Guide sheath integrated cooperative manipulator for cardiac interventional surgical robot
By using an integrated guide sheath control device and adopting the traditional continuous control mode of the handpiece, the problems of low efficiency and high learning cost of traditional controllers are solved. This enables the synchronous operation of the catheter and the guide sheath, improving surgical efficiency and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHAOXING MAYO XINCI MEDICAL TECH CO LTD
- Filing Date
- 2025-06-03
- Publication Date
- 2026-05-12
AI Technical Summary
Traditional cardiac interventional surgical robots require surgeons to learn complex joystick or button operations, resulting in low operating efficiency, poor accuracy, and increased learning costs. They cannot effectively simulate the continuous manual operation habits of doctors, and existing controllers cannot achieve synchronous control of catheters and guide sheaths.
Design a guide sheath integrated collaborative manipulator that adopts the traditional handle continuous control mode. The continuous axial displacement, rotation and bending of the catheter tip can be achieved by controlling the handle of the catheter and sheath. Combined with the advance, rotation and bending control module, the synchronous complex multi-degree-of-freedom operation of the interventional catheter and the guide sheath can be realized.
It improves surgical efficiency and safety, shortens the surgeon's learning curve, reduces the difficulty of operation, and enables surgeons to directly apply clinical surgical muscle memory to achieve precise synchronous control of catheters and sheaths.
Smart Images
Figure CN224220235U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of medical device technology, and in particular to a guide sheath integrated collaborative controller for a cardiac interventional surgery robot. Background Technology
[0002] Traditional cardiac and vascular interventional surgical robots typically consist of a master manipulator controlling slave actuators, which drive the interventional medical device handles to perform cardiac and vascular interventional procedures. The master manipulator is directly operated manually by the surgeon to control the degrees of freedom of rigid interventional medical devices with built-in traction wires, such as treatment catheters and guide sheaths, including rotation, bending, and movement. Existing interventional surgical robot manipulators are typically joystick-type or button-type. When performing complex movements involving linear forward and backward movement and / or rotation, joystick-type or button-type operation requires quantifying and breaking down the previously continuous manual actions due to the high safety requirements of cardiac and vascular interventional surgeries. While quantification allows for more precise movements, it significantly reduces surgical efficiency. Furthermore, because multiple joystick movements need to be combined to position the interventional device, misoperation is prone to occur. In fact, wire-traction rigid interventional medical devices are more difficult to control in terms of positioning accuracy. In addition, the joystick or button operation method differs from the way doctors manually operate wire-traction rigid interventional medical devices continuously. Doctors need to learn this decomposed and quantified operation method, and their previous experience in continuous manual operation cannot be used. The joystick or button operation method does not conform to subconscious intuition, resulting in high learning costs and a long learning curve for doctors.
[0003] Patent 202211329704.4 discloses a control component, manipulator, interventional surgical robot, and control method, relating to the field of vascular interventional surgery. The control component is configured to control the rotation and / or movement of a wire-traction rigid interventional medical device. The control component is configured to rotate about and / or move along a central axis. The rotation direction and movement direction of the control component are the same or opposite to those of the wire-traction rigid interventional medical device. By configuring the control component to control the rotation and / or movement of the wire-traction rigid interventional medical device, and setting the control component to have the same or opposite rotation and movement directions as the wire-traction rigid interventional medical device, it achieves the doctor's conventional manual continuous operation mode through multi-degree-of-freedom joystick decomposition of movements. However, it can only control the axial forward and backward movement and circumferential rotation of the wire-traction rigid interventional medical device, and cannot control its bending.
[0004] Traditional cardiac interventional surgery requires surgeons to guide and monitor the insertion of guidewires or catheters through blood vessels to the heart to treat heart diseases such as atrial fibrillation, under the guidance and monitoring of imaging equipment such as digital subtraction angiography, CT, ultrasound, and MRI. Currently, most cardiac interventional surgeries still involve the surgeon directly manipulating the guidewire or catheter, which has drawbacks such as low operational stability, poor surgical precision, and exposure to radiation. With the rapid development of the medical device industry, surgical robots are now being used to perform cardiac interventional surgeries via remote control, replacing traditional handheld sheaths and catheters. However, current robot-controlled controllers are joystick-type controllers, which have the following problems:
[0005] The controller for the surgical robot is a gamepad-style device. During operation, the surgeon typically pushes a joystick to control the forward and backward movement of the interventional catheter, rotates the joystick to control the circumferential rotation of the catheter, and then switches to another separate rotary knob to control the bending and loosening of the catheter tip. The core problem is that traditional manual operation allows for seamless coordination of interventional instruments using both hands, while the joystick-style controller breaks all actions down into a set of joystick advance / retract and several knob rotation actions, greatly reducing surgical control efficiency.
[0006] Because the traditional, continuous manual operation is broken down into multiple joystick movements, surgeons need a longer learning curve to become familiar with the control methods of a game controller and to complete the mental shift from manual surgery to robotic surgery. This increases the difficulty of operation for the surgeon and also reduces the operator's experience.
[0007] Because joystick surgery is less efficient, and the muscle memory-based surgical habits in clinical practice cannot help with robotic surgery, surgeons who have been using or are accustomed to using handheld catheter handles for many years find it difficult to adapt to the control method of game controllers. In actual operation, due to years of manual operation habits, operators may break down the control actions into separate and quantified joystick movements, which is difficult to achieve in the control device and is prone to erroneous actions that do not follow their intentions. Summary of the Invention
[0008] This application provides a guide sheath integrated collaborative controller for cardiac interventional surgery robots. It can adopt the continuous control mode and logic of traditional handles to achieve synchronous, complex, multi-degree-of-freedom integrated operation of interventional catheters and guide sheaths without switching hands.
[0009] This application provides an integrated guide sheath collaborative control device for a cardiac interventional surgery robot, comprising:
[0010] A base, on which a sheath control handle 1 and a catheter control handle 2 are provided in the longitudinal direction of the catheter sheath;
[0011] The catheter control handle 2 includes an advance control module, a rotation control module, and a bending control module, wherein:
[0012] The propulsion control module includes two long shafts 216, which are disposed within the guide tube control handle 2. Through slots are provided on the two long shafts 216 at opposite positions. A connecting block 211 is also disposed within the handle. The connecting block 211 is disposed within the through slots of the two long shafts and is slidable. Springs are respectively sleeved on the long shafts on both sides of the connecting block 211. Circuit contact pieces are provided at corresponding positions on both sides of the connecting block 211. The connecting block 211 moves forward within the through slots of the long shafts against the spring force and touches the front contact piece, which serves as the command input for the axial movement of the guide tube.
[0013] The rotation control module is used to control the circumferential rotation of the catheter;
[0014] The bending control module is used to control the bidirectional bending of the catheter tip;
[0015] The sheath control handle 1 includes a propulsion control module and a rotation control module, used to control the axial advance and retreat and circumferential rotation of the sheath.
[0016] In this embodiment, continuous axial displacement of the catheter tip can be easily achieved by pushing the control handle back and forth, and continuous rotation of the catheter tip can be achieved by rotating the control handle in both directions. Similarly, bidirectional bending of the catheter tip can be controlled by pushing the bending lever of the control handle. Without switching between two hands, synchronous complex multi-degree-of-freedom integrated operation of the interventional catheter and the guiding sheath can be achieved.
[0017] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description
[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:
[0019] Figure 1 This is a schematic diagram showing the positions of the sheath control handle and the catheter control handle of the integrated sheath control device according to an embodiment of this application;
[0020] Figure 2 This is a schematic diagram of the catheter control handle of the integrated guide sheath control device according to an embodiment of this application;
[0021] Figure 3 This is a partial structural diagram of the catheter control handle of the integrated guide sheath control device according to an embodiment of this application;
[0022] Figure 4 This is a schematic diagram of the internal structure of the catheter control handle of the integrated guide sheath cooperative control device according to an embodiment of this application;
[0023] Figure 5 This is an overall schematic diagram of the integrated guide sheath control device according to an embodiment of this application. Detailed Implementation
[0024] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
[0025] In robotic-assisted cardiac interventional surgery, the surgeon controls the interventional catheter to complete its placement and treatment within the cardiac chambers. Using a doctor-end controller, the surgeon manipulates the catheter through pushing, pulling, and rotation. Catheter control has three degrees of freedom: 1) forward and reverse rotation, 2) axial forward and backward movement, and 3) catheter tip curvature. Specifically, the surgeon controls the rotation of the catheter tip within the heart by rotating the catheter handle circumferentially using the main controller, controls the curvature of the catheter tip by pushing the bending lever on the handle, and controls the axial forward and backward movement of the catheter tip by controlling the axial advance and retreat of the handle. This application provides a guide sheath integrated collaborative controller for a cardiac interventional surgical robot, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, it includes:
[0026] The base has a sheath control handle 1 and a catheter control handle 2 arranged on the base along the length of the catheter sheath.
[0027] The catheter control handle 2 includes an advance control module, a rotation control module, and a bending control module, wherein:
[0028] The propulsion control module, such as Figure 4As shown, it includes two long shafts 216, which are disposed inside the conduit control handle 2. The two long shafts 216 have through grooves at opposite positions. The handle is also provided with a connecting block 211, which is disposed in the through grooves of the two long shafts and is slidable. Springs are respectively sleeved on the long shafts on both sides of the connecting block 211. In the natural state, the springs support the connecting block in the middle position of the long shaft. Circuit contact pieces are provided at corresponding positions on both sides of the connecting block 211. The connecting block 211 moves forward in the through groove of the long shaft against the spring force and touches the front contact piece, which is a command for the conduit to move forward axially.
[0029] The rotation control module is used to control the circumferential rotation of the catheter;
[0030] The bending control module is used to control the bidirectional bending of the catheter tip.
[0031] The sheath control handle 1 includes a propulsion control module and a rotation control module, used to control the axial advance and retreat and circumferential rotation of the sheath.
[0032] In some embodiments, such as Figure 2 As shown, the catheter control handle 2 includes an inner housing 21 and an outer housing 22, with the outer housing 22 fitted onto the inner housing 21. The inner housing 21 is fixed to a fixing bracket, and the outer housing 22 is fitted onto the inner housing 21. The connecting block 211 inside the catheter control handle 2 is fixedly connected to the outer housing 22. The operator can move the connecting block within the long-axis through groove by axially moving the outer housing 22 to trigger an axial movement control command. After the operator releases the handle, the outer housing automatically returns to its initial position under the natural extension of the spring.
[0033] In this embodiment, continuous axial displacement of the catheter tip can be easily achieved by pushing the control handle back and forth, and continuous rotation of the catheter tip can be achieved by rotating the control handle in both directions. Similarly, bidirectional bending of the catheter tip can be controlled by pushing the bending lever of the control handle with the right thumb. Without switching between hands, the simultaneous complex multi-degree-of-freedom integrated operation of the interventional catheter and the guiding sheath can be achieved.
[0034] In some embodiments, such as Figure 4 As shown, the rotation control module includes:
[0035] Rotating disks 214 are disposed at both ends of the long shafts 216. The rotating disks 214 are rotatable and housed within the inner housing 21 via a central shaft 217. The two long shafts 216 are fixedly connected to the rotating disks 214 at both ends. A protrusion is provided on the other side of each rotating disk 214. Rotating contact pieces are fixedly disposed on both sides of the protrusion within the inner housing. When the protrusion of the rotating disk 214 contacts the rotating contact piece, it serves as a rotation command in the corresponding direction. In a specific example, for instance, when the rotating disk 214 rotates, if the protrusion touches the rotating contact piece, it inputs a rotation command in the specified direction; if it touches the other rotating contact piece, it inputs a rotation command in the opposite direction.
[0036] In some embodiments, the outer casing 22 is linked to the long shaft 216. The rotation of the outer casing 22 drives the long shaft 216 to rotate around the central shaft 217, so as to drive the rotating disk 214 to rotate through the two long shafts to input rotation commands.
[0037] The rotation of the outer casing 22 drives the long shaft to rotate around the central axis of the handle. The rotation of the two long shafts 216 drives the rotating disk 214 to rotate, thereby controlling the protrusions of the rotating disk 214 to contact the corresponding contact piece to input the rotation command. A rotation reset device is also provided on the central shaft 217 to reset the handle after rotation.
[0038] In some embodiments, the bending control module includes a bending lever disposed at the front end of the catheter control handle 2. Pushing the bending lever back and forth enables bidirectional bending of the catheter tip, and can continuously and synchronously operate axial forward and backward movement and circumferential rotation.
[0039] In some embodiments, the sheath control handle 1 includes an advance control module and a rotation control module with the same structure as the catheter control handle 2. The sheath control handle 1 and the catheter control handle 2 have the same control mode to control the axial advance and retreat and circumferential rotation of the sheath.
[0040] In some embodiments, such as Figure 5 As shown, the base is also equipped with multiple function buttons. In some specific examples, the base may be equipped with a button to switch between continuous and step modes. The operator can control the catheter operation continuously, just like with traditional catheters, or control the catheter movement step by step. Taking axial movement as an example, in step mode, the operator pushes the catheter control handle forward axially once, and the catheter advances one unit. Pushing the control handle backward once retracts the catheter one unit. In continuous mode, the operator pushes the control handle forward, keeping the handle in the forward position, and the contact piece in the internal long axis groove remains connected, thus continuously issuing commands for the catheter to move forward. Continuous retraction is accomplished in the same way; keeping the handle in the retracted position, and the contact piece in the internal long axis groove remaining connected, allows control of continuous retraction of the catheter.
[0041] In other examples, an interlocking button can be installed on the base to enable precise synchronous rotation and forward / backward movement of the catheter sheath. By enabling the interlocking mode, any rotation of the catheter or sheath triggers a synchronous control command for the catheter sheath, thereby achieving precise coaxial control of the rotational degrees of freedom of the catheter and sheath, achieving integrated coaxial rotation of the catheter and sheath. The catheter and sheath complete coaxial rotation within the target cardiac chamber to improve control precision and stability. After pressing the interlocking button, the catheter control handle or sheath control handle can be used to synchronously control the circumferential rotation of the catheter and sheath. In the interlocked state, the catheter and sheath are relatively locked, allowing the catheter tip to reach the lesion more quickly and accurately during ablation, resulting in more stable contact and better ablation effect.
[0042] Compared to game joystick-style controllers, this application solves the problem of fragmented and disjointed operations in interventional instrument control, making it impossible to perform continuous operations without switching hands. The handheld controller of this application closely resembles the traditional catheter operation mode, shortening the surgeon's learning curve for surgical robots. It facilitates the transition from manual to robotic surgery, allowing surgeons to directly apply muscle memory surgical habits from routine clinical procedures to robotic procedures, reducing the difficulty of surgical operations, improving the operator's experience, and simultaneously increasing surgical efficiency and safety.
[0043] It should be noted that, in the embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.
[0044] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0045] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims. All of these forms are within the protection scope of this application.
Claims
1. A guide sheath integrated collaborative control device for a cardiac interventional surgery robot, characterized in that, include: The base has a sheath control handle (1) and a catheter control handle (2) arranged on the base along the length of the catheter sheath. The catheter control handle (2) includes an advance control module, a rotation control module, and a bending control module, wherein: The propulsion control module includes two long shafts (216), which are located inside the guide tube control handle (2). The two long shafts (216) have through slots at opposite positions. The handle also has a connecting block (211), which is located in the through slots of the two long shafts and is slidable. Springs are respectively sleeved on the long shafts on both sides of the connecting block (211). Circuit contact pieces are provided at corresponding positions on both sides of the connecting block (211). The connecting block (211) moves forward in the through slot of the long shaft against the spring force and touches the front contact piece, which serves as a command for the guide tube to move forward axially. The rotation control module is used to control the circumferential rotation of the catheter; The bending control module is used to control the bidirectional bending of the catheter tip; The sheath control handle (1) includes a propulsion control module and a rotation control module for controlling the axial advance and retreat and circumferential rotation of the sheath.
2. The integrated guide sheath collaborative manipulator for cardiac interventional surgery robots as described in claim 1, characterized in that, The catheter control handle (2) includes an inner shell (21) and an outer shell (22), with the outer shell (22) fitted onto the inner shell (21).
3. The integrated guide sheath collaborative control device for cardiac interventional surgery robots as described in claim 2, characterized in that, The rotation control module includes: A rotating disk (214) is disposed at both ends of the long shaft (216). The rotating disk (214) is disposed inside the inner housing (21) via a central shaft (217) and is rotatable. The two long shafts (216) are fixedly connected to the rotating disks (214) at both ends. A protrusion is provided on the other side of the rotating disk (214). Rotary contact pieces are fixedly disposed on both sides of the protrusion inside the inner housing. When the protrusion of the rotating disk (214) contacts the rotary contact pieces, it serves as a rotation command in the corresponding direction.
4. The integrated guide sheath collaborative control device for cardiac interventional surgery robots as described in claim 3, characterized in that, The outer shell (22) is linked with the long shaft (216). The rotation of the outer shell (22) drives the long shaft (216) to rotate around the central axis (217), so as to drive the rotating disk (214) to rotate through the two long shafts, so as to input the rotation command.
5. The integrated guide sheath collaborative manipulator for cardiac interventional surgery robots as described in claim 1, characterized in that, The bending control module includes a bending lever located at the front end of the catheter control handle (2), which can be pushed back and forth to control the bidirectional bending of the catheter tip.
6. The integrated guide sheath collaborative manipulator for cardiac interventional surgery robots as described in claim 1, characterized in that, The sheath control handle (1) includes a propulsion control module and a rotation control module with the same structure as the catheter control handle (2).
7. The integrated guide sheath collaborative manipulator for cardiac interventional surgery robots as described in claim 1, characterized in that, The base is also equipped with multiple function buttons.