CN115252135B - Interventional fixing device for catheter guide wire and surgical robot - Google Patents
Interventional fixing device for catheter guide wire and surgical robot Download PDFInfo
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- CN115252135B CN115252135B CN202210804835.7A CN202210804835A CN115252135B CN 115252135 B CN115252135 B CN 115252135B CN 202210804835 A CN202210804835 A CN 202210804835A CN 115252135 B CN115252135 B CN 115252135B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention provides an interventional fixing device for a catheter guide wire and a surgical robot. The intervention fixing device for the catheter guide wire comprises a fixing sheath and a telescopic piece, wherein an intervention channel is formed in the fixing sheath for the catheter guide wire to penetrate, one end of the telescopic piece is connected with the fixing sheath, and the other end of the telescopic piece is used for being installed on a surgical robot body. According to the invention, an intervention channel is formed at the skin entering part of a human body through the fixing sheath, so that the stable penetration of the catheter guide wire is realized, and the stability and the accurate intervention of the transmission of the catheter guide wire are improved; simultaneously, set up the extensible member between surgical robot body and fixed sheath, can make fixed sheath can not take place relative movement along with the removal of pipe seal wire drive module, guarantee the stability of the intervention passageway of human skin department of entering, and then can not lead to the fact to the human body to drag when passing human skin department of entering at the pipe seal wire, improve the factor of safety and the precision of operation.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an interventional fixing device for a catheter guide wire and a surgical robot.
Background
At present, in medical operations such as vascular intervention operations, operations are generally performed with the assistance of instruments such as surgical robots.
When interventional operation is performed, the catheter guide wire enters a human body to complete the operation, and generally in the operation process, the position of the catheter guide wire in the human body needs to be adjusted by controlling the front-back movement of the catheter guide wire driving module of the operation robot on the fixed base so as to complete the operation.
However, in the moving process of the catheter guide wire driving module of the surgical robot relative to the skin entering part of the human body, the movement of the catheter guide wire is easy to pull the skin entering part of the human body, so that the human body is damaged, the surgical safety coefficient is reduced, and the accuracy of the interventional operation is adversely affected.
Disclosure of Invention
The invention solves the problem of improving the safety coefficient when the interventional operation is performed by the operation robot and simultaneously ensuring the operation precision of the interventional operation.
In order to solve the above problems, in one aspect, the present invention provides an interventional fixing device for a catheter guidewire, including a fixing sheath and a telescopic member, wherein the fixing sheath is formed with an interventional channel for the catheter guidewire to penetrate, and one end of the telescopic member is connected with the fixing sheath, and the other end of the telescopic member is used for being mounted on a surgical robot body.
Optionally, one end of the telescopic piece, which is away from the fixed sheath, is used for being installed on the catheter guide wire driving module of the surgical robot body, and when the catheter guide wire driving module moves towards or away from the fixed sheath, the telescopic piece is used for synchronously shortening or elongating along the moving direction of the catheter guide wire driving module.
Optionally, the telescopic piece comprises a supporting rod and a supporting sleeve, and the supporting rod is slidably arranged in the supporting sleeve; the support rod is connected with the fixing sheath, and the support sleeve is used for being connected with the catheter guide wire driving module.
Optionally, the side of bracing piece is equipped with at least one sliding block, be equipped with on the inside wall of support sleeve with the sliding groove that the sliding block corresponds, just the sliding block is used for in the sliding groove orientation or keep away from the fixed sheath removes.
Optionally, the extensible member includes holder, guiding rod and fixed knob, the holder is used for installing the surgical robot body, the guiding rod with the fixed sheath is connected, the holder is hollow structure and one end opening, guiding rod slidable mounting is in the hollow structure of holder, be equipped with on the lateral wall of holder with the fixed orifices corresponding of hollow structure, fixed knob is used for passing the fixed orifices, and with the inner wall cooperation of holder is in order to centre gripping is fixed the guiding rod.
Optionally, the telescopic member further comprises a locking ring, wherein the locking ring is connected with the retainer, and the locking ring is used for being mounted on a rotation fixing seat of the surgical robot body.
Optionally, the locking ring includes first arc piece, second arc piece and retaining member, first arc piece with the holder is connected, first arc piece one end with the one end of second arc piece is articulated, and the other end passes through the retaining member with the other end of second arc piece can dismantle the connection, first arc piece with the inner wall of second arc piece all be equipped with rotatory fixing base's rotation direction looks vertically screw thread.
Optionally, the expansion piece is connected with the side wall of the fixed sheath, and the fixed sheath is used for being concentrically and correspondingly arranged with the guiding sheath of the surgical robot body so as to enable the catheter guide wire to penetrate into the fixed sheath through the guiding sheath.
Optionally, the interventional fixing device of the catheter guide wire further comprises a fixing sheath support, wherein the fixing sheath support is detachably connected with the fixing sheath, and one end of the fixing sheath support, which is away from the fixing sheath, is used for being connected with the guiding sheath so as to enable the fixing sheath to be communicated with the guiding sheath; the side surface of the fixed sheath support is connected with the adjusting rod.
Compared with the prior art, the invention has the following beneficial effects: an intervention channel is formed at the skin entering position of the human body through the fixing sheath so as to stably penetrate the catheter guide wire, so that the stability of the transmission of the catheter guide wire is improved, and the accurate entry of the catheter guide wire into the human body is ensured; simultaneously, set up the extensible member between surgical robot body and fixed sheath, for example, can be connected the extensible member with pipe seal wire drive module, the extensible member can be along the synchronous flexible of direction that pipe seal wire drive module removed, or can be connected other not movable structure such as fixed base except pipe seal wire drive module on the surgical robot body, adjust the length of extensible member and lock, like this, can make fixed sheath can not take place relative movement along with the removal of pipe seal wire drive module, the stability of intervention passageway of human skin department has been guaranteed, and then can not lead to the fact the pulling to the human body when the pipe seal wire passes human skin department, improve the factor of safety and the precision of operation.
In another aspect, the present invention provides a surgical robot comprising a surgical robot body and an interventional fixture for a catheter guidewire as described above.
The surgical robot of the present invention has similar technical effects to the interventional fixing device for a catheter guidewire as described above, and will not be described again here.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is an enlarged cross-sectional view of A shown in FIG. 1;
FIG. 3 is a schematic diagram of a structure of a further embodiment of the present invention;
fig. 4 is a schematic structural view of a telescopic member according to another embodiment of the present invention.
Reference numerals illustrate:
1-fixing a sheath; 2-telescoping members; 21-supporting rods; 211-sliding blocks; 22-supporting the sleeve; 221-a sliding groove; 23-a retainer; 24-adjusting the rod; 25-fixing a knob; 26-a locking ring; 261-a first arcuate member; 262-a second arcuate member; 263-locking member; 264-threads; 3-catheter guidewire; 4-surgical robot body; 41-a catheter guidewire drive module; 42-rotating the fixed seat; 43-guiding sheath; 44-a fixed base; 5-fixing sheath support.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the coordinate system XYZ provided herein, the forward direction of the X axis represents the right direction, the reverse direction of the X axis represents the left direction, the forward direction of the Y axis represents the rear direction, the reverse direction of the Y axis represents the front direction, the forward direction of the Z axis represents the upper direction, and the reverse direction of the Z axis represents the lower direction. Also, it is noted that the terms "first," "second," and the like in the description and claims of the present invention and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.
In order to solve the above-mentioned problems, in one aspect, an embodiment of the present invention provides an interventional fixing device for a catheter guidewire, including a fixing sheath 1 and a telescopic member 2, wherein the fixing sheath 1 is formed with an interventional channel for a catheter guidewire 3 to penetrate, and one end of the telescopic member 2 is connected with the fixing sheath 1, and the other end is used for being mounted on a surgical robot body 4.
It should be noted that, at present, in the operation such as the vascular intervention operation, as shown in fig. 1, the catheter guide wire driving module 41 of the surgical robot body 4 needs to be moved by the handle to be close to the patient to be operated, so that the catheter guide wire driving module 41 corresponds to the skin entering position of the patient during the operation, then the catheter guide wire 3 is inserted into the human body, and the accurate control of the catheter guide wire is achieved by the rotation driving and the forward and backward movement of the catheter guide wire driving module 41, in this process, the catheter guide wire driving module 41 advances or retreats relative to the skin entering position of the human body, thus, the pulling of the catheter guide wire 3 to the skin entering position of the human body is caused, the operation risk is generated, the skin entering of the catheter guide wire 3 is unstable, and the operation precision is also easy to be reduced.
Thus, as shown in fig. 1, in the present embodiment, a fixing sheath 1 is provided, an insertion channel is formed at the skin entrance of the human body through the fixing sheath 1 for the insertion of the catheter guide wire 3, and simultaneously, a telescopic member 2 is provided between the surgical robot body 4 and the fixing sheath 1, both ends of the telescopic member 2 are respectively connected with the surgical robot body 4 and the fixing sheath 1, for example, the telescopic member 2 can be connected with the catheter guide wire driving module 41, the telescopic member 2 can be synchronously telescopic in the moving direction of the catheter guide wire driving module 41, or the telescopic member 2 can be connected with other non-moving structures except the catheter guide wire driving module 41 on the surgical robot body 4, the length of the telescopic member 2 is adjusted and locked, so that when the catheter guide wire driving module 41 of the surgical robot body 4 moves relative to the fixing sheath 1, the telescopic part 2 stretches out and draws back in step along with the removal of pipe seal wire drive module 41 for fixed sheath 1, alternatively, the length of telescopic part 2 keeps invariable and equals the structure that does not move on the surgical robot body 4 and the distance between the fixed sheath 1, thereby make fixed sheath 1 can not take place relative movement along with the removal of pipe seal wire drive module 41, the stability of the intervention passageway of human skin department has been guaranteed, thereby make pipe seal wire 3 can not lead to the fact the pulling to the human body when crossing human skin department, improve the factor of safety of operation, in addition, fixed sheath 1 fixes a position human skin department earlier and forms the intervention passageway, telescopic part 2 keeps fixed sheath 1's stability, promote the stability in the transmission process when guaranteeing that pipe seal wire 3 accurately gets into the human body, and then guaranteed the precision of intervention operation.
It should be noted that, at present, in the process of performing an interventional operation, in order to ensure a sterile environment of the operation, after each operation is completed, before performing the next operation, some structures, such as a rotary delivery device of a catheter guide wire, may be replaced, and these structures may be collectively referred to as consumables. In this embodiment, the fixing sheath 1 is a structure directly contacting the human body, and the telescopic member 2 is a structure directly connected to the fixing sheath 1, which are consumable materials. Therefore, in order to facilitate the installation and the removal of the fixing sheath 1 and the telescopic member 2, the telescopic member 2 is detachably connected to the surgical robot body 4, and the fixing sheath 1 is detachably connected to the telescopic member 2.
Optionally, an end of the telescopic member 2 facing away from the fixing sheath 1 is configured to be mounted on the catheter guidewire driving module 41 of the surgical robot body 4, and the telescopic member 2 is configured to be synchronously shortened or lengthened along a direction in which the catheter guidewire driving module 41 moves when the catheter guidewire driving module 41 moves toward or away from the fixing sheath 1.
As shown in fig. 1, in this embodiment, two ends of the expansion member 2 are respectively connected with the catheter wire driving module 41 and the fixing sheath 1, when the catheter wire driving module 41 moves toward or away from the fixing sheath 1, the expansion member 2 can synchronously expand and contract along the movement direction of the catheter wire driving module 41, so when the catheter wire driving module 41 approaches to the fixing sheath 1, the expansion member 2 can synchronously shorten, or when the catheter wire driving module 41 moves away from the fixing sheath 1, the expansion member 2 can synchronously elongate, thereby ensuring that the fixing sheath 1 cannot relatively move along with the movement of the catheter wire driving module 41, further ensuring the stability of an intervention channel formed at the skin entering position of the human body by the fixing sheath 1, preventing the catheter wire from pulling the skin entering position of the human body, improving the safety factor of the operation, and further ensuring the operation precision.
It should be noted that, in the present embodiment, the longest extendable length of the telescopic member 2 is greater than the farthest distance between the two driving modules 41 after moving in the direction away from the fixing sheath 1, and the shortest length of the telescopic member 2 after shortening is less than the nearest distance between the two driving modules 41 after moving in the direction toward the fixing sheath 1.
Alternatively, the telescopic member 2 comprises a support rod 21 and a support sleeve 22, the support rod 21 being slidably mounted in the support sleeve 22; the support rod 21 is connected with the fixing sheath 1, and the support sleeve 22 is used for being connected with the catheter guide wire driving module 41.
As shown in fig. 1 and 2, in the present embodiment, the support rod 21 is connected to the fixing sheath 1, the support sleeve 22 is connected to the catheter wire driving module 41, and at the same time, the support rod 21 is slidably mounted in the support sleeve 22, so that when the catheter wire driving module 41 moves toward the fixing sheath 1, the support sleeve 22 moves toward the fixing sheath 1 simultaneously, the end portion of the support rod 21 away from the fixing sheath 1 slides in the support sleeve 22 in the direction toward the catheter wire driving module 41, and the length of the telescopic member 2 formed by the support rod 21 and the support sleeve 22 is shortened; when the catheter guide wire driving module 41 moves away from the fixed sheath 1, the support sleeve 22 synchronously moves away from the fixed sheath 1, the end part of the support rod 21, which is away from the fixed sheath 1, slides in the support sleeve 22 along the direction away from the catheter guide wire driving module 41, and the length of the telescopic piece 2 formed by the support rod 21 and the support sleeve 22 is prolonged. Whether the expansion piece 2 is elongated or shortened, the supporting rod 21 is kept stable under the supporting action of the supporting sleeve 22, and the fixed sheath 1 connected with the supporting rod 21 is also kept stable, so that the catheter guide wire can be effectively prevented from pulling the skin entering part of a human body, and the safety coefficient and the precision of an operation are improved.
In the present embodiment, the end surface of the support rod 21 is circular, the end surface of the support sleeve 22 is also circular, and a chute having a circular cross-sectional shape corresponding to the support rod 21 is provided in the support sleeve 22. In other embodiments of the present invention, the end surface shape of the support rod 21 and the cross-sectional shape of the chute may be set to be corresponding polygons, so as to prevent the support rod 21 from generating relative rotation when sliding in the support sleeve 22, and further improve the stability of the fixing sheath 1, thereby improving the safety factor and precision of the operation.
It should be noted that, in this embodiment, the supporting rod 21 may be a T-shaped rod, that is, the end portion of the supporting rod 21 facing away from the fixing sheath 1 extends to two sides to form a protrusion, and the sliding groove inside the supporting sleeve 22 may be a T-shaped groove, that is, the sliding groove is contracted towards the end portion of the fixing sheath 1, so that the end portion of the supporting rod 21 with the protrusion slides in the sliding groove, the sliding groove forms a limit for the protrusion towards the end portion of the fixing sheath 1, preventing the supporting rod 21 from sliding out of the supporting sleeve 22, and further improving the stability of the telescopic member 2 when it stretches.
It should be noted that, in other embodiments of the present invention, the supporting rod 21 may be connected to the guide wire driving module 41, and the supporting sleeve 22 may be connected to the fixing sheath 1, so that the guide wire driving module 41 drives the sliding groove of the supporting rod 21 in the supporting sleeve 22 to slide relatively, thereby further improving the precision of synchronous expansion and contraction of the expansion and contraction member 2 and stability during expansion and contraction.
It should be noted that, in other embodiments of the present invention, a structure capable of automatically controlling expansion and contraction, such as an electric cylinder, may be used instead of the expansion member 2, and the fixed end of the automatically controlling expansion and contraction structure is connected to the fixing sheath 1, and the expansion end is connected to the catheter wire driving module 41, so that the movement of the catheter wire driving module 41 is controlled, and simultaneously, the expansion and contraction of the expansion end is synchronously controlled, thereby further improving the stability of the fixing sheath 1.
Optionally, at least one sliding block 211 is provided on a side surface of the support rod 21, a sliding groove 221 corresponding to the sliding block 211 is provided on an inner sidewall of the support sleeve 22, and the sliding block 211 is used for moving toward or away from the fixing sheath 1 in the sliding groove 221.
In order to further prevent the support rod 21 and the support sleeve 22 from relative rotational movement during relative movement, stability of the fixing sheath 1 during extension and retraction of the extension and retraction member 2 is ensured. As shown in fig. 1 and 2, in the present embodiment, at least one sliding block 211 is disposed on a side surface of the support rod 21, meanwhile, a sliding groove 221 corresponding to the sliding block 211 is disposed on an inner side wall of the support sleeve 22, and the sliding block 211 can move toward or away from the fixing sheath 1 in the sliding groove 221, so that the sliding groove 221 has a limit effect on the sliding block 211, so that the sliding block 211 can only move in a direction toward or away from the fixing sheath 1, thereby preventing the support rod 21 and the support sleeve 22 from rotating relatively, and simultaneously preventing the support rod 21 and the support sleeve 22 from being separated.
In the present embodiment, as shown in fig. 2, the number of the sliding blocks 211 is two, the sliding grooves 221 are provided on the support bar 21 at equal intervals and are all located on the XZ plane, and the sliding grooves extend in the Y axis direction with respect to the sliding blocks 211.
Unlike the above embodiment, the telescopic member 2 includes a holder 23, an adjusting rod 24, and a fixing knob 25, the holder 23 is configured to be mounted on the surgical robot body 4, the adjusting rod 24 is connected to the fixing sheath 1, the holder 23 has a hollow structure and one end is opened, the adjusting rod 24 is slidably mounted in the hollow structure of the holder 23, a fixing hole corresponding to the hollow structure is provided on a sidewall of the holder 23, and the fixing knob 25 is configured to pass through the fixing hole and to be engaged with an inner wall of the holder 23 to clamp and fix the adjusting rod 24.
In this embodiment, as shown in fig. 3, the holder 23 may be connected to the fixing base 44 on the surgical robot body 4 in fig. 3, and the catheter wire driving module 41 is configured to slide on the fixing base 44, so that the fixing base 44 remains stationary when the catheter wire driving module 41 moves relative to the fixing sheath 1.
As shown in fig. 3 and 4, the telescopic member 2 is formed by the retainer 23, the adjusting rod 24 and the fixing knob 25, wherein the retainer 23 is mounted on the fixing base 44, the adjusting rod 24 is connected with the fixing sheath 1, the retainer 23 is of a hollow structure with one end open, the adjusting rod 24 is slidably mounted in the hollow structure, meanwhile, the fixing knob 25 can penetrate through the hollow structure of the retainer 23 and clamp the fixing rod 24 in cooperation with the inner wall of the retainer 23, in this way, when the catheter is prepared before operation, the fixing knob 25 is adjusted to separate from the adjusting rod 24, after the catheter wire driving module 41 is moved to a position close to a patient and aligned with the fixing sheath 1 at the skin, the fixing sheath 1 is connected with the adjusting rod 24 by the handle, the adjusting knob 25 is adjusted to press the adjusting rod 24, and the adjusting rod 24 is fixedly connected with the retainer 23, and at this time, the back-and-forth movement of the catheter wire driving module 41 does not affect the retainer 23, and the fixing base 44 is kept stationary, so that the catheter wire is effectively prevented from being pulled by the fixing sheath 1 fixedly connected with the retainer 23, and the safety factor of the skin can be effectively prevented.
In the present embodiment, the telescopic adjustment of the adjusting rod 24 and the retainer 23 can be applied to the interventional operation in which the distance between the catheter wire driving module 41 and the fixing sheath 1 is different, so as to effectively increase the application range.
In the present embodiment, the fixing hole is a threaded hole, and the fixing knob 25 is a bolt.
Optionally, the telescopic member 2 further comprises a locking ring 26, the locking ring 26 being connected to the holder 23, the locking ring 26 being intended to be mounted on a rotation fixing seat 42 of the surgical robot body 4.
In the preoperative preparation of the interventional procedure, in addition to the translation along the plane of the fixed base 44, the position adjustment of the catheter guidewire driving module 41 by the handle may also require the rotation of the catheter guidewire driving module 41 around the rotation center formed by the axis of the fixed base 44, that is, the rotation fixing base 42 extending along the X-axis direction, and the rotation fixing base 42 rotates synchronously during the rotation of the catheter guidewire driving module 41, and the rotation fixing base 42 is connected with the fixed base 44, and the rotation fixing base 42 remains stationary during the translation of the catheter guidewire driving module 41.
In order to make the telescopic member 2 further suitable for the whole interventional operation process, as shown in fig. 3 and 4, in this embodiment, the retainer 23 is connected with the rotation fixing seat 42 through the locking ring 26, so that the rotation fixing seat 42 drives the locking ring 26 to synchronously rotate around the rotation center while the catheter guide wire driving module 41 rotates around the rotation center, thereby driving the retainer 23 and the adjusting rod 24 to synchronously rotate, and further realizing that the relative positions of the catheter guide wire driving module 41 and the telescopic member 2 in the rotation process are kept unchanged, so as to perform the subsequent preoperative preparation process.
Optionally, the locking ring 26 includes a first arc member 261, a second arc member 262 and a locking member 263, where the first arc member 261 is connected with the retainer 23, one end of the first arc member 261 is hinged with one end of the second arc member 262, and the other end of the first arc member 261 is detachably connected with the other end of the second arc member 262 through the locking member 263, and inner walls of the first arc member 261 and the second arc member 262 are both provided with threads 264 for matching with the rotation fixing seat 42.
In order to improve convenience in disassembly and assembly of the telescopic member 2 and the surgical robot body 4, preoperative preparation efficiency is improved. As shown in fig. 3 and 4, in the present embodiment, the locking ring 26 is formed by using the first arc member 261, the second arc member 262 and the locking member 263, wherein the first arc member 261 is connected with the retainer 23, one end of the first arc member 261 is hinged with one end of the second arc member 262, and the other end of the second arc member 262 is detachably connected with the other end of the second arc member 262 through the locking member 263, so that the second arc member 262 can rotate relative to the first arc member 261, when the locking ring 26 is installed, the second arc member 262 is first rotated around the first arc member 261 to open the locking ring 26, the first arc member 261 is installed on the rotary fixing seat 42, the second arc member 262 is closed, the locking ring 26 is stably connected with the second arc member 262 through the locking member 263, and the locking ring 26 is quickly installed on the rotary fixing seat 42.
In addition, in order to prevent the locking ring 26 from rotating relative to the rotation fixing base 42, so as to cause the relative movement of the telescopic member 2 and the catheter guidewire driving module 41, and affect the subsequent pre-operation preparation, as shown in fig. 3 and 4, in this embodiment, threads 264 matching with the rotation fixing base 42 may be further disposed on the inner sidewalls of the first arc member 261 and the second arc member 262, where the direction of the threads 264 is perpendicular to the rotation direction of the rotation fixing base 42, so as to promote the friction force between the two arc members and the rotation fixing base 42, and prevent the relative rotation between the locking ring 26 and the rotation fixing base 42.
It should be noted that, in this embodiment, the first arc-shaped member 261 and the second arc-shaped member 262 are detachably connected with each other, and the locking member 263 is a bolt and is rotatably installed in the threaded holes of the two arc-shaped members, so as to realize the detachable connection of the two arc-shaped members.
Optionally, the telescoping member 2 is connected to a side wall of the fixation sheath 1, and the fixation sheath 1 is configured to be disposed concentrically with respect to the guiding sheath 43 of the surgical robot body 4, so that the catheter guidewire 3 can penetrate into the fixation sheath 1 through the guiding sheath 43.
At present, in interventional operations, in order to ensure the stability of the transmission of the catheter guide wire 3, as shown in fig. 1 and 3, a guiding sheath 43 is fixedly arranged on the surgical robot body 4, and the catheter guide wire 3 passes through the guiding sheath 43 and then enters the human body through the skin entering part of the human body.
In order to enable the catheter guide wire 3 output by the guide sheath 43 to be accurately input into the fixing sheath 1, a stable catheter guide wire 3 transmission channel is formed, as shown in fig. 3, in this embodiment, the side wall of the fixing sheath 1 is connected with the telescopic piece 2 to ensure that the catheter guide wire 3 enters the human body through the fixing sheath 1, and meanwhile, the fixing sheath 1 and the guide sheath 43 are concentrically and correspondingly arranged to ensure the accuracy of inputting the catheter guide wire 3 from the guide sheath 43 to the fixing sheath 1.
Optionally, the interventional fixing device for a catheter guidewire further comprises a fixing sheath holder 5, the fixing sheath holder 5 being detachably connected to the fixing sheath 1, an end of the fixing sheath holder 5 facing away from the fixing sheath 1 being adapted to be connected to the guiding sheath 43 so as to communicate the fixing sheath 1 with the guiding sheath 43; the side of the fixed sheath holder 5 is connected to an adjusting lever 24.
In order to further ensure the accuracy of the guiding sheath 43 when the catheter guide wire 3 enters the fixing sheath 1, as shown in fig. 4, in this embodiment, a fixing sheath support 5 with a side connected with the adjusting rod 24 is provided, one end of the fixing sheath support 5 is connected with the guiding sheath 43, and the other end of the fixing sheath support 5 is detachably connected with the fixing sheath 1, so that the fixing sheath 1 is communicated with the guiding sheath 43, thus, a communication channel of the guiding sheath 43, the fixing sheath support 5 and the fixing sheath 1 is formed, the catheter guide wire 3 directly enters a human body through the communication channel, the accuracy of the catheter guide wire 3 entering the fixing sheath 1 is effectively improved, and the operation accuracy is improved.
In addition, considering that the fixing sheath 1 is firstly installed at the skin-entering part of the human body to form an intervention channel and then connected with the telescopic member 2, as shown in fig. 4, in this embodiment, the fixing sheath support 5 is detachably connected with the fixing sheath 1, specifically, one end of the fixing sheath support 5, facing the fixing sheath 1, is provided with an arc-shaped clip for clamping on the fixing sheath 1, so as to realize detachable quick connection and quick detachment.
In another aspect, an embodiment of the present invention also provides a surgical robot comprising a surgical robot body 4 and an interventional fixture for a catheter guidewire as described above.
In this embodiment, the surgical robot has similar technical effects to the above-mentioned interventional fixing device for a catheter guide wire, and will not be described in detail herein.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.
Claims (5)
1. An interventional fixing device for a catheter guide wire, which is characterized by comprising a fixing sheath (1) and a telescopic piece (2), wherein the telescopic piece (2) comprises a retainer (23), an adjusting rod (24) and a fixing knob (25), the retainer (23) is used for being installed on a rotating fixing seat (42) of a surgical robot body (4), the adjusting rod (24) is connected with the side wall of the fixing sheath (1), the fixing sheath (1) is used for being concentrically and correspondingly arranged with a guide sheath (43) of the surgical robot body (4) so that the catheter guide wire (3) penetrates into the fixing sheath (1) through the guide sheath (43), the retainer (23) is of a hollow structure and is opened at one end, the adjusting rod (24) is slidably installed in the hollow structure of the retainer (23), a fixing hole corresponding to the hollow structure is formed in the side wall of the retainer (23), and the fixing knob (25) is used for penetrating through the fixing hole and is matched with the inner wall of the retainer (23) to fix the adjusting rod (24).
2. The interventional fixture for catheter guidewires according to claim 1, wherein the telescoping member (2) further comprises a locking ring (26), the locking ring (26) being connected to the holder (23), the locking ring (26) being for mounting on the rotational fixation seat (42).
3. The interventional fixing device for a catheter guide wire according to claim 2, wherein the locking ring (26) comprises a first arc-shaped member (261), a second arc-shaped member (262) and a locking member (263), the first arc-shaped member (261) is connected with the retainer (23), one end of the first arc-shaped member (261) is hinged with one end of the second arc-shaped member (262), the other end of the first arc-shaped member is detachably connected with the other end of the second arc-shaped member (262) through the locking member (263), and threads (264) perpendicular to the rotation direction of the rotation fixing seat (42) are arranged on the inner walls of the first arc-shaped member (261) and the second arc-shaped member (262).
4. The interventional fastening device for a catheter guidewire according to claim 1, further comprising a fastening sheath holder (5), the fastening sheath holder (5) being detachably connected to the fastening sheath (1), an end of the fastening sheath holder (5) facing away from the fastening sheath (1) being adapted to be connected to the guiding sheath (43) in order to bring the fastening sheath (1) into communication with the guiding sheath (43); the side surface of the fixed sheath support (5) is connected with the adjusting rod (24).
5. Surgical robot characterized by comprising a surgical robot body (4) and an interventional fixture for a catheter guidewire according to any one of claims 1 to 4.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210804835.7A CN115252135B (en) | 2022-07-08 | 2022-07-08 | Interventional fixing device for catheter guide wire and surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210804835.7A CN115252135B (en) | 2022-07-08 | 2022-07-08 | Interventional fixing device for catheter guide wire and surgical robot |
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| CN115252135A CN115252135A (en) | 2022-11-01 |
| CN115252135B true CN115252135B (en) | 2023-06-27 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021008076A1 (en) * | 2019-07-12 | 2021-01-21 | 中国科学院深圳先进技术研究院 | Vascular interventional surgical device |
| CN114521968A (en) * | 2022-02-24 | 2022-05-24 | 上海神玑医疗科技有限公司 | Operating system for guide wire and surgical robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108273175B (en) * | 2018-01-23 | 2020-11-10 | 葛俊丽 | Fixing device of blood transfusion intervention pipe |
| CN110200700B (en) * | 2019-05-17 | 2021-06-04 | 中国科学院深圳先进技术研究院 | Robot and equipment for vascular intervention operation |
| US11738176B2 (en) * | 2020-01-10 | 2023-08-29 | Avant-Garde Healthcare Solutions, Inc. | Organizing, anchoring, safety device for peripheral intravenous catheters |
| CN213191729U (en) * | 2020-07-07 | 2021-05-14 | 华琼 | Anti-drop transfusion system |
| CN112120745B (en) * | 2020-10-09 | 2022-02-22 | 生一科技(北京)有限公司 | Interventional robot slave end |
| CN214286257U (en) * | 2020-11-25 | 2021-09-28 | 刘香香 | Catheter fixing device for clinical interventional therapy of tumors |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021008076A1 (en) * | 2019-07-12 | 2021-01-21 | 中国科学院深圳先进技术研究院 | Vascular interventional surgical device |
| CN114521968A (en) * | 2022-02-24 | 2022-05-24 | 上海神玑医疗科技有限公司 | Operating system for guide wire and surgical robot |
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| CN115252135A (en) | 2022-11-01 |
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