Catheter and guide wire coaxial series connection pushing interventional operation robot

Abstract

The utility model provides a catheter and guide wire coaxial series pushing interventional operation robot, and relates to the technical field of medical equipment. The interventional surgical robot comprises a manipulator and a supporting arm, wherein the supporting arm is arranged at one end of the manipulator; a plurality of rotary pushing devices are arranged on the supporting arm in a sliding mode, and the multiple rotary pushing devices are sequentially arranged in the first direction of the supporting arm. According to the mechanical arm of the interventional operation robot, the supporting arm is provided with the multiple rotary pushing devices, the multiple rotary pushing devices are matched to push multiple sets of catheters or guide wires of different specifications, in this way, in the process that the interventional operation robot conducts coaxial series pushing of the multiple sets of guide wires or catheters, manual participation is not needed, and the labor intensity of workers is lowered. And the distance between the multiple rotary pushing devices can be adjusted, so that the interventional operation robot can rotate and push multiple sets of guide wires or catheters of different specifications at the same time and push the guide wires or catheters of different specifications at the same time.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of medical equipment, and especially relates to a coaxial series push interventional operation robot of catheter and guide wire. BACKGROUND

[0002] Compared with the traditional manual interventional operation, the interventional operation robot can reduce the radiation dose of the doctor and patient during the operation, directly separates the operator from the radioactive source in the operating room, essentially reduces the radiation dose and reduces the occupational hazards in the interventional catheter room. At the same time, the operation time is shortened, the precision is improved, the radiation dose of the patient is reduced, the operation control precision is improved, the operation precision is quantitatively improved through the robot technology, the operation path and instrument delivery are intelligently planned, the inconsistency problem of the operation quality in interventional medicine is reduced, the treatment efficiency is improved, and the operation risk and complications are reduced.

[0003] The interventional doctor operates the catheter, guide wire and other equipment in the operation cabin, gets rid of the burden of lead clothes and reduces radiation absorption. Experiments prove that the PCI operation assisted by the robot can reduce 95% of the radiation of the doctor and 20% of the radiation of the patient. The interventional doctor can control the catheter to millimeter level through the robot assistance, can reduce the collision between the catheter and the blood vessel wall, can reduce the occurrence of complications, and the success rate of complex cases is more than 98%, and some unnecessary consumables are reduced.

[0004] However, the current interventional operation robot only has a set of rotating push device, cannot simultaneously or sequentially push all or most of the catheters, guide wires and other medical consumables required in the whole operation process to the patient lesion position, and more manual intervention is required in the operation process. UTILITY MODEL CONTENT

[0005] The utility model aims at providing a coaxial series push interventional operation robot of catheter and guide wire, which solves the technical problem that the existing interventional operation robot cannot simultaneously or sequentially push various types and specifications of medical consumables such as guide catheter, microcatheter or guide wire to the specified lesion, and alleviates the need for manual intervention.

[0006] The utility model provides a coaxial series push interventional operation robot of catheter and guide wire, which comprises a mechanical hand and a support arm, the support arm is arranged at one end of the mechanical hand, a plurality of rotating push devices are slidably arranged on the support arm, and the plurality of rotating push devices are sequentially arranged along the first direction of the support arm.

[0007] The first direction is the length direction of the support arm.

[0008] In an optional embodiment, a first guide rail extending along the first direction is arranged on the support arm, and a first guide sliding block is arranged on the first guide rail.

[0009] Each of the first guide sliders is provided with a rotating pushing device.

[0010] In an optional embodiment, two first guide rails are provided on the support arm, and two secondary sliders are provided on the first guide sliders, each of the secondary sliders being fitted on one of the first guide rails.

[0011] In an optional embodiment, a driving arm is provided on one side of the first guide slider facing the support arm.

[0012] A driving long rod is provided on the support arm, and the driving arm is fitted on the driving long rod.

[0013] In an optional embodiment, a plurality of driving motors are provided on the support arm, each of the driving motors is provided with one of the driving long rods, and the driving long rods are sequentially arranged in a second direction.

[0014] The second direction is the width direction of the support arm.

[0015] In an optional embodiment, an extension arm is provided on the first guide slider, the extension arm extending away from the rotating pushing device.

[0016] A driving long rod is provided on the support arm, and the extension arm is fitted on the driving long rod.

[0017] In an optional embodiment, the rotating pushing device comprises a fixed shell, a rotating inner shell, and a rotating driving device; the rotating inner shell is rotationally fitted on the fixed shell; the rotating driving device is fixedly provided on the fixed shell, one side of the rotating inner shell facing the rotating driving device is provided with an arc-shaped rack, and the center of the arc-shaped rack is located on the axis of rotation of the rotating inner shell.

[0018] The rotating gear of the rotating driving device is engaged with the arc-shaped rack, a catheter is located at the center of rotation of the rotating inner shell, and the rotating driving device rotates the catheter by rotating the rotating inner shell.

[0019] In an optional embodiment, both ends of the fixed shell along the axis of rotation of the rotating inner shell are respectively provided with a fixed side plate, and the rotating inner shell is arranged between the two fixed side plates.

[0020] One side of the rotating inner shell facing the fixed side plates is provided with an arc-shaped guide rail, and the center of the arc-shaped guide rail is concentric with the center of the arc-shaped rack.

[0021] At least two guide assemblies are arranged on the fixed side plate, and the two guide assemblies cooperate to rotate the rotating inner shell along an axis of rotation of the rotating inner shell.

[0022] In an optional embodiment, the guide assembly comprises two guides, the guides comprising a guide wheel and a fixed part, the fixed part being fixed on the fixed side plate, and the guide wheel being sleeved on the fixed part.

[0023] The guide wheels of the two guides are arranged on the inner and outer sides of the arc-shaped guide rail respectively and abut against the arc-shaped guide rail.

[0024] In an optional embodiment, a plurality of mounting parts are arranged on the fixed outer shell, and the fixed outer shell is connected with the first guide slider through the mounting parts.

[0025] The support arm of the catheter and guide wire coaxial series push intervention surgery robot mechanical hand provided by the utility model is provided with a plurality of rotating push devices, and the plurality of rotating push devices cooperate to push the catheter or guide wire, so that the process of coaxial series push of a plurality of groups of different specifications of catheters or guide wires is not manually participated, and the distance between the plurality of rotating push devices can be adjusted, so that the intervention surgery robot can simultaneously rotate and push a plurality of groups of different specifications of guide wires or catheters. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the specific embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description, and obviously, the drawings in the following description are some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0027] Figure 1 The structure schematic view of the first guide rail and the first guide slider of the support arm of the catheter and guide wire coaxial series push intervention surgery robot provided by the utility model embodiment is shown in the figure.

[0028] Figure 2 The structure schematic view of the rotating push device of the catheter and guide wire coaxial series push intervention surgery robot provided by the utility model embodiment is shown in the figure.

[0029] Figure 3 The structure schematic view of the rotating push device of the catheter and guide wire coaxial series push intervention surgery robot provided by the utility model embodiment is shown in the figure.

[0030] Figure 4 The structure schematic view of the rotating push device of the catheter and guide wire coaxial series push intervention surgery robot provided by the utility model embodiment is shown in the figure. Figure 3 The structure schematic view of the rotating push device of the catheter and guide wire coaxial series push intervention surgery robot provided by the utility model embodiment is shown in the figure.

[0031] Figure 5 The structure schematic diagram of the coaxial series push intervention operation robot of the catheter and the guide wire is provided for the embodiment of the utility model.

[0032] Icon: 100-first guide rail; 200-first guide slider; 300-secondary slider; 400-driving arm; 500-driving long rod; 600-driving motor; 700-fixed shell; 800-rotary inner shell; 900-rotary driving device; 110-arc-shaped guide rail; 120-fixed part; 130-arc-shaped rack; 140-rotary gear; 150-fixed side plate; 160-guide wheel; 170-robotic arm; 180-supporting arm; 190-rotary pushing device. DETAILED DESCRIPTION

[0033] The terms "first", "second", "third", and the like are merely used to distinguish descriptions, and do not represent the arrangement sequence, and cannot be understood as indicating or implying relative importance.

[0034] In addition, the terms "horizontal", "vertical", "overhanging", and the like do not mean that the components must be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that it is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0035] In the description of the present application, it should be explained that the orientations or position relationships indicated by the terms "inner", "outer", "left", "right", "upper", "lower", and the like are based on the orientations or position relationships shown in the drawings, or the orientations or position relationships of the products of the present application when they are usually placed, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application.

[0036] In the description of the present application, unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements.

[0037] The technical solutions of the present application will be described clearly and completely in combination with the drawings.

[0038] Embodiment

[0039] Reference Figures 1-5The utility model provides a kind of coaxial series push intervention operation robot of catheter and guide wire, including manipulator 170 and support arm 180, the support arm 180 is arranged at one end of the manipulator 170;Multiple rotating push devices 190 are slidably arranged on the support arm 180, and the rotating push device 190 is sequentially arranged along the first direction of the support arm 180.

[0040] The first direction is the length direction of the support arm 180.

[0041] In some embodiments, the movable end of the intervention operation robot manipulator 170 is provided with a support arm 180, which can move up and down under the operation of the manipulator 170;Make the support arm 180 can be more flexible to set.

[0042] Multiple rotating push devices 190 are provided on the support arm 180, and each rotating push device 190 can rotate and push the catheter or guide wire;Multiple rotating push devices 190 can operate multiple groups of guide wires and catheters with different lengths or diameters simultaneously, so that the guide wires and catheters are no longer manually held, and the pushing of the guide wires and catheters is operated according to the actual clinical needs.

[0043] And rotating push device 190 can move freely, that is, the distance between adjacent two rotating push devices 190 can be adjusted to meet the needs of simultaneous, coaxial and series pushing of guide wires and catheters of different specifications.

[0044] Referring to Figure 1 And Figure 5 In an optional embodiment, the support arm 180 is provided with a first guide rail 100 extending in the first direction, and a first guide block 200 is provided on the first guide rail 100.

[0045] Each first guide block 200 is provided with a rotating push device 190.

[0046] In an optional embodiment, the support arm 180 is provided with two first guide rails 100, and the first guide block 200 is provided with two secondary sliders 300, and each secondary slider 300 is assembled on one first guide rail 100.

[0047] In an optional embodiment, the first guide block 200 is provided with a driving arm 400 on one side facing the support arm 180.

[0048] A driving long rod 500 is provided on the support arm 180, and the driving arm 400 is assembled on the driving long rod 500.

[0049] In an optional embodiment, a plurality of driving motors 600 are arranged on the support arm 180, and each of the driving motors 600 is arranged with a driving long rod 500, and the plurality of driving long rods 500 are arranged in sequence in the second direction;

[0050] The second direction is the width direction of the support arm 180.

[0051] In some embodiments, a first guide rail 100 is arranged on the support arm 180, a guide sliding block is slidingly arranged on the first guide rail 100, and the rotating pushing device 190 is arranged on the first guide sliding block 200.

[0052] Generally, two first guide rails 100 are arranged on the support arm 180, and the two first guide rails 100 have a certain interval, and two secondary sliding blocks 300 are arranged on the guide sliding block, and the secondary sliding blocks 300 are slidingly arranged on the first guide rail 100. A plurality of first guide sliding blocks 200 are arranged on the first guide rail 100, each of the first guide sliding blocks 200 corresponds to a driving long rod 500, and the driving long rod 500 is screwed on the first guide sliding block 200, and when the driving long rod 500 rotates, the first guide sliding block 200 slides along the first guide rail 100.

[0053] The driving arms 400 of the plurality of first guide sliding blocks 200 are staggered, each of the driving arms 400 corresponds to a driving long rod 500, each of the driving long rods 500 is arranged with a driving motor 600, and the plurality of driving motors 600 cooperate to change the interval between the plurality of first guide sliding blocks 200, that is, to change the interval between the plurality of rotating pushing devices 190.

[0054] In an optional embodiment, the first guide sliding block 200 is arranged with an extension arm, and the extension arm extends away from the rotating pushing device 190;

[0055] The support arm 180 is arranged with a driving long rod 500, and the extension arm is assembled on the driving long rod 500.

[0056] In some embodiments, the first guide sliding block 200 is arranged with an extension arm, the lengths of the extension arms of the plurality of first guide sliding blocks 200 are different, each of the extension arms is arranged with a driving long rod 500, and each of the driving long rods 500 is connected with a driving motor 600; in this way, one driving motor 600 drives one driving long rod 500 to move one extension arm, and the distance between the plurality of first guide sliding blocks 200 is adjusted.

[0057] Referring to Figure 2 , Figure 3 and Figure 4In an alternative embodiment, the rotating pushing device 190 comprises a fixed shell 700, a rotating inner shell 800 and a rotating driving device 900; the rotating inner shell 800 is rotatably arranged on the fixed shell 700; the rotating driving device 900 is fixedly arranged on the fixed shell 700, and the side of the rotating inner shell 800 facing the rotating driving device 900 is provided with an arc-shaped rack 130, and the center of the arc-shaped rack 130 is located on the axis of rotation of the rotating inner shell 800;

[0058] The rotating gear 140 of the rotating driving device 900 is engaged with the arc-shaped rack 130, and the catheter is located at the center of rotation of the rotating inner shell 800, and the rotating driving device 900 rotates the catheter by rotating the rotating inner shell 800.

[0059] In some embodiments, the fixed shell 700 of the rotating pushing device 190 is provided with a rotating driving device 900, which is generally an electric motor, and the rotating gear 140 on the rotating driving device 900 is engaged with the arc-shaped rack 130; when the rotating driving device 900 rotates the rotating gear 140, the arc-shaped rack 130 moves under the action of the rotating gear 140; and since the arc-shaped rack 130 is arc-shaped, the center of the arc-shaped rack 130 is located on the axis of rotation of the rotating inner shell 800, i.e. the rotating inner shell 800 is rotated about the axis; the range of rotation of the rotating inner shell 800 is determined by the length of the arc-shaped rack 130, and generally the range of rotation of the rotating inner shell 800 is ±35°, i.e. the catheter can be rotated within a range of ±35°, and when a larger rotation range of the catheter is required, the arc-shaped rack 130 can be lengthened to adjust.

[0060] In an alternative embodiment, the two ends of the fixed shell 700 along the axis of rotation of the rotating inner shell 800 are respectively provided with a fixed side plate 150, and the rotating inner shell 800 is arranged between the two fixed side plates 150;

[0061] An arc-shaped guide rail 110 is arranged on the side of the rotating inner shell 800 facing the fixed side plate 150, and the center of the arc-shaped guide rail 110 is concentric with the center of the arc-shaped rack 130;

[0062] At least two guide assemblies are arranged on the fixed side plate 150, and the two guide assemblies cooperate to rotate the rotating inner shell 800 along the axis of rotation of the rotating inner shell 800.

[0063] The conduit has a certain length, and the conduit is fixed on the rotating inner shell 800, and the rotating inner shell 800 rotates the conduit by rotating the part of the conduit on the rotating inner shell 800; the part of the conduit fixed on the rotating inner shell 800 is located on the axis of rotation of the rotating inner shell 800, so that when the rotating inner shell 800 rotates, only the conduit rotates and the conduit does not move.

[0064] In an optional embodiment, the guide assembly includes two guides, the guides including a guide wheel 160 and a fixed piece 120 fixed on the fixed side plate 150, and the guide wheel 160 is sleeved on the fixed piece 120.

[0065] The guide wheels 160 of the two guides are respectively arranged on the inner and outer sides of the arc-shaped guide rail 110 and abut against the arc-shaped guide rail 110.

[0066] In some embodiments, in order to enable the rotating inner shell 800 to rotate in a designed manner, two fixed side plates 150 are arranged on the fixed shell, at least two guide assemblies are arranged on each fixed side plate 150, the center of the arc-shaped guide rail 110 arranged on the rotating inner shell 800 coincides with the axis of rotation of the rotating inner shell 800; when the guide assembly cooperates with the arc-shaped guide rail 110 to enable the rotating inner shell 800 to rotate along the track of the arc-shaped guide rail 110, the rotating inner shell 800 simultaneously rotates along the axis of rotation of the rotating inner shell 800.

[0067] The guide assemblies arranged on the fixed side plates 150 have a certain interval, so that the moving track of the arc-shaped guide rail 110 is more accurate, and within the rotation range of the rotating inner shell 800, the arc-shaped guide rail 110 and the guide assembly are always in cooperation, that is, the arc-shaped guide rail 110 does not separate from the guide assembly.

[0068] For example, the rotation range of the rotating inner shell 800 is ±35°, and the two guide assemblies on the fixed side plate 150 are symmetrically arranged with respect to the rotating inner shell 800 at 0°.

[0069] A plurality of guide assemblies or guide grooves can also be arranged on the fixed side plate 150, so that the rotating track of the rotating inner shell 800 is more accurate.

[0070] In an optional embodiment, a plurality of mounting pieces are arranged on the fixed shell 700, and the fixed shell 700 is connected with the first guide slider 200 through the mounting pieces.

[0071] A plurality of mounting pieces are arranged on the fixed shell 700, and the fixed shell 700 is connected with the first guide slider 200 through the mounting pieces, so that the rotating pusher 190 is fixed on the first guide slider 200, and the distance between the plurality of rotating pushers 190 can be adjusted.

[0072] The plurality of rotating pushers 190 cooperate to push the catheter or the guide wire, so that the interventional operation robot can rotate and push a plurality of groups of guide wires or catheters of different specifications at the same time without manual participation, and the distance between the plurality of rotating pushers 190 can be adjusted.

[0073] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the utility model, and not to limit them; although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A catheter, guidewire coaxial tandem push interventional surgery robot, characterized in that, The mechanical arm (170) and the support arm (180) are provided, the support arm (180) is arranged at one end of the mechanical arm (170), a plurality of rotating push devices (190) are arranged on the support arm (180) and sequentially arranged along the first direction of the support arm (180). The first direction is the length direction of the support arm (180).

2. The catheter, guidewire coaxial tandem push intervention surgical robot according to claim 1, characterized in that, The first guide rail (100) extending along the first direction is arranged on the support arm (180), and the first guide slide (200) is arranged on the first guide rail (100). One rotating push device (190) is arranged on each first guide slide (200).

3. The catheter, guidewire coaxial tandem push interventional operating robot according to claim 2, characterized in that, Two first guide rails (100) are arranged on the support arm (180), and two secondary slides (300) are arranged on the first guide slide (200), each secondary slide (300) is assembled on one first guide rail (100).

4. The catheter, guidewire coaxial tandem push interventional operating robot according to claim 3, characterized in that, The driving arm (400) is arranged on one side of the first guide slide (200) facing the support arm (180). The driving long rod (500) is arranged on the support arm (180), and the driving arm (400) is assembled on the driving long rod (500).

5. The catheter, guidewire coaxial tandem push interventional surgical robot according to claim 4, characterized in that, A plurality of driving motors (600) are arranged on the support arm (180), one driving long rod (500) is arranged on each driving motor (600), and a plurality of driving long rods (500) are sequentially arranged along the second direction. The second direction is the width direction of the support arm (180).

6. The catheter, guidewire coaxial tandem push intervention surgical robot of claim 2, wherein, The extension arm is arranged on the first guide slide (200), and the extension arm extends away from the rotating push device (190). The driving long rod (500) is arranged on the support arm (180), and the extension arm is assembled on the driving long rod (500).

7. The catheter, guidewire coaxial tandem push interventional procedure robot according to claim 6, characterized in that, The rotating push device (190) comprises a fixed shell (700), a rotating inner shell (800) and a rotating driving device (900), the rotating inner shell (800) is rotationally assembled on the fixed shell (700), the rotating driving device (900) is fixedly arranged on the fixed shell (700), one side of the rotating inner shell (800) facing the rotating driving device (900) is provided with an arc-shaped rack (130), and the center of the arc-shaped rack (130) is located on the rotation axis of the rotating inner shell (800). The rotating gear (140) of the rotating driving device (900) is engaged with the arc-shaped rack (130), the catheter is located at the center of the rotation of the rotating inner shell (800), and the rotating driving device (900) rotates the rotating inner shell (800) to rotate the catheter.

8. The catheter, guidewire coaxial tandem push interventional operating robot according to claim 7, characterized in that, Both ends of the fixed shell (700) along the rotation axis of the rotating inner shell (800) are respectively provided with one fixed side plate (150), and the rotating inner shell (800) is arranged between the two fixed side plates (150). An arc-shaped guide rail (110) is arranged on a side of the rotating inner shell (800) facing the fixed side plate (150), and a center of the arc-shaped guide rail (110) is concentric with a center of the arc-shaped rack (130); At least two guide assemblies are arranged on the fixed side plate (150), and the two guide assemblies cooperate to rotate the rotating inner shell (800) along an axis of rotation of the rotating inner shell (800).

9. The catheter, guidewire coaxial tandem push interventional operating robot according to claim 8, characterized in that, The guide assembly includes two guides, the guides including a guide wheel (160) and a fixed part (120), the fixed part (120) being fixed on the fixed side plate (150), and the guide wheel (160) being sleeved on the fixed part (120); The guide wheels (160) of the two guides are respectively arranged on the inner and outer sides of the arc-shaped guide rail (110) and abut against the arc-shaped guide rail (110).

10. The catheter, guidewire coaxial tandem push intervention surgical robot of claim 7, wherein, A plurality of mounting parts are arranged on the fixed outer shell (700), and the fixed outer shell (700) is connected with the first guide slider (200) through the mounting parts.

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