Bifurcated valve driving module with flexible connecting pipe

Abstract

The utility model provides a bifurcated valve driving module with a flexible connecting pipe, which is characterized in that a rotatable part is arranged at the front end of a bifurcated valve, a valve joint is arranged at the rear end of the bifurcated valve, and a first bifurcated pipe is arranged in the middle of the bifurcated valve; the bifurcated valve is a Y valve or a T valve, and a rotatable part at the front end of the bifurcated valve is connected with the flexible connecting pipe; the port control mechanism can support and fix the bifurcation valve, the port driving mechanism is used for driving the valve connector to open or close the channel so as to prevent blood or contrast media from seeping out or clamp a guide wire or a catheter in a port, and the port rotating mechanism is used for driving a rotatable part at the front end of the bifurcation valve to rotate so as to drive the valve connector to rotate. According to the utility model, the port control mechanism controls the rotatable part at the front end of the bifurcated valve to synchronously rotate along with the rotation of the rotary delivery mechanism, and if the two rotary motions are not completely synchronous, the flexible connecting pipe can generate torsional deformation, so that the force sensing of a force sensing element in the rotary delivery mechanism on the torsional force cannot be influenced.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a bifurcation valve drive module with a flexible connecting tube. Background Technology

[0002] The main steps in vascular interventional surgery include femoral / radial artery puncture, coordinated advancement of the guidewire and angiography catheter, digital subtraction angiography (DSA), coordinated advancement of the treatment guidewire and balloon catheter, and placement of the vascular stent. The coordinated advancement of the guidewire, catheter, and balloon catheter is the most time-consuming step and requires X-ray-guided image navigation. Currently, vascular interventional surgery is usually performed manually by a surgeon. During the procedure, because DSA emits X-rays, the surgeon needs to wear a heavy lead apron, which leads to a rapid decline in physical strength, reduced attention, and decreased stability, resulting in decreased operational precision and an increased risk of accidents such as endothelial damage, vascular perforation, and rupture due to improper pushing force, endangering the patient's life. Furthermore, long-term wearing of lead aprons can damage the surgeon's spine. Secondly, the cumulative damage from long-term ionizing radiation significantly increases the surgeon's risk of leukemia, cancer, and acute cataracts. Therefore, to protect the health of surgeons and ensure surgical quality, research and development of interventional surgical robots are increasing, and more and more robots are being used clinically.

[0003] Existing interventional surgical robots mainly adopt a master-slave end operation structure to isolate doctors from the radiation environment. The slave end device of the existing interventional robot needs to hold the slender medical instruments such as catheters and guidewires and move them from the proximal end to the distal end. Through the coordinated movement of the device, the catheters and guidewires are advanced and delivered to the lesion in the patient's body (such as inside the blood vessel), so that doctors can carry out subsequent related treatments such as angiography, embolization of malformed blood vessels, thrombolysis, and dilation of narrowed blood vessels.

[0004] In various interventional procedures, Y-type or T-type connecting valves are generally required to provide a delivery channel, allowing catheters or guidewires to pass through and be delivered. The channel is also closed during contrast agent injection. Current technology relies on operators manually controlling these valves to open or close the channel; there is currently no effective automated system to replace surgeons in adjusting and controlling these valves. Furthermore, automated control of the Y-type or T-type connecting valves may affect the interventional surgical robot's force sensing of the interventional consumables. Utility Model Content

[0005] The purpose of this invention is to provide a bifurcation valve drive module with a flexible connecting pipe to solve the existing technical defects and unmet technical requirements.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A bifurcation valve drive module with a flexible connecting tube includes a bifurcation valve and a port control mechanism. The bifurcation valve has a rotatable part at its front end, a valve connector at its rear end, and a first bifurcation tube in its middle. The bifurcation valve is a Y-valve or a T-valve. The rotatable part at the front end of the bifurcation valve is connected to the flexible connecting tube. The port control mechanism supports and fixes the bifurcation valve. The port control mechanism includes a port drive mechanism and a port rotation mechanism. The port drive mechanism is used to drive the valve connector to open or close the channel, thereby preventing blood or contrast agent leakage, or clamping the guide wire or catheter in the port. The port rotation mechanism is used to drive the rotatable part at the front end of the bifurcation valve to rotate.

[0008] Preferably, the valve joint closes the channel by axially compressing the elastomer. By pushing and pulling the clamping block along the axis, the clamping block compresses the elastomer, causing it to deform and bulge or contract inward, thus closing the channel. The clamping block is kept in a fixed relative position on the bifurcation valve by a self-locking structure, which can be a tapered friction structure, a snap-fit ​​structure, or a magnetic suction structure.

[0009] Alternatively, the valve connector closes the channel by rotating the locking cap around the axis. The locking cap moves axially under the guidance of the thread, squeezing the elastic body and deforming it, causing the elastic body to bulge or contract inward, thus closing the channel. The thread achieves self-locking, keeping the relative position of the locking cap on the bifurcation valve fixed.

[0010] Alternatively, the valve joint can achieve channel closure by pushing and pulling the locking block along the axial direction. The locking block moves axially under the guidance of the inclined or conical surface, thereby deforming the elastic body and causing the elastic body to bulge or contract inward, thus achieving channel closure. The locking block is kept in a fixed relative position on the bifurcation valve by a self-locking structure. The self-locking structure adopts a tapered friction structure, a snap-fit ​​structure, or a magnetic suction structure.

[0011] Preferably, when the valve connector achieves channel closure by rotating the locking cap around the axial direction, the locking cap is provided with a toothed ring, the port drive mechanism is provided with a drive gear that meshes with the toothed ring, the locking cap is provided with a zero position marking component, the port drive mechanism is provided with a zero position switch, and the zero position marking component can trigger the zero position switch on the port drive mechanism and perform zero position marking.

[0012] A release limit step is provided at the rear end of the fork valve and behind the locking cap. When the drive gear rotates the locking cap in the opposite direction to release it, the locking cap will be unable to rotate further in the opposite direction when it is pressed against the release limit step.

[0013] Alternatively, when the threads of the locking cap are completely disengaged, the locking cap is in a free-spinning state. If the locking cap is rotated further in the opposite direction, the locking cap will spin freely at the rear end of the fork valve, but will not disengage from the rear end of the fork valve.

[0014] Preferably, the port drive mechanism and port rotation mechanism of the port control mechanism are covered by a housing. The housing separates the port drive mechanism and port rotation mechanism with power source from the branch valve without power source. It also includes a gear transmission structure. The gears in the gear transmission structure are rotatably mounted on the housing to transmit the power from the power source inside the port control mechanism to the branch valve, thereby realizing power transmission. The gear transmission structure includes an internal gear and an external gear. The internal gear and the external gear are separated by an isolation structure and coaxially connected by a transmission shaft.

[0015] Preferably, the gear transmission structure is provided in two sets, namely a first gear transmission structure and a second gear transmission structure. The rotatable part at the front end of the forked valve is a conduit connector. The conduit connector is provided with a first gear, and the valve connector is provided with a second gear. The external gear of the first gear transmission structure directly meshes with the first gear, or the external gear of the first gear transmission structure meshes with the first gear through a second transmission gear to drive the conduit connector to rotate. The internal gear of the first gear transmission structure directly meshes with the first driving gear of the port rotation drive element of the port rotation mechanism, or the internal gear of the first gear transmission structure meshes with the first driving gear of the port rotation drive element of the port rotation mechanism through a first transmission gear.

[0016] The external gear in the second gear transmission structure directly meshes with the second gear, or the external gear in the second gear transmission structure meshes with the second gear through the second transmission gear, for driving the valve joint to rotate and controlling the valve joint to open or close the channel; the internal gear in the second gear transmission structure directly meshes with the second driving gear of the valve joint driving element of the port drive mechanism, or the internal gear in the second gear transmission structure meshes with the second driving gear of the valve joint driving element of the port drive mechanism through the first transmission gear.

[0017] Preferably, the isolation structure is a protective cover installed on the housing. The protective cover has a first cavity, a second cavity, and a partition. The first cavity and the second cavity are separated by the partition. The external gear is rotatably disposed in the first cavity. One side of the first cavity has a first opening communicating with the outside of the housing. The external gear meshes with a second transmission gear or a first gear of a forked valve or a second gear of a forked valve through the first opening. The internal gear is rotatably disposed in the second cavity. One side of the second cavity has a second opening communicating with the inside of the housing. The internal gear meshes with a first transmission gear or a first drive gear of a port rotation drive element or a second drive gear of a valve connector drive element through the second opening. The internal gear and the external gear are connected by a transmission shaft, and the transmission shaft passes through a through hole in the partition. A sealing ring is provided on the outer side of the transmission shaft or at the through hole in the partition, and the sealing ring achieves a sealing fit between the transmission shaft and the through hole in the partition.

[0018] Preferably, the flexible connecting pipe has a raised bending amount, which allows it to float in the axial direction. The conduit joint of the rotatable part at the front end of the bifurcation valve is sealed by means of flexible connecting pipe sleeve, tapered elastic claw clamping, thread tightening, and tapered self-locking.

[0019] Preferably, the flexible connecting tube is elastic, and the rotatable part of the front end of the bifurcation valve has a pagoda head on the conduit connector. The opening of the flexible connecting tube is aligned with the pagoda head and fitted onto it, and an automatic sealing connection is achieved through the elasticity of the flexible connecting tube.

[0020] Alternatively, a connector is connected to the rotatable part of the front end of the bifurcation valve. A second locking cap is screwed onto the connector. The second locking cap moves axially under the guidance of the thread, thereby pushing the second locking block. The second locking block squeezes the elastic body, causing the elastic body to deform and bulge or contract inward, thereby locking the end of the flexible connecting tube. Self-locking is achieved through the thread, keeping the relative position of the second locking block on the connector fixed.

[0021] Alternatively, a connector is connected to the rotatable part of the front end of the bifurcation valve. A second locking cap is screwed onto the connector. The connector has elastic claws. The connector or the second locking cap has a retractable part. The second locking cap moves axially under the guidance of the thread, so that the elastic claws and the retractable part move towards each other. Through the action of the retractable part, the claws of the elastic claws can be closed to lock the end of the flexible connecting tube.

[0022] Alternatively, the flexible connecting tube is equipped with a Luer connector at its end, and the rotatable part of the front end of the bifurcation valve has a threaded structure on its conduit connector. Automatic sealing connection is achieved by tightening the Luer connector of the flexible connecting tube with the threaded structure.

[0023] A method for using a bifurcation valve drive module with a flexible connecting tube, wherein the bifurcation valve drive module with a flexible connecting tube is used.

[0024] The port control mechanism controls the rotatable part at the front end of the bifurcation valve to rotate synchronously with the rotation of the rotary delivery mechanism. If the rotational movement of the rotatable part at the front end of the bifurcation valve is not completely synchronized with the rotational movement of the rotary delivery mechanism, the flexible connecting pipe will undergo torsional deformation, thus not affecting the force sensing element in the rotary delivery mechanism to sense the torque.

[0025] Preferably, after the drive gear drives the locking cap to rotate in the opposite direction several times to ensure that the locking cap is in an idle state, the drive gear then drives the locking cap to rotate in the forward direction. This causes the zero-position marking component on the locking cap to be triggered by the zero-position switch on the port drive mechanism to mark the zero position. After the zero-position marking, the drive gear is rotated in the forward direction and the locking cap is rotated to a set angle to achieve channel closure. This prevents the elastomer from excessively squeezing the consumables or from being insufficiently squeezed, which could affect the closure of the channel. The zero-position switch is triggered by photoelectric or magnetic induction, or by mechanical contact.

[0026] A release limit step is provided at the rear end of the fork valve and behind the locking cap. When the drive gear rotates the locking cap in the reverse direction to release it, the locking cap abuts against the release limit step. At this time, the motor on the port drive mechanism that drives the drive gear stalls. The controller determines that the motor is stalled by the change in motor current or rotation angle, and then performs a zero-position mark. Alternatively, after stalling, the drive gear drives the locking cap to rotate forward, so that the zero-position mark component on the locking cap is triggered by the zero-position switch on the port drive mechanism to perform a zero-position mark. After the zero-position mark, rotating the locking cap forward to the set angle can achieve the closure of the channel.

[0027] The beneficial effects of this utility model are as follows:

[0028] 1. This utility model uses a port rotation mechanism to drive the rotatable part at the front end of the bifurcation valve to rotate. The rotatable part at the front end of the bifurcation valve rotates synchronously with the rotation of the rotation delivery mechanism. If the rotation of the rotatable part is not completely synchronized with the rotation of the rotation delivery mechanism, the flexible connecting tube will undergo torsional deformation. Therefore, it will not affect the force sensing element in the rotation delivery mechanism to sense the torque.

[0029] 2. The port drive mechanism of this utility model is used to drive the valve connector to rotate, control the valve connector to open or close the channel, thereby preventing blood or contrast agent leakage. The valve connector achieves channel closure by rotating the locking cap around the axial direction. The locking cap is provided with a toothed ring, and the port drive mechanism is provided with a drive gear that meshes with the toothed ring. The locking cap is provided with a zero-position marking component, and the port drive mechanism is provided with a zero-position switch. The zero-position marking component can trigger the zero-position switch on the port drive mechanism and mark the zero position. After the zero position is marked, rotating the drive gear in the forward direction and driving the locking cap to rotate to the set angle can achieve channel closure, preventing the elastomer from excessively squeezing the intervening consumables, or insufficient squeezing affecting the closure of the channel.

[0030] 3. This utility model separates the port drive mechanism and the port rotation mechanism with power source from the sterile environment during the operation through the shell. The power of the internal power source of the port control mechanism is transmitted to the bifurcation valve through the gear transmission structure on the shell, realizing the power transmission. The design of internal and external gears can easily realize the spatial layout of the transmission mechanism, and the power transmission is simple and reliable, improving the compactness of the structure and reducing the manufacturing cost. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of Example 1;

[0032] Figure 2 This is one of the structural schematic diagrams of Embodiment 1 without a shell;

[0033] Figure 3 This is a second schematic diagram of the structure in Example 1 without the shell.

[0034] Figure 4 This is an internal sectional view of Example 1;

[0035] Figure 5 This is a schematic diagram of the port drive mechanism, gear transmission structure, and isolation structure of Example 1;

[0036] Figure 6 This is a schematic diagram of the isolation structure in Example 1;

[0037] Figure 7 This is a schematic diagram of the locking cap in Example 1;

[0038] Figure 8 This is a schematic diagram of the rotary delivery mechanism and the second lubrication assembly in Embodiment 1;

[0039] Figure 9 This is an internal cross-sectional view of the rotary delivery mechanism and the second lubrication assembly of Embodiment 1;

[0040] Figure 10This is one of the structural schematic diagrams of Example 2;

[0041] Figure 11 This is the second structural schematic diagram of Example 2;

[0042] Figure 12 This is a schematic diagram of the structure of Example 3;

[0043] Figure 13 This is an internal sectional view of Example 3;

[0044] Figure 14 This is one of the structural schematic diagrams of the port control mechanism equipped with a Y valve in Embodiment 4;

[0045] Figure 15 This is the second schematic diagram of the port control mechanism with a Y valve installed in Example 4;

[0046] Figure 16 This is the third schematic diagram of the port control mechanism of Example 5 with a Y valve installed. Detailed Implementation

[0047] The technical solutions of the present utility model 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 utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0048] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0049] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0050] Example 1

[0051] like Figures 1-9 As shown, a bifurcation valve drive module with a flexible connecting pipe includes a bifurcation valve 1027302 and a port control mechanism 10273. The front end of the bifurcation valve 1027302 has a rotatable portion, the rear end of the bifurcation valve 1027302 has a valve connector, and the middle of the bifurcation valve 1027302 has a first bifurcation pipe. The bifurcation valve 1027302 is a Y-valve or a T-valve. The rotatable portion at the front end of the bifurcation valve 1027302 is connected to the flexible connecting pipe 1027301. The port control mechanism 10273 can support and fix the bifurcation valve 1027302. A rotating delivery mechanism 10272 is provided in front of the port control mechanism 10273, and the rotating delivery mechanism 10273... 2. The port control mechanism 10273 is mounted on a module fixing base, which is installed on the first linear track group 102701. The rotating shaft 1027201 of the rotating delivery mechanism 10272 is provided with a first connecting part 1022501. The front end of the first connecting part extends out of the rotating delivery mechanism 10272. The first connecting part on the rotating shaft 1027201 of the rotating delivery mechanism 10272 is locked to the second conduit by a locking structure. The locking structure is provided at the front end of the rotating delivery mechanism 10272. A rotating sleeve 1022502 is provided inside the rotating shaft 1027201 of the rotating delivery mechanism 10272. The first connecting part is rotatable and axially limited in the rotating sleeve. A first bearing structure is provided between the first connecting part 1022501 and the rotating sleeve. The first connecting part and the rotating sleeve are axially limited but circumferentially rotatable, so that the rotating sleeve is only subjected to axial force from the first connecting part and not circumferential torque. The rotating delivery mechanism 10272 is also provided with an axial force sensing element for detecting the axial force on the first connecting part when axially delivering the second conduit and a circumferential force sensing element for detecting the torque on the first connecting part when rotating the second conduit (the axial force sensing element and the circumferential force sensing element are not the technical points of this patent, so they are not specifically described in this document); the first connecting part is connected to the front part of an internal connecting pipe, and the rear part of the internal connecting pipe is connected to the rotatable front part of the bifurcation valve. The second conduit and the bifurcation valve are connected through the internal connecting pipe. The bifurcation valve is installed on the port control mechanism 10273. The internal connecting pipe is provided with a flexible connecting pipe section, and the flexible connecting pipe section has a raised bending amount, so that it has a floating amount in the axial direction, which can solve the problem of torque and axial force interference caused by the asynchronous axial displacement and circumferential rotation of the first connecting part and the bifurcation valve.

[0052] The port control mechanism 10273 includes a port drive mechanism 1027011 and a port rotation mechanism 1027022. The port drive mechanism 1027011 is used to drive the valve connector to open or close the channel, thereby preventing blood or contrast agent leakage, or clamping the guide wire or catheter in the port. The port rotation mechanism 1027022 is used to drive the rotatable part at the front end of the bifurcation valve to rotate.

[0053] The valve joint closes the channel by axially compressing the elastomer. By pushing and pulling the clamping block along the axis, the clamping block compresses the elastomer, causing it to deform and bulge or contract inward, thus closing the channel. The clamping block is kept in a fixed relative position on the bifurcation valve by a self-locking structure, which can be a tapered friction structure, a snap-fit ​​structure, or a magnetic attraction structure.

[0054] Alternatively, the valve connector closes the channel by rotating the locking cap around the axis. The locking cap moves axially under the guidance of the thread, squeezing the elastic body and deforming it, causing the elastic body to bulge or contract inward, thus closing the channel. The thread achieves self-locking, keeping the relative position of the locking cap on the bifurcation valve fixed.

[0055] Alternatively, the valve joint can achieve channel closure by pushing and pulling the locking block along the axial direction. The locking block moves axially under the guidance of the inclined or conical surface, thereby deforming the elastic body and causing the elastic body to bulge or contract inward, thus achieving channel closure. The locking block is kept in a fixed relative position on the bifurcation valve by a self-locking structure. The self-locking structure adopts a tapered friction structure, a snap-fit ​​structure, or a magnetic suction structure.

[0056] In this embodiment, when the valve connector closes the channel by rotating the locking cap around the axial direction, the locking cap 10273022 is provided with a gear ring (i.e., the second gear 102730202 in this embodiment), the port drive mechanism 1027011 is provided with a drive gear (i.e., the external gear 1027010102 in the second gear transmission structure of this embodiment) that meshes with the gear ring, and the locking cap 10273022 is provided with a zero-position marking component, and the port drive mechanism 1027011 is provided with a zero-position switch 102701101. The zero-position switch is triggered by photoelectric or magnetic induction, or by mechanical contact. The zero-position marking component enables the zero-position switch 102701101 on the port drive mechanism 1027011 to be triggered and mark the zero position. Figure 7 As shown, in this embodiment, the zero-position switch 102701101 is preferably a magnetic induction switch, and the zero-position marking component is a magnet 10273023 disposed on the locking cap 10273022.

[0057] A release limit step 102730203 is provided at the rear end of the fork valve and behind the locking cap. When the drive gear rotates the locking cap in the opposite direction to release it, the locking cap will be unable to rotate further in the opposite direction when it is against the release limit step 102730203.

[0058] Alternatively, when the threads of the locking cap are completely disengaged, the locking cap is in a free-spinning state. If the locking cap is rotated further in the opposite direction, the locking cap will spin freely at the rear end of the fork valve, but will not disengage from the rear end of the fork valve.

[0059] The flexible connecting pipe 1027301 has a raised bending amount, which gives it a floating amount in the axial direction. The conduit joint of the rotatable part at the front end of the bifurcation valve is sealed by the flexible connecting pipe 1027301 through sleeve, tapered elastic claw clamping, thread tightening, and tapered self-locking.

[0060] The flexible connecting pipe 1027301 is elastic. A pagoda-shaped head is provided on the rotatable conduit connector at the front end of the bifurcation valve. The end of the flexible connecting pipe 1027301 is aligned with the pagoda-shaped head and fitted onto it. Automatic sealing is achieved through the elasticity of the flexible connecting pipe 1027301. To prevent the flexible connecting pipe 1027301 from detaching from the pagoda-shaped head due to excessive liquid pressure, a clamping clamp can be fitted over the pagoda-shaped head to ensure a reliable connection between the flexible connecting pipe 1027301 and the pagoda-shaped head.

[0061] The port control mechanism 10273 is mounted on the module mounting base. The port drive mechanism 1027011 and the port rotation mechanism 1027022 are covered by a housing 10270101. The housing 10270101 separates the port drive mechanism 1027011 and the port rotation mechanism 1027022, which have power sources, from the fork valves without power sources. It also includes a gear transmission structure. The gears in the gear transmission structure are rotatably mounted inside the housing 10270101 to transmit power from the power source inside the port control mechanism to the fork valves, thereby realizing power transmission. The gear transmission structure includes an internal gear 1027010103 and an external gear 1027010102. The internal gear 1027010103 and the external gear 1027010102 are separated by an isolation structure and coaxially connected by a transmission shaft.

[0062] The gear transmission structure is provided in two sets, namely a first gear transmission structure and a second gear transmission structure. The rotatable part at the front end of the forked valve is a conduit connector. The conduit connector is provided with a first gear 102730201, and the valve connector is provided with a second gear 102730202. The external gear 1027010102 of the first gear transmission structure directly meshes with the first gear 102730201, or the external gear of the first gear transmission structure meshes with the first gear through a second transmission gear to drive the conduit connector to rotate. The internal gear 1027010103 of the first gear transmission structure directly meshes with the first drive gear of the port rotation drive element of the port rotation mechanism 1027022, or the internal gear 1027010103 of the first gear transmission structure meshes with the first drive gear of the port rotation drive element of the port rotation mechanism 1027022 through a first transmission gear.

[0063] The external gear 1027010102 in the second gear transmission structure directly meshes with the second gear 102730202, or the external gear in the second gear transmission structure meshes with the second gear through the second transmission gear, for driving the valve joint to rotate and controlling the valve joint to open or close the channel; the internal gear 1027010103 in the second gear transmission structure directly meshes with the second driving gear of the valve joint driving element of the port drive mechanism 1027011, or the internal gear 1027010103 in the second gear transmission structure meshes with the second driving gear of the valve joint driving element of the port drive mechanism 1027011 through the first transmission gear.

[0064] The isolation structure is a protective cover 102703 installed on the housing 10270101. The protective cover 102703 has a first cavity, a second cavity, and a partition 102704. The first cavity and the second cavity are separated by the partition 102704. The external gear 1027010102 is rotatably disposed in the first cavity. One side of the first cavity has a first opening communicating with the outside of the housing 10270101. The external gear 1027010102 meshes with the second transmission gear or the first gear 102730201 or the second gear 102730202 of the fork valve through the first opening. The internal gear 1027010103 is rotatably disposed in the second cavity. Inside, one side of the second cavity is provided with a second opening that communicates with the interior of the housing 10270101. The internal gear 1027010103 meshes with the first drive gear of the first transmission gear or the first drive gear of the port rotation drive element or the second drive gear of the valve joint drive element through the second opening. The internal gear 1027010103 and the external gear 1027010102 are connected by a transmission shaft 102705, and the transmission shaft 102705 passes through the through hole of the partition 102704. A sealing ring 102706 is provided on the outer side of the transmission shaft 102705 or at the through hole of the partition 102704, and the sealing ring 102706 achieves a sealing fit between the transmission shaft and the through hole of the partition.

[0065] like Figure 8 and Figure 9 As shown, a second lubrication assembly 103308 is mounted on the rotary shaft drive seat of the rotary delivery mechanism 10272 via a lubrication connecting bracket 10330801. The second lubrication assembly is located between the first connecting part of the rotary delivery mechanism 10272 and the telescopic sleeve locking mechanism 10330203 on its front side. The second lubrication assembly includes a second cavity 10330801 and a second pipe 10330802 communicating with the second cavity. The second cavity has an inverted conical structure and is filled with lubricating liquid. The second cavity is covered with a second top cover. The outlet of the second pipe is directly opposite the second conduit 10280 between the first connecting part and the telescopic sleeve locking mechanism. The lubricating liquid flows out through the second pipe and drips directly onto the outer surface of the second conduit 10280 (the second conduit is a guide conduit). The lubricating liquid will flow along the second conduit 10280, thereby lubricating the outer surface of the second conduit 10280.

[0066] The lubricating solution is heparinized saline, which can effectively reduce the frictional resistance between the second catheter 10280 and the hemostatic valve and the inner wall of the telescopic cannula at the rear end of the first catheter (sheath).

[0067] Example 2

[0068] The parts of this embodiment that are the same as those in Embodiment 1 will not be described in detail. The differences are as follows:

[0069] The flexible connecting pipe 1027301 has a raised bending amount, which gives it a floating amount in the axial direction. The conduit joint of the rotatable part at the front end of the bifurcation valve is sealed by the flexible connecting pipe 1027301 through sleeve, tapered elastic claw clamping, thread tightening, and tapered self-locking.

[0070] like Figure 10 As shown, a connector 10330101 is connected to the guide tube joint of the rotatable part at the front end of the bifurcation valve. The connector 10330101 has a through hole for connecting a flexible connecting tube. A gasket 10330102 is placed inside the through hole. An elastic body 10330104 is sandwiched between two gaskets 10330102. A second locking block 10330103 is inserted into the through hole and abuts against one of the gaskets 10330102. The connector 10330101... 1. A second locking cap 10330105 is screwed on. The second locking cap 10330105 moves axially under the guidance of the thread, thereby pushing the second locking block 10330103. The second locking block 10330103 squeezes the elastic body 10330104 to deform the elastic body, causing the elastic body to bulge inward or contract inward, thereby locking the end of the flexible connecting tube. Self-locking is achieved through the thread, keeping the relative position of the second locking block on the connector fixed.

[0071] Alternatively, a connector is connected to the rotatable part of the front end of the bifurcation valve. A second locking cap is screwed onto the connector. The connector has elastic claws. The connector or the second locking cap has a retractable part. The second locking cap moves axially under the guidance of the thread, so that the elastic claws and the retractable part move towards each other. Through the action of the retractable part, the claws of the elastic claws can be closed to lock the end of the flexible connecting tube.

[0072] Or, such as Figure 11 As shown, the end of the flexible connecting pipe 1027301 is provided with a Luer connector 102730101, and the rotatable part of the front end of the bifurcation valve is provided with a threaded structure. Automatic sealing connection is achieved by tightening the Luer connector of the flexible connecting pipe with the threaded structure.

[0073] Example 3

[0074] The parts that are the same as those in Example 1 will not be described in detail. The difference is that the branch valve is a Y valve as an example.

[0075] Specifically, such as Figure 12 and Figure 13As shown, each module mounting base is fitted with a housing 10270101, and the bottom of the housing 10270101 is provided with an isolation base plate 1027010101 that can be rotated open or detachably opened. During installation, the isolation base plate 1027010101 is opened, the housing is fitted onto the module mounting base from top to bottom, and then the isolation base plate 1027010101 is closed and locked. This isolates the sterile environment of the module mounting base from the sterile environment during surgery (functional modules such as the port control mechanism 10273 and the rotary delivery mechanism 10272 are sterilized). The housing 10270101 is provided with several gear transmission structures, which transmit power from the module mounting base to the sterile bifurcation valve and / or rotary delivery mechanism. The gear transmission structures include... The device includes an internal gear 1027010103 and an external gear 1027010102. The internal gear 1027010103 is located inside the housing 10270101, and the external gear 1027010102 is located outside the housing 10270101. The internal gear 1027010103 and the external gear 1027010102 are connected by a drive shaft. The drive motor 1027010104 in the module mounting base drives the internal gear 1027010103 to rotate through the second drive gear 1027010105. The internal gear 1027010103 drives the external gear 1027010102 to rotate through the drive shaft. The external gear 1027010102 then provides power to the port control mechanism 10273 and / or the rotary delivery mechanism 10272. The housing 10270101 is provided with a spring pin 1027010106, which is used to connect the rotary delivery mechanism 10272 and the conductive contacts on the module fixing base, and to transmit electrical signals between the two.

[0076] The design of internal and external gears makes it easy to realize the spatial layout of the transmission mechanism, and the power transmission is simple and reliable. This allows the servo motor 1027010104 with planetary reducer to be arranged horizontally (the installation direction of the surgical function module is vertical), which improves the compactness of the structure and reduces manufacturing costs.

[0077] When the isolation base plate 1027010101 can be rotated and closed, one side of the isolation base plate 1027010101 is hinged to the bottom of the housing 10270101, and a locking structure is provided between the other side of the isolation base plate 1027010101 and the housing 10270101; the locking structure is one or a combination of a snap-fit ​​structure, a latch structure, or a threaded structure.

[0078] As an alternative, the spring pin 1027010106 can be omitted. At the position where the conductive contacts on the rotary delivery mechanism 10272 and the module fixing base are opposite, the housing 10270101 can also have a hollow part, through which the conductive contacts on the rotary delivery mechanism 10272 can connect with the conductive contacts on the module fixing base.

[0079] Example 4

[0080] The parts of this embodiment that are the same as those in Embodiment 1 will not be described in detail. The differences are as follows:

[0081] like Figures 14-16 As shown, a bifurcated valve (Y valve or T valve) is installed on the port control mechanism; taking the Y valve as an example. A Y valve 1022110 is installed on the port control mechanism. The port control mechanism supports one port of the Y valve, facilitating the second rotary delivery mechanism to lock another guide wire or catheter into that port. When the port control mechanism supports the Y valve, the front end of the Y valve has a rotatable catheter connector, and the rear end of the Y valve has a valve connector. The catheter locked by the first rotary delivery mechanism is connected to the catheter connector of the Y valve through a flexible connecting tube. The port control mechanism drives the catheter connector to rotate synchronously with the first rotary delivery mechanism, avoiding interference with the force sensing components within the first rotary delivery mechanism. The port control mechanism drives the valve connector to open or close the channel, thereby preventing blood or contrast agent leakage.

[0082] Taking the port control mechanism's ability to support one side of the Y valve as an example, the specific structure of the port control mechanism is as follows: Figures 14-16 As shown, the first upper base 1022010 is provided with a fixing chamber 10220110. The Y valve 1022110 is placed in the fixing chamber 10220110. The clamping button 1021910 can control the fixing chamber 10220110 to clamp or release the Y valve 1022110 body, so as to facilitate the quick assembly and disassembly of the Y valve 1022110.

[0083] The front end of the Y valve 1022110 is a conduit connector, and the rear end is a valve connector. The conduit connector of the Y valve 1022110 is equipped with a first gear B1022210, and the valve connector of the Y valve 1022110 is equipped with a second gear B1022310. An external gear B1021710 that can mesh with the first gear B1022210 is rotatably mounted on the first upper base 1022010, and an external gear A1021610 that can mesh with the second gear B1022310 is rotatably mounted on the first upper base 1022010.

[0084] The first upper frame 1022010 is connected to the first lower frame 1021810 via a quick-connect structure. The first lower frame 1021810 is fixedly mounted on the upper module mounting base 10209110. The quick-connect structure can be one or a combination of threaded connection, snap-fit ​​connection, and locking connection.

[0085] Two motors B 1021510 are installed inside the first lower base 1021810. The first drive shaft 102151110 and the second drive shaft 102151210 are rotatably mounted on the first lower base 1021810. The output shafts of the two motors B 1021510 drive the first drive shaft 102151110 and the second drive shaft 102151210 to rotate through bevel gear structures, respectively.

[0086] The first upper base 1022010 is rotatably equipped with a first transmission docking shaft 102151310 and a second transmission docking shaft 102151410. The first transmission docking shaft 102151310 drives the external gear B1021710 to rotate through a bevel gear structure, and the second transmission docking shaft 102151410 drives the external gear A1021610 to rotate through a bevel gear structure. When the first upper base 1022010 is connected to the first lower base 1021810 through a quick-connect structure, the first transmission docking shaft 102151310 docks with the first transmission shaft 102151110 to achieve circumferential linkage, and the second transmission docking shaft 102151410 docks with the second transmission shaft 102151210 to achieve circumferential linkage.

[0087] The rotating second gear B1022310 controls the opening and closing of the channel (the channel closing mechanism is existing technology and can be achieved by pressing the valve, etc., so it will not be described in detail). When the port control module needs to be used to connect the Y valve 1022110, the clamping button 1021910 is pulled to place the Y valve 1022110 into the fixed chamber 1022010. At the same time, the external gear B1021710 meshes with the first gear B1022210, and the external gear A 1021610 meshes with the second gear B1022310. After installation, the clamping button 1021910 is released, and the clamping button 1021910 will press the Y valve 1022110 from the side under the action of the eighth elastic element.

[0088] Motor B1021510 controls the rotation of external gear A1021610 or external gear B1021710. The rotation of external gear B1021710 controls the first gear B1022210 to drive the conduit connector of Y valve 1022110 to rotate, thereby making the conduit connector rotate synchronously with the internal connecting tube or conduit. Due to the no-load sealing structure set on Y valve 1022110, Y valve 1022110 as a whole does not need to rotate, but there will be no liquid leakage at the relative rotation point. The rotation of external gear A1021610 drives the second gear B1022310 to rotate, thereby controlling the opening and closing of the valve to prevent blood and contrast agent leakage.

[0089] Example 5

[0090] A method for using a bifurcation valve drive module with a flexible connecting tube is disclosed. The bifurcation valve drive module with a flexible connecting tube is used. The port control mechanism controls the rotatable part at the front end of the bifurcation valve to rotate synchronously with the rotation of the rotation delivery mechanism. If the rotational movement of the rotatable part at the front end of the bifurcation valve is not completely synchronized with the rotational movement of the rotation delivery mechanism, the flexible connecting tube 1027301 will undergo torsional deformation, thus not affecting the force sensing element in the rotation delivery mechanism to sense the torque.

[0091] When the drive gear drives the locking cap to rotate in the opposite direction several times to ensure that the locking cap is in an idle state, the drive gear then drives the locking cap to rotate in the forward direction. When the zero-position marking component on the locking cap is triggered by the zero-position switch 102701101 on the valve connector, it marks the zero position. After the zero-position marking, the drive gear rotates in the forward direction and drives the locking cap to rotate to the set angle, which can realize the closure of the channel and prevent the elastomer from excessively squeezing the consumables or from insufficiently squeezing, thus affecting the closure of the channel. The zero-position switch 102701101 is triggered by photoelectric or magnetic induction; or the zero-position switch 102701101 is triggered by contact using a mechanical structure.

[0092] Alternatively, a release limit step 102730203 can be provided at the rear end of the forked valve and behind the locking cap. When the lock cap is released by the reverse rotation of the drive gear, the motor that drives the drive gear on the port drive mechanism will stall when the lock cap abuts against the release limit step 102730203. The controller can determine the motor stall by the change in motor current or rotation angle, and then perform a zero-position mark. Alternatively, after the stall, the drive gear can drive the lock cap to rotate forward, so that the zero-position mark component on the lock cap is triggered by the zero-position switch 102701101 of the port drive mechanism to perform a zero-position mark. After the zero-position mark, rotating the lock cap forward to the set angle can achieve the closure of the channel.

[0093] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A bifurcated valve drive module with flexible connection tubes, characterized by, The device includes a bifurcation valve and a port control mechanism. The bifurcation valve has a rotatable part at its front end and a valve connector at its rear end. A first bifurcation pipe is located in the middle of the bifurcation valve. The bifurcation valve is either a Y-valve or a T-valve. The rotatable part at the front end of the bifurcation valve is connected to a flexible connecting pipe. The port control mechanism supports and fixes the bifurcation valve. The port control mechanism includes a port drive mechanism and a port rotation mechanism. The port drive mechanism is used to drive the valve connector to open or close the channel. The port rotation mechanism is used to drive the rotatable part at the front end of the bifurcation valve to rotate.

2. The bifurcation valve drive module with a flexible connecting pipe according to claim 1, characterized in that, The valve joint closes the channel by axially compressing the elastomer. By pushing and pulling the clamping block along the axis, the clamping block compresses the elastomer, causing it to deform and bulge or contract inward, thus closing the channel. The clamping block is kept in a fixed relative position on the bifurcation valve by a self-locking structure, which can be a tapered friction structure, a snap-fit ​​structure, or a magnetic attraction structure. Alternatively, the valve connector closes the channel by rotating the locking cap around the axis. The locking cap moves axially under the guidance of the thread, squeezing the elastic body and deforming it, causing the elastic body to bulge or contract inward, thus closing the channel. The thread achieves self-locking, keeping the relative position of the locking cap on the bifurcation valve fixed. Alternatively, the valve joint can achieve channel closure by pushing and pulling the locking block along the axial direction. The locking block moves axially under the guidance of the inclined or conical surface, thereby deforming the elastic body and causing the elastic body to bulge or contract inward, thus achieving channel closure. The locking block is kept in a fixed relative position on the bifurcation valve by a self-locking structure. The self-locking structure adopts a tapered friction structure, a snap-fit ​​structure, or a magnetic suction structure.

3. The bifurcation valve drive module with a flexible connecting pipe according to claim 2, characterized in that, When the valve connector closes the channel by rotating the locking cap around the axis, the locking cap is provided with a toothed ring, the port drive mechanism is provided with a drive gear that meshes with the toothed ring, the locking cap is provided with a zero position marking component, the port drive mechanism is provided with a zero position switch, and the zero position marking component can trigger the zero position switch on the port drive mechanism and mark the zero position. A release limit step is provided at the rear end of the fork valve and behind the locking cap. When the drive gear rotates the locking cap in the opposite direction to release it, the locking cap will not be able to rotate further in the opposite direction when it is against the release limit step. Alternatively, when the threads of the locking cap are completely disengaged, the locking cap is in a free-spinning state. If the locking cap is rotated further in the opposite direction, the locking cap will spin freely at the rear end of the fork valve, but will not disengage from the rear end of the fork valve.

4. A bifurcation valve drive module with a flexible connecting pipe according to claim 1, characterized in that, The port control mechanism includes a port drive mechanism and a port rotation mechanism, which are enclosed by a housing. The housing separates the power-driven port drive mechanism and the port rotation mechanism from the powerless branch valve. The mechanism also includes a gear transmission structure, in which gears are rotatably mounted on the housing to transmit power from the power source inside the port control mechanism to the branch valve. The gear transmission structure includes an internal gear and an external gear, which are separated by an isolation structure and coaxially connected by a transmission shaft.

5. A bifurcation valve drive module with a flexible connecting pipe according to claim 4, characterized in that, The gear transmission structure is provided in two sets, namely a first gear transmission structure and a second gear transmission structure. The rotatable part at the front end of the forked valve is a conduit connector. The conduit connector is provided with a first gear, and the valve connector is provided with a second gear. The external gear of the first gear transmission structure directly meshes with the first gear, or the external gear of the first gear transmission structure meshes with the first gear through the second transmission gear to drive the conduit connector to rotate. The internal gear of the first gear transmission structure directly meshes with the first driving gear of the port rotation drive element of the port rotation mechanism, or the internal gear of the first gear transmission structure meshes with the first driving gear of the port rotation drive element of the port rotation mechanism through the first transmission gear. The external gear in the second gear transmission structure directly meshes with the second gear, or the external gear in the second gear transmission structure meshes with the second gear through the second transmission gear, for driving the valve joint to rotate and controlling the valve joint to open or close the channel; the internal gear in the second gear transmission structure directly meshes with the second driving gear of the valve joint driving element of the port drive mechanism, or the internal gear in the second gear transmission structure meshes with the second driving gear of the valve joint driving element of the port drive mechanism through the first transmission gear.

6. A bifurcation valve drive module with a flexible connecting pipe according to claim 5, characterized in that, The isolation structure is a protective cover installed on the housing. The protective cover has a first cavity, a second cavity, and a partition. The first cavity and the second cavity are separated by the partition. The external gear is rotatably disposed in the first cavity. One side of the first cavity has a first opening communicating with the outside of the housing. The external gear meshes with a second transmission gear or the first gear or the second gear of a forked valve through the first opening. The internal gear is rotatably disposed in the second cavity. One side of the second cavity has a second opening communicating with the inside of the housing. The internal gear meshes with a first transmission gear or the first drive gear of a port rotation drive element or the second drive gear of a valve connector drive element through the second opening. The internal gear and the external gear are connected by a transmission shaft, and the transmission shaft passes through a through hole in the partition. A sealing ring is provided on the outer side of the transmission shaft or at the through hole in the partition, and the sealing ring achieves a sealing fit between the transmission shaft and the through hole in the partition.

7. A bifurcation valve drive module with a flexible connecting pipe according to claim 1, characterized in that, The flexible connecting pipe has a raised bending amount, which allows it to float in the axial direction. The conduit joint of the rotatable part at the front end of the bifurcation valve is sealed by the flexible connecting pipe sleeve, the tapered elastic claw clamping, the thread tightening, and the tapered self-locking.

8. A bifurcation valve drive module with a flexible connecting pipe according to claim 7, characterized in that, The flexible connecting tube is elastic, and the rotatable part of the front end of the bifurcation valve has a pagoda head on the conduit connector. The opening of the flexible connecting tube is aligned with the pagoda head and put on, and the automatic sealing connection is achieved through the elasticity of the flexible connecting tube. Alternatively, a connector is connected to the rotatable part of the front end of the bifurcation valve. A second locking cap is screwed onto the connector. The second locking cap moves axially under the guidance of the thread, thereby pushing the second locking block. The second locking block squeezes the elastic body, causing the elastic body to deform and bulge or contract inward, thereby locking the end of the flexible connecting tube. Self-locking is achieved through the thread, keeping the relative position of the second locking block on the connector fixed. Alternatively, a connector is connected to the rotatable part of the front end of the bifurcation valve. A second locking cap is screwed onto the connector. The connector has elastic claws. The connector or the second locking cap has a retractable part. The second locking cap moves axially under the guidance of the thread, so that the elastic claws and the retractable part move towards each other. Through the action of the retractable part, the claws of the elastic claws can be closed to lock the end of the flexible connecting tube. Alternatively, the flexible connecting tube is equipped with a Luer connector at its end, and the rotatable part of the front end of the bifurcation valve has a threaded structure on its conduit connector. Automatic sealing connection is achieved by tightening the Luer connector of the flexible connecting tube with the threaded structure.

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