Interventional robot with multi-degree-of-freedom pose adjustment function

Abstract

The utility model discloses an intervention robot with multi -freedom degree gesture adjustment function, including linear rail group, linear rail group sets up at least one group, when linear rail group sets up two groups, two linear rail group parallel or intersection arrangement, one linear rail group on along its length direction setting has at least two module fixed seat in proper order, is equipped with surgical function module on module fixed seat, and module fixed seat is fixed on linear rail group, or module fixed seat can reciprocate on linear rail group, and module fixed seat can drive corresponding surgical function module reciprocating motion to realize the delivery of intervention consumable when reciprocating motion, adjustment arm, linear rail group is installed on adjustment arm, and one end of adjustment arm drives linear rail group and is aligned on intervention consumable on target object. Adjust the space pose of linear rail group through adjustment arm, and one end of linear rail group is aligned on the sheath pipe on the patient's body, and linear rail group will forward delivery to target position through the sheath pipe to intervention consumable.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to an interventional robot with multi-degree-of-freedom posture adjustment function. Background Technology

[0002] Minimally invasive interventional therapy is a major treatment method for cardiovascular and cerebrovascular diseases. Guided by fluoroscopic imaging equipment, interventional instruments are used to diagnose and treat diseases through physiological cavities. Compared with traditional surgery, it has significant advantages such as better efficacy, higher safety, smaller incisions, and shorter postoperative recovery time.

[0003] 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.

[0004] 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.

[0005] For example, Shenzhen Aibo Medical Robotics Co., Ltd. has applied for the following patents: a slave end of an interventional surgical robot (application number 2022116787026); a slave end of an interventional surgical robot (application number 202211686818.4); a slave end guidewire and catheter control device for an interventional surgical robot (application number 202210923132.6); and a slave end device for an interventional surgical robot (application number 202210326352.0). However, the above devices cannot flexibly adjust the posture and angle of the robot's slave end, which is not conducive to the docking of the robot with the sheath. Utility Model Content

[0006] The purpose of this invention is to provide an interventional robot with multi-degree-of-freedom posture adjustment function to solve the existing technical defects and unmet technical requirements.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] An interventional robot with multi-degree-of-freedom attitude adjustment capabilities, including

[0009] A linear track group is provided, with at least one linear track group. When two linear track groups are provided, the two linear track groups are arranged in parallel or intersecting directions. At least two module fixing seats are arranged sequentially along the length direction of one of the linear track groups. The module fixing seats are equipped with surgical function modules. The module fixing seats are fixed on the linear track group, or the module fixing seats can reciprocate on the linear track group. When the module fixing seats reciprocate, they can drive the corresponding surgical function modules to reciprocate to achieve the delivery of interventional consumables.

[0010] An adjusting arm and a linear track assembly are mounted on the adjusting arm. The adjusting arm drives one end of the linear track assembly to align with the interventional consumables on the target object.

[0011] Preferably, the adjusting arm is mounted on a movable base next to the operating table, or the adjusting arm is suspended from the ceiling next to the operating table. The adjusting arm is an active robotic arm or a passive robotic arm.

[0012] Preferably, when the adjusting arm is installed on a movable base next to the operating table, the movable base is provided with a lifting seat and a lifting drive assembly. The lifting seat is slidably installed on the movable base in the vertical direction, and the lifting drive assembly drives the lifting seat to move up and down. The adjusting arm is installed on the lifting seat. The lifting drive assembly is at least one of a screw and nut assembly, a gear and rack assembly, a sprocket and chain assembly, and a transmission wheel and belt assembly.

[0013] Preferably, when the adjusting arm is suspended on the ceiling next to the operating table, the ceiling is equipped with a lifting seat and a lifting drive assembly. The lifting seat is slidably mounted on the ceiling in the vertical direction. The lifting drive assembly drives the lifting seat to move up and down. The adjusting arm is mounted on the lifting seat. The lifting drive assembly is at least one of a screw and nut assembly, a gear and rack assembly, a sprocket and chain assembly, and a transmission wheel and belt assembly. The lifting seat adopts a telescopic rod structure, and the length of the telescopic rod structure shortens when the lifting seat moves upward.

[0014] Preferably, the adjusting arm includes three joint modules, each with a vertical axis of rotation. Through the rotational movement of the three joint modules, the end of the adjusting arm can move in three degrees of freedom within a plane.

[0015] Preferably, the joint module is an active joint module or a passive joint module;

[0016] When the joint module is an active joint module, the joint module's rotating shaft is driven to rotate by a joint drive element, which includes a motor and a reducer.

[0017] When the joint module is a passive joint module, a locking structure is connected to the rotating shaft of the joint module. The locking structure can lock the rotating shaft of the joint module to achieve spatial positioning of the end of the adjusting arm. After the locking structure unlocks the rotating shaft of the joint module, the linear track group can be manually dragged to drive the joint module to rotate.

[0018] Preferably, the end of the adjusting arm is provided with a pitch joint module, and the linear track assembly can be rotated around the rotation axis of the pitch joint module to change the angle between the linear track assembly and the horizontal plane.

[0019] Preferably, the pitch joint module is an active joint module or a passive joint module;

[0020] When the pitch joint module is an active joint module, the pitch joint drive element drives the rotation axis of the pitch joint module to rotate. The pitch joint drive element includes a motor and a reducer.

[0021] When the pitch joint module is a passive joint module, a locking structure is connected to the rotation axis of the pitch joint module. The locking structure can lock the rotation axis of the pitch joint module to achieve spatial positioning of the linear track group. After the locking structure unlocks the rotation axis of the pitch joint module, the linear track group can be manually dragged to drive the pitch joint module to rotate.

[0022] Preferably, the rotation axis of the pitch joint module is perpendicular to the length direction of the linear track group, the rotation axis of the pitch joint module is parallel to the horizontal plane, and the pitch joint module is equipped with an angle sensor that can measure the angle between the linear track group and the horizontal plane.

[0023] Preferably, the linear track assembly is equipped with an operating handle. By holding the operating handle, the operator can drag and adjust the degree of freedom of the adjusting arm, thereby adjusting the position of the linear track assembly. The operating handle is equipped with a multi-dimensional force sensor for sensing the operator's dragging intention.

[0024] The beneficial effects of this utility model are as follows:

[0025] 1. Adjust the spatial position of the linear track assembly by adjusting the arm so that one end of the linear track assembly is aligned with the sheath on the patient's body, so that the linear track assembly can deliver the interventional consumables forward through the sheath to the target position.

[0026] 2. When the adjusting arm is installed on the movable base next to the operating table, the movable base can be adjusted in position, which is convenient for use in different guidewire chambers and also facilitates rapid deployment; when the adjusting arm is installed on the ceiling next to the operating table, the suspension support of the linear track group is more stable.

[0027] 3. The multi-dimensional force sensor inside the operating handle can sense the operator's dragging intention. After holding the operating handle, the operator can drag and adjust the degree of freedom of the adjusting arm. The adjusting arm can provide auxiliary power, reducing the adjustment force required by the operator. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of Example 1;

[0029] Figure 2 This is a schematic diagram of the adjusting arm structure in Example 1;

[0030] Figure 3 This is a schematic diagram of the overall structure of Example 2. Detailed Implementation

[0031] 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.

[0032] Example 1

[0033] like Figure 1 and Figure 2An interventional robot with multi-degree-of-freedom attitude adjustment function includes a linear track assembly 10297 and an adjusting arm 10261;

[0034] At least one set of linear track group 10297 is provided. In this embodiment, when two sets of linear track group 10297 are provided, the two sets of linear track group 10297 are arranged in parallel or intersecting directions. At least two module fixing seats are arranged sequentially along the length direction of one of the linear track groups 10297. The module fixing seats are equipped with surgical function modules 102971. The module fixing seats are fixed on the linear track group, or the module fixing seats can reciprocate on the linear track group. When the module fixing seats reciprocate, they can drive the corresponding surgical function modules 102971 to reciprocate to realize the delivery of interventional consumables. The surgical function modules can be clamping and delivery mechanisms, port control mechanisms, etc., for delivering guide wires or catheters, which are not specifically described in this article.

[0035] The linear track assembly is mounted on the adjusting arm 10261, and the adjusting arm 10261 drives one end of the linear track assembly to align with the interventional consumables on the target object.

[0036] The preferred adjusting arm 10261 is an active robotic arm. The adjusting arm 10261 can adjust at least three degrees of freedom. The linear guide rail assembly 10297 is provided with an operating handle 10262. After holding the operating handle 10262, the operator can drag and adjust the degrees of freedom of the adjusting arm 10261, thereby adjusting the position of the linear guide rail assembly 10297. The operating handle 10262 is provided with a multi-dimensional force sensor, which can sense the operator's dragging intention.

[0037] The preferred adjustment arm 10261 is mounted on a movable base 10264 next to the operating table 10263. The movable base 10264 can be adjusted in position to facilitate replacement in different guidewire chambers and also to facilitate rapid deployment.

[0038] Furthermore, the movable base 10264 is provided with a lifting seat 1026102 and a lifting drive assembly 1026101. The lifting seat 1026102 is slidably disposed on the movable base 10264 in the vertical direction. The lifting drive assembly 1026101 drives the lifting seat 1026102 to move up and down. The adjusting arm 10261 is installed on the lifting seat 1026103. The lifting drive assembly 1026101 is at least one of a screw and nut assembly, a gear and rack assembly, a sprocket and chain assembly, and a transmission wheel and belt assembly.

[0039] Furthermore, the adjusting arm 10261 includes three joint modules, each with a vertical axis of rotation. Through the rotational movement of the three joint modules, the end of the adjusting arm 10261 can achieve three degrees of freedom of movement in a plane.

[0040] As an alternative, the adjusting arm 10261 includes two joint modules and a front and rear module. The rotation axis of each joint module is vertical. The adjusting arm 10261 achieves three degrees of freedom of movement of the end of the adjusting arm 10261 in a plane through two rotational movements and one linear movement in a certain direction.

[0041] As an alternative, the adjusting arm 10261 includes a joint module, a front-back module and a left-right module. The rotation axis of the joint module is vertical. The adjusting arm 10261 achieves three degrees of freedom of movement of its end in a plane through rotational movement in one direction and linear movement in two directions.

[0042] Furthermore, the joint module can be an active joint module or a passive joint module;

[0043] When the joint module is an active joint module, the joint module's rotating shaft is driven to rotate by a joint drive element, which includes a motor and a reducer.

[0044] When the joint module is a passive joint module, a locking structure is connected to the rotating shaft of the joint module. The locking structure can lock the rotating shaft of the joint module to achieve spatial positioning of the end of the adjusting arm 10261. After the locking structure unlocks the rotating shaft of the joint module, the linear track group can be manually dragged to drive the joint module to rotate.

[0045] Specifically, the locking structure is a brake. When the brake is de-energized, it locks the rotation axis of the joint module, thereby achieving spatial positioning of the end of the adjusting arm 10261. When the brake is energized and unlocked, the linear track group can be manually dragged to drive the vertical joint module to rotate. The linear track group is equipped with a first operation button. When the first operation button is pressed, the brakes of all joint modules on the adjusting arm 10261 are energized and unlocked.

[0046] Alternatively, the rotating shaft of the passive joint module can be locked using other mechanical structures.

[0047] Furthermore, the end of the adjusting arm is equipped with a pitch joint module. The rotation axis of the pitch joint module is perpendicular to the length direction of the linear track assembly. The rotation axis of the pitch joint module is parallel to the horizontal plane. The linear track assembly can rotate around the rotation axis of the pitch joint module to change the angle between the linear track assembly and the horizontal plane. The pitch joint module is equipped with an angle sensor, which can measure the angle between the linear track assembly and the horizontal plane. When the equipment is idle, the angle between the linear track assembly and the horizontal plane can be adjusted to a right angle, thereby saving space occupied by the equipment.

[0048] Furthermore, the pitch joint module can be an active joint module or a passive joint module;

[0049] When the pitch joint module is an active joint module, the pitch joint drive element drives the rotation axis of the pitch joint module to rotate. The pitch joint drive element includes a motor and a reducer.

[0050] When the pitch joint module is a passive joint module, a locking structure is connected to the rotation axis of the pitch joint module. The locking structure can lock the rotation axis of the pitch joint module to achieve spatial positioning of the linear track group. After the locking structure unlocks the rotation axis of the pitch joint module, the linear track group can be manually dragged to drive the pitch joint module to rotate.

[0051] Specifically, the locking structure is a brake. When the brake is de-energized, it locks the rotation axis of the pitch joint module, thereby achieving spatial positioning of the linear track assembly. When the brake is energized and unlocked, the linear track assembly can be manually dragged to drive the pitch joint module to rotate. The linear track assembly is equipped with a second operation button. When the second operation button is pressed, the brake of the pitch joint module is energized and unlocked.

[0052] Alternatively, the rotation axis of the passive pitch joint module can be locked using other mechanical structures.

[0053] Example 2

[0054] This embodiment refers to the working principle of embodiment 1. The parts that are the same as in embodiment 1 will not be specifically described here. The differences are as follows:

[0055] like Figure 3 The adjusting arm 10261 is suspended on the ceiling 10269 next to the operating table 10263, and the ceiling 10269 is fixedly installed on the ceiling.

[0056] The linear track assembly is equipped with an operating handle 10262. By holding the operating handle 10262, the operator can drag and adjust the degree of freedom of the adjusting arm 10261, thereby adjusting the position of the linear track assembly. The operating handle 10262 is equipped with a multi-dimensional force sensor, which can sense the operator's dragging intention.

[0057] A lifting seat and a lifting drive assembly are provided on the suspended ceiling 10269. The lifting seat is slidably mounted on the suspended ceiling 10269 in a vertical direction. The lifting drive assembly drives the lifting seat to move up and down. An adjusting arm 10261 is mounted on the lifting seat. The lifting drive assembly is at least one of a screw and nut assembly, a gear and rack assembly, a sprocket and chain assembly, and a transmission wheel and belt assembly. The specific structure of the adjusting arm 10261 is detailed in Embodiment 1.

[0058] The lifting platform uses a telescopic rod structure. When the lifting platform moves upward, the length of the telescopic rod structure shortens, thus reducing the space occupied.

[0059] 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.

[0060] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An interventional robot with multi-degree-of-freedom attitude adjustment function, characterized in that, include A linear track group is provided, with at least one linear track group. When two linear track groups are provided, the two linear track groups are arranged in parallel or intersecting directions. At least two module fixing seats are arranged sequentially along the length direction of one of the linear track groups. The module fixing seats are equipped with surgical function modules. The module fixing seats are fixed on the linear track group, or the module fixing seats can reciprocate on the linear track group. When the module fixing seats reciprocate, they can drive the corresponding surgical function modules to reciprocate to achieve the delivery of interventional consumables. An adjusting arm and a linear track assembly are mounted on the adjusting arm. The adjusting arm drives one end of the linear track assembly to align with the interventional consumables on the target object.

2. The interventional robot with multi-degree-of-freedom attitude adjustment function according to claim 1, characterized in that, The adjusting arm is mounted on a movable base next to the operating table, or the adjusting arm is suspended from the ceiling next to the operating table. The adjusting arm is an active robotic arm or a passive robotic arm.

3. The interventional robot with multi-degree-of-freedom attitude adjustment function according to claim 2, characterized in that, When the adjusting arm is installed on the movable base next to the operating table, the movable base is provided with a lifting seat and a lifting drive assembly. The lifting seat is slidably installed on the movable base in the vertical direction. The lifting drive assembly drives the lifting seat to move up and down. The adjusting arm is installed on the lifting seat. The lifting drive assembly is at least one of the following: a screw and nut assembly, a gear and rack assembly, a sprocket and chain assembly, and a transmission wheel and belt assembly.

4. The interventional robot with multi-degree-of-freedom attitude adjustment function according to claim 2, characterized in that, When the adjusting arm is suspended from the ceiling next to the operating table, the ceiling is equipped with a lifting seat and a lifting drive assembly. The lifting seat is slidably mounted on the ceiling in the vertical direction. The lifting drive assembly drives the lifting seat to move up and down. The adjusting arm is mounted on the lifting seat. The lifting drive assembly is at least one of the following: a screw and nut assembly, a gear and rack assembly, a sprocket and chain assembly, and a transmission wheel and belt assembly. The lifting seat adopts a telescopic rod structure, and the length of the telescopic rod structure shortens when the lifting seat moves upward.

5. An interventional robot with multi-degree-of-freedom attitude adjustment function according to claim 3 or 4, characterized in that, The adjusting arm consists of three joint modules, each with a vertical axis of rotation. Through the rotational movement of the three joint modules, the end of the adjusting arm can move in three degrees of freedom within a plane.

6. The interventional robot with multi-degree-of-freedom attitude adjustment function according to claim 5, characterized in that, The joint module can be an active joint module or a passive joint module; When the joint module is an active joint module, the joint module's rotating shaft is driven to rotate by a joint drive element, which includes a motor and a reducer. When the joint module is a passive joint module, a locking structure is connected to the rotating shaft of the joint module. The locking structure can lock the rotating shaft of the joint module to achieve spatial positioning of the end of the adjusting arm. After the locking structure unlocks the rotating shaft of the joint module, the linear track group can be manually dragged to drive the joint module to rotate.

7. The interventional robot with multi-degree-of-freedom attitude adjustment function according to claim 1, characterized in that, The end of the adjusting arm is equipped with a pitch joint module. The linear track assembly can be rotated around the rotation axis of the pitch joint module to change the angle between the linear track assembly and the horizontal plane.

8. An interventional robot with multi-degree-of-freedom attitude adjustment function according to claim 7, characterized in that, The pitch joint module can be an active joint module or a passive joint module; When the pitch joint module is an active joint module, the pitch joint drive element drives the rotation axis of the pitch joint module to rotate. The pitch joint drive element includes a motor and a reducer. When the pitch joint module is a passive joint module, a locking structure is connected to the rotation axis of the pitch joint module. The locking structure can lock the rotation axis of the pitch joint module to achieve spatial positioning of the linear track group. After the locking structure unlocks the rotation axis of the pitch joint module, the linear track group can be manually dragged to drive the pitch joint module to rotate.

9. An interventional robot with multi-degree-of-freedom attitude adjustment function according to claim 7, characterized in that, The rotation axis of the pitch joint module is perpendicular to the length direction of the linear track group, and the rotation axis of the pitch joint module is parallel to the horizontal plane. The pitch joint module is equipped with an angle sensor, which can measure the angle between the linear track group and the horizontal plane.

10. An interventional robot with multi-degree-of-freedom attitude adjustment function according to claim 1, characterized in that, The linear track assembly is equipped with an operating handle. By holding the operating handle, the operator can drag and adjust the degree of freedom of the adjusting arm, thereby adjusting the position of the linear track assembly. The operating handle is equipped with a multi-dimensional force sensor for sensing the operator's dragging intention.

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