Interventional surgery robot with monitoring function

Abstract

This utility model provides an interventional surgical robot with monitoring function. At least two module mounting seats are sequentially arranged along the length of a linear track assembly. Each module mounting seat is equipped with a surgical function module, which may be a port support mechanism, a port control mechanism, a clamping and rotating mechanism, or a delivery mechanism. The module mounting seats are fixed to the linear track assembly, or the module mounting seats can reciprocate on the linear track assembly. During reciprocating motion, the module mounting seats can drive the corresponding port control mechanism and / or clamping and rotating mechanism and / or delivery mechanism to reciprocate, thereby delivering interventional consumables. A monitoring component is also provided, including a camera directly mounted on the module mounting seat. The camera can observe the working status of the interventional consumables and / or the surgical function modules, and can observe the position and / or shape of the interventional consumables, allowing for timely monitoring of the interventional consumables information and ensuring the smooth progress of the surgery.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to an interventional surgical robot with monitoring function. 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] During the operation of the interventional robot's end device, it is necessary to constantly observe the working status of each surgical function module (such as the port support mechanism, port control mechanism, clamping and rotating mechanism, or delivery mechanism). Furthermore, during the delivery of interventional consumables, it is necessary to constantly observe the position and / or morphology of the interventional consumables. Currently, there is no good solution to this problem. Utility Model Content

[0005] The purpose of this invention is to provide an interventional surgical robot with monitoring capabilities to address the shortcomings and unmet technical requirements of existing technologies.

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

[0007] An interventional surgical robot with monitoring function includes a linear track group: at least one linear track group is provided, and when two linear track groups are provided, the two linear track groups are arranged in parallel. At least two module fixing seats are arranged sequentially along the length direction of each linear track group. A surgical function module is installed on the module fixing seat. The surgical function module is a port support mechanism, a port control mechanism, a clamping and rotating mechanism, or a delivery mechanism. The module fixing seat is fixed on the linear track group, or the module fixing seat can reciprocate on the linear track group. When the module fixing seat reciprocates, it can drive the corresponding port control mechanism and / or clamping and rotating mechanism and / or delivery mechanism to reciprocate to realize the delivery of interventional consumables.

[0008] It also includes a monitoring component capable of observing the working status of interventional consumables and / or surgical function modules. The monitoring component includes a camera, which is directly mounted on the module mounting base.

[0009] Preferably, the module mounting base is covered with a housing, which separates the power-powered module mounting base from the non-powered surgical function module. The housing has a first housing part and a second housing part. The first housing part is located near the linear track assembly, and the second housing part extends outward from the first housing part. The surgical function module is mounted on the second housing part, and there is a gap between the surgical function module and the first housing part. The camera is located on the side of the module mounting base near the first housing part. The first housing part has a light-transmitting part, and the camera observes the working status of the interventional consumables and / or the surgical function module through the light-transmitting part.

[0010] Preferably, the linear track assembly is covered with an isolation membrane, which can isolate the sterile environment of the surgical function module from the sterile environment inside the linear track assembly. A portion of the isolation membrane is embedded in the gap between the surgical function module and the first housing part. The isolation membrane is a transparent membrane, and the camera observes the working status of the interventional consumables and / or the surgical function module through the light-transmitting part and the isolation membrane.

[0011] Preferably, when the port control mechanism is installed on the second housing, a port control valve is installed on the port control mechanism. The port control valve is a Y valve or a T valve. The port control valve has a transparent housing, and a camera monitors the working status of the port control valve and observes the internal condition of the port control valve.

[0012] Preferably, when the clamping and rotating mechanism or the delivery mechanism is mounted on the second housing, a telescopic sleeve for supporting the interventional consumables is provided in front of the clamping and rotating mechanism or the delivery mechanism. The field of view of the camera is tilted forward and aimed at the telescopic sleeve. The telescopic sleeve is a transparent telescopic sleeve. The camera is used to observe the position and / or shape of the interventional consumables inside the telescopic sleeve.

[0013] Preferably, the housing includes an isolation shell and an isolation base plate. The isolation shell can be fitted onto the module mounting base. The isolation base plate is rotatably or detachably closed and is mounted on the isolation shell and locked in place, so that the isolation base plate and the isolation shell cover the module mounting base. When the isolation base plate is rotatably closed, one side of the isolation base plate is hinged to the bottom of the isolation shell, and a locking structure is provided between the other side of the isolation base plate and the isolation shell. The locking structure is one or a combination of a snap-fit ​​structure, a latching structure, or a threaded structure.

[0014] Preferably, the port control mechanism is provided with a quick-clamping structure, which is used to quickly clamp the port control valve. The quick-clamping structure is transparent, and the camera can observe the internal condition of the port control valve through the quick-clamping structure.

[0015] Preferably, the isolation membrane includes a first isolation membrane and a second isolation membrane. The first isolation membrane is sleeved on the outside of the linear track assembly, and the second isolation membrane covers the first isolation membrane. There is a partial overlap between the first isolation membrane and the second isolation membrane.

[0016] Preferably, the first isolation membrane has a long strip-shaped slot on one side that is parallel to the linear track assembly. The width of the slot is 100-300mm. The length of the first isolation membrane is adapted to the length of the linear track assembly, and the length of the first isolation membrane exceeds 1200mm. The second isolation membrane is long and strip-shaped, parallel to the linear track assembly, and covers the slot. The width of the second isolation membrane is 150-350mm. The connection structure between the second isolation membrane and the first isolation membrane or the linear track assembly is one or a combination of hook structure, adhesive structure, magnetic structure, and snap-on structure.

[0017] Preferably, the upper half of the second separator overlaps with the upper half of the groove of the first separator, the lower half of the second separator overlaps with the lower half of the groove of the first separator, the upper half of the groove of the first separator covers the outside of the upper half of the second separator, and the lower half of the second separator covers the outside of the lower half of the groove of the first separator.

[0018] The beneficial effects of this utility model are as follows:

[0019] 1. The camera of this utility model is directly mounted on the module fixing base, which is fixed on the linear track group, or the module fixing base can reciprocate on the linear track group. When the module fixing base reciprocates, it can drive the corresponding port control mechanism and / or clamping rotation mechanism and / or delivery mechanism to reciprocate to realize the delivery of interventional consumables, so that the camera can always be aimed at the interventional consumables and / or surgical function module to observe the working status of the interventional consumables and / or surgical function module;

[0020] 2. In the case where the port control mechanism is installed on the second housing, since the port control valve has a transparent shell, the camera can observe and monitor the working status of the port control valve and observe the internal situation of the port control valve, so as to obtain the information of the port control valve in a timely manner and ensure the smooth progress of the operation.

[0021] 3. In cases where the clamping and rotating mechanism or delivery mechanism is mounted on the second housing, the telescopic sleeve used to support the interventional consumables is a transparent telescopic sleeve. The camera can observe the position and / or shape of the interventional consumables inside the telescopic sleeve, and promptly grasp the information of the interventional consumables to ensure the smooth progress of the operation. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of Example 1;

[0023] Figure 2 This is a schematic diagram of the module fixing base, housing, and second clamping rotation mechanism in Embodiment 1;

[0024] Figure 3 for Figure 2 Schematic diagram of the middle shell structure;

[0025] Figure 4 This is a schematic diagram of the camera's position structure in Example 1;

[0026] Figure 5 This is a schematic diagram of the structure of the separator in Example 1;

[0027] Figure 6 This is a schematic diagram of the structure of Example 2. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] 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.

[0031] Example 1

[0032] An interventional surgical robot with monitoring function includes a linear track group. At least one linear track group is provided. When two linear track groups are provided, the two linear track groups are arranged in parallel. At least two module fixing seats are arranged sequentially along the length direction of each linear track group. A surgical function module is installed on the module fixing seat. The surgical function module is a port support mechanism, a port control mechanism, a clamping and rotating mechanism, or a delivery mechanism. The module fixing seat is fixed on the linear track group, or the module fixing seat can reciprocate on the linear track group. When the module fixing seat reciprocates, it can drive the corresponding port control mechanism and / or clamping and rotating mechanism and / or delivery mechanism to reciprocate to achieve the delivery of interventional consumables.

[0033] like Figure 1 As shown, the linear track group 102701 is provided with a first linear track group 10270101 and a second linear track group 10270102. The first linear track group 10270101 is provided with a first port support mechanism 10271, a first clamping rotation mechanism 10272, a second port control mechanism 10273, and a second clamping rotation mechanism 10275 in sequence. The first port support mechanism 10271 is fixed on the linear track group 102701. The first clamping rotation mechanism 10272 and the second port control mechanism 10273 are mounted on the first linear track group through a module fixing seat 102 and move synchronously. The first clamping rotation mechanism 10272 is used to clamp the catheter for rotational delivery, and the second port control mechanism 10273 is used to support the rear end port of the catheter. The second linear track group 10270102 is provided with a third clamping rotation mechanism 10276.

[0034] like Figure 2 and Figure 3 As shown, a monitoring component is also provided that can observe the working status of interventional consumables and / or surgical function modules. The monitoring component includes a camera 101, which is directly mounted on the module mounting base 102.

[0035] The module mounting base 102 is covered by a housing 103, which separates the power-powered module mounting base from the non-powered surgical function module. The housing has a first housing part A1 and a second housing part A2. The first housing part A1 is located near the linear track assembly, and the second housing part A2 extends outward from the first housing part A1. The first housing part A1 and the second housing part A2 are arranged in an L-shape. The surgical function module is mounted on the second housing part A2. There is a gap 104 between the surgical function module and the first housing part A1. The camera 101 is located on the side of the module mounting base near the first housing part A1. The first housing part A1 has a light-transmitting part 105. The light-transmitting part 105 can be a separate transparent plate or a transparent plate integrally set on the housing. The camera 101 observes the working status of the interventional consumables and / or the surgical function module through the light-transmitting part 105.

[0036] The specific structure of the housing is as follows: The housing includes an isolation housing 10301 and an isolation base plate 10302. The isolation housing 10301 can be fitted onto the module mounting base. The isolation base plate 10302 is rotatably or detachably closed and is mounted on the isolation housing 10301 and locked and fixed to the isolation housing 10301, so that the isolation base plate 10302 and the isolation housing 10301 cover the module mounting base. When the isolation base plate 10302 is rotatably closed, one side of the isolation base plate 10302 is hinged to the bottom of the isolation housing 10301, and a locking structure is provided between the other side of the isolation base plate 10302 and the isolation housing 10301. The locking structure is one or a combination of a snap-fit ​​structure, a latching structure, or a threaded structure. During installation, the isolation base plate 10302 is opened, and the isolation housing 10301 is fitted onto the module fixing seat from top to bottom. Then, the isolation base plate 10302 is closed and locked, which can isolate the sterile environment of each module fixing seat from the sterile environment during surgery. The isolation housing 10301 is equipped with several transmission structures, which transmit power from the module fixing seat to the sterile port control mechanism and / or rotary delivery mechanism, etc.

[0037] like Figure 4As shown, when the first clamping and rotating mechanism 10272, the second clamping and rotating mechanism 10275, or the delivery mechanism is installed on the second housing, a telescopic sleeve 106 for supporting interventional consumables is provided in front of the first clamping and rotating mechanism 10272, the second clamping and rotating mechanism 10275, or the delivery mechanism. The field of view of the camera 101 is tilted forward and aligned with the telescopic sleeve 106. The module fixing seat 102 is provided with an inclined surface, and the camera 1020025 is also tilted along with the inclined surface, so that the field of view of the camera 1020025 is forward. The telescopic sleeve 106 is a transparent telescopic sleeve made of a transparent material, such as transparent plastic. The camera is used to observe the position and / or shape of the interventional consumables inside the telescopic sleeve.

[0038] like Figure 5 As shown, the linear track assembly is covered with an isolation membrane, which can isolate the sterile environment of the surgical function module from the sterile environment inside the linear track assembly. A part of the isolation membrane is embedded in the gap between the surgical function module and the first housing part. The isolation membrane is a transparent membrane, and the camera observes the working status of the interventional consumables and / or the surgical function module through the light-transmitting part and the isolation membrane.

[0039] The isolation membrane includes a first isolation membrane 1 and a second isolation membrane 2 (e.g., ...). Figure 5 (The red line part in the picture) The first isolation membrane 1 is sleeved on the outside of the linear track group, and the second isolation membrane 2 covers the first isolation membrane 1. There is a partial overlap between the first isolation membrane 1 and the second isolation membrane 2.

[0040] The first isolation membrane 1 has a long, strip-shaped slot on one side, parallel to the linear track assembly. The slot allows the fixing seats of each module on the first and second linear track assemblies to extend out from the first isolation membrane 1. The width of the slot is 100-300mm, and the length of the first isolation membrane is adapted to the length of the linear track assembly, with the length of the first isolation membrane exceeding 1200mm. The second isolation membrane is long and strip-shaped, parallel to the linear track assembly, and covers the slot. The width of the second isolation membrane is 150-350mm. The connection structure between the second isolation membrane and the first isolation membrane or the linear track assembly is one or a combination of hook structure, adhesive structure, magnetic structure, and snap-fit ​​structure. When the connection structure is a hook structure, hooks or holes are provided at the front and rear ends of the first isolation membrane or linear track assembly, and holes or hooks are provided on the second isolation membrane at positions corresponding to the hooks or holes. The hooks pass through the holes to fix the second isolation membrane, so that the second isolation membrane is fixed to the first isolation membrane. The second isolation membrane can also be completely straightened so that the surgical functional modules will not be scratched by the second isolation membrane when they move axially.

[0041] In order to allow the second isolation membrane to be embedded in the upper half of the groove of the first isolation membrane, a slit and an adhesive layer are provided on the side of the first isolation membrane at the hook position. After tearing open the slit of the first isolation membrane, the second isolation membrane is embedded in the upper half of the groove of the first isolation membrane, and then the adhesive layer located at the slit is used to stick the slit onto the second isolation membrane to achieve good isolation.

[0042] The upper half of the second isolation membrane overlaps with the upper half of the groove of the first isolation membrane, and the lower half of the second isolation membrane overlaps with the lower half of the groove of the first isolation membrane. The upper half of the groove of the first isolation membrane covers the outside of the upper half of the second isolation membrane, and the lower half of the second isolation membrane covers the outside of the lower half of the groove of the first isolation membrane.

[0043] The upper half of the second isolation membrane 2 overlaps with the upper half of the groove of the first isolation membrane 1, specifically as follows: there is a gap between the surgical function module located on the second linear track group and the first housing part outside the module fixing seat, the upper half of the groove of the first isolation membrane 1 is embedded in the gap, and the upper half of the second isolation membrane 2 is embedded in the gap between the housing outside the module fixing seat on the second linear track group and the second linear track group.

[0044] The lower half of the second isolation membrane 2 overlaps with the lower half of the groove of the first isolation membrane 1, specifically as follows: there is a gap between the surgical function module located on the first linear track group and the first housing part outside the module fixing seat, the lower half of the second isolation membrane 2 is embedded in the gap, and the lower half of the groove of the first isolation membrane 1 is embedded in the gap between the housing outside the module fixing seat on the first linear track group and the first linear track group.

[0045] Example 2

[0046] 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:

[0047] like Figure 6 As shown, when the second port control mechanism 10273 is installed on the second housing, a port control valve 109 is installed on the second port control mechanism 10273. The port control valve is a Y valve or a T valve. The port control valve has a transparent housing (not shown in the figure). The camera 101 monitors the working status of the port control valve and observes the internal condition of the port control valve.

[0048] The port control mechanism is equipped with a quick-clamping structure 110, which is used to quickly clamp the port control valve. The quick-clamping structure is a transparent structure, specifically made of a transparent material, such as transparent plastic. The camera can observe the internal condition of the port control valve through the quick-clamping structure. The quick-clamping structure specifically consists of a pressure plate and a base. The base is fixed on the housing, and the port control valve is placed on the base. The pressure plate can press the port control valve tightly onto the base. The pressure plate and the base are directly screwed together, or the pressure plate is hinged to the base and locked together by screws, buckles, or magnets.

[0049] 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. An interventional surgical robot with monitoring function, characterized in that, include Linear track group: At least one linear track group is provided. When two linear track groups are provided, the two linear track groups are arranged in parallel. Each linear track group has at least two module fixing seats arranged sequentially along its length. The module fixing seats are equipped with surgical function modules. The surgical function modules are port support mechanisms, port control mechanisms, clamping and rotating mechanisms, or delivery mechanisms. 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 port control mechanism and / or clamping and rotating mechanism and / or delivery mechanism to reciprocate to achieve the delivery of interventional consumables. It also includes a monitoring component capable of observing the working status of interventional consumables and / or surgical function modules. The monitoring component includes a camera, which is directly mounted on the module mounting base.

2. The interventional surgical robot with monitoring function according to claim 1, characterized in that, The module mounting base is covered by a housing, which separates the power-powered module mounting base from the non-powered surgical function module. The housing has a first housing part and a second housing part. The first housing part is located near the linear track assembly, and the second housing part extends outward from the first housing part. The surgical function module is mounted on the second housing part, and there is a gap between the surgical function module and the first housing part. The camera is located on the side of the module mounting base near the first housing part. The first housing part has a light-transmitting part, and the camera observes the working status of the interventional consumables and / or the surgical function module through the light-transmitting part.

3. The interventional surgical robot with monitoring function according to claim 2, characterized in that, The linear track assembly is covered with an isolation membrane, which can isolate the sterile environment of the surgical function module from the sterile environment inside the linear track assembly. A part of the isolation membrane is embedded in the gap between the surgical function module and the first housing part. The isolation membrane is a transparent membrane, and the camera observes the working status of the interventional consumables and / or the surgical function module through the light-transmitting part and the isolation membrane.

4. The interventional surgical robot with monitoring function according to claim 2, characterized in that, When the port control mechanism is installed on the second housing, a port control valve is installed on the port control mechanism. The port control valve is a Y valve or a T valve. The port control valve has a transparent housing. A camera monitors the working status of the port control valve and observes the internal condition of the port control valve.

5. The interventional surgical robot with monitoring function according to claim 2, characterized in that, When the clamping and rotating mechanism or delivery mechanism is installed on the second housing, a telescopic sleeve for supporting the interventional consumables is provided in front of the clamping and rotating mechanism or delivery mechanism. The camera's field of view is tilted forward and aimed at the telescopic sleeve. The telescopic sleeve is a transparent telescopic sleeve. The camera is used to observe the position and / or shape of the interventional consumables inside the telescopic sleeve.

6. The interventional surgical robot with monitoring function according to claim 2, characterized in that, The housing includes an isolation shell and an isolation base plate. The isolation shell can be fitted onto the module mounting base. The isolation base plate is rotatably or detachably closed and is mounted on the isolation shell and locked in place, so that the isolation base plate and the isolation shell cover the module mounting base. When the isolation base plate is rotatably closed, one side of the isolation base plate is hinged to the bottom of the isolation shell, and the other side of the isolation base plate is provided with a locking structure between itself and the isolation shell. The locking structure is one or a combination of a snap-fit ​​structure, a latching structure, or a threaded structure.

7. The interventional surgical robot with monitoring function according to claim 4, characterized in that, The port control mechanism is equipped with a quick-clamping structure, which is used to quickly clamp the port control valve. The quick-clamping structure is transparent, and the camera can observe the internal condition of the port control valve through the quick-clamping structure.

8. The interventional surgical robot with monitoring function according to claim 3, characterized in that, The isolation membrane includes a first isolation membrane and a second isolation membrane. The first isolation membrane is sleeved on the outside of the linear track assembly, and the second isolation membrane covers the first isolation membrane. There is a partial overlap between the first isolation membrane and the second isolation membrane.

9. The interventional surgical robot with monitoring function according to claim 8, characterized in that, The first isolation membrane has a long, strip-shaped slot on one side that is parallel to the linear track assembly. The width of the slot is 100-300 mm. The length of the first isolation membrane is adapted to the length of the linear track assembly, and the length of the first isolation membrane exceeds 1200 mm. The second isolation membrane is long and strip-shaped, parallel to the linear track assembly, and covers the slot. The width of the second isolation membrane is 150-350 mm. The connection structure between the second isolation membrane and the first isolation membrane or the linear track assembly is one or a combination of hook structure, adhesive structure, magnetic structure, and snap-on structure.

10. An interventional surgical robot with monitoring function according to claim 9, characterized in that, The upper half of the second isolation membrane overlaps with the upper half of the groove of the first isolation membrane, and the lower half of the second isolation membrane overlaps with the lower half of the groove of the first isolation membrane. The upper half of the groove of the first isolation membrane covers the outside of the upper half of the second isolation membrane, and the lower half of the second isolation membrane covers the outside of the lower half of the groove of the first isolation membrane.

Images