CN-224220235-U - Integrative cooperation manipulator of guide sheath that surgical robot was used is intervene to heart

CN224220235UCN 224220235 UCN224220235 UCN 224220235UCN-224220235-U

Abstract

The application discloses a sheath integrated cooperative manipulator for a heart intervention operation robot, which relates to the technical field of medical equipment and comprises a base, wherein a sheath tube control handle and a catheter control handle are arranged on the base, the catheter control handle comprises a propulsion control module, a rotation control module and a bending control module, the propulsion control module is used for controlling axial advance and retreat of a catheter, the rotation control module is used for controlling circumferential rotation of the catheter, the bending control module is used for controlling bidirectional bending of the head end of the catheter, and the sheath tube control handle comprises a propulsion control module and a rotation control module and is used for controlling axial advance and retreat and circumferential rotation of the sheath tube. According to the application, the continuous rotation of the catheter head end is realized through the forward and reverse rotation of the control handle, and the bidirectional bending of the catheter head end is controlled by pushing the control handle bending deflector rod, so that the synchronous complex multi-degree-of-freedom integrated operation of the interventional catheter and the guiding sheath tube is realized under the condition of not switching the two-hand operation.

Inventors

ZHANG WEI
ZHANG XINLONG
YU XIAOFENG
CHEN YUEMENG

Assignees

绍兴梅奥心磁医疗科技有限公司

Dates

Publication Date: 20260512
Application Date: 20250603

Claims (7)

1. A sheath integrated cooperative manipulator for a cardiac interventional surgical robot, comprising: The catheter sheath comprises a base, wherein a sheath control handle (1) and a catheter control handle (2) are arranged on the base and in the front-back direction of the length direction of the catheter sheath; Catheter control handle (2), catheter control handle (2) are including advancing control module, rotation control module and bending control module, wherein: The propulsion control module comprises two long shafts (216), the long shafts (216) are arranged in a catheter control handle (2), through grooves are formed in opposite positions of the two long shafts (216), a connecting block (211) is further arranged in the handle, the connecting block (211) is arranged in the through grooves of the two long shafts and can slide, springs are respectively sleeved on the long shafts on two sides of the connecting block (211), circuit contact pieces are arranged at corresponding positions on two axial sides of the connecting block (211), and the connecting block (211) overcomes the elasticity of the springs in the through grooves of the long shafts to move forwards to touch the front contact pieces to serve as instructions for forward axial movement of the catheter; the rotation control module is used for controlling circumferential rotation of the catheter; the bending control module is used for controlling the bidirectional bending of the head end of the catheter; The sheath tube control handle (1) comprises a propulsion control module and a rotation control module, and is used for controlling the axial advancing and retreating and circumferential rotation of the sheath tube.
2. The sheath integrated cooperative manipulator for a cardiac interventional surgical robot as set forth in claim 1, wherein the catheter manipulation handle (2) comprises an inner housing (21) and an outer housing (22), and the outer housing (22) is sleeved on the inner housing (21).
3. The sheath integrated cooperative manipulator for a cardiac interventional surgical robot of claim 2, wherein the rotational control module comprises: The rotating discs (214) are arranged at two ends of the long shafts (216), the rotating discs (214) are arranged in the inner shell (21) through the central shafts (217) and are rotatable, the two long shafts (216) are fixedly connected with the rotating discs (214) at the two ends, protrusions are arranged on the other side of the rotating discs (214), rotating contact pieces are fixedly arranged on two sides of each protrusion in the inner shell, and the rotating discs are used as corresponding direction rotating instructions under the condition that the protrusions of the rotating discs (214) contact the rotating contact pieces.
4. A sheath integrated cooperative manipulator for a cardiac interventional surgical robot as claimed in claim 3, wherein the outer housing (22) is coupled to the long shaft (216), and rotation of the outer housing (22) drives the long shaft (216) to rotate about the central shaft (217) to rotate the rotating disc (214) via the two long shafts to input a rotation command.
5. The integrated collaboration manipulator of the guide sheath for the cardiac interventional operation robot according to claim 1, wherein the bending control module comprises a bending deflector rod arranged at the front end of the catheter control handle (2), and the bending deflector rod is pushed back and forth to control the two-way bending of the head end of the catheter.
6. The sheath integrated cooperative manipulator for a cardiac interventional surgical robot as set forth in claim 1, wherein the sheath manipulation handle (1) comprises a propulsion control module and a rotation control module having the same structure as the catheter manipulation handle (2).
7. The sheath integrated cooperative manipulator for a cardiac interventional surgical robot of claim 1, wherein the base is further provided with a plurality of function buttons.

Description

Integrative cooperation manipulator of guide sheath that surgical robot was used is intervene to heart Technical Field The application relates to the technical field of medical equipment, in particular to a sheath integrated cooperative manipulator for a heart intervention operation robot. Background The traditional heart and blood vessel intervention operation robot generally controls the slave end actuator by the master end operator to drive the intervention medical instrument handle to conduct heart and blood vessel intervention operation, the master end operator is directly manually operated by operators to control the rotating bending and moving degrees of freedom of the internal traction steel wire hard intervention medical instrument, such as a treatment catheter and a guiding sheath, the operation rod of the traditional intervention operation robot is rocker type or key type, when the linear advancing back-pulling and/or rotating compound motion is conducted, the rocker type or key type operation needs to quantitatively split the original manual continuous action, because the high safety requirement of heart cavity and blood vessel intervention operation is met, although the quantized action is finer, the operation efficiency is greatly reduced, and because a plurality of rocker actions need to be combined, the in-place operation of the intervention instrument is easy to occur, the difficulty of the steel wire traction type hard intervention medical instrument is larger in-place accuracy control, in addition, the rocker type or key type operation mode is different from the manual direct operation traction type hard intervention operation instrument of doctors, the rocker type or key type operation mode needs to quantitatively split the original manual continuous operation, the learning mode is difficult to learn the continuous operation mode, and the curve cannot be learned by a long time, and the learning mode is not convenient, and the practical is convenient. Patent 202211329704.4 discloses a manipulation assembly, a manipulator, an interventional surgical robot and a control method, which relate to the field of vascular interventional surgery, wherein the manipulation assembly is configured to manipulate the rotation and/or movement of a wire-traction type hard interventional medical instrument, the manipulation assembly is configured to rotate with a central axis and/or move along the central axis, wherein the manipulation assembly is identical or opposite to the rotation direction and the movement direction of the wire-traction type hard interventional medical instrument manipulated by the manipulation assembly, the manipulation assembly is configured to manipulate the rotation and/or movement of the wire-traction type hard interventional medical instrument, the manipulation assembly is set to be identical or opposite to the rotation direction and the movement direction of the wire-traction type hard interventional medical instrument manipulated by the manipulation assembly, and the conventional manual continuous operation mode of doctors is realized through a multi-degree-of-freedom rocker decomposition action. But only can control the axial advance and retreat and circumferential rotation of the steel wire traction type hard interventional medical instrument, and can not control the bending of the steel wire traction type hard interventional medical instrument. Traditional cardiac intervention operation needs doctor to reach heart through human blood vessel to treat heart diseases such as atrial fibrillation under the guidance and monitoring of image equipment such as digital subtraction angiography machine, CT, ultrasound and nuclear magnetic resonance, and the current common cardiac intervention operation still adopts the mode that the operator directly manipulates the guide wire or the catheter, and has the defects of low operation stability, poor operation precision, operator affected by radiation and the like. Along with the vigorous development of the medical instrument industry, the existing surgical robot is controlled by a remote controller to replace the traditional handheld sheath catheter to complete the cardiac intervention operation, but the existing manipulator controlled by the robot is a rocker manipulator, so that the following problems exist: The surgical robot is operated by a game handle type controller, and when the surgical robot is operated, an operator usually pushes a rocker to control the forward and backward movement of the interventional catheter, rotates the rocker to control the circumferential rotation of the catheter, and then switches to another separated rotating knob to control the bending and loosening of the head end of the catheter. The core problem is that the traditional manual operation can be operated by left and right hands, the interventional instrument cooperative operation is completed continuously, and the rocker type manipulator disassembles a