Bending control catheter capable of being used in cooperation with surgical robot and surgical robot

Abstract

The bending control catheter comprises a catheter body and a control piece used for controlling the front end of the catheter body to bend, the bending control catheter body comprises a transmission device and a supporting seat, the transmission device and the catheter body are both installed on the supporting seat, and the transmission device comprises a transmission mechanism and a driving mechanism. The transmission mechanism comprises a transmission lead screw, a sliding block and a sliding guide structure, the transmission lead screw penetrates through and is in threaded connection with the sliding block, the sliding block is connected to the control part, and the sliding guide structure is used for enabling the sliding block to move in the axial direction of the transmission lead screw; the driving mechanism is used for driving the transmission lead screw to rotate; the positioning mechanism is detachably connected to the sliding block and used for positioning the initial position of the sliding block. Due to the fact that the positioning mechanism is detachably connected to the sliding block, the initial position of the sliding block can be positioned by installing the positioning mechanism on the sliding block even in the bending control process of the guide pipe or after bending control is conducted for multiple times, a reference datum is conveniently provided for bending control of the guide pipe, and a basis is also provided for accurate bending control.

Description

Technical Field

[0001] This utility model relates to a bendable catheter that can be used in conjunction with a surgical robot and a surgical robot. Background Technology

[0002] Microcatheter interventional liver surgery is a minimally invasive treatment method primarily used to treat liver cancer. This procedure involves inserting a microcatheter into the blood supply artery of the liver tumor under the guidance of imaging equipment, followed by the injection of chemotherapy drugs and embolic agents to treat the tumor. Existing controllable bending catheters, driven by a motor and controlled by a control wire, can control the bending degree of the catheter tip. However, during the bending process and after multiple bending operations, the initial state of the catheter is difficult to determine, resulting in poor control precision. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the deficiency of the lack of positioning reference in the existing controllable bending catheter, and to provide a controllable bending catheter and surgical robot that can be used in conjunction with a surgical robot.

[0004] The present invention solves the above-mentioned technical problems through the following technical solution:

[0005] A bendable catheter for use with a surgical robot includes a catheter and a control component for controlling the bending of the catheter tip. The bendable catheter includes a transmission device and a support base, both of which are mounted on the support base. The transmission device includes:

[0006] A transmission mechanism includes a lead screw, a slider, and a guide structure. The lead screw passes through and is threadedly connected to the slider, the slider is connected to the control component, and the guide structure is used to move the slider along the axial direction of the lead screw.

[0007] A drive mechanism is used to drive the transmission lead screw to rotate;

[0008] A positioning mechanism is detachably connected to the slider and is used for initial positioning of the slider.

[0009] In this solution, the controllable catheter that can be used with a surgical robot can be bent at the front end of the catheter by the sliding block of the transmission mechanism under the drive of the drive mechanism. Furthermore, since the positioning mechanism is detachably connected to the sliding block, even during the bending process or after multiple bending operations, the initial position of the sliding block can be positioned by installing the positioning mechanism on the sliding block, which provides a reference benchmark for the bending of the catheter and a basis for precise bending.

[0010] When positioning the slider, a positioning mechanism is installed on the slider. The positioning mechanism can position the slider at its initial position, thereby positioning the initial state of the conduit accordingly. When controlling the bending of the conduit tip, the positioning mechanism is disassembled so that the slider can slide along the axial direction of the drive screw, realizing the control bending operation of the conduit tip.

[0011] Preferably, the drive mechanism includes a gear set, one end of which is connected to the lead screw, and the other end of which is connected to a motor.

[0012] In this solution, the motor is driven by a gear set. The transmission between the gears is not prone to slippage, the transmission is smooth, and the sliding stroke of the control component can be precisely controlled, thereby achieving precise bending control of the front end of the guide tube.

[0013] Preferably, the gear set includes a first gear and a second gear, the shaft of the first gear is connected to the transmission lead screw, the first gear meshes with the second gear, and the shaft of the second gear is connected to a mating member for connecting the motor.

[0014] In this design, by adjusting the transmission ratio of the first and second gears, the motor can be driven at increasing speed, decreasing speed, or at a constant ratio to meet the conduit bending requirements of different application scenarios. The connection component allows for separate installation of the motor and gear assembly, reducing the size of the handle for controlling the bending of the conduit. Of course, in other designs, the number of gears can be adjusted as needed.

[0015] Preferably, the driving mechanism is a knob, which is mounted on the lead screw and used to drive the lead screw to rotate.

[0016] In this design, a knob can be manually operated to drive a lead screw, which in turn moves a slider, which in turn moves a control component, thus controlling the bending of the guide tube's tip. The knob provides the driving force, and compared to a motor, its structure is simpler and its operation is more convenient.

[0017] Preferably, the guide structure includes a guide rod, which is arranged parallel to the transmission lead screw, passes through the slider, and the slider can slide along the length direction of the guide rod;

[0018] Alternatively, the positioning mechanism includes a fastener, a reference line is provided on the transmission screw, the fastener is threaded to the slider, and the fastener can fix the slider to the transmission screw and align the slider with the reference line.

[0019] In this design, the slider is threaded onto the transmission screw and also rests on a guide rod. When the transmission screw rotates, the guide rod restricts the slider's rotation, allowing it to only rise or fall relative to the transmission screw. The guide rod provides the slider's guiding function, resulting in a simple structure, low manufacturing cost, and easy installation.

[0020] Of course, among other alternative solutions, the guide structure can be any one of a guide rail, a guide plate, or a guide groove.

[0021] When positioning the slider, tightening the fasteners secures the slider to the drive screw, aligning it with the baseline and achieving initial positioning. When bending the guide tube, loosening the fasteners allows the slider to slide along the guide rod under the action of the drive screw, enabling controlled bending of the guide tube's front end.

[0022] Preferably, the positioning mechanism includes a positioning element, the first end of which and the second end of which are respectively used to abut against the reference surfaces of the slider and the support base.

[0023] In this solution, by having the two ends of the positioning element abut against the reference surface of the support base and the slider respectively, the slider can be positioned relative to the reference surface of the support base, thereby achieving the initial position positioning of the slider.

[0024] When positioning the slider, the second end of the positioning element abuts against the reference surface of the support base, and the first end of the positioning element abuts against the slider.

[0025] Preferably, the positioning member has a receiving groove extending from the first end to the second end, the receiving groove being used to accommodate the transmission lead screw.

[0026] In this solution, during positioning, the positioning element can be fitted onto the transmission screw through its receiving groove, so that the positioning element is attached to the transmission screw, preventing the positioning element from tilting and improving positioning accuracy.

[0027] Preferably, the number of transmission devices is three, and the three transmission devices are arranged around the conduit on the support base. The three transmission devices are respectively used to control three control elements of the conduit.

[0028] In this scheme, three transmission devices control three control components of the conduit respectively, enabling the conduit to bend in three directions.

[0029] Preferably, the control element is a control wire, and the slider includes a threaded portion and a fixed portion. The threaded portion is threadedly connected to the transmission screw, and the fixed portion is used for winding and bonding the control wire.

[0030] In this solution, compared to other fixing methods, the control wire is wound and bonded to the fixing part, which is convenient for fixing and prevents the control wire from loosening or falling off. The structure of the fixing part only needs to meet the requirement of being able to be wound and bonded, which facilitates the manufacturing and processing of the fixing part.

[0031] A surgical robot comprising a bendable catheter as described above, which can be used in conjunction with the surgical robot.

[0032] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of this utility model.

[0033] The positive and progressive effects of this utility model are as follows: the bending control catheter that can be used with a surgical robot can achieve bending control of the catheter tip by pulling the control component through the slider of the transmission mechanism under the drive mechanism. Furthermore, since the positioning mechanism is detachably connected to the slider, even during the bending process or after multiple bending operations, the initial position of the slider can be positioned by installing the positioning mechanism on the slider, which facilitates the provision of a reference benchmark for the bending of the catheter and provides a basis for precise bending control.

[0034] When positioning the slider, a positioning mechanism is installed on the slider. The positioning mechanism can position the slider at its initial position, thereby positioning the initial state of the conduit accordingly. When controlling the bending of the conduit tip, the positioning mechanism is disassembled so that the slider can slide along the axial direction of the drive screw, realizing the control bending operation of the conduit tip. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of a bendable catheter that can be used in conjunction with a surgical robot, according to a preferred embodiment of the present invention.

[0036] Figure 2 This is a schematic diagram of the internal structure of a bendable catheter that can be used in conjunction with a surgical robot, according to a preferred embodiment of the present invention.

[0037] Figure 3 This is a schematic diagram of the gear set, transmission screw, and slider of a preferred embodiment of the present invention.

[0038] Figure 4 This is a schematic diagram of the positioning component according to a preferred embodiment of the present invention. Figure 1 .

[0039] Figure 5 This is a schematic diagram of the positioning component according to a preferred embodiment of the present invention. Figure 2 .

[0040] Explanation of reference numerals in the attached figures:

[0041] Catheter 1

[0042] Control Component 2

[0043] Transmission device 3

[0044] Transmission mechanism 31

[0045] 311 transmission screw

[0046] Slider 312

[0047] Threaded part 3121

[0048] Fixing part 3122

[0049] Guide sliding structure 313

[0050] Guide rod 3131

[0051] Drive mechanism 32

[0052] Gear set 321

[0053] First gear 3211

[0054] Second gear 3212

[0055] 3213 Connecting parts

[0056] Positioning mechanism 33

[0057] Positioning component 331

[0058] First end 3311

[0059] Second end 3312

[0060] Container 3313

[0061] Support 4

[0062] Reference plane 41

[0063] Casing 5 Detailed Implementation

[0064] The present invention will be described more clearly and completely below by way of embodiments and in conjunction with the accompanying drawings, but the present invention is not limited to the scope of the embodiments described herein.

[0065] like Figures 1-5As shown, this embodiment discloses a bendable conduit that can be used with a surgical robot. The bendable conduit includes a conduit 1 and a control component 2 for controlling the bending of the front end of the conduit 1. The bendable conduit also includes a transmission device 3 and a support base 4. Both the transmission device 3 and the conduit 1 are mounted on the support base 4. The transmission device 3 includes a transmission mechanism 31, a drive mechanism 32, and a positioning mechanism 33. The transmission mechanism 31 includes a transmission screw 311, a slider 312, and a guide structure 313. The transmission screw 311 is rotatably mounted on the support base. The transmission screw 311 is also threaded through and connected to the slider 312. The slider 312 is connected to the control component 2. The guide structure 313 is used to move the slider 312 along the axial direction of the transmission screw 311. The drive mechanism 32 is used to drive the transmission screw 311 to rotate. The positioning mechanism 33 is detachably connected to the slider 312 for positioning the slider 312 at its initial position.

[0066] like Figures 1-5 As shown, in this embodiment, the bending control catheter that can be used with a surgical robot can be bent at the front end of the catheter 1 by pulling the control member 2 through the slider 312 of the transmission mechanism 31 under the drive of the drive mechanism 32. Furthermore, since the positioning mechanism 33 is detachably connected to the slider 312, even during the bending process of the catheter 1 or after multiple bending, the initial position of the slider 312 can be positioned by installing the positioning mechanism 33 on the slider 312, which facilitates the provision of a reference benchmark for the bending of the catheter 1 and provides a basis for precise bending.

[0067] like Figure 1 and Figure 2 As shown, when positioning slider 312, positioning mechanism 33 is installed on slider 312. Positioning mechanism 33 can position slider 312 at its initial position, thereby positioning the initial state of conduit 1 accordingly. When controlling the bending of the front end of conduit 1, positioning mechanism 33 is disassembled so that slider 312 can slide along the axial direction of transmission screw 311, thereby realizing the bending operation of the front end of conduit 1.

[0068] like Figures 1-3 As shown, the drive mechanism 32 includes a gear set 321. One end of the gear set 321 is connected to the transmission screw 311, and the other end of the gear set 321 is used to connect to the motor. The motor is driven by the gear set 321. The transmission between the gears is not easy to slip, the transmission is smooth, and the sliding stroke of the control component 2 can be precisely controlled, thereby realizing the precise bending of the front end of the guide tube 1.

[0069] like Figures 1-3As shown, in this embodiment, the gear set 321 includes a first gear 3211 and a second gear 3212. The shaft of the first gear 3211 is connected to the transmission screw 311, and the first gear 3211 meshes with the second gear 3212. The shaft of the second gear 3212 is connected to a connecting member 3213, which is used to connect a motor. By adjusting the transmission ratio of the first gear 3211 and the second gear 3212, the motor can be driven by increasing speed, decreasing speed, or proportional speed to meet the bending requirements of the guide tube 1 in different application scenarios. By setting the connecting member 3213, it is convenient to separate the motor and the gear set 321, thereby reducing the size of the handle for the bending guide tube.

[0070] In this embodiment, the drive mechanism 32 includes a motor, which is mounted on the interventional surgery platform, and the output shaft of the motor can be docked with the docking part 3213.

[0071] In an optional embodiment, the driving mechanism is a knob mounted on a lead screw to drive its rotation. The knob can be manually operated to rotate the lead screw, which in turn moves a slider, which in turn moves a control component, thus controlling the bending of the guide tube tip. The knob provides the driving force, and compared to a motor providing the driving force, the knob has a simpler structure and is easier to operate.

[0072] like Figure 2 As shown, in this embodiment, the guide structure 313 includes a guide rod 3131, which is arranged parallel to the transmission screw 311. Both ends of the guide rod 3131 are respectively mounted on the support frame of the support base 4. The guide rod 3131 passes through a hole in the slider 312, allowing the slider 312 to slide along the length of the guide rod 3131. Since the slider 312 is threaded onto the transmission screw 311 and also passes through the guide rod 3131, when the transmission screw 311 rotates, the guide rod 3131 restricts the slider 312's rotation, allowing the slider 312 to only rise or fall relative to the transmission screw 311. The guide rod 3131 achieves the guiding function of the slider 312, resulting in a simple structure, low manufacturing cost, and convenient installation.

[0073] Of course, in other alternative embodiments, the guide structure can be any one of a guide rail, a guide plate, or a guide groove.

[0074] like Figures 2-5As shown, in this embodiment, the positioning mechanism 33 includes a positioning member 331. The first end 3311 and the second end 3312 of the positioning member 331 are respectively used to abut against the slider 312 and the reference surface 41 of the support base 4. When positioning the slider 312, the second end 3312 of the positioning member 331 abuts against the reference surface 41 of the support base 4, and the first end 3311 of the positioning member 331 abuts against the slider 312. By having both ends of the positioning member 331 abut against the reference surface 41 of the support base 4 and the slider 312 respectively, the slider 312 can be positioned relative to the reference surface 41 of the support base 4, thereby achieving the initial position positioning of the slider 312.

[0075] The positioning member 331 has a receiving groove 3313 extending from the first end 3311 to the second end 3312, which is used to fit the transmission screw 311. During positioning, the positioning member 331 can be fitted onto the transmission screw 311 through the receiving groove 3313, so that the positioning member 331 is attached to the transmission screw 311, preventing the positioning member 331 from being skewed and improving the positioning accuracy.

[0076] In an optional embodiment, the positioning mechanism includes a fastener, a reference line on the transmission screw, and a fastener threadedly connected to a slider. The fastener secures the slider to the transmission screw and aligns the slider with the reference line. When positioning the slider, tightening the fastener presses the slider against the transmission screw, fixing it at the reference line position of the transmission screw, thus achieving initial positioning of the slider. When controlling the bending of the conduit, loosening the fastener allows the slider to slide along the guide rod under the action of the transmission screw, enabling bending operations on the front end of the conduit.

[0077] like Figure 1 and Figure 2 As shown, in this embodiment, there are three transmission devices 3. The three transmission devices 3 are arranged around the conduit 1 on the support base 4. The three transmission devices 3 are used to control the three control components 2 of the conduit 1, which can realize the bending control of the conduit 1 in three directions.

[0078] Of course, in other embodiments, there may be two or more transmission devices for the support base, so the bending control guide can be controlled to bend in more than two directions.

[0079] like Figure 2 As shown, in this embodiment, the control element 2 is a control wire, and the slider 312 includes a threaded portion 3121 and a fixing portion 3122. The threaded portion 3121 is threadedly connected to the transmission screw 311, and the fixing portion 3122 is used for winding and bonding the control wire. Compared with other fixing methods, winding and bonding the control wire to the fixing portion 3122 is convenient and the control wire is not easy to loosen or fall off. The structure of the fixing portion 3122 only needs to meet the requirement of being able to be wound and bonded, which facilitates the manufacturing and processing of the fixing portion 3122.

[0080] In other embodiments, the control element may also be a nickel-titanium wire or a non-metallic wire.

[0081] like Figure 1 and Figure 2 As shown, in this embodiment, the support base 4 is also covered with a shell 5, which is detachably connected to the support base 4. The shell 5 is used to protect the transmission device 3.

[0082] This embodiment also discloses a surgical robot, which includes a bendable catheter as described above that can be used in conjunction with the surgical robot.

[0083] In the description herein, it should be understood that the terms "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0084] While specific embodiments of this utility model have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this utility model 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 this utility model, but all such changes and modifications fall within the scope of protection of this utility model.

Claims

1. A bendable catheter for use with a surgical robot, comprising a catheter and a control element for controlling the bending of the catheter tip, characterized in that, The controlled-bend guide tube includes a transmission device and a support base, both of which are mounted on the support base. The transmission device includes: A transmission mechanism includes a lead screw, a slider, and a guide structure. The lead screw passes through and is threadedly connected to the slider, the slider is connected to the control component, and the guide structure is used to move the slider along the axial direction of the lead screw. A drive mechanism is used to drive the transmission lead screw to rotate; A positioning mechanism is detachably connected to the slider and is used for initial positioning of the slider.

2. The bendable catheter for use with a surgical robot as described in claim 1, characterized in that, The drive mechanism includes a gear set, one end of which is connected to the transmission lead screw, and the other end of which is used to connect to the motor.

3. The bendable catheter for use with a surgical robot as described in claim 2, characterized in that, The gear set includes a first gear and a second gear. The shaft of the first gear is connected to the transmission lead screw. The first gear meshes with the second gear. The shaft of the second gear is connected to a mating member, which is used to connect the motor.

4. The bendable catheter for use with a surgical robot as described in claim 1, characterized in that, The driving mechanism is a knob, which is mounted on the transmission screw and is used to drive the transmission screw to rotate.

5. The bendable catheter for use with a surgical robot as described in claim 1, characterized in that, The guide structure includes a guide rod, which is arranged parallel to the transmission screw. The guide rod passes through the slider, and the slider can slide along the length direction of the guide rod. Alternatively, the positioning mechanism includes a fastener, a reference line is provided on the transmission screw, the fastener is threaded to the slider, and the fastener can fix the slider to the transmission screw and align the slider with the reference line.

6. The bendable catheter used in conjunction with a surgical robot as described in claim 1, characterized in that, The positioning mechanism includes a positioning element, the first end of which and the second end of which are respectively used to abut against the reference surfaces of the slider and the support base.

7. The bendable catheter for use with a surgical robot as described in claim 6, characterized in that, The positioning element has a receiving groove extending from the first end to the second end, the receiving groove being used to accommodate the transmission lead screw.

8. The bendable catheter for use with a surgical robot as described in claim 1, characterized in that, The number of transmission devices is three, and the three transmission devices are arranged around the conduit on the support base. The three transmission devices are used to control three control components of the conduit.

9. The bendable catheter for use with a surgical robot as described in claim 1, characterized in that, The control component is a control wire, and the slider includes a threaded part and a fixed part. The threaded part is threadedly connected to the transmission screw, and the fixed part is used for winding and bonding the control wire.

10. A surgical robot, characterized in that, The surgical robot includes a bendable catheter that can be used in conjunction with the surgical robot as described in any one of claims 1-9.

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