Slave end apparatus for interventional surgical robot

Abstract

A slave end apparatus for an interventional surgical robot, comprising a body (10), and a first driving mechanism (12), a second driving mechanism (14) and a front clamping device (18) mounted on the body (10). When a first guide wire penetrates into a first catheter and the first catheter and the first guide wire are respectively clamped to the first driving mechanism (12) and the second driving mechanism (14), and after the first catheter and the first guide wire move in place in the same axial direction on the body (10), the first catheter and the first guide wire are respectively taken down from the first drive mechanism (12) and the second drive mechanism (14), the front clamping device (18) clamps the first catheter so that the first catheter does not move, the second catheter penetrates into the first catheter, the second guide wire penetrates into the second catheter, and the second catheter and the second guide wire are respectively clamped to the first drive mechanism (12) and the second drive mechanism (14) and are pushed in the same axial direction on the body (10). A doctor can remotely control the robot, X-ray radiation is avoided, control is more accurate, and large errors can be avoided.

Description

TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of medical robots,applicable to master-slave vascular interventional robots, and in particular, relatesto a slave-end apparatus for an interventional robot.BACKGROUND

[0003] Minimally invasive vascular intervention refers to a physician, guidedby a digital subtraction angiography (DSA) system, manipulating the movement ofa catheter and a guide wire in human blood vessels to treat lesions, so as to achievethe purpose of embolization of abnormal vessels, thrombolysis, dilation of narrowvessels, and the like. At present, interventional therapy has played an important rolein the diagnosis and treatment of hundreds of diseases, such as tumor, peripheralvessel disease, great vessel disease, digestive tract disease, nervous system disease,and non-vascular disease. The interventional therapy covers all diseases from thehead to the foot of the human body, and has become the first choice for somediseases. Interventional therapy can treat many diseases that cannot be treated inthe past or have a poor curative effect without incision of human tissues. In theinterventional therapy, the incision (puncture point) only has the size of rice grains.The interventional therapy has the characteristics of no incision, small trauma, rapidrecovery and good curative effect, which has been highly valued by domestic andforeign medical circles.

[0004] Currently, minimally invasive vascular intervention-assisting robotshave developed rapidly due to the involvement of high-end medical equipment androbotic technology. We have also placed investment in research and development.SUMMARY

[0005] A technical problem to be solved by the present disclosure is to providea slave-end apparatus for an interventional robot which facilitates a physician ininterventional procedures.

[0006] To solve the above technical problem, the present disclosure provides aslave-end apparatus for an interventional robot. The apparatus includes: a body, afirst drive mechanism, a second drive mechanism and a front clamp proximal to thefirst drive mechanism that are successively mounted on the body; wherein

[0007] the first drive mechanism is configured to clamp and rotate a firstcatheter and a second catheter, and the second drive mechanism is configured toclamp and rotate a first guide wire and a second guide wire; and

[0008] in a case that the first guide wire runs into the first catheter, and the firstguide wire and the first catheter are respectively clamped by the second drivemechanism and the first drive mechanism and move along a same axial directionon the body toward the front clamper to a desired position, the first catheter and thefirst guide wire are respectively taken off from the first drive mechanism and thesecond drive mechanism, and the front clamper takes over to clamp the first catheter,the second catheter is caused to run into the first catheter, the second guide wire iscaused to run into the second catheter, and the second catheter and the second guidewire are respectively clamped by the first drive mechanism and the second drivemechanism and move along the same axial direction on the body toward the frontclamper.

[0009] Further, the apparatus further includes: a plurality of front clampers; wherein a plurality of first catheters one-by-one pushed by the first drivemechanism to desired positions are respectively clamped by the plurality of frontclampers.

[0010] Further, the second drive mechanism is configured to clamp and rotate,together with the first drive mechanism, the first catheter and the second catheter.

[0011] Further, the second drive mechanism includes: a first assemblyconfigured to clamp and rotate the first catheter and the second catheter, and asecond assembly configured to clamp and rotate the first guide wire and the secondguide wire.

[0012] Further, the first assembly of the second drive mechanism is configuredto clamp an Y adapter connected to the first catheter and the second catheter toclamp the first catheter and the second catheter, and rotate a Luer connector of theY adapter to drive the first catheter and the second catheter to rotate.

[0013] Further, the second assembly is a slave-end guide wire and cathetertwisting apparatus for the interventional robot.

[0014] Further, the apparatus further includes: a rear clamper; wherein in a casethat the second drive mechanism moves to an extreme position and is to be restoredto release the second guide wire, the rear clamper is configured to clamp the secondguide wire to prevent movement thereof.

[0015] Further, the front clamper and the rear clamper are respectively positioned at a front portion and a rear portion of the body; wherein

[0016] the front clamper and the rear clamper are both mounted on the bodyand movable relative to the body; or

[0017] one of the front clamper and the rear clamper is mounted on the bodyand movable relative to the body, and the other of the front clamper and the rearclamper is mounted separately from the body; or

[0018] the front clamper and the rear clamper are both mounted separately fromthe body.

[0019] Further, the apparatus further includes: a third drive mechanismmounted on the body; wherein the third drive mechanism is configured to clampand rotate, together with the first drive mechanism, the first catheter and the secondcatheter.

[0020] Further, in a case that the first drive mechanism moves to an extremeposition and is to be restored to release the first catheter and the second catheter,the third drive mechanism is configured to clamp the first catheter and the secondcatheter to prevent movement thereof.

[0021] Further, the third drive mechanism moves along the same axial directionas the first drive mechanism and the second drive mechanism.

[0022] Further, the third drive mechanism is positioned between the first drivemechanism and the second drive mechanism.

[0023] Further, the first drive mechanism, the second drive mechanism and thethird drive mechanism are all active drive mechanisms.

[0024] Further, the first drive mechanism and the second drive mechanism areactive drive mechanisms, and the third drive mechanism is a passive drivemechanism.

[0025] Further, the apparatus further includes: an exchange mechanism;wherein the exchange mechanism is a rapid exchange mechanism or a coaxial exchange mechanism.

[0026] Further, the exchange mechanism is detachably fixed to the second drivemechanism, or the exchange mechanism and the second drive mechanism areintegrally designed.

[0027] According to the present disclosure, the physician may remotelymanipulate the first drive mechanism and the second drive mechanism to movealong the same axial direction on the body, such that a plurality of catheters and aplurality of guide wires collaboratively move to desired positions. In case ofreplacing the catheter and the guide wire, the front clamper clamps the first catheterto prevent movement thereof. This blocks radiation by X rays and protects healthof human bodies. In addition, the robot may more accurately control the catheterand the guide wire, which not only reduces working intensity, but also avoids severemistakes.BRIEF DESCRIPTION OF THE DRAWINGS

[0028] FIG. 1 is a schematic view of a slave-end apparatus for an interventionalrobot according to a first embodiment of the present disclosure;

[0029] FIG. 2 is another schematic view of the slave-end apparatus in FIG. 1;

[0030] FIG. 3 is a schematic view of a slave-end apparatus for an interventionalrobot according to a second embodiment of the present disclosure;

[0031] FIG. 4 is another schematic view of the slave-end apparatus in FIG. 3;

[0032] FIG. 5 is a schematic view of the slave-end apparatus in FIG. 3 in whichtwo drive mechanisms are added; and

[0033] FIG. 6 is a schematic view of the slave-end apparatus in FIG. 3 in whichonly two drive mechanisms are remained.DETAILED DESCRIPTION

[0034] For clear description and better understanding of the technical problemto be solved, technical solutions, and advantages of the present disclosure, thepresent disclosure is further described in detail with reference to the accompanyingdrawings and specific embodiments. It should be understood that the embodimentsdescribed here are only exemplary ones for illustrating the present disclosure, andare not intended to limit the present disclosure.

[0035] In the description of the present disclosure, it should be noted that unlessotherwise specified and defined, the terms "mounted," "coupled," "connected,""fixed," and derivative forms thereof shall be understood in a broad sense, which,for example, may be understood as fixed connection, detachable connection or integral connection or even connected in a relative movement fashion; may beunderstood as mechanical connection or electrical connection, or understood asdirect connection, indirect connection via an intermediate medium, orcommunication between the interiors of two elements or interactions between twoelements. Persons of ordinary skill in the art may understand the specific meaningsof the above terms in the present application according to the actual circumstancesand contexts.

[0036] In the description of the present disclosure, the terms "length,""diameter," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal,""top," "bottom," "inner," "outer," and the like indicate orientations or positionalrelationships which are based on the illustrations in the accompanying drawings,and these terms are merely for ease and brevity of the description, instead ofindicating or implying that the devices or elements shall have a particularorientation and shall be structured and operated based on the particular orientation.Accordingly, these terms shall not be construed as limiting the present disclosure.

[0037] The term "distal from" indicates a direction facing towards a patient, andthe term "proximal to" indicates a direction facing away from the patient. The terms"up" and "upper" indicate a direction facing away from a direction of gravity, andthe terms "bottom," "down," and "lower" indicate a direction facing towards thedirection of gravity. The term "forward" indicates a direction along which a guidewire or a catheter moves to the body of the patient. The term "backward" indicatesa direction along which the guide wire or the catheter moves out of the body of thepatient. The term "inwardly" indicates an inner portion of a feature. The term"outwardly" indicates an outer portion of a feature. The term "rotation" includes"forward rotation" and "reverse rotation," wherein the "forward rotation" indicatesa direction along which the guide wire or the catheter rotates to move into the bodyof the patient, and the "reverse rotation" indicates a direction along which the guidewire or the catheter rotates to move out of the body of the patient.

[0038] In addition, terms of "first" and "second" are only used for description,but shall not be understood as indication or implication of relative importance orimplicit indication of the number of the specific technical features. Therefore, thefeatures defined by the terms "first" and "second" may explicitly or implicitlyinclude one or more of these features. In addition, in the description of the presentdisclosure, the term "multiple," "more," or "a plurality of" refers to at least twounless otherwise specified.

[0039] It should be noted that, in the absence of conflict, embodiments of thepresent disclosure and features in the embodiments may be incorporated, which allfall within the protection scope of the present disclosure. In addition, all or part ofthe steps of the method may be performed in a computer system including a groupof computer-executable instructions. Further, although the steps are listed in asequence of 1, 2, 3..., in some cases, the steps may also be performed in a sequencethat is different form the sequence listed herein.

[0040] The guide wire herein includes, but is not limited to, a guide wire, amicro guide wire, a stent and the like guiding and supporting interventional medicalinstruments. The catheter includes, but is not limited to, a guide catheter, a microcatheter, an angiographic catheter, a multifunctional catheter (also referred to as amiddle catheter), a thrombolytic catheter, a balloon dilatation catheter, a balloonexpandable stent catheter and the like interventional medical instruments fortreatment.

[0041] As illustrated in FIG. 1 and FIG. 2, a first embodiment of the presentdisclosure provides a slave-end apparatus for an interventional robot. The apparatusincludes: a body 10, drive mechanisms 12, 14 and 16 that are movably mounted onthe body 10, a front clamper 18 and a rear clamper (not illustrated).

[0042] The body 10 is elongated, and is provided with a linear guide rail 102.The drive mechanisms 12, 14 and 16 are successively fixed on the guide rail 102,and are slidable along the guide rail 102.

[0043] Each of the drive mechanisms is configured to clamp, push (includingforward movement and backward movement) and rotate (including forward rotationand reverse rotation) the catheter and the guide wire, or may be configured tosimultaneously clamp, push (including forward movement and backwardmovement) and rotate (including forward rotation and reverse rotation) both thecatheter and the guide wire, such that a plurality of catheters and a plurality of guidewires collaboratively move. The specific structures of the drive mechanisms 12, 14and 16 are not necessarily identical, but may be different from each other, as longas the catheter and the guide wire can be clamped, pushed and / or rotated. In thisembodiment, the specific structures of the drive mechanisms 14 and 16 are identical,and the drive mechanism 12 has a different structure. The drive mechanism 14 includes: a first assembly configured to cooperate with the drive mechanism 12 toclamp and rotate one catheter, and a second assembly configured to cooperate withthe drive mechanism 12 to clamp and rotate another catheter. The drive mechanism16 includes: a first assembly configured to cooperate with the second assembly ofthe drive mechanism 14 to clamp and rotate the another catheter, and a secondassembly configured to cooperate with the second assembly of the drive mechanism14 to clamp and rotate the guide wire. The drive mechanism 16 includes a rapidexchange mechanism 162 configured to cooperate with the first assembly of thedrive mechanism 16.

[0044] In this embodiment, the drive mechanism 12, and the second assembliesof the drive mechanisms 14 and 16 may be the slave-end guide wire and cathetertwisting apparatus for the interventional robot as disclosed in Chinese PatentApplication No. 202110674959.3, the disclosure of which is incorporated herein inits entirety.

[0045] The front clamper 18 is positioned at a front portion of the body 10,proximal to the drive mechanisms 12 and 14. The rear clamper is positioned at arear portion of the body 10. For details, reference may be made to the descriptionof the rear clamper 70. In this embodiment, the front clamper 18 and the rearclamper are fixed on the body 10, and may be movable relative to the body 10 wherenecessary. In other embodiments, the front clamper 18 and the rear clamper mayalso be mounted separately from the body 10.

[0046] Before an operation, some preparations need to be made. Specifically, afirst catheter, a second catheter and a first guide wire that are suitable (for example,those with suitable lengths and diameters) are selected, and the first catheter andthe second catheter are washed with normal saline and exhausted. The secondcatheter is led into the first catheter to go beyond the first catheter by a distance,and the first guide wire is led into the second catheter to go beyond the secondcatheter by a distance. For example, the head of the first guide wire goes beyondthe second catheter by about 10 cm. The drive mechanisms 12, 14 and 16 aredisposed at proper positions, the first catheter, the second catheter and the first guidewire are together placed and led into an introducer (for example, femoral artery,radial artery or the like) of a patient for operation, the first assemblies of the drivemechanisms 12 and 14 are caused to cooperate to clamp the first catheter, the secondassembly of the drive mechanism 14 and the first assembly of the drive mechanism16 are caused to cooperate to clamp the second catheter, and the second assemblyof the drive mechanism 16 is cause to clamp the first guide wire. In this way, thefirst catheter, the second catheter and the first guide wire are fixed.

[0047] When starting the operation, at the operation table, a master-end console(for example, the master-end operation handle for the interventional robot asdisclosed in Chinese Patent Application No. 202110654379.8 and the master-endcontrol module as disclosed in Chinese Patent Application No. 202110649908.5,the disclosures of which are incorporated herein in their entireties) is employed toremotely manipulate the drive mechanisms 12, 14 and 16 to move. The master-endconsole is spatially isolated from a catheter room, and the master-end console andthe catheter room are deployed in different regions. Specifically, the drivemechanisms 12, 14 and 16 cooperate to clamp the first catheter, the second catheterand the first guide wire and move along the guide rail 102 to drive the first catheter,the second catheter and the first guide wire to move forward, and the drivemechanisms 12, 14 and 16 simultaneously or non-simultaneously rotate the firstcatheter, the second catheter and the first guide wire, such that the first catheter, thesecond catheter and the first guide wire are collaboratively pushed forward. In thisprocess, it needs to be constantly ensured that the second catheter goes beyond thefirst catheter by a distance, and the first guide wire goes beyond the second catheterby a distance. In a case that the first catheter, the second catheter and the first guide wire reach some positions of the vessel, the drive mechanisms 12, 14 and 16 needto be remotely manipulated by the master-end console, to drive the first catheter,the second catheter and the first guide wire to move forward and backward, androtate forward and rotate reversely for multiple times for fine adjustment.

[0048] In this embodiment, the first assemblies of the drive mechanisms 14 and16 respectively clamp, via the Y adapter, the first catheter and the second catheter.That is, the first catheter and the second catheter are both connected to the Y adapter;the Y adapter is fixed on the drive mechanisms 14 and 16; the first assemblies ofthe drive mechanisms 14 and 16 clamp the Y adapter and rotate a Luer connectorof the Y adapter; and under cooperation of the second assemblies of drivemechanisms 12 and 14, the first catheter and the second catheter are rotated.

[0049] In a case that the first catheter moves forward to a desired position, thefirst catheter is taken off from the first assemblies of the drive mechanisms 12 and14; and the front clamper 18 clamps the first catheter to prevent movement thereof.The second catheter is taken off from the second assembly of the drive mechanism14 and the first assembly of the drive mechanism 16, and the drive mechanisms 12and 14 are caused to move backward along the guide rail 102 to clamp the secondcatheter. The drive mechanism 16 may be remotely manipulated by the master-endconsole to drive the first guide wire to move backward, or the first guide wire maybe moved backward. In a case that the first guide wire moves backward to theintroducer, the first guide wire is taken off from the second assembly of the drivemechanism 16, and is soaked into heparin water. It should be noted that in thisprocess, the first catheter shall not be pushed, to prevent the head of the first catheterfrom moving in the vessel.

[0050] The drive mechanism 16 is caused to move backward to a suitableposition. A third catheter (for example, a micro catheter) and a second guide wirethat are thinner (for example, with a diameter of 0.014 in) are selected. The secondguide wire is led into the third catheter, which are then led into the second catheter,and the third catheter and the second guide wire are respectively clamped by thesecond assembly of the drive mechanism 14, the first assembly of the drivemechanism 16 and the second assembly of the drive mechanism 16. In this way, thethird catheter and the second guide wire are fixed. In this embodiment, the thirdcatheter is connected to the Y adapter; the Y adapter is fixed on the drive mechanism16, and is clamped by the first assembly of the drive mechanism 16; and a Luerconnector of the Y adapter is rotated, under cooperation of the second assembly ofthe drive mechanism 14, to drive the third catheter to rotate. With respect to thefront clamper 18 configured to clamp the first catheter, the front clamper 18 mayalso rotate the first catheter by rotating the Luer connector of the Y adapter.

[0051] Further, the drive mechanisms 12, 14 and 60 are further remotelymanipulated to move by using the master-end console. For details about the specificprocess, reference may be made to the forward movement of the first catheter, thesecond catheter and the first guide wire, which are thus not described herein anyfurther. The second catheter is caused to advance to farther vessel sites, to facilitatepushing of the third catheter and the second guide wire to the lesion of the patientfor operation (the narrow vessel site) that is farther. In this process, the first catheterneeds to be driven to rotate by the front clamper 18. The position of the secondguide wire is determined by contrast radiography. In a case that the second guidewire reaches a designated position (generally, the second guide wire needs to runthrough the lesion of the patient for operation, except possible treatment ofaneurysm embolization), the front clamper 18 and the drive mechanisms 12, 14 and16 respectively fix the first catheter, the second catheter, the third catheter and thesecond guide wire. In a case that the second guide wire fails to reach the designatedposition, the drive mechanisms 12, 14 and 16 are repeatedly remotely manipulatedto move, until the second guide wire reaches the designated position.

[0052] In the case that the second guide wire reaches the designated position,by using the master-end console, the drive mechanism 16 is remotely manipulatedto cause the third catheter to move backward. In the meantime, the second guidewire is maintained as not moving. For example, the rear clamper takes over to clampthe second guide wire to prevent movement thereof. In a case that the head of thethird catheter moves backward to the introducer, in the catheter room, the thirdcatheter is taken off from the drive mechanisms 14 and 16, and is soaked into theheparin water. In this case, the drive mechanism 16 may take over to clamp thesecond guide wire, and maintain the front clamper, the drive mechanisms 12 and 14and the drive mechanism 16 as respectively fixing the first catheter, the secondcatheter and the second guide wire.

[0053] In other embodiments, in a case that the front clamper 18 clamps thefirst catheter to prevent movement thereof, the drive mechanisms 12, 14 and 16 maybe remotely manipulated, by using the master-end console, to drive the secondcatheter and the first guide wire to move backward together. In a case that the headsof the second catheter and the first guide wire move backward to the introducer, inthe catheter room, the second catheter and the first guide wire are taken off fromthe drive mechanisms 14 and 16, and are soaked into the heparin water. Twocatheters and one guide wire that are suitable are selected, and the catheters and theguide wire are placed into the first catheter all together. The drive mechanisms 12,14 and 16 are caused to be at suitable positions, and the drive mechanisms 12, 14and 16 are caused to cooperate to clamp the two catheters and the one guide wire.In this way, the two catheters and the one guide wire are fixed. For details about thesubsequent process of forward movement, reference may be made to the forwardmovement of the first catheter, the second catheter and the first guide wire, whichare thus not described herein any further.

[0054] In other embodiments, the front portion of the body 10 is provided witha plurality of front clampers 18, and in this case, the first catheter may be pushedfor multiple times. In a case that the catheter is pushed to a desired position, one ofthe front clampers 18 is caused to clamp the catheter.

[0055] In the catheter room again, the tail of the second guide wire is caused torun into a rapid exchange balloon dilatation catheter. The rapid exchange balloondilatation catheter moves forward along with the second guide wire. In this case,the rapid exchange mechanism 162 clamps the rapid exchange balloon dilatationcatheter.

[0056] Further, by using the master-end console, the rapid exchange mechanism162 is remotely manipulated, such that the rapid exchange balloon dilatationcatheter moves forward to the lesion of the patient for operation (not going beyondthe head of the second guide wire). In this process, the position and angle of thesecond guide wire need to be finely adjusted by forward rotation, reverse rotation,forward movement, and backward movement according to actual needs. In a casethat the rapid exchange balloon dilatation catheter reaches the lesion of the patientfor operation, a contrast medium is filled into the rapid exchange balloon dilatationcatheter in the catheter room for pre-dilatation, and a vasodilation effect isdetermined by contrast radiography. In a case that the vasodilation effect is achieved,the contrast medium is extracted from the rapid exchange balloon dilatation catheter.Further, by using the master-end console, the rapid exchange mechanism 162 isremotely manipulated to move backward to the introducer. In the process that therapid exchange balloon dilatation catheter moves backwards, the position of thesecond guide wire remains unchanged. With respect to some operations,vasodilation needs to be performed for multiple times. Therefore, the rapidexchange balloon dilatation catheter may move forward and move backward formultiple times.

[0057] Further, in the catheter room, the rapid exchange balloon dilatationcatheter is taken off from the rapid exchange mechanism 162, and then a balloonexpandable stent catheter is caused to run into the second guide wire and to beclamped on the rapid exchange mechanism 162. For details about the specificprocess, reference may be made to the above process of the rapid exchange balloondilatation catheter, which are thus not described herein any further.

[0058] Further, by using the master-end console, the rapid exchange mechanism162 is remotely manipulated, such that the rapid exchange balloon dilatationcatheter is pushed along the second guide wire to the lesion of the patient foroperation (a narrow vessel site that has been expanded). In this process, the positionand angle of the second guide wire need to be finely adjusted by forward rotation,reverse rotation, forward movement, and backward movement according to actualneeds. When the rapid exchange balloon expandable stent catheter reaches thelesion of the patient for operation (the vessel side that has been expanded), theposition of the rapid exchange balloon-expandable stent catheter is fine-tuned, afterdetermination, the rapid exchange balloon-expandable stent catheter is filled withthe contrast medium in the catheter room, such that the stent is shaped. It isconfirmed by contrast radiography that the placement of the balloon expandablestent is correct, i.e., the contrast medium may be extracted and the rapid exchangemechanism 162 is manipulated to drive the rapid exchange balloon-expandablestent catheter to move backward to the introducer, whereas the balloon-expandablestent remains in the lesion of the patient for operation. In the catheter room, therapid exchange balloon-expandable stent catheter is taken off from the rapidexchange mechanism 162, and is put into the heparin water.

[0059] Further, by using the master-end console, the drive mechanisms 12, 14and 16 are remotely manipulated to move, such that the second catheter and thesecond guide wire move backward to the introducer. Finally, in the catheter room,the first catheter is pulled out to the introducer, and the first catheter, the secondcatheter and the second guide wire are taken off from the front clamper 18 and thedrive mechanisms 12, 14 and 16 and soaked into the heparin water, and then theintroducer removed and post-operation treatment is carried out to complete theoperation.

[0060] In the above process, the rapid exchange catheter is used, and therefore,the catheter needs to be clamped, pushed and rotated by a rapid exchangemechanism 162. In a case that a coaxial exchange catheter is used, where the tail ofthe second guide wire is caused to run into the coaxial exchange catheter, the coaxialexchange catheter is clamped, pushed and rotated by the coaxial exchangemechanism, such that the coaxial exchange catheter moves forward to anappropriate position along the second guide wire or moves backward to theintroducer. Regardless of the rapid exchange mechanism 162 or the coaxialexchange mechanism, the clamping, pushing and rotating of the rapid exchangecatheter and the coaxial exchange catheter may be practiced by means of rollerdriving.

[0061] For details about how the master-end console remotely manipulates thedrive mechanisms 12, 14 and 16 and the rapid exchange mechanism 162 to move,reference may be made to the master-end control module for the interventionalrobot as disclosed in Chinese Patent Application 202110649908.5. The controlmodule includes two operation levers, wherein one operation lever is configured tomanipulate the drive mechanisms 12 and 14 and the rapid exchange mechanism 162,and this operation lever may manipulate the drive mechanisms 12 and 14 and therapid exchange mechanism 162 in a time-division manner, and the other operationlever is configured to manipulate the drive mechanism 16. Optionally, the masterend console includes more than two operation levers, for example, four operationlevers, which are respectively configured to remotely manipulate the drivemechanisms 12, 14 and 16 and the rapid exchange mechanism 162.

[0062] In the above, the movement and control process of the present disclosurehas been described by taking "balloon-expandable stent angioplasty" as an example.Indeed, the present disclosure may also be used in a variety of procedures includingcontrast radiography, embolization, thrombectomy, and the like. The drivemechanisms 12, 14 and 16 and the front clamper 18 may be freely adaptedaccording to the actual needs of the operation, i.e., the drive mechanisms 12, 14 and16 and the front clamper 18 may all be easily disassembled and assembled. Wheremore complicated operations are performed, more drive mechanisms and frontclampers may be deployed. In a case that more drive mechanisms and frontclampers are deployed, the collaborative movement of a plurality of catheterscorresponding to one guide wire or corresponding to a plurality of guide wires maybe practiced. A rapid exchange mechanism is provided for each drive mechanismthat constantly clamps the catheter, and is either removably mounted to the drivemechanism or integrally formed with the drive mechanism. In case of performingsimple examination procedures, only two of the drive mechanisms, such as the drivemechanisms 12 and 16 (or the drive mechanisms 12 and 14, wherein a rapidexchange mechanism may be disposed on the drive mechanism 14 according to theactual needs) and the front clamper 162 are used. In the case, the other drivemechanisms are removed from the body 10.

[0063] The following describes a control process where in the presentdisclosure, only the drive mechanisms 12 and 16 and the front clamper 162collaboratively push two catheters and one guide wire.

[0064] In the preparations for the operation, two catheters (a thick catheter anda thin catheter) and two guide wires (a thick guide wire and a thin guide wire) withappropriate diameters and lengths are selected according to the position of avascular lesion, and the two catheters are washed with normal saline and exhausted.An interventional robot is started to complete initialization. An introducer is placedfor a patient for operation. The thick guide wire is led into the thick catheter and iscaused to move out of the thick catheter by a distance, and then the thick guide wireand the thick catheter are together placed into the introducer. The first assembliesof the drive mechanism 12 and the drive mechanism 16 are caused to cooperate toclamp the thick catheter (connected to the Y adapter), and the second assembly ofthe drive mechanism 16 is caused to clamp the thick guide wire. In this way, thethick catheter and the thick guide wire are fixed.

[0065] When starting the operation, by using the master-end console, the drivemechanisms 12 and 16 are remotely manipulated to move. The thick catheter andthe thick guide wire are respectively caused to collaboratively move forward to thenarrow vessel site. For details about the process, reference may be made to theabove-mentioned "balloon stent angioplasty." The heads of the thick catheter andthe thick guide wire are maintained within an image field of view. In this case, thethick catheter is taken off from the first assemblies of the drive mechanisms 12 and16; and the front clamper 18 clamps the thick catheter to prevent movement thereof.It should be noted that in this process, the thick catheter shall not be pushed, toprevent the head of the thick catheter from moving in the vessel. The drivemechanism 16 may be remotely manipulated by the master-end console to drive thethick guide wire to move backward, or the thick guide wire may be movedbackward. In a case that the thick guide wire moves backward to the introducer, thethick guide wire is taken off from the second assembly of the drive mechanism 16,and is soaked into the heparin water.

[0066] The drive mechanisms 12 and 16 are caused to move backward to asuitable position. The thin guide wire is led into the thin catheter, which are thenled into the thick catheter, and the thin catheter and the thin guide wire arecollaboratively clamped by the drive mechanisms 12 and 16. In this way, the thincatheter and the thin guide wire are fixed. In this embodiment, the thin catheter isconnected to the Y adapter; the Y adapter is fixed on the drive mechanism 16, andis clamped by the first assembly of the drive mechanism 16; and under cooperationof the drive mechanism 14, a Luer connector of the Y adapter is rotated to drive thethin catheter to rotate.

[0067] Further, by using the master-end console, the drive mechanisms 12 and16 are remotely manipulated to move. For details about the specific process,reference may be made to the forward movement of the thick catheter and the thickguide wire, which are thus not described herein any further. The thin catheter andthe thin guide wire are pushed to the lesion of the patient for operation (the targetnarrow vessel site) that is farther. The positions of the thin catheter and the thinguide wire are determined by contrast radiography. In a case that the thin catheterand the thin guide wire reach their designated positions (generally, the thin guidewire needs to run through the lesion of the patient for operation, except possibletreatment of aneurysm embolization), the drive mechanisms 12 and 16 respectivelyfix the thin catheter and the thin guide wire.

[0068] Further, in the catheter room, the tail of the thin guide wire is caused torun into a rapid exchange balloon-expandable stent catheter. The rapid exchangeballoon-expandable stent catheter moves forward along with the thin guide wireand runs into the thin catheter, specifically, the Y adapter connecting the thincatheter. In this case, the rapid exchange mechanism 162 clamps the rapid exchangeballoon-expandable stent catheter.

[0069] Further, by using the master-end console, the rapid exchange mechanism162 is remotely manipulated, such that the rapid exchange balloon dilatationcatheter moves forward to the lesion of the patient for operation (not going beyondthe head of the thin guide wire). In this process, the position and angle of the thincatheter and the thin guide wire need to be finely adjusted by forward rotation,reverse rotation, forward movement, and backward movement according to actualneeds. When the rapid exchange balloon-expandable stent catheter reaches thelesion of the patient for operation, the position of the rapid exchange balloonexpandable stent catheter is fine-tuned, after determination, the rapid exchangeballoon-expandable stent catheter is filled with the contrast medium in the catheterroom, such that the stent is shaped. It is confirmed by contrast radiography that theplacement of the balloon expandable stent is correct, i.e., the contrast medium maybe extracted and the rapid exchange mechanism 162 is manipulated to drive therapid exchange balloon-expandable stent catheter to move backward to theintroducer, whereas the balloon-expandable stent remains in the lesion of the patientfor operation. In the process that the rapid exchange balloon-expandable stentcatheter moves backwards, the positions of the thick catheter, the thin catheter andthe thin guide wire remain unchanged. In the catheter room, the rapid exchangeballoon-expandable stent catheter is taken off from the rapid exchange mechanism162, and is puts into the heparin water.

[0070] Further, by using the master-end console, the drive mechanisms 12 and16 are remotely manipulated to move, such that the thin catheter and the thin guidewire move backward to the introducer. Finally, in the catheter room, the thickcatheter is pulled out to the introducer, the thick catheter, the thin catheter and thethin guide wire are taken off from the front clamper 18 and the drive mechanisms12 and 16 and are soaked into the heparin water, and then the introducer is removedand post-operation treatment is carried out to complete the operation.

[0071] In the above process, in a case that a coaxial exchange catheter is used,where the tail of the thin guide wire is caused to run into the coaxial exchangecatheter, the coaxial exchange catheter is clamped, pushed and rotated by thecoaxial exchange mechanism, such that the coaxial exchange catheter movesforward to an appropriate position along the thin guide wire or moves backward tothe introducer.

[0072] As illustrated in FIG. 3 and FIG. 4, a second embodiment of the presentdisclosure provides a slave-end apparatus for an interventional robot. The apparatusincludes: a body 19, drive mechanisms 20, 30, 40, 50 and 60, a rear clamper 70, arapid exchange mechanism 80 and a front clamper 82 that are movably mounted onthe body 19.

[0073] The body 19 is elongated, and is provided with a linear channel 192. Thedrive mechanisms 20, 30, 40, 50 and 60 are successively disposed on the channel192, and are movable along the channel. In this embodiment, the drive mechanisms20, 30, 40, 50 and 60 may directly slide on the body 19. For example, a linear guiderail is fixed on the body 19, and the drive mechanisms 20, 30, 40, 50 and 60 mayall slide along the guide rail.

[0074] Each of the drive mechanisms is configured to clamp, push (includingforward movement and backward movement) and rotate (including forward rotationand reverse rotation) the catheter and the guide wire, or may be configured tosimultaneously clamp, push (including forward movement and backwardmovement) and rotate (including forward rotation and reverse rotation) both thecatheter and the guide wire, such that a plurality of catheters and one guide wirecollaboratively move. Each of the drive mechanisms includes: a clamping assemblyconfigured to clamp the catheter or the guide wire, and a rotating assemblyconfigured to rotate the catheter or the guide wire. The rotating assembly may bean active rotating assembly or a passive rotating assembly. The rotating assembliesmay be all active rotating assemblies, or may be partially active rotating assembliesand partially passive rotating assemblies. Clamping of the catheters by the drivemechanisms 20 and 40 does not hinder rotation of the catheters.

[0075] The clamping assemblies and rotating assemblies of the drivemechanisms 20, 30, 40, 50 and 60 may be the slave-end guide wire and cathetertwisting apparatus for the interventional robot as disclosed in Chinese PatentApplication No. 202110674959.3, the disclosure of which is incorporated herein inits entirety.

[0076] In other embodiments, the specific structures of the drive mechanisms20, 30, 40, 50 and 60 are not necessarily identical, but may be different from eachother, as long as the catheter and the guide wire can be clamped, pushed and / orrotated. Optionally, the clamping assemblies may be identical, but the rotatingassemblies may be different; or the clamping assemblies may be different, but therotating assemblies may be identical; or some of the clamping assemblies androtating assemblies may be identical, and the others of the clamping assemblies androtating assemblies may be different.

[0077] In this embodiment, the drive mechanisms 20 and 30 are spaced apartfrom each other, and are configured to cooperate with each other to clamp, pushand rotate a same guide catheter 90 (that is, a first catheter) to prevent the guidecatheter 90 from being bent. In fact, it is preferable that the drive mechanisms 20and 30 synchronously push the guide catheter 90, such that the guide catheter 90 isstretched straight, without being bent. Likewise, the drive mechanisms 40 and 50are spaced apart from each other, and are configured to cooperate with each otherto clamp, push and rotate a same multifunctional catheter 91 (that is, a secondcatheter, or also referred to as a middle catheter). The drive mechanism 60 isconfigured to clamp, push and rotate a guide wire 92. The rear clamper 70 isconfigured to clamp and push the guide wire 92. The rapid exchange mechanism80 and the drive mechanism 50 may be detachably fixed to each other, and may beconfigured to clamp and push a rapid exchange catheter.

[0078] The rear clamper 70 is positioned at a rear portion of the body 19. Thefront clamper 82 is positioned at a front portion of the body 19, proximal to thedrive mechanisms 20 and 30. In this embodiment, the front clamper 82 and the rearclamper 70 are fixed on the body 19, and may be movable relative to the body 19where necessary. In other embodiments, the front clamper 82 and the rear clamper70 may also be mounted separately from the body 19.

[0079] For the preparations of the operation, a guide catheter 90, amultifunctional catheter 91 and a guide wire 92 that are suitable (for example, thosewith suitable lengths and diameters) need to be selected, and the selected guidecatheter 90 and multifunctional catheter 91 are washed with normal saline andexhausted. The multifunctional catheter 91 is led into the guide catheter 90 to gobeyond the guide catheter 90 by a distance, the guide wire 92 is led into themultifunctional catheter 91 to go beyond the multifunctional catheter 91 by adistance, for example, the head of the guide wire 92 goes beyond themultifunctional catheter 91 by about 10 cm. The drive mechanisms 20, 30, 40, 50and 60 are disposed at proper positions, the guide catheter 90, the multifunctionalcatheter 91 and the guide wire 92 are together placed and led into an introducer (forexample, femoral artery, radial artery or the like) of a patient for operation, theclamping assemblies of the drive mechanisms 20 and 30 are caused to clamp theguide catheter 90, the clamping assemblies of the drive mechanisms 40 and 50 arecaused to clamp the multifunctional catheter 91, and the clamping assembly of thedrive mechanism 60 and a rear clamper 70 are caused to clamp the guide wire 92.In this way, the guide catheter 90, the multifunctional catheter 91 and the guide wire92 are fixed.

[0080] When starting the operation, a master-end console (for example, themaster-end operation handle for the interventional robot as disclosed in ChinesePatent Application No. 202110654379.8 and the master-end control module asdisclosed in Chinese Patent Application No. 202110649908.5, the disclosures ofwhich are incorporated herein in their entireties) is employed to remotelymanipulate the drive mechanisms 20, 30, 40, 50 and 60, the rear clamper 70 and therapid exchange mechanism 80 to move. Specifically, the drive mechanisms 20 and30 collaboratively clamp the guide catheter 90 to move along a channel 192 to drivethe guide catheter 90 to move forward, and the rotating assemblies of the drivemechanisms 20 and 30 simultaneously or non-simultaneously rotate the guidecatheter 90. In a case that the drive mechanism 20 moves to an extreme position(for example, the drive mechanism 20 moves to a distal end of the channel 192) andis to be restored to release the guide catheter 90, the drive mechanism 30 clampsthe guide catheter 90 to prevent movement thereof. In a case that the drivemechanism 20 is restored to a position proximal to the drive mechanism 30, theclamping assembly of the drive mechanism 20 clamps the guide catheter 90 again,and the drive mechanisms 20 and 30 are caused to collaboratively drive the guidecatheter 90 to move forward, and the rotating assemblies of the drive mechanisms20 and 30 simultaneously or non-simultaneously rotate the guide catheter 90. Suchoperations are repeated until the guide catheter 90 moves to a desired position.

[0081] In this process, the drive mechanisms 40 and 50 simultaneously or nonsimultaneously collaboratively clamp the multifunctional catheter 91 and movealong the channel 192 to drive the multifunctional catheter 91 to move forward, andthe rotating assemblies of the drive mechanisms 40 and 50 simultaneously or nonsimultaneously rotate the multifunctional catheter 91. In a case that the drivemechanism 40 moves to an extreme position (for example, a distance from the drivemechanism 40 to the drive mechanism 30 approaches a threshold) and is to berestored to release the multifunctional catheter 91, the drive mechanism 50 clampsthe multifunctional catheter 91 to prevent movement thereof. In a case that the drivemechanism 40 is restored to a position proximal to the drive mechanism 50, theclamping assembly of the drive mechanism 40 clamps the multifunctional catheter91 again, the drive mechanisms 40 and 50 are caused to collaboratively drive themultifunctional catheter 91 to move forward, and the rotating assemblies of thedrive mechanisms 40 and 50 simultaneously or non-simultaneously rotate themultifunctional catheter 91. Such operations are repeated until the multifunctionalcatheter 91 moves to a desired position.

[0082] In the above process, the drive mechanism 60 and the rear clamper 70simultaneously or non-simultaneously collaboratively clamp the guide wire 92 andmove along the channel 192 to drive the guide wire 92 to move forward, and therotating assembly of the drive mechanism 60 simultaneously or non-simultaneously rotates the guide wire 92. In a case that the drive mechanism 60 moves to an extremeposition (for example, a distance from the drive mechanism 60 to the drivemechanism 50 approaches a threshold) and is to be restored to release the guidewire 92, the rear clamper 70 clamps the guide wire 92 to prevent movement thereof.In a case that the drive mechanism 60 is restored, the clamping assembly of thedrive mechanism 60 clamps the guide wire 92 again, the drive mechanism 60 andthe rear clamper 70 are caused to collaboratively drive the guide catheter 92 to moveforward, and the rotating assembly of the drive mechanism 60 simultaneously ornon-simultaneously rotates the guide wire 92. Such operations are repeated untilthe guide wire 92 moves to a desired position. In other embodiments, at thebeginning, only the drive mechanism 60 clamps the guide wire 92, but the rearclamper 70 does not clamp the guide wire 92. In the case that the drive mechanism60 is restored, the rear clamper 70 clamps the guide wire 92. In a case that the drivemechanism 60 is restored and clamps the guide wire 92 again, the rear clamper 70releases the guide wire 92. Such operations are repeated such that the drive mechanism 60 and the rear clamper 70 alternately clamp the guide wire 92.

[0083] For details about how the drive mechanisms 20, 30, 40, 50 and 60, therear clamper 70 and the rapid exchange mechanism 80 are remotely manipulated tomove by using the master-end console, reference may be made to the master-endcontrol module for the interventional robot as disclosed in Chinese PatentApplication 202110649908.5. The control module includes two operation levers,wherein one operation lever is configured to manipulate the drive mechanisms 20,30, 40 and 50 and the rapid exchange mechanism 80, and this operation lever maymanipulate the drive mechanism 20 and 30, the drive mechanisms 40 and 50 andthe rapid exchange mechanism 80 in a time-division manner, and the otheroperation lever is configured to manipulate the drive mechanism 60 and the rearclamper 70. Optionally, the master-end console includes more than two operationlevers, for example, four operation levers, which are respectively configured toremotely manipulate the drive mechanisms 20 and 30, the drive mechanisms 40 and50, the drive mechanism 60 and the rear clamper 70, and the rapid exchangemechanism 80.

[0084] In other embodiments, the drive mechanisms 30 and 50 respectivelyclamp the guide catheter 90 and the multifunctional catheter 91 via an Y adapter.That is, the guide catheter 90 and the multifunctional catheter 91 are respectivelyconnected to the Y adapter; the Y adapter is fixed to the drive mechanisms 30 and50; and the clamping assemblies of the drive mechanisms 30 and 50 clamp the Yadapter, and the rotating assemblies of the drive mechanisms 30 and 50 rotate aLuer connector of the Y adapter to drive the guide catheter 90 and themultifunctional catheter 91 to rotate.

[0085] During collaborative pushing of the guide catheter 90, themultifunctional catheter 91 and the guide wire 92, it needs to be constantly ensuredthat the multifunctional catheter 91 goes beyond the guide catheter 90 by a distanceand the guide wire 92 goes beyond the multifunctional catheter 91 by a distance. Ina case that the guide catheter 90, the multifunctional catheter 91 and the guide wire92 reach some positions of the vessel, the drive mechanisms 20, 30, 40, 50 and 60and the rear clamper 70 need to be remotely manipulated by the master-end console,to drive the guide catheter 90, the multifunctional catheter 91 and the guide wire 92to move forward and backward, and rotate forward and rotate reversely for multipletimes.

[0086] In a case that the guide catheter 90 moves forward to a desired position,the guide catheter 90 is fixed. The drive mechanism 60 and the rear clamper 70 areremotely manipulated by the master-end console, to drive the guide wire 92 to movebackward. The process of backward movement is similar to the above process offorward movement. In a case that the head of the guide wire 92 moves backwardsto the introducer, in the catheter room, the guide wire 92 is taken off from theclamping assembly of the drive mechanism 60 and the rear clamper 70, and issoaked into the heparin water.

[0087] The guide catheter 90 is taken off from the clamping assemblies of thedrive mechanisms 20 and 30, and the front clamper 82 takes over to clamp the guidecatheter 90 to prevent movement thereof. It should be noted that in this process, theguide catheter 90 shall not be pushed, to prevent the head of the guide catheter 90from moving in the vessel. The multifunctional catheter 91 is taken off from theclamping assemblies of the drive mechanisms 40 and 50, and the clampingassemblies of the drive mechanisms 20 and 30 take over to clamp themultifunctional catheter 91.

[0088] In other embodiments, the front clamper 82 may be telescopic, whichextends from a hidden space where a catheter needs to be clamped. With respect tothe front clamper 82 configured to clamp the guide catheter 90, the front clamper82 may also rotate the guide catheter 90 by rotating the Luer connector of the Yadapter. In other embodiments, the front portion of the body 19 is provided with aplurality of front clampers 82, and in this case, the catheter may be pushed formultiple times. In a case that each catheter is pushed to a desired position, one ofthe front clampers 82 is caused to clamp the catheter.

[0089] The drive mechanisms 40, 50 and 60 and the rear clamper 70 areadjusted to suitable positions. A micro catheter 94 and a micro guide wire 96 thatare thinner (for example, with a diameter of 0.014 in) are selected. The micro guidewire 96 is led into the micro catheter 94 and the micro guide wire 96 and the microcatheter 94 are led into the multifunctional catheter 91, and the micro catheter 94and the micro guide wire 96 are respectively clamped by the clamping assemblies of the drive mechanisms 40 and 50, the clamping assembly of the drive mechanism60, and the rear clamper 70. In this way, the micro catheter 94 and the micro guidewire 96 are fixed. In other embodiments, the micro catheter 94 is connected to an Yadapter. The Y adapter is fixed to the drive mechanism 50. The clamping assemblyof the drive mechanism 50 clamps the Y adapter, and the rotating assembly of thedrive mechanism 50 rotates a Luer connector of the Y adapter to drive the microcatheter 94 to rotate.

[0090] Further, by using the master-end console, the drive mechanisms 20, 30,40, 50 and 60 and the rear clamper 70 are remotely manipulated to move. For detailsabout the specific process, reference may be made to the forward movement of theguide catheter 90, the multifunctional catheter 91 and the guide wire 92, which arethus not described herein any further. The multifunctional catheter 91 is caused tomove forward to the vessel farther. In a case that the micro catheter 94 and the microguide wire 96 move forward to the head of the multifunctional catheter 91, themicro catheter 94 and the micro guide wire 96 are further pushed to a lesion (thatis, a target vessel stenosis site) of the patient for operation. The position of the microguide wire 96 is determined by contrast radiography. In a case that the micro guidewire 96 reaches a designated position (generally, the micro guide wire 96 needs torun through the lesion of the patient for operation, except possible treatment ofaneurysm embolization), the drive mechanisms 20 and 30, the drive mechanisms40 and 50, the drive mechanism 60 and the rear clamper 70 respectively fix themultifunctional catheter 91, the micro catheter 94 and the micro guide wire 96. Ina case that the micro guide wire 96 fails to reach the designated position, the drivemechanisms 20, 30, 40, 50 and 60 and the rear clamper 70 are repeatedly remotelymanipulated to move, until the micro guide wire 96 reaches the designated position.

[0091] In other embodiments, the drive mechanisms 40, 50 and 60 and the rearclamper 70 may be remotely manipulated, by using the master-end console, to drivethe multifunctional catheter 91 and the guide wire 92 to move backward together.In a case that the heads of the multifunctional catheter 91 and the guide wire 92move backward to the introducer, in the catheter room, the multifunctional catheter91 and the guide wire 92 are taken off from the clamping assemblies of the drivemechanisms 40, 50 and 60 and the rear clamper 70, and are soaked into the heparinwater. Then, the guide catheter 90 is taken off from the clamping assemblies of thedrive mechanisms 20 and 30, and the front clamper 82 takes over to clamp the guidecatheter 90 to prevent movement thereof. It should be noted that in this process, theguide catheter 90 shall not be pushed, to prevent the head of the guide catheter 90from moving in the vessel. Two catheters and one guide wire that are suitable areselected, and the catheters and the guide wire are placed into the guide catheter 90all together. The drive mechanisms 20, 30, 40, 50 and 60 are caused to be at suitablepositions, the clamping assemblies of the drive mechanisms 20 and 30 are causedto clamp one catheter, the clamping assemblies of the drive mechanisms 40 and 50clamp the other catheter, and the clamping assembly of the drive mechanism 60 andthe rear clamper 70 are caused to clamp the guide wire. In this way, the two cathetersand the one guide wire are fixed. For details about the subsequent process offorward movement, reference may be made to the forward movement of the guidecatheter 90, the multifunctional catheter 91 and the guide wire 92, which are thusnot described herein any further.

[0092] In the case that the micro guide wire 96 reaches the designated position,by using the master-end console, the drive mechanisms 40 and 50 are remotelymanipulated to cause the micro catheter 94 to move backward. In the meantime, themicro guide wire 96 is maintained as not moving. For example, as the drivemechanism 60 moves backward, the rear clamper 70 takes over to clamp the microguide wire 96 to prevent movement thereof. In a case that the head of the microcatheter 94 moves backward to the introducer, in the catheter room, the microcatheter 94 is taken off from the drive mechanisms 40 and 50, and is soaked intothe heparin water. In this case, the drive mechanism 60 may take over to clamp themicro guide wire 96, and maintain the front clamper 82, the drive mechanisms 20and 30 and the drive mechanism 60 as respectively fixing the guide catheter 90, themultifunctional catheter 91 and the micro guide wire 96.

[0093] Further, in the catheter room again, the tail of the micro guide wire 96 iscaused to run into a rapid exchange balloon dilatation catheter 98. The rapidexchange balloon dilatation catheter 98 moves forward along with the micro guidewire 96. In this case, the rapid exchange mechanism 80 clamps the rapid exchangeballoon dilatation catheter 98.

[0094] Further, by using the master-end console, the rapid exchange mechanism80 is remotely manipulated, such that the rapid exchange balloon dilatation catheter98 moves forward to the lesion of the patient for operation (not going beyond thehead of the micro guide wire 96). In this process, the position and angle of the microguide wire 96, and fine adjustment need to be finely adjusted by forward rotation,reverse rotation, forward movement, and backward movement according to actualneeds. In a case that the rapid exchange balloon dilatation catheter 98 reaches thelesion of the patient for operation, a contrast medium is filled into the rapidexchange balloon dilatation catheter 98 in the catheter room for pre-dilatation, anda vasodilation effect is determined by contrast radiography. In a case that thevasodilation effect is achieved, the contrast medium is extracted from the rapidexchange balloon dilatation catheter 98. Further, by using the master-end console,the rapid exchange mechanism 80 is remotely manipulated to move backward tothe introducer. In the process that the rapid exchange balloon dilatation catheter 98moves backwards, the position of the micro guide wire 96 remains unchanged. Withrespect to some operations, vasodilation needs to be performed for multiple times.Therefore, the rapid exchange balloon dilatation catheter may move forward andmove backward for multiple times.

[0095] Further, in the catheter room, the rapid exchange balloon dilatationcatheter 98 is taken off from the rapid exchange mechanism 80, and then a balloonexpandable stent catheter is caused to run into the micro guide wire 96 and to beclamped on the rapid exchange mechanism 80. For details about the specific process,reference may be made to the above process of the rapid exchange balloon dilatationcatheter 98, which are thus not described herein any further.

[0096] Further, by using the master-end console, the rapid exchange mechanism80 is remotely manipulated, such that the rapid exchange balloon dilatation catheteris pushed along the micro guide wire 96 to the lesion of the patient for operation (a narrow vessel site that has been expanded). In this process, the position and angleof the micro guide wire 96 need to be finely adjusted by forward rotation, reverserotation, forward movement, and backward movement according to actual needs.When the rapid exchange balloon-expandable stent catheter reaches the lesion ofthe patient for operation (the vessel side that has been expanded), the position of the rapid exchange balloon-expandable stent catheter is fine-tuned, afterdetermination, the rapid exchange balloon-expandable stent catheter is filled withthe contrast medium in the catheter room, such that the stent is shaped. It isconfirmed by contrast radiography that the placement of the balloon-expandablestent is correct, i.e., the contrast medium may be extracted and the rapid exchangemechanism 80 is manipulated to drive the rapid exchange balloon-expandable stentcatheter to move backward to the introducer, whereas the balloon-expandable stentremains in the lesion of the patient for operation. In the catheter room, the rapidexchange balloon-expandable stent catheter is taken off from the rapid exchangemechanism 80, and is put into the heparin water.

[0097] Further, by using the master-end console, the drive mechanisms 20, 30,40, 50 and 60 and the rear clamper 70 are remotely manipulated to move, such thatthe multifunctional catheter 91 and the micro guide wire 96 move backward to theintroducer. Finally, in the catheter room, the multifunctional catheter 91 and themicro guide wire 96 are taken off from the clamping assemblies of the drivemechanisms 20, 30 and 60 and the rear clamper 70, the guide catheter 90 is takenoff from the front clamper 82, the guide catheter 90, the multifunctional catheter 91and the micro guide wire 96 are withdrawn from the introducer and placed into theheparin water, and then the introducer is removed and post-operation treatment iscarried out to complete the operation.

[0098] In the above process, the rapid exchange catheter is used, and therefore,the catheter needs to be clamped, pushed and rotated by a rapid exchangemechanism 80. In a case that a coaxial exchange catheter is used, where the tail ofthe micro guide wire 96 is caused to run into the coaxial exchange catheter, thecoaxial exchange catheter is clamped, pushed and rotated by the coaxial exchangemechanism, such that the coaxial exchange catheter moves forward to anappropriate position along the micro guide wire 96 or moves backward to theintroducer. Regardless of the rapid exchange mechanism 80 or the coaxial exchangemechanism, the clamping, pushing and rotating of the rapid exchange catheter andthe coaxial exchange catheter may be practiced by means of roller driving.

[0099] In the above, the movement and control process of the present disclosurehas been described by taking "balloon-expandable stent angioplasty" as an example.Indeed, the present disclosure may also be used in a variety of procedures includingcontrast radiography, embolization, thrombectomy, and the like. The drivemechanisms 20, 30, 40, 50 and 60, the rear clamper 70 and the rapid exchangemechanism 80 may be freely adapted according to the actual needs of the operation,i.e., the drive mechanisms 20, 30, 40, 50 and 60, the rear clamper 70 and the rapidexchange mechanism 80 may all be easily disassembled and assembled. Wheremore complicated surgeries are performed, more drive mechanisms, rear clampersand rapid exchange mechanisms may be deployed. In a case that more drivemechanisms and rear clampers are deployed, the collaborative movement of aplurality of catheters corresponding to one guide wire or corresponding to aplurality of guide wires may be practiced. As illustrated in FIG. 5, two drivemechanisms are added to clamp and rotate more catheters. For details, referencemay be made to the above-mentioned "balloon stent angioplasty." A rapid exchangemechanism is provided for each drive mechanism that constantly clamps thecatheter, and is either removably mounted to the drive mechanism or integrallyformed with the drive mechanism. In case of performing simple examinationprocedures, such as an angiographic procedure, only two of the drive mechanisms20, 30, 40, 50 and 60, such as the drive mechanisms 30 and 60, are used. Referringto FIG. 6, the other drive mechanisms, the rear clamper 70 and the rapid exchangemechanism 80 are removed from the body 19.

[0100] In the above description, the master-end console and the operable tableon which the master-end console is deployed are outside the catheter room. In fact,the master-end console and the operable table may also be deployed in a separatespace in the catheter room, as long as X-ray radiation can be isolated and thephysician is exempt from the X-ray radiation.

[0101] The above only describes how the catheter and the guide wire arereplaced in some cases. In fact, the replacement of the catheter and the guide wiremay be completely determined according to the actual needs of the operation andthe personal operating habits. The placement is not limited to the above methodsfor replacing the catheter and the guide wire.

[0102] According to the present disclosure, the first drive mechanism and thesecond drive mechanism may be remotely manipulated to move along the sameaxial direction on the body, such that a plurality of catheters and a plurality of guidewires collaboratively move to desired positions. In case of replacing the catheterand the guide wire, the front clamper clamps the first catheter to prevent movementthereof. This blocks radiation by X rays and protects health of human bodies. Inaddition, the robot may more accurately control the catheter and the guide wire, which not only reduces working intensity, but also avoids severe mistakes.

[0103] Persons of ordinary skill in the art should understand that all or part ofsteps of the method may be implemented by programs instructing related hardware.The programs may be stored in a computer-readable storage medium, for example,a read-only memory, a magnetic disk, or a compact disc read-only memory.Alternatively, all or part of the steps of the embodiments described above may beimplemented using one or more integrated circuits. Accordingly, variousmodules / units in the above-mentioned embodiments may be implemented in theform of hardware or in the form of software functional modules. The presentdisclosure is not limited to any specific form of hardware or software combination.

[0104] Nevertheless, many other embodiments may also be available forimplementation of the present disclosure, and those skilled in the art wouldrecognize that various modifications and changes may be made thereto withoutdeparting from the spirit and scope of the present disclosure. These modificationsand changes fall within the protection scope set forth in the appended claims.

[0105] Described are merely preferred embodiments of the present disclosure,but are not intended to limit the present disclosure. Any modification, equivalentreplacement, and improvement made without departing from the spirit and principleof the present disclosure shall fall within the protection scope of the presentdisclosure.

Claims

1. A slave-end apparatus for an interventional robot, comprising: a body, a first drive mechanism, a second drive mechanism and a front clamper proximal to the first drive mechanism that are successively mounted on the body; wherein the first drive mechanism is configured to clamp and rotate a first catheter and a second catheter, and the second drive mechanism is configured to clamp and rotate a first guide wire and a second guide wire; and in a case that the first guide wire runs into the first catheter, and the first guide wire and the first catheter are respectively clamped by the second drive mechanism and the first drive mechanism and move along a same axial direction on the body toward the front clamper to a desired position, the first catheter and the first guide wire are respectively taken off from the first drive mechanism and the second drive mechanism, and the front clamper takes over to clamp the first catheter, the second catheter is caused to run into the first catheter, the second guide wire is caused to run into the second catheter, and the second catheter and the second guide wire are respectively clamped by the first drive mechanism and the second drive mechanism and move along the same axial direction on the body toward the front clamper.

2. The slave-end apparatus for the interventional robot according to claim 1, further comprising: a plurality of front clampers; wherein a plurality of first catheters one-by-one pushed by the first drive mechanism to desired positions are respectively clamped by the plurality of front clampers.

3. The slave-end apparatus for the interventional robot according to claim 1, wherein the second drive mechanism is configured to clamp and rotate, together with the first drive mechanism, the first catheter and the second catheter.

4. The slave-end apparatus for the interventional robot according to claim 3, wherein the second drive mechanism comprises: a first assembly configured to clamp and rotate the first catheter and the second catheter, and a second assembly configured to clamp and rotate the first guide wire and the second guide wire.

5. The slave-end apparatus for the interventional robot according to claim 4, wherein the first assembly of the second drive mechanism is configured to clamp an Y adapter connected to the first catheter and the second catheter to clamp the first catheter and the second catheter, and rotate a Luer connector of the Y adapter to drive the first catheter and the second catheter to rotate.

6. The slave-end apparatus for the interventional robot according to claim 4, wherein the second assembly is a slave-end guide wire and catheter twisting apparatus for the interventional robot.

7. The slave-end apparatus for the interventional robot according to claim 6, further comprising: a rear clamper; wherein in a case that the second drive mechanism moves to an extreme position and is to be restored to release the second guide wire, the rear clamper is configured to clamp the second guide wire to prevent movement thereof.

8. The slave-end apparatus for the interventional robot according to claim 7, wherein the front clamper and the rear clamper are respectively positioned at a front portion and a rear portion of the body; wherein the front clamper and the rear clamper are both mounted on the body and movable relative to the body; or one of the front clamper and the rear clamper is mounted on the body and movable relative to the body, and the other of the front clamper and the rear clamper is mounted separately from the body; or the front clamper and the rear clamper are both mounted separately from the body.

9. The slave-end apparatus for the interventional robot according to claim 1, further comprising: a third drive mechanism mounted on the body; wherein the third drive mechanism is configured to clamp and rotate, together with the first drive mechanism, the first catheter and the second catheter.

10. The slave-end apparatus for the interventional robot according to claim 1, further comprising: an exchange mechanism; wherein the exchange mechanism is a rapid exchange mechanism or a coaxial exchange mechanism.