Multi-lumen interventional robotic slave device from bifurcated valve bifurcation into interventional consumable

Abstract

This invention provides a multi-channel interventional robot slave device for delivering interventional consumables from a branch of a bifurcated valve. Each set of linear guide rails is equipped with at least one delivery kit, which includes a port control mechanism at the front end and a clamping and rotating mechanism at the rear end. The two sets of linear guide rails are a first linear guide rail set and a second linear guide rail set. A port control valve is installed on the port control mechanism of the delivery kit in the first linear guide rail set. The port control valve is a first bifurcated valve with at least one bifurcated pipe. The bifurcated pipe is connected to the port control mechanism of the delivery kit in the second linear guide rail set through a guide rail. This invention can deliver multiple sets of interventional consumables simultaneously through the main channel of the bifurcated valve and the bifurcated pipe, meeting the requirements of multiple procedures. The bifurcated valve has two bifurcated pipes, which ensures that the delivery of interventional consumables and the injection of drugs do not interfere with each other, and there is no need to replace the guide rail and connecting pipe.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a multi-channel interventional robot end device that allows interventional consumables to enter from the branch of a bifurcation valve. 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 grasp 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 catheter and guidewire are advanced and delivered to the lesion in the patient's body (such as inside the blood vessel), which facilitates the doctor to perform subsequent related treatments such as angiography, embolization of malformed blood vessels, thrombolysis, and dilation of narrowed blood vessels. During interventional surgery, it is sometimes necessary to use different interventional consumables at the same time, or to quickly change and combine different types of interventional consumables according to the specific needs of the surgery. Existing interventional robots are usually designed as single tracks, which only allow the delivery of a single guidewire at the same time, and cannot meet the requirements of complex surgeries. Utility Model Content

[0004] The purpose of this invention is to provide a multi-channel intervention robot end device that allows intervention consumables to enter from the branch of a bifurcation valve, in order to solve the existing technical defects and unmet technical requirements.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] The multi-channel intervention robot slave device for inserting consumables from the branch valve includes two sets of linear guide rails. Each set of linear guide rails is equipped with at least one delivery kit. The delivery kit includes a port control mechanism placed at the front end and a clamping and rotating mechanism placed at the rear end. The two sets of linear guide rails are a first linear guide rail set and a second linear guide rail set. A port control valve is installed on the port control mechanism of the delivery kit in the first linear guide rail set. The port control valve is a first branch valve. The first branch valve is provided with at least one branch pipe. The branch pipe is connected to the port control mechanism of the delivery kit in the second linear guide rail set through a guide rail pipe.

[0007] Preferably, a second interventional consumable is mounted on the clamping and rotating mechanism of the delivery kit in the first linear guide group, and a third interventional consumable is mounted on the clamping and rotating mechanism of the delivery kit in the second linear guide group. The second interventional consumable passes through the main channel of the first branch valve, and the third interventional consumable passes through the branch pipe of the first branch valve.

[0008] Preferably, the first linear guide rail assembly is provided with a first delivery kit, the first delivery kit including a first port control mechanism placed at the front end and a first clamping and rotating mechanism placed at the rear end; the second linear guide rail assembly is provided with a second delivery kit, the second delivery kit including a second port control mechanism placed at the front end and a second clamping and rotating mechanism placed at the rear end; a first bifurcation valve is installed on the first port control mechanism, and the third intervention consumable passes through the bifurcation tube of the first bifurcation valve on the first port control mechanism;

[0009] Alternatively, a first delivery kit and a third delivery kit may be placed sequentially on the first linear guide group, one in front of the other, and a second delivery kit may be provided on the second linear guide group. The first delivery kit includes a first port control mechanism placed at the front end and a first clamping and rotating mechanism placed at the rear end. The second delivery kit includes a second port control mechanism placed at the front end and a second clamping and rotating mechanism placed at the rear end. The third delivery kit includes a third port control mechanism placed at the front end and a third clamping and rotating mechanism placed at the rear end. A first bifurcation valve may be installed on the first port control mechanism and / or the third port control mechanism, and the third intervention consumable may pass through the bifurcation tube of the first bifurcation valve on the first port control mechanism or the bifurcation tube of the first bifurcation valve on the third port control mechanism.

[0010] Preferably, the variable track tube is a telescopic variable track tube, which includes telescopic sleeves of different sections coaxially connected in stages. The ends of the last section and the first section of the telescopic sleeve are respectively provided with a first bending structure and a second bending structure. When the telescopic sleeve is stretched or shortened as the distance between the front and rear ends of the telescopic variable track tube changes, the first bending structure and the second bending structure will bend and deform under the action of external force.

[0011] Preferably, the front end of the telescopic variable rail tube is fixedly connected to one of the branch pipes on the first branch valve, and the rear end of the telescopic variable rail tube is fixedly connected to the second port control mechanism on the second linear guide rail group. The telescopic variable rail tube guides the third intervention consumable from the second linear guide rail group to the delivery line where the first linear guide rail group is located.

[0012] Preferably, each or several sections of the telescopic sleeve are provided with a connecting part. Except for the section with the largest diameter on the telescopic sleeve, the connecting parts on the other sections of the telescopic sleeve are located at the head end of the section. When two adjacent sections of the telescopic sleeve gradually contract, the connecting parts of the two adjacent sections abut against each other, or the connecting part of the previous section abuts against the end face of the next section, so as to prevent the previous section of the telescopic sleeve from being completely inserted into the next section.

[0013] Preferably, a first branch valve is installed on the first port control mechanism, the rear end of the first interventional consumable is fixedly connected to the front end of the first branch valve, the second interventional consumable is inserted into the first interventional consumable through the main channel of the first branch valve, the middle part of the second interventional consumable is installed on the first clamping and rotating mechanism, the front end of the changing rail tube is fixedly connected to the first branch pipe on the first branch valve, the rear end of the changing rail tube is fixedly connected to the second port control mechanism, and the third interventional consumable is inserted into the first interventional consumable through the changing rail tube, the first branch pipe and the first branch valve, and the middle part of the third interventional consumable is installed on the second clamping and rotating mechanism.

[0014] Preferably, the first branch valve is provided with two branch pipes, namely a first branch pipe and a second branch pipe, which are arranged alternately on the body of the first branch valve.

[0015] Alternatively, the first branch valve may be provided with a first branch pipe, and a second branch pipe may be provided on the side of the first branch pipe. The second branch pipe may be integrally formed with the first branch pipe or connected by a quick-connect structure, wherein the quick-connect structure is a threaded joint or a snap-fit ​​structure.

[0016] Preferably, the third interventional consumable passes through the first branch pipe of the first branch valve, and the second branch pipe is connected to the drug injection module through the first connecting pipe to realize drug injection. At this time, the drug injected by the drug injection module is guided by the first connecting pipe and the second branch pipe, enters the first branch valve, and then enters the catheter connected to the front end of the first delivery kit under the guidance of the first branch valve.

[0017] Preferably, the first bifurcation valve has a conduit connector at its front end, and the main channel and the rear end of the bifurcation pipe of the first bifurcation valve are respectively provided with a first valve connector and a second valve connector. The first bifurcation valve is a Y valve or a T valve, and the conduit connector of the first bifurcation valve is connected to a flexible connecting pipe. The first port control mechanism can support and fix the first bifurcation valve. The first port control mechanism includes a first port drive mechanism, a second port drive mechanism, and a port rotation mechanism. The first port drive mechanism and the second port drive mechanism are respectively used to drive the first valve connector and the second valve connector to open or close the channel, thereby preventing blood or contrast agent leakage. The port rotation mechanism is used to drive the conduit connector of the first bifurcation valve to rotate.

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

[0019] 1. This utility model can deliver multiple sets of interventional consumables (such as guide wires) simultaneously through the main channel and branch pipe of the branch valve, meeting the requirements of various surgical procedures.

[0020] 2. The variable rail tube adopts a telescopic variable rail tube structure, which not only supports the interventional consumables, but also reduces the length occupied by the variable rail tube on the interventional consumables, which helps to increase the effective length of the interventional consumables.

[0021] 3. The bifurcation valve has two bifurcation pipes, which ensures that the delivery of interventional consumables and the injection of drugs do not interfere with each other. Compared with the single bifurcation pipe, there is no need to replace the guide pipe and connecting pipe. Attached Figure Description

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

[0023] Figure 2 for Figure 1 A magnified structural diagram of A in the middle;

[0024] Figure 3 This is a schematic diagram of the structure of the first branch valve in Example 1;

[0025] Figure 4 This is a schematic diagram of the structure of the first branch valve in another embodiment of Example 1;

[0026] Figure 5 This is a schematic diagram of the structure of Example 2;

[0027] Figure 6 for Figure 5 A magnified structural diagram of B in the diagram;

[0028] Figure 7 for Figure 5 A magnified structural diagram of C;

[0029] Figure 8This is a schematic diagram of the structure of the second branch valve in Example 2;

[0030] Figure 9 This is a schematic diagram of the structure of Example 3;

[0031] Figure 10 This is a schematic diagram of the structure of Example 4;

[0032] Figure 11 This is a schematic diagram of the structure in Embodiment 4 where a first bifurcation valve is installed on the third port control mechanism;

[0033] Figure 12 This is a schematic diagram of the telescopic guide tube in Example 4;

[0034] Figure 13 This is a schematic diagram of the hinge support structure in Example 4. Detailed Implementation

[0035] 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.

[0036] 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.

[0037] 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.

[0038] Example 1

[0039] like Figures 1-4As shown, the multi-channel intervention robot slave device for inserting consumables from the branch of the branch valve includes two sets of linear guide rails. Each set of linear guide rails is equipped with at least one delivery kit. The delivery kit includes a port control mechanism placed at the front end and a clamping and rotating mechanism placed at the rear end. The two sets of linear guide rails are a first linear guide rail set and a second linear guide rail set, respectively. A port control valve is installed on the port control mechanism of the delivery kit in the first linear guide rail set. The port control valve is a first branch valve. The first branch valve is provided with at least one branch pipe. The branch pipe is connected to the port control mechanism of the delivery kit in the second linear guide rail set through a guide rail pipe.

[0040] A second interventional consumable is mounted on the clamping and rotating mechanism of the delivery kit in the first linear guide group, and a third interventional consumable is mounted on the clamping and rotating mechanism of the delivery kit in the second linear guide group. The second interventional consumable passes through the main channel of the first branch valve, and the third interventional consumable passes through the branch pipe of the first branch valve.

[0041] The first linear guide rail assembly is provided with a first delivery kit, which includes a first port control mechanism placed at the front end and a first clamping and rotating mechanism placed at the rear end; the second linear guide rail assembly is provided with a second delivery kit, which includes a second port control mechanism placed at the front end and a second clamping and rotating mechanism placed at the rear end; a first bifurcation valve is installed on the first port control mechanism, and the third intervention consumable passes through the bifurcation tube of the first bifurcation valve on the first port control mechanism;

[0042] Alternatively, a first delivery kit and a third delivery kit may be placed sequentially on the first linear guide group, one in front of the other, and a second delivery kit may be provided on the second linear guide group. The first delivery kit includes a first port control mechanism placed at the front end and a first clamping and rotating mechanism placed at the rear end. The second delivery kit includes a second port control mechanism placed at the front end and a second clamping and rotating mechanism placed at the rear end. The third delivery kit includes a third port control mechanism placed at the front end and a third clamping and rotating mechanism placed at the rear end. A first bifurcation valve may be installed on the first port control mechanism and / or the third port control mechanism, and the third intervention consumable may pass through the bifurcation tube of the first bifurcation valve on the first port control mechanism or the bifurcation tube of the first bifurcation valve on the third port control mechanism.

[0043] The variable track tube is a telescopic variable track tube, which includes telescopic sleeves of different sections coaxially connected in stages. The ends of the last section and the first section of the telescopic sleeve are respectively provided with a first bending structure and a second bending structure. When the telescopic sleeve is stretched or shortened as the distance between the front and rear ends of the telescopic variable track tube changes, the first bending structure and the second bending structure will bend and deform under the action of external force.

[0044] The front end of the telescopic variable rail tube is fixedly connected to one of the branch pipes on the first branch valve, and the rear end of the telescopic variable rail tube is fixedly connected to the second port control mechanism on the second linear guide rail group. The telescopic variable rail tube guides the third intervention consumable from the second linear guide rail group to the delivery line where the first linear guide rail group is located.

[0045] Each or several sections of the telescopic sleeve are provided with a connecting part. Except for the section with the largest diameter on the telescopic sleeve, the connecting parts on the other sections of the telescopic sleeve are located at the head end of the section. When two adjacent sections of the telescopic sleeve gradually contract, the connecting parts of the two adjacent sections abut against each other, or the connecting part of the previous section abuts against the end face of the next section, so as to prevent the previous section of the telescopic sleeve from being completely inserted into the next section.

[0046] A first bifurcation valve is installed on the first port control mechanism. The rear end of the first interventional consumable is fixedly connected to the front end of the first bifurcation valve. A second interventional consumable is inserted into the first interventional consumable through the main channel of the first bifurcation valve. The middle part of the second interventional consumable is installed on the first clamping and rotating mechanism. The front end of the guide tube is fixedly connected to the first bifurcation tube on the first bifurcation valve. The rear end of the guide tube is fixedly connected to the second port control mechanism. A third interventional consumable is inserted into the first interventional consumable through the guide tube, the first bifurcation tube, and the first bifurcation valve. The middle part of the third interventional consumable is installed on the second clamping and rotating mechanism. In this embodiment, the first interventional consumable is a first catheter 10279, the second interventional consumable is a first guidewire 10283, and the third interventional consumable is a second guidewire 10284.

[0047] like Figure 3 As shown, the first branch valve is provided with two branch pipes, namely the first branch pipe and the second branch pipe, which are arranged alternately on the body of the first branch valve.

[0048] like Figure 4 As shown, or the first branch valve is provided with a first branch pipe, and a second branch pipe is provided on the side of the first branch pipe. The second branch pipe is integrally formed with the first branch pipe or connected by a quick-connect structure. The quick-connect structure is a threaded joint or a snap-fit ​​structure.

[0049] The third interventional consumable passes through the first branch pipe of the first branch valve, and the second branch pipe is connected to the drug injection module through the first connecting pipe to realize drug injection. At this time, the drug injected by the drug injection module is guided by the first connecting pipe and the second branch pipe, enters the first branch valve, and then enters the catheter connected to the front end of the first delivery kit under the guidance of the first branch valve.

[0050] Specifically, such as Figures 1-3As shown, the following description takes the example of the first branch valve in the first delivery kit being equipped with a first branch tube and a second branch tube, where the first branch tube delivers the second guide wire and the second branch tube creates the contrast agent.

[0051] The multi-channel interventional robot slave device for inserting consumables from the branch valve includes two sets of linear guide rails 10297, a first delivery kit, a second delivery kit, a first conduit 10279, a first connecting tube 10280, a first branch valve 10281, a second branch valve 10282, a first guidewire 10283, a second guidewire 10284, and an injection module 10212. The first delivery kit includes a first port control mechanism 10271 placed at the front end and a first clamping and rotating mechanism 10272 placed at the rear end. The second delivery kit includes a second port control mechanism 10273 placed at the front end and a second clamping and rotating mechanism 10274 placed at the rear end. The middle part of the first branch valve 10281 is mounted on the first port control mechanism 10271.

[0052] like Figure 2 As shown, in this embodiment, the first branch valve 10281 is provided with a first branch pipe 102811 and a second branch pipe 102812 spaced apart in the middle; or as shown... Figure 3 As shown, a Y-shaped branch pipe is provided in the middle of the first branch valve 10281 (the Y-shaped branch pipe can be connected to the branch port on the first branch valve 10281 through a quick-connect structure, which is not shown in the quick-connect structure diagram). The two branches of the Y-shaped branch pipe are the first branch pipe 102811 and the second branch pipe 102812, respectively.

[0053] The first branch pipe 102811 and the second branch pipe 102812 both smoothly transition to the main channel of the first branch valve 10281 through a smooth arc.

[0054] The first branch pipe 102811 and the second branch pipe 102812 of the first branch valve 10281 extend out of the first port control mechanism 10271. Both the first branch pipe 102811 and the second branch pipe 102812 can converge with the main channel of the first branch valve. The rear end of the first conduit 10279 is fixedly connected to the front end of the first branch valve 10281. The first guide wire 10283 passes through the main channel of the first branch valve 10281 and enters the first conduit 10279. The middle part of the first guide wire 10283 is mounted on the first clamping and rotating mechanism 10272. The middle part of the second branch valve 10282 is mounted on the second port control mechanism 10271. 3. The front end of the first connecting tube 10280 is fixedly connected to the first branch tube 102811 of the first branch valve 10281, and the rear end of the first connecting tube 10280 is fixedly connected to the front end of the second branch valve 10282. The second guide wire 10284 passes through the second branch valve 10282, the first connecting tube 10280, the first branch tube 102811 and the first branch valve 10281 into the first conduit 10279. The middle part of the second guide wire 10284 is installed on the second clamping and rotating mechanism 10274. The injection tube 102121 of the injection module 10212 is connected to the second branch tube 102812 of the first branch valve 10281.

[0055] The body of the first bifurcation valve 10281 is fixedly mounted on the first port control mechanism 10271. The front end of the first bifurcation valve 10281 is the first catheter connector a, and the rear end of the main channel of the first bifurcation valve 10281 is the first valve connector a. The first bifurcation valve is a Y valve, but it can also be a T valve. The first port control mechanism can support and fix the first bifurcation valve. The first port control mechanism includes a first port drive mechanism and a port rotation mechanism. The first port drive mechanism is used to drive the first valve connector a to open or close the channel, thereby preventing blood or contrast agent leakage. The port rotation mechanism is used to drive the first catheter connector a of the first bifurcation valve to rotate.

[0056] The linear guide rail assembly 10297 has two sets. The first delivery kit and the second delivery kit are respectively set on one set of linear guide rail assemblies. The first port control mechanism 10271 and the first clamping rotation mechanism 10272 are arranged sequentially from front to back in the delivery direction. The second port control mechanism 10273 and the second clamping rotation mechanism 10274 are arranged sequentially from front to back in the delivery direction.

[0057] When the second delivery kit and the first delivery kit are oriented in the same direction relative to the linear guide group 10297, the first connecting tube 10280 crosses the gap between the two linear guide groups and its front end is connected to the first branch tube 102811.

[0058] When the second delivery kit and the first delivery kit are oriented opposite to the linear guide group 10297, the first connecting tube 10280 bends 180 degrees and crosses the gap between the two linear guide groups, and its front end connects to the first branch tube 102811.

[0059] In this embodiment, the first catheter 10279 is a sheath, the first guidewire 10283 is an angiography guidewire or a finger guidewire, the second guidewire 10284 is a guidewire, and the injection module 10212 injects liquid, which is a contrast agent, heparinized saline, nitroglycerin, or physiological saline.

[0060] The operation method of this embodiment,

[0061] 1. The first conduit 10279 and the first guide wire 10283 are placed or delivered into position by a manual or remote control device, and the opening structure or quick clamping structure of all or part of the mechanism is opened.

[0062] 2. Connect the front end of the first connecting tube 10280 to the first branch tube 102811 of the first branch valve 10281, connect the rear end of the first connecting tube 10280 to the second port control mechanism 10282, insert the second guide wire 10284 into the second port control mechanism 10282, and continue along the first connecting tube 10280, the first branch tube 102811, and the first branch valve 10281 into the first conduit 10279;

[0063] 3. Install the middle part of the second guide wire 10284 on the second clamping and rotating mechanism 10274 (insert it through the through hole of the second clamping and rotating mechanism 10274 or install it from the side slot after opening the cover of the second clamping and rotating mechanism 10274);

[0064] IV. Lock the opening structure or quick clamping structure of each mechanism. After installation, perform one or more combinations of liquid injection, rotation delivery of the first guide wire 10283, and rotation delivery of the second guide wire 10284.

[0065] When the operator controls the injection of liquid from the end device, the first port control mechanism 10271 closes the rear channel of the first branch valve 10281, the second port control mechanism 10273 closes the rear channel of the second port control mechanism 10282, and then the injection module injects liquid through the second branch pipe 102812 of the first branch valve 10281.

[0066] When the operator controls the delivery of the first guide wire 10283 from the end device, the first clamping and rotating mechanism 10272 always clamps the first guide wire 10283. The telescopic sleeve between the first port control mechanism 10271 and the first clamping and rotating mechanism adaptively adjusts its length to support the first guide wire, prevent it from bending, and realize long-distance rotational delivery of the first guide wire.

[0067] When the operator controls the delivery of the second guide wire 10284 from the end device, the second clamping and rotating mechanism 10274 always clamps the second guide wire 10284. The telescopic sleeve between the second port control mechanism 10282 and the second clamping and rotating mechanism adaptively adjusts its length to support the second guide wire, prevent it from bending, and realize long-distance rotational delivery of the second guide wire.

[0068] Example 2

[0069] 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:

[0070] The parts of this embodiment that are structurally the same as those in Embodiment 1 will not be repeated here. The difference is that the first bifurcation valve in the first delivery kit is provided with a bifurcation tube, and the bifurcation tube delivers the second guide wire and creates the contrast agent through the second bifurcation valve 10282 as an example.

[0071] Specific examples Figures 5-8As shown: The system includes two sets of linear guide rails 10297, a first delivery kit, a second delivery kit, a first conduit 10279, a first connecting tube 10280, a first bifurcation valve 10281, a second bifurcation valve 10282, a first guidewire 10283, a second guidewire 10284, and an injection module 10212. The first delivery kit includes a first port control mechanism 10271 located at the front end and a first clamping and rotating mechanism 10272 located at the rear end. The second delivery kit includes a second port control mechanism 102 located at the front end. 73 and a second clamping and rotating mechanism 10274 placed at the rear end, the middle part of the first bifurcation valve 10281 is mounted on the first port control mechanism 10271, the middle part of the first bifurcation valve 10281 is provided with a first bifurcation tube 102811, the first bifurcation tube 102811 of the first bifurcation valve 10281 extends out of the first port control mechanism 10271, the rear end of the first conduit 10279 is fixedly connected to the front end of the first bifurcation valve 10281, and the first guide wire 10283 passes through the main channel of the first bifurcation valve 10281. The first guide wire 10283 is inserted into the first conduit 10279. The middle portion of the first guide wire 10283 is mounted on the first clamping and rotating mechanism 10272. The middle portion of the second branch valve 10282 is mounted on the second port control mechanism 10273. The middle portion of the second branch valve 10282 is provided with a third branch pipe 102821, which extends out of the second port control mechanism 10273. The front end of the first connecting pipe 10280 is fixed to the first branch pipe 102811 of the first branch valve 10281. The rear end of the first connecting tube 10280 is fixedly connected to the front end of the second branch valve 10282. The second guide wire 10284 passes through the second branch valve 10282, the first connecting tube 10280, the first branch tube 102811 and the first branch valve 10281 into the first conduit 10279. The middle part of the second guide wire 10284 is mounted on the second clamping and rotating mechanism 10274. The injection tube 102121 of the injection module 10212 is connected to the third branch tube 102821 of the second branch valve 10282.

[0072] Preferably, the body of the first bifurcation valve 10281 is fixedly mounted on the first port control mechanism 10271. The front end of the first bifurcation valve 10281 is the first catheter connector a, and the rear end of the main channel of the first bifurcation valve 10281 is the first valve connector a. The first bifurcation valve 10281 is a Y valve, but it can also be a T valve. The first port control mechanism 10271 can support and fix the first bifurcation valve 10281. The first port control mechanism 10271 includes a first port driving mechanism and a port rotation mechanism. The first port driving mechanism is used to drive the first valve connector a to open or close the channel, thereby preventing blood or contrast agent leakage. The port rotation mechanism is used to drive the first catheter connector a of the first bifurcation valve 10281 to rotate.

[0073] Preferably, the body of the second bifurcation valve 10282 is fixedly mounted on the second port control mechanism 10273. The front end of the second bifurcation valve 10282 is the second catheter connector, and the rear end of the second bifurcation valve 10282 is the second valve connector a. The first bifurcation valve is a Y valve, but it can also be a T valve. The second port control mechanism 10273 includes a second port drive mechanism and a port rotation mechanism. The second port drive mechanism is used to drive the second valve connector a to open or close the channel, thereby preventing blood or contrast agent leakage. The port rotation mechanism is used to drive the second catheter connector of the second bifurcation valve 10282 to rotate.

[0074] Preferably, the linear guide rail assembly 10297 is provided in two sets, with the first delivery kit and the second delivery kit respectively disposed on one set of linear guide rail assemblies. The first port control mechanism 10271 and the first clamping rotation mechanism 10272 are arranged sequentially from front to back in the delivery direction, and the second port control mechanism 10273 and the second clamping rotation mechanism 10274 are arranged sequentially from front to back in the delivery direction.

[0075] When the second delivery kit and the first delivery kit are oriented in the same direction relative to the linear guide group 10297, the first connecting tube 10280 crosses the gap between the two linear guide groups 10297 and its front end is connected to the first branch tube 102811.

[0076] When the second delivery kit and the first delivery kit are oriented opposite to each other relative to the linear guide group 10297, the first connecting tube 10280 bends 180 degrees and crosses the gap between the two linear guide groups 10297, and its front end connects to the first branch tube 102811.

[0077] Preferably, the first catheter 10279 is a sheath, the first guidewire 10283 is an angiography guidewire or a finger guidewire, the second guidewire 10284 is an angiography guidewire or a finger guidewire, and the injection module injects liquid, which is a contrast agent, heparinized saline, nitroglycerin, or physiological saline.

[0078] A method for operating a robot slave device.

[0079] 1. The first catheter 10279 and the first guide wire 10273 are placed or delivered into position by a manual or remote control device, and the opening structure or quick clamping structure of all or part of the mechanism is opened.

[0080] 2. Connect the front end of the first connecting pipe 10280 to the first branch pipe 102811 of the first branch valve 10281, connect the rear end of the first connecting pipe 10280 to the second branch valve 10282, insert the second guide wire 10284 into the second branch valve 10282, and continue along the first connecting pipe 10280, the first branch pipe 102811, and the first branch valve 10281 into the first conduit 10279;

[0081] 3. Install the second bifurcation valve 10282 in the second port control mechanism 10273, and install the middle part of the second guide wire 10284 on the second clamping and rotating mechanism 10274 (insert it from the through hole of the second clamping and rotating mechanism 10274 or install it from the side slot after opening the cover of the second clamping and rotating mechanism 10274).

[0082] IV. Lock the opening structure or quick clamping structure of each mechanism. After installation, perform one or more combinations of liquid injection, rotation delivery of the first guide wire 10283, and rotation delivery of the second guide wire 10284.

[0083] Preferably, when the operator controls the injection of liquid from the end device, the first port control mechanism 10271 closes the rear channel of the first branch valve 10281, the second port control mechanism 10273 closes the rear channel of the second branch valve 10282, and then the injection module injects liquid through the third branch pipe 102821 on the second branch valve 10282.

[0084] Preferably, when the operator controls the delivery of the first guide wire 10283 by the end device, the first clamping and rotating mechanism 10272 always clamps the first guide wire 10283, and the telescopic sleeve between the first port control mechanism 10271 and the first clamping and rotating mechanism adaptively adjusts its length to support the first guide wire, prevent it from bending, and realize long-distance rotational delivery of the first guide wire.

[0085] When the operator controls the delivery of the second guide wire 10284 from the end device, the second clamping and rotating mechanism 10274 always clamps the second guide wire 10284. The telescopic sleeve between the second port control mechanism 10282 and the second clamping and rotating mechanism adaptively adjusts its length to support the second guide wire, prevent it from bending, and realize long-distance rotational delivery of the second guide wire.

[0086] Example 3

[0087] 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:

[0088] like Figure 9As shown, the first bifurcation valve 10281 has a catheter connector b102813 at its front end, and a first valve connector b102814 and a second valve connector b102815 at the rear ends of the main channel and bifurcation pipe of the first bifurcation valve 10281, respectively. The first bifurcation valve 10281 is a Y valve or a T valve. In this embodiment, the first bifurcation valve is a T valve. The catheter connector b of the first bifurcation valve 10281 is connected to a flexible connecting tube. The first port control mechanism can support and fix the first bifurcation valve 10281. The first port control mechanism includes a first port drive mechanism, a second port drive mechanism, and a port rotation mechanism. The first port drive mechanism and the second port drive mechanism are used to drive the first valve connector b102814 and the second valve connector b102815 to open or close the channel, thereby preventing blood or contrast agent leakage. The port rotation mechanism is used to drive the catheter connector b of the first bifurcation valve 10281 to rotate.

[0089] Example 4

[0090] The parts that are the same as those in Example 3 will not be described in detail. The differences are as follows:

[0091] Specifically, such as Figures 10-13 As shown, the two linear guide rail groups c102701 are the first linear guide rail group 10270101 and the second linear guide rail group 10270102, respectively. The first linear guide rail group 10270101 has a first delivery kit and a third delivery kit placed sequentially, one in front of the other. The second linear guide rail group 10270102 has a second delivery kit. The first delivery kit includes a first port control mechanism c10261 located at the front end and a first clamping and rotating mechanism c10262 located at the rear end. The second delivery kit includes a second port control mechanism c10261 located at the front end and a second clamping and rotating mechanism c10265 located at the rear end. The third delivery kit includes a third port control mechanism c10265 located at the front end. Mechanism c10263 and third clamping and rotating mechanism c10264 placed at the rear end; first port control mechanism c10261 is fixed on linear guide rail assembly c102701, first clamping and rotating mechanism c10262 and third port control mechanism c10263 are mounted on first linear guide rail assembly 10270101 through a module fixing seat and move synchronously; first bifurcation valve c10287 is installed on first port control mechanism c10261 and / or third port control mechanism c10263, and third intervention consumable passes through the bifurcation tube of the first bifurcation valve on first port control mechanism c10261 or the bifurcation tube of the first bifurcation valve on third port control mechanism c10263.

[0092] In this embodiment, a first branch valve c10287 is installed on the third port control mechanism c10263. The first branch valve c10287 in this embodiment is a T valve, but it can also be a Y valve. The third intervention consumable passes through the branch pipe of the first branch valve c10287 on the third port control mechanism c10263.

[0093] The variable track tube is a telescopic variable track tube, which includes telescopic sleeves 103302 that are coaxially connected in stages. The ends of the last section and the first section of the telescopic sleeve 103302 are respectively provided with a first bending structure and a second bending structure. When the telescopic sleeve 103302 is stretched or shortened as the distance between the front and rear ends of the telescopic variable track tube changes, the first bending structure and the second bending structure will bend and deform under the action of external force.

[0094] The front end of the telescopic variable rail tube is fixedly connected to one of the branch pipes on the first branch valve c10287, and the rear end of the telescopic variable rail tube is fixedly connected to the second port control mechanism c on the second linear guide rail group. At this time, the second port control mechanism c only plays a supporting role. The second port control mechanism and the second clamping and rotating mechanism are mounted on the second linear guide rail group 10270102 through a module fixing seat and move synchronously. The telescopic variable rail tube guides the third intervention consumable from the second linear guide rail group to the delivery line where the first linear guide rail group is located.

[0095] The first bending structure is a first flexible hose 1033020021, which is connected to the last section of the telescopic sleeve 103302. The second bending structure is a second flexible hose 1033020022, which is connected to the foremost section of the telescopic sleeve 103302. The first flexible hose 1033020021 and the second flexible hose 1033020022 are respectively provided with locking parts at the ends away from the telescopic sleeve 103302. The locking parts of the first flexible hose 1033020021 and the second flexible hose 1033020022 can be locked by corresponding external locking mechanisms.

[0096] Furthermore, the first flexible hose 1033020021 and the second flexible hose 1033020022 are respectively provided with hinge support structures 1033020023. Each hinge support structure 1033020023 includes a first hinge plate 10330200231 and a second hinge plate 10330200232. One end of each hinge plate is hinged to the other, and the other end is fixedly connected to a limiting sleeve 1. 0330200233, the limiting sleeve 10330200233 is worn outside the first hose 1033020021 or the second hose 1033020022, which can guide the bending direction of the first hose 1033020021 or the second hose 1033020022, avoid excessive bending, and prevent the first hose 1033020021 or the second hose 1033020022 from being damaged. When the material of the first hose 1033020021 or the second hose 1033020022 is relatively hard, the hinge support structure 1033020023 may not be provided.

[0097] To prevent interventional consumables from getting stuck on the end faces between different sections of the telescopic sleeve 103302 when inserted from the front or rear end, the telescopic sleeve 103302 is fitted with a guide tube 1033020031 to facilitate the smooth passage of the interventional consumables through the telescopic sleeve 103302. One end of the guide tube 1033020031 is connected to the thinnest section of the telescopic sleeve 103302, and the other end of the guide tube 1033020031 extends toward the thickest section of the telescopic sleeve 103302. The guide tube 1033020031 is a flexible guide tube.

[0098] Each or several sections of the telescopic sleeve are provided with a connecting part 103302001. Except for the section with the largest diameter on the telescopic sleeve, the connecting parts on the other sections of the telescopic sleeve are located at the head end of the section. When two adjacent sections of the telescopic sleeve gradually contract, the connecting parts of the two adjacent sections abut against each other, or the connecting part of the previous section abuts against the end face of the next section, so as to prevent the previous section of the telescopic sleeve from being completely inserted into the next section.

[0099] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A multi-channel interventional robotic slave device for interventional consumables from a bifurcation of a bifurcated valve, characterized in that, It includes two sets of linear guide rails, each set of linear guide rails is equipped with at least one delivery kit, the delivery kit includes a port control mechanism placed at the front end and a clamping and rotating mechanism placed at the rear end, the two sets of linear guide rails are a first linear guide rail set and a second linear guide rail set, a port control valve is installed on the port control mechanism of the delivery kit in the first linear guide rail set, the port control valve is a first bifurcation valve, the first bifurcation valve is provided with at least one bifurcation pipe, the bifurcation pipe is connected to the port control mechanism of the delivery kit in the second linear guide rail set through a rail changer pipe.

2. The multi-channel interventional robotic slave device from a bifurcated valve's bifurcations into an interventional consumable of claim 1, wherein, A second interventional consumable is mounted on the clamping and rotating mechanism of the delivery kit in the first linear guide group, and a third interventional consumable is mounted on the clamping and rotating mechanism of the delivery kit in the second linear guide group. The second interventional consumable passes through the main channel of the first branch valve, and the third interventional consumable passes through the branch pipe of the first branch valve.

3. The multi-channel interventional robotic slave device from a bifurcated valve's bifurcations into an interventional consumable of claim 2, wherein, The first linear guide rail assembly is provided with a first delivery kit, which includes a first port control mechanism placed at the front end and a first clamping and rotating mechanism placed at the rear end; the second linear guide rail assembly is provided with a second delivery kit, which includes a second port control mechanism placed at the front end and a second clamping and rotating mechanism placed at the rear end; a first bifurcation valve is installed on the first port control mechanism, and the third intervention consumable passes through the bifurcation tube of the first bifurcation valve on the first port control mechanism; Alternatively, a first delivery kit and a third delivery kit may be placed sequentially on the first linear guide group, one in front of the other, and a second delivery kit may be provided on the second linear guide group. The first delivery kit includes a first port control mechanism placed at the front end and a first clamping and rotating mechanism placed at the rear end. The second delivery kit includes a second port control mechanism placed at the front end and a second clamping and rotating mechanism placed at the rear end. The third delivery kit includes a third port control mechanism placed at the front end and a third clamping and rotating mechanism placed at the rear end. A first bifurcation valve may be installed on the first port control mechanism and / or the third port control mechanism, and the third intervention consumable may pass through the bifurcation tube of the first bifurcation valve on the first port control mechanism or the bifurcation tube of the first bifurcation valve on the third port control mechanism.

4. The multi-channel interventional robotic slave device from a bifurcated valve's bifurcations into an interventional consumable of claim 3, wherein, The variable track tube is a telescopic variable track tube, which includes telescopic sleeves of different sections coaxially connected in stages. The ends of the last section and the first section of the telescopic sleeve are respectively provided with a first bending structure and a second bending structure. When the telescopic sleeve is stretched or shortened as the distance between the front and rear ends of the telescopic variable track tube changes, the first bending structure and the second bending structure will bend and deform under the action of external force.

5. The multi-channel intervention robot slave device for inserting consumables from the branch of the bifurcation valve according to claim 4, characterized in that, The front end of the telescopic variable rail tube is fixedly connected to one of the branch pipes on the first branch valve, and the rear end of the telescopic variable rail tube is fixedly connected to the second port control mechanism on the second linear guide rail group. The telescopic variable rail tube guides the third intervention consumable from the second linear guide rail group to the delivery line where the first linear guide rail group is located.

6. The multi-channel interventional robotic slave device from a bifurcated valve's bifurcations into an interventional consumable of claim 4, wherein, Each or several sections of the telescopic sleeve are provided with a connecting part. Except for the section with the largest diameter on the telescopic sleeve, the connecting parts on the other sections of the telescopic sleeve are located at the head end of the section. When two adjacent sections of the telescopic sleeve gradually contract, the connecting parts of the two adjacent sections abut against each other, or the connecting part of the previous section abuts against the end face of the next section, so as to prevent the previous section of the telescopic sleeve from being completely inserted into the next section.

7. The multi-channel interventional robotic slave device from a bifurcated valve's bifurcations into an interventional consumable of claim 3, wherein, The first port control mechanism is equipped with a first bifurcation valve. The rear end of the first interventional consumable is fixedly connected to the front end of the first bifurcation valve. The second interventional consumable is inserted into the first interventional consumable through the main channel of the first bifurcation valve. The middle part of the second interventional consumable is installed on the first clamping and rotating mechanism. The front end of the variable rail tube is fixedly connected to the first bifurcation tube on the first bifurcation valve. The rear end of the variable rail tube is fixedly connected to the second port control mechanism. The third interventional consumable is inserted into the first interventional consumable through the variable rail tube, the first bifurcation tube, and the first bifurcation valve. The middle part of the third interventional consumable is installed on the second clamping and rotating mechanism.

8. The multi-channel intervention robot slave device for entering intervention consumables from the branch valve according to claim 2, characterized in that, The first branch valve is provided with two branch pipes, namely the first branch pipe and the second branch pipe, which are arranged alternately on the body of the first branch valve. Alternatively, the first branch valve may be provided with a first branch pipe, and a second branch pipe may be provided on the side of the first branch pipe. The second branch pipe may be integrally formed with the first branch pipe or connected by a quick-connect structure, wherein the quick-connect structure is a threaded joint or a snap-fit ​​structure.

9. The multi-channel interventional robotic slave device from a bifurcated valve's bifurcations into an interventional consumable of claim 8, wherein, The third interventional consumable passes through the first branch pipe of the first branch valve, and the second branch pipe is connected to the drug injection module through the first connecting pipe to realize drug injection. At this time, the drug injected by the drug injection module is guided by the first connecting pipe and the second branch pipe, enters the first branch valve, and then enters the catheter connected to the front end of the first delivery kit under the guidance of the first branch valve.

10. The multi-channel interventional robotic slave device from a bifurcated valve's bifurcations into an interventional consumable of claim 1, wherein, The first bifurcation valve has a conduit connector at its front end. The main channel of the first bifurcation valve and the rear end of one of the bifurcation pipes are respectively provided with a first valve connector and a second valve connector. The first bifurcation valve is a Y valve or a T valve. The conduit connector of the first bifurcation valve is connected to a flexible connecting pipe. The first port control mechanism can support and fix the first bifurcation valve. The first port control mechanism includes a first port drive mechanism, a second port drive mechanism, and a port rotation mechanism. The first port drive mechanism and the second port drive mechanism are used to drive the first valve connector and the second valve connector to open or close the channel, thereby preventing blood or contrast agent leakage. The port rotation mechanism is used to drive the conduit connector of the first bifurcation valve to rotate.

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