Guide catheter adapter and surgical robot

Abstract

The application relates to a guide catheter adapter and a surgical robot. Since the curvature center of the limiting groove arranged on the base is collinear with the rotation center of the rotating piece, when the rotating piece rotates, the rotating piece can drive multiple driving pieces to rotate synchronously around the rotation center of the rotating piece. Since the curvature center of the first avoiding groove arranged on the base is collinear with the rotation center of the guide knob, when the rotating piece rotates to the first avoiding groove, the driving piece on the first avoiding groove can be clamped with the driving groove on the guide knob. When the rotating piece continues to rotate, the driving piece clamped with the driving groove can rotate while driving the guide knob to rotate. Since the sliding groove extending in the radial direction is arranged on the rotating piece, when the driving piece clamped with the driving groove rotates, the driving piece can move radially in the sliding groove to adapt to the position change of the driving piece in the radial direction. Through the rotation of the rotating piece, multiple driving pieces are driven to be sequentially matched with the driving groove of the guide knob, and then the guide knob is driven to rotate, so that the bending angle of the guide catheter is adjusted.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to guide tube adapters and surgical robots. Background Technology

[0002] In the treatment of mitral and tricuspid valve diseases, surgical instruments are typically delivered precisely to the lesion site of the mitral or tricuspid valve via a catheter system to perform repair or treatment procedures.

[0003] The catheter system includes a guide tube connected to a guide handle. The guide handle has a knob structure, which the doctor needs to manually rotate to adjust the bending angle of the guide tube in order to accurately deliver surgical instruments or perform precise operations on the lesion site.

[0004] However, manual operation relies mainly on the doctor's touch and visual judgment to rotate the knob, making it difficult to achieve high-precision angle adjustments. Moreover, during prolonged surgical procedures, hand stability gradually decreases, making it easy for additional, uncontrollable tremors to occur when rotating the knob. This can lead to unnecessary shaking and positional deviation of the guide tube, interfering with the accurate delivery of surgical instruments and precise manipulation of the lesion site, increasing surgical risks and affecting surgical efficiency. Utility Model Content

[0005] Therefore, it is necessary to provide a guide tube adapter and surgical robot to address the problems of low accuracy and efficiency of existing manual adjustment guide knobs.

[0006] A guide tube adapter for carrying a guide tube unit, the guide tube unit including a guide handle and a guide knob disposed on the outer periphery of the guide handle, the guide knob having a plurality of actuating slots spaced apart along its circumference; the guide tube adapter includes:

[0007] The first base is constructed with a rotating groove, which includes an arc-shaped limiting groove and an arc-shaped first clearance groove, wherein the curvature center of the first clearance groove is collinear with the rotation center of the guide knob.

[0008] A rotating component is rotatably connected to the first base, and the rotation center of the rotating component is collinear with the curvature center of the limiting groove; the rotating component is constructed with a plurality of sliding grooves distributed along its circumference, and the sliding grooves extend radially along the rotating component.

[0009] Multiple actuating elements are distributed at intervals along the circumference of the rotating element and are slidably connected to the slide groove; the actuating elements are movably connected to the rotating groove.

[0010] The rotating member is configured to rotate operably, causing the actuating member to move within the rotating groove until at least one of the actuating members in the first clearance groove engages with the actuating groove, thereby causing the guide knob to rotate.

[0011] In one embodiment, the first base includes a first fixing member and a second fixing member connected to the first fixing member; the first fixing member and the second fixing member are located on opposite sides of the axial direction of the rotating member;

[0012] Both the first fixing member and the second fixing member are provided with the rotating groove, and the two ends of the actuating member are respectively movably connected to the two rotating grooves.

[0013] In one embodiment, the first fixing member is configured with a first enclosure portion, the first enclosure portion enclosing a first receiving cavity for accommodating the rotating member;

[0014] The first fixing member has a first protrusion, and the first enclosure part cooperates with the first protrusion to form the rotating groove.

[0015] In one embodiment, the second fastener includes a second end plate, on which a second protrusion and a third protrusion are formed, the second protrusion and the third protrusion cooperating to form the first clearance groove;

[0016] The first enclosure portion and the second protrusion portion cooperate to form the limiting groove.

[0017] In one embodiment, along the axial direction of the rotating member, the outer diameter of the rotating member first gradually decreases and then gradually increases.

[0018] In one embodiment, the guide tube adapter further includes a second base and at least one clamping wheel rotatably connected to the second base, the clamping wheel abutting against the radial side of the guide knob opposite to the first base.

[0019] In one embodiment, the pressure roller has an abutting protrusion along its circumference, and the guide knob has an abutting groove along its circumference, with the abutting protrusion engaging with the abutting groove.

[0020] And / or, one of the clamping wheel and the second base is provided with a connecting hole, and the other is provided with a connecting shaft for rotatably engaging with the connecting hole;

[0021] And / or, the second base is rotatably connected to the first base, and the guide tube adapter further includes a locking member for locking the first base and the second base.

[0022] In one embodiment, the guide tube adapter further includes a rotating shaft passing through the first base and the rotating member; the rotating member has a first mating plane, and the rotating shaft has a second mating plane, with the first mating plane and the second mating plane in surface contact; a bearing is rotatably connected between the rotating shaft and the first base;

[0023] And / or, one of the first base and the rotating member is provided with a first positioning protrusion, and the other is provided with a first positioning groove for engaging with the first positioning protrusion.

[0024] In one embodiment, the guide tube adapter further includes a guide transmission unit, the guide transmission unit including a drive shaft and at least one first drive wheel connected to the drive shaft, the first drive wheel rotating synchronously with the drive shaft; the guide transmission unit further includes a drive gear ring and an output wheel meshing with the drive gear ring, the drive gear ring meshing with one of the first drive wheels; the output wheel is connected to a rotating shaft to transmit rotational power to the rotating shaft;

[0025] And / or, the guide tube adapter further includes a guide rotating seat and at least one second drive wheel, wherein one of the second drive wheels is connected to the guide rotating seat, the guide rotating seat is connected to the guide handle, and the second drive wheel is used to transmit rotational power to the guide rotating seat to drive the guide handle to rotate.

[0026] A surgical robot includes a guide tube unit and a guide tube adapter as described above.

[0027] The aforementioned guide tube adapter and surgical robot include a first base, a rotating component, and multiple actuating components. Because the center of curvature of the limiting groove on the base is collinear with the rotation center of the rotating component, the rotation of the rotating component drives multiple actuating components to rotate synchronously around the rotation center of the rotating component. Simultaneously, because the center of curvature of the first clearance groove on the base is collinear with the rotation center of the guide knob, the actuating component rotating onto the first clearance groove can engage with the actuating groove on the guide knob. As the rotating component continues to rotate, the actuating component engaged with the actuating groove drives the guide knob to rotate simultaneously. Furthermore, because the rotating component has a radially extending sliding groove, the actuating component engaged with the actuating groove moves radially within the groove while rotating, adapting to changes in the radial position of the actuating component. Thus, by rotating the rotating component, multiple actuating components sequentially engage with the actuating groove of the guide knob, thereby driving the guide knob to rotate and adjusting the bending angle of the guide tube to better align it with the lesion. By controlling the rotation angle of the rotating component, the rotation angle of the guide knob can be precisely controlled, making the adjustment of the guide tube more accurate and reliable, achieving high-precision angle adjustment. At the same time, it eliminates the need for repeated adjustments, improving surgical efficiency. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments or exemplary embodiments of this application, the drawings used in the description of the embodiments or exemplary embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a perspective view of a guide tube adapter provided in an embodiment of this application.

[0030] Figure 2 for Figure 1 The diagram shows a partial view of the guide tube adapter from another perspective.

[0031] Figure 3 for Figure 2 The diagram shows a three-dimensional sectional view of the guide tube adapter.

[0032] Figure 4 for Figure 3 A magnified view of point A in the guide tube adapter shown.

[0033] Figure 5 for Figure 2 A partial cross-sectional view of the guide tube adapter shown.

[0034] Figure 6 for Figure 2The diagram shows a partial exploded view of the guide tube adapter.

[0035] Figure 7 for Figure 6 A magnified view of point B in the guide tube adapter shown.

[0036] Figure 8 for Figure 6 A schematic diagram of the first fixing member in the guide tube adapter shown.

[0037] Figure 9 for Figure 6 The diagram shows a partial view of the guide tube adapter from another perspective.

[0038] Figure 10 for Figure 2 The diagram shows a cross-sectional view of the guide tube adapter.

[0039] Figure 11 for Figure 2 A partial schematic diagram of the guide tube adapter is shown.

[0040] Reference numerals: 100, Guide tube adapter; 110, First base; 111, First fixing member; 1111, First enclosure portion; 1112, First protrusion; 1113, Snap-fit ​​groove; 112, Second fixing member; 1121, Second end plate; 1122, Second protrusion; 1123, Third protrusion; 1124, First positioning protrusion; 113, Rotation groove; 1131, Limiting groove; 1132, First clearance groove; 120, Rotation... Components; 121. Slide groove; 122. First positioning groove; 123. First mating plane; 130. Actuating component; 140. Rotating shaft; 141. Second mating plane; 150. Second base; 151. Pressing wheel; 1511. Abutting protrusion; 152. Connecting shaft; 161. First transmission wheel; 162. Transmission shaft; 163. Transmission gear ring; 164. Output wheel; 170. Locking component; 181. Second transmission wheel; 182. Guide rotating seat;

[0041] 210. Guide handle; 220. Guide knob; 221. Toggle slot. Detailed Implementation

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] In the treatment of mitral and tricuspid valve diseases, surgical instruments are typically delivered precisely to the lesion site of the mitral or tricuspid valve via a catheter system to perform repair or treatment procedures.

[0049] The catheter system includes a guide tube connected to a guide handle. The guide handle has a knob structure, which the doctor needs to manually rotate to adjust the bending angle of the guide tube in order to accurately deliver surgical instruments or perform precise operations on the lesion site.

[0050] However, manual operation relies mainly on the doctor's touch and visual judgment to rotate the knob, making it difficult to achieve high-precision angle adjustments. Moreover, during prolonged surgical procedures, hand stability gradually decreases, making it easy for additional, uncontrollable tremors to occur when rotating the knob. This can lead to unnecessary shaking and positional deviation of the guide tube, interfering with the accurate delivery of surgical instruments and precise manipulation of the lesion site, increasing surgical risks and affecting surgical efficiency.

[0051] Based on this, one embodiment of this application provides a guide tube adapter that can solve the above-mentioned technical problems. The guide tube adapter provided in one embodiment of this application will now be described in detail with reference to the accompanying drawings.

[0052] See Figures 5 to 10 As shown, an embodiment of this application provides a guide tube adapter 100 for carrying a guide tube unit. The guide tube unit includes a guide handle 210 and a guide knob 220 disposed on the outer periphery of the guide handle 210. The guide handle 210 is connected to the guide tube, and when the guide handle 210 rotates, it drives the guide tube to rotate. The guide knob 220 is connected to the guide tube via a transmission mechanism, and the rotational movement of the guide knob 220 can be converted into bending deformation of the distal end of the guide tube (the end closer to the lesion) through a transmission component, thereby adjusting the bending angle of the guide tube. For example, the guide tube may have an adjusting wire inside, which can be a metal wire or a high-strength cable. One end of the adjusting wire is fixed to the distal flexible section of the guide tube, and the other end is linked to the guide knob 220 through a transmission component. When the guide knob 220 rotates, the transmission component pulls or releases the adjusting wire, causing the distal end of the guide tube to bend due to force imbalance.

[0053] The guide knob 220 is provided with multiple actuating slots 221 spaced apart along its circumference, and the multiple actuating slots 221 can be evenly distributed at intervals; the guide tube adapter 100 includes a first base 110, a rotating member 120, and multiple actuating members 130; the first base 110 is constructed with a rotating slot 113, the rotating slot 113 including an arc-shaped limiting slot 1131 and an arc-shaped first clearance slot 1132, the curvature center of the first clearance slot 1132 being collinear with the rotation center of the guide knob 220; the rotating member 120 is rotatably connected to the first base 110, and the rotation center of the rotating member 120 is collinear with the curvature center of the limiting slot 1131; the rotating member 120... The rotating member 120 has multiple circumferentially distributed grooves 121, which can be evenly spaced and extend radially along the rotating member 120. Multiple actuating members 130 are distributed circumferentially along the rotating member 120 and are slidably connected to the grooves 121. The multiple actuating members 130 are arranged in a one-to-one correspondence with the multiple grooves 121. The actuating members 130 are movably connected to the rotating groove 113. The rotating member 120 is configured to be operablely rotated to drive the actuating members 130 to move within the rotating groove 113. At least one actuating member 130 that moves to the first clearance groove 1132 engages with the actuating groove 221 to drive the guide knob 220 to rotate.

[0054] Understandably, the rotation center of the rotating body is its central axis, that is, the rotation center of the rotating component 120 is its central axis, and the rotation center of the guide knob 220 is also its own central axis. In this embodiment, both the limiting groove 1131 and the first clearance groove 1132 are arc segments, so their curvature centers are the centers of the corresponding arc segments. The number of actuating components 130 is the same as the number of actuating grooves 221, and the arc length between two adjacent actuating components 130 is equal to the arc length between two adjacent actuating grooves 221, so that multiple actuating components 130 and multiple actuating grooves 221 can be engaged one-to-one. For example, in the embodiment shown in the attached figure, the number of actuating components 130 and actuating grooves 221 is twelve. Of course, in other embodiments, the number of actuating components 130 and actuating grooves 221 can also be other numbers, such as eight, ten, etc., and the specific number is not limited to this.

[0055] Specifically, because the curvature center of the limiting groove 1131 on the base is collinear with the rotation center of the rotating member 120, when the rotating member 120 rotates, it can drive multiple actuating members 130 to rotate synchronously around the rotation center of the rotating member 120. Simultaneously, because the curvature center of the first clearance groove 1132 on the base is collinear with the rotation center of the guide knob 220, the actuating member 130 rotating onto the first clearance groove 1132 can engage with the actuation groove 221 on the guide knob 220. As the rotating member 120 continues to rotate, the actuating member 130 engaged with the actuation groove 221 can drive the guide knob 220 to rotate simultaneously. Moreover, because the rotating member 120 is provided with a radially extending sliding groove 121, the actuating member 130 engaged with the actuation groove 221 will move radially within the sliding groove 121 while rotating, to adapt to the radial positional changes of the actuating member 130. Thus, by rotating the rotating component 120, multiple actuating components 130 sequentially engage with the actuating groove 221 of the guide knob 220, thereby rotating the guide knob 220 and adjusting the bending angle of the guide tube to better align it with the lesion. By controlling the rotation angle of the rotating component 120, the rotation angle of the guide knob 220 can be precisely controlled, making the adjustment of the guide tube more accurate and reliable, achieving high-precision angle adjustment. Simultaneously, multiple repeated adjustments are eliminated, improving surgical efficiency. Furthermore, since the curvature center of the first clearance groove 1132 is collinear with the rotation center of the guide knob 220, while achieving the aforementioned rotational power transmission, the possibility of interference between the base and the guide knob 220 is reduced, improving the overall compactness of the adapter.

[0056] See Figures 7 to 9 As shown, in one embodiment, the outer diameter of the rotating member 120 gradually decreases and then gradually increases along its axial direction. That is, along its axial direction, the middle part of the rotating member 120 is concave compared to its two ends. Thus, when the actuating member 130 drives the guide knob 220 to rotate, the concave area of ​​the rotating member 120 can avoid the guide knob 220, reducing the possibility of interference during component movement and making the adapter layout more compact.

[0057] See Figures 7 to 10 As shown, in one embodiment, the actuating member 130 is a cylindrical actuating shaft. The cross-section of the groove 121 is U-shaped, and the width of the groove 121 is adapted to the outer diameter of the actuating member 130. For example, the width of the groove 121 is the same as the outer diameter of the actuating member 130, so that the actuating member 130 located in the first clearance groove 1132 can move precisely radially along the rotating member 120 within the groove 121. In other embodiments, the width of the groove 121 may also be slightly larger than the outer diameter of the actuating member 130, making the movement of the actuating member 130 within the groove 121 smoother.

[0058] See Figures 7 to 10As shown, the slide groove 121 on the rotating member 120 has an outward opening. On the one hand, the actuating member 130 can easily pass through the opening and be inserted into the slide groove 121; on the other hand, the actuating member 130 can protrude radially outward relative to the opening, so that the actuating member 130 can be engaged with the actuating groove 221 and drive the guide knob 220 to rotate.

[0059] In other embodiments, the groove 121 on the rotating member 120 may not have an opening, that is, the groove 121 is a closed racetrack-shaped groove 121. The rotating member 120 may not be located on the radial side of the guide knob 220, but may be offset relative to the guide knob 220, so that the area of ​​the actuating member 130 near the axial end is slidably connected with the groove 121, and the axial middle area of ​​the actuating member 130 is suspended, and the middle area of ​​the actuating member 130 is engaged with the actuating groove 221.

[0060] See Figures 8 to 9 As shown, in one embodiment, the first base 110 includes a first fixing member 111 and a second fixing member 112 connected to the first fixing member 111; the first fixing member 111 and the second fixing member 112 are located on both axial sides of the rotating member 120; both the first fixing member 111 and the second fixing member 112 are provided with a rotating groove 113, and the two axial ends of the actuating member 130 are respectively movably connected to the two rotating grooves 113. By setting the first base 110 as a split structure, it is not only convenient to assemble the adapter, but also, by providing support for the two axial ends of the actuating member 130 through the first fixing member 111 and the second fixing member 112 respectively, the movement stability of the actuating member 130 can be improved, thereby ensuring the reliability of power transmission.

[0061] See Figures 8 to 9 As shown, in one embodiment, the first fixing member 111 is constructed with a first enclosure portion 1111, which encloses a first receiving cavity for accommodating the rotating member 120. The first receiving cavity can accommodate components such as the rotating member 120 and the actuating member 130, preventing collisions between them and improving waterproofing and dustproofing, thus extending the service life of each component. The first fixing member 111 is constructed with a first protrusion 1112, and the first enclosure portion 1111 and the first protrusion 1112 cooperate to form a rotating groove 113. For example, in the embodiment shown in the attached figure, the cross-section of the first enclosure portion 1111 is a partial annulus, meaning the annulus is not closed, and the cross-section of the first protrusion 1112 is a partial circle. The partial annulus and the partial circle are concentric, forming the rotating groove 113. The first protrusion 1112 is provided with an inwardly concave arc surface, which together with the outwardly convex arc plate provided on the first enclosure 1111 forms a first clearance groove 1132.

[0062] See Figures 5 to 10As shown, in one embodiment, the second fixing member 112 includes a second end plate 1121, on which a second protrusion 1122 and a third protrusion 1123 are constructed. The second protrusion 1122 and the third protrusion 1123 cooperate to form a first clearance groove 1132. The cross-sectional shape of the second protrusion 1122 can be referenced to that of the first protrusion 1112, and the cross-section is partially circular and coaxially arranged with the first protrusion 1112. The second fastener 112 is connected to the first fastener 111, such that the first enclosure portion 1111 and the second protrusion 1122 cooperate to form a limiting groove 1131. For example, in the embodiment shown in the figure, the first fastener 111 has a snap-fit ​​groove 1113 at one end facing the second fastener 112, and the second fastener 112 is fastened to the snap-fit ​​groove 1113 by the second end plate 1121, so that the first enclosure portion 1111 and the second protrusion 1122 cooperate to form the limiting groove 1131. In some embodiments, both the second end plate 1121 and the first enclosure portion 1111 are provided with multiple fastening holes. By passing fasteners through the fastening holes on the first enclosure portion 1111 and the second end plate 1121 in sequence, the two can be detachably connected.

[0063] See Figure 3 and Figure 11 As shown, in one embodiment, the guide tube adapter 100 further includes a second base 150 and at least one clamping wheel 151 rotatably connected to the second base 150. The clamping wheel 151 abuts against the radial side of the guide knob 220 away from the first base 110. For example, in the embodiment shown in the figures, there are two clamping wheels 151 arranged horizontally. The clamping wheels 151 press against the guide knob 220, thereby applying a force toward the rotating member 120 to the guide knob 220. This ensures the engaging effect between the actuation groove 221 on the guide knob 220 and the actuation member 130, thereby improving the reliability of the rotation adjustment of the guide knob 220. By rotatably connecting the clamping wheel 151 to the second base 150, when the guide knob 220 rotates, the clamping wheel 151 can also rotate around its own axis under the action of friction, so that it can provide clamping force to the guide knob 220 without affecting its rotational smoothness. Of course, in other embodiments, the number of clamping wheels 151 can also be one, etc., which can be set according to actual needs.

[0064] In the embodiment shown in the accompanying drawings, components such as the rotating member 120 and the first base 110 are located below the guide knob 220; the second base 150 and the pressure wheel 151 are located above the guide knob 220. In other embodiments, the rotating member 120 and the first base 110 may be located above the guide knob 220, and the second base 150 and the pressure wheel 151 may be located below the guide knob 220. In still other embodiments, the rotating member 120 and the first base 110 may be located on one horizontal side of the guide knob 220, such as the left side, and the second base 150 and the pressure wheel 151 may be located on the other horizontal side of the guide knob 220, such as the right side.

[0065] See Figure 3 and Figure 11 As shown, in one embodiment, the clamping wheel 151 has an abutment protrusion 1511 along its circumference, and the guide knob 220 has an abutment groove along its circumference. The clamping wheel 151 abuts against the abutment groove on the guide knob 220 through its abutment protrusion 1511. The abutment protrusion 1511 is located at the axial end of the clamping wheel 151, and the abutment groove is located at the axial end of the guide knob 220. By placing the abutment protrusion 1511 and the abutment groove at the axial ends, the area in the middle of the clamping wheel 151 can avoid the actuation groove 221 on the guide knob 220 and the area between the actuation grooves 221. That is, the clamping wheel 151 does not contact the area outside the abutment groove, ensuring the smoothness of the rotation of the guide knob 220 and preventing the clamping wheel 151 from contacting the concave and convex areas of the guide knob 220 and causing it to move erratically.

[0066] See Figure 3 and Figure 11 As shown, in some embodiments, one of the clamping wheel 151 and the second base 150 is provided with a connecting hole, and the other is provided with a connecting shaft 152 for rotatably engaging with the connecting hole. For example, in the embodiment shown in the figure, the second base 150 is provided with a connecting hole, and the clamping wheel 151 is provided with connecting shafts 152 at both axial ends. Through the rotatable engagement of the connecting shafts 152 and the connecting holes, the clamping wheel 151 can rotate relative to the second base 150, that is, the clamping wheel 151 can rotate with the guide knob 220. In other embodiments, the second base 150 may be provided with a connecting shaft 152, and the clamping wheel 151 may be provided with a through connecting hole along its own axial direction, or connecting holes may be provided at both axial ends, thereby realizing the rotatable connection between the clamping wheel 151 and the second base 150.

[0067] See Figure 1 and Figure 2As shown, in some embodiments, the second base 150 is rotatably connected to the first base 110. The guide tube adapter 100 also includes a locking member 170, which is used to lock the first base 110 and the second base 150. Before assembling the guide handle 210, the second base 150 is open relative to the first base 110 to facilitate the insertion of the guide handle 210. After assembly, the second base 150 covers the first base 110 and is locked by the locking member 170 to ensure the reliability of the assembly of the guide handle 210 and to ensure the pressing engagement effect between the pressure wheel 151 and the guide knob 220. In the embodiment shown in the attached drawings, the second base 150 is a flip-type opening and closing mechanism. For example, a hinge shaft is provided between the second base 150 and the first base 110. The second base 150 and the first base 110 are rotatably connected through the hinge shaft. The second base 150 can rotate around the hinge shaft, thereby realizing the opening and locking of the second base 150 relative to the first base 110.

[0068] See Figure 7 and Figure 9 As shown, in some embodiments, one of the first base 110 and the rotating member 120 is provided with a first positioning protrusion 1124, and the other is provided with a first positioning groove 122 for engaging with the first positioning protrusion 1124. In the embodiment shown in the figures, the second fixing member 112 is provided with the first positioning protrusion 1124, and the rotating member 120 is provided with the first positioning groove 122. The first positioning protrusion 1124 is located at the center of the second fixing member 112, and the first positioning groove 122 is located at the center of the rotating member 120. This arrangement further improves the coaxiality between the rotating member 120 and the second fixing member 112. Of course, the second fixing member 112 can also be provided with the first positioning groove 122, and the rotating member 120 with the first positioning protrusion 1124. In some embodiments, a second positioning protrusion and a second positioning groove, or other engaging parts, can also be provided between the first fixing member 111 and the rotating member 120.

[0069] See Figure 3 , Figure 4 and Figure 9As shown, in one embodiment, the guide tube adapter 100 further includes a rotating shaft 140, which passes through the first base 110 and the rotating member 120. The rotating shaft 140 is rotatable relative to the first base 110 and transmits rotational power to the rotating member 120, thereby driving the rotating member 120 to rotate. In some embodiments, the rotating member 120 is configured with a first mating plane 123, and the rotating shaft 140 is configured with a second mating plane 141, with the first mating plane 123 and the second mating plane 141 in surface contact. For example, the central hole of the rotating member 120 is an oblong hole, which mates with the rotating shaft 140 through the hole wall, thereby rotating synchronously with the rotating shaft 140. In other embodiments, the rotating member 120 and the rotating shaft 140 can also achieve synchronous rotation through a key and a keyway. In some embodiments, a bearing is rotatably connected between the rotating shaft 140 and the first base 110. Taking the first base 110, which includes a first fixing member 111 and a second fixing member 112, as an example, bearings are connected between the first fixing member 111 and the rotating shaft 140, and between the second fixing member 112 and the rotating shaft 140, to reduce the frictional resistance between the first base 110 and the rotating shaft 140, and to transfer the load on the rotating shaft to the base, thereby improving the rotational accuracy of the rotating shaft 140 and extending its service life.

[0070] See Figure 3 and Figure 4 As shown, in one embodiment, the guide tube adapter 100 further includes a guide transmission unit, which includes a drive shaft 162 and at least one first drive wheel 161 connected to the drive shaft 162. The first drive wheel 161 rotates synchronously with the drive shaft 162. For example, in the embodiment shown in the figures, three first drive wheels 161 are provided, two of which are a driving bevel gear and a driven bevel gear, respectively. The driving bevel gear and the driven bevel gear mesh and transmit power to the driven bevel gear. The driven bevel gear is coaxially connected to the drive shaft 162, thereby transmitting rotational power to the drive shaft 162, causing the end first drive wheel 161 coaxially connected to the drive shaft 162 to rotate synchronously. The guiding transmission unit also includes a transmission gear ring 163 and an output wheel 164 that meshes with the transmission gear ring 163. Both the inner and outer rings of the transmission gear ring 163 are provided with meshing teeth. The outer gear ring of the transmission gear ring 163 meshes with the aforementioned end first transmission wheel 161; the inner gear ring of the transmission gear ring 163 meshes with the output wheel 164, and the output wheel 164 is coaxially connected to the rotating shaft 140. Thus, rotational power is transmitted to the rotating shaft 140 through the end first transmission wheel 161, the transmission gear ring 163, and the output wheel 164, driving the rotating shaft 140 to rotate. In some embodiments, the guiding transmission unit and the rotating component 120 are located at opposite ends of the axial direction of the rotating shaft 140, resulting in a more balanced force distribution.

[0071] See Figures 2 to 4 As shown, in some embodiments, the guide tube adapter 100 further includes a guide rotating seat 182 and at least one second transmission wheel 181. One of the second transmission wheels 181 is connected to the guide rotating seat 182, which is connected to the guide handle 210. The second transmission wheel 181 transmits rotational power to the guide rotating seat 182, causing it to rotate, which in turn drives the guide handle 210 to rotate. By rotating the guide handle 210, the guide tube connected to it rotates synchronously, thereby adjusting the direction and position of the surgical instruments at the distal end of the guide tube for better access to the lesion. The second transmission wheel 181 can be a gear. In the embodiment shown in the figures, at least two second transmission wheels 181 are provided. The second transmission wheel 181 on the input side is a pinion, and the second transmission wheel 181 connected to the guide rotating seat 182 on the output side is a large gear. The input of rotational power is achieved through the meshing of the pinion and the large gear.

[0072] Furthermore, one embodiment of this application also provides a surgical robot, including a catheter system and an adapter system. The catheter system includes the aforementioned guiding tube unit (also called the outer sheath unit), middle sheath unit, and inner sheath unit. The guiding tube can also be called the outer sheath tube, and the guiding handle can also be called the outer sheath handle. The adapter system includes the aforementioned guiding tube adapter 100, middle sheath adapter, and delivery catheter adapter.

[0073] The middle sheath unit includes a middle sheath handle and a middle sheath tube connected to the middle sheath handle. The middle sheath handle is equipped with a middle sheath knob, and a middle sheath adapter is used to control the rotation of the middle sheath handle and the middle sheath knob. When the middle sheath adapter rotates the middle sheath knob, it can adjust the bending angle of the middle sheath tube and the inner sheath tube located inside the middle sheath tube; when the middle sheath adapter rotates the middle sheath handle, it drives the middle sheath tube to rotate, thereby adjusting the bending direction of the middle sheath tube so that the surgical instruments are oriented towards the lesion.

[0074] The inner sheath unit includes a delivery handle (also called the inner sheath handle) and a delivery conduit (also called the inner sheath tube) connected to the delivery handle. The outer sheath tube (i.e., the guide tube) is fitted outside the middle sheath tube, and the middle sheath tube is fitted outside the inner sheath tube. The outer sheath tube, middle sheath tube, and inner sheath tube can move or rotate relative to each other. A valve clamp is located at the distal end of the inner sheath tube, away from the inner sheath handle. The valve clamp includes two fixing elements and two clamping elements.

[0075] The delivery handle is equipped with a delivery knob. Rotating the knob opens or closes the clamping elements, controlling the opening and closing of the valve clamp. Rotating the delivery handle also rotates the corresponding delivery catheter, adjusting the angle and direction of the surgical instruments to ensure accurate grasping and clamping of the valve tissue. The delivery catheter adapter has corresponding structures to drive the rotation of the delivery knob and delivery handle. The delivery handle also has two clamp capture units, each controlling the clamping elements on its corresponding side. The delivery catheter adapter controls the axial movement of the clamp capture units, opening or closing the clamping elements to clamp or release the valve leaflets.

[0076] Understandably, the surgical robot also includes a drive mechanism, which is connected to the guide tube adapter. For example, the drive mechanism includes a first bending drive unit connected to the aforementioned first transmission wheel. The first bending drive unit outputs rotational power, which is transmitted to the rotating shaft via the aforementioned guide transmission unit. This power then drives the guide knob to rotate via rotating and actuating components, thereby adjusting the bending angle of the guide tube. The drive mechanism may also include a first rotation drive unit connected to the aforementioned second transmission wheel. The first rotation drive unit outputs rotational power, which rotates the guide handle via the second transmission wheel and guide rotating seat, causing the guide tube connected to the guide handle to rotate synchronously. This allows adjustment of the direction and position of the surgical instruments on the distal end of the guide tube. The structures of the first bending drive unit and the first rotation drive unit may include at least one of a gear guide transmission unit, a lead screw guide transmission unit, or a belt guide transmission unit, as long as power transmission is achieved. The specific structures of the gear guide transmission unit, lead screw guide transmission unit, and belt guide transmission unit can be found in existing technologies and will not be elaborated here.

[0077] This surgical robot can be applied to both mitral and tricuspid valve surgeries. Taking the mitral valve surgery as an example, the distal end of the catheter system enters the inferior vena cava from the right femoral vein, then the superior vena cava, and finally the right atrium. Guided by the middle sheath and guiding catheter, the delivery catheter passes through the interatrial septum and enters the left atrium. In the left atrium, the valve clamps extend from the middle sheath. The valve clamps include an outer clamp and an inner clamp. The delivery adapter controls the delivery knob on the delivery handle, opening the outer clamp. The middle sheath adapter controls the middle sheath knob on the middle sheath handle, adjusting the curvature of the distal end of the delivery catheter so that the outer clamp passes through the gap between the mitral valves and is placed in the left ventricle, while the inner clamp is placed in the left atrium. The clamp drive unit moves the clamp capture unit on the delivery handle axially, causing the inner clamp to close relative to the outer clamp, and the inner and outer clamps grip the valve leaflets. The clamping components on both sides grip the valve leaflets, reducing the gap between the leaflets and decreasing the regurgitation area, thus enabling leaflet repair.

[0078] This surgical robot uses a guide tube adapter to control the guide tube, making its adjustment more precise and reliable. It also eliminates the need for repeated adjustments, improving surgical accuracy and efficiency.

[0079] 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.

[0080] The above embodiments merely illustrate 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 guide tube adapter, characterized in that, The guide tube unit is used to support the guide tube unit, which includes a guide handle (210) and a guide knob (220) disposed on the outer periphery of the guide handle (210). The guide knob (220) is provided with a plurality of actuating slots (221) spaced apart along its circumference. The guide tube adapter includes: The first base (110) is constructed with a rotating groove (113), the rotating groove (113) includes an arc-shaped limiting groove (1131) and an arc-shaped first clearance groove (1132), the curvature center of the first clearance groove (1132) is collinear with the rotation center of the guide knob (220); A rotating component (120) is rotatably connected to the first base (110). The rotation center of the rotating component (120) is collinear with the curvature center of the limiting groove (1131). The rotating component (120) is constructed with a plurality of sliding grooves (121) distributed along its circumference. The sliding grooves (121) extend radially along the rotating component (120). Multiple actuating elements (130) are distributed at intervals along the circumference of the rotating element (120) and are slidably connected to the slide groove (121); the actuating elements (130) are movably connected to the rotating groove (113). The rotating member (120) is configured to rotate operably, causing the actuating member (130) to move within the rotating groove (113) until at least one of the actuating members (130) in the first clearance groove (1132) engages with the actuating groove (221) to drive the guide knob (220) to rotate.

2. The guide tube adapter according to claim 1, characterized in that, The first base (110) includes a first fixing member (111) and a second fixing member (112) connected to the first fixing member (111); the first fixing member (111) and the second fixing member (112) are located on both sides of the axial direction of the rotating member (120); Both the first fixing member (111) and the second fixing member (112) are provided with the rotating groove (113), and the two ends of the actuating member (130) are respectively movably connected to the two rotating grooves (113).

3. The guide tube adapter according to claim 2, characterized in that, The first fixing member (111) is constructed with a first enclosure portion (1111), which encloses a first receiving cavity for accommodating the rotating member (120); The first fixing member (111) is constructed with a first protrusion (1112), and the first enclosure part (1111) and the first protrusion (1112) cooperate to enclose the rotating groove (113).

4. The guide tube adapter according to claim 3, characterized in that, The second fastener (112) includes a second end plate (1121), on which a second protrusion (1122) and a third protrusion (1123) are constructed. The second protrusion (1122) and the third protrusion (1123) cooperate to form the first clearance groove (1132). The first enclosure part (1111) and the second protrusion part (1122) cooperate to form the limiting groove (1131).

5. The guide tube adapter according to claim 1, characterized in that, Along the axial direction of the rotating member (120), the outer diameter of the rotating member (120) first gradually decreases and then gradually increases.

6. The guide tube adapter according to claim 1, characterized in that, The guide tube adapter also includes a second base (150) and at least one pressure wheel (151) rotatably connected to the second base (150), the pressure wheel (151) abutting against the radial side of the guide knob (220) away from the first base (110).

7. The guide tube adapter according to claim 6, characterized in that, The clamping wheel (151) has an abutting protrusion (1511) along its circumference, and the guide knob (220) has an abutting groove along its circumference. The abutting protrusion (1511) and the abutting groove are engaged in a locking fit. And / or, one of the clamping wheel (151) and the second base (150) is provided with a connecting hole, and the other is provided with a connecting shaft (152) for rotatably engaging with the connecting hole. And / or, the second base (150) is rotatably connected to the first base (110), and the guide tube adapter further includes a locking member (170) for locking the first base (110) and the second base (150).

8. The guide tube adapter according to claim 1, characterized in that, The guide tube adapter further includes a rotating shaft (140), which passes through the first base (110) and the rotating member (120); the rotating member (120) is configured with a first mating plane (123), and the rotating shaft (140) is configured with a second mating plane (141), wherein the first mating plane (123) and the second mating plane (141) are in surface contact; a bearing is rotatably connected between the rotating shaft (140) and the first base (110); And / or, one of the first base (110) and the rotating member (120) is provided with a first positioning protrusion (1124), and the other is provided with a first positioning groove (122) for engaging with the first positioning protrusion (1124).

9. The guide tube adapter according to claim 1, characterized in that, The guide tube adapter further includes a guide transmission unit, which includes a drive shaft (162) and at least one first drive wheel (161) connected to the drive shaft (162). The first drive wheel (161) rotates synchronously with the drive shaft (162). The guide transmission unit also includes a drive gear ring (163) and an output wheel (164) meshing with the drive gear ring (163). The drive gear ring (163) meshes with one of the first drive wheels (161). The output wheel (164) is connected to a rotating shaft (140) to transmit rotational power to the rotating shaft (140). And / or, the guide tube adapter further includes a guide rotating seat (182) and at least one second drive wheel (181), wherein the second drive wheel (181) is connected to the guide rotating seat (182), the guide rotating seat (182) is connected to the guide handle (210), and the second drive wheel (181) is used to transmit rotational power to the guide rotating seat (182) to drive the guide handle (210) to rotate.

10. A surgical robot, characterized in that, It includes a guide tube unit and a guide tube adapter as described in any one of claims 1 to 9.

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