Surgical assistance system

Abstract

The application relates to a surgical auxiliary system which comprises a machine body, an executor, a first adapter and a second adapter. The executor is rotationally connected to the machine body and comprises a first transmission group and a second transmission group; the executor has a first installation position and a second installation position relative to the machine body; in the first installation position, the first adapter is detachably connected with the first transmission group; the first adapter is used for installing a first aortic valve repair instrument; in the second installation position; the second adapter is detachably connected with the second transmission group; the second adapter is used for installing a second aortic valve repair instrument. The surgical auxiliary system can regulate the position of the executor relative to the machine body according to different surgical path requirements in the clinic, can realize aortic valve replacement surgery of a femoral artery surgical path and can realize aortic valve replacement surgery of a heart apex surgical path, and meets the requirement that a doctor is located at different operation sides of a patient.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and in particular to surgical assistance systems. Background Technology

[0002] Aortic valve replacement surgery has two access routes: the femoral artery route, where a catheter is inserted through the femoral artery in the groin, travels retrogradely along the aortic arch, and operates at the valve orifice where the left ventricle drains into the aorta; and the apical route, where a small incision is made in the left intercostal space to directly access the apex of the heart before inserting the catheter. In clinical practice, surgeons need to assess the appropriate surgical route based on the patient's condition. However, different surgical routes require different surgical robots to operate on, allowing the surgeon to be positioned on different sides of the patient during the procedure. Utility Model Content

[0003] Therefore, it is necessary to provide a surgical assistance system to address the issue that different surgical robots are required to operate when different surgical approaches are needed during aortic valve replacement surgery in clinical practice.

[0004] A surgical assistance system comprising:

[0005] body;

[0006] An actuator is rotatably connected to the machine body and includes a first transmission group and a second transmission group; the actuator has a first mounting position and a second mounting position relative to the machine body;

[0007] A first adapter; at the first mounting position, the first adapter is detachably connected to the first transmission assembly; the first adapter is used to mount a first aortic valve repair device;

[0008] A second adapter is located in the second mounting position; the second adapter is detachably connected to the second transmission assembly; the second adapter is used to mount a second aortic valve repair device.

[0009] In some embodiments, the surgical assistance system includes a rotation adjustment assembly; the rotation adjustment assembly is mounted between the body and the actuator;

[0010] The rotation adjustment component is used to drive the actuator to switch between the first installation position and the second installation position relative to the machine body.

[0011] In some embodiments, the rotation adjustment assembly includes two rotating parts that are rotatably connected to each other;

[0012] One of the rotating components is mounted on the machine body, and the other rotating component is mounted on the actuator.

[0013] In some embodiments, the rotation adjustment assembly includes:

[0014] The first rotating component is fixedly connected to the body and has a mounting cavity; the side wall of the mounting cavity has two opposing first mounting holes that penetrate the mounting cavity.

[0015] The second rotating member is fixedly connected to the actuator; the second rotating member extends at least partially into the mounting cavity and is rotatably connected to the cavity wall of the mounting cavity; and the second rotating member is provided with a second mounting hole.

[0016] Locking element; when the second rotating element rotates relative to the first rotating element to the first mounting position or the second mounting position, the first mounting hole and the second mounting hole are opposite each other, and the locking element can extend into the first mounting hole and the second mounting hole.

[0017] In some embodiments, the second rotating member includes a first rotating portion and a second rotating portion connected to each other and having different radial dimensions; the radial dimension of the first rotating portion is larger than the radial dimension of the second rotating portion.

[0018] The mounting cavity includes a first mounting sub-cavity and a second mounting sub-cavity that are connected to each other; the radial dimension of the first mounting sub-cavity is larger than the radial dimension of the second mounting sub-cavity;

[0019] The first rotating part is housed within the first mounting sub-cavity; the second rotating part is at least partially housed within the second mounting sub-cavity.

[0020] In some embodiments, the first rotating part and the second rotating part are detachably connected.

[0021] In some embodiments, the second rotating member further includes a third rotating part;

[0022] The third rotating part is connected to the side of the second rotating part away from the first rotating part, and the radial dimension of the third rotating part is greater than the radial dimension of the second rotating part;

[0023] The third rotating part is fixedly connected to the actuator on the side opposite to the second rotating part.

[0024] In some embodiments, the rotation adjustment assembly further includes a shim;

[0025] The gasket is sleeved on the second rotating part and accommodated in the first mounting cavity, and the gasket abuts against the bottom wall of the first mounting cavity.

[0026] In some embodiments, the sidewall of the second mounting cavity is recessed radially toward the side opposite to the cavity body to form a first snap-fit ​​groove;

[0027] The rotation adjustment assembly further includes a first bushing sleeved on the outer periphery of the second rotating part; the first bushing includes a first snap-fit ​​part and a second snap-fit ​​part that are connected to each other and have different radial dimensions;

[0028] The radial dimension of the first snap-fit ​​portion is greater than the radial dimension of the second snap-fit ​​portion;

[0029] The first snap-fit ​​portion extends at least partially into the first snap-fit ​​groove.

[0030] In some embodiments, the sidewall of the second mounting cavity is recessed radially toward the side opposite to the cavity to form a second snap-fit ​​groove, and the second snap-fit ​​groove is spaced apart from the first snap-fit ​​groove.

[0031] The rotation adjustment assembly further includes a second bushing sleeved on the outer periphery of the second rotating part; the second bushing is spaced apart from the first bushing; the second bushing includes a third snap-fit ​​part and a fourth snap-fit ​​part that are connected to each other and have different radial dimensions;

[0032] The radial dimension of the third snap-fit ​​portion is greater than the radial dimension of the fourth snap-fit ​​portion;

[0033] The third snap-fit ​​portion extends at least partially into the second snap-fit ​​groove.

[0034] In some embodiments, the cavity wall of the mounting cavity is provided with a first limiting protrusion facing the inner side of the cavity;

[0035] The second rotating member has a second limiting protrusion;

[0036] When the second rotating member rotates relative to the first rotating member to the first mounting position or the second mounting position, the first limiting protrusion abuts against the second limiting protrusion.

[0037] In some embodiments, the rotation adjustment assembly further includes a mounting base;

[0038] The mounting base is connected between the machine body and the first rotating component; and the mounting base covers the opening of the mounting cavity.

[0039] In some embodiments, the surgical assistance system further includes a sliding component;

[0040] The sliding component is installed between the actuator and the body to drive the actuator to slide relative to the body.

[0041] In some embodiments, the sliding component includes:

[0042] The slider is fixedly connected to the first rotating component; and

[0043] A sliding groove is installed on the actuator and is slidably connected to the slider.

[0044] In some embodiments, the surgical assistance system further includes a magnetic guide rod;

[0045] The magnetic guide rod is detachably connected to the slider; the magnetic guide rod is configured with a guide hole adapted to the catheter of the first aortic valve repair device; and / or the magnetic guide rod is configured with a guide hole adapted to the catheter of the second aortic valve repair device.

[0046] The surgical assistance system also includes a magnetic fixation component;

[0047] The magnetic fixation component is detachably connected to the slider; the magnetic fixation component is configured with a fixation hole adapted to the inner sheath of the first aortic valve repair device; and / or the magnetic fixation component is configured with a fixation hole adapted to the inner sheath of the second aortic valve repair device.

[0048] In some embodiments, the actuator is configured with a receiving cavity;

[0049] The first transmission assembly and the second transmission assembly are at least partially housed within the accommodating cavity;

[0050] The first transmission group and the second transmission group are symmetrically arranged and share a common drive group.

[0051] When the surgeon assesses that the patient requires aortic valve replacement surgery via a femoral artery approach, the actuator is rotated relative to the main unit to the first mounting position, and the first adapter is connected to the actuator's first transmission assembly. After surgical preparation, the first aortic valve repair device is installed onto the first adapter, and its movement is controlled by the first adapter. Conversely, when the surgeon assesses that the patient requires aortic valve replacement surgery via a transapical approach, the actuator is rotated relative to the main unit to the second mounting position, and the second adapter is connected to the actuator's second transmission assembly. After surgical preparation, the second aortic valve repair device is installed onto the second adapter, and its movement is controlled by the second adapter. This allows the surgical assistance system to adjust the actuator's position relative to the main unit according to different clinical surgical pathway requirements, thereby equipping either the first or second adapter. Ultimately, a single surgical assistance system was developed that can perform aortic valve replacement surgery via both the femoral artery and the apex of the heart, meeting the needs of surgeons operating from different sides of the patient. Attached Figure Description

[0052] Figure 1 This is a schematic diagram of the surgical assistance system provided in some embodiments of this application, using the femoral artery route during aortic valve replacement surgery.

[0053] Figure 2 This is a schematic diagram of the procedure for aortic valve replacement surgery using a catheter via the apical approach, provided by the surgical assistance system according to some embodiments of this application.

[0054] Figure 3 for Figure 1 The diagram shows the connection of the actuator, rotation adjustment component, and sliding component in the surgical assistance system.

[0055] Figure 4 for Figure 3 A schematic diagram of the rotation adjustment assembly is shown.

[0056] Figure 5 for Figure 4 The diagram shows the internal structure of the rotation adjustment assembly.

[0057] Figure 6 for Figure 3 A schematic diagram of the first rotating component, the second rotating component, and the locking component in the rotation adjustment assembly shown.

[0058] Figure 7 for Figure 3 A schematic diagram of the first rotating component in the rotation adjustment assembly shown.

[0059] Figure 8 for Figure 7 The top view of the first rotating component is shown.

[0060] Figure 9 for Figure 6 This is a schematic diagram of the first rotating component in the rotation adjustment assembly rotating relative to the second rotating component to the first installation position.

[0061] Figure 10 for Figure 5 The diagram shows the connection between the second mounting part and the third mounting part in the second rotating member.

[0062] Figure 11 for Figure 1 The diagram shows the combination of the first adapter, the first aortic valve repair instrument, the magnetic guide rod, and the magnetic fixation assembly in the surgical assistance system.

[0063] Figure 12 for Figure 3 The diagram shows the internal structure of the actuator.

[0064] Figure label:

[0065] 100 - fuselage; 110 - hospital bed;

[0066] 200 - Actuator; 200a - Receiving cavity; 210 - First transmission group; 220 - Second transmission group; 230 - Transmission structure; 240 - Power source;

[0067] 300 - First Adapter;

[0068] 400 - Second Adapter;

[0069] 500 - Rotation adjustment assembly; 510 - First rotating component; 511 - Mounting cavity; 511a - First mounting hole; 511b - First limiting protrusion; 511b1 - First limiting surface; 511b2 - Second limiting surface; 5111 - First mounting sub-cavity; 5112 - Second mounting sub-cavity; 51121 - First snap-fit ​​groove; 51122 - Second snap-fit ​​groove; 520 - Second rotating component; 520a - Second mounting hole; 5 20b - Second limiting protrusion; 520b1 - Third limiting surface; 520b2 - Fourth limiting surface; 521 - First rotating part; 522 - Second rotating part; 523 - Third rotating part; 530 - Locking element; 540 - Washer; 550 - First bushing; 551 - First locking part; 552 - Second locking part; 560 - Second bushing; 561 - Third locking part; 562 - Fourth locking part; 570 - Mounting base;

[0070] 600 - Sliding component; 610 - Slider; 620 - Sliding groove;

[0071] 700 - Magnetic guide rod; 710 - Guide hole;

[0072] 800 - Magnetic fixing component; 810 - Fixing hole;

[0073] 910 - First aortic valve repair device; 920 - Second aortic valve repair device; 930 - Catheter; 931 - Outer sheath; 932 - Middle sheath; 933 - Inner sheath. Detailed Implementation

[0074] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0075] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0076] Furthermore, where the terms "first" and "second" appear, these terms are 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 with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0077] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0078] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0079] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0080] Aortic valve replacement surgery has two access routes: one is the femoral artery route, where a catheter is inserted through the femoral artery in the groin, travels retrogradely along the aortic arch, and is operated on at the valve orifice where the left ventricle outputs to the aorta. The other is the apical route, where a small incision is made in the left intercostal space to directly access the apex of the heart, where a catheter is then inserted for the procedure. In clinical practice, surgeons need to assess the appropriate surgical route based on the patient's condition. However, different surgical routes require different surgical robots to operate on, thus meeting the surgeon's needs from different operating positions on the patient's side. Based on these usage scenarios, this application provides a surgical assistance system.

[0081] See Figure 1 and Figure 2 and combined Figure 12 , Figure 1The illustration shows a surgical procedure in which the catheter 930 is routed through the femoral artery during aortic valve replacement surgery using the surgical assistance system provided in some embodiments of this application. Figure 2 This illustration shows a surgical procedure using the surgical assistance system provided in some embodiments of this application, with the catheter 930 passing through the apex of the heart during aortic valve replacement surgery. One embodiment of the surgical assistance system provided in this application includes a body 100, an actuator 200, a first adapter 300, and a second adapter 400. The actuator 200 is rotatably connected to the body 100 and includes a first transmission assembly 210 and a second transmission assembly 220. The actuator 200 has a first mounting position and a second mounting position relative to the body 100. In the first mounting position, the first adapter 300 is detachably connected to the first transmission assembly 210; the first adapter 300 is used to mount a first aortic valve repair device 910. In the second mounting position, the second adapter 400 is detachably connected to the second transmission assembly 220; the second adapter 400 is used to mount a second aortic valve repair device 920.

[0082] In some embodiments, the first aortic valve repair device 910 is a surgical instrument via the femoral artery approach. The second aortic valve repair device 920 is a surgical instrument via the apical approach.

[0083] The first adapter 300 is a structure adapted to surgical instruments via the femoral artery approach. The first adapter 300 is equipped with a transmission component adapted to the adjustment button on the surgical instrument via the femoral artery approach. The main body 100 is equipped with a transmission structure 230 and a power source 240. Power is transmitted to the first transmission group 210 through the power source 240 and the transmission component. The first transmission group 210 transmits the power to the first aortic valve repair device 910, thereby enabling the doctor to remotely control the first aortic valve repair device 910, such as operating it outside the operating room. This reduces the radiation damage to the doctor and the intensity of the operation, while also further improving the precision of the surgical operation.

[0084] The second adapter 400 is a structure adapted to surgical instruments using the transapical approach. The second adapter 400 is equipped with a transmission component adapted to the adjustment buttons on the transapical surgical instruments. The main body 100 is equipped with a transmission structure 230 and a power source 240. Power is transmitted to the second transmission group 220 via the power source 240 and the transmission assembly. The second transmission group 220 transmits power to the second aortic valve repair device 920, thereby enabling the surgeon to remotely control the second aortic valve repair device 920, for example, operating it outside the operating room. This reduces radiation exposure to the surgeon, lowers the surgeon's workload, and further improves surgical precision.

[0085] In some embodiments, the fuselage 100 also includes a hospital bed 110 on which the patient lies supine. It should be noted that... (See also...) Figure 1 When aortic valve replacement surgery is performed via the femoral artery, the surgeon needs to be positioned on the patient's right side for better surgical technique. For aortic valve replacement surgery via the apex of the heart, please refer to [link to relevant medical information]. Figure 2 At this point, the doctor needs to be positioned on the patient's left side to facilitate the doctor's operation. Here, left and right refer to... Figure 1 and Figure 2 The two sides along the yy' direction.

[0086] When the aforementioned surgical assistance system is in use, if the physician assesses that the patient requires aortic valve replacement surgery via a femoral artery approach, the actuator 200 is rotated relative to the body 100 to the first mounting position, and the first adapter 300 is connected to the first transmission assembly 210 of the actuator 200. After surgical preparation is completed, the first aortic valve repair device 910 is installed on the first adapter 300, and the movement of the first aortic valve repair device 910 is controlled by the first adapter 300. If the physician assesses that the patient requires aortic valve replacement surgery via a transapical approach, the actuator 200 is rotated relative to the body 100 to the second mounting position, and the second adapter 400 is connected to the second transmission assembly 220 of the actuator 200. After surgical preparation is completed, the second aortic valve repair device 920 is installed on the second adapter 400, and the movement of the second aortic valve repair device 920 is controlled by the second adapter 400. This allows the surgical assistance system to adjust the position of the actuator 200 relative to the main body 100 according to the different surgical pathways required in clinical practice, thereby equipping it with the first adapter 300 or the second adapter 400. Ultimately, this achieves the goal of requiring only one surgical assistance system to perform both aortic valve replacement surgery via the femoral artery approach and aortic valve replacement surgery via the apex of the heart approach, meeting the needs of surgeons positioned on different sides of the patient's body.

[0087] The following is a detailed explanation of the structure of the surgical assistance system.

[0088] Please see Figures 3-12 , Figure 3 It shows Figure 1 The diagram shows the connection of the actuator 200, the rotation adjustment component 500, and the sliding component 600 in the surgical assistance system. Figure 4 It shows Figure 3 A schematic diagram of the rotation adjustment assembly 500 shown. Figure 5 It shows Figure 4The diagram shows the internal structure of the rotation adjustment assembly 500. Figure 6 It shows Figure 3 A schematic diagram of the first rotating member 510, the second rotating member 520, and the locking member 530 in the rotation adjustment assembly 500 shown. Figure 7 It shows Figure 3 A schematic diagram of the first rotating member 510 in the rotation adjustment assembly 500 shown. Figure 8 It shows Figure 7 The top view of the first rotating member 510 shown. Figure 9 It shows Figure 6 This is a schematic diagram of the first rotating member 510 in the rotation adjustment assembly 500 rotating relative to the second rotating member 520 to the first installation position. Figure 10 It shows Figure 5 A schematic diagram showing the connection between the second mounting portion and the third mounting portion in the second rotating member 520. Figure 11 It shows Figure 1 The diagram shows the interaction of the first adapter 300, the first aortic valve repair instrument 910, the magnetic guide rod 700, and the magnetic fixation assembly 800 in the surgical assistance system. Figure 12 It shows Figure 3 The diagram shows the internal structure of the actuator 200.

[0089] Please see Figures 1-3 In some embodiments, the surgical assistance system includes a rotation adjustment assembly 500; the rotation adjustment assembly 500 is mounted between the body 100 and the actuator 200; the rotation adjustment assembly 500 is used to switch the actuator 200 relative to the body 100 from a first mounting position and a second mounting position. By providing the rotation adjustment assembly 500 between the body 100 and the actuator 200, the actuator 200 is rotated relative to the body 100, thereby enabling the switching operation of the actuator 200 between the first mounting position and the second mounting position.

[0090] In some embodiments, the rotation adjustment assembly 500 includes two rotating members rotatably connected to each other; one rotating member is mounted on the housing 100, and the other rotating member is mounted on the actuator 200. The two rotating members rotatably connected to each other allow the actuator 200 to rotate relative to the housing 100, thus facilitating the switching between a first mounting position and a second mounting position.

[0091] Please see Figure 3 and combined Figure 5 and Figure 6In some embodiments, the rotation adjustment assembly 500 includes a first rotating member 510, a second rotating member 520, and a locking member 530. The first rotating member 510 is fixedly connected to the body 100 and has a mounting cavity 511. The side wall of the mounting cavity 511 has two opposing first mounting holes 511a that penetrate the mounting cavity 511. The second rotating member 520 is fixedly connected to the actuator 200. The second rotating member 520 extends at least partially into the mounting cavity 511 and is rotatably connected to the cavity wall of the mounting cavity 511. The second rotating member 520 has a second mounting hole 520a. When the second rotating member 520 rotates relative to the first rotating member 510 to a first mounting position or a second mounting position, the first mounting hole 511a and the second mounting hole 520a are opposite each other, and the locking member 530 can extend into the first mounting hole 511a and the second mounting hole 520a.

[0092] When the physician determines that the patient's aortic valve replacement surgery will be performed via the femoral artery, the first step is to determine whether the actuator 200 is in the first mounting position relative to the body 100. If it is in the first mounting position, no adjustment is made. If it is not in the first mounting position, and the locking member 530 is inserted into the first mounting hole 511a and the second mounting hole 520a, the locking member 530 is first separated from the first mounting hole 511a and the second mounting hole 520a. Then, the actuator 200 is rotated so that it can rotate relative to the body 100 under the action of the second rotating member 520 until it reaches the first mounting position. At this point, the locking member 530 is inserted into the first mounting hole 511a and the second mounting hole 520a to lock the second rotating member 520 relative to the first rotating member 510, preventing the second locking member 530 from continuing to rotate relative to the first locking member 530. This ensures higher displacement accuracy of the first aortic valve repair instrument 910 during subsequent surgeries.

[0093] Similarly, when the physician determines that the patient's aortic valve replacement surgery will be performed via the apical approach, it is then determined whether the actuator 200 is in the second mounting position relative to the body 100. If it is in the second mounting position, no adjustment is made. If it is not in the second mounting position, and the locking member 530 is inserted into the first mounting hole 511a and the second mounting hole 520a, the locking member 530 is first separated from the first mounting hole 511a and the second mounting hole 520a. Then, the actuator 200 is rotated so that it can rotate relative to the body 100 under the action of the second rotating member 520 until it reaches the second mounting position. At this point, the locking member 530 is then inserted into the first mounting hole 511a and the second mounting hole 520a to lock the second rotating member 520 relative to the first rotating member 510, preventing the second locking member 530 from continuing to rotate relative to the first locking member 530. This ensures higher displacement accuracy of the second aortic valve repair device 920 during subsequent surgeries.

[0094] Please see Figure 5 In some embodiments, the second rotating member 520 includes a first rotating portion 521 and a second rotating portion 522 connected to each other and having different radial dimensions; the radial dimension of the first rotating portion 521 is larger than the radial dimension of the second rotating portion 522; the mounting cavity 511 includes a first mounting sub-cavity 5111 and a second mounting sub-cavity 5112 that are connected to each other; the radial dimension of the first mounting sub-cavity 5111 is larger than the radial dimension of the second mounting sub-cavity 5112; the first rotating portion 521 is accommodated within the first mounting sub-cavity 5111; and the second rotating portion 522 is at least partially accommodated within the second mounting sub-cavity 5112.

[0095] By configuring the second rotating member 520 as a first rotating part 521 and a second rotating part 522 connected to each other and having different radial dimensions, the second rotating member 520 is less likely to detach when it is engaged in the mounting cavity 511 due to its own dimensional variation. Specifically, the first rotating part 521 with a larger radial dimension engages in the first mounting sub-cavity 5111, while the second rotating part 522 with a smaller radial dimension engages in the second mounting sub-cavity 5112. This makes it less likely for the first mounting part to detach from the mounting cavity 511 from the side closest to the second rotating part 522.

[0096] Please see Figure 5 and combined Figure 10 In some embodiments, the first rotating part 521 and the second rotating part 522 are detachably connected. By detachably connecting the first rotating part 521 and the second rotating part 522, when assembling the second rotating member 520 and the first rotating member 510, the first rotating part 521 and the second rotating part 522 can be separated first, and then assembled together when installed in the mounting cavity 511, making the assembly process more convenient.

[0097] Please see Figure 5 In some embodiments, the second rotating member 520 further includes a third rotating part 523; the third rotating part 523 is connected to the side of the second rotating part 522 away from the first rotating part 521, and the radial dimension of the third rotating part 523 is larger than the radial dimension of the second rotating part 522; the side of the third rotating part 523 away from the second rotating part 522 is fixedly connected to the actuator 200.

[0098] By providing a third rotating part 523, and the radial dimension of the third rotating part 523 being greater than the radial dimension of the second rotating part 522, the second rotating part 520 is less likely to separate from the first rotating part 510 after the first rotating part 510 and the second rotating part 520 are assembled.

[0099] In one specific embodiment, the third rotating part 523 and the second rotating part 522 are integrally formed, and the second rotating part 522 is detachably connected to the first rotating part 521. This allows the second rotating part 522 to be inserted from the side of the second mounting cavity 5112 away from the first mounting cavity 5111 when assembling the second rotating part 520 and the first rotating part 510, while the first rotating part 521 is inserted from the side of the first mounting cavity 5111 away from the second mounting cavity 5112. The first rotating part 521 and the second rotating part are then connected by a connector, making the entire installation process relatively convenient.

[0100] Please see Figure 5 In some embodiments, the rotation adjustment assembly 500 further includes a shim 540; the shim 540 is sleeved on the second rotating part 522 and accommodated within the first mounting cavity 5111, and the shim 540 abuts against the bottom wall of the first mounting cavity 5111. This arrangement reduces the noise caused by friction when the second rotating part 520 rotates relative to the first rotating part 510. Specifically, the shim 540 can be made of plastic.

[0101] Please see Figure 5 In some embodiments, the sidewall of the second mounting cavity 5112 is recessed radially toward the side opposite to the cavity to form a first snap-fit ​​groove 51121; the rotation adjustment assembly 500 also includes a first bushing 550 sleeved on the outer periphery of the second rotating part 522; the first bushing 550 includes a first snap-fit ​​part 551 and a second snap-fit ​​part 552 connected to each other and having different radial dimensions; the radial dimension of the first snap-fit ​​part 551 is greater than the radial dimension of the second snap-fit ​​part 552; the first snap-fit ​​part 551 extends at least partially into the first snap-fit ​​groove 51121.

[0102] The first bushing 550 and the first locking groove 51121 cooperate to support the second rotating member 520 when it rotates relative to the first rotating member 510. This reduces the friction between the second rotating member 520 and the first rotating member 510 and ensures a high positional accuracy of the axial engagement between them. It also serves as a positioning tool, making the rotation process smoother and quieter when the second rotating member 520 and the first rotating member 510 rotate relative to each other.

[0103] Please see Figure 5In some embodiments, the sidewall of the second mounting cavity 5112 is recessed radially toward the side opposite to the cavity to form a second snap-fit ​​groove 51122, the second snap-fit ​​groove 51122 being spaced apart from the first snap-fit ​​groove 51121; the rotation adjustment assembly 500 also includes a second bushing 560 sleeved on the outer periphery of the second rotating part 522; the second bushing 560 is spaced apart from the first bushing 550; the second bushing 560 includes a third snap-fit ​​part 561 and a fourth snap-fit ​​part 562 connected to each other and having different radial dimensions; the radial dimension of the third snap-fit ​​part 561 is greater than the radial dimension of the fourth snap-fit ​​part 562; the third snap-fit ​​part 561 at least partially extends into the second snap-fit ​​groove 51122.

[0104] By engaging the second bushing 560 with the second locking groove 51122, the second bushing 560 can work with the first bushing 550 to support the second rotating member 520 when it rotates relative to the first rotating member 510. This reduces the friction between the second rotating member 520 and the first rotating member 510 and ensures a high axial positioning accuracy between them. It also serves as a positioning mechanism, making the rotation process smoother and quieter when the second rotating member 520 and the first rotating member 510 rotate relative to each other.

[0105] Please see Figure 6 , Figure 8 and Figure 9 In some embodiments, the cavity wall of the mounting cavity 511 has a first limiting protrusion 511b protruding towards the inner side of the cavity; the second rotating member 520 is constructed with a second limiting protrusion 520b; when the second rotating member 520 rotates relative to the first rotating member 510 to the first mounting position or the second mounting position, the first limiting protrusion 511b and the second limiting protrusion 520b abut against each other. Through the abutment of the first limiting protrusion 511b and the second limiting protrusion 520b, the second rotating member 520 can output a force feedback to the user through its own structure when it rotates relative to the first rotating member 510 to the first mounting position or the second mounting position, so that the user knows that the rotation position has been reached based on this force feedback signal, which facilitates operation.

[0106] Specifically, the first limiting protrusion 511b has a first limiting surface 511b1 and a second limiting surface 511b2 along its circumferential direction. The second limiting protrusion 520b has a third limiting surface 520b1 and a fourth limiting surface 520b2 along its circumferential direction. Figure 9As shown, when the second rotating member 520 rotates relative to the first rotating member 510 to the first mounting position, the first limiting surface 511b1 can abut against the third limiting surface 520b1, thus restricting further counterclockwise rotation of the second rotating member 520. When the second rotating member 520 rotates relative to the first rotating member 510 to the second mounting position, the second limiting surface 511b2 can abut against the fourth limiting surface 520b2, thus also restricting further clockwise rotation of the second rotating member 520.

[0107] In some embodiments, in the first mounting position, the first limiting surface 511b1 abuts against the third limiting surface 520b1, while the second limiting surface 511b2 and the fourth limiting surface 520b2 are located on opposite sides of the second rotating member 520 in the radial direction. In the second mounting position, the second limiting surface 511b2 abuts against the fourth limiting surface 520b2, while the first limiting surface 511b1 and the third limiting surface 520b1 are located on opposite sides of the second rotating member 520 in the radial direction. This arrangement allows the actuator 200 to switch between the first and second mounting positions every 180° rotation.

[0108] Please see Figures 3-5 In some embodiments, the rotation adjustment assembly 500 further includes a mounting base 570; the mounting base 570 is connected between the body 100 and the first rotating member 510; and the mounting base 570 covers the opening of the mounting cavity 511. By providing the mounting base 570, and having the mounting base 570 cover the opening of the mounting cavity 511, the connection between the body 100 and the first rotating member 510 is more convenient. Furthermore, the mounting base 570 can also shield the structural components within the mounting cavity 511, making the entire rotation adjustment assembly 500 appear smooth and neat from the outside, reducing the possibility of dirt and grime accumulating within the mounting cavity 511, and making it easier for the entire rotation adjustment assembly 500 to meet aseptic requirements and surgical environment requirements.

[0109] Please see Figures 1-3 In some embodiments, the surgical assistance system further includes a sliding component 600; the sliding component 600 is mounted between the actuator 200 and the body 100 to drive the actuator 200 to slide relative to the body 100. By providing the sliding component 600, the actuator 200 can slide relative to the body 100, thereby facilitating the adjustment of the adapter relative to the body 100.

[0110] It should be noted that the actuator 200 in this application is a cuboid structure. Along the length of the actuator 200, one end is the power source 240, and the other end is used to assemble the first adapter 300 or the second adapter 400. When it is necessary to adjust the position of the actuator 200 relative to the body 100, the actuator 200 can be slid relative to the body 100 to about the middle position by the sliding component 600. Then, the position of the actuator 200 relative to the body 100 can be adjusted by the rotation adjustment component 500. This allows the longer actuator 200 to rotate easily during rotation, avoiding the mechanical arm on the body 100 from restricting the rotation of the actuator 200.

[0111] In this application, the actuator 200 is designed such that the power source 240 is located at one end along the length of the actuator 200, while the first adapter 300 or the second adapter 400 is located at the other end. This makes it easier to meet the requirement that the end of the medical device closest to the patient be a sterile environment.

[0112] Please see Figures 1-3 In some embodiments, the sliding assembly 600 includes a slider 610 and a sliding groove 620. The slider 610 is fixedly connected to the first rotating member 510; the sliding groove 620 is mounted on the actuator 200 and slidably connected to the slider 610. Through the cooperation of the slider 610 and the sliding groove 620, the actuator 200 can slide relative to the body 100, which is relatively simple and convenient.

[0113] Please see Figure 1 , Figure 2 as well as Figure 11 In some embodiments, the surgical assistance system further includes a magnetic guide rod 700; the magnetic guide rod 700 is detachably connected to the slider 610; the magnetic guide rod 700 is configured with a guide hole 710 adapted to the catheter 930 of the first aortic valve repair device 910; and / or the magnetic guide rod 700 is configured with a guide hole 710 adapted to the catheter 930 of the second aortic valve repair device 920.

[0114] By incorporating the magnetic guide rod 700, the catheters 930 of the first aortic valve repair device 910 and the second aortic valve repair device 920 are guided by the guide hole 710 during delivery, preventing catheter 930 from collapsing and ensuring high precision in their movement path. Furthermore, the detachable connection between the magnetic guide rod 700 and the slider 610 allows for quick assembly and disassembly of the magnetic guide rod 700 and slider 610 when switching between different surgical procedures, thus meeting diverse usage needs. For example, when performing aortic valve replacement surgery via the femoral artery, the magnetic guide rod 700 needs to be installed... Figure 1The actuator 200 is shown on one side of its left end face. When a transapical aortic valve replacement surgery is required, the magnetic guide rod 700 needs to be installed. Figure 2 The right end face of the actuator 200 shown.

[0115] Please see Figure 1 , Figure 2 as well as Figure 11 The surgical assistance system also includes a magnetic fixation component 800; the magnetic fixation component 800 is detachably connected to the slider 610; the magnetic fixation component 800 is configured with a fixation hole 810 that is adapted to the inner sheath 933 of the first aortic valve repair device 910; the magnetic fixation component 800 is configured with a fixation hole 810 that is adapted to the inner sheath 933 of the second aortic valve repair device 920.

[0116] It should be noted that the catheters 930 of both the first aortic valve repair device 910 and the second aortic valve repair device 920 include an outer sheath 931, a middle sheath 932, and an inner sheath 933, whose radial dimensions gradually decrease from the outside to the inside. The outer sheath, as a guide sheath, is thicker and provides a channel into the blood vessel. A balloon for deployment is mounted on the middle sheath. The inner sheath, as the thinnest guidewire, has one end pre-inserted and fixed into the body along a predetermined path during surgical preparation, allowing the outer and inner sheaths to be guided by the guidewire during movement. The inner sheath 933 can slide within the middle sheath 932; the middle sheath 932 can slide within the outer sheath 931. The middle sheath 932 and the outer sheath 931 can move towards the patient's body along the extension direction of the inner sheath 933, delivering the balloon and ultimately completing the deployment and adjustment of the balloon.

[0117] By incorporating the magnetic fixation component 800, the catheters 930 of the first aortic valve repair device 910 and the second aortic valve repair device 920 can be fixed through the fixation hole 810 during delivery. This allows the inner sheath 933 of the catheter 930 to remain stationary relative to the patient as the outer sheath 931 and middle sheath 932 advance within the patient's body, guiding the outer and middle sheaths. Furthermore, because the magnetic fixation component 800 is detachably connected to the slider 610, surgeons can quickly assemble and disassemble the magnetic fixation component 800 and slider 610 when switching between different surgical procedures, thus meeting various usage needs. For example, when performing aortic valve replacement surgery via the femoral artery approach, the magnetic fixation component 800 needs to be installed... Figure 1 The actuator 200 is shown on one side of its left end face. When a transapical aortic valve replacement surgery is required, the magnetic fixation assembly 800 needs to be installed. Figure 2 The right end face of the actuator 200 shown.

[0118] Please see Figure 12 In some embodiments, the actuator 200 is configured with a receiving cavity 200a; the first transmission group 210 and the second transmission group 220 are at least partially received within the receiving cavity 200a. By providing the receiving cavity 200a and ensuring that the first transmission group 210 and the second transmission group 220 are at least partially received within the receiving cavity 200a, the overall external structure of the surgical assistance system is made simpler, making it easier to achieve aseptic requirements and thus meeting the needs of the surgical environment.

[0119] Please see Figure 12 In some embodiments, both the first transmission group 210 and the second transmission group 220 include 6 along Figure 12 The drive shafts are spaced apart in the xx' direction. Figure 12 In the x' direction, there are six drive shafts: a first drive shaft, a second drive shaft, a third drive shaft, a fourth drive shaft, a fifth drive shaft, and a sixth drive shaft. When the first adapter 300 is connected to the first transmission group 210, the first adapter 300 has six mounting holes, each corresponding to one of the six drive shafts. The first, third, fourth, and sixth drive shafts provide power to the first adapter 300, enabling it to control the first aortic valve repair device 910. When the second adapter 400 is connected to the second transmission group 220, the second adapter also has six mounting holes, each corresponding to one of the six drive shafts. The second, third, fourth, fifth, and sixth drive shafts provide power to the second adapter 400.

[0120] Please see Figure 12 In some embodiments, the first transmission group 210 and the second transmission group 220 are symmetrically arranged and share a common drive group. By symmetrically arranging the first transmission group 210 and the second transmission group 220 and sharing a common drive group, the power transmission structure within the entire surgical assistance system is simplified and the cost is reduced.

[0121] Specifically, each drive shaft assembly in the drive group can be extended along the direction of the symmetrical arrangement of the first drive group 210 and the second drive group 220, so that the first drive group 210 and the second drive group 220 are both connected to each drive shaft, so that when the drive shaft rotates, it can transmit power to the two drive groups at the same time, so that only one drive group needs to be designed to meet the requirements of two different surgical procedures.

[0122] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0123] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A surgical assistance system, characterized in that, The surgical assistance system includes: fuselage (100); An actuator (200) is rotatably connected to the body (100) and includes a first transmission group (210) and a second transmission group (220); the actuator (200) has a first mounting position and a second mounting position relative to the body (100); First adapter (300); in the first mounting position, the first adapter (300) is detachably connected to the first transmission assembly (210); the first adapter (300) is used to mount the first aortic valve repair device (910). The second adapter (400) is in the second mounting position; the second adapter (400) is detachably connected to the second transmission assembly (220); the second adapter (400) is used to mount the second aortic valve repair device (920).

2. The surgical assistance system according to claim 1, characterized in that, The surgical assistance system includes a rotation adjustment assembly (500); the rotation adjustment assembly (500) is installed between the body (100) and the actuator (200); The rotation adjustment assembly (500) is used to drive the actuator (200) to switch relative to the body (100) from the first installation position and the second installation position.

3. The surgical assistance system according to claim 2, characterized in that, The rotation adjustment assembly (500) includes two rotating parts that are rotatably connected to each other; One of the rotating components is mounted on the body (100), and the other rotating component is mounted on the actuator (200).

4. The surgical assistance system according to claim 2, characterized in that, The rotation adjustment assembly (500) includes: The first rotating component (510) is fixedly connected to the body (100) and has a mounting cavity (511); the side wall of the mounting cavity (511) has two opposing first mounting holes (511a) that penetrate the mounting cavity (511). The second rotating member (520) is fixedly connected to the actuator (200); the second rotating member (520) extends at least partially into the mounting cavity (511) and is rotatably connected to the cavity wall of the mounting cavity (511); and the second rotating member (520) is provided with a second mounting hole (520a). Locking member (530); When the second rotating member (520) rotates relative to the first rotating member (510) to the first mounting position or the second mounting position, the first mounting hole (511a) is opposite to the second mounting hole (520a), and the locking member (530) can extend into the first mounting hole (511a) and the second mounting hole (520a).

5. The surgical assistance system according to claim 4, characterized in that, The second rotating member (520) includes a first rotating part (521) and a second rotating part (522) connected to each other and having different radial dimensions; the radial dimension of the first rotating part (521) is larger than the radial dimension of the second rotating part (522); The mounting cavity (511) includes a first mounting sub-cavity (5111) and a second mounting sub-cavity (5112) that are connected to each other; the radial dimension of the first mounting sub-cavity (5111) is larger than the radial dimension of the second mounting sub-cavity (5112); The first rotating part (521) is housed in the first mounting sub-cavity (5111); the second rotating part (522) is at least partially housed in the second mounting sub-cavity (5112).

6. The surgical assistance system according to claim 5, characterized in that, The first rotating part (521) and the second rotating part (522) are detachably connected.

7. The surgical assistance system according to claim 5, characterized in that, The second rotating member (520) also includes a third rotating part (523); The third rotating part (523) is connected to the side of the second rotating part (522) away from the first rotating part (521), and the radial dimension of the third rotating part (523) is greater than the radial dimension of the second rotating part (522); The third rotating part (523) is fixedly connected to the actuator (200) on the side opposite to the second rotating part (522).

8. The surgical assistance system according to claim 7, characterized in that, The rotation adjustment assembly (500) also includes a shim (540); The gasket (540) is sleeved on the second rotating part (522) and accommodated in the first mounting sub-cavity (5111), and the gasket (540) abuts against the bottom wall of the first mounting sub-cavity (5111).

9. The surgical assistance system according to claim 7, characterized in that, The sidewall of the second mounting cavity (5112) is recessed radially toward the side opposite to the cavity body to form a first snap-fit ​​groove (51121). The rotation adjustment assembly (500) further includes a first bushing (550) sleeved on the outer periphery of the second rotating part (522); the first bushing (550) includes a first snap-fit ​​part (551) and a second snap-fit ​​part (552) connected to each other and having different radial dimensions. The radial dimension of the first snap-fit ​​portion (551) is larger than the radial dimension of the second snap-fit ​​portion (552); The first snap-fit ​​portion (551) extends at least partially into the first snap-fit ​​groove (51121).

10. The surgical assistance system according to claim 9, characterized in that, The sidewall of the second mounting cavity (5112) is recessed in the radial direction toward the side away from the cavity to form a second snap-fit ​​groove (51122), and the second snap-fit ​​groove (51122) is spaced apart from the first snap-fit ​​groove (51121). The rotation adjustment assembly (500) further includes a second bushing (560) sleeved on the outer periphery of the second rotating part (522); the second bushing (560) is spaced apart from the first bushing (550); the second bushing (560) includes a third snap-fit ​​part (561) and a fourth snap-fit ​​part (562) connected to each other and having different radial dimensions. The radial dimension of the third snap-fit ​​portion (561) is greater than the radial dimension of the fourth snap-fit ​​portion (562); The third snap-fit ​​portion (561) extends at least partially into the second snap-fit ​​groove (51122).

11. The surgical assistance system according to claim 4, characterized in that, The cavity wall of the mounting cavity (511) is provided with a first limiting protrusion (511b) facing the inside of the cavity. The second rotating member (520) is constructed with a second limiting protrusion (520b); When the second rotating member (520) rotates relative to the first rotating member (510) to the first mounting position or the second mounting position, the first limiting protrusion (511b) abuts against the second limiting protrusion (520b).

12. The surgical assistance system according to any one of claims 4-11, characterized in that, The rotation adjustment assembly (500) also includes a mounting base (570); The mounting base (570) is connected between the body (100) and the first rotating member (510); and the mounting base (570) covers the opening of the mounting cavity (511).

13. The surgical assistance system according to any one of claims 4-11, characterized in that, The surgical assistance system also includes a sliding component (600); The sliding component (600) is installed between the actuator (200) and the body (100) to drive the actuator (200) to slide relative to the body (100).

14. The surgical assistance system according to claim 13, characterized in that, The sliding component (600) includes: The slider (610) is fixedly connected to the first rotating member (510); and A sliding groove (620) is mounted on the actuator (200) and is slidably connected to the slider (610).

15. The surgical assistance system according to claim 14, characterized in that, The surgical assistance system also includes a magnetic guide rod (700). The magnetic guide rod (700) is detachably connected to the slider (610); the magnetic guide rod (700) is configured with a guide hole (710) adapted to the catheter (930) of the first aortic valve repair device (910); and / or the magnetic guide rod (700) is configured with a guide hole (710) adapted to the catheter (930) of the second aortic valve repair device (920).

16. The surgical assistance system according to any one of claims 1-11, characterized in that, The actuator (200) is configured with a cavity (200a); The first transmission assembly (210) and the second transmission assembly (220) are at least partially housed within the housing cavity (200a); The first transmission group (210) and the second transmission group (220) are symmetrically arranged and share a common drive group.

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