CN114191095B - Synchronous interventional operation robot - Google Patents

Abstract

The first driving mechanism and the second driving mechanism are used for clamping the first slender medical instrument and synchronously pushing the first slender medical instrument to move on the main body. The robot can be remotely controlled by doctors, X-ray radiation is avoided, and the synchronous motion can also prevent the slender medical instrument from bending, so that the control is more accurate.

Description

Synchronous interventional operation robot

Technical Field

The invention relates to the field of medical robots, is applied to a master-slave vascular intervention surgical robot, and particularly relates to a synchronous intervention surgical robot.

Background

Minimally invasive vascular interventional surgery refers to the process that a doctor controls a catheter guide wire to move in a human blood vessel under the guidance of a Digital Subtraction Angiography (DSA) system, so as to treat a focus, and achieve the purposes of embolism malformed blood vessels, dissolving thrombus, dilating narrow blood vessels and the like. At present, interventional operation treatment plays an important role in diagnosis and treatment of hundreds of diseases such as tumors, peripheral blood vessels, large blood vessels, digestive tract diseases, nervous systems, non-blood vessels and the like, and the interventional operation treatment range can be said to encompass all disease treatments of the human body from head to foot, and is a preferred scheme for treating part of diseases. The intervention operation can treat a plurality of diseases which cannot be treated or have poor curative effect in the past only by the size of rice grains without cutting human tissues, has the characteristics of no operation, small wound, quick recovery and good curative effect, and is highly valued by the medical community at home and abroad.

Currently, minimally invasive vascular interventional surgery auxiliary robots are rapidly developed due to the high-end medical equipment and robot technology involved. We have also put into development.

Disclosure of Invention

The invention aims to provide a synchronous interventional operation robot for assisting a doctor in interventional operation.

In order to solve the above problems, the present invention provides a synchronous interventional surgical robot comprising:

a main body and a first driving mechanism and a second driving mechanism mounted on the main body;

the first and second drive mechanisms are for gripping and synchronously advancing a first elongate medical instrument motion on the body.

Further, the first drive mechanism is configured to rotate the first elongate medical instrument.

Further, the first drive mechanism is configured to move and rotate the first elongate medical instrument simultaneously or non-simultaneously.

Further, the second drive mechanism is configured to rotate the first elongate medical instrument in synchronization with the first drive mechanism.

Further, the first and second drive mechanisms are configured to move and rotate the first elongate medical instrument simultaneously or non-simultaneously.

Further, the synchronous interventional surgical robot further comprises a third driving mechanism and a fourth driving mechanism which are arranged on the main body and are used for clamping a second slender medical instrument and synchronously pushing the second slender medical instrument on the main body.

Further, the third and fourth drive mechanisms are configured to synchronously rotate the second elongate medical instrument motion.

Further, the third and fourth drive mechanisms are configured to move and rotate the second elongate medical instrument simultaneously or non-simultaneously.

Further, the third and fourth drive mechanisms are configured to simultaneously or non-simultaneously advance and rotate the second elongate medical instrument as it passes into the first elongate medical instrument, and the first and second drive mechanisms are configured to simultaneously or non-simultaneously advance and rotate the first elongate medical instrument.

Further, the fourth drive mechanism is located between the first drive mechanism and the third drive mechanism, and the first drive mechanism is located between the second drive mechanism and the fourth drive mechanism.

Further, the second drive mechanism is configured to rotate the first elongate medical instrument, the second drive mechanism configured to rotate the first elongate medical instrument at a different rotational speed than the first drive mechanism configured to rotate the first elongate medical instrument.

Further, the second drive mechanism causes the rotational speed of the first elongate medical instrument to be less than the rotational speed of the first drive mechanism causes the first elongate medical instrument to rotate.

Further, the second drive mechanism allows the rotational speed of the first elongate medical instrument to be zero.

According to the invention, a doctor can synchronously move on the main body through remote control of the first driving mechanism and the second driving mechanism, so that the slender medical instrument is driven to accurately move, the X-ray radiation is avoided, the control is more accurate, the misoperation can be avoided, and the bending of the slender medical instrument is prevented.

Drawings

FIG. 1 is a schematic view of an embodiment of a synchronized interventional surgical robot of the present invention;

FIG. 2 is another schematic view of FIG. 1;

FIG. 3 is a schematic illustration of FIG. 1 with two drive mechanisms added;

fig. 4 is a schematic view of fig. 1 with only two drive mechanisms removed.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally or even relatively movable; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present invention, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus are not to be construed as limiting the present invention.

As used herein, the direction "distal" is the direction toward the patient and the direction "proximal" is the direction away from the patient. The terms "upper" and "upper" refer to a invar direction away from the direction of gravity, and the terms "bottom", "lower" and "lower" refer to a invar direction of gravity. The term "forward" refers to the side of the interventional surgical robot facing the user from the end device and "advancement" refers to the direction of displacement of the guidewire or catheter into the body of the surgical patient. The term "back" refers to the side of the interventional surgical robot facing away from the user from the end device and "back" refers to the direction in which the guidewire or catheter is displaced out of the body of the surgical patient. The term "inwardly" refers to the interior portion of a feature. The term "outwardly" refers to the outer portion of a feature. The term "rotating" includes "forward rotation" and "reverse rotation," where "forward rotation" refers to the direction of rotating a guidewire or catheter into the body of a surgical patient and "reverse rotation" refers to the direction of rotating a guidewire or catheter out of the body of a surgical patient.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, "multiple" or "multiple" means two or more.

Finally, it should be noted that, if not conflicting, the embodiments of the present invention and the features of the embodiments may be combined with each other, which are all within the protection scope of the present invention. Additionally, all or some of the steps in the methods described above may be performed in a computer system, such as a set of computer executable instructions, and, although the steps are listed in order of 1, 2, 3 …, in some cases, the steps shown or described may be performed in an order different than that described herein.

The guide wire comprises but is not limited to guide wires, micro guide wires, stents and other guiding and supporting interventional medical devices, and the catheter comprises but is not limited to guiding catheters, micro catheters, radiography catheters, multifunctional tubes (also called intermediate catheters), thrombolysis catheters, balloon dilation stent catheters and other therapeutic interventional medical devices.

As shown in fig. 1 and 2, an embodiment of a synchronous interventional surgical robot of the present invention includes a main body 10, driving mechanisms 20, 30, 40, 50, 60 movably mounted on the main body 10, a gripper 70, and a quick-change mechanism 80.

The body 10 is elongated and provided with a rectilinear channel 102. These drive mechanisms 20, 30, 40, 50, 60 are successively positioned in the channel 102 and are movable along the channel. In this embodiment, the driving mechanisms 20, 30, 40, 50, 60 can slide directly on the main body 10, such as fixing a linear guide rail on the main body 10, and the driving mechanisms 20, 30, 40, 50, 60 can slide along the guide rail. In other embodiments, the drive mechanisms 20, 30, 40, 50, 60 may also slide along different rails.

Each drive mechanism is used for clamping, pushing (including forward and backward) and rotating (including forward and backward) the catheter or the guide wire (collectively referred to as an elongated medical device, hereinafter the same) and can also be used for simultaneously clamping, pushing (including forward and backward) and rotating (including forward and backward) the catheter or the guide wire so as to realize cooperative movement of a plurality of catheters and one guide wire or cooperative movement of a plurality of catheters and a plurality of guide wires. Each driving mechanism comprises a clamping component for clamping the catheter or the guide wire and a rotating component for rotating the catheter or the guide wire, wherein the rotating component can be of an active driving type or a passive following type, or all or part of the rotating components are of an active driving type or a passive following type, and the clamping of the driving mechanisms 20 and 40 on the catheter does not influence the rotation of the catheter.

The clamping and rotating assemblies of the drive mechanisms 20, 30, 40, 50, 60 may be an interventional surgical robotic slave end guide wire catheter twisting device as described in chinese patent application 202111010071.6, the entire contents of which are incorporated herein.

In other embodiments, the specific configuration of the drive mechanisms 20, 30, 40, 50, 60 are not limited to the same, but may be different so long as clamping, pushing, and/or rotation of the catheter, guidewire is achieved. The clamping components and the rotating components may be identical, or the clamping components, the rotating components may be identical, or the other clamping components and the rotating components may be different.

In this embodiment, the drive mechanisms 20 and 30 are spaced apart from one another to engage and grip, push and/or rotate the same guide catheter 90 (i.e., the first catheter) so that it does not bend. In fact, the drive mechanisms 20 and 30 preferably move and/or rotate the guide catheter 90 in synchronism so as to straighten it against bending. Likewise, the drive mechanisms 40 and 50 are engaged, spaced apart, back and forth, for engaging the clamp, preferably synchronously advancing and/or rotating the same utility tube 91 (i.e., the second conduit, also referred to as the intermediate conduit). The drive mechanism 60 is used to grip, advance and/or rotate the guidewire 92. The gripper 70 is used to grip and advance the guide wire 92 in synchronization with the drive mechanism 60. The quick-change mechanism 80 is removably secured to the drive mechanism 50 for gripping and advancing the quick-change catheter.

In preparation for surgery, the physician goes to the catheter room for preoperative preparation. If the guide catheter 90, the multifunctional tube 91 and the guide wire 92 are selected to be suitable (such as length and diameter), the normal saline flushing and exhausting are carried out on the guide catheter 90 and the multifunctional tube 91. The multifunctional tube 91 is manually threaded into the guide catheter 90 and extended beyond the guide catheter 90 a distance, and the guide wire 92 is threaded into the multifunctional tube 91 and extended beyond the multifunctional tube 91 a distance, such as about 10cm above the head of the guide wire 92. The drive mechanisms 20, 30, 40, 50 and 60 are positioned reasonably, the guide catheter 90, the multifunctional tube 91 and the guide wire 92 are placed together into a puncture sheath penetrating into a surgical patient (such as penetrating into femoral artery, radial artery or other), the clamping components of the drive mechanisms 20 and 30 simultaneously clamp the guide catheter 90, the clamping components of the drive mechanisms 40 and 50 simultaneously clamp the multifunctional tube 91, the clamping components of the drive mechanism 60 and the clamp 70 simultaneously clamp the guide wire 92, and therefore clamping and fixing of the guide catheter 90, the multifunctional tube 91 and the guide wire 92 are achieved.

At the beginning of the operation, the doctor moves to the outside of the catheter before arriving at the operation table, and the driving mechanism 20, 30, 40, 50, 60, the gripper 70 and the quick exchange mechanism 80 are remotely operated by using the main end operation table (such as the main end operation handle of the interventional operation robot described in the Chinese patent application 202111009835.X and the main end control module of the interventional operation robot described in 202111009832.6, the whole contents of which are incorporated into the present invention). Specifically, the rotational assembly of drive mechanisms 20 and 30, together with drive mechanism 20 and 30, holds guide catheter 90 for movement along passageway 102 to advance guide catheter 90, and simultaneously or non-simultaneously drive mechanisms 20 and 30 rotate guide catheter 90, and drive mechanism 30 holds guide catheter 90 against movement when drive mechanism 20 is moved to a limit position (e.g., drive mechanism 20 is moved to the distal end of passageway 102) to be reset and release guide catheter 90. When the drive mechanism 20 is reset to a position closer to the drive mechanism 30, the clamping assembly of the drive mechanism 20 again clamps the guide catheter 90, allowing the drive mechanisms 20 and 30 to drive the guide catheter 90 together, and simultaneously or non-simultaneously the rotating assemblies of the drive mechanisms 20 and 30 allow the guide catheter 90 to rotate, so as to reciprocate until advanced into position.

In this process, the drive mechanisms 40 and 50 simultaneously or non-simultaneously clamp the utility tube 91 and move along the channel 102 to advance the utility tube 91, and the rotating assembly of the drive mechanisms 40 and 50 simultaneously or non-simultaneously rotates the utility tube 91, so that the drive mechanism 50 clamps the utility tube 91 without moving when the drive mechanism 40 moves to the limit position (e.g., the distance from the drive mechanism 30 approaches the threshold value) to reset and unclamp the utility tube 91. When the driving mechanism 40 is reset to a position closer to the driving mechanism 50, the clamping assembly of the driving mechanism 40 clamps the multifunctional tube 91 again, so that the driving mechanisms 40 and 50 drive the multifunctional tube 91 together to advance, and the rotating assemblies of the driving mechanisms 40 and 50 simultaneously or not simultaneously rotate the multifunctional tube 91 so as to reciprocate until the multifunctional tube 91 advances to the proper position.

In the above process, the simultaneous or non-simultaneous driving mechanism 60 and the clamp 70 together clamp the guide wire 92 along the channel 102 to advance the guide wire 92, and the rotating component of the simultaneous or non-simultaneous driving mechanism 60 rotates the guide wire 92. When the drive mechanism 60 is moved to an extreme position (e.g., a distance from the drive mechanism 50 approaching a threshold value) to reset and release the guidewire 92, the guidewire 92 is held against movement by the holder 70. After the drive mechanism 60 is reset, the clamping assembly of the drive mechanism 60 clamps the guide wire 92 again, so that the drive mechanism 60 and the clamp 70 together drive the guide wire 92 to advance, and simultaneously or not simultaneously the rotating assembly of the drive mechanism 60 rotates the guide wire 92, so that the guide wire 92 reciprocates until the guide wire advances into place.

As to how the main end console remotely controls the driving mechanisms 20, 30, 40, 50, 60, the gripper 70 and the quick-change mechanism 80 to move, it may include two levers, one of which is used to control the driving mechanisms 20, 30, 40, 50 and the quick-change mechanism 80, and the other of which is used to control the driving mechanisms 60 and the gripper 70 by switching means for time-sharing the driving mechanisms 20, 30, the driving mechanisms 40, 50 and the quick-change mechanism 80, as in the interventional surgical robot main end control module described in chinese patent application 202111009832.6. Alternatively, the main console includes more than two levers, such as four levers, for remotely controlling the driving mechanisms 20, 30, the driving mechanisms 40, 50, the driving mechanism 60, the gripper 70, and the quick-change mechanism 80, respectively.

In other embodiments, drive mechanisms 30, 50 clamp guide catheter 90, multi-function tube 91, respectively, through a Y valve. That is, the guide catheter 90 and the multifunctional tube 91 are respectively connected to the Y valves, the Y valves are fixed to the driving mechanisms 30 and 50, and the clamping assemblies of the driving mechanisms 30 and 50 clamp the Y valves and the rotating assemblies rotate the luer connectors of the Y valves to drive the guide catheter 90 and the multifunctional tube 91 to rotate.

In the above-described process of pushing the guide catheter 90, the multifunctional tube 91 and the guide wire 92 together, it is preferable to always keep the multifunctional tube 91 extending a certain distance from the guide catheter 90 and the guide wire 92 extending a certain distance from the multifunctional tube 91. When the guide catheter 90, the multifunctional tube 91 and the guide wire 92 reach certain parts of the blood vessel, the driving mechanisms 20, 30, 40, 50, 60 and the holder 70 may need to be remotely controlled by the main end console, so that the guide catheter 90, the multifunctional tube 91 and the guide wire 92 can be subjected to forward, backward, forward and reverse exchanges for a plurality of times.

After the guide catheter 90 is advanced in place, the guide catheter 90 is fixed without moving, and the driving mechanisms 40, 50, 60 and the clamp 70 are remotely controlled by the main console, so that the multifunctional tube 91 and the guide wire 92 are retracted, and the retraction process is similar to the advancing process described above and is not repeated here. When the head of the multifunctional tube 91 and the guide wire 92 is retracted to the puncture sheath, the doctor goes to the catheter room to manually take out the multifunctional tube 91 and the guide wire 92 from the clamping assembly and the clamp 70 of the driving mechanism 40, 50, 60 and soak them in heparin water.

Finer microcatheters 94 and microcatheters 96 (e.g., 0.014 in) were chosen. Microcatheter 96 is manually threaded into microcatheter 94 and threaded together into guide catheter 90, with microcatheter 96 extending a distance beyond microcatheter 94. According to the requirements of the microcatheter 94 and the microcatheter 96, the driving mechanisms 40, 50 and 60 and the clamp 70 are positioned reasonably, and the microcatheter 94 and the microcatheter 96 are clamped on the clamping components of the driving mechanisms 40 and 50 and the clamping components of the driving mechanism 60 and the clamp 70 respectively, so that the microcatheter 94 and the microcatheter 96 are clamped and fixed. Preferably, microcatheter 94 is connected to a Y valve that is secured to drive mechanism 50 and held by its holding assembly, and a rotating assembly rotates the Y valve luer connector to rotate microcatheter 94.

The physician again goes to the outside of the catheter's console and remotely manipulates the movement of the drive mechanisms 40, 50, 60 and the holder 70 using the main end console. The specific process is the same as the pushing and/or rotating process of the multifunctional tube 91 and the guide wire 92, and will not be described herein. As microcatheters 94, 96 are advanced to the head of guide catheter 90, microcatheters 94, 96 are further advanced to the lesion (also referred to as a target vascular stenosis) of the surgical patient. Contrast confirms the location of microcatheter 96 and if the desired location is reached (except for the possibility of treatment of an aneurysm embolism where microcatheter 96 is to be passed through a lesion in the surgical patient), microcatheter 94 and microcatheter 96 are secured against movement by drive mechanisms 40, 50, 60 and holder 70, respectively. If the prescribed position is not reached, the teleoperated drive mechanism 40, 50, 60 and gripper 70 movements are repeated until the micro-wire 96 reaches the prescribed position.

After the microcatheter 96 reaches the desired position, the drive mechanisms 40, 50 are remotely operated via the main end console to retract the microcatheter 94 while maintaining the microcatheter 96 motionless, such as the drive mechanism 60 moving back while the microcatheter 96 is held stationary by the holder 70. When the head of the microcatheter 94 is retracted to the puncture sheath, the physician accesses the catheter chamber to manually withdraw the microcatheter 94 from the drive mechanism 40, 50 and immerse it in heparin water. At this time, the micro-wire 96 may be alternately held by the driving mechanism 60, and the driving mechanisms 20, 30 and the driving mechanism 60 may be kept fixed to the guide catheter 90 and the micro-wire 96, respectively, from moving.

The physician again goes to the catheter room and manually lets the tail of the micro-guidewire 96 penetrate the rapid exchange balloon dilation catheter 98, and the rapid exchange balloon dilation catheter 98 is advanced along the micro-guidewire 96, at which time the rapid exchange balloon dilation catheter 98 is held by the rapid exchange mechanism 80.

The physician again advances the rapid exchange balloon dilation catheter 98 to the surgical patient's lesion (without exceeding the head of the microcatheter 96) by remotely manipulating the rapid exchange mechanism 80 with the main end console before arriving outside the catheter's console. In this process, attention is paid to the position and angle of the micro wire 96 at all times, and the position and angle need to be adjusted by forward rotation, reverse rotation, forward movement and backward movement in time. When the rapid exchange balloon dilation catheter 98 reaches the lesion of the surgical patient, the rapid exchange balloon dilation catheter 98 is pre-inflated with contrast medium in the catheter room, and the contrast medium confirms the vasodilation effect. If a vasodilatory effect is achieved, contrast agent is withdrawn from within the rapid exchange balloon dilation catheter 98. Before the doctor goes to the operation table outside the catheter, the main end operation table is used for remotely controlling the quick exchange mechanism 80 to retreat to the puncture sheath. This rapid exchange balloon dilation catheter 98 maintains the microcatheter 96 in place during retraction. For some procedures, multiple vasodilation may be required, so the rapid exchange balloon dilation catheter 98 described above may be advanced and retracted multiple times.

The physician comes to the catheter room again, manually removes the rapid exchange balloon dilation catheter 98 from the rapid exchange mechanism 80, and then manually inserts the rapid exchange balloon dilation stent catheter through the micro-guide wire 96 and clamps the rapid exchange mechanism 80, and the specific process is the same as the pushing and/or the process of the rapid exchange balloon dilation catheter 98, and will not be repeated.

The physician again goes to the outside of the catheter console and remotely manipulates the rapid exchange mechanism 80 using the main end console to advance the rapid exchange balloon stent catheter along the microcatheter 96 to the surgical patient's lesion (already expanded vessel). In this process, attention is paid to the position and angle of the micro wire 96 at all times, and the position and angle need to be adjusted by forward rotation, reverse rotation, forward movement and backward movement in time. When the rapid exchange balloon expandable stent catheter reaches the focus of the operation patient (the expanded blood vessel), the position of the rapid exchange balloon expandable stent catheter is finely adjusted, and after the position is determined, the rapid exchange balloon expandable stent catheter is filled with contrast agent in the catheter chamber, so that the stent is formed. Contrast confirms that the balloon expandable stent is placed correctly, contrast can be extracted and the rapid exchange mechanism 80 is operated to drive the rapid exchange balloon expandable stent catheter to retract to the puncture sheath, while the balloon expandable stent remains at the focus of the patient. The physician arrives at the catheter room to manually remove the rapid exchange balloon stent catheter from the rapid exchange mechanism 80 and place it into heparin water. The treatment process ends.

The physician then goes to the outside of the catheter and remotely controls the movement of the drive mechanism 20, 30, 40, 50, 60 and the holder 70 using the main end console to retract the guide catheter 90 and the microcatheter 96 to the puncture sheath. Finally, the doctor returns to the catheter room, manually removes the guide catheter 90 and the micro-guide wire 96 from the clamping assembly and the clamp 70 of the driving mechanism 20, 30 and 60, withdraws from the puncture sheath, puts the puncture sheath into heparin water, and then performs puncture sheath extraction and postoperative treatment to complete the operation.

The above is a quick-change catheter, and therefore requires clamping, pushing and/or rotating with the quick-change mechanism 80. If the coaxial exchange catheter is used, after the tail of the micro-guide wire 96 penetrates the coaxial exchange catheter, the coaxial exchange catheter is clamped, pushed and/or rotated by the coaxial exchange mechanism, and the coaxial exchange catheter is advanced to a proper position or retreated to the puncture sheath along the micro-guide wire 96. Roller drive means may be employed to effect clamping, pushing and/or rotation of the quick-change and coaxial exchange conduits, whether the quick-change mechanism 80 or the coaxial exchange mechanism.

The above is an illustration of the motion and control procedure of the present invention using "balloon stent forming surgery". Indeed, the present invention may also be used in a variety of surgical procedures for imaging, embolization, thrombolysis, and the like. The driving mechanisms 20, 30, 40, 50, 60, the clamp 70 and the quick-change mechanism 80 can be freely adjusted by doctors according to actual surgical needs, namely, the driving mechanisms 20, 30, 40, 50, 60, the clamp 70 and the quick-change mechanism 80 can be conveniently assembled and disassembled. If more complicated operations are implemented, more driving mechanisms, holders and quick exchange mechanisms can be added, for example, after more driving mechanisms and holders are added, the coordinated movement of a plurality of catheters corresponding to one guide wire or a plurality of catheters corresponding to a plurality of guide wires can be realized, for example, two driving mechanisms (the driving mechanisms 20, 30 and the driving mechanisms 40 and 50 can be added in fig. 3) are added to clamp, synchronously push and/or rotate more catheters, and the method can be specifically referred to the above-mentioned "balloon stent forming operation"; a quick-change mechanism is provided for each drive mechanism (e.g., drive mechanisms 30, 50) that always holds the catheter, and the quick-change mechanism is removably mounted to the drive mechanism or is an integral mechanism with the drive mechanism. While in performing a simple examination procedure such as an angiographic procedure, only a portion of the drive mechanisms 20, 30, 40, 50, 60, such as the drive mechanisms 20, 30, and 60 (or the drive mechanisms 40, 50, and 60), the other drive mechanisms, the holder 70, and the quick-change mechanism 80 are removed from the body 10, see fig. 4. In the following, the invention will be described with reference to angiographic procedures, in which only one catheter, one guidewire, and the other catheter are moved and controlled in tandem with the drive mechanisms 20 (or 40), 30 (or 50), and 60:

when preparing operation, the guiding catheter, guiding guide wire and radiography catheter with proper diameters and lengths are selected according to the positions of vascular lesions, and physiological saline is flushed and exhausted for the guiding catheter and radiography catheter. And starting the interventional operation robot to finish initialization. The puncture sheath is put into the operation patient. The guide wire is manually threaded into and out of the guide catheter a distance, such as about 10cm above the guide catheter at the guide wire head, and placed together into the puncture sheath. The clamping assemblies of the driving mechanisms 20 (or 40), 30 (or 50) and 60 respectively clamp the guide catheter and the guide wire, so that the clamping and fixing of the guide catheter and the guide wire are realized.

When the operation is started, the doctor moves to the outside of the catheter before arriving at the operation table, and remotely operates the driving mechanisms 20 (or 40), 30 (or 50) and 60 by using the main end operation table. The guiding catheter and the guiding guide wire are cooperatively advanced to the target blood vessel respectively. The process refers to the aforementioned "balloon stent forming surgery". The head parts of the guide catheter and the guide wire are kept in the visual field range of the image. At this point, the drive mechanism 20 (or 40), 30 (or 50) is held against movement by the guide catheter, and the remotely operated drive mechanism 60 is retracted to withdraw the guide guidewire to the puncture sheath.

The physician accesses the catheter room and manually removes the guide wire from the clamping assembly of the drive mechanism 60 and dips it into the heparin water. And (3) inputting a contrast agent into the guide catheter, performing radiographic imaging, and obtaining complete image information of different angles of the target blood vessel.

If it is desired to obtain image information of multiple target vessels, another guide wire is selected to penetrate into the guide catheter and advance to the puncture sheath, and the guide wire is clamped to the clamping assembly of the driving mechanism 60. Before the catheter is moved to the outside of the catheter, the driving mechanisms 20 (or 40), 30 (or 50) and 60 are remotely operated by the main end control console to move, the guide catheter and the guide wire are respectively advanced to the other target blood vessel in a coordinated manner, at the moment, the driving mechanisms 20 (or 40), 30 (or 50) clamp the guide catheter and do not move, the guide wire is retracted to the puncture sheath and taken out, contrast agent is input into the guide catheter again, radiographic imaging is carried out, and complete image information of different angles of the other target blood vessel is obtained. And so many times until the complete image information of all target blood vessels is obtained. The procedure described above may also be advanced to another target vessel by first withdrawing the guide catheter, using another guide catheter to engage the other guide wire.

The doctor remotely controls the driving mechanisms 20 (or 40), 30 (or 50) to retreat, so as to drive the guiding catheter to withdraw to the puncture sheath. The physician accesses the catheter room and manually removes the guide catheter and the last guide wire used from the clamping assembly of the drive mechanism 20 (or 40), 30 (or 50), 60, respectively, and withdraws from the puncture sheath.

In other embodiments, the drive mechanism 60 may initially clamp the guidewire 92 and advance and/or rotate the guidewire 92 without the clamp 70. When the drive mechanism 60 moves to a certain position to reset, the guide wire 92 is clamped by the clamp 70, and the drive mechanism 60 releases the guide wire 92. When the drive mechanism 60 is reset to again clamp the guide wire 92, the clamp 70 releases the guide wire 92, so that the drive mechanism 60 and the clamp 70 alternately clamp the guide wire 92. At this time, the holder 70 is preferably fixedly mounted to the distal end of the body 10 so as not to slide with the driving mechanism 60.

In other embodiments, the quick-change mechanism 80 may also rotate the quick-change catheter or rotate the quick-change catheter while pushing the quick-change catheter.

As mentioned above, while synchronously advancing and/or rotating is the best option, it is not precluded either: for example, 1, the drive mechanisms 20, 40 move the guide tubes 90, 91 faster than the drive mechanisms 30, 50 move the guide tubes 90, 91, respectively, which also straightens the guide tubes 90, 91 from bending. 2. The driving mechanisms 20 and 40 respectively make the rotation speed of the guiding catheter 90 and 91 different from (e.g. smaller than or larger than) the rotation speed of the guiding catheter 90 and 91 by the driving mechanisms 30 and 50, and the guiding catheter 90 and 91 will twist, but only the maximum allowable twisting deformation of the guiding catheter 90 and 91 is satisfied; it is even possible that only the drive mechanism 30, 50 grips the guide catheter 90, 91 and rotates the guide catheter 90, 91, and that the drive mechanism 20, 40 grips only the guide catheter 90, 91 and does not rotate the guide catheter 90, 91.

In the above description, the main end console and the console on which the main end console is placed are located outside the catheter. In fact, they may also be placed in a separate space within the catheter chamber, provided that they isolate the X-ray radiation, and allow the physician to avoid the X-ray radiation.

The above describes only some of the ways in which a catheter guidewire may be replaced. In fact, the replacement of the catheter guidewire is entirely contingent on the actual needs of the procedure and the personal operating habits of the physician. Not only in the above manner of catheter guidewire removal.

Therefore, the invention can lead doctors to remotely control the driving mechanism, the clamp holder and the quick exchange mechanism, thereby driving the catheter guide wires to cooperatively move, not only avoiding the influence of X-ray radiation on health, but also leading the catheter guide wires to move more accurately by means of the interventional operation robot, reducing the working strength and avoiding misoperation.

Those of ordinary skill in the art will appreciate that all or a portion of the steps of the methods described above may be implemented by a program that instructs associated hardware, and the program may be stored on a computer readable storage medium such as a read-only memory, a magnetic or optical disk, etc. Alternatively, all or part of the steps of the above embodiments may be implemented using one or more integrated circuits. Accordingly, each module/unit in the above embodiment may be implemented in the form of hardware, or may be implemented in the form of a software functional module. The present invention is not limited to any specific form of combination of hardware and software.

Of course, the present invention is capable of other various embodiments and its several details are capable of modification and variation in light of the present invention, as will be apparent to those skilled in the art, without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (11)

1. The synchronous interventional operation robot is characterized by comprising a main body, and a second driving mechanism, a first driving mechanism, a fourth driving mechanism and a third driving mechanism which are sequentially and slidably arranged on the main body;

the first driving mechanism and the second driving mechanism are used for clamping the first slender medical instrument and synchronously pushing the first slender medical instrument to move on the main body;

the third driving mechanism and the fourth driving mechanism are used for clamping the second slender medical instrument and synchronously pushing the second slender medical instrument to move on the main body;

the head of the second elongate medical instrument is penetrable from the tail of the first elongate medical instrument.

2. A synchronized interventional procedure robot as defined in claim 1, wherein the first drive mechanism is adapted to rotate the first elongate medical instrument.

3. A synchronized interventional surgical robot of claim 2, wherein said first drive mechanism is adapted to simultaneously or non-simultaneously advance and rotate the first elongate medical instrument.

4. A synchronized interventional surgical robot of claim 2, wherein said second drive mechanism is adapted to rotate the first elongate medical instrument in synchronization with said first drive mechanism.

5. A synchronized interventional surgical robot of claim 4, wherein said first and second drive mechanisms are adapted to simultaneously or non-simultaneously advance and rotate the first elongate medical instrument.

6. A synchronized interventional surgical robot of claim 1, wherein said third and fourth drive mechanisms are adapted to simultaneously rotate the second elongate medical instrument motion.

7. A synchronized interventional surgical robot of claim 6, wherein said third and fourth drive mechanisms are adapted to simultaneously or non-simultaneously advance and rotate a second elongate medical instrument.

8. The synchronized interventional surgical robot of claim 1, wherein the third and fourth drive mechanisms are configured to simultaneously or non-simultaneously advance and rotate the second elongate medical instrument while the second elongate medical instrument is threaded into the first elongate medical instrument, and wherein the first and second drive mechanisms are configured to simultaneously or non-simultaneously advance and rotate the first elongate medical instrument.

9. A synchronized interventional surgical robot of claim 2, wherein said second drive mechanism is configured to rotate the first elongated medical device, said second drive mechanism causing the rotational speed of the first elongated medical device to be different than the rotational speed of the first drive mechanism causing the first elongated medical device to move.

10. The synchronized interventional surgical robot of claim 9, wherein the second drive mechanism imparts a rotational speed to the first elongated medical device that is less than a rotational speed of the first drive mechanism imparts the first elongated medical device.

11. A synchronized interventional procedure robot according to claim 10, wherein the second drive mechanism sets the rotational speed of the first elongate medical instrument to zero.