Sheath holder and interventional procedure robot

Abstract

The utility model is suitable for medical robot field, provide a kind of sheath fixer, including connecting piece and opening closure, connecting piece includes the body with inner cavity, body is equipped with first opening along axial direction, first opening is communicated with inner cavity, opening closure is configured to close at least part first opening. Still provide a kind of interventional operation robot, including fixing device, fixing device is configured to be connected with the sheath fixer of above. The sheath fixer of the utility model sets up independent connecting piece and opening closure, connecting piece is used to establish the delivery channel of medical instrument and sheath pipe head end, medical instrument enters connecting piece through the first opening of connecting piece and realizes quick installation, and the opening closure of adaptation closes first opening, limits the deformation range of medical instrument, avoids the arch of medical instrument, improves the reliability of product use.

Description

Technical Field

[0001] This utility model belongs to the field of medical robots and is applied to master-slave vascular interventional surgery robots, particularly relating to a sheath fixator and an interventional surgery robot. Background Technology

[0002] During master-slave vascular interventional surgery, a sheath retainer is placed between the sheath and the robot to facilitate accurate docking of the medical device delivered by the robot with the sheath tip. The sheath retainer establishes a delivery channel, through which the medical device delivered by the robot enters the sheath. However, existing sheath retainer designs fail to balance ease of installation with product reliability. Specifically, while sheath retainers are typically made of softer materials for easy installation, these materials cannot effectively support the medical device. When the medical device delivered by the robot is not coaxial with the sheath, the device within the sheath retainer can easily arch, affecting the smoothness of delivery and, in severe cases, causing breakage, posing a safety hazard. Utility Model Content

[0003] The purpose of this invention is to provide a sheath fixator and an interventional surgical robot, which aims to solve the technical problem in the existing sheath fixator structure design that uses a relatively soft material to facilitate the installation of medical devices, causing the medical devices inside the sheath fixator to easily bulge, affecting the smooth delivery of the medical devices.

[0004] This utility model is implemented as follows:

[0005] The first aspect of this utility model provides a sheath fixator, including a connector and an opening closure member. The connector includes a body having an inner cavity, the body having a first opening along an axial direction, the first opening communicating with the inner cavity, and the opening closure member being configured to close at least a portion of the first opening.

[0006] Furthermore, the opening closure is fitted onto the main body and is rotatably connected to the main body. The outer shell of the opening closure has a second opening along the axial direction. When the opening closure is rotated to the first mounting position, the second opening communicates with the first opening and the inner cavity. When the opening closure is rotated to the second mounting position, the outer shell of the opening closure closes at least part of the first opening.

[0007] Furthermore, the opening closure and / or the connector are provided with a clearance structure, which is configured to maintain a first preset distance between the deformed portion of the connector and the outer shell of the opening closure.

[0008] Furthermore, the body includes a support portion and a radially extending protrusion, the outer shell of the opening closure abuts against the protrusion, a gap is formed between the outer shell of the opening closure and the support portion, the gap forms the clearance structure, and the deformed portion of the connector is located within the gap.

[0009] Furthermore, the protrusion includes an abutting end and a clearance end. The outer diameter of the protrusion gradually decreases from the abutting end to the clearance end. Two protrusions are spaced apart on the main body. The abutting ends of the two protrusions abut against the outer shell of the opening closure member, and the clearance ends are correspondingly provided at both ends of the outer shell of the opening closure member.

[0010] Furthermore, the inner wall of the outer shell of the opening closure is provided with a recess, the recess forming the avoidance structure, and the deformed part of the connector is located in the recess.

[0011] Furthermore, the outer surface of the outer shell of the opening closure is provided with ribs along the axial direction.

[0012] Furthermore, the body is provided with a limiting structure, which is configured to limit the axial displacement of the opening closure.

[0013] Furthermore, the opening closure includes a fastening structure, which, when engaged, closes at least a portion of the first opening.

[0014] A second aspect of this invention provides an interventional surgical robot, including a fixation device configured to connect with a sheath fixator as described in any of the preceding claims.

[0015] The beneficial effects of this utility model are: This utility model separates the installation requirements from the shape-limiting function, and sets up independent connectors and opening closures. The connector is used to establish a delivery channel between the medical device and the sheath tip. The medical device enters the connector through the first opening to achieve rapid installation. The matching opening closure closes the first opening, limiting the deformation range of the medical device, preventing the medical device from arching, and improving the reliability of the product. Attached Figure Description

[0016] Figure 1 This is an assembly diagram of the sheath retainer provided in Embodiment 1 of this utility model. Figure 1 ;

[0017] Figure 2 This is an assembly diagram of the sheath retainer provided in Embodiment 1 of this utility model. Figure 2 ;

[0018] Figure 3This is a structural schematic diagram of the connector provided in Embodiment 1 of this utility model;

[0019] Figure 4 This is a schematic diagram of the opening and closing component provided in Embodiment 1 of this utility model;

[0020] Figure 5 This is a partial sectional view of the sheath fixator provided in Embodiment 1 of this utility model;

[0021] Figure 6 This is a schematic diagram of the opening and closing component provided in Embodiment 2 of this utility model;

[0022] Figure 7 This is a partial sectional view of the sheath fixator provided in Embodiment 2 of this utility model.

[0023] 100-Sheath Fixator;

[0024] 1-Connector;

[0025] 11-Body; 12-First opening; 13-Inner cavity; 14-Support part; 15-Protrusion; 151-Abutting end; 152-Clearing end; 16-Limiting component; 17-Mounting groove; 18-Fixing end;

[0026] 2-Opening closure;

[0027] 21-Outer shell; 22-Second opening; 23-Recess; 24-Protruding rib;

[0028] 3-Gap. Detailed Implementation

[0029] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0030] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integral part, or even a connection that allows relative movement; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0031] In the description of this utility model, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are 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.

[0032] In this invention, the term "far" refers to the direction towards the patient, and "near" refers to the direction away from the patient. The terms "upper" and "upper part" refer to the general direction away from gravity, while the terms "bottom," "lower," and "lower part" refer to the general direction of gravity. The term "front" refers to the side of the interventional surgical robot facing the user from the end device; "advancing" refers to the direction in which the guidewire or catheter is displaced into the patient's body. The term "rear" refers to the side of the interventional surgical robot away from the user from the end device; "retreating" refers to the direction in which the guidewire or catheter is displaced out of the patient's body. The term "inward" refers to the internal part of the feature. The term "outward" refers to the external part of the feature.

[0033] Furthermore, the terms "first," "second," etc., 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. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, "many" or "multiple" means two or more.

[0034] The guidewires mentioned here include, but are not limited to, guide wires, microguide wires and stents, and other guiding and supporting interventional medical devices. The catheters include, but are not limited to, guiding catheters, microcatheters, angiography catheters, multi-functional catheters (also known as intermediate catheters), thrombolytic catheters, balloon dilation catheters and balloon dilation stent catheters, and other therapeutic interventional medical devices.

[0035] The first aspect of this utility model provides a sheath fixator, as shown in the attached figure. Figure 1 and Figure 2As shown, the sheath fixator 100 provided in Embodiment 1 of this utility model includes a connector 1 and an opening closure 2, with the opening closure 2 mounted on the connector 1. The connector 1 establishes a delivery channel between the medical device and the tip of the sheath. When the medical device delivered by the interventional surgical robot, such as a catheter or guidewire, is not coaxial with the sheath, the sheath fixator 100 located between the interventional surgical robot and the sheath, as well as the medical device located within the sheath fixator 100, undergoes adaptive deformation. The opening closure 2 limits the deformation range of the medical device, preventing it from arching and ensuring smooth delivery. Depending on the application, the connector 1 and the opening closure 2 can be made of different materials. For example, the connector 1, used to install the medical device and deform in conjunction with it, can be made of a softer material, while the opening closure 2, used to generate a reaction force to ensure the deformation of the medical device remains within a controllable range, can be made of a harder material. Compared with the prior art, this two-component design better balances installation convenience and product reliability.

[0036] As attached Figure 3As shown, the connector 1 includes a body 11 with an inner cavity 13. The spatial dimensions of the inner cavity 13 should meet the design requirements of placing a medical device without affecting the axial delivery of the medical device. The axial direction of the body 11 is the same as the axial direction of the medical device. The body 11 has a first opening 12 along the axial direction, that is, a notch is formed on the body 11. The size of the first opening 12 should meet the design requirements of smooth radial insertion and passage of the medical device. The first opening 12 communicates with the inner cavity 13. When installing a medical device, it can be placed into the inner cavity 13 through the first opening 12 to complete the rapid radial installation of the medical device. Similarly, the medical device can also be quickly removed from the body 11 through the first opening 12. The first opening 12 and the inner cavity 13 combine to form a slot for installing a medical device. For ease of processing, the body 11 in this embodiment is preferably a cylindrical structure, and the radial cross-section of the slot is U-shaped. A pair of sidewalls and an arc-shaped bottom wall form a slot, and the gap between the sidewalls forms a first opening 12. The size of the bottom wall is greater than or equal to the outer diameter of the medical device, facilitating the placement of the medical device into the bottom wall. In this embodiment, the pair of sidewalls are preferably arranged in parallel, with the surface of the sidewalls being flat and extending axially. The extension direction of the sidewalls corresponds to the delivery direction of the medical device, facilitating the rapid installation of the medical device. To facilitate the establishment of a delivery channel between the medical device delivered by the interventional surgical robot and the sheath tip, and to achieve bidirectional fixation of the sheath fixator 100 with the sheath and the interventional surgical robot, the two ends of the body 11 in this embodiment are respectively provided with mounting grooves 17 and fixing ends 18. The groove opening size of the mounting groove 17 corresponds to the outer edge size of the sheath, and the sheath can be fixed in the mounting groove 17 and snapped into the body 11. The fixing end 18 is correspondingly provided with the fixing device of the interventional surgical robot, and the body 11 can be fixedly installed on the interventional surgical robot through the fixing end 18. To facilitate the installation of the medical device, the fixing end 18 is also provided with a first opening 12. Using connector 1 to fix the sheath to the interventional surgical robot not only establishes a delivery channel between the medical device and the tip of the sheath, but also prevents the sheath from detaching from the blood vessel or shifting due to external force during the operation.

[0037] The opening closure member 2 is used in conjunction with the connector 1, and is configured to close at least a portion of the first opening 12. By closing at least a portion of the first opening 12, a closed structure is formed in the circumference of the medical device, which can effectively prevent the medical device from arching or even detaching from the body 11, thus affecting the smoothness of medical device delivery. The axial length of the closed first opening 12 corresponds to the axial length of the opening closure member 2. In this embodiment, the preferred axial length of the opening closure member 2 is less than or equal to the axial length of the first opening 12.

[0038] The opening closure member 2 can be used in various forms to cooperate with the body 11 to close the first opening 12. In this embodiment, the preferred opening closure member 2 is fitted onto the body 11, with a clearance fit between the opening closure member 2 and the body 11. The opening closure member 2 is rotatably connected to the body 11. Specifically, the opening closure member 2 can rotate around the axis of the body 11 and closes the first opening 12 of the body 11 during the rotation. Figure 4 As shown, the opening closure 2 in this embodiment is generally a hollow cylindrical structure. To accommodate the installation of medical devices, the outer shell 21 of the opening closure 2 has a second opening 22 along the axial direction, i.e., a notch is formed on the outer shell 21. The size of the second opening 22 should meet the design requirement of smooth radial insertion and passage of the medical device. In this embodiment, the preferred opening spacing of the second opening 22 is greater than or equal to the opening spacing of the first opening 12. The opening closure 2 is fitted onto the body 11. By adjusting the relative position of the second opening 22 and the first opening 12 during rotation, it facilitates the installation of the medical device and restricts its deformation. The entire process is intuitive and easy to understand. For example, when the opening closure 2 rotates to the first installation position, as... Figure 1 As shown, the second opening 22 communicates with the first opening 12 and the inner cavity 13. At this point, it is in the mounting position. The medical device passes through the second opening 22 and the first opening 12 sequentially into the inner cavity 13 of the body 11. Similarly, the medical device can also be removed from the body 11 from this position via the first opening 12 and the second opening 22. When the opening closure 2 rotates to the second mounting position, as... Figure 2 As shown, the outer shell 21 of the opening closure 2 closes at least part of the first opening 12, and is in a working position. The outer shell 21 at least closes the delivery channel in its area, thus preventing the medical device from arching. To facilitate the assembly of the body 11 and the opening closure 2, the body 11 is made of a soft material. The body 11 is deformed by radial compression until the width of the body 11 is less than the width of the second opening 22. The body 11 is then inserted into the hollow part of the opening closure 2 through the second opening 22, completing the assembly of the opening closure 2 and the body 11.

[0039] As attached Figure 4As shown, to facilitate more flexible rotation of the opening closure 2 by the user, the outer surface of the housing 21 of the preferred embodiment of the opening closure 2 is provided with ribs 24 along the axial direction. Different shapes can be designed according to the position of the ribs 24 relative to the second opening 22 to remind the user of the current rotation angle of the opening closure 2. For example, the shape of the ribs 24 symmetrically arranged with respect to the second opening 22 can be different from the shape of the ribs 24 in other positions. The ribs 24 symmetrically arranged with respect to the second opening 22 adopt a special shape to remind the user that the opening closure 2 has rotated 180° from the second opening 22, and this is the recommended closing position where rotation can be stopped. Specifically, the ribs 24 symmetrically arranged with respect to the second opening 22 consist of multiple ridges arranged with gaps along the axial direction, and the direction of each ridge is perpendicular to the axial direction. The ribs 24 in other positions extend axially and are evenly distributed circumferentially along the outer surface of the housing 21. By arranging the ribs 24 in different directions, the user can promptly perceive changes in the rotation position.

[0040] During the delivery of medical devices by the interventional surgical robot, when the medical device and the sheath are not coaxial, the connector 1 of the sheath fixator 100 and the medical device located within the connector 1 will undergo adaptive deformation. To prevent the outer shell 21 of the opening closure 2 fitted on the connector 1 from interfering with the adaptive deformation of the connector 1, the preferred embodiment of this invention has an avoidance structure on the opening closure 2 and / or the connector 1. The avoidance structure is configured to maintain a first preset distance between the deformed part of the connector 1 and the outer shell 21. The first preset distance is a safe distance between the outer shell 21 and the connector 1. Within this safe distance, the outer shell 21 will not hinder the adaptive deformation of the connector 1. The adaptive deformation here refers to deformation within a reasonable range that will not affect the smoothness of the delivery of the medical device or cause damage to the medical device. In the preferred embodiment of this invention, when the medical device undergoes adaptive deformation, the outer shell 21 should meet the usage requirement of the connector 1 bending 30° in any direction.

[0041] The clearance structure can take various forms. In this embodiment, corresponding clearance structures are respectively set on the opening closure 2 and the connecting member 1, and clearance is achieved through the cooperation of the opening closure 2 and the connecting member 1. (See attached...) Figure 3-5 As shown, the body 11 includes a support portion 14 and a radially extending protrusion 15. The support portion 14 extends axially and is mainly used to support a medical device inserted into the body 11. Correspondingly, both the support portion 14 and the protrusion 15 on the body 11 are provided with a first opening 12, and an inner cavity 13 is disposed in the support portion 14. The two ends of the support portion 14 are respectively connected to a mounting groove 17 and a fixing end 18. In this embodiment, the support portion 14, the mounting groove 17, and the fixing end 18 are integrally formed. In other embodiments, the support portion 14 and the mounting groove 17, and the support portion 14 and the fixing end 18 can also be connected in a detachable manner according to design requirements. Figure 5As shown, the protrusion 15 protrudes radially from the outer edge of the support 14, the surface of the protrusion 15 is higher than the surface of the support 14, the outer shell 21 abuts against the protrusion 15, a gap 3 is formed between the outer shell 21 and the support 14, the gap 3 forms a clearance structure, and the deformed part of the connector 1 is located in the gap 3.

[0042] During the delivery of medical devices by the interventional surgical robot, when the medical device and the sheath are not on the same axis, the connector 1 and the medical device located in the connector 1 will undergo adaptive deformation. For example, the connector 1 and the medical device will bend to one side. At this time, the bent part can enter the gap 3. The avoidance structure formed by the gap 3 can prevent the bent part of the connector 1 from abutting against the inner wall of the outer shell 21, so that the deformed part of the connector 1 maintains a first preset distance from the outer shell 21.

[0043] like Figure 5 As shown, when the connector 1 bends to one side, the position of the protrusion 15 that abuts against the outer shell 21 also changes radially. To prevent the force exerted by the outer shell 21 on the protrusion 15 from restricting the bending of the connector 1, this embodiment preferably further improves the structure of the protrusion 15 by incorporating a clearance design between the protrusion 15 and the outer shell 21. Specifically, the protrusion 15 includes an abutting end 151 and a clearance end 152. The outer diameter of the protrusion 15 gradually decreases from the abutting end 151 to the clearance end 152. In the axial direction, the protrusion 15 is approximately a frustum of a cone. In the radial direction, the highest point of the protrusion 15 is located at the abutting end 151. The outer shell 21 abuts against the abutting end 151, and the distance between the outer edge of the abutting end 151 and the outer edge of the support 14 is the radial height of the gap 3. Two protrusions 15 are spaced apart on the main body 11. The abutting ends 151 of the two protrusions 15 abut against the outer shell 21 respectively. The axial distance between the two abutting ends 151 is the axial length of the gap 3. The outer shell 21 is used to close the first opening 12 between the two abutting ends 151. In this embodiment, the protrusions 15 adopt a frustum-shaped structure, and the clearance ends 152 are correspondingly arranged with the two ends of the outer shell 21. In this embodiment, the axial distance between the two abutting ends 151 is preferably less than the axial length of the outer shell 21. In the initial state, when the abutting ends 151 of the protrusions 15 abut against the outer shell 21, there is a space between the clearance ends 152 and the edge of the outer shell 21. When the connector 1 bends to one side, the corresponding protrusions 15 are lifted radially. Because there is a space between the clearance ends 152 and the edge of the outer shell 21, the clearance ends 152 at the edge of the protrusions will not be subjected to the reaction force generated by the edge of the outer shell 21 during the lifting process, and the connector 1 can smoothly undergo adaptive deformation. Of course, to avoid excessive deformation of the connector 1, the size of the protrusion 15 can be limited. In this embodiment, the preferred size of the protrusion 15 should meet the requirement that the connector 1 can be bent 30° in any direction.

[0044] As attached Figure 3 , Figure 5 As shown, to better achieve the cooperative use of the body 11 and the opening closure 2, in this preferred embodiment, the body 11 is provided with a limiting structure, which is configured to restrict the axial displacement of the opening closure 2. In this preferred embodiment, the limiting structure is a pair of limiting members 16 arranged axially on the body 11. The pair of limiting members 16 are symmetrically arranged on the outer sides of the two protrusions 15, that is, the opening closure 2 is installed between the pair of limiting members 16. Each limiting member 16 has at least one limiting surface for abutting against the opening closure 2 to restrict the opening closure 2 from continuing to move axially. The area between the two limiting surfaces is the installation area of ​​the opening closure 2. In this embodiment, the limiting member 16 is a frustum-shaped structure. The radial height of the limiting member 16 is higher than the radial height of the abutting end 151 of the protrusion 15. When the opening closure 2 is installed on the abutting end 151, the radial height of the limiting member 16 is also higher than the radial height of the contact surface between the outer shell 21 and the abutting end 151. To facilitate the installation of medical devices, the limiting member 16 on the main body 11 is also provided with a first opening 12. In other embodiments, the limiting structure can also be designed as a pair of position-adjustable blocks, which are movably disposed on the main body 11. For example, the blocks can slide axially relative to the main body 11, and the axial distance between the pair of blocks is adjustable to accommodate opening closure members 2 of different sizes and meet the requirement of abutting against both ends of the opening closure member 2.

[0045] As attached Figure 6 and Figure 7 As shown, this is a sheath retainer 100 provided in Embodiment 2 of the present invention. The sheath retainer 100 of Embodiment 2 is structurally similar to the sheath retainer 100 of Embodiment 1, with the main difference being the difference in the clearance structure. In Embodiment 2, the clearance structure is only provided on the opening closure member 2. Specifically, a recess 23 is provided on the inner wall of the outer shell 21, and the recess 23 forms the clearance structure. The deformed part of the connector 1 is located within the recess 23. In this embodiment, the edge of the outer shell 21 contacts the body 11 of the connector 1. The concave structure in the middle part of the outer shell 21 creates a certain clearance space between the inner wall of the middle part of the outer shell 21 and the body 11. During the delivery of medical devices by the interventional surgical robot, when the medical device and the sheath are not coaxial, the connector 1 and the medical device located in the connector 1 will undergo adaptive deformation. For example, the connector 1 and the medical device will bend to one side. At this time, the bent part can enter the recessed part 23. The clearance structure formed by the recessed part 23 can prevent the bent part of the connector 1 from abutting against the inner wall of the outer shell 21, so that the deformed part of the connector 1 maintains a first preset distance from the outer shell 21.

[0046] In other implementations, the clearance structure can also be provided on the connector 1. For example, the outer surface of the middle region of the support portion 14 of the connector 1 can be designed as a concave structure, thereby increasing the distance between the middle region of the support portion 14 and the outer shell 21 to form a clearance space. During the delivery of medical devices by the interventional surgical robot, when the medical device and the sheath are not coaxial, the connector 1 and the medical device located in the connector 1 will undergo adaptive deformation. For example, the connector 1 and the medical device may bend to one side. At this time, the bent part can enter the clearance space, which can prevent the bent part of the connector 1 from abutting against the inner wall of the outer shell 21, so that the deformed part of the connector 1 maintains a first preset distance from the outer shell 21.

[0047] In Embodiments 1 and 2 of this invention, the opening closure member 2 is fitted onto the body 11, and the first opening 12 on the body 11 is closed by rotating the opening closure member 2. In other embodiments, the opening closure member 2 may also close the first opening 12 on the body 11 in other ways. For example, the opening closure member 2 includes a fastening structure. When the fastening structure is engaged, the opening closure member 2 closes at least part of the first opening 12. When the fastening structure is open, the first opening 12 is in a fully open state, allowing for the installation and removal of the medical device. The fastening structure can take various forms, such as snaps, Velcro, etc., and any easily installed detachable connection method can be applied to the fastening structure. Taking the snap-fit ​​structure as an example, the snap-fit ​​is arranged around the first opening 12. The pressing part of the snap-fit ​​is fixedly installed on one side of the first opening 12, and the snap-fit ​​part is fixedly installed on the other side of the first opening 12. When the pressing part and the snap-fit ​​part are not engaged, the first opening 12 is in a fully open state. When the pressing part and the snap-fit ​​part are engaged, the snap-fit ​​forms a closed structure, which can effectively prevent the medical device from arching or even detaching from the body 11, thus affecting the smooth delivery of the medical device. When necessary, for the scheme of using a snap-fit ​​structure to close the first opening 12, an avoidance structure can also be designed on the snap-fit ​​structure to prevent the opening closure part 2 installed on the connector 1 from interfering with the connector 1, which undergoes adaptive deformation, when it is in the engaged state.

[0048] A second aspect of this invention provides an interventional surgical robot, including a fixation device configured to connect with the aforementioned sheath fixator 100. The fixation device is located on the side of the interventional surgical robot near the sheath. Medical instruments delivered by the interventional surgical robot pass sequentially through the fixation device and the sheath fixator 100 before entering the sheath. The fixing end 18 of the main body 11 is provided with a mounting structure that mates with the fixation device. For example, the fixing end 18 can be connected to the fixation device via a snap-fit ​​mechanism. The fixation device has a slot, and the fixing end 18 has a structure that engages with the slot. In this embodiment, the sheath fixator 100 is mounted as an independent component on the interventional surgical robot. In other embodiments, the sheath fixator 100 can also be part of the interventional surgical robot, directly mounted on the fixation device, becoming an extension of the fixation device for docking with the sheath.

[0049] When establishing a delivery channel between a medical device and the tip of a sheath using the sheath fixator 100 of this application, the opening closure 2 is first adjusted, for example, by rotating the opening closure 2 or opening the fastening structure, so that the first opening 12 is fully open. Then, the sheath fixator 100 is placed below the medical device, with the orientation of the first opening 12 corresponding to the medical device. The sheath is then installed in the mounting groove 17, and the medical device is installed in the inner cavity 13 of the body 11 through the opening closure 2 and the first opening 12. The fixed end 18 is installed on the fixing device of the interventional surgical robot. Finally, the opening closure 2 is adjusted to close at least part of the first opening 12, thus completing the establishment of a delivery channel between the medical device and the tip of the sheath, effectively ensuring the smooth delivery of the medical device.

[0050] When it is necessary to replace medical instruments during the operation, first adjust the opening closure 2 so that the first opening 12 is fully open. Then, take the sheath out of the mounting slot 17, take the medical instrument out of the body 11 through the first opening 12 and the opening closure 2, and take the fixed end 18 out of the fixing device of the interventional surgical robot. The replacement process is convenient and quick.

[0051] Finally, it should be noted that, unless otherwise specified, the embodiments of this utility model and the various features thereof can be combined with each other, all of which are within the protection scope of this utility model. Of course, this utility model may have other various embodiments. Without departing from the spirit and essence of this utility model, those skilled in the art can make various corresponding changes and modifications based on this utility model, but these corresponding changes and modifications should all fall within the protection scope of the claims of this utility model.

[0052] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A sheath retainer, characterized in that: The device includes a connector and an opening closure. The connector includes a body having an inner cavity and a first opening along an axial direction, the first opening communicating with the inner cavity. The opening closure is configured to close at least a portion of the first opening.

2. The sheath retainer as described in claim 1, characterized in that: The opening closure is fitted onto the main body and is rotatably connected to the main body. The outer shell of the opening closure has a second opening along the axial direction. When the opening closure is rotated to the first mounting position, the second opening communicates with the first opening and the inner cavity. When the opening closure is rotated to the second mounting position, the outer shell of the opening closure closes at least part of the first opening.

3. The sheath retainer as described in claim 2, characterized in that: The opening closure and / or the connector are provided with a clearance structure, which is configured to keep the deformed portion of the connector at a first preset distance from the outer shell of the opening closure.

4. The sheath retainer as described in claim 3, characterized in that: The body includes a support portion and a radially extending protrusion. The outer shell of the opening closure abuts against the protrusion. A gap is formed between the outer shell of the opening closure and the support portion. The gap forms the clearance structure. The deformed portion of the connector is located within the gap.

5. The sheath retainer as described in claim 4, characterized in that: The protrusion includes an abutting end and a clearance end. The outer diameter of the protrusion gradually decreases from the abutting end to the clearance end. Two protrusions are spaced apart on the body. The abutting ends of the two protrusions abut against the outer shell of the opening closure member, and the clearance ends are correspondingly provided at both ends of the outer shell of the opening closure member.

6. The sheath retainer as described in claim 3, characterized in that: The inner wall of the outer shell of the opening closure is provided with a recess, which forms the avoidance structure, and the deformed part of the connector is located in the recess.

7. The sheath retainer as described in claim 2, characterized in that: The outer surface of the housing of the opening closure is provided with ribs along the axial direction.

8. The sheath retainer as described in claim 2, characterized in that: The body is provided with a limiting structure, which is configured to limit the axial displacement of the opening closure.

9. The sheath retainer as claimed in claim 1, characterized in that: The opening closure includes a fastening structure, which, when fastened, closes at least a portion of the first opening.

10. An interventional surgical robot, characterized in that: Includes a fixing device configured to connect with the sheath fixator according to any one of claims 1-9.

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