WO2023142290A1 - Interventional medical instrument auxiliary apparatus - Google Patents

Interventional medical instrument auxiliary apparatus Download PDF

Info

Publication number
WO2023142290A1
WO2023142290A1 PCT/CN2022/090310 CN2022090310W WO2023142290A1 WO 2023142290 A1 WO2023142290 A1 WO 2023142290A1 CN 2022090310 W CN2022090310 W CN 2022090310W WO 2023142290 A1 WO2023142290 A1 WO 2023142290A1
Authority
WO
WIPO (PCT)
Prior art keywords
auxiliary device
interventional medical
medical equipment
equipment according
plate
Prior art date
Application number
PCT/CN2022/090310
Other languages
French (fr)
Chinese (zh)
Inventor
邓海云
Original Assignee
深圳市爱博医疗机器人有限公司
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.)
Filing date
Publication date
Application filed by 深圳市爱博医疗机器人有限公司 filed Critical 深圳市爱博医疗机器人有限公司
Publication of WO2023142290A1 publication Critical patent/WO2023142290A1/en

Links

Classifications

    • 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
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

Definitions

  • the present application relates to a device in the field of medical robots, in particular to an auxiliary device for interventional medical equipment.
  • Interventional therapy is a minimally invasive treatment using modern high-tech means. Under the guidance of medical imaging equipment, special catheters, guide wires and other precision instruments are introduced into the human body to diagnose and locally treat pathological conditions in the body.
  • the surgical robot needs to use the cooperation of multiple medical devices (such as guide wires and catheters) to send the medical devices into the lesion.
  • multiple medical devices such as guide wires and catheters
  • interventional surgery has become increasingly More complicated surgical operations can be completed, and the requirements for medical devices during surgical operations have also developed from the previous one-tube and one-wire, two-tube and one-wire models to three-tube and one-wire or even multi-tube and multi-wire models.
  • the multi-tube multi-wire mode is used, more driving devices are required to control each medical device. Due to the increase in the number of driving devices, higher requirements are put forward for the stroke control of the driving devices.
  • the first half of the catheter is manually inserted through the guide catheter that has penetrated into the patient's body, and the second half of the catheter is delivered by the driving device of the surgical robot. After the catheter and guide wire are delivered in place, they need to be replaced For other types of treatment catheters, since the guide wire still needs to guide the treatment catheter introduced later, it cannot be removed. If only the driving device is used to exit the catheter, affected by the position of other driving devices, there is insufficient stroke when the driving device exits the catheter. question.
  • An auxiliary device for interventional medical equipment which includes a guide rail, a fixing seat that is slidably installed on the guide rail and drives the catheter to withdraw, and a clamping group installed on the fixing seat, and the clamping group is used to clamp the penetrating catheter
  • the guide wire moves with the fixed seat relative to the guide wire.
  • the clamping set includes a driving wheel set, a driven wheel set abutting against and detachable from the driving wheel set, and a driving set driving the driving wheel set to rotate and drivingly cooperating with the guide rail.
  • the guide rail includes an elongated main body and locking teeth arranged on the main body, and the driving group is a gear set engaged with the locking teeth.
  • the clamping group also includes a movable plate and an elastic return member for pressing against the movable plate to return, the driven wheel assembly is arranged on the movable plate, and the movable plate moves relative to the fixed seat to allow The driven wheel set is separated from the driving wheel set.
  • a connecting shaft is pierced on the fixed seat, one end of the connecting shaft is located on the top surface of the fixed seat to install the driving roller of the driving wheel set, and the other end protrudes from the bottom of the fixed seat to install the gear Set of gears.
  • the fixed seat is provided with two opposite functional plates facing the clamping group, and the fixed seat is also provided with a chute for accommodating the movable plate between the two functional plates.
  • the set also includes a guide rod slidably passed through the movable plate, and the two ends of the guide rod are respectively installed on the two functional plates.
  • one end of the elastic return member is pressed against the movable plate, and the other end is pressed against the functional plate away from the support plate.
  • the bottom of the fixed seat is provided with a first supporting foot and a second supporting foot oppositely arranged, and the first supporting foot and the second supporting foot are used to guide the fixed seat to slide along the guide rail.
  • the auxiliary device for interventional medical equipment also includes a base for installing guide rails, the first supporting leg and the second supporting leg are provided with slots, and the base is provided with The edge inside the slot of the second support leg.
  • the fixing seat is provided with a limiting portion, and the limiting portion is provided with an installation groove for installing a hemostatic valve connected to the catheter.
  • the auxiliary device for interventional medical equipment further includes a cover plate that can be opened and closed on the fixing base, so that the clamping group can be accommodated in the space formed by the fixing base and the cover plate.
  • Figure 1 is a schematic diagram of the structure of the interventional medical device auxiliary device of the present application after installing a hemostatic valve, a guide wire, and a catheter;
  • Fig. 2 is a side view of the interventional medical device auxiliary device shown in Fig. 1 after installing a hemostatic valve, a guide wire, and a catheter;
  • Fig. 3 is a schematic structural view of the fixing seat of the interventional medical device auxiliary device shown in Fig. 1;
  • Fig. 4 is a schematic structural view of the clamping group of the interventional medical device auxiliary device shown in Fig. 1 .
  • the direction “distal” is a direction toward the patient
  • the direction “proximal” is a direction away from the patient.
  • the terms “superior” and “superior” refer to the direction away from gravity
  • the terms “bottom”, “lower” and “lower” refer to the direction of gravity
  • “medial” refers to the position horizontally close to the guide wire 100
  • Direction, “outside” refers to the position direction away from the guide wire 100 and catheter 200 horizontally
  • front refers to the side facing the user
  • “rear” refers to the side facing away from the user.
  • the present application provides an interventional medical instrument auxiliary device, which is used to assist the catheter to withdraw from the patient's body during the interventional operation.
  • the medical device auxiliary device can be installed on the operating bed and can be freely disassembled on the operating bed.
  • the installation direction of the interventional medical device auxiliary device on the operating bed is consistent with the patient's lying direction on the operating bed.
  • the interventional medical device auxiliary device The device is installed in a bedside location on the side of the operating table.
  • the auxiliary device for interventional medical equipment includes a base 60, a guide rail 10 mounted on the base 60, a fixed seat 20 mounted on the guide rail 10 and capable of sliding axially along the guide rail 10, a fixed seat 20 mounted on the fixed seat 20 and connected to the guide rail 10 drives and cooperates with the clamping group 30, and the cover plate 40 that is movably installed on the fixed seat 20 and linked with the clamping group 30.
  • the cover plate 40 can be opened from the fixed seat 20 or covered on the fixed seat 20 , so that the clamping group 30 is accommodated in the space formed by the fixing seat 20 and the cover plate 40 .
  • the base 60 is elongated, and the base 60 includes a bottom plate 61 and a number of reinforcing ribs 62 connected to the bottom of the base plate 61 .
  • the guide rail 10 is integrally fixed on the base 60 .
  • the guide rail 10 can also be installed and fixed on the base 60 in the form of a single accessory.
  • the guide rail 10 includes an elongated main body 11 extending along the base 60 , locking teeth 13 arranged on the side of the main body 11 , and a guide plate 12 connected to the top of the main body 11 , and the locking teeth 13 are along the sides of the main body 11 .
  • the extension direction is arranged, and the guide plate 12 also extends along the extension direction of the main body portion 11 , and the two sides of the guide plate 12 protrude from above the two sides of the guide plate 12 .
  • the fixed seat 20 is provided with a limit portion 21 near the distal end, and the limit portion 21 is provided with an installation groove 211 corresponding to the shape of the hemostatic valve 300 (such as a T valve or a Y valve), and the fixed seat 20 is close to
  • the end position is provided with a number of support plates 22 distributed along the exit path of the guide wire 100.
  • the edge of the support plate 22 is provided with a V-shaped support groove 221 with a narrow inside and a wide outside.
  • An installation space 222 is formed between two adjacent support plates 22 after passing the guide wire 100 .
  • the rear side of the fixing base 20 is provided with two opposite function boards 23, facing the support board 22, and the fixing base 20 is also provided with a chute 24 opposite to the function board 23 between the two function boards 23 , the bottom of the chute 24 is provided with a first receiving groove 25 .
  • the functional boards 23 are provided with perforations 231 , and the perforations 231 on the two functional boards 23 are oppositely arranged.
  • the position on the rear side of the fixed seat 20 is also provided with two relative positioning plates 26, the positioning plate 26 is provided with a positioning hole 261, and the positioning holes 261 on the two positioning plates 26 are also opposite. set up.
  • the function board 23 and the sliding slot 24 are located between the two positioning boards 26 .
  • the clamping group 30 includes a guide rod 31, a movable plate 32 slidingly arranged on the guide rod 31, a driven wheel group 33 rotatably installed on the movable plate 32, and a driven wheel group 33 opposite to the driven wheel group 33 and rotatably mounted.
  • the driving wheel set 34 arranged on the fixed seat 20, the elastic return member 37 used to resist the return of the movable plate 32, the gear set 36 that rotates synchronously with the driving wheel set 34 and drives and cooperates with the guide rail 10, the driving wheel Group 34 and driven wheel group 33 are respectively arranged on the front and rear sides of the guide wire 100 exit path.
  • the driving wheel group 34 includes several driving wheels, which are respectively arranged in different installation spaces 222 and separated by the support plate 22. .
  • the fixed seat 20 is equipped with a connecting shaft 35, one end of the connecting shaft 35 extends into the installation space 222 to install the driving wheel, and the other end protrudes from the bottom of the fixed seat 20 to fix the gear set 36 gear, so that the driving wheel set 34 is fixedly installed on the connecting shaft 35, the movable plate 32 is protrudingly provided with a support rod 324, and the driven wheel set 33 is mounted on the support rod through a bearing.
  • the gears of the gear set 36 are correspondingly meshed with the locking teeth 13 .
  • the movable plate 32 is arranged in the chute 24, the guide rod 31 is installed on the bottom of the movable plate 32 and respectively placed in the two first receiving grooves 25, and the two ends of the guide rod 31 are installed on the two function boards respectively. 23 in the perforation 231.
  • the driving wheel set 34 and the driven wheel set 33 are roller sets, and the elastic return member 37 is a return spring.
  • the return spring refers to the elastic return member 37 below.
  • the bottom of the movable plate 32 is provided with a second receiving groove 321 extending inwardly, the return spring is arranged in the space surrounded by the first receiving groove 25 and the second receiving groove 321, and one end of the return spring is pressed against In the inner wall of the space enclosed by the first receiving groove 25 and the second receiving groove 321 , that is, the bottom of the movable plate 32 , the other end of the return spring presses against the outer functional plate 23 .
  • the movable plate 32 is pushed outward, the movable plate 32 is displaced outward, and the return spring is further elastically contracted.
  • the guide wire 100 passing through the hemostatic valve 300 is placed in the V-shaped support groove 221 between the driving wheel set 34 and the driven wheel set 33, and then The movable plate 32 is released, and the return spring squeezes the movable plate 32 and the driven wheel set 33 on the movable plate 32 , so that the driven wheel set 33 and the driving wheel set 34 clamp the guide wire 100 .
  • the front and rear sides of the bottom of the fixed seat 20 are provided with a first supporting foot 27 and a second supporting foot 28 oppositely arranged, and the first supporting foot 27 and the inner side of the second support leg 28 are provided with draw-in slots 271, 281, and the draw-in slots 271, 281 of the first support leg 27 and the second support leg 28 are respectively stuck on the edges of the base plate 61 and the guide plate 12 away from each other and can Slide along the base 60.
  • the cover plate 40 is provided with a leg 41 at the near end and the far end respectively, and the two legs 41 of the cover plate 40 are pivotally connected to the position adjustment holes 261 of the two position adjustment plates 26 through a bayonet pin 411 respectively.
  • the plate 40 can be rotated on the fixing seat 20 to be turned backwards to open or to be covered on the fixing seat 20 .
  • the cover plate 40 When the cover plate 40 is closed on the fixed seat 20 , the cover plate 40 simultaneously limits the hemostatic valve 300 and the guide wire 100 installed on the fixed seat 20 .
  • the cover plate 40 and the fixing seat 20 are respectively provided with a first fixing block 71 and a second fixing block 72.
  • the first fixing block 71 and the second fixing block Among the two fixing blocks 72 , one is a magnet and the other is a magnet or an iron block.
  • the cover plate 40 is firmly covered on the fixing seat 20 .
  • the first fixing block 71 and the second fixing block 72 are assisted by magnets and magnets/iron, in other embodiments, the first fixing block 71 and the second fixing block 72 can also be Use similar buckle, screw lock or other detachable structure for fixing.
  • the cover plate 40 is also provided with a plurality of cards 42 and a first linkage piece 43, and the cards 42 are arranged in a dislocation along the direction in which the cover plate 40 is covered on the fixing seat 20, and the cards 42 and the support groove 221 of the support plate 22 Cooperate, cooperate to limit the position of the guide wire 100 from the upper and lower directions.
  • the position of the end of the first linkage piece 43 is protrudingly provided with a boss 431, the axis of the boss 431 is not on the same axis as the axis of the bayonet pin 411, so that when the cover plate 40 is flipped open, the boss will 431 rotates around the axis of bayonet pin 411 and moves outward at the same time, instead of only rotating around its own axis at the original position.
  • the movable plate 32 is further protruded with a second linkage piece 322 , and the extension direction of the second linkage piece 322 is consistent with the installation direction of the return spring.
  • the inner side of the second linkage piece 322 is provided with a stop surface 323 that cooperates with the protruding post 431 , and under the action of the return spring, the stop surface 323 abuts against the protruding post 431 from the outside.
  • the interventional surgery robot first drives the catheter 200 to initially retreat.
  • the catheter 200 When the interventional surgery robot moves to the limit position of the stroke, the catheter 200 is still left in the patient's body, and the catheter 200 can no longer be withdrawn from the patient's body through the interventional surgery robot, then the hemostatic valve 300 and the catheter connected to the hemostatic valve 300 200 and the guide wire 100 are removed from the interventional surgery robot together.
  • the cover plate 40 Place the interventional medical device auxiliary device on the operating bed or other suitable positions. Turn the cover plate 40 outwards. During the turning process of the cover plate 40, the protruding post 431 on the cover plate 40 pushes the second linkage piece 322 of the movable plate 32 to the outside, thereby driving the driven wheel group 33 connected with the movable plate 32 to the outside. Shift to separate the driven wheel set 33 from the driving wheel set 34, put the hemostatic valve 300 into the installation groove 211, and then place the guide wire 100 between the driven wheel set 33 and the driving wheel set 34 and be supported by the support plate 22 Supported by the slot 221, the cover plate 40 is covered, and the boss 431 moves inwardly.
  • the return spring pushes the movable plate 32 to shift inwardly, and the stop surface 323 of the second linkage piece 322 Following the movement of the boss 431 to the inside, the driving wheel set 34 and the driven wheel set 33 are approached to clamp the guide wire 100 . Finally, one hand grasps the guide wire 100 and does not move, and the other hand pushes the fixing seat 20 proximally.
  • the fixing seat 20 drives the catheter 200 out of the patient's body through the hemostasis valve 300 , the bayonet 13 on the guide rail 10 drives the drive wheel on the drive wheel set 34 to rotate synchronously through the gear set 36, and the drive wheel contacts the guide wire 100 in a rolling manner, and the drive wheel does not generate driving force to the guide wire 100 in the backward direction.
  • the guide wire 100 remains stationary and remains in the patient's body.
  • the cover plate 40 and the clamping group 30 adopt a linkage method, and when the cover plate 40 is turned outward, the driven wheel set 33 and the driving wheel set 34 connected to the clamping set 30 are simultaneously driven.
  • the form of linkage may not be adopted between the cover plate 40 and the clamping group 30.
  • the cover plate 40 and the clamping group 30 are independent of each other, and the movable plate 32 is directly pushed outward manually to drive the driven wheel group. 33 is separated from driving wheel group 34.
  • an auxiliary device for interventional medical equipment is used to drive the catheter 200 to withdraw through the hemostatic valve 300.
  • other types of fasteners can also be used to fix the catheter 200 to the fixing seat 20 to assist in the withdrawal of the catheter 200. .
  • the clamping group 30 and the guide wire 100 roll and cooperate, the clamping group 30 moves relative to the guide wire 100, and the guide wire 100 remains still, so that the catheter 200 can be conveniently and quickly pulled out. Withdraw from the patient's body, effectively improving the efficiency of interventional operations and reducing the work intensity of doctors.

Abstract

Disclosed is an interventional medical instrument auxiliary apparatus, comprising a guide rail (10), a fixing base (20) slidably mounted on the guide rail (10) and driving a catheter (200) to be withdrawn, and a clamping set (30) mounted on the fixing base (20), the clamping set (30) being used for clamping a guide wire (100) passing through the catheter (200) and moving relative to the guide wire (100) along with the fixing base (20). In the process that the interventional medical instrument auxiliary apparatus in the present invention drives the catheter (200) to be withdrawn, the clamping set (30) is in rolling fit with the guide wire (100), and the guide wire (100) is kept still, so that the catheter (200) can be quickly withdrawn from the body of a patient, thereby effectively improving the efficiency of the interventional operation.

Description

一种介入医疗器械辅助装置An auxiliary device for interventional medical equipment
本申请要求于2022年1月29日提交中国专利局、申请号为202210111637.2，发明名称为“一种介入医疗器械辅助装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application with the application number 202210111637.2 and the title of the invention "An Auxiliary Device for Interventional Medical Devices" submitted to the China Patent Office on January 29, 2022, the entire contents of which are incorporated by reference in this application .
技术领域technical field
本申请涉及一种医疗机器人领域装置，尤其涉及一种介入医疗器械辅助装置。The present application relates to a device in the field of medical robots, in particular to an auxiliary device for interventional medical equipment.
背景技术Background technique
介入治疗是利用现代高科技手段进行的一种微创性治疗，在医学影像设备的引导下，将特制的导管、导丝等精密器械，引入人体，对体内病态进行诊断和局部治疗。Interventional therapy is a minimally invasive treatment using modern high-tech means. Under the guidance of medical imaging equipment, special catheters, guide wires and other precision instruments are introduced into the human body to diagnose and locally treat pathological conditions in the body.
手术机器人在执行操作的过程中，需要采用多个医疗器械（如导丝、导管）的配合，以将医疗器械送入病灶位置，随着介入手术技术的快速发展，介入手术跟以前相比已经可以完成更复杂的手术操作，对于手术操作时的医疗器械的要求，也从之前的一管一丝、二管一丝发展到三管一丝甚至是多管多丝模式。但是采用多管多丝模式时，需要采用更多的驱动装置去控制每一医疗器械，由于驱动装置数量的增多，对驱动装置的行程控制提出了更高的要求。In the process of performing the operation, the surgical robot needs to use the cooperation of multiple medical devices (such as guide wires and catheters) to send the medical devices into the lesion. With the rapid development of interventional surgery technology, interventional surgery has become increasingly More complicated surgical operations can be completed, and the requirements for medical devices during surgical operations have also developed from the previous one-tube and one-wire, two-tube and one-wire models to three-tube and one-wire or even multi-tube and multi-wire models. However, when the multi-tube multi-wire mode is used, more driving devices are required to control each medical device. Due to the increase in the number of driving devices, higher requirements are put forward for the stroke control of the driving devices.
在递送导管时，导管的前半段通过已穿入到病人身体内的导引导管手动穿入，导管的后半段再通过手术机器人的驱动装置递送，当导管、导丝递送到位后，需要更换其它类型的治疗导管时，由于导丝仍需要对后面引入的治疗导管进行导向，不能移除，如果只采用驱动装置退出导管，受其它驱动装置的位置影响，驱动装置退出导管时存在行程不够的问题。When delivering the catheter, the first half of the catheter is manually inserted through the guide catheter that has penetrated into the patient's body, and the second half of the catheter is delivered by the driving device of the surgical robot. After the catheter and guide wire are delivered in place, they need to be replaced For other types of treatment catheters, since the guide wire still needs to guide the treatment catheter introduced later, it cannot be removed. If only the driving device is used to exit the catheter, affected by the position of other driving devices, there is insufficient stroke when the driving device exits the catheter. question.
技术问题technical problem
基于此，有必要针对现有技术中的不足，提供一种新型的介入医疗器械辅助装置。Based on this, it is necessary to provide a new type of auxiliary device for interventional medical equipment aiming at the deficiencies in the prior art.
技术解决方案technical solution
一种介入医疗器械辅助装置，其包括导轨、滑动地装设于导轨上并带动导管退出的固定座、装设于固定座上的夹持组，所述夹持组用于夹持穿入导管的导丝并随固定座相对导丝移动。An auxiliary device for interventional medical equipment, which includes a guide rail, a fixing seat that is slidably installed on the guide rail and drives the catheter to withdraw, and a clamping group installed on the fixing seat, and the clamping group is used to clamp the penetrating catheter The guide wire moves with the fixed seat relative to the guide wire.
进一步地，所述夹持组包括主动轮组、与主动轮组抵接并可分离的从动轮组、带动主动轮组转动并与导轨驱动配合的驱动组。Further, the clamping set includes a driving wheel set, a driven wheel set abutting against and detachable from the driving wheel set, and a driving set driving the driving wheel set to rotate and drivingly cooperating with the guide rail.
进一步地，所述导轨包括长形的主体部、排布于主体部的卡齿，所述驱动组为啮合在卡齿上的齿轮组。Further, the guide rail includes an elongated main body and locking teeth arranged on the main body, and the driving group is a gear set engaged with the locking teeth.
进一步地，所述夹持组还包括活动板、用于抵顶活动板回位的弹性回位件，所述从动轮组装设于活动板上，所述活动板相对所述固定座移动而让从动轮组与主动轮组分离。Further, the clamping group also includes a movable plate and an elastic return member for pressing against the movable plate to return, the driven wheel assembly is arranged on the movable plate, and the movable plate moves relative to the fixed seat to allow The driven wheel set is separated from the driving wheel set.
进一步地，所述固定座上穿设有连接轴，所述连接轴一端位于固定座的顶面以安装所述主动轮组的主动滚轮、另一端从固定座的底部伸出以安装所述齿轮组的齿轮。Further, a connecting shaft is pierced on the fixed seat, one end of the connecting shaft is located on the top surface of the fixed seat to install the driving roller of the driving wheel set, and the other end protrudes from the bottom of the fixed seat to install the gear Set of gears.
进一步地，所述固定座正对所述夹持组设有相对设置的两功能板，所述固定座于两功能板之间还设有用于容纳所述活动板的滑槽，所述夹持组还包括滑动地穿设于活动板的导向杆，所述导向杆两端分别装设于两功能板上。Further, the fixed seat is provided with two opposite functional plates facing the clamping group, and the fixed seat is also provided with a chute for accommodating the movable plate between the two functional plates. The set also includes a guide rod slidably passed through the movable plate, and the two ends of the guide rod are respectively installed on the two functional plates.
进一步地，所述弹性回位件一端抵压在所述活动板上、另一端抵压在远离所述支撑板的功能板上。Further, one end of the elastic return member is pressed against the movable plate, and the other end is pressed against the functional plate away from the support plate.
进一步地，所述固定座底部设有相对设置的第一支撑脚及第二支撑脚，所述第一支撑脚及第二支撑脚用于引导固定座沿导轨滑动。Further, the bottom of the fixed seat is provided with a first supporting foot and a second supporting foot oppositely arranged, and the first supporting foot and the second supporting foot are used to guide the fixed seat to slide along the guide rail.
进一步地，所述介入医疗器械辅助装置还包括用于安装导轨的底座，所述第一支撑脚及第二支撑脚均设有卡槽，所述底座上设有卡设于第一支撑脚及第二支撑脚的卡槽内的边缘。Further, the auxiliary device for interventional medical equipment also includes a base for installing guide rails, the first supporting leg and the second supporting leg are provided with slots, and the base is provided with The edge inside the slot of the second support leg.
进一步地，所述固定座设有一限位部，所述限位部上设有用于安装连接于导管的止血阀的安装槽。Further, the fixing seat is provided with a limiting portion, and the limiting portion is provided with an installation groove for installing a hemostatic valve connected to the catheter.
进一步地，所述介入医疗器械辅助装置还包括可开启地盖合于固定座上的盖板，以让夹持组容纳于所述固定座与盖板形成的空间内。Further, the auxiliary device for interventional medical equipment further includes a cover plate that can be opened and closed on the fixing base, so that the clamping group can be accommodated in the space formed by the fixing base and the cover plate.
有益效果Beneficial effect
本申请介入医疗器械辅助装置带动导管退出过程中，夹持组与导丝滚动配合，导丝保持不动，本申请可以快速将导管从病人身体退出，有效提高介入手术的效率。In the process of withdrawing the catheter driven by the interventional medical device auxiliary device of this application, the clamping group and the guide wire roll and cooperate, and the guide wire remains stationary. This application can quickly withdraw the catheter from the patient's body, effectively improving the efficiency of interventional surgery.
附图说明Description of drawings
图1为本申请介入医疗器械辅助装置安装止血阀、导丝、导管后的结构示意图；Figure 1 is a schematic diagram of the structure of the interventional medical device auxiliary device of the present application after installing a hemostatic valve, a guide wire, and a catheter;
图2为图1所示介入医疗器械辅助装置安装止血阀、导丝、导管后的侧面视图；Fig. 2 is a side view of the interventional medical device auxiliary device shown in Fig. 1 after installing a hemostatic valve, a guide wire, and a catheter;
图3为图1所示介入医疗器械辅助装置的固定座的结构示意图；Fig. 3 is a schematic structural view of the fixing seat of the interventional medical device auxiliary device shown in Fig. 1;
图4为图1所示介入医疗器械辅助装置的夹持组的结构示意图。Fig. 4 is a schematic structural view of the clamping group of the interventional medical device auxiliary device shown in Fig. 1 .
本发明的最佳实施方式BEST MODE FOR CARRYING OUT THE INVENTION
为了使发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释发明，并不用于限定发明。In order to make the purpose, technical solution and advantages of the invention clearer, the invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the invention, not to limit the invention.
在本申请的描述中，术语“长度”、“直径”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。In the description of this application, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", " The orientations or positional relationships indicated by "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying the It should not be construed as limiting the application to indicate that a device or element must have a particular orientation, be constructed, and operate in a particular orientation.
本申请所使用的方向“远”为朝向患者的方向，方向“近”是远离患者的方向。术语 “上”和“上部”指的是背离重力的方向，术语“底部”、“下”和“下部”指的是重力的方向，“内侧”是指水平靠近导丝100、导管200的位置方向，“外侧”是指水平远离导丝100、导管200的位置方向，“前”指的是面向使用者的一侧、“后”指的是背向使用者的一侧。As used herein, the direction "distal" is a direction toward the patient, and the direction "proximal" is a direction away from the patient. The terms "superior" and "superior" refer to the direction away from gravity, the terms "bottom", "lower" and "lower" refer to the direction of gravity, and "medial" refers to the position horizontally close to the guide wire 100, catheter 200 Direction, "outside" refers to the position direction away from the guide wire 100 and catheter 200 horizontally, "front" refers to the side facing the user, and "rear" refers to the side facing away from the user.
如图1至图4所示，本申请提供一种介入医疗器械辅助装置，用于在介入手术过程中将导管辅助退出病人身体，导管200在退出过程中，导丝100保持不动，该介入医疗器械辅助装置可安装在手术床上，并可以在手术床上自由拆装，介入医疗器械辅助装置在手术床上的安装方向与病人在手术床上的平躺方向一致，优选地，所述介入医疗器械辅助装置安装在手术床一侧的床边位置。As shown in Figures 1 to 4, the present application provides an interventional medical instrument auxiliary device, which is used to assist the catheter to withdraw from the patient's body during the interventional operation. During the withdrawal of the catheter 200, the guide wire 100 remains still. The medical device auxiliary device can be installed on the operating bed and can be freely disassembled on the operating bed. The installation direction of the interventional medical device auxiliary device on the operating bed is consistent with the patient's lying direction on the operating bed. Preferably, the interventional medical device auxiliary device The device is installed in a bedside location on the side of the operating table.
所述介入医疗器械辅助装置包括底座60、装设于底座60上的导轨10、装设于导轨10上并可沿导轨10轴向滑动的固定座20、装设于固定座20上并与导轨10驱动配合的夹持组30、及活动装设于固定座20上并与夹持组30联动的盖板40，所述盖板40可以从固定座20上打开或盖合在固定座20上，以让夹持组30容纳于所述固定座20与盖板40形成的空间内。The auxiliary device for interventional medical equipment includes a base 60, a guide rail 10 mounted on the base 60, a fixed seat 20 mounted on the guide rail 10 and capable of sliding axially along the guide rail 10, a fixed seat 20 mounted on the fixed seat 20 and connected to the guide rail 10 drives and cooperates with the clamping group 30, and the cover plate 40 that is movably installed on the fixed seat 20 and linked with the clamping group 30. The cover plate 40 can be opened from the fixed seat 20 or covered on the fixed seat 20 , so that the clamping group 30 is accommodated in the space formed by the fixing seat 20 and the cover plate 40 .
所述底座60呈长形设置，底座60包括底板61及连接于底板61底部的若干加强筋62，所述导轨10沿底座60的延伸方向连接于底座60背向加强筋62的顶面。本实施例中，所述导轨10采用一体成型的方式固定在底座60上，在其它实施例中，所述导轨10也可以采用单个配件的形式安装固定在底座60上。The base 60 is elongated, and the base 60 includes a bottom plate 61 and a number of reinforcing ribs 62 connected to the bottom of the base plate 61 . In this embodiment, the guide rail 10 is integrally fixed on the base 60 . In other embodiments, the guide rail 10 can also be installed and fixed on the base 60 in the form of a single accessory.
所述导轨10包括沿着所述底座60延伸的长形主体部11、设置于主体部11侧面的卡齿13、连接于主体部11顶部的导板12，所述卡齿13沿主体部11的延伸方向排列，所述导板12同样沿主体部11的延伸方向延伸，导板12两侧从导板12两侧上方伸出。The guide rail 10 includes an elongated main body 11 extending along the base 60 , locking teeth 13 arranged on the side of the main body 11 , and a guide plate 12 connected to the top of the main body 11 , and the locking teeth 13 are along the sides of the main body 11 . The extension direction is arranged, and the guide plate 12 also extends along the extension direction of the main body portion 11 , and the two sides of the guide plate 12 protrude from above the two sides of the guide plate 12 .
所述固定座20靠远端位置设有一限位部21，所述限位部21设有与止血阀300（如T阀或Y阀）外形相对应的安装槽211，所述固定座20靠近端位置设有若干沿导丝100退出路径分布的支撑板22，所述支撑板22边缘开设有内窄外宽的V形支撑槽221，正对安装槽211，用于放置从止血阀300穿过的导丝100，相邻两支撑板22之间形成一安装空间222。所述固定座20后侧位置设有相对设置的两功能板23，正对所述支撑板22，所述固定座20于两功能板23之间还设有与功能板23相对的滑槽24，所述滑槽24底部设有第一收容槽25。所述功能板23上设有穿孔231，两功能板23上的穿孔231呈相对设置。所述固定座20上靠后侧位置还设有相对设置的两调位板26，所述调位板26上设有调位孔261，两调位板26上的调位孔261同样呈相对设置。所述功能板23及滑槽24位于两调位板26之间。The fixed seat 20 is provided with a limit portion 21 near the distal end, and the limit portion 21 is provided with an installation groove 211 corresponding to the shape of the hemostatic valve 300 (such as a T valve or a Y valve), and the fixed seat 20 is close to The end position is provided with a number of support plates 22 distributed along the exit path of the guide wire 100. The edge of the support plate 22 is provided with a V-shaped support groove 221 with a narrow inside and a wide outside. An installation space 222 is formed between two adjacent support plates 22 after passing the guide wire 100 . The rear side of the fixing base 20 is provided with two opposite function boards 23, facing the support board 22, and the fixing base 20 is also provided with a chute 24 opposite to the function board 23 between the two function boards 23 , the bottom of the chute 24 is provided with a first receiving groove 25 . The functional boards 23 are provided with perforations 231 , and the perforations 231 on the two functional boards 23 are oppositely arranged. The position on the rear side of the fixed seat 20 is also provided with two relative positioning plates 26, the positioning plate 26 is provided with a positioning hole 261, and the positioning holes 261 on the two positioning plates 26 are also opposite. set up. The function board 23 and the sliding slot 24 are located between the two positioning boards 26 .
所述夹持组30包括导向杆31、滑设于导向杆31上的活动板32、可转动地装设于活动板32上的从动轮组33、与从动轮组33相对并可转动地装设于固定座20上的主动轮组34、用于抵顶活动板32回位的弹性回位件37、与主动轮组34同步转动并与导轨10驱动配合的齿轮组36，所述主动轮组34、从动轮组33分别设于导丝100退出路径的前后两侧，所述主动轮组34包括若干主动轮，分别设置在不同的安装空间222内，由所述支撑板22分隔开。本实施例中，所述固定座20安装有连接轴35，所述连接轴35一端伸入安装空间222内而安装主动轮、另一端从固定座20的底部伸出而固定所述齿轮组36的齿轮，从而主动轮组34固定安装在连接轴35上，所述活动板32凸设有支撑杆324，所述从动轮组33通过轴承装设于支撑杆上。所述齿轮组36的齿轮对应啮合在卡齿13上。所述活动板32设置在滑槽24内，所述导向杆31穿设于活动板32底部而分别置于两第一收容槽25内，所述导向杆31两端分别装设于两功能板23上的穿孔231内。在本实施例中，所述主动轮组34、从动轮组33均是滚轮组，所述弹性回位件37是回位弹簧。以下用回位弹簧指弹性回位件37。The clamping group 30 includes a guide rod 31, a movable plate 32 slidingly arranged on the guide rod 31, a driven wheel group 33 rotatably installed on the movable plate 32, and a driven wheel group 33 opposite to the driven wheel group 33 and rotatably mounted. The driving wheel set 34 arranged on the fixed seat 20, the elastic return member 37 used to resist the return of the movable plate 32, the gear set 36 that rotates synchronously with the driving wheel set 34 and drives and cooperates with the guide rail 10, the driving wheel Group 34 and driven wheel group 33 are respectively arranged on the front and rear sides of the guide wire 100 exit path. The driving wheel group 34 includes several driving wheels, which are respectively arranged in different installation spaces 222 and separated by the support plate 22. . In this embodiment, the fixed seat 20 is equipped with a connecting shaft 35, one end of the connecting shaft 35 extends into the installation space 222 to install the driving wheel, and the other end protrudes from the bottom of the fixed seat 20 to fix the gear set 36 gear, so that the driving wheel set 34 is fixedly installed on the connecting shaft 35, the movable plate 32 is protrudingly provided with a support rod 324, and the driven wheel set 33 is mounted on the support rod through a bearing. The gears of the gear set 36 are correspondingly meshed with the locking teeth 13 . The movable plate 32 is arranged in the chute 24, the guide rod 31 is installed on the bottom of the movable plate 32 and respectively placed in the two first receiving grooves 25, and the two ends of the guide rod 31 are installed on the two function boards respectively. 23 in the perforation 231. In this embodiment, the driving wheel set 34 and the driven wheel set 33 are roller sets, and the elastic return member 37 is a return spring. The return spring refers to the elastic return member 37 below.
所述活动板32底部设有向内侧延伸的第二收容槽321，所述回位弹簧设置在第一收容槽25和第二收容槽321围成的空间内，所述回位弹簧一端抵压在第一收容槽25和第二收容槽321所围成的空间内壁内，即所述活动板32底部，所述回位弹簧另一端抵压在靠外侧的功能板23上。向外侧推动活动板32时，活动板32向外移位，回位弹簧进一步弹性收缩，所述活动板32带动从动轮组33同步向外位移，进而使主动轮组34与从动轮组33之间形成一间隙，正对支撑板22的V形支撑槽221，将从止血阀300穿过的导丝100放置在主动轮组34与从动轮组33之间的V形支撑槽221内，再松开活动板32，回位弹簧挤压活动板32及活动板32上的从动轮组33，从而从动轮组33与主动轮组34夹紧导丝100。The bottom of the movable plate 32 is provided with a second receiving groove 321 extending inwardly, the return spring is arranged in the space surrounded by the first receiving groove 25 and the second receiving groove 321, and one end of the return spring is pressed against In the inner wall of the space enclosed by the first receiving groove 25 and the second receiving groove 321 , that is, the bottom of the movable plate 32 , the other end of the return spring presses against the outer functional plate 23 . When the movable plate 32 is pushed outward, the movable plate 32 is displaced outward, and the return spring is further elastically contracted. A gap is formed between them, facing the V-shaped support groove 221 of the support plate 22, the guide wire 100 passing through the hemostatic valve 300 is placed in the V-shaped support groove 221 between the driving wheel set 34 and the driven wheel set 33, and then The movable plate 32 is released, and the return spring squeezes the movable plate 32 and the driven wheel set 33 on the movable plate 32 , so that the driven wheel set 33 and the driving wheel set 34 clamp the guide wire 100 .
为进一步提高固定座20在导轨10上滑动时的平稳性，所述固定座20底部的前后两侧设有相对设置的第一支撑脚27及第二支撑脚28，所述第一支撑脚27及第二支撑脚28的内侧均设有卡槽271、281，所述第一支撑脚27及第二支撑脚28的卡槽271、281分别卡在底板61与导板12相互背离的边缘并可沿底座60滑动。In order to further improve the stability of the fixed seat 20 when sliding on the guide rail 10, the front and rear sides of the bottom of the fixed seat 20 are provided with a first supporting foot 27 and a second supporting foot 28 oppositely arranged, and the first supporting foot 27 and the inner side of the second support leg 28 are provided with draw-in slots 271, 281, and the draw-in slots 271, 281 of the first support leg 27 and the second support leg 28 are respectively stuck on the edges of the base plate 61 and the guide plate 12 away from each other and can Slide along the base 60.
所述盖板40靠近端及远端位置分别设有一支脚41，所述盖板40的两支脚41分别通过一卡销411枢接在两调位板26的调位孔261上，所述盖板40可以在固定座20上转动，以向后侧翻转打开或者盖合在固定座20上。所述盖板40盖合在固定座20上时，所述盖板40同时对安装在固定座20上的止血阀300及导丝100进行限位。The cover plate 40 is provided with a leg 41 at the near end and the far end respectively, and the two legs 41 of the cover plate 40 are pivotally connected to the position adjustment holes 261 of the two position adjustment plates 26 through a bayonet pin 411 respectively. The plate 40 can be rotated on the fixing seat 20 to be turned backwards to open or to be covered on the fixing seat 20 . When the cover plate 40 is closed on the fixed seat 20 , the cover plate 40 simultaneously limits the hemostatic valve 300 and the guide wire 100 installed on the fixed seat 20 .
为保证盖板40与固定座20配合时更牢固，所述盖板40与固定座20分别设有第一固定块71及第二固定块72，本实施例中，第一固定块71及第二固定块72中，其中一个为磁铁、另一个为磁铁或铁块，通过第一固定块71与第二固定块72的吸附力，从而使盖板40稳固地盖设于固定座20上。可以理解地，除了所述第一固定块71与第二固定块72采用磁铁与磁铁/铁的方式辅助固定，在其它实施例中，所述第一固定块71与第二固定块72也可以采用类似卡扣、螺纹锁紧或其它可拆卸结构进行固定。In order to ensure that the cover plate 40 is more firmly matched with the fixing seat 20, the cover plate 40 and the fixing seat 20 are respectively provided with a first fixing block 71 and a second fixing block 72. In this embodiment, the first fixing block 71 and the second fixing block Among the two fixing blocks 72 , one is a magnet and the other is a magnet or an iron block. Through the adsorption force of the first fixing block 71 and the second fixing block 72 , the cover plate 40 is firmly covered on the fixing seat 20 . Understandably, except that the first fixing block 71 and the second fixing block 72 are assisted by magnets and magnets/iron, in other embodiments, the first fixing block 71 and the second fixing block 72 can also be Use similar buckle, screw lock or other detachable structure for fixing.
所述盖板40上还设有若干卡片42及一第一联动片43，所述卡片42沿盖板40盖设于固定座20的方向呈错位设置，卡片42与支撑板22的支撑槽221配合，从上下两个方向配合对导丝100进行限位。The cover plate 40 is also provided with a plurality of cards 42 and a first linkage piece 43, and the cards 42 are arranged in a dislocation along the direction in which the cover plate 40 is covered on the fixing seat 20, and the cards 42 and the support groove 221 of the support plate 22 Cooperate, cooperate to limit the position of the guide wire 100 from the upper and lower directions.
所述第一联动片43端部位置凸设有凸柱431，所述凸柱431的轴心与卡销411的轴心不在同一轴线上，从而使盖板40在翻转打开过程中，凸柱431绕卡销411的轴心转动同时向外移动，而不仅是绕其自身的轴心在原位置转动。所述活动板32还凸设有第二联动片322，所述第二联动片322的延伸方向与回位弹簧的安装方向一致。所述第二联动片322的内侧设有与凸柱431配合的止位面323，在回位弹簧的作用下，所述止位面323从外侧抵顶在凸柱431上。The position of the end of the first linkage piece 43 is protrudingly provided with a boss 431, the axis of the boss 431 is not on the same axis as the axis of the bayonet pin 411, so that when the cover plate 40 is flipped open, the boss will 431 rotates around the axis of bayonet pin 411 and moves outward at the same time, instead of only rotating around its own axis at the original position. The movable plate 32 is further protruded with a second linkage piece 322 , and the extension direction of the second linkage piece 322 is consistent with the installation direction of the return spring. The inner side of the second linkage piece 322 is provided with a stop surface 323 that cooperates with the protruding post 431 , and under the action of the return spring, the stop surface 323 abuts against the protruding post 431 from the outside.
在介入手术过程中，当导丝100（如微导丝）、导管200（如微导管）送入到病灶位置、在导丝100保持不动的情况下需要更换其它类型的导管（如球囊导管）时，由介入手术机器人先带动导管200进行初步后退。During the interventional operation, when the guide wire 100 (such as a micro-guide wire) and the catheter 200 (such as a micro-catheter) are sent to the lesion, it is necessary to replace other types of catheters (such as a balloon Catheter), the interventional surgery robot first drives the catheter 200 to initially retreat.
当介入手术机器人移动到行程的极限位置时，仍有导管200置留在病人的身体内，无法再通过介入手术机器人让导管200退出病人身体，则将止血阀300、连接在止血阀300的导管200、导丝100一起从介入手术机器人上取下。When the interventional surgery robot moves to the limit position of the stroke, the catheter 200 is still left in the patient's body, and the catheter 200 can no longer be withdrawn from the patient's body through the interventional surgery robot, then the hemostatic valve 300 and the catheter connected to the hemostatic valve 300 200 and the guide wire 100 are removed from the interventional surgery robot together.
将介入医疗器械辅助装置放置于手术床或其他合适位置。向外翻转盖板40，盖板40在翻转过程中，盖板40上的凸柱431向外侧推动活动板32的第二联动片322，从而带动与活动板32连接的从动轮组33向外侧移位，让从动轮组33与主动轮组34分离，将止血阀300放入安装槽211，再将导丝100放置在从动轮组33与主动轮组34之间并由支撑板22的支撑槽221支撑，盖上盖板40，同时凸柱431向内侧移动，在回位弹簧的作用下，回位弹簧推动活动板32向内侧移位，所述第二联动片322的止位面323跟随凸柱431向内侧移动，进而使主动轮组34与从动轮组33靠近而夹紧导丝100。最后，一只手抓紧导丝100不动，由另一只手向近端推动固定座20，固定座20在沿导轨10的后退过程中，固定座20通过止血阀300带动导管200退出病人身体，导轨10上的卡齿13通过齿轮组36带动主动轮组34上的主动轮同步转动，主动轮以滚动的方式与导丝100接触，主动轮对导丝100在后退方向不产生驱动力，导丝100保持不动，留置于病人身体。Place the interventional medical device auxiliary device on the operating bed or other suitable positions. Turn the cover plate 40 outwards. During the turning process of the cover plate 40, the protruding post 431 on the cover plate 40 pushes the second linkage piece 322 of the movable plate 32 to the outside, thereby driving the driven wheel group 33 connected with the movable plate 32 to the outside. Shift to separate the driven wheel set 33 from the driving wheel set 34, put the hemostatic valve 300 into the installation groove 211, and then place the guide wire 100 between the driven wheel set 33 and the driving wheel set 34 and be supported by the support plate 22 Supported by the slot 221, the cover plate 40 is covered, and the boss 431 moves inwardly. Under the action of the return spring, the return spring pushes the movable plate 32 to shift inwardly, and the stop surface 323 of the second linkage piece 322 Following the movement of the boss 431 to the inside, the driving wheel set 34 and the driven wheel set 33 are approached to clamp the guide wire 100 . Finally, one hand grasps the guide wire 100 and does not move, and the other hand pushes the fixing seat 20 proximally. During the retreat process of the fixing seat 20 along the guide rail 10, the fixing seat 20 drives the catheter 200 out of the patient's body through the hemostasis valve 300 , the bayonet 13 on the guide rail 10 drives the drive wheel on the drive wheel set 34 to rotate synchronously through the gear set 36, and the drive wheel contacts the guide wire 100 in a rolling manner, and the drive wheel does not generate driving force to the guide wire 100 in the backward direction. The guide wire 100 remains stationary and remains in the patient's body.
可以理解地，本实施例中，盖板40与夹持组30之间采用联动的方式，当盖板40向外翻转时，同时带动连接夹持组30的从动轮组33与主动轮组34分开，在其它实施例中，盖板40与夹持组30之间也可以不采用联动的形式，盖板40与夹持组30相互独立，手动直接向外侧推动活动板32，将从动轮组33与主动轮组34分开。另外，本实施例中，采有介入医疗器械辅助装置通过止血阀300带动导管200退出，在其它实施例中，也可以采用其它类型的固定件将导管200固定于固定座20，辅助退出导管200。It can be understood that in this embodiment, the cover plate 40 and the clamping group 30 adopt a linkage method, and when the cover plate 40 is turned outward, the driven wheel set 33 and the driving wheel set 34 connected to the clamping set 30 are simultaneously driven. Separately, in other embodiments, the form of linkage may not be adopted between the cover plate 40 and the clamping group 30. The cover plate 40 and the clamping group 30 are independent of each other, and the movable plate 32 is directly pushed outward manually to drive the driven wheel group. 33 is separated from driving wheel group 34. In addition, in this embodiment, an auxiliary device for interventional medical equipment is used to drive the catheter 200 to withdraw through the hemostatic valve 300. In other embodiments, other types of fasteners can also be used to fix the catheter 200 to the fixing seat 20 to assist in the withdrawal of the catheter 200. .
综上所述，本申请在带动导管200退出过程中，夹持组30与导丝100滚动配合，夹持组30相对导丝100运动，导丝100保持不动，可以便捷快速地将导管200从病人身体退出，有效提高介入手术的效率，降低医生工作强度。To sum up, in the process of driving the catheter 200 to exit, the clamping group 30 and the guide wire 100 roll and cooperate, the clamping group 30 moves relative to the guide wire 100, and the guide wire 100 remains still, so that the catheter 200 can be conveniently and quickly pulled out. Withdraw from the patient's body, effectively improving the efficiency of interventional operations and reducing the work intensity of doctors.
以上所述实施例仅表达了发明的一种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离发明构思的前提下，还可以做出若干变形和改进，这些都属于发明的保护范围。因此，发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiment only expresses an implementation mode of the invention, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the patent scope of the invention. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the invention, and these all belong to the protection scope of the invention. Therefore, the scope of protection of the invention patent shall be subject to the appended claims.

Claims (18)

  1. 一种介入医疗器械辅助装置，其中，包括导轨、滑动地装设于导轨上并带动导管退出的固定座、装设于固定座上的夹持组，所述夹持组用于夹持穿入导管的导丝并随固定座相对导丝移动。An auxiliary device for interventional medical equipment, which includes a guide rail, a fixing base that is slidably installed on the guide rail and drives the catheter to withdraw, and a clamping group installed on the fixing base, and the clamping group is used for clamping and penetrating The guide wire of the catheter moves relative to the guide wire with the fixing seat.
  2. 如权利要求1所述的介入医疗器械辅助装置，其中：所述夹持组包括主动轮组、与主动轮组抵接并可分离的从动轮组、带动主动轮组转动并与导轨驱动配合的驱动组。The auxiliary device for interventional medical equipment according to claim 1, wherein: the clamping group includes a driving wheel set, a driven wheel set that abuts on and can be separated from the driving wheel set, and a driving wheel that drives the driving wheel set to rotate and cooperates with the guide rail. drive group.
  3. 如权利要求2所述的介入医疗器械辅助装置，其中：所述导轨包括长形的主体部、排布于主体部的卡齿，所述驱动组为啮合在卡齿上的齿轮组。The auxiliary device for interventional medical equipment as claimed in claim 2, wherein: the guide rail comprises a long main body and locking teeth arranged on the main body, and the driving group is a gear set meshed with the locking teeth.
  4. 如权利要求2所述的介入医疗器械辅助装置，其中：所述夹持组还包括活动板、用于抵顶活动板回位的弹性回位件，所述从动轮组装设于活动板上，所述活动板相对所述固定座移动而让从动轮组与主动轮组分离。The auxiliary device for interventional medical equipment according to claim 2, wherein: the clamping group further includes a movable plate and an elastic return member for pressing against the movable plate to return, and the driven wheel set is arranged on the movable plate, The movable plate moves relative to the fixed seat to separate the driven wheel set from the driving wheel set.
  5. 如权利要求3所述的介入医疗器械辅助装置，其中：所述固定座上穿设有连接轴，所述连接轴一端位于固定座的顶面以安装所述主动轮组的主动滚轮、另一端从固定座的底部伸出以安装所述齿轮组的齿轮。The auxiliary device for interventional medical equipment according to claim 3, wherein a connecting shaft is pierced on the fixing base, one end of the connecting shaft is located on the top surface of the fixing base to install the driving roller of the driving wheel set, and the other end is Protrudes from the bottom of the mount to accommodate the gears of the gear set.
  6. 如权利要求4所述的介入医疗器械辅助装置，其中：所述固定座正对所述夹持组设有相对设置的两功能板，所述固定座于两功能板之间还设有用于容纳所述活动板的滑槽，所述夹持组还包括滑动地穿设于活动板的导向杆，所述导向杆两端分别装设于两功能板上。The auxiliary device for interventional medical equipment as claimed in claim 4, wherein: said fixing seat is provided with two opposite functional plates facing said clamping group, and said fixing seat is further provided with a The chute of the movable plate, the clamping group further includes a guide rod slidably pierced through the movable plate, and the two ends of the guide rod are respectively installed on the two functional plates.
  7. 如权利要求6所述的介入医疗器械辅助装置，其中：所述弹性回位件一端抵压在所述活动板上、另一端抵压在所述功能板上。The auxiliary device for interventional medical equipment according to claim 6, wherein: one end of the elastic return member is pressed against the movable plate, and the other end is pressed against the functional plate.
  8. 如权利要求1所述的介入医疗器械辅助装置，其中：所述固定座底部设有相对设置的第一支撑脚及第二支撑脚，所述第一支撑脚及第二支撑脚用于引导固定座沿导轨滑动。The auxiliary device for interventional medical equipment according to claim 1, wherein: the bottom of the fixing seat is provided with a first supporting foot and a second supporting foot oppositely arranged, and the first supporting foot and the second supporting foot are used for guiding and fixing The seat slides along the guide rail.
  9. 如权利要求8所述的介入医疗器械辅助装置，其中：所述介入医疗器械辅助装置还包括用于安装导轨的底座，所述第一支撑脚及第二支撑脚均设有卡槽，所述底座上设有卡设于第一支撑脚及第二支撑脚的卡槽内的边缘。The auxiliary device for interventional medical equipment according to claim 8, wherein: the auxiliary device for interventional medical equipment further includes a base for installing guide rails, the first support leg and the second support leg are provided with card slots, and the The base is provided with edges that are clamped in the slots of the first support leg and the second support leg.
  10. 如权利要求2 所述的介入医疗器械辅助装置，其中：所述固定座设有一限位部，所述限位部上设有用于安装连接于导管的止血阀的安装槽。as claim 2 The auxiliary device for interventional medical equipment, wherein: the fixed base is provided with a limiting portion, and the limiting portion is provided with an installation groove for installing a hemostatic valve connected to the catheter.
  11. 如权利要求1所述的介入医疗器械辅助装置，其中：所述介入医疗器械辅助装置还包括可开启地盖合于固定座上的盖板，以让夹持组容纳于所述固定座与盖板形成的空间内。The auxiliary device for interventional medical equipment according to claim 1, wherein: the auxiliary device for interventional medical equipment further comprises a cover plate that can be opened and closed on the fixing seat, so that the clamping group can be accommodated in the fixing base and the cover in the space formed by the board.
  12. 如权利要求9所述的介入医疗器械辅助装置，其中：所述底座包括底板及连接于底板背离所述导轨一面的若干加强筋。The auxiliary device for interventional medical equipment according to claim 9, wherein: the base includes a bottom plate and a plurality of reinforcing ribs connected to a side of the bottom plate away from the guide rail.
  13. 如权利要求9所述的介入医疗器械辅助装置，其中：所述导轨采用一体成型的方式固定在底座上。The auxiliary device for interventional medical equipment according to claim 9, wherein: the guide rail is fixed on the base in an integrated manner.
  14. 如权利要求6所述的介入医疗器械辅助装置，其中：所述固定座设有若干沿导丝退出路径分布的支撑板。The auxiliary device for interventional medical equipment as claimed in claim 6, wherein: said fixing base is provided with several support plates distributed along the exiting path of the guide wire.
  15. 如权利要求14所述的介入医疗器械辅助装置，其中：所述支撑板边缘开设有内窄外宽的V形支撑槽，用于放置从止血阀穿过的导丝。The auxiliary device for interventional medical equipment according to claim 14, wherein: the edge of the support plate is provided with a V-shaped support groove with a narrow inside and a wide outside, for placing a guide wire passing through the hemostatic valve.
  16. 如权利要求14所述的介入医疗器械辅助装置，其中：相邻两所述支撑板之间形成一安装空间；The auxiliary device for interventional medical equipment according to claim 14, wherein: an installation space is formed between two adjacent support plates;
    所述主动轮组包括若干主动轮，分别设置在不同的安装空间内，由所述支撑板分隔开。The drive wheel set includes several drive wheels, which are respectively arranged in different installation spaces and separated by the support plate.
  17. 如权利要求11所述的介入医疗器械辅助装置，其中：所述盖板与固定座分别设有第一固定块及第二固定块；The auxiliary device for interventional medical equipment according to claim 11, wherein: the cover plate and the fixing seat are respectively provided with a first fixing block and a second fixing block;
    所述第一固定块及第二固定块中，其中一个为磁铁、另一个为磁铁或铁块，通过第一固定块与第二固定块的吸附力，使盖板稳固地盖设于固定座上。Among the first fixed block and the second fixed block, one of them is a magnet, and the other is a magnet or an iron block. Through the adsorption force of the first fixed block and the second fixed block, the cover plate is firmly covered on the fixed seat. superior.
  18. 如权利要求11所述的介入医疗器械辅助装置，其中：所述盖板上设有连接于所述夹持组的第一联动片，所述盖板转动地固定在固定座上，所述盖板的转动轴线与所述第一联动片的转动轴线不同轴。The auxiliary device for interventional medical equipment according to claim 11, wherein: the cover plate is provided with a first linkage plate connected to the clamping group, the cover plate is rotatably fixed on the fixing seat, and the cover plate The axis of rotation of the plate is not coaxial with the axis of rotation of the first link.
PCT/CN2022/090310 2022-01-29 2022-04-29 Interventional medical instrument auxiliary apparatus WO2023142290A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202210111637.2 2022-01-29
CN202210111637.2A CN115517767A (en) 2022-01-29 2022-01-29 Intervene medical instrument auxiliary device

Publications (1)

Publication Number Publication Date
WO2023142290A1 true WO2023142290A1 (en) 2023-08-03

Family

ID=84693831

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/090310 WO2023142290A1 (en) 2022-01-29 2022-04-29 Interventional medical instrument auxiliary apparatus

Country Status (2)

Country Link
CN (1) CN115517767A (en)
WO (1) WO2023142290A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117426844A (en) * 2023-11-07 2024-01-23 赛诺威盛医疗科技(扬州)有限公司 Puncture needle feeding device and puncture robot

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060146010A1 (en) * 2003-06-27 2006-07-06 Schneider M Bret Computer assisted manipulation of catheters and guide wires
CN103157170A (en) * 2013-02-25 2013-06-19 中国科学院自动化研究所 Blood vessel interventional operation conduit or guide wire control device based on two-point clamping
US20140276938A1 (en) * 2013-03-15 2014-09-18 Hansen Medical, Inc. User input devices for controlling manipulation of guidewires and catheters
CN107374740A (en) * 2017-07-06 2017-11-24 北京理工大学 A kind of catheter guide wire cooperating intervention robot and its control method
CN110151310A (en) * 2019-05-27 2019-08-23 燕山大学 A kind of interventional surgery robotic catheter/seal wire rotary propelling device
CN111588471A (en) * 2020-06-23 2020-08-28 四川大学 Robot for vascular intervention operation
CN112384160A (en) * 2018-05-08 2021-02-19 波士顿科学国际有限公司 Equipment seal wire management accessory
CN113633389A (en) * 2021-06-10 2021-11-12 深圳市爱博医疗机器人有限公司 Auxiliary end guide wire/catheter twisting device of interventional operation robot

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060146010A1 (en) * 2003-06-27 2006-07-06 Schneider M Bret Computer assisted manipulation of catheters and guide wires
CN103157170A (en) * 2013-02-25 2013-06-19 中国科学院自动化研究所 Blood vessel interventional operation conduit or guide wire control device based on two-point clamping
US20140276938A1 (en) * 2013-03-15 2014-09-18 Hansen Medical, Inc. User input devices for controlling manipulation of guidewires and catheters
CN107374740A (en) * 2017-07-06 2017-11-24 北京理工大学 A kind of catheter guide wire cooperating intervention robot and its control method
CN112384160A (en) * 2018-05-08 2021-02-19 波士顿科学国际有限公司 Equipment seal wire management accessory
CN110151310A (en) * 2019-05-27 2019-08-23 燕山大学 A kind of interventional surgery robotic catheter/seal wire rotary propelling device
CN111588471A (en) * 2020-06-23 2020-08-28 四川大学 Robot for vascular intervention operation
CN113633389A (en) * 2021-06-10 2021-11-12 深圳市爱博医疗机器人有限公司 Auxiliary end guide wire/catheter twisting device of interventional operation robot

Also Published As

Publication number Publication date
CN115517767A (en) 2022-12-27

Similar Documents

Publication Publication Date Title
US7766856B2 (en) System and methods for advancing a catheter
US7276044B2 (en) System and methods for advancing a catheter
WO2022258018A1 (en) Slave end guide wire/catheter twisting apparatus for interventional surgical robot
WO2023142290A1 (en) Interventional medical instrument auxiliary apparatus
CN110368103A (en) A kind of semi-automatic digestive endoscopy diagnosis and treatment auxiliary device
WO2023082592A1 (en) Multifunctional interventional surgical robot slave-end driving device
CN112674788A (en) Head fixing device for tumor radiology department
CN112076053A (en) Anterior cervical surgery position intelligence auxiliary adjusting fixing device and anterior cervical surgery bed
WO2023082612A1 (en) Limiting type interventional surgical robot slave end supporting device
CN209107450U (en) It is a kind of to curve mechanism for surgical stapling anastomosis cut component
CN114191089B (en) Intervention operation robot slave end strutting arrangement that can multiposition is adjusted
WO2023142294A1 (en) Auxiliary clamping device for interventional surgery
CN219109626U (en) Puncture site pressing device
CN217311537U (en) Supporting device and interventional medical system
CN114748763A (en) Interventional operation sheath fixing device
CN113069303B (en) Auxiliary medical bed for thoracic surgery
CN114343800A (en) Ultrasonic guide puncture catheter drainage device
CN117045940B (en) Guide wire motion control unit and device
CN220442742U (en) Positioning and guiding device for diagnosis and treatment
CN220002346U (en) Fixer for moxibustion therapy
CN219680690U (en) Vascular stitching instrument
CN109223197A (en) Fracture of neck of femur hollow nail rotating disc type positioning device
CN217697613U (en) Intervene seal wire anchor clamps
CN116327292B (en) Everting bladder urethra anastomat
CN211674359U (en) Multi-degree-of-freedom flexible handheld minimally invasive surgical instrument

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22923107

Country of ref document: EP

Kind code of ref document: A1