CN113558770A - Instrument operation box for vascular intervention surgical robot - Google Patents

Instrument operation box for vascular intervention surgical robot Download PDF

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Publication number
CN113558770A
CN113558770A CN202110845908.2A CN202110845908A CN113558770A CN 113558770 A CN113558770 A CN 113558770A CN 202110845908 A CN202110845908 A CN 202110845908A CN 113558770 A CN113558770 A CN 113558770A
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CN
China
Prior art keywords
module
box body
plug
robot
connecting piece
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN202110845908.2A
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Chinese (zh)
Inventor
窦克非
唐伟
汪蕾
王杨
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Weiya Medical Technology Suzhou Co ltd
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Weiya Medical Technology Suzhou Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Weiya Medical Technology Suzhou Co ltd filed Critical Weiya Medical Technology Suzhou Co ltd
Priority to CN202110845908.2A priority Critical patent/CN113558770A/en
Publication of CN113558770A publication Critical patent/CN113558770A/en
Priority to CN202210164383.0A priority patent/CN114391960A/en
Priority to CN202210164583.6A priority patent/CN115414122A/en
Priority to CN202220361751.6U priority patent/CN218356368U/en
Priority to CN202220361728.7U priority patent/CN218960922U/en
Withdrawn legal-status Critical Current

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/303Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Media Introduction/Drainage Providing Device (AREA)

Abstract

The invention relates to an instrument operation box for a vascular intervention surgical robot, which comprises a box body, a catheter driving module, a guide wire driving module and a side plug-pull module, wherein the catheter driving module, the guide wire driving module and the side plug-pull module are integrated on the box body; the catheter driving module comprises a catheter driving connecting piece, the guide wire driving module comprises a guide wire driving connecting piece, and the catheter driving connecting piece, the guide wire driving connecting piece and the side plug-in module are arranged on the side face of the box body. The multifunctional module is integrated, the box body is detachably connected with the robot in a side plugging and unplugging mode, rapid installation and sterile environment isolation in an operation can be realized, and the side plugging and unplugging structure reduces the overall height of the robot on one hand, so that instruments such as a tube wire loaded on the robot can be completely close to a blood vessel inlet of a patient, the effective use distance of the instruments such as the tube wire is remarkably increased, and on the other hand, the problem that a structural part is corroded or an electric short circuit is caused because liquid permeates into a body of a driving or transmission mechanism below the robot in the operation process is solved.

Description

Instrument operation box for vascular intervention surgical robot
Technical Field
The invention relates to the technical field of medical instruments, in particular to an instrument operation box for a vascular intervention surgical robot.
Background
Minimally invasive vascular interventional surgery is a basic means for diagnosis and treatment of cardiovascular and cerebrovascular diseases, and most of the currently implemented vascular lesion diagnosis and vascular reconstruction surgeries need the help of the technology. The minimally invasive vascular interventional surgical robot can effectively improve the accuracy and the controllability of instrument delivery in the surgical process and reduce the cumulative radiation injury to doctors. The advancing mechanism of the instruments such as the catheter, the guide wire, the balloon catheter and the like in the existing vascular interventional surgical robot has the following defects that various dispersed components are complicated and inconvenient to disassemble, and are not beneficial to the disinfection of the catheter, the guide wire and the replacement in the operation before the operation; the advancing mechanism does not allow for simultaneous delivery of the catheter and guidewire. For the operation of the robot-assisted surgery, the instrument operation needs to be capable of realizing the cooperative action of the guide catheter, the guide wire and the balloon catheter in a relatively compact space without interfering with each other. Meanwhile, strict requirements are placed on the sterility of instruments in surgical operations, and it is necessary to ensure that instruments in direct contact with blood vessels of patients are not polluted by operating mechanisms. On the other hand, the efficiency of installation and replacement of catheters, guide wires, balloon catheter instruments remains an important consideration during surgical procedures. Therefore, it is necessary to design an instrument operation box for an interventional surgical robot, which realizes precise, stable, sterile and efficient operation of relevant instruments.
In the prior art, most instrument operation boxes for interventional operation robots are arranged above a driving or transmission mechanism, and at least the following defects exist: (1) the whole height of the robot is large, so that the instruments such as the tube wire loaded on the robot cannot be completely close to the vascular entrance of a patient, the effective use distance of the instruments such as the tube wire is reduced, and the operation of part of the patients cannot be completed; (2) liquid in the operation process can infiltrate into the body of the driving or transmission mechanism below, so that the problems of structural part corrosion or electrical short circuit are easily caused.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defect that the whole height of the robot is larger and the instruments such as the tube wire and the like can not be completely close to the vascular entrance of the patient due to the fact that the instrument operation box is arranged above the transmission mechanism in the prior art.
In order to solve the technical problems, the invention provides an instrument operation box for a vascular intervention surgical robot, which is matched with the robot for use and comprises a box body, a catheter driving module, a balloon catheter driving module and a side plug-pull module, wherein the catheter driving module, the balloon catheter driving module and the side plug-pull module are integrated on the box body;
the pipe drive module includes pipe drive connecting piece, sacculus pipe drive module includes sacculus pipe drive connecting piece, sacculus pipe drive connecting piece and side plug module all set up in the side of box body, the box body passes through side plug module detachable connects the robot.
In one embodiment of the invention, the side plug module comprises a plug piece, and the plug piece is arranged on the side surface of the box body.
In one embodiment of the invention, the plug member, the catheter driving connector and the balloon catheter driving connector are arranged on one side or two sides of the box body.
In one embodiment of the invention, the plug piece, the catheter driving connecting piece and the balloon catheter driving connecting piece are arranged to protrude out of the side face of the box body.
In one embodiment of the invention, the box cover is hinged on the box body.
In one embodiment of the invention, the box further comprises a clamping seat mechanism, and the clamping seat mechanism is arranged on the side surface of the box body.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the instrument operation box integrates the functional modules of catheter driving, balloon catheter driving, side plugging and the like into a whole, so that the multifunctional requirement is realized, the box body is detachably connected with the robot in a side plugging and unplugging mode, the quick installation and the isolation of an aseptic environment in an operation can be realized, and the side plugging and unplugging structure reduces the overall height of the robot on one hand, so that instruments such as a tube wire and the like loaded on the robot can be completely close to a blood vessel inlet of a patient, the effective use distance of the instruments such as the tube wire and the like is remarkably increased, on the other hand, the problem that a structural part is corroded or an electrical short circuit is caused by the fact that liquid permeates into a body of a driving or transmission mechanism below in the operation process is solved, and the instrument operation box is easy to popularize and use.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference will now be made in detail to the present disclosure, examples of which are illustrated in the accompanying drawings.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of fig. 1 without a box cover.
Fig. 3 is a schematic structural view of the self-locking assembly of the present invention.
Figure 4 is a schematic diagram of an exemplary configuration of a catheter drive module of the present invention.
Fig. 5 is a schematic diagram of an exemplary configuration of a guidewire drive module of the present invention.
The specification reference numbers indicate: 100. a box body; 200. a catheter drive module; 210. a conduit drive connection; 221. a Y valve; 222. a conduit; 230. a catheter rotating unit; 310. a balloon catheter drive connection; 320. a balloon catheter; 330. a balloon catheter delivery unit; 410. a plug-in member; 421. locking; 4211. a barb portion; 422. a first link; 423. a second link; 424. a first support base; 425. a second support seat; 426. a button; 427. a fixed seat; 428. a first reset member; 429. a second reset member; 500. a box cover; 600. a card seat mechanism.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Referring to fig. 1 to 5, an instrument operation box for a robot for vascular intervention surgery is provided in an embodiment of the present invention, and is used in cooperation with the robot, and the specific structure of the instrument operation box includes a box body 100, a catheter driving module 200, a balloon catheter driving module, and a side plug module, where the catheter driving module 200, the balloon catheter driving module, and the side plug module are integrated on the box body 100.
The instrument operation box integrates the catheter driving module 200, the balloon catheter driving module, the side plug-pull module and other functional modules into a whole, and is used for achieving multifunctional requirements.
Catheter drive module 200 includes catheter drive connecting piece 210, balloon catheter drive module includes balloon catheter drive connecting piece 310, catheter drive connecting piece 210, balloon catheter drive connecting piece 310 all sets up in the side of box body 100 with the side plug-in module, box body 100 is through the side plug-in module detachable connection robot, the whole height of robot has been reduced on the one hand, make appliances such as the pipe silk of loading on the robot can press close to patient's vascular entry completely, the effective use distance of appliances such as pipe silk has been showing to have increased, on the other hand has also solved the liquid infiltration below in the operation process in the drive or drive mechanism's the organism and lead to corroding structure or the problem of electrical short circuit.
Wherein, the side plug module includes plug 410, and plug 410 sets up the side at box body 100, realizes through plug 410 that box body 100 is connected with the disconnect-type of robot, can realize quick installation and aseptic environment isolation in the art.
The plug 410 may be a plug interface, and the plug interface is matched with a plug interface on a robot, so that the plug interface of the box 100 can be inserted into or pulled out from the plug interface of the robot, and therefore, the plug interface of the present embodiment may adopt a plug interface of the prior art, which is not limited in the present invention.
It should be understood that the core of the plug 410 of the present invention is that it is installed on the side of the box 100 and then connected to the robot in a side-plug manner, so if it is only simple to make any other structural modification on the plug 410, it is within the scope of the present invention as long as the plug 410 is installed on the side of the box 100.
Further, plug 410 protrusion sets up in the side of box body 100, and plug 410 adopts the mode connection robot of extrapolation outward promptly, realizes aseptic inscribe to having sterile environment, and the bacterium is difficult for climbing into aseptic environment to guarantee the sterile environment of apparatus operation box.
Also, in order to improve stability of the cartridge 100 inserted into the robot. The side plug module of the present invention further includes a self-locking assembly, and the self-locking assembly and the plug 410 are disposed at the same side of the box body 100.
As a preferred embodiment, the self-locking assembly may include a latch 421, a first link 422, a second link 423, a first support seat 424, a second support seat 425, a button 426, and a fixing seat 427, where the first link 422 is hinged to the first support seat 424, the latch 421 is hinged to the second support seat 425, the latch 421 is hinged to the second link 423, the second link 423 is hinged to the first link 422, the first link 422 is connected to the button 426, the button 426 is disposed on the fixing seat 427, the fixing seat 427 is disposed on the box 100, one end of the latch 421 away from the second link 423 is provided with a barb 4211, and the latch 421 can be inserted into and fixed in the socket of the robot through the barb 4211. In actual work, only need with hasp 421 peg graft in the socket of robot can, when box body 100 is dismantled to needs, press button 426, drive first connecting rod 422 to the opposite direction motion of pressing down, at this moment first connecting rod 422 drives the motion of second connecting rod 423, and second connecting rod 423 drives hasp 421 motion for hasp 421 can break away from the socket of robot body can.
To achieve automatic reset of the button 426, the self-locking assembly of the present invention further comprises a first reset member 428, the first reset member 428 being disposed between the button 426 and the anchor 427. Preferably, the first reset member 428 is a spring, the spring is disposed between the button 426 and the fixing base, when the button 426 is stressed, the button 426 moves towards the fixing base, and the spring is in a compressed state, so that when the button 426 is stressed, the spring is reset to reset the button 426, that is, to reset the latch 421.
Further, considering that the failure of the first resetting member 428 may affect the resetting of the lock catch 421, the self-locking assembly of the present invention further includes a second resetting member 429, and the second resetting member 429 is disposed between the lock catch 421 and the second supporting seat 425. Preferably, the second restoring member 429 can be a spring, which is disposed between the latch 421 and the second support seat, and the latch 421 can be restored by the restoring of the spring, so that even after the first restoring member 428 fails, the latch 421 and the button 426 can still be automatically restored, thereby achieving a double safety.
It should be understood that the core of the self-locking assembly of the present invention is that it is installed on the same side of the box 100 as the plug 410, and the self-locking function of the self-locking assembly is utilized to improve the stability of the plug 410 inserted on the robot. The above preferred embodiment is only one exemplary specific structure that the self-locking assembly may adopt, and other structures may also be adopted, and the invention is not limited thereto. Therefore, if the self-locking assembly is simply modified in structure, it is within the scope of the present invention that the self-locking assembly is mounted on the side of the box 100.
It is conceivable that the latch 421 is also protruded from the side of the box 100, and the plugging manner and the beneficial effects thereof can be explained with reference to the plugging member 410, which is not described herein again.
The conduit driving module 200 further includes a conduit rotating unit 230, the box 100 is provided with a Y valve 221, the Y valve 221 is provided with a conduit 222, the conduit 222 is connected to the conduit rotating unit 230, the conduit rotating unit 230 is connected to the conduit driving connecting member 210, and the conduit rotating unit 230 drives the conduit 222 to rotate.
It should be understood that the catheter rotation unit 230 herein may employ a multi-stage drive mechanism to ensure that the catheter drive connection 210 drives the catheter 222 in rotation. Therefore, the specific structure of the duct rotating unit 230 is not limited, and the structure shown in the drawings may be adopted, and other structures may be adopted, and the present invention is not limited thereto.
The balloon catheter driving module further comprises a balloon catheter delivery unit 330, the balloon catheter delivery unit 330 is connected to the balloon catheter driving connector 310, the balloon catheter delivery unit 330 is provided with a balloon catheter 320, and the balloon catheter 320 is driven by the balloon catheter delivery unit 330 to pass through the Y-valve 221 and move directionally in the catheter 222.
It should be understood that the balloon catheter delivery unit 330 herein may employ a multi-stage transmission mechanism to ensure that the balloon catheter drive connector 310 can transmit the delivery of the balloon catheter 320. Therefore, the specific structure of the balloon catheter delivery unit 330 is not limited, and the structure shown in the drawings may be adopted, and other structures may be adopted, and the present invention is not limited thereto.
The catheter driving connecting piece 210 and the balloon catheter driving connecting piece 310 can be driving connecting shafts which protrude out of the side face of the box body 100, and driving sources arranged on the robot can be connected to the side face through the driving connecting shafts, namely the driving sources are arranged on the side face of the box body 100 through the driving connecting shafts, so that the problem that liquid in the operation process permeates into a machine body of the driving sources to cause corrosion of structural parts or electrical short circuit can be avoided.
The instrument manipulation case of the present invention further includes a case cover 500, and the case cover 500 is hinged to the case body 100 to achieve aseptic sealing of important parts of the case body 100. Of course, the Y-valve module and the balloon catheter delivery unit 330 are both open, so that the Y-valve and the guide wire 320 can be conveniently detached.
The invention also comprises a clamping seat mechanism 600, wherein the clamping seat mechanism 600 is arranged at one side of the box body 100, the side surface of the box body 100 is integrated with the clamping seat mechanism 600 of the contrast agent injector, and the clamping seat mechanism 600 and the whole box body 100 move together, so that the distance between the injector and the Y valve 211 is ensured, and the remote control operation of the contrast agent can be realized.
It should be noted that the catheter 222, the balloon catheter 310 and the Y-valve 221 are not part of the instrument console box, but are only parts that need to be mentioned for the sake of better clarity in describing the components of the present invention, and the catheter 222, the balloon catheter 310 and the Y-valve 221 are all assembled on the instrument console box by the user.
The working principle of the invention is as follows:
firstly, the box body 100 is installed on a robot through a plug part 410 on the side surface and is locked on the robot through a lock catch 421 of a self-locking component, then the catheter driving connecting part 210 and the balloon catheter driving connecting part 310 are respectively connected with corresponding driving sources on the robot, the catheter 222 is delivered to the vascular lesion position by the robot, the catheter is driven to rotate through the catheter rotating unit 230 in the delivery process so as to adapt to the operations of bifurcation, turning and the like in the blood vessel, and then the balloon catheter 320 is driven to pass through the Y valve 221 and move in the catheter 222 through the balloon catheter delivering unit 330 so as to deliver the balloon catheter 320 to the vascular lesion position.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the spirit or scope of the invention.

Claims (6)

1. An instrument operation box for a vascular intervention surgical robot is matched with the robot for use and is characterized by comprising a box body, a catheter driving module, a balloon catheter driving module and a side plug-pull module, wherein the catheter driving module, the balloon catheter driving module and the side plug-pull module are integrated on the box body;
the pipe drive module includes pipe drive connecting piece, sacculus pipe drive module includes sacculus pipe drive connecting piece, sacculus pipe drive connecting piece and side plug module all set up in the side of box body, the box body passes through side plug module detachable connects the robot.
2. The instrument manipulation cartridge for a vascular interventional surgical robot according to claim 1, wherein: the side plug module comprises a plug piece, and the plug piece is arranged on the side face of the box body.
3. The instrument manipulation cartridge for a vascular interventional surgical robot according to claim 2, wherein: the plug-pull piece, the catheter driving connecting piece and the balloon catheter driving connecting piece are arranged on one side of the box body or on two sides of the box body.
4. The instrument manipulation cartridge for a vascular interventional surgical robot according to claim 2 or 3, wherein: the plug-pull piece, the catheter driving connecting piece and the balloon catheter driving connecting piece are arranged to protrude out of the side face of the box body.
5. The instrument manipulation cartridge for a vascular interventional surgical robot according to claim 1, wherein: the box cover is hinged to the box body.
6. The instrument manipulation cartridge for a vascular interventional surgical robot according to claim 1, wherein: the box body is characterized by further comprising a clamping seat mechanism, wherein the clamping seat mechanism is arranged on the side face of the box body.
CN202110845908.2A 2021-07-26 2021-07-26 Instrument operation box for vascular intervention surgical robot Withdrawn CN113558770A (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CN202110845908.2A CN113558770A (en) 2021-07-26 2021-07-26 Instrument operation box for vascular intervention surgical robot
CN202210164383.0A CN114391960A (en) 2021-07-26 2022-02-22 Instrument operation box assembly for vascular intervention surgical robot
CN202210164583.6A CN115414122A (en) 2021-07-26 2022-02-22 Instrument operation box assembly for vascular intervention surgical robot
CN202220361751.6U CN218356368U (en) 2021-07-26 2022-02-22 Instrument operation box assembly for vascular intervention surgical robot
CN202220361728.7U CN218960922U (en) 2021-07-26 2022-02-22 Instrument operation box assembly for vascular intervention surgical robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110845908.2A CN113558770A (en) 2021-07-26 2021-07-26 Instrument operation box for vascular intervention surgical robot

Publications (1)

Publication Number Publication Date
CN113558770A true CN113558770A (en) 2021-10-29

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CN202110845908.2A Withdrawn CN113558770A (en) 2021-07-26 2021-07-26 Instrument operation box for vascular intervention surgical robot

Country Status (1)

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CN (1) CN113558770A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114451920A (en) * 2022-04-13 2022-05-10 天津恒宇医疗科技有限公司 Quick fixed uninstallation structure of pipe
CN114699172A (en) * 2022-05-05 2022-07-05 易度河北机器人科技有限公司 Tube and wire driving device of vascular intervention surgical robot
WO2023138394A1 (en) * 2022-01-24 2023-07-27 微亚医疗科技(苏州)有限公司 Auxiliary delivery device and controlled-end portion used for vascular interventional surgical robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023138394A1 (en) * 2022-01-24 2023-07-27 微亚医疗科技(苏州)有限公司 Auxiliary delivery device and controlled-end portion used for vascular interventional surgical robot
CN114451920A (en) * 2022-04-13 2022-05-10 天津恒宇医疗科技有限公司 Quick fixed uninstallation structure of pipe
CN114699172A (en) * 2022-05-05 2022-07-05 易度河北机器人科技有限公司 Tube and wire driving device of vascular intervention surgical robot

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Application publication date: 20211029

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