Actuation system for vascular intervention navigation surgery system

Abstract

To provide a motion system for a vascular intervention navigation surgery system.SOLUTION: A motion system for a vascular intervention navigation surgery system has a support base and the vascular intervention navigation surgery system. The motion system provides more degrees of freedom of motion and other functions for the vascular intervention navigation surgery system, guide wires, catheters, stents, etc., making it more convenient to perform vascular intervention surgery. The motion system further includes a force reproduction system for the vascular intervention navigation surgery system. The force reproduction system can effectively detect a resistance of the guide wire in blood vessels, and by processing the resistance, determine a further movement status of the guide wire, thereby improving the safety and operational efficiency of vascular intervention navigation surgery.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to the field of medical instruments, and more particularly to an actuation system for a vascular intervention navigation surgical system. [Background technology]

[0002] Before the vascular intervention surgery, the surgical robot needs to be attached to the operating table, and during the vascular intervention surgery, the vascular intervention surgery is performed by controlling the vascular intervention navigation surgery system and its operating system.

[0003] At present, the vascular intervention navigation surgery system has already realized the control of the advancement, retreat and rotation of the guidewire, as well as the advancement and retreat of the balloon catheter, stent catheter and guide catheter, as described in the Chinese invention patent for the invention entitled "Vascular Intervention Navigation Surgery System" filed on November 5, 2021, with publication number CN 113598947B, which is incorporated herein by reference in its entirety. The vascular intervention navigation surgery system is a highly safe robotic system that assists doctors in performing vascular intervention surgery, avoiding the serious consequences of the doctor's physiological tremors and misoperation, and protecting the doctor from X-ray radiation. During the course of surgery, it may be necessary for the doctor and the patient to be separated and to control the vascular intervention navigation surgery system by remote operation to perform the surgery. When the guidewire operates in the blood vessel, it may come into contact with the blood vessel wall and experience resistance. Due to mechanical operation, the doctor cannot properly sense the resistance of the guidewire when it operates in the blood vessel. This increases the risk of vascular puncture and other problems during vascular intervention surgery. How to provide a vascular intervention navigation surgery system with more degrees of freedom of movement, effective guidewire resistance detection in blood vessels to avoid vascular puncture, and other functions, so that more complex vascular intervention surgery can be performed, has yet to be satisfactorily solved.

[0004] Therefore, the field still lacks an actuation system for a vascular intervention navigation surgery system that can provide more degrees of freedom of actuation, effective detection of resistance in the blood vessel of the guidewire to avoid vascular puncture, and other functions. Summary of the Invention

[0005] The objective of the present invention is to provide an operating system for a vascular intervention navigation surgery system. The operating system of the present invention provides more functions to the entire vascular intervention navigation surgery system, catheters, guidewires, stents, etc. by adding a support base, a Y-shaped valve rotation control structure, a guidewire positioning structure, etc., making it easier to perform vascular intervention surgery. The operating system of the present invention further includes a force reproduction system for the vascular intervention navigation surgery system. The force reproduction system of the present invention can effectively detect the resistance force of the guidewire in the blood vessel, and process the resistance force to determine the next operating state of the guidewire, thereby improving the safety and operation efficiency of vascular intervention surgery.

[0006] The present invention provides an actuation system for a vascular intervention navigation surgical system, the actuation system being for controlling the operation of the entire vascular intervention navigation surgical system, the actuation system including a support base including a support holder and a base providing support to the support holder, the vascular intervention navigation surgical system being for clamping medical devices including balloon catheters, guidewires and stents, the vascular intervention navigation surgical system providing an actuation system that is slidable relative to the support base.

[0007] In another preferred embodiment, the support holder is provided with a movable slider, a female connector is attached and fixed to the slider, and a male connector for connecting with the female connector is attached and fixed to the bottom of the vascular intervention navigation surgical system.

[0008] In another preferred embodiment, a motor is mounted inside the support holder to drive the slider so as to move along a straight line on the support holder, and when the female connector of the slider matches and connects with the male connector at the bottom of the vascular intervention navigation surgical system, the vascular intervention navigation surgical system moves along a straight line on the support holder together with the slider; Here, optionally, a sensor device is provided on the top of the support holder for sensing the position and distance of the male connector and / or the female connector.

[0009] In another preferred embodiment, a pair of intermeshing gear sets is provided on the top of the support holder, the gear set includes a main wheel and a passive wheel, the main wheel is driven by a motor, and a rack matching the gear set is provided on the bottom of the vascular intervention navigation surgical system, which drives and rotates the main wheel and further operates the rack to move the vascular intervention navigation surgical system.

[0010] In another preferred embodiment, a single gear is provided at the top of the support holder, and a single-sided rack matching the single gear is provided at the bottom of the vascular intervention navigation surgical system, and the single gear is driven to rotate, and the single-sided rack is further operated together to move the vascular intervention navigation surgical system.

[0011] In another preferred embodiment, a vertical gear is provided on the top of the support holder, and a vertical rack matching the vertical gear is provided on the bottom of the vascular intervention navigation surgical system, and the vertical gear is driven to rotate, and the vertical rack is further operated to move the vascular intervention navigation surgical system.

[0012] In another preferred embodiment, a lateral gear is provided on the top of the support holder, a support base is provided above the support holder, a one-sided lateral rack matching the lateral gear is provided on the bottom of the support base, a magnetic adsorption device is provided on the top of the support base, and a magnetic structure for firmly adsorbing to the support base is provided on the bottom of the vascular intervention navigation surgical system, and the lateral gear is driven to rotate, and the one-sided lateral rack is further operated to move the vascular intervention navigation surgical system.

[0013] In another preferred embodiment, the base includes a C-shaped trough and a connecting bar, the connecting bar passes through the C-shaped trough, the C-shaped trough can move up and down along the connecting bar to adjust its height, the connecting bar is connected to the support holder via a hinge structure, and the support holder can rotate around the connecting bar to adjust its angle.

[0014] In another preferred embodiment, the C-shaped bath may be fixed to the operating table.

[0015] In another preferred embodiment, the vascular intervention navigation surgical system includes a Y-type valve base for storing and fixing a Y-type valve and a guide catheter connected to the Y-type valve, A socket is provided at the distal end of the Y-valve, and the socket is fixed and connected coaxially to the main passage of the Y-valve. A socket drive mechanism drives and rotates the socket, and further rotates the guide catheter.

[0016] In another preferred embodiment, the vascular intervention navigation surgical system includes a guidewire positioning structure, which is installed between the fixed plate and the Y-shaped valve base, and which includes a positioning groove for accommodating the guidewire and a cover plate, the positioning groove corresponding to the linear groove of the fixed plate and together forming a guidewire passage for placing the guidewire, and the cover plate is provided with one or more protruding cover pieces, which can be inserted into the positioning groove to cover the opening area of ​​the positioning groove and further position the guidewire.

[0017] An operating system for a vascular intervention navigation surgical system, the operating system for controlling an overall operation of the vascular intervention navigation surgical system, the operating system including: A support base including a support holder and a base, the support holder having a slider that can move left and right, and a female connector attached and fixed to the slider; and A vascular intervention navigation surgery system having a male connector attached and fixed to the bottom for connecting with the female connector in the support holder, for clamping medical devices such as balloon catheters, guide wires, and stents used in vascular intervention navigation surgery.

[0018] In another preferred embodiment, a motor is mounted inside the support holder. The motor drives the slider to move left and right along a straight line on the support holder. When the female connector of the slider matches and connects with the male connector at the bottom of the vascular intervention navigation surgical system, the vascular intervention navigation surgical system can move left and right along a straight line on the support holder.

[0019] In another preferred embodiment, the slider and the female connector are fixedly connected by means of clips, welding, adhesive, integral molding, or the like.

[0020] In another preferred embodiment, the vascular intervention navigation surgical system and the male connector are fixedly connected by means of clips, welding, adhesives, integral molding, etc.

[0021] In another preferred embodiment, the support base and the vascular intervention navigation surgical system are fixed and integrated with each other via the female connector and the male connector by a screw joint and / or a clip joint.

[0022] In another preferred embodiment, the base comprises a C-shaped trough and a connecting bar. The base comprises a C-shaped trough and a connecting bar, and is for fixing the actuation system to the side of an operating table.

[0023] In another preferred embodiment, the connecting bar passes through the C-shaped tank, and the C-shaped tank can be moved up and down on the connecting bar to adjust its height.

[0024] In another preferred embodiment, the connecting bar is connected to the support holder via a hinge structure, and the support holder can rotate around the connecting bar to adjust the angle.

[0025] In another preferred embodiment, there is a sensor device on the top of the holder, which can sense the position and distance of the male (female) connector.

[0026] In another preferred embodiment, the sensor device may be laser, infrared, or mechanical.

[0027] In another preferred embodiment, the vascular intervention navigation surgery system includes a Y-type valve base, and the Y-type valve and a guide catheter connected to the Y-type valve can be installed and fixed on the Y-type valve base. A socket is provided at the tip of the Y-type valve, and the socket is fixed and connected coaxially with the main passage of the Y-type valve. The socket is rotated by the socket driving mechanism, and further rotates the guide catheter.

[0028] In another preferred embodiment, the socket is fixed to the tip of the Y-valve through a polygonal bore.

[0029] In another preferred embodiment, the socket and the Y-valve are fixedly connected by means of clips, welding, adhesives, integral molding, or the like.

[0030] In another preferred embodiment, the socket is a gear or a worm wheel.

[0031] In another preferred embodiment, the socket drive mechanism is a gear, rack, worm, or the like.

[0032] In another preferred embodiment, the vascular intervention navigation surgical system includes a guidewire positioning structure, the guidewire positioning structure is installed between the fixed plate and the Y-shaped valve base, the guidewire positioning structure includes a positioning groove for receiving the guidewire and a cover plate, the positioning groove corresponds to the linear groove of the fixed plate, and together forms a guidewire passage for placing the guidewire, the cover plate is provided with one or more protruding cover pieces, the cover pieces can be inserted into the positioning groove to cover the opening area of ​​the positioning groove and further position the guidewire.

[0033] In another preferred embodiment, there is a pair of intermeshing gear sets at the top of the support holder, the gear set consisting of a main wheel and a passive wheel, the main wheel is driven by a motor, and there is a rack matching the gear set at the bottom of the vascular intervention navigation surgical system, which drives and rotates the main wheel of the gear set, and further operates the rack to move the vascular intervention navigation surgical system.

[0034] In another preferred embodiment, there is a single gear at the top of the support holder, and a single-sided rack matching the single gear is provided at the bottom of the vascular intervention navigation surgical system, which drives and rotates the single gear, and further moves the single-sided rack together to move the vascular intervention navigation surgical system.

[0035] In another preferred embodiment, there is a vertical gear at the top of the support holder, and a vertical rack matching the vertical gear is provided at the bottom of the vascular intervention navigation surgical system, and the vertical gear is driven to rotate, and the vertical rack is further operated to move the vascular intervention navigation surgical system.

[0036] In another preferred embodiment, there is a lateral gear on the top of the support holder, a support base above the support holder, a one-sided lateral rack matching the lateral gear on the bottom of the support base, a magnetic adsorption device on the top of the support base, and a magnetic structure firmly adsorbed to the support base on the bottom of the vascular intervention navigation surgical system, which drives and rotates the lateral gear, and further operates the one-sided lateral rack to move the vascular intervention navigation surgical system.

[0037] In another preferred embodiment, the operating system includes a host, and controls operating parameters of the operating system through the host.

[0038] In another preferred embodiment, the operating system includes a controller, and the controller and the host are communicatively connected (e.g., WiFi, 5G, Bluetooth, etc.), and the host can be remotely controlled through the controller.

[0039] In another preferred embodiment, a control screen is provided on the support base, and the movement of the vascular intervention navigation surgery system is controlled through the control screen.

[0040] A force reproduction system for a vascular intervention navigation surgery system, comprising: a force reproduction system slave end portion, the force reproduction system slave end portion comprising: a guidewire fixator for clamping and fixing a guidewire; a pressure sensor including a pressure sensing sheet; and a slide bushing assembly including a first sliding bushing member and a second sliding bushing member, one end of the first sliding bushing member being fixedly connected to the guidewire fixator, and the first sliding bushing member being slidable relative to the second sliding bushing member, thereby allowing the other end of the first sliding bushing member to selectively abut against the pressure sensing sheet.

[0041] In another preferred embodiment, the vascular intervention navigation surgery system includes a guidewire control module for controlling the advancement, retraction and rotation of a guidewire, the guidewire control module including a rotation assembly for controlling the rotation of the guidewire and an advancement assembly for controlling the advancement or retraction of the guidewire, the rotation assembly including a rotating wheel set, a rotating shaft concentrically connected to the rotating wheel set, a planetary gear fitted to the rotating shaft, rotating together with the rotating shaft and slidable relative to the rotating shaft, and a sun gear meshing with the planetary gear, fitted with the guidewire and having a linear groove provided therein to ensure the coaxiality of the rotation of the guidewire, the linear groove being provided from the root between the teeth of the sun gear to the centrifugal center of the sun gear, and the advancement assembly including a progression wheel set, a transmission screw concentrically connected to the progression wheel set, and a fixed plate for supporting the sun gear, screwed to the transmission screw.

[0042] In another preferred embodiment, the force reproduction system slave end is fixed to the sun gear and moves forward, backward and rotates with the sun gear.

[0043] In another preferred embodiment, the force reproduction system slave end advances and rotates with the guidewire.

[0044] In another preferred embodiment, the force reproduction system slave end portion includes an electromagnetic induction coil that is mutually attracted to the guide wire fixator and / or the first sliding bushing member.

[0045] In another preferred embodiment, the sliding bushing assembly and the pressure sensor are coaxially installed.

[0046] In another preferred embodiment, the guidewire fixator and the sliding bushing assembly are eccentrically mounted.

[0047] In another preferred embodiment, the guide wire fixator is a sleeve tube, which is a hollow tube penetrating from front to back, and the guide wire passes through the sleeve tube and is clamped and fixed by the inner wall of the slave tube.

[0048] In another preferred embodiment, the inner wall of the sleeve tube has a rubber surface, and the inner wall holds and fixes the guide wire by friction.

[0049] In another preferred embodiment, the force reproduction system further includes a force reproduction system host end portion, the force reproduction system host end portion includes a set of rings and a simulated guidewire disposed between the set of rings, and the resistance of the set of rings against the simulated guidewire is equivalent to the resistance applied to the guidewire during the advancement process, i.e., the resistance of the set of rings against the simulated guidewire is equal to the force value detected by the pressure sensor.

[0050] In another preferred embodiment, when the operator feels the resistance of the simulated guidewire, he or she determines according to his or her own experience whether to subsequently operate the sun gear to control the advancement or rotation of the guidewire.

[0051] In another preferred embodiment, a motor is connected to the rear end of the ring set, and the pressure between the ring sets is controlled by rotating the motor, i.e., the magnitude of the resistance force between the ring sets of the simulated guide wire is controlled.

[0052] In another preferred embodiment, when the motor rotates clockwise or counterclockwise, the pressure between the rings increases or decreases, and the resistance between the rings of the simulated guidewire increases or decreases.

[0053] In another preferred embodiment, the force reproduction system host end portion includes a simulated pressure sensor for detecting an operator's thrust on the simulated guidewire and thereby applying said thrust to the guidewire.

[0054] In another preferred embodiment, when the operator pushes the simulated guide wire against the resistance of the gear set, the operation of the simulated guide wire rotates the gear set, and the rotation of the gear set detected by the simulated pressure sensor controls the advancement or retreat of the sun gear set, thereby advancing or retreating the guide wire.

[0055] In another preferred embodiment, the rotation operation of the wheel set, the forward or backward rotation angle of the sun gear set, and the conversion of linear distance are all processed and completed by the host end control system.

[0056] In another preferred embodiment, the mock guidewire is supported by a guidewire tray.

[0057] In another preferred embodiment, the simulated guidewire is connected head to tail and routed in a circular fashion.

[0058] In another preferred embodiment, the guidewire tray may be, but is not limited to, annular, circular or arc-shaped.

[0059] In another preferred embodiment, the guidewire tray has a guidewire groove, the guidewire fits into the guidewire groove, and a guidewire bridge is provided on the guidewire tray, and at the guidewire bridge, the dummy guidewire is separated from the guidewire groove, and the operator grasps and pushes the dummy guidewire at the guidewire bridge.

[0060] In another preferred embodiment, the length of the guidewire bridge is 1-20 cm, preferably 3-6 cm.

[0061] In another preferred embodiment, the diameter of the simulated guidewire is 0.1 to 0.7 mm, preferably 0.2 to 0.5 mm, more preferably 0.3 to 0.4 mm, and most preferably 0.35 mm.

[0062] 1. A method for controlling a force reproduction system for a vascular intervention navigation surgical system, the method comprising: (a) providing a force reproduction system for a vascular intervention navigation surgery system as described above; (b) When the resistance force experienced by the guide wire is simulated by the host end part of the force reproduction system, the operator overcomes the simulated resistance force at the host end part of the force reproduction system and pushes the simulated guide wire, and the resulting thrust value is transmitted to the host end control system, which sends a forward command to the sun gear set, and the thrust value generated by the forward movement is equal to the thrust force at the host end part of the force reproduction system by the operator.

[0063] The main advantages of the present invention are:

[0064] (a) The vascular intervention navigation surgical system has an increased working distance and is suitable for more surgical scenarios.

[0065] (b) Vascular interventional navigation surgical systems will have increased functionality, making it easier to perform more complex surgeries.

[0066] (c) It has a small volume and does not take up space in the limited operating room.

[0067] (d) Automatic control allows for more precise surgical control.

[0068] (e) The force reproduction system can effectively detect the resistance of the guidewire in the blood vessel, and through processing the resistance, judge the next working state of the guidewire, thereby improving the safety and operation efficiency of vascular intervention navigation surgery.

[0069] Of course, it is understood that within the scope of the present invention, the above technical features of the present invention and the technical features specifically described below (for example, in the Examples) can be combined with each other to form new or preferred technical solutions, which will not be described here one by one due to space limitations. [Brief description of the drawings]

[0070] In the following, in order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, drawings necessary for explaining the embodiments or the prior art will be briefly introduced. Of course, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can derive other drawings from these drawings without creative labor.

[0071] [Figure 1] FIG. 1 is a perspective view of an operating system of a vascular intervention navigation surgery system according to one embodiment of the present invention. [Diagram 2] FIG. 2 is a three-dimensional view of a support base in one embodiment of the present invention. [Diagram 3] FIG. 3 is a three-dimensional view of a vascular intervention navigation surgery system according to one embodiment of the present invention. [Figure 4] FIG. 4 is a bottom view of FIG. [Figure 5A] FIG. 5A is a rear view of FIG. [Figure 5B] FIG. 5B is a three-dimensional view of a deformation of the base of the operating system of the vascular intervention navigation surgical system in one embodiment of the present invention. [Figure 6] FIG. 6 is a plan view of FIG. [Figure 7] FIG. 7 is a perspective view of an actuation system according to another embodiment of the present invention. [Figure 8] FIG. 8 is a three-dimensional view of a support base according to another embodiment of the present invention. [Figure 9] FIG. 9 is a three-dimensional view of a support base in another embodiment of the present invention. [Figure 10]FIG. 10 is a bottom view of a vascular intervention navigation surgery system according to another embodiment of the present invention. [Figure 11] FIG. 11 is a three-dimensional view of a support base in another embodiment of the present invention. [Figure 12] FIG. 12 is a bottom view of a vascular intervention navigation surgery system according to another embodiment of the present invention. [Figure 13] FIG. 13 is a three-dimensional view of an actuation system in one embodiment of the present invention. [Figure 14] FIG. 14 is a three-dimensional view of a support base in one embodiment of the present invention. [Figure 15] FIG. 15 is a bottom view of a vascular intervention navigation surgical system in one embodiment of the present invention. [Figure 16] FIG. 16 is a three-dimensional view of the slave end of the force reproduction system in one embodiment of the present invention. [Figure 17] FIG. 17 is a side view of the slave end of the force reproduction system in FIG. [Figure 18] FIG. 18 is a cross-sectional view of the slave end portion of the force reproduction system taken along line AA in FIG. [Figure 19] FIG. 19 is a three-dimensional view of the slave end of the force reproduction system in which the guidewire fixator is in the form of a guidewire sleeve tube. [Figure 20] FIG. 20 is an exploded view of the slave end of the force reproduction system in FIG. [Figure 21] FIG. 21 is a three-dimensional view of a force reproduction system host end in one embodiment of the present invention. [Figure 22] FIG. 22 is a three-dimensional view of the host end of the force reproduction system of FIG. 21 after the top cover has been removed. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0072] The inventor has extensively and deeply researched and through a large amount of selection, for the first time developed an operating system for a vascular intervention navigation surgery system, which provides more degrees of freedom of operation and other functions to the entire vascular intervention navigation surgery system, guidewire, catheter, stent, etc. by adding a support base, a Y-shaped valve rotation control structure, a guidewire positioning structure, etc., making it easier to perform vascular intervention surgery. The operating system of the present invention further includes a force reproduction system for the vascular intervention navigation surgery system. The force reproduction system of the present invention can effectively detect the resistance of the guidewire in the blood vessel, and determine the next operating state of the guidewire by processing the resistance, thereby improving the safety and operation efficiency of vascular intervention surgery, and thus completed the present invention.

[0073] The actuation system for the vascular intervention navigation surgery system of the present invention provides greater freedom of movement for the entire terminal execution system, guide catheter and guidewire by adding an elevation assembly, a moving assembly, a rotation assembly, a Y-valve rotation control part, a guidewire positioning structure, etc., making it easier to perform vascular intervention navigation surgery.

[0074] Typically, the present invention provides an actuation system for a vascular intervention navigation surgical system, the actuation system being for controlling the actuation of components within the vascular intervention navigation surgical system, the actuation system including a terminal execution system actuation control portion, the terminal execution system actuation control portion including a lift-up assembly having a hinge structure including a first connecting member (e.g., a support arm) and a first rotating member (e.g., a tray) that can rotate around the first connecting member, and a moving assembly having a linear motion structure including a first moving member (e.g., a support holder) connected to the first rotating member and a second moving member (e.g., a second connecting plate of the terminal execution system) that can slide relative to the first moving member.

[0075] In another preferred embodiment, the end enforcement system actuation control portion includes a rotating assembly, the rotating assembly includes a second coupling member (e.g., a C-shaped trough), and the first coupling member can rotate around the second coupling member.

[0076] In another preferred embodiment, the second connecting member is fixed.

[0077] In another preferred embodiment, the second connecting member is fixed to the hospital bed, for example by clamping means, or to the ground.

[0078] In another preferred embodiment, the first rotating member and the first moving member are fixedly connected.

[0079] In another preferred embodiment, the first movable member is rotatable relative to the first rotating member.

[0080] In another preferred embodiment, the first connecting member is extendable or movable up and down.

[0081] In another preferred embodiment, the second moving member is fixedly connected to the end enforcement system.

[0082] In another preferred embodiment, the second moving member and the end enforcement system are fixedly connected by means of clips, welding, adhesives, integral molding, or the like.

[0083] In another preferred embodiment, the first moving member and the second moving member move relative to each other via a belt / chain transmission, a gear rack transmission, a screw transmission, or the like.

[0084] In another preferred embodiment, the first moving member is provided with a first connecting plate, the second moving member is provided with a second connecting plate, the first connecting plate and the second connecting plate are matched and fixedly connected by means of clips, welding, adhesives, etc., the first moving member has a driving device, and the driving device controls the first connecting plate, thereby controlling the second connecting plate, and finally operating the terminal execution system.

[0085] In another preferred embodiment, the second movable member is provided with a hollow columnar groove as a second connecting plate, the inside of the groove has a screw structure, and the first movable member is provided with a protrusion as a first connecting plate that matches the groove and the screw structure.

[0086] In another preferred embodiment, the first and second connecting plates are fixed together by a screw connection and / or a clip connection.

[0087] In another preferred embodiment, the first moving member is a lateral gear, and the second moving member is a lateral rack that is installed on the end enforcement system and matches the lateral gear, and drives the lateral gear to rotate and further moves the lateral rack to move the end enforcement system; or The first moving member is a vertical gear, and the second moving member is a vertical rack matching the vertical gear, which drives and rotates the vertical gear, and further moves the vertical rack along with it to move the end execution system.

[0088] The number of the above matching gears and racks can be one pair, two pairs or more, which needs to be arranged according to the actual operation.

[0089] In another preferred embodiment, the actuation system includes a Y-type valve rotation control part, which includes a socket and a socket drive mechanism, the socket is fixed and connected coaxially to a main passage of the Y-type valve, and the socket is rotated by the socket drive mechanism, which further rotates the Y-type valve.

[0090] In another preferred embodiment, the socket is fitted to the outer periphery of the Y-valve.

[0091] In another preferred embodiment, the socket and the Y-valve are an integral structure.

[0092] In another preferred embodiment, the socket is a gear or a worm wheel.

[0093] In another preferred embodiment, the socket drive mechanism is a gear, rack, worm, or the like.

[0094] In another preferred embodiment, the distal execution system includes a guidewire positioning structure, which is installed between the fixed plate and the Y-shaped valve base, for preventing the guidewire from protruding.

[0095] In another preferred embodiment, the guidewire positioning structure includes a positioning groove for accommodating the guidewire and a cover plate, the positioning groove and the linear groove in the sun gear correspond to the linear groove in the fixed plate, together forming a guidewire passage for placing the guidewire, and the cover plate is provided with one or more protruding cover pieces, which can be inserted into the positioning groove to cover the opening area of ​​the positioning groove and further position the guidewire.

[0096] In another preferred embodiment, a locator is provided on the first movable member, a sensing block is provided on the second movable member, and the locator detects the movement of the sensing block to determine the movement distance of the end enforcement system.

[0097] In another preferred embodiment, upon activation, the locator senses the sensing block and zeros the end enforcement system.

[0098] In another preferred embodiment, the locator may be laser, infrared, or mechanical.

[0099] In another preferred embodiment, the operating system includes a host, and operating parameters of the operating system are controlled by the host.

[0100] In another preferred embodiment, the operating system includes a controller, and the controller and the host are communicatively connected (e.g., WiFi, 5G, Bluetooth, etc.), and the host can be remotely controlled through the controller.

[0101] In another preferred embodiment, the first moving member is provided with a control screen, and the sliding of the second sliding member relative to the first sliding member is controlled through the control screen.

[0102] Specifically, the operation system for the vascular intervention navigation surgery system of the present invention is for controlling the operation of components within the vascular intervention navigation surgery system, and includes an end executive system operation control part.

[0103] The end execution system operation control part includes a tilt assembly, a rotation assembly, a movement assembly, and an elevation adjustment assembly. The tilt assembly is a hinge structure, and includes a first connecting member (shown as a connection bar 8) and a first rotating member (e.g., a cantilever, shown at the lower part of the support base 1), where the first rotating member can rotate around the first connecting member. The movement assembly is a linear motion structure, and includes a first moving member (shown at the upper part of the support base 1) connected with the first rotating member, and a second moving member (shown as a female connector 4, or an assembly including a female connector 4) that can slide relative to the first moving member. The rotation assembly includes a first rotating member and a first moving member, i.e., the first moving member can rotate relative to the first rotating member. The elevation adjustment assembly includes a second connecting member (shown as a C-shaped trough 14), a first connecting member, and an elevation adjustment pin. The second connecting member can be fixed to the bed, for example, by clamping means, or fixed to the ground to provide support. The height adjustment pin can fix the positional relationship between the first connecting member and the second connecting member. The first connecting member is provided with height adjustment holes (not shown) that match the height adjustment pin, and the height of the end enforcement system can be adjusted by inserting the height adjustment pin into different height adjustment holes.

[0104] A control screen is provided on the first moving member, through which the sliding of the second sliding member relative to the first sliding member is controlled.

[0105] The operating system further includes a host and a controller. The host controls the operating parameters of the operating system. The controller and the host are communicatively connected (e.g., WiFi, 5G, Bluetooth, etc.), and the host can be remotely controlled through the controller.

[0106] The first moving member and the second moving member move relative to each other through a belt / chain transmission, a gear rack transmission, a screw transmission, etc. Preferably, the first moving member is provided with a locator, and the second moving member is provided with a sensing block, and the locator senses the movement of the sensing block to determine the movement distance of the end enforcement system. The locator may be a laser, an infrared ray, or a mechanical one. When started, the locator senses the sensing block and makes the end enforcement system a zero position.

[0107] The second moving member is fixedly connected to the end enforcement system. The second moving member and the end enforcement system are fixedly connected by means of clips, welding, adhesives, integral molding, etc. The first moving member is provided with a first connecting plate (e.g., shown as a male connector 13). The first connecting plate and the second connecting plate (e.g., shown as a female connector 4) are matched, and the two are fixedly connected by means of clips, welding, adhesives, etc. For example, the second connecting plate can be a hollow column-shaped trough, the inside of the trough has a thread structure, the first connecting plate has a protrusion matching the trough and the thread structure, and the first connecting plate and the second connecting plate are fixedly integrated by a thread joint and / or a clip joint. The first moving member has a driving device, which controls the first connecting plate, which in turn controls the second connecting plate, and finally operates with the end enforcement system.

[0108] In another example, the first moving member is a single gear (horizontal gear) 17, and the second moving member is a one-sided rack (vertical rack) 18 that matches the single gear (horizontal gear) 17 and is installed on the terminal execution system, which drives and rotates the single gear (horizontal gear) 17 and further operates the one-sided rack (vertical rack) 18 to move the terminal execution system.

[0109] In one further example, the first moving member is a gear set (two horizontal gears) 16, and the second moving member is two vertical racks that match the gear set (two horizontal gears) 16, respectively, installed on the end execution system, which drive and rotate the gear set (two horizontal gears) 16, and further move the vertical racks to move the end execution system.

[0110] In another example, the first moving member is a vertical gear (vertical gear) 19, and the second moving member is a vertical rack (horizontal rack) 20 that matches the vertical gear (vertical gear) 19, which drives and rotates the vertical gear (vertical gear) 19, and further operates the vertical rack (horizontal rack) 20 to move the terminal execution system.

[0111] In one example, there is a lateral gear on the top of the support holder 1, there is a support base 21 above the support holder 1, there is a one-sided lateral rack at the bottom of the support base 21 that matches the lateral gear, there is a magnetic adsorption device on the top of the support base 21, and there is a magnetic structure 22 at the bottom of the vascular intervention navigation surgical system 2 that is firmly adsorbed to the support base 21, which drives the lateral gear to rotate and further operates the one-sided lateral rack to move the vascular intervention navigation surgical system.

[0112] The actuation system for the vascular intervention navigation surgery system further includes a Y-type valve rotation control part, which includes a socket 8 and a socket drive mechanism (not shown), where the socket 8 is fixed and connected coaxially with the main passage of the Y-type valve 7 and fitted to the outer periphery of the Y-type valve 7, and the socket 8 is rotated by the socket drive mechanism, which further rotates the Y-type valve 7. The socket 8 may be a gear or a worm wheel. The socket drive mechanism may be a gear, a rack, a worm, etc.

[0113] The operating system for the vascular intervention navigation surgery system includes a guidewire positioning structure, which is installed between the fixed plate 9 and the Y-shaped valve 7, and is for preventing the protrusion of the guidewire. The guidewire positioning structure includes a positioning groove 11 for accommodating the guidewire and a cover plate 10, and the positioning groove 11 and the linear groove in the sun gear correspond to the linear groove of the fixed plate 9, and together form a guidewire passage for placing the guidewire. The cover plate 10 is provided with one or more protruding cover pieces 12, which can be inserted into the positioning groove 11 to block the opening area of ​​the positioning groove 11 and further position the guidewire.

[0114] Typically, the force reproduction system for vascular intervention navigation surgery system of the present invention is for vascular intervention treatment, and includes a remote microcomputer operated control end, a surgical positioning mechanical arm and a terminal execution system, wherein the terminal execution system is fixed to the end of the surgical positioning mechanical arm and moves with the surgical positioning mechanical arm, and the remote microcomputer operated control end controls the operation of the surgical positioning mechanical arm and the operation inside the terminal execution system; The distal execution system is for driving the advancement, retraction and rotation of the interventional equipment, and includes a guidewire control module, a balloon / stent control module and a guide catheter control module; The slave end of the force reproduction system is installed in the guidewire control module of the terminal execution system, and is used to measure the resistance force that the moving guidewire receives when it advances or retreats within the blood vessel. The slave end of the force reproduction system comprises a pressure sensor, a guidewire serial connector, a working guidewire, a resistive force sensing guidewire and a coupling base, the pressure sensor is fixed to the coupling base, and the coupling base is fixed to the sun gear of the guidewire control module.

[0115] The connecting base has a linear groove, the bottom of which is at the same horizontal height as the center of the sun gear. When the sun gear rotates, the connecting base rotates coaxially with the sun gear, and the linear groove on the connecting base is always aligned with the linear groove on the sun gear.

[0116] The guidewire serial connector consists of two parallel guidewire sleeve tubes, one at the top and one at the bottom, and a fixing member at one end of the parallel sleeve tubes that fixes the two parallel sleeve tubes together. The parallel sleeve tubes and the fixing member form a U-shaped guidewire serial connector.

[0117] The movable guide wire sleeve tube is a through-hole sleeve tube, the movable guide wire enters from the front end of the sleeve tube and exits from the rear end, fits into the linear groove of the connecting base at the connecting base, fits into the linear groove of the sun gear at the sun gear, the movable guide wire passes through the center of the sun gear and is fixed. The length of the movable guide wire sleeve tube is in the range of 1 to 100 mm.

[0118] The front end of the resistance sensing guidewire sleeve tube is sealed by a fixing member, and a resistance sensing guidewire is inserted into the rear end of the sleeve tube.

[0119] One end of the resistance sensing guide wire is fixed in the resistance sensing guide wire sleeve tube, and the other end is inserted into the resistance sensing guide wire fixing tube in the pressure sensor, so that the end of the guide wire is just in contact with the contact surface of the pressure sensor. The length of the resistance sensing sleeve tube ranges from 1 to 100 mm.

[0120] Alternatively, the working guidewire and the resistance sensing guidewire are clamped and fixed by a guidewire fixing fixture, which is structured as two fixtures with connected tails, with the upper fixture fixing the working guidewire and the lower fixture fixing the resistance sensing guidewire.

[0121] An electromagnetic induction coil is attached around the circumference of the pressure sensor, and when electricity is applied, the coil generates magnetism and attracts the resistance detection guide wire fixing tube. When the pressure sensor moves forward or backward, it also moves forward or backward with the resistance detection guide wire and the fixing tube.

[0122] The remote microcomputer operated control end has a host end of the force reproduction system. When the pressure sensor detects the resistance value, the host end of the force reproduction system needs to reproduce an equivalent simulated force, so that the doctor can push the simulated guidewire of the host end of the force reproduction system outside the operating room and judge the forward and backward movement of the actual working guidewire in the blood vessel. The host end of the force reproduction system consists of a simulated guidewire, a ring set, a pusher and a pressure sensor. The ring set includes two independent rings, and the ring surfaces of the rings are in contact with each other. The simulated guidewire passes between the two rings, and the rings on both sides press the simulated guidewire, and the pressing force becomes the resistance force of the forward and backward movement of the simulated guidewire. The distance between the two rings can be adjusted by moving the pusher back and forth. When the pusher is pushed forward, the distance between the two rings becomes smaller, and the friction force becomes larger, and when the pusher is retreated, the distance between the two rings becomes larger, and the friction force becomes smaller. A pressure sensor is attached to the surface of one of the wheels, and when the two wheels come into contact, the pressure sensor detects the pressure and displays the numerical value of the pressure.

[0123] When the guide wire module advances, the coupling base fixed to the sun gear pushes the pressure sensor, the resistance sensing guide wire and the guide wire serial connector to advance together, and the reading on the pressure sensor becomes the thrust for advancing the working guide wire.

[0124] When the forward movement of the tip of the movable guide wire encounters an obstacle, the resistance force it receives increases. At this time, the guide wire serial connector transmits the resistance force to the pressure sensor via the resistance sensing guide wire, and the reading on the pressure sensor is the thrust of the movable guide wire forward and the resistance force it receives.

[0125] In the initial stage, there is no pressure between the wheels of the host end part of the force reproduction system, and when the simulated guide wire is pressed, the wheels are rotated and the resulting signal is transmitted to the host end control system, which sends a command to the sun gear to move forward or backward, thereby moving the guide wire forward or backward.

[0126] The diameter of the simulated guidewire used in the host end of the force reproduction system is 0.35 mm. After the guidewire passes through the ring, it is placed in the guidewire tray, which has a guidewire groove so that the simulated guidewire can be connected at its head and tail and fed repeatedly. The guidewire tray is annular, and can be circular or arc-shaped.

[0127] The guidewire tray has a slot so that the operator can easily pinch, push, pull, or twist the simulated guidewire with his or her fingers, and the length of the slot is 1 to 20 cm, preferably 3 to 6 cm.

[0128] The present invention will be further described below by specific examples. It is understood that these examples are only used to explain the present invention and do not limit the scope of the present invention. In addition, since the drawings are schematic diagrams, the apparatus and device of the present invention are not limited to the size or ratio of the schematic diagrams.

[0129] In the claims and specification of this patent, the use of related terms such as first and second is merely intended to distinguish one entity or operation from another entity or operation, and does not require or imply the existence of any actual relationship or sequence between those entities or operations. And the terms "comprise", "contain" or any other variation thereof are non-exclusively inclusive, such that a process, method, article or device that includes a set of elements includes not only those elements, but also other elements not expressly listed or inherent in such process, method, article or device. Unless further limited, an element defined by "comprises..." does not exclude the inclusion of additional elements that are homologous to the process, method, article or device that includes the element. EXAMPLES

[0130] The operation system for the vascular intervention navigation surgery system of this embodiment is for controlling the operation of the vascular intervention navigation surgery system.

[0131] The vascular intervention navigation surgical system includes a guidewire control module for controlling the advancement, retraction and rotation of the guidewire, the guidewire control module including a rotating assembly for controlling the rotation of the guidewire and an advancing assembly for controlling the advancement or retraction of the guidewire, the rotating assembly including a rotating wheel set, a rotating shaft concentrically connected to the rotating wheel set, a planetary gear fitted to the rotating shaft, rotating together with the rotating shaft and slidable relative to the rotating shaft, and a sun gear meshing with the planetary gear, fitted with a guidewire and having a linear groove provided therein to ensure the coaxiality of the rotation of the guidewire, the linear groove being provided from the root between the teeth of the sun gear to the centrifugal end of the sun gear, and the advancing assembly including a progressing wheel set, a transmission screw concentrically connected to the progressing wheel set, and a fixed plate for supporting the sun gear, which is screwed to the transmission screw.

[0132] The vascular intervention navigation surgery system may be the vascular intervention navigation surgery system disclosed in CN 113598947 B, which is incorporated herein by reference in its entirety. EXAMPLES

[0133] As shown in Figs. 1-4, the operating system of the vascular intervention navigation surgery system includes a support base and a vascular intervention navigation surgery system 2. The support base includes a support holder 1 and a base, and the base includes a C-shaped tank 14 and a connecting bar 15. The support holder 1 has a slider 3 that can move left and right, and the slider 3 is fixed and connected to a female connector 4 by means of clips, welding, adhesion, integral molding, etc. The bottom of the vascular intervention navigation surgery system 2 is fixed and connected to a male connector 13 by means of clips, welding, adhesion, integral molding, etc. A motor and a transmission structure are provided inside the support holder 1, and the motor drives the slider 3 to move left and right linearly on the support holder 1. The female connector 4 on the slider 3 is connected and integrated with the male connector 13 at the bottom of the vascular intervention navigation surgery system 2 by screw connection and / or clip connection, and the vascular intervention navigation surgery system 2 can move left and right along a straight line on the support holder 1.

[0134] There is one sensor device 5 on the top of the support holder 1, which can sense the position and distance of the male (female) connector 13, and the sensor device 5 can be laser, infrared or mechanical.

[0135] The vascular intervention navigation surgery system 2 includes a Y-type valve base 6, on which a Y-type valve 7 and a guide catheter connected to the Y-type valve can be installed and fixed. A socket 8 is provided at the tip of the Y-type valve 7, and the socket 8 is fixed and connected coaxially to the main passage of the Y-type valve 7. The socket is driven to rotate by the socket driving mechanism 8, which further drives and rotates the guide catheter.

[0136] The vascular intervention navigation surgery system 2 includes a guidewire positioning structure, which is installed between the fixed plate 9 and the Y-shaped valve base 6. The guidewire positioning structure includes a positioning groove 11 for accommodating the guidewire and a cover plate 10, which corresponds to the positioning groove 11 and the linear groove of the fixed plate 9, and together form a guidewire passage for placing the guidewire. The cover plate 10 is provided with one or more protruding cover pieces 12, which are inserted into the positioning groove 11 to cover the opening area of ​​the positioning groove 11 and further position the guidewire.

[0137] As shown in Fig. 5A, the support base includes a base, which is composed of a C-shaped groove 14 and a connecting bar 15, and allows the operating system of the vascular intervention navigation surgery system to be fixed to the side of the operating table. The connecting bar 15 passes through the C-shaped groove 14, and the C-shaped groove 14 can move up and down on the connecting bar 15 to adjust the height. The connecting bar 15 is connected to the support holder 15 through a hinge structure, and the support holder 1 can rotate around the connecting bar 15 to adjust the angle.

[0138] In another embodiment, as shown in FIG. 5B, the base includes a first arm 36 and a second arm 37, and the first arm 36 and the support base 1 are assembled and integrated by engagement, and the second arm 37 can be inserted into the C-shaped tank 14 for fixation. The second arm 37 is provided with a slot 38, and the first arm 36 is provided with an insert 39, and the insert 39 is inserted into the slot 38 to realize fixation between the first arm 36 and the second arm 37. Here, the second arm 37 may be provided with a plurality of slots 38 (three shown in FIG. 5B), and the openings of the plurality of slots 38 face different directions, and the angle between the first arm 36 and the second arm 37 can be adjusted by inserting the insert 39 of the first arm 36 into the different slots 38, thereby realizing adjustment of the position and angle of the vascular intervention navigation surgery system. Note that the slot 38 may be provided in the first arm 36, and the insert 39 may be provided in the second arm 37, as long as the angle adjustment between the first arm 36 and the second arm 37 can be realized.

[0139] The operating system further includes a host and a controller. The host controls the operating parameters of the operating system. The controller and the host are communicatively connected (e.g., WiFi, 5G, Bluetooth, etc.), and the host can be remotely controlled through the controller. EXAMPLES

[0140] As shown in Figures 7 and 8, there is a pair of intermeshing gear sets 16 at the top of the support holder 1 of the operating system of the vascular intervention navigation surgical system, the gear set 16 consists of a main wheel and a passive wheel, the main wheel is driven by a motor, and there is a rack that matches the gear set 16 at the bottom of the vascular intervention navigation surgical system 2, which drives and rotates the main wheel of the gear set, and further operates the rack together to move the vascular intervention navigation surgical system 2. EXAMPLES

[0141] As shown in Figures 9 and 10, there is a single gear 17 at the top of the support holder 1 of the operating system of the vascular intervention navigation surgical system, and a one-sided rack 18 that matches the single gear 17 is provided at the bottom of the vascular intervention navigation surgical system 2. The single gear 17 is driven to rotate, and the one-sided rack 18 is further operated together to move the vascular intervention navigation surgical system 2. EXAMPLES

[0142] As shown in Figures 11 and 12, there is a vertical gear 19 on the top of the support holder 1 of the operating system of the vascular intervention navigation surgical system, and a vertical rack 20 that matches the vertical gear 19 is provided at the bottom of the vascular intervention navigation surgical system 2. The vertical gear 19 is driven to rotate, and the vertical rack 20 is further operated together to move the vascular intervention navigation surgical system 2. EXAMPLES

[0143] As shown in Figures 13 to 15, the operating system of the vascular intervention navigation surgical system has a lateral gear on the top of the support holder 1, a support base 21 above the support holder 1, a one-sided lateral rack matching the lateral gear on the bottom of the support base 21, a magnetic adsorption device on the top of the support base 21, and a magnetic structure 22 firmly adsorbed to the support base 21 on the bottom of the vascular intervention navigation surgical system 2, which drives the lateral gear to rotate and further operates the one-sided lateral rack to move the vascular intervention navigation surgical system. EXAMPLES

[0144] The force reproduction system for the vascular intervention navigation surgery system of this embodiment is shown in Figures 16 to 22. The slave end of the force reproduction system is fixed to the sun gear 23, and moves forward, backward, and rotates together with the sun gear 23 and the guide wire.

[0145] The slave end of the force reproduction system of this embodiment includes a guidewire fixture 25, a pressure sensor, and a sliding bushing assembly. The guidewire fixture 25 is for clamping and fixing the guidewire. The pressure sensor includes a pressure sensing sheet 26. The sliding bushing assembly includes a first sliding bushing member 27 and a second sliding bushing member 28, one end of the first sliding bushing member 27 is fixedly connected to the guidewire fixture 25, and the first sliding bushing member 27 is slidable relative to the second sliding bushing member 28, so that the other end of the first sliding bushing member 27 selectively abuts against the pressure sensing sheet 26. Here, the guidewire fixture 25 and the sliding bushing assembly are installed eccentrically, and the sliding bushing assembly and the pressure sensor are installed coaxially.

[0146] The guidewire fixator 25 may have a jig structure as shown in Figures 16 to 18, or may have a guidewire sleeve tube structure having high frictional force as shown in Figures 19 to 20. There are no particular limitations on the specific structure of the guidewire fixator 25, and it is sufficient if it can clamp and fix the guidewire.

[0147] Preferably, the force reproduction system slave end may further include an electromagnetic induction coil for mutual attraction with the guidewire fixator 25 and / or the first sliding bushing member 27 .

[0148] 21-22, the force reproduction system host end portion 30 includes a set of rings 31 and a simulated guidewire 32 placed between the set of rings 31, and the resistance of the set of rings 31 against the simulated guidewire 32 is equivalent to the resistance received during the advancement of the guidewire. In other words, the resistance of the set of rings 31 against the simulated guidewire 32 is equal to the force value detected by the pressure sensor.

[0149] When the operator feels the resistance of the simulated guidewire 32, he or she judges according to his or her own experience whether to operate the sun gear 23 to control the advancement or rotation of the guidewire. A motor is connected to the rear end of the wheel set 31, and the rotation of the motor controls the pressure between the wheel set 31, that is, the magnitude of the resistance between the wheel set 31 of the simulated guidewire 32. In another preferred embodiment, when the motor rotates clockwise or counterclockwise, the pressure between the wheel set 31 increases or decreases, and the resistance between the wheel set 31 of the simulated guidewire 32 increases or decreases.

[0150] The host end part 30 of the force reproduction system further includes a simulated pressure sensor and a host end control system. The simulated pressure sensor is for detecting the thrust applied to the simulated guide wire 32 by the operator and applying thrust to the guide wire. When the operator presses the simulated guide wire 32 against the resistance of the wheel set 31, the operation of the simulated guide wire 32 rotates the wheel set 31, and the rotation of the wheel set 31 detected by the simulated pressure sensor controls the forward or backward movement of the sun gear set 23, thereby moving the guide wire forward or backward. The host end control system processes and completes the process from the rotation operation of the wheel set 31 to the forward or backward rotation angle of the sun gear set 23 and the conversion of the linear distance.

[0151] The simulated guidewire 32 is supported by the guidewire tray 33. The simulated guidewire 32 is connected at its head and tail and fed in a circular manner. The guidewire tray 33 may be annular, circular or arc-shaped, but is not limited thereto. The guidewire tray 33 has a guidewire groove 34, the guidewire fits into the guidewire groove 34, and a guidewire bridge 33 is provided on the guidewire tray 33. At the guidewire bridge 35, the simulated guidewire 32 is separated from the guidewire groove 34, and the operator grasps and pushes the simulated guidewire 32 at the guidewire bridge 35. The length of the guidewire bridge 35 is 1 to 20 cm, preferably 3 to 6 cm. The diameter of the simulated guidewire 32 is 0.35 mm.

[0152] The force reproduction system combines the mechanically operated vascular intervention navigation surgery system with the experience of clinical physicians to more effectively control the operation of the guidewire when facing blood vessels with high resistance to progression, while avoiding damage to the patient's blood vessels and ensuring surgical safety.

[0153] In addition, the experience of the operation of the clinician is numbered, classified, and stored in a storage device, so that when the clinician encounters a similar situation again, he or she can directly retrieve it without having to operate it manually again.

[0154] All documents related to the present invention are incorporated herein by reference as if each document were incorporated individually. After reading the above content of the present invention, it will be understood that those skilled in the art can make various changes and modifications to the present invention, and that equivalent forms thereof are within the scope of the claims of the present invention. [Explanation of symbols]

[0155] In each drawing, the following notations apply: 1-support base; 2- Vascular intervention navigation surgery system; 3-slider; 4-female connector; 5-sensor device; 6-Y type valve stand; 7-Y type valve; 8-socket; 9- fixed plate; 10-Cover plate; 11-positioning groove; 12-Cover piece; 13-Male connector; 14-C type tank; 15-connecting bar; 16-gear set; 17-single gear; 18-One-sided rack; 19-longitudinal gear; 20-longitudinal rack; 21-support platform; 22-magnetic structures; 23-sun gear; 24-Fixed board; 25-Guidewire fixator; 26- Pressure sensitive sheet; 27-First sliding bushing member; 28-Second sliding bushing member; 29-linked pedestal; 22- Force reproduction system host end part; 31-Ring set; 32-Mock guidewire; 33-Guidewire tray; 34 - guidewire groove; 35-Guidewire bridge; 36-First arm; 37-second arm; 38-slots; 39-Insertion part.

Claims

1. An operating system of a vascular intervention navigation surgery system, for controlling the operation of the entire vascular intervention navigation surgery system, comprising: a support base, the support base including a support holder and a base for providing support to the support holder, a movable slider provided on the support holder, and a female connector attached and fixed to the slider; The vascular intervention navigation surgical system is for clamping medical devices including a balloon catheter, a guide wire and a stent, the vascular intervention navigation surgical system is slidable relative to the support base, and a male connector for connecting with the female connector in the support holder is attached and fixed to the bottom of the vascular intervention navigation surgical system; The vascular intervention navigation surgical system includes a Y-type valve base for storing and fixing a Y-type valve and a guide catheter connected to the Y-type valve, A socket is provided at the distal end of the Y-type valve, the socket is fixed and connected coaxially to the main passage of the Y-type valve, the socket is driven and rotated by a socket drive mechanism, and the guide catheter is further rotated, and the socket is fixed to the distal end of the Y-type valve through a polygonal inner hole, The vascular intervention navigation surgical system includes a guidewire positioning structure, the guidewire positioning structure is installed between the fixed plate and the Y-shaped valve base, the guidewire positioning structure includes a positioning groove for receiving the guidewire and a cover plate, the positioning groove corresponds to the linear groove of the fixed plate, and together forms a guidewire passage for placing the guidewire; the cover plate is provided with one or more protruding cover pieces, which are inserted into the positioning groove to cover the opening area of ​​the positioning groove and further position the guidewire; A motor is mounted inside the support holder to drive the slider so as to move along a straight line on the support holder, and when the female connector on the slider matches and connects with the male connector at the bottom of the vascular intervention navigation surgical system, the vascular intervention navigation surgical system moves along a straight line on the support holder together with the slider; The base includes a C-shaped tank and a tie bar; The connecting bar passes through the C-shaped tank, and the C-shaped tank can be moved up and down along the connecting bar to adjust its height. The connecting bar is connected to the support holder via a hinge structure, and the support holder can rotate around the connecting bar to adjust the angle. The C-shaped bath is capable of being secured to a surgical table.

2. 2. The operating system according to claim 1, further comprising a sensor device on the top of the support holder for sensing the position and distance of the male connector and / or the female connector.

3. The operating system of claim 1, characterized in that a pair of intermeshing gear sets is provided on the top of the support holder, the gear set including a main wheel and a passive wheel, the main wheel is driven by a motor, and a rack matching the gear set is provided on the bottom of the vascular intervention navigation surgical system, which drives and rotates the main wheel and further operates the rack to move the vascular intervention navigation surgical system.

4. The operating system of claim 1, characterized in that a single gear is provided at the top of the support holder, and a one-sided rack matching the single gear is provided at the bottom of the vascular intervention navigation surgical system, and the single gear is driven to rotate and further moved with the one-sided rack to move the vascular intervention navigation surgical system.

5. The operating system of claim 1, characterized in that a vertical gear is provided on the top of the support holder, and a vertical rack matching the vertical gear is provided on the bottom of the vascular intervention navigation surgical system, and the vertical gear is driven to rotate and the vertical rack is operated together to move the vascular intervention navigation surgical system.

6. The operating system of claim 1, characterized in that a lateral gear is provided on the top of the support holder, a support base is provided above the support holder, a one-sided lateral rack matching the lateral gear is provided on the bottom of the support base, a magnetic adsorption device is provided on the top of the support base, and a magnetic structure is provided on the bottom of the vascular intervention navigation surgical system for firmly adsorbing to the support base, and the lateral gear is driven to rotate and further moved with the one-sided lateral rack to move the vascular intervention navigation surgical system.

7. The actuation system further includes a force reproduction system for a vascular intervention navigation surgical system including a force reproduction system slave end portion, The force reproduction system slave end part comprises: a guidewire fixator for clamping and fixing the guidewire; a pressure sensor including a pressure sensitive sheet; a slide bushing assembly including a first slide bushing member and a second slide bushing member, one end of the first slide bushing member being fixedly connected to the guidewire fixator, and the first slide bushing member being slidable relative to the second slide bushing member such that the other end of the first slide bushing member is selectively brought into contact with the pressure sensitive sheet; The actuation system of claim 1, wherein the force reproduction system slave end portion includes an electromagnetic induction coil attached around an outer periphery of the pressure sensor and attracted to the guide wire fixator and / or the first sliding bushing member.

8. The actuation system of claim 7, wherein said force reproduction system slave end advances and rotates with said guidewire.

9. 8. The actuation system of claim 7, wherein said guidewire fixator and said sliding bushing assembly are eccentrically mounted.

10. 8. The actuation system of claim 7, wherein said sliding bushing assembly and said pressure sensor are coaxially mounted.

11. The operating system according to claim 7, characterized in that the guide wire fixator is a sleeve tube, which is a hollow tube that penetrates from front to back, and the guide wire passes through the sleeve tube and is clamped and fixed by the inner wall of the sleeve tube.

12. The operating system of claim 7, further comprising a force reproduction system host end portion, the force reproduction system host end portion including a set of rings and a simulated guidewire installed between the set of rings, and the resistance force of the set of rings against the simulated guidewire is equivalent to the resistance force experienced during the advancement process of the guidewire.

13. The actuation system of claim 12, wherein the force reproduction system host end portion includes a simulated pressure sensor for detecting an operator's thrust on the simulated guidewire and thereby applying said thrust to the guidewire.

14. The actuation system of claim 13, characterized in that when the operator pushes the simulated guide wire against the resistance force of the wheel group, the actuation of the simulated guide wire causes the wheel group to rotate, and the rotation of the wheel group detected by the simulated pressure sensor controls the advancement or retreat of the sun gear group, thereby advancing or retreating the guide wire.

15. The actuation system of claim 12, wherein the mock guidewire is supported by a guidewire tray.

16. 16. The operating system of claim 15, wherein the guidewire tray has a guidewire groove, the guidewire fits into the guidewire groove, the guidewire tray has a guidewire bridge, the mock guidewire is separated from the guidewire groove at the guidewire bridge, and an operator grasps and pushes the mock guidewire at the guidewire bridge.

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