventional device according to claim 1, characterized in that, The fixed plate is hollow and has a receiving cavity, and threaded through holes and connecting holes are respectively opened on both sides of the receiving cavity; the connecting holes are used to insert the interventional catheter; The rope securing assembly includes: A connecting component is screwed into the threaded hole; one end of the connecting component extends to the side of the fixing plate opposite to the interventional catheter and is provided with a threaded end; the other end is inserted into the receiving cavity and is provided with a connecting end. The nut is screwed onto the threaded end; A rope is arranged within the wiring channel, with one end connected to the connecting end and the other end extending to the end of the interventional catheter away from the fixation plate.

3. The interventional device according to claim 2, characterized in that, The interventional catheter includes an end cap; the end cap is located at one end of the interventional catheter away from the fixing plate and is connected to the basic unit; the end cap is used to connect the rope.

4. The interventional device according to claim 3, characterized in that, The connection end includes: A bearing, wherein the inner ring of the bearing is fitted onto the connecting component; The connector has one end fitted onto the outer ring of the bearing and the other end connected to the rope.

5. The interventional device according to claim 1, characterized in that, The magnetic component is provided in at least two parts, and the at least two magnetic components are spaced apart on the interventional catheter to sense an external magnetic field to drive the interventional catheter to rotate.

6. The interventional device according to claim 2, characterized in that, The basic unit includes a flexible tube, on which the wiring channel is provided, and the magnetic component is sleeved on the flexible tube; The hose has a female connector at one end and a male connector at the other end; the female connector is hinged to the male connector on the adjacent basic unit.

7. The interventional device according to claim 6, characterized in that, The female connector is a spherical groove, and the male connector is a spherical connector.

8. The interventional device according to claim 7, characterized in that, The fixed disk includes: A fixing plate is provided with threaded through holes; the connecting component is screwed onto the fixing plate through the threaded through holes. The base is connected to the fixing plate at one end to form a receiving cavity; the other end of the base is provided with a connection hole for assembling the interventional catheter.

9. The interventional device according to claim 7, characterized in that, The diameter of the connection hole is smaller than the outer diameter of the interventional catheter.

10. A cable-magnetically controlled catheter surgery robot, characterized in that, Includes the interventional device as described in any one of claims 1 to 9.

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