Motion system for vascular intervention navigation surgical system

Abstract

A motion system for a vascular intervention navigation surgical system (2). The motion system is used to control the motion of the vascular intervention navigation surgical system (2), and comprises a supporting base (1) and the vascular intervention navigation surgical system (2). The motion system provides more degrees of freedom of movement and other functions for the vascular intervention navigation surgical system (2), a guide wire, a catheter, a stent, etc., so as to make it easier to perform a vascular interventional operation.

Description

Motion system for vascular interventional navigation surgery system Technical Field

[0001] The present invention relates to the field of medical devices, and more particularly to a motion system for a vascular intervention navigation surgery system. Background Art

[0002] Before performing a vascular interventional surgery, the surgical robot needs to be installed on the operating table. During the vascular interventional surgery, the vascular interventional surgery is performed by controlling the vascular interventional navigation surgery system and its motion system.

[0003] Currently, vascular interventional navigational surgery systems are capable of controlling the advance, retreat, and rotation of guidewires, as well as the advance and retreat of balloon catheters, stent catheters, and guide catheters, as described in Chinese invention patent application number CN 113598947B, filed on November 5, 2021, entitled "Vascular Interventional Navigational Surgery System," which is incorporated herein by reference in its entirety. Providing vascular interventional navigational surgery systems with greater degrees of freedom of movement and other functionalities to facilitate more complex vascular interventional procedures remains an unresolved issue.

[0004] Therefore, the art still lacks a motion system for a vascular interventional navigation surgery system that can provide more degrees of motion freedom and other functions.

[0005] Summary of the Invention

[0006] The present invention aims to provide a motion system for a vascular interventional navigation surgery system. By adding a support base, a Y-valve rotation control structure, and a guidewire limiting structure, the motion system provides enhanced functionality for the entire vascular interventional navigation surgery system, including the catheter, guidewire, and stent, thereby facilitating the performance of vascular interventional surgery.

[0007] The present invention provides a motion system of a vascular interventional navigation surgery system, which is used to control the overall movement of the vascular interventional navigation surgery system. The motion system includes a supporting base, which includes a supporting frame and a base, wherein the base provides support for the supporting frame. The vascular interventional navigation surgery system is used to clamp medical devices, which include balloon catheters, guide wires and stents. The vascular interventional navigation surgery system is slidable relative to the supporting base.

[0008] In another preferred embodiment, a movable slider is provided on the support frame, and a connecting female head is fixedly installed on the slider; a connecting male head is fixedly installed at the bottom of the vascular interventional navigation surgery system for connecting with the connecting female head.

[0009] In another preferred embodiment, a motor is installed inside the support frame, and the motor drives the slider to move linearly on the support frame; when the female connector on the slider is mated and connected with the male connector at the bottom of the vascular interventional navigation surgery system, the vascular interventional navigation surgery system moves linearly on the support frame along with the slider;

[0010] Optionally, a sensing device is provided on the top of the support bracket, and the sensing device is used to sense the position and distance of the male connector and / or the female connector.

[0011] In another preferred example, a pair of mutually meshing gear sets are provided on the top of the support frame, and the gear sets include a driving wheel and a passive wheel. The driving wheel is driven by a motor, and a rack that cooperates with the gear set is provided at the bottom of the vascular interventional navigation surgery system. By driving the driving wheel to rotate, the rack is driven to move, thereby moving the vascular interventional navigation surgery system.

[0012] In another preferred example, a single gear is provided on the top of the support frame, and a single-sided rack is provided at the bottom of the vascular interventional navigation interventional surgery system to cooperate with the single gear. By driving the single gear to rotate, the single-sided rack is driven to move, thereby moving the vascular interventional navigation surgery system.

[0013] In another preferred example, a longitudinal gear is provided on the top of the support frame, and a longitudinal rack is provided at the bottom of the vascular interventional navigation interventional surgery system to cooperate with the longitudinal gear. By driving the longitudinal gear to rotate, the longitudinal rack is driven to move, thereby moving the vascular interventional navigation surgery system.

[0014] In another preferred example, a transverse gear is provided on the top of the support bracket, a supporting platform is provided above the support bracket, a unilateral transverse rack is provided at the bottom of the supporting platform to cooperate with the transverse gear, a magnetic device is provided at the top of the supporting platform, and a magnetic structure is provided at the bottom of the vascular interventional navigation interventional surgery system for tightening with the supporting platform, driving the transverse gear to rotate, and then driving the unilateral transverse rack to move, thereby moving the vascular interventional navigation surgery system.

[0015] In another preferred example, the base includes a C-shaped slot and a connecting rod; the connecting rod passes through the C-shaped slot, and the C-shaped slot can move up and down along the connecting rod to adjust the height; the connecting rod is connected to the supporting bracket through a hinge structure, and the supporting bracket can rotate around the connecting rod to adjust the angle.

[0016] In another preferred example, the C-shaped slot can be fixed on the operating bed.

[0017] In another preferred embodiment, the vascular interventional navigation surgery system includes a Y-shaped valve platform, which is used to accommodate and fix the Y-shaped valve and a guide catheter connected to the Y-shaped valve;

[0018] A wheel sleeve is provided at the distal end of the Y-type valve, and the wheel sleeve is coaxially fixedly connected to the main channel of the Y-type valve. The wheel sleeve is driven to rotate by a wheel sleeve driving mechanism, thereby driving the guide catheter to rotate.

[0019] In another preferred example, the vascular interventional navigation surgery system includes a guidewire limiting structure, which is arranged between the fixed plate and the Y-shaped valve platform; the guidewire limiting structure includes a positioning groove and a cover plate, the positioning groove is used to accommodate the guidewire, the positioning groove and the wire groove of the fixed plate correspond to each other, and together form a guidewire channel for placing the guidewire; one or more raised cover plates are provided on the cover plate, and the cover plate can be inserted into the positioning groove to block the opening area of ​​the positioning groove, thereby limiting the guidewire.

[0020] A motion system for a vascular interventional navigation surgery system, the motion system being used to control the overall motion of the vascular interventional navigation surgery system, the motion system comprising:

[0021] A supporting base, comprising a supporting bracket and a base, wherein the supporting bracket is provided with a slider that can move left and right, and a connecting female head is fixedly mounted on the slider; and

[0022] A vascular interventional navigation surgery system is used to clamp medical devices used in vascular interventional navigation surgery, such as guide wires, catheters, stents, etc. A male connector is fixedly installed at the bottom of the vascular interventional navigation surgery system for connecting to the female connector on the support frame.

[0023] In another preferred embodiment, a motor is installed within the support frame. The motor drives the slider to move linearly left and right on the support frame. When the female connector on the slider is mated with the male connector at the bottom of the vascular interventional navigation surgery system, the vascular interventional navigation surgery system can move linearly left and right on the support frame.

[0024] In another preferred embodiment, the slider and the female connector are fixedly connected by snapping, welding, bonding, integral molding, or the like.

[0025] In another preferred example, the vascular intervention navigation system and the connecting male head are fixedly connected by snapping, welding, bonding, integral molding, etc.

[0026] In another preferred embodiment, the supporting base and the vascular interventional navigation system are matched with the connecting female head and the connecting male head, and are fixed together by threaded engagement and / or snap connection.

[0027] In another preferred embodiment, the base is composed of a C-shaped slot and a connecting rod. The base is composed of a C-shaped slot and a connecting rod, and is used to fix the motion system next to the operating table.

[0028] In another preferred embodiment, the connecting rod passes through the C-shaped groove, and the C-shaped groove can move up and down on the connecting rod to adjust the height.

[0029] In another preferred embodiment, the connecting rod and the supporting bracket are connected via a hinge structure, and the supporting bracket can rotate on the connecting rod to adjust the angle.

[0030] In another preferred embodiment, a sensing device is provided on the top of the support frame, which can sense the position and distance from the male (female) connector.

[0031] In another preferred embodiment, the sensing device may be laser, infrared, or mechanical.

[0032] In another preferred embodiment, the vascular interventional navigational surgery system includes a Y-shaped valve platform that can accommodate and secure a Y-shaped valve and a guide catheter connected thereto. A wheel hub is provided at the front end of the Y-shaped valve, which is coaxially fixedly connected to the main channel of the Y-shaped valve. The wheel hub is rotated by the wheel hub drive mechanism, thereby driving the guide catheter to rotate.

[0033] In another preferred example, the wheel sleeve is fixed to the front end of the Y-type valve through a polygonal inner hole.

[0034] In another preferred example, the wheel sleeve and the Y-type valve are fixedly connected by snapping, welding, bonding, integral molding, etc.

[0035] In another preferred embodiment, the wheel sleeve is a gear or a worm gear.

[0036] In another preferred embodiment, the wheel hub driving mechanism is a gear, a rack, a worm, etc.

[0037] In another preferred embodiment, the vascular interventional navigation surgery system includes a guidewire limiting structure, which is arranged between the fixing plate and the Y-shaped valve platform. The guidewire limiting structure includes a positioning groove and a cover plate. The positioning groove is used to accommodate the guidewire. The positioning groove corresponds to the wire groove of the fixing plate and together forms a guidewire channel for placing the guidewire. The cover plate is provided with one or more raised cover plates, which can be inserted into the positioning groove to cover the opening area of ​​the positioning groove, thereby limiting the guidewire.

[0038] In another preferred example, a pair of mutually meshing gear sets are provided on the top of the support frame, and the gear sets are composed of a driving wheel and a driven wheel. The driving wheel is driven by a motor, and a rack that cooperates with the gear set is provided at the bottom of the vascular interventional navigation surgery system. By driving the driving wheel of the gear set to rotate, the rack is driven to move, thereby moving the vascular interventional navigation surgery system.

[0039] In another preferred example, there is a single gear on the top of the support bracket, and a single-sided rack that cooperates with the single gear is provided at the bottom of the vascular interventional navigation interventional surgery system. By driving the single gear to rotate, the single-sided rack is driven to move, thereby moving the vascular interventional navigation surgery system.

[0040] In another preferred example, there is a longitudinal gear on the top of the support frame, and a longitudinal rack that cooperates with the longitudinal gear is provided at the bottom of the vascular interventional navigation interventional surgery system. By driving the longitudinal gear to rotate, the longitudinal rack is driven to move, thereby moving the vascular interventional navigation surgery system.

[0041] In another preferred example, there is a transverse gear on the top of the support bracket, a supporting platform above the support bracket, a unilateral transverse rack at the bottom of the supporting platform that cooperates with the transverse gear, a magnetic device at the top of the supporting platform, and a magnetic structure at the bottom of the vascular interventional navigation interventional surgery system that is tightly attracted to the supporting platform. By driving the transverse gear to rotate, the unilateral transverse rack is driven to move, thereby moving the vascular interventional navigation surgery system.

[0042] In another preferred example, the motion system includes a host, and the motion parameters of the motion system are controlled by the host.

[0043] In another preferred example, the motion system includes a handle, and the handle is connected to the main body signal (for example, WiFi, 5G, Bluetooth, etc.), and the host can be remotely controlled through the handle.

[0044] In another preferred embodiment, a control screen is provided on the supporting base, and the movement of the vascular intervention navigation surgery system is controlled by the control screen.

[0045] The main advantages of the present invention include:

[0046] (a) The travel range of the vascular interventional navigation surgery system has been increased to accommodate more surgical scenarios;

[0047] (b) Vascular interventional navigation surgery systems have increased in functionality, facilitating more complex surgeries;

[0048] (c) Small size, does not occupy the limited space of the operating room;

[0049] (d) Automated control makes surgical control more precise.

[0050] It should be understood that within the scope of the present invention, the above-mentioned technical features of the present invention and the technical features described in detail below (such as in the embodiments) can be combined with each other to form new or preferred technical solutions. Due to space limitations, they will not be listed here one by one. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0052] FIG1 is a perspective view of a motion system of a vascular intervention navigation surgery system in one embodiment of the present invention;

[0053] FIG2 is a perspective view of a supporting base in one embodiment of the present invention;

[0054] FIG3 is a perspective view of a vascular intervention navigation surgery system according to an embodiment of the present invention;

[0055] FIG4 is a bottom view of FIG3;

[0056] FIG5 is a rear view of FIG2;

[0057] FIG6 is a top view of FIG3;

[0058] FIG7 is a perspective view of a motion system in another embodiment of the present invention;

[0059] FIG8 is a perspective view of a supporting base in another embodiment of the present invention;

[0060] FIG9 is a perspective view of a supporting base in another embodiment of the present invention;

[0061] FIG10 is a bottom view of a vascular intervention navigation surgery system according to another embodiment of the present invention;

[0062] 11 is a perspective view of a supporting base in yet another embodiment of the present invention;

[0063] FIG12 is a bottom view of a vascular intervention navigation surgery system in yet another example of the present invention.

[0064] FIG13 is a perspective view of a motion system in one embodiment of the present invention;

[0065] FIG14 is a perspective view of a supporting base in an embodiment of the present invention;

[0066] FIG. 15 is a bottom view of a vascular intervention navigation surgery system according to an embodiment of the present invention.

[0067] In the accompanying drawings, the following are marked: 1-support base; 2-vascular interventional navigation surgery system; 3-slider; 4-connecting female head; 5-sensing device; 6-Y-type valve table; 7-Y-type valve; 8-wheel sleeve; 9-fixing plate; 10-cover plate; 11-positioning groove; 12-cover plate; 13-connecting male head; 14-C-type groove; 15-connecting rod; 16-gear set; 17-single gear; 18-single-sided rack; 19-longitudinal gear; 20-longitudinal rack; 21-supporting platform; 22-magnetic structure. DETAILED DESCRIPTION

[0068] After extensive and in-depth research and a large amount of screening, the inventors have developed for the first time a motion system for a vascular interventional navigation surgery system. The motion system of the present invention provides more degrees of freedom of movement and other functions for the entire vascular interventional navigation surgery system, guidewires, catheters, stents, etc. by adding a supporting base, a Y-type valve rotation control structure, a guidewire limiting structure, etc., making it easier to perform vascular interventional surgery. The present invention was completed on this basis.

[0069] The motion system for the vascular interventional navigation surgery system of the present invention provides greater freedom of movement for the terminal execution system as a whole, the guide catheter and the guide wire by adding a pitch component, a moving component, a rotation component, a Y-type valve rotation control part, a guide wire limiting structure, etc., so as to facilitate the implementation of vascular interventional navigation surgery.

[0070] Typically, the present invention provides a motion system for a vascular interventional navigation surgery system, wherein the motion system is used to control the movement of components within the vascular interventional navigation surgery system, and the motion system includes a terminal execution system motion control part, and the terminal execution system motion control part includes: a pitch assembly, which is a hinge structure, and the pitch assembly includes a first connecting member (such as a support arm) and a first rotating member (such as a tray), wherein the first rotating member is rotatable around the first connecting member; and a moving assembly, which is a linear motion structure, and the moving assembly includes a first moving member (such as a support bracket) connected to the first rotating member and a second moving member (such as a second connecting disk of the terminal execution system) that can slide relative to the first moving member.

[0071] In another preferred embodiment, the terminal execution system motion control part includes a rotation component, wherein the rotation component includes a second connecting member (such as a C-shaped slot), and the first connecting member is rotatable around the second connecting member.

[0072] In another preferred embodiment, the second connecting member is fixed.

[0073] In another preferred embodiment, the second connecting member is fixed to the hospital bed, for example, by clamping, or fixed to the ground.

[0074] In another preferred example, the first rotating member and the first moving member are fixedly connected.

[0075] In another preferred example, the first moving member is rotatable relative to the first rotating member.

[0076] In another preferred embodiment, the first connecting member is retractable or movable up and down.

[0077] In another preferred embodiment, the second moving member is fixedly connected to the terminal execution system.

[0078] In another preferred example, the second moving part is fixedly connected to the terminal execution system by snapping, welding, bonding, integral molding, etc.

[0079] In another preferred embodiment, the first moving member and the second moving member are moved relative to each other by belt / chain transmission, rack and pinion transmission, screw transmission, etc.

[0080] In another preferred example, the first moving part is provided with a first connecting disk, and the second moving part is provided with a second connecting disk. The first connecting disk and the second connecting disk are adapted to each other, and the two are fixedly connected by snapping, welding, bonding, etc. The first moving part has a driving device, and the driving device is used to control the first connecting disk, and then control the second connecting disk and ultimately drive the movement of the terminal execution system.

[0081] In another preferred embodiment, the second movable member is provided with a hollow cylindrical slot as a second connecting disk, the inner side of the slot has a threaded structure, and the first movable member is provided with a protrusion matching the slot and the threaded structure as a first connecting disk.

[0082] In another preferred embodiment, the first connecting plate and the second connecting plate are fixed together by threaded engagement and / or snap-fit ​​connection.

[0083] In another preferred embodiment, the first moving member is a transverse gear, and the second moving member is a transverse rack provided on the terminal execution system and matched with the transverse gear, and the transverse rack is driven to move by driving the transverse gear to rotate, thereby causing the terminal execution system to move; or

[0084] The first moving member is a vertical gear, and the second moving member is a vertical rack matched with the vertical gear. The vertical gear is driven to rotate, thereby driving the vertical rack to move, so that the terminal execution system moves.

[0085] The number of the gears and racks that cooperate with each other can be one pair, two pairs or more pairs, which can be arranged according to actual operation requirements.

[0086] In another preferred example, the motion system includes a Y-type valve rotation control part, and the Y-type valve rotation control part includes a wheel sleeve and a wheel sleeve driving mechanism. The wheel sleeve is coaxially fixedly connected to the main channel of the Y-type valve, and the wheel sleeve is driven to rotate by the wheel sleeve driving mechanism, thereby driving the Y-type valve to rotate.

[0087] In another preferred example, the wheel sleeve is sleeved on the outer circumference of the Y-type valve.

[0088] In another preferred embodiment, the wheel sleeve and the Y-type valve are an integral structure.

[0089] In another preferred embodiment, the wheel sleeve is a gear or a worm gear.

[0090] In another preferred embodiment, the wheel hub driving mechanism is a gear, a rack, a worm, etc.

[0091] In another preferred example, the terminal execution system includes a guidewire limiting structure, which is arranged between the fixing plate and the Y-shaped valve to prevent the guidewire from arching.

[0092] In another preferred example, the guide wire limiting structure includes a positioning groove and a cover plate, the positioning groove is used to accommodate the guide wire, the positioning groove and the wire groove on the sun gear and the wire groove of the fixed plate correspond to each other, and together form a guide wire channel for placing the guide wire; one or more raised cover plates are provided on the cover plate, and the cover plates can be inserted into the positioning groove to block the opening area of ​​the positioning groove, thereby limiting the guide wire.

[0093] In another preferred embodiment, a positioner is provided on the first moving member, and a sensing block is provided on the second moving member. The positioner can sense the movement of the sensing block to determine the moving distance of the terminal execution system.

[0094] In another preferred embodiment, upon startup, the positioner senses the sensing block and places the terminal execution system at zero position.

[0095] In another preferred embodiment, the locator may be laser, infrared, or mechanical.

[0096] In another preferred example, the motion system includes a host, and the motion parameters of the motion system are controlled by the host.

[0097] In another preferred example, the motion system includes a handle, and the handle is connected to the main body signal (for example, WiFi, 5G, Bluetooth, etc.), and the host can be remotely controlled through the handle.

[0098] In another preferred embodiment, a control screen is provided on the first moving member, and the sliding of the second sliding member relative to the first sliding member is controlled by the control screen.

[0099] Specifically, the motion system for the vascular intervention navigation surgery system of the present invention is used to control the motion of components within the vascular intervention navigation surgery system, including a terminal execution system motion control part.

[0100] The motion control part of the terminal execution system includes a pitch assembly, a rotation assembly, a mobile assembly and a height adjustment assembly. The pitch assembly is a hinge structure, and the pitch assembly includes a first connecting member (shown as a connecting rod 8) and a first rotating member (for example, a cantilever, shown as the lower part of the supporting base 1), wherein the first rotating member is rotatable around the first connecting member. The mobile assembly is a linear motion structure, and the mobile assembly includes a first moving member (shown as the upper part of the supporting base 1) connected to the first rotating member and a second moving member (for example, shown as a connecting female 4, or including a component connecting the female 4) that is slidable relative to the first moving member. The rotation assembly includes a first rotating member and a first moving member, that is, the first moving member is rotatable relative to the first rotating member. The height adjustment assembly includes a second connecting member (shown as a C-shaped groove 14), a first connecting member and a height adjustment pin. The second connecting member can be fixed on the bed, for example, by clamping, or fixed on the ground to provide support. The positional relationship between the first connecting member and the second connecting member can be fixed by the height adjustment pin. The first connecting member is provided with a height adjustment hole (not shown) adapted to the height adjustment pin. The height of the terminal execution system can be adjusted by inserting the height adjustment pin into different height adjustment holes.

[0101] A control screen is provided on the first moving member, and the sliding of the second sliding member relative to the first sliding member is controlled by the control screen.

[0102] The motion system also includes a host and a handle. The host controls the motion parameters of the motion system. The handle is connected to the main body through a signal (e.g., WiFi, 5G, Bluetooth, etc.), and the host can be remotely controlled through the handle.

[0103] The first and second movable members are capable of relative movement via a belt / chain transmission, rack and pinion transmission, screw drive, or other means. Preferably, the first movable member is provided with a positioner, and the second movable member is provided with a sensor block. The positioner senses the movement of the sensor block to determine the travel distance of the terminal execution system. The positioner can be laser, infrared, or mechanical. Upon activation, the positioner senses the sensor block, placing the terminal execution system at zero position.

[0104] The second moving part is fixedly connected to the terminal execution system. The second moving part is fixedly connected to the terminal execution system by means of snap fastening, welding, bonding, integral molding, etc. The first moving part is provided with a first connecting disk (for example, shown as a connecting male 13). The first connecting disk and the second connecting disk (for example, shown as a connecting female 4) are adapted, and the two are fixedly connected by means of snap fastening, welding, bonding, etc. For example, the second connecting disk can be a hollow cylindrical draw-in slot, and a threaded structure is provided inside the draw-in slot. The first connecting disk can have a protrusion that matches the draw-in slot and the threaded structure, and the first connecting disk and the second connecting disk are connected and fixed together by threaded engagement and / or snap-fit ​​connection. The first moving part has a driving device, which is used to control the first connecting disk, and then control the second connecting disk and ultimately drive the motion of the terminal execution system.

[0105] In another example, the first moving member is a single gear (horizontal gear) 17, and the second moving member is a unilateral rack (vertical rack) 18 that is arranged on the terminal execution system and cooperates with the single gear (horizontal gear) 17. By driving the single gear (horizontal gear) 17 to rotate, the unilateral rack (vertical rack) 18 is driven to move, thereby causing the terminal execution system to move.

[0106] In another example, the first moving member is a gear set (two horizontal gears) 16, and the second moving member is two vertical racks arranged on the terminal execution system and respectively cooperate with the gear set (two horizontal gears) 16. By driving the gear set (two horizontal gears) 16 to rotate, the vertical racks are driven to move, thereby causing the terminal execution system to move.

[0107] In another example, the first moving part is the longitudinal gear (vertical gear) 19, and the second moving part is the longitudinal rack (horizontal rack) 20 that cooperates with the longitudinal gear (vertical gear) 19. By driving the longitudinal gear (vertical gear) 19 to rotate, the longitudinal rack (horizontal rack) 20 is driven to move, so that the terminal execution system moves.

[0108] In one example, there is a transverse gear on the top of the support frame 1, and a supporting platform 21 is above the support frame 1. The bottom of the supporting platform 21 has a unilateral transverse rack that cooperates with the transverse gear. There is a magnetic device on the top of the supporting platform 21. The bottom of the vascular interventional navigation surgery system 2 has a magnetic structure 22 that is tightly attracted to the supporting platform 21. By driving the transverse gear to rotate, the unilateral transverse rack is driven to move, thereby moving the vascular interventional navigation surgery system.

[0109] The motion system for the vascular interventional navigation surgery system also includes a Y-valve rotation control unit. This unit comprises a wheel sleeve 8 and a wheel sleeve drive mechanism (not shown). The wheel sleeve 8 is coaxially fixedly connected to the main channel of the Y-valve 7 and sleeved around the outer circumference of the Y-valve 7. The wheel sleeve 8 is driven to rotate by the wheel sleeve drive mechanism, thereby driving the rotation of the Y-valve 7. The wheel sleeve 8 can be a gear or a worm gear. The wheel sleeve drive mechanism can be a gear, rack, worm, etc.

[0110] The motion system for the vascular interventional navigation surgery system includes a guidewire limiting structure. The guidewire limiting structure is arranged between the fixing plate 9 and the Y-type valve 7 to prevent the guidewire from arching. The guidewire limiting structure includes a positioning groove 11 and a cover plate 10. The positioning groove 11 is used to accommodate the guidewire. The positioning groove 11 corresponds to the wire groove on the sun gear and the wire groove on the fixing plate 9, and together form a guidewire channel for placing the guidewire. One or more raised cover plates 12 are provided on the cover plate 10. The cover plates 12 can be inserted into the positioning groove 11 to block the opening area of ​​the positioning groove 11, thereby limiting the guidewire.

[0111] The present invention will be further described below with reference to specific embodiments. It should be understood that these embodiments are intended to illustrate the present invention only and are not intended to limit the scope of the present invention. In addition, the accompanying drawings are schematic diagrams, and therefore the devices and apparatuses of the present invention are not limited by the dimensions or proportions of the schematic diagrams.

[0112] It should be noted that in the claims and description of this patent, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "including a" does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0113] Example

[0114] The motion system for the vascular interventional navigation surgery system of this embodiment is used to control the motion of the vascular interventional navigation surgery system.

[0115] Example 1

[0116] As shown in Figures 1-4, the motion system of the vascular interventional navigation surgery system includes a supporting base and a vascular interventional navigation surgery system 2. The supporting base includes a supporting bracket 1 and a base, and the base includes a C-shaped groove 14 and a connecting rod 15. A slider 3 that can move left and right is provided on the supporting bracket 1, and the slider 3 is fixedly connected to the connecting female head 4 by means of snapping, welding, bonding, integral molding, etc. The bottom of the vascular interventional navigation surgery system 2 is fixedly connected to the connecting male head 13 by means of snapping, welding, bonding, integral molding, etc. There is a motor and a transmission structure inside the supporting bracket 1, and the motor drives the slider 3 to move linearly left and right on the supporting bracket 1. The connecting female head 4 on the slider 3 is connected to the connecting male head 13 at the bottom of the vascular interventional navigation surgery system 2 by threaded engagement and / or snap fit, and the vascular interventional navigation surgery system 2 can move linearly left and right on the supporting bracket 1.

[0117] There is a sensing device 5 on the top of the support bracket 1, which can sense the position and distance of the male (female) connector 13. The sensing device 5 can be laser, infrared, or mechanical.

[0118] The vascular interventional navigation system 2 includes a Y-shaped valve platform 6, which houses and secures a Y-shaped valve 7 and the associated guide catheter. The Y-shaped valve 7 has a wheel hub 8 at its front end, which is coaxially fixedly connected to the main channel of the Y-shaped valve 7. The wheel hub 8 is driven to rotate by a wheel hub drive mechanism, thereby driving the guide catheter to rotate.

[0119] The vascular interventional navigation surgery system 2 includes a guidewire retaining structure, which is disposed between the fixing plate 9 and the Y-shaped valve platform 6. The guidewire retaining structure includes a positioning groove 11 and a cover plate 10. The positioning groove 11 is used to accommodate the guidewire. The positioning groove 11 corresponds to the wire groove of the fixing plate 9, together forming a guidewire channel for placing the guidewire. The cover plate 10 is provided with one or more raised cover plates 12, which can be inserted into the positioning groove 11 to block the opening area of ​​the positioning groove 11 and thus retain the guidewire.

[0120] As shown in Figure 5, the support base comprises a base, which is composed of a C-shaped slot 14 and a connecting rod 15. This allows the motion system of the vascular interventional navigation surgery system to be fixed to the operating table. The connecting rod 15 extends through the C-shaped slot 14, allowing the C-shaped slot 14 to move up and down on the connecting rod 15 for height adjustment. The connecting rod 15 is connected to the support frame 1 via a hinge structure, allowing the support frame 1 to rotate on the connecting rod 15 for angle adjustment.

[0121] The motion system also includes a host and a handle. The host controls the motion parameters of the motion system. The handle is connected to the main body through a signal (e.g., WiFi, 5G, Bluetooth, etc.), and the host can be remotely controlled through the handle.

[0122] Example 2

[0123] As shown in Figures 7-8, a pair of mutually meshing gear sets 16 are provided on the top of the support frame 1 of the motion system of the vascular interventional navigation surgery system. The gear set 16 consists of a driving wheel and a passive wheel. The driving wheel is driven by a motor. A rack that cooperates with the gear set 16 is provided at the bottom of the vascular interventional navigation surgery system 2. By driving the driving wheel of the gear set 16 to rotate, the rack is driven to move, thereby moving the vascular interventional navigation surgery system 2.

[0124] Example 3

[0125] As shown in Figures 9-10, there is a single gear 17 on the top of the support frame 1 of the motion system of the vascular interventional navigation surgery system, and a unilateral rack 18 that cooperates with the single gear 17 is provided at the bottom of the vascular interventional navigation surgery system 2. By driving the single gear 17 to rotate, the unilateral rack 18 is driven to move, thereby moving the vascular interventional navigation surgery system 2.

[0126] Example 4

[0127] As shown in Figures 11-12, there is a longitudinal gear 19 on the top of the support frame 1 of the motion system of the vascular interventional navigation surgery system, and a longitudinal rack 20 that cooperates with the longitudinal gear 19 is provided at the bottom of the vascular interventional navigation surgery system 2. By driving the longitudinal gear 19 to rotate, the longitudinal rack 20 is driven to move, thereby moving the vascular interventional navigation surgery system 2.

[0128] Example 5

[0129] As shown in Figures 13-15, the support frame 1 of the motion system of the vascular interventional navigation surgery system has a transverse gear on the top, and a supporting platform 21 is located above the support frame 1. The bottom of the supporting platform 21 has a unilateral transverse rack that cooperates with the transverse gear. The top of the supporting platform 21 has a magnetic device. The bottom of the vascular interventional navigation surgery system 2 has a magnetic structure 22 that is tightly attracted to the supporting platform 21, which drives the transverse gear to rotate, thereby driving the unilateral transverse rack to move, thereby moving the vascular interventional navigation surgery system.

[0130] All documents mentioned in this application are incorporated herein by reference, just as if each document were incorporated herein by reference individually. It should also be understood that after reading the above teachings of the present invention, those skilled in the art may make various changes or modifications to the present invention, and that such equivalents also fall within the scope of the claims appended hereto.

Claims

1. A motion system of a vascular interventional navigation surgery system, characterized in that: The motion system is used to control the overall motion of the vascular intervention navigation surgery system. The motion system includes a supporting base, and the supporting base includes a supporting frame and a base, wherein the base provides support for the supporting frame. The vascular intervention navigation surgery system is used for clamping medical devices, which include a balloon catheter, a guide wire and a stent. The vascular intervention navigation surgery system is slidable relative to the supporting base.

2. The motion system according to claim 1, characterized in that The support frame is provided with a movable slider, and a connecting female head is fixedly installed on the slider; a connecting male head is fixedly installed at the bottom of the vascular interventional navigation surgery system for connecting with the connecting female head.

3. The motion system according to claim 2, characterized in that A motor is installed inside the support frame, and the motor drives the slider to move in a straight line on the support frame; when the female connector on the slider is matched and connected with the male connector at the bottom of the vascular interventional navigation surgery system, the vascular interventional navigation surgery system moves in a straight line on the support frame along with the slider; Optionally, a sensing device is provided on the top of the support frame, and the sensing device is used to sense the position and distance of the male connector and / or the female connector.

4. The motion system according to claim 1, characterized in that A pair of mutually meshing gear sets are provided on the top of the support frame, and the gear sets include a driving wheel and a passive wheel. The driving wheel is driven by a motor, and a rack that cooperates with the gear set is provided at the bottom of the vascular interventional navigation surgery system. The driving wheel is driven to rotate, thereby driving the rack to move, thereby moving the vascular interventional navigation surgery system.

5. The motion system according to claim 1, characterized in that: A single gear is provided on the top of the support frame, and a single-sided rack that cooperates with the single gear is provided at the bottom of the vascular intervention navigation intervention surgery system. The single gear is driven to rotate, thereby driving the single-sided rack to move, thereby moving the vascular intervention navigation surgery system.

6. The exercise system according to claim 1, characterized in that A longitudinal gear is provided on the top of the support frame, and a longitudinal rack that cooperates with the longitudinal gear is provided at the bottom of the vascular intervention navigation intervention surgery system. The longitudinal gear is driven to rotate, thereby driving the longitudinal rack to move, thereby moving the vascular intervention navigation surgery system.

7. The exercise system according to claim 1, characterized in that A transverse gear is provided on the top of the support frame, a supporting platform is provided above the support frame, a single-sided transverse rack is provided at the bottom of the supporting platform and cooperates with the transverse gear, a magnetic suction device is provided at the top of the supporting platform, and a magnetic structure is provided at the bottom of the vascular interventional navigation interventional surgery system for tightening with the supporting platform, driving the transverse gear to rotate, thereby driving the single-sided transverse rack to move, thereby moving the vascular interventional navigation surgery system.

8. The motion system according to any one of claims 1 to 7, characterized in that: The base includes a C-shaped slot and a connecting rod; The connecting rod passes through the C-shaped groove, and the C-shaped groove can move up and down along the connecting rod to adjust the height; The connecting rod is connected to the supporting bracket via a hinge structure, and the supporting bracket can rotate around the connecting rod to adjust the angle.

9. The motion system according to any one of claims 1 to 7, characterized in that: The vascular intervention navigation surgery system comprises a Y-shaped valve platform, which is used to accommodate and fix a Y-shaped valve and a guide catheter connected to the Y-shaped valve; A wheel sleeve is provided at the distal end of the Y-type valve, and the wheel sleeve is coaxially fixedly connected to the main channel of the Y-type valve. The wheel sleeve is driven to rotate by a wheel sleeve driving mechanism, thereby driving the guide catheter to rotate.

10. The exercise system according to claim 9, characterized in that The vascular interventional navigation surgery system includes a guidewire limiting structure, which is arranged between the fixed plate and the Y-shaped valve platform; the guidewire limiting structure includes a positioning groove and a cover plate, the positioning groove is used to accommodate the guidewire, the positioning groove and the wire groove of the fixed plate correspond to each other, and together form a guidewire channel for placing the guidewire; one or more raised cover plates are provided on the cover plate, and the cover plates can be inserted into the positioning groove to block the opening area of ​​the positioning groove, thereby limiting the guidewire.

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