CN-120000336-B - Interventional actuator and surgical robot

CN120000336BCN 120000336 BCN120000336 BCN 120000336BCN-120000336-B

Abstract

The present application relates to an intervention execution device and a surgical robot. The intervention execution device comprises at least two stages of pushing modules and at least two stages of storage modules, wherein a group of guide wires and guide pipes are respectively stored in the at least two stages of storage modules, each stage of storage module is matched with one stage of pushing module, each stage of pushing module comprises a guide pipe pushing assembly, a Y valve rotating assembly and a guide wire pushing and twisting assembly which are sequentially arranged along a first direction, after the guide wires and the guide pipes in the previous stage of storage modules are conveyed to a previous preset position by the previous stage of pushing module, the guide wire pushing and twisting assembly withdraws the guide wires in the previous stage of guide pipes, after the guide wires are withdrawn, the previous stage of guide wire pushing and twisting assembly moves along a second direction perpendicular to the first direction, and the next stage of pushing module moves along the first direction, so that the guide wires and the guide pipes in the next stage of storage modules are abutted with the previous stage of Y valve rotating assemblies, and automatic abutting joint of the guide wires and the guide pipes can be realized.

Inventors

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Assignees

上海微创医疗机器人（集团）股份有限公司

Dates

Publication Date: 20260508
Application Date: 20231114

Claims (11)

1. An interventional execution device, comprising: At least two stages of pushing modules, at least two stages of pushing modules are arranged at intervals along the first direction, and The device comprises at least two stages of storage modules, wherein a group of guide wires and guide pipes are respectively stored in the at least two stages of storage modules, each stage of storage module is matched with one stage of pushing module, and at least two pushing modules are respectively used for pushing the guide wires and guide pipes in the at least two stages of matched storage modules; Each stage of pushing module comprises a catheter pushing assembly, a Y valve rotating assembly and a guide wire pushing twisting assembly which are sequentially arranged along a first direction, and after the guide wire and the catheter in the previous stage of storage module are conveyed to a previous preset position by the previous stage of pushing module, the guide wire pushing twisting assembly withdraws from the guide wire in the previous stage of catheter; after the guide wire is withdrawn, the guide wire pushing and twisting assembly at the previous stage moves along a second direction perpendicular to the first direction, and the pushing module at the next stage moves along the first direction, so that the guide wire pushing assembly at the next stage is in butt joint with the Y valve rotating assembly at the previous stage, and the guide wire in the storage module at the next stage are conveyed to a next preset position.
2. The intervention execution device of claim 1, wherein the guide wire pushing and twisting assembly comprises a guide wire pushing and twisting mechanism and a retracting mechanism, the retracting mechanism being connected with the guide wire pushing and twisting mechanism for driving the guide wire pushing and twisting mechanism to move in the second direction.
3. The interventional procedure device according to claim 2, wherein the retraction mechanism comprises a first drive member and a first transmission member, the first transmission member being arranged in the second direction, the first drive member being connected to the first transmission member for driving the guide wire pushing and twisting mechanism to move in the second direction; The first driving piece is arranged on the guide wire pushing and twisting assembly, and is in transmission connection with the Y valve rotating assembly and the first driving piece, or is arranged on the Y valve rotating assembly, and is in transmission connection with the first driving piece and the guide wire pushing and twisting assembly.
4. The interventional performing device of claim 2, wherein the guide wire pushing and twisting assembly further comprises a force measuring mechanism disposed below the guide wire pushing and twisting mechanism for detecting a resistance of the guide wire pushing and twisting mechanism pushing the guide wire.
5. The interventional performing device according to claim 2, wherein the retraction mechanism further comprises a first guiding mechanism and a first carrier plate, the guide wire pushing and twisting assembly further comprises a first mounting plate, the first guiding mechanism is arranged along the second direction and comprises a first guiding member and a first mating member, the guide wire pushing and twisting mechanism is arranged on the first mounting plate, the first guiding member is arranged on the first carrier plate, the first mating member is arranged on the first mounting plate, and the first guiding member is in sliding fit with the first mating member.
6. The interventional actuator of claim 1, further comprising a base plate, wherein the storage module is disposed on the base plate, and wherein the pushing module further comprises a driving assembly drivingly connecting the pushing module and the base plate to drive the pushing module to move in the first direction; The driving assembly comprises a second driving piece and a second transmission piece, the second driving piece is arranged on the pushing module, the second transmission piece extends along the first direction, and the second transmission piece is in transmission connection with the second driving piece and the bottom plate.
7. The interventional performing device according to claim 6, wherein the driving assembly comprises a second guiding mechanism and a second carrier plate, the second guiding mechanism is arranged along the first direction and comprises a second guiding member and a second matching member, the guide wire pushing and twisting assembly and the Y valve rotating assembly are arranged on the second carrier plate, the second guiding member is arranged on the bottom plate, the second matching member is arranged on the second carrier plate, and the second guiding member is in sliding fit with the second matching member.
8. The interventional procedure device of claim 1, wherein the catheter pushing assembly of the subsequent stage comprises a first pushing mechanism for pushing a catheter and a guide tube, the guide tube being conically configured with a distal tip, the proximal tip of the guide tube being oriented towards the first pushing mechanism, the tip of the guide tube being capable of guiding insertion into the Y valve rotating assembly of the previous stage, the guide tube being configured for threading the catheter of the subsequent stage.
9. The interventional actuator of claim 1, wherein the storage module comprises a catheter storage assembly, the catheter storage assembly comprises a base, a cover plate, a tensioning baffle rod and a guide wheel, the cover plate is covered on the base and encloses an installation cavity and an opening, the opening is located on the side face of the installation cavity and communicated with the installation cavity, the guide wheel is symmetrically arranged on two sides of the opening, the tensioning baffle rod is movably and symmetrically arranged on the base and tensions the catheter, and the guide wheels at two ends of the catheter extend out of the opening.
10. The interventional actuator of claim 9, wherein the base has an inclined surface, the height of the inclined surface gradually decreasing from a middle portion of the base to both ends, the base having a chute, the chute being located in the inclined surface, the tension bar being slidable in the chute, the catheter being disengaged from the tension bar when the tension bar moves to a middle region of the base.
11. Surgical robot comprising control means and an intervention performing means according to any of claims 1 to 10, the control means being in control connection with the intervention performing means for controlling the intervention performing means to perform an intervention operation.

Description

Interventional actuator and surgical robot Technical Field The application relates to the technical field of medical equipment, in particular to an intervention execution device and a surgical robot. Background Currently, vascular surgical robots have become an important tool to assist doctors in interventional procedures. The robot assisted vascular interventional operation is that a doctor controls the robot through a control rod or an operation handle under the guidance of a digital subtraction angiography imaging (DSA) system to push a guide wire and a catheter to move in a human body blood vessel so as to treat a focus part and achieve the purposes of assisted operation and the like. One of the important technologies in the development of vascular interventional surgical robots is a guide wire catheter delivery device. Typically, vascular surgical robots can only push one type of guidewire or catheter at a time, requiring manual intervention midway to interface the guidewire catheter. But when the guide wire catheter is manually abutted, the operation is discontinuous, the operation time is increased, potential safety hazards exist, the automation degree is low, and the operation convenience is affected. Disclosure of Invention Based on this, it is necessary to provide an intervention execution device and an operation robot to solve the problem that the current vascular operation robot can not continuously convey the guide wire and the guide wire to cause the need of manual butt joint, and the automatic butt joint of the guide wire and the guide wire can be realized when the guide wire and the guide wire are automatically pushed, so that the manual intervention butt joint is not needed, the operation is ensured to be continuous, the safety is reduced, and the convenience of operation is ensured. An interventional performing device, comprising: At least two stages of pushing modules, at least two stages of pushing modules are arranged at intervals along the first direction, and The device comprises at least two stages of storage modules, wherein a group of guide wires and guide pipes are respectively stored in the at least two stages of storage modules, each stage of storage module is matched with one stage of pushing module, and at least two pushing modules are respectively used for pushing the guide wires and guide pipes in the at least two stages of matched storage modules; Each stage of pushing module comprises a catheter pushing assembly, a Y valve rotating assembly and a guide wire pushing twisting assembly which are sequentially arranged along a first direction, and after the guide wire and the catheter in the previous stage of storage module are conveyed to a previous preset position by the previous stage of pushing module, the guide wire pushing twisting assembly withdraws from the guide wire in the previous stage of catheter; after the guide wire is withdrawn, the guide wire pushing and twisting assembly at the previous stage moves along a second direction perpendicular to the first direction, and the pushing module at the next stage moves along the first direction, so that the guide wire pushing assembly at the next stage is in butt joint with the Y valve rotating assembly at the previous stage, and the guide wire in the storage module at the next stage are conveyed to a next preset position. In an embodiment of the present application, the guide wire pushing and twisting assembly includes a guide wire pushing and twisting mechanism and a retracting mechanism, where the retracting mechanism is connected to the guide wire pushing and twisting mechanism and is used for driving the guide wire pushing and twisting mechanism to move along the second direction. In an embodiment of the present application, the retraction mechanism includes a first driving member and a first transmission member, where the first transmission member is disposed along the second direction, and the first driving member is connected to the first transmission member to drive the guide wire pushing twisting mechanism to move along the second direction; The first driving piece is arranged on the guide wire pushing and twisting assembly, and is in transmission connection with the Y valve rotating assembly and the first driving piece, or is arranged on the Y valve rotating assembly, and is in transmission connection with the first driving piece and the guide wire pushing and twisting assembly. In an embodiment of the application, the guide wire pushing and twisting assembly further comprises a force measuring mechanism, wherein the force measuring mechanism is arranged below the guide wire pushing and twisting mechanism and is used for detecting the resistance of the guide wire pushing and twisting mechanism to push the guide wire. In an embodiment of the application, the retraction mechanism further includes a first guide mechanism and a first carrier plate, the guide wire pushing and twisting assembly further includes a firs