技术领域technical field
本发明涉及医疗器械技术领域，特别是涉及一种微创血管介入手术机器人导管/导丝旋转推进装置。The invention relates to the technical field of medical devices, in particular to a catheter/guide wire rotary propulsion device for a minimally invasive vascular interventional surgery robot.
背景技术Background technique
据世界卫组织2018年的报告《World Health Statistics 2018》，全球大概4100万人在2016年因非传染性疾病死亡，所占死亡总数5700万的比例为71％。大多数非传染性死亡致死原因主要由四种非传染性疾病引起，即：心脑血管疾病致死1790万例，是非传染性疾病致死总数的44％；癌症致死900万人，占22％；慢性呼吸道疾病致死380万人，占9％；糖尿病致死160万人，占4％。致死率逐年递升，国内心脑血管疾病致死率亦不例外，据推算，患心脑血管疾病者达2.9余亿，其中有1300余万脑卒中病人，1100余万冠心病病人，1400余万各类心脏病病人，高达2.7余亿高血压病人。我国居民因疾病死亡的40％左右源于心脑血管疾病，远比肿瘤等疾病致死率高。心血管疾病患病致死导致的负担逐步加重，刻不容缓的防治成为严重的公共卫生问题。心血管疾病的治疗，需要先进行药物治疗，疗效不显著情况下，再进行较为先进的介入治疗。介入治疗包含血管内、外两种方式，历经30余年的发展，介入治疗可称支柱性学科，与外科、内科齐名。通俗讲，介入治疗不需要大面积的开刀，仅需要可通过导丝的通道在皮肤上作出大小仅几毫米，在如血管造影机、B超、透视机、MR、CT等的机器的帮助下检诊疗的的方法，其创伤很小而且术后几天就可以出院。微创血管介入手术以其创口小、创伤轻、痛苦少、恢复快的特点被越来越多的病人所接受。According to the World Health Organization's 2018 report "World Health Statistics 2018", approximately 41 million people worldwide died of non-communicable diseases in 2016, accounting for 71% of the total 57 million deaths. The majority of non-communicable deaths are mainly caused by four non-communicable diseases, namely: 17.9 million deaths from cardiovascular and cerebrovascular diseases, accounting for 44% of the total number of deaths from non-communicable diseases; 9 million deaths from cancer, accounting for 22%; Respiratory diseases killed 3.8 million people, accounting for 9%; diabetes killed 1.6 million people, accounting for 4%. The mortality rate is increasing year by year, and the mortality rate of cardiovascular and cerebrovascular diseases in China is no exception. According to estimates, there are more than 290 million people suffering from cardiovascular and cerebrovascular diseases, including more than 13 million stroke patients, more than 11 million coronary heart disease patients, and more than 14 million patients with various diseases. Heart disease patients, up to 270 million hypertensive patients. Cardiovascular and cerebrovascular diseases account for about 40% of the deaths of Chinese residents, which is far higher than the death rate of diseases such as tumors. The burden of death from cardiovascular diseases has gradually increased, and the urgent prevention and treatment has become a serious public health problem. The treatment of cardiovascular diseases requires drug therapy first, and more advanced interventional therapy if the curative effect is not significant. Interventional therapy includes both intravascular and external methods. After more than 30 years of development, interventional therapy can be called a pillar discipline, which is as famous as surgery and internal medicine. In layman's terms, interventional therapy does not require a large area of surgery, it only needs to be able to make a few millimeters in size on the skin through the channel of the guide wire, with the help of machines such as angiography, B-ultrasound, fluoroscopy, MR, CT, etc. The method of examination, diagnosis and treatment has very little trauma and can be discharged from the hospital in a few days after the operation. Minimally invasive vascular interventional surgery is accepted by more and more patients for its characteristics of small incision, light trauma, less pain and quick recovery.
传统人工介入手术的短处在其发展过程中逐步显现：(1)辐射；长时间暴露在X射线下，医护人员不可避免受到伤害，容易造成基因突变而生病。(2)疲劳；手术复杂，需时很久，长时间的手术过程中，需要站立、眼睛看造影机的影像，身体以及眼睛容易疲劳，可能出现眩晕感觉。(3)精度下降；身体疲劳导致动作僵硬，动作不到位导致的失误变多；疲劳会使得医生感觉不到导管导丝在血管中的阻力，手术效果变差。(4)经验至上；介入手术流程很复杂，医生手术培训严格，实际从事手术需经过很长时间过渡，医生经验很难得，相应患者的成本也提高了。The disadvantages of traditional manual interventional surgery gradually emerged during its development: (1) Radiation; long-term exposure to X-rays will inevitably cause medical staff to be injured, and it is easy to cause gene mutations and get sick. (2) Fatigue: The operation is complicated and takes a long time. During the long operation, you need to stand and watch the image of the contrast machine with your eyes. The body and eyes are prone to fatigue, and you may feel dizzy. (3) Decreased accuracy; physical fatigue leads to stiff movements, and more mistakes caused by inappropriate movements; fatigue will make doctors unable to feel the resistance of the catheter guide wire in the blood vessel, and the surgical effect will deteriorate. (4) Experience is paramount; interventional surgery procedures are very complicated, and doctors are strictly trained in surgery. It takes a long time to transition to actually perform surgery. Doctors' experience is hard to come by, and the cost of corresponding patients has also increased.
微创血管介入手术迅猛发展之下，介入手术机器人也发展迅速。其工作环境特殊，可靠性要求高，机构的设计和控制要求很高。人体内的血管错综复杂，壁薄分支多，给递送工作增加很大的难度，故而要求操作灵活，动作可靠，人工操作该过程，对操作者技术提出很高要求，人手难免的抖动和操作长时间的疲劳性大大的降低了手术可靠性。所以在前辈所研究的基础上，研究更可靠的机器人和智能控制的问题，完善机器人整体系统的实操性，是介入手术机器人发展进步的重要目标。现有的送管机构，一方面，需要医务人员将所输送的导管、导丝从装置一端穿入，操作起来费时费力；另一方面，电机与操作部分组件之间拆卸不方便，不利于术前消毒和数次使用后的更换。With the rapid development of minimally invasive vascular interventional surgery, interventional surgery robots are also developing rapidly. Its working environment is special, the reliability requirement is high, and the design and control requirements of the mechanism are very high. The blood vessels in the human body are intricate, thin-walled and have many branches, which adds great difficulty to the delivery work. Therefore, it is required to be flexible and reliable in operation. The manual operation of the process puts forward high requirements on the operator's skills, and the human hand will inevitably shake and operate for a long time. Fatigue greatly reduces the reliability of the operation. Therefore, on the basis of the research done by the predecessors, it is an important goal for the development and progress of interventional surgical robots to study more reliable robots and intelligent control issues, and to improve the practicality of the overall robot system. The existing tube delivery mechanism, on the one hand, requires medical personnel to penetrate the tube and guide wire from one end of the device, which is time-consuming and laborious to operate; Disinfect before use and replace after several uses.
发明内容Contents of the invention
本发明的目的是提供一种微创血管介入手术机器人导管/导丝旋转推进装置，以解决上述现有技术存在的问题，拆卸方便，且能够自动带动导管/导丝旋转和前进。The purpose of the present invention is to provide a minimally invasive vascular interventional surgery robotic catheter/guide wire rotary propulsion device to solve the above-mentioned problems in the prior art. It is easy to disassemble and can automatically drive the catheter/guide wire to rotate and advance.
为实现上述目的，本发明提供了如下方案：To achieve the above object, the present invention provides the following scheme:
本发明提供一种微创血管介入手术机器人导管/导丝旋转推进装置，包括底座，所述底座上水平设置有第一导轨，所述第一导轨上活动安装有第一滑块，所述第一滑块固定安装有同步带固定板，所述同步带固定板上固定有摆动座安装架，所述摆动座安装架上销接有摆动座，所述摆动座上安装有旋转电机，所述旋转电机的输出轴同轴连接有主动摩擦轮，所述主动摩擦轮配合连接有从动摩擦轮，所述摆动座上架设有夹丝杆；所述从动摩擦轮穿设于所述夹丝杆上，所述夹丝杆的内部沿其轴向开有偏心通孔，所述夹丝杆的前端侧壁上对称设置有两个凸起，所述夹丝杆的前端套设有夹丝端盖，所述夹丝端盖包括盖在所述夹丝杆端头的盖部、套设在所述夹丝杆的杆部的外筒部以及设置在其尾部的凸缘，所述外筒部上开设有沿其轴向设置的开槽，所述凸起可移动地设置在所述开槽内部，所述凸起与所述凸缘之间设置有开合弹簧，所述盖部具有与所述偏心通孔不同心的端盖通孔；所述摆动座上表面固定设置有第二导轨，所述第二导轨上活动设置有第二滑块，所述第二滑块上固定安装有夹丝端盖推块，所述夹丝端盖推块上固定安装有“L”型推板；所述摆动座上通过支架安装有开合电机，所述开合电机的输出轴上安装有偏心轮；所述偏心轮抵靠在所述夹丝端盖推块的“L”型推板一侧，所述夹丝端盖的尾端抵靠在所述夹丝端盖推块的“L”型推板另一侧。The present invention provides a minimally invasive vascular interventional surgery robot catheter/guide wire rotary propulsion device, including a base, a first guide rail is horizontally arranged on the base, a first slider is movably installed on the first guide rail, and the first guide rail is movably mounted on the first guide rail. A slider is fixedly installed with a timing belt fixing plate, and a swing seat mounting frame is fixed on the timing belt fixing plate, and a swing seat is pinned to the swing seat mounting frame, and a rotating motor is installed on the swing seat. The output shaft of the rotary motor is coaxially connected with an active friction wheel, and the active friction wheel is matched with a driven friction wheel, and a clamping screw rod is erected on the swing seat; the driven friction wheel is mounted on the clamping screw rod , the inside of the clamping rod has an eccentric through hole along its axial direction, two protrusions are symmetrically arranged on the front side wall of the clamping rod, and the front end of the clamping rod is provided with a clamping end cover , the wire clamping end cover includes a cover covering the end of the clamping wire rod, an outer cylinder sleeved on the rod of the clamping wire rod and a flange arranged at its tail, the outer cylinder A slot along its axial direction is opened on the top, the protrusion is movably arranged inside the slot, an opening and closing spring is provided between the protrusion and the flange, and the cover has a The eccentric through hole is not concentric with the through hole of the end cap; the upper surface of the swing seat is fixedly provided with a second guide rail, and a second slider is movably arranged on the second guide rail, and a second slider is fixedly installed on the second slider. The wire end cover push block is fixed with an "L" type push plate; the swing seat is equipped with an opening and closing motor through a bracket, and the output shaft of the opening and closing motor is installed with Eccentric wheel; the eccentric wheel abuts against the "L"-shaped push plate side of the wire end cover push block, and the tail end of the wire end cover abuts against the "L" push plate of the wire end cover push block. The other side of the L”-shaped push plate.
可选的，所述旋转推进装置还包括设置在所述底座两端的带轮座，其中一个所述带轮座上安装有移动电机，所述移动电机的输出轴同轴连接有主动带轮，未安装所述移动电机的所述带轮座上设置有从动带轮，所述主动带轮和所述从动带轮之间套设有同步带；所述同步带与所述同步带固定板固定连接。Optionally, the rotary propulsion device further includes pulley seats arranged at both ends of the base, one of the pulley seats is mounted with a moving motor, and the output shaft of the moving motor is coaxially connected to a driving pulley, A driven pulley is arranged on the pulley seat on which the moving motor is not installed, and a timing belt is sleeved between the driving pulley and the driven pulley; the timing belt is fixed to the timing belt Board fixed connection.
可选的，所述摆动座包括两个相互平行设置的夹丝杆下安装支架，所述夹丝杆下安装支架顶部开设有下凹的安装槽，所述夹丝杆通过轴承架设在所述夹丝杆下安装支架的安装槽上；所述主动摩擦轮位于两个所述夹丝杆下安装支架之间，所述旋转电机的输出轴穿过其中一个所述夹丝杆下安装支架后与所述主动摩擦轮连接。Optionally, the oscillating seat includes two lower mounting brackets for clamping rods arranged parallel to each other, and a concave installation groove is opened on the top of the lower mounting brackets for clamping screw rods, and the clamping rods are mounted on the On the mounting groove of the lower mounting bracket of the screw rod; the active friction wheel is located between the two lower mounting brackets of the screw rod, and the output shaft of the rotating motor passes through one of the lower mounting brackets of the screw rod Connect with the active friction wheel.
可选的，所述同步带固定板的上表面设置有多个栅格，所述同步带的带齿与所述栅格固定卡接。Optionally, the upper surface of the timing belt fixing plate is provided with a plurality of grids, and the teeth of the timing belt are fixedly engaged with the grids.
可选的，还包括固定导管/导丝机构，所述固定导管/导丝机构包括设置在所述底座前端的夹持固定架，所述夹持固定架顶端固定设置有夹持底座，所述夹持底座的上表面设置有与所述第一导轨垂直的第三导轨，所述第三导轨活动设置有第三滑块，所述第三滑块上依次固定连接有夹持导座和滑动底座；所述夹持底座包括两个竖直且相对设置的左端板和右端板，所述左端板和所述滑动底座之间设置有弹簧导杆，所述左端板上开设有导杆孔，所述弹簧导杆一端与所述滑动底座的一侧固定连接，另一端活动穿设于所述左端板的导杆孔内；所述弹簧导杆上套设有夹持弹簧，所述右端板与所述滑动底座相对的侧面上设置有固定橡胶块，所述滑动底座未连接所述弹簧导杆的一侧安装有活动橡胶块；所述夹持导座两侧安装有一体成型的下连接条板，所述下连接条板位于所述夹持底座两侧；所述夹持底座上还安装有夹持电机，所述夹持电机的输出轴上安装有变半径曲面球体，所述变半径曲面球体的外表面抵靠在所述夹持导座的下连接条板上。Optionally, it also includes a fixed catheter/wire guide mechanism, the fixed catheter/wire guide mechanism includes a clamping mount arranged at the front end of the base, and the top end of the clamping mount is fixedly provided with a clamping base, the The upper surface of the clamping base is provided with a third guide rail perpendicular to the first guide rail, the third guide rail is movably provided with a third slider, and the third slider is fixedly connected with a clamping guide seat and a sliding slider in sequence. Base; the clamping base includes two vertical and opposite left end plates and right end plates, a spring guide rod is arranged between the left end plate and the sliding base, and a guide rod hole is opened on the left end plate, One end of the spring guide rod is fixedly connected to one side of the sliding base, and the other end is movable through the guide rod hole of the left end plate; the spring guide rod is sleeved with a clamping spring, and the right end plate A fixed rubber block is provided on the side opposite to the sliding base, and a movable rubber block is installed on the side of the sliding base that is not connected to the spring guide rod; an integrally formed lower connection is installed on both sides of the clamping guide seat. Slats, the lower connecting slats are located on both sides of the clamping base; a clamping motor is also installed on the clamping base, and a variable radius curved sphere is installed on the output shaft of the clamping motor. The outer surface of the radius curved sphere leans against the lower connecting strip of the clamping guide seat.
可选的，所述变半径曲面球体结构为一虚拟抛物线绕一中心轴线旋转得到的曲面球体的一部分。Optionally, the variable-radius curved sphere structure is a part of a curved sphere obtained by rotating a virtual parabola around a central axis.
可选的，所述摆动座安装架包括与所述同步带固定板固定的安装架下底板，所述安装架下底板上垂直设置有安装支板，所述安装支板上安装有所述摆动座；所述安装架下底板的上表面上安装有压力传感器；所述压力传感器的测试端与所述摆动座的下底面接触。Optionally, the installation frame of the swing seat includes a lower bottom plate of the installation frame fixed to the fixed plate of the timing belt, a mounting support plate is vertically arranged on the lower bottom plate of the installation frame, and the swinging seat is installed on the installation support plate. seat; a pressure sensor is installed on the upper surface of the lower bottom plate of the installation frame; the test end of the pressure sensor is in contact with the lower bottom surface of the swing seat.
可选的，所述端盖通孔位于所述压丝端盖的中心位置处。Optionally, the through hole of the end cap is located at the center of the thread pressing end cap.
可选的，所述第一导轨具有相互平行的两条，每条所述第一导轨上均分别对称设置有两个所述第一滑块，四个所述第一滑块分别与所述同步带固定板连接。Optionally, the first guide rails have two parallel to each other, and each of the first guide rails is respectively symmetrically provided with two first sliders, and the four first sliders are respectively connected to the Timing belt fixed plate connection.
可选的，所述夹丝杆下安装支架上销接有夹丝杆上安装架，所述夹丝杆上安装架和夹丝杆下安装支架内均安装有翻边半轴瓦，所述夹丝杆安装在两个翻边半轴瓦组成的轴瓦内。Optionally, the upper mounting frame of the clamping rod is pinned to the lower mounting bracket of the clamping screw rod, the upper mounting bracket of the clamping screw rod and the lower mounting bracket of the clamping screw rod are both equipped with flanging half-bearing bushes, and the clamping rod The screw rod is installed in the bearing bush composed of two flanging half bearing bushes.
本发明相对于现有技术取得了以下技术效果：Compared with the prior art, the present invention has achieved the following technical effects:
本发明提供的微创血管介入手术机器人导管/导丝旋转推进装置，通过设计夹丝杆的偏心通孔与夹丝端盖的端盖通孔不同心，正常工作时在开合弹簧的作用下夹丝端盖可以将导管和导丝夹紧，从而在旋转电机的带动下夹丝杆可以带动导管和导丝旋转，当需要将导管和导丝松开时，只需进一步压缩开合弹簧使夹丝端盖与夹丝杆分开空隙，能够保证将导管和导丝夹紧。通过移动电机带动导管和导丝沿其轴向进退。被动摩擦轮与夹丝杆为一体，整机结构紧凑、体积小，质量轻。The robot catheter/guide wire rotary propulsion device for minimally invasive vascular interventional surgery provided by the present invention, through the design of the eccentric through hole of the clamping rod and the end cover through hole of the clamping wire end cover, is not concentric, and under the action of the opening and closing spring during normal operation The clamping wire end cap can clamp the catheter and the guide wire, so that the clamping rod can drive the catheter and the guide wire to rotate under the drive of the rotating motor. When it is necessary to loosen the catheter and the guide wire, you only need to further compress the opening and closing spring to make The clamping end cap and the clamping rod are separated by a gap, which can ensure the clamping of the catheter and the guide wire. The catheter and the guide wire are driven forward and backward along the axial direction by the moving motor. The passive friction wheel and the clamping screw are integrated, the whole machine is compact in structure, small in size and light in weight.
开合电机带动偏心轮旋转来自动推动夹丝端盖推块，使夹丝端盖夹紧或者松开导管和/或导丝。通过夹持电机带动变半径曲面球体旋转推动夹持导座运动，使固定橡胶块和活动橡胶块夹紧或者松开导管和导丝。本发明通过在安装架下底板的上表面和摆动座的下底面之间设置压力传感器实现力反馈，通过杠杆原理实时监测导管/导丝前端阻力，保证手术安全。用于安装夹丝杆的安装架采用上下两部分对接安装，便于将夹丝杆部分取下清洗，也可以作为一次性耗材抛弃，拆卸安装方便。The opening and closing motor drives the eccentric wheel to rotate to automatically push the wire clamp end cover push block, so that the wire clamp end cover clamps or loosens the catheter and/or guide wire. The variable-radius curved sphere is driven by the clamping motor to rotate and push the clamping guide seat to move, so that the fixed rubber block and the movable rubber block clamp or loosen the catheter and the guide wire. The present invention realizes force feedback by arranging a pressure sensor between the upper surface of the lower bottom plate of the mounting frame and the lower bottom surface of the swing seat, and monitors the resistance of the front end of the catheter/guide wire in real time through the leverage principle to ensure surgical safety. The mounting frame used to install the clamping rod is installed with the upper and lower parts docked, which is convenient to remove and clean the clamping rod part, and can also be discarded as a disposable consumable, which is convenient for disassembly and installation.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without paying creative labor.
图1是本发明微创血管介入手术机器人导管/导丝旋转推进装置的整体立体结构示意图；Fig. 1 is a schematic diagram of the overall three-dimensional structure of the robot catheter/guide wire rotary propulsion device for minimally invasive vascular interventional surgery of the present invention;
图2是本发明微创血管介入手术机器人导管/导丝旋转推进装置的导管/导丝旋转部分结构示意图；Fig. 2 is a structural schematic diagram of the catheter/guide wire rotating part of the minimally invasive vascular interventional surgery robot catheter/guide wire rotating propulsion device of the present invention;
图3是本发明微创血管介入手术机器人导管/导丝旋转推进装置的夹丝杆和夹丝端盖结构图；Fig. 3 is a structure diagram of the clamping rod and the clamping wire end cover of the minimally invasive vascular interventional surgery robot catheter/guide wire rotary propulsion device of the present invention;
图4是本发明微创血管介入手术机器人导管/导丝旋转推进装置的夹丝杆结构图；Fig. 4 is a structural diagram of the clamping rod of the minimally invasive vascular interventional surgery robot catheter/guide wire rotary propulsion device of the present invention;
图5是本发明微创血管介入手术机器人导管/导丝旋转推进装置的夹丝端盖结构图；Fig. 5 is a structure diagram of the clamp wire end cap of the minimally invasive vascular interventional surgery robot catheter/guide wire rotary propulsion device of the present invention;
图6是本发明微创血管介入手术机器人导管/导丝旋转推进装置的同步带固定板结构图；Fig. 6 is a structural diagram of the timing belt fixing plate of the robot catheter/guide wire rotary propulsion device for minimally invasive vascular interventional surgery of the present invention;
图7是本发明微创血管介入手术机器人导管/导丝旋转推进装置的固定导管/导丝机构示意图；Fig. 7 is a schematic diagram of the fixed catheter/guide wire mechanism of the minimally invasive vascular interventional surgery robot catheter/guide wire rotary propulsion device of the present invention;
附图标记说明：1、底座，2、第一导轨，3、第一滑块，4、同步带固定板，41、栅格，5、摆动座安装架，51、安装架下底板，52、安装支板，6、摆动座，61、夹丝杆下安装支架，62、夹丝杆上安装架，7、旋转电机，8、旋转电机安装架，9、主动摩擦轮，10、从动摩擦轮，11、夹丝杆，111、偏心通孔，112、凸起，12、夹丝端盖，121、盖部，122、外筒部，123、凸缘，124、开槽，125、端盖通孔，13、开合弹簧，14、带轮座，15、移动电机，16、移动电机安装架，17、主动带轮，18、从动带轮，19、同步带，20、第二导轨，21、第二滑块，22、夹丝端盖推块，23、开合电机，24、偏心轮，25、夹持固定架，26、夹持底座，261、左端板，262、右端板，27、第三导轨，28、第三滑块，29、滑动底座，30、夹持导座,31、弹簧导杆，32、夹持弹簧，33、固定橡胶块，34、活动橡胶块，35、夹持电机，36、变半径曲面球体，37、压力传感器，38、翻边半轴瓦。Description of reference signs: 1, base, 2, the first guide rail, 3, the first slide block, 4, the timing belt fixed plate, 41, the grid, 5, the swing seat mounting frame, 51, the bottom plate of the mounting frame, 52, Install support plate, 6, swing seat, 61, mounting bracket under clamping screw rod, 62, mounting frame on clamping screw rod, 7, rotating motor, 8, rotating motor mounting frame, 9, driving friction wheel, 10, driven friction wheel , 11, clamping screw rod, 111, eccentric through hole, 112, protrusion, 12, clamping wire end cover, 121, cover part, 122, outer cylinder part, 123, flange, 124, slotting, 125, end cover Through hole, 13, opening and closing spring, 14, pulley seat, 15, moving motor, 16, moving motor mounting bracket, 17, driving pulley, 18, driven pulley, 19, synchronous belt, 20, second guide rail , 21, the second slider, 22, the wire end cover push block, 23, the opening and closing motor, 24, the eccentric wheel, 25, the clamping fixed frame, 26, the clamping base, 261, the left end plate, 262, the right end plate , 27, the third guide rail, 28, the third slider, 29, the sliding base, 30, the clamping guide seat, 31, the spring guide rod, 32, the clamping spring, 33, the fixed rubber block, 34, the movable rubber block, 35, clamping motor, 36, variable-radius curved surface sphere, 37, pressure sensor, 38, flanging half-bearing bush.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
本发明的目的是提供一种微创血管介入手术机器人导管/导丝旋转推进装置，以解决上述现有技术存在的问题，拆卸方便，且能够自动带动导管/导丝旋转和前进。The purpose of the present invention is to provide a minimally invasive vascular interventional surgery robotic catheter/guide wire rotary propulsion device to solve the above-mentioned problems in the prior art. It is easy to disassemble and can automatically drive the catheter/guide wire to rotate and advance.
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
实施例一Embodiment one
本发明所述的“前”是指在手术时向血管中穿入导管/导丝的前进方向，与其相反方向为“后”，本说明中方向词汇如“前”、“后”、“左”、“右”、“上”、“下”等仅仅是为了解释本发明创造，便于理解使用，而不应该被考虑用来限定权利范围。The "front" in the present invention refers to the advancing direction of the catheter/guide wire inserted into the blood vessel during the operation, and the opposite direction is "back". ", "right", "upper", "lower" and so on are only used to explain the invention and facilitate understanding and use, and should not be considered to limit the scope of rights.
本发明提供一种微创血管介入手术机器人导管/导丝旋转推进装置，如图1-图7所示，包括底座1、水平设置底座1上表面的第一导轨2、卡设在第一导轨2上并沿其移动的第一滑块3、固定在第一滑块3上的同步带固定板4、固定在同步带固定板4上的摆动座安装架5、与摆动座安装架5销接的摆动座6、通过旋转电机安装架8安装在摆动座6上的旋转电机7、与旋转电机7输出轴同轴连接的主动摩擦轮9、与主动摩擦轮9相配合的从动摩擦轮10以及架设在摆动座6上的夹丝杆11；从动摩擦轮10安装在夹丝杆11上，夹丝杆11的内部沿其轴向开有偏心通孔111，夹丝杆11的前端具有沿其径向延伸的凸起112，夹丝杆11的前端套设有夹丝端盖12、夹丝端盖12包括盖在夹丝杆11端头的盖部121、套设在夹丝杆11的杆部的外筒部122以及设置在其尾部的凸缘123，外筒部122上开设有沿其轴向设置的开槽124，凸起112可移动地设置在开槽124内部，凸起112与凸缘123之间设置有开合弹簧13，盖部121具有与偏心通孔111不同心的端盖通孔125，本实施例中，端盖通孔125位于夹丝端盖12的中心位置。The present invention provides a robotic catheter/guide wire rotary propulsion device for minimally invasive vascular interventional surgery, as shown in Fig. 1-Fig. 2 and the first slider 3 moving along it, the timing belt fixing plate 4 fixed on the first slider 3, the swing seat mounting frame 5 fixed on the timing belt fixing plate 4, and the swing seat mounting frame 5 pins The connected swing seat 6, the rotary motor 7 installed on the swing seat 6 through the rotary motor mounting bracket 8, the driving friction wheel 9 coaxially connected with the output shaft of the rotary motor 7, and the driven friction wheel 10 matched with the driving friction wheel 9 And the clamp screw rod 11 erected on the swing seat 6; the driven friction wheel 10 is installed on the clamp screw rod 11, and the inside of the clamp screw rod 11 has an eccentric through hole 111 along its axial direction, and the front end of the clamp screw rod 11 has an Its radially extending protrusion 112, the front end of the clamping rod 11 is covered with a clamping wire end cover 12, the clamping wire end cover 12 includes a cover 121 covering the end of the clamping screw 11, sleeved on the clamping rod 11 The outer cylindrical portion 122 of the rod portion and the flange 123 arranged at its tail, the outer cylindrical portion 122 is provided with a slot 124 arranged along its axial direction, the protrusion 112 is movably arranged inside the slot 124, and the protrusion 112 and the flange 123 are provided with an opening and closing spring 13, and the cover 121 has an end cap through hole 125 that is not concentric with the eccentric through hole 111. In this embodiment, the end cap through hole 125 is located at the center of the wire end cap 12 Location.
参见图1，旋转推进装置还包括设置在底座1两端的带轮座14、通过移动电机安装架16安装在其中一个带轮座14上的移动电机15、与移动电机15的输出轴同轴连接的主动带轮17、安装在另一个带轮座14上的从动带轮18以及套设在主动带轮17和从动带轮18之间的同步带19。同步带19与同步带固定板4固定连接，本实施例中，参见图6，同步带固定板4的表面上设置有多个栅格41，同步带19的带齿卡设在栅格41内使二者固定。Referring to Fig. 1, the rotary propulsion device also includes pulley seats 14 arranged at both ends of the base 1, a moving motor 15 mounted on one of the pulley seats 14 through a moving motor mounting frame 16, and coaxially connected with the output shaft of the moving motor 15 A driving pulley 17, a driven pulley 18 installed on another pulley seat 14, and a synchronous belt 19 that is sleeved between the driving pulley 17 and the driven pulley 18. The timing belt 19 is fixedly connected to the timing belt fixing plate 4. In this embodiment, referring to FIG. 6, a plurality of grids 41 are arranged on the surface of the timing belt fixing plate 4, and the teeth of the timing belt 19 are clamped in the grids 41 make both fixed.
本实施例中，旋转推进装置还包括固定在摆动座6上表面的第二导轨20、卡设在第二导轨20上并可沿其移动的第二滑块21、固定在第二滑块21上的夹丝端盖推块22、通过支架安装在摆动座6上的开合电机23、偏心安装在开合电机23输出轴上的偏心轮24；偏心轮24抵靠在夹丝端盖推块22上，夹丝端盖推块22抵靠在夹丝端盖12的尾端。In this embodiment, the rotary propulsion device also includes a second guide rail 20 fixed on the upper surface of the swing base 6, a second slider 21 that is clamped on the second guide rail 20 and can move along it, and a second slider 21 fixed on the second slider 21. The wire end cover push block 22 on the top, the opening and closing motor 23 installed on the swing seat 6 through the bracket, the eccentric wheel 24 eccentrically installed on the output shaft of the opening and closing motor 23; the eccentric wheel 24 leans against the wire end cover push On the block 22 , the wire end cover push block 22 abuts against the tail end of the wire end cover 12 .
本实施例中，参见如1和图2，摆动座6包括两相互平行设置的夹丝杆下安装支架61，夹丝杆11通过轴承架设在夹丝杆下安装支架61上。夹丝杆下安装支架61上销接有夹丝杆上安装架62，夹丝杆上安装架62和夹丝杆下安装支架61内均安装有翻边半轴瓦38，夹丝杆11安装在两翻边半轴瓦38组成的轴瓦内。通过打开夹丝杆上安装架62可将夹丝杆11取出，便于术后清洗，也可将夹丝杆11、从动摩擦轮10、夹丝端盖12和开合弹簧13做成一次性可抛件，下次手术直接换新，方便卫生。In this embodiment, referring to FIG. 1 and FIG. 2 , the swing seat 6 includes two lower mounting brackets 61 arranged parallel to each other, and the screw rod 11 is erected on the lower mounting brackets 61 through bearings. The lower mounting bracket 61 of the clamping screw is pin-connected with the upper mounting bracket 62 of the clamping screw, and the upper mounting bracket 62 of the clamping screw and the lower mounting bracket 61 of the clamping screw are all equipped with flanging half-bearing bushes 38, and the clamping screw 11 is installed on In the bearing bush that two flanging half bearing bushes 38 form. The screw rod 11 can be taken out by opening the mounting bracket 62 on the screw rod, which is convenient for postoperative cleaning. The screw rod 11, driven friction wheel 10, wire end cover 12 and opening and closing spring 13 can also be made into disposable Throw away the parts and replace them with new ones next time, which is convenient and hygienic.
结合图1和图7，本实施例还包括固定导管/导丝机构，固定导管/导丝机构包括设置在底座1前端的夹持固定架25、底座1的前端还设置有夹持固定架25、设置在夹持固定架25顶端的夹持底座26、设置在夹持底座26上表面的第三导轨27、卡设在第三导轨27上并可沿其移动的第三滑块28、固定在第三滑块28上的夹持导座30以及固定在第三滑块28上的滑动底座29；夹持底座26包括两相对设置的左端板261和右端板262，左端板261和滑动底座29之间固定有弹簧导杆31、弹簧导杆31上套设有夹持弹簧32、右端板262与滑动底座29相对的侧面上分别设置有固定橡胶块33和活动橡胶块34，两个橡胶块可以夹持导管，固定导管的同时可以防止其损坏；夹持底座26上还安装有夹持电机35，夹持电机35的输出轴上安装有外表面抵靠在夹持导座30上的变半径曲面球体36。变半径曲面球体36可选为一抛物线绕一中心轴线旋转得到的曲面球体的一部分。1 and 7, this embodiment also includes a fixed catheter/wire guide mechanism, the fixed catheter/wire guide mechanism includes a clamping and fixing frame 25 arranged at the front end of the base 1, and the front end of the base 1 is also provided with a clamping and fixing frame 25 , the clamping base 26 that is arranged on the top of the clamping fixture 25, the third guide rail 27 that is arranged on the upper surface of the clamping base 26, the third slider 28 that is clamped on the third guide rail 27 and can move along it, fixed The clamping guide seat 30 on the third slide block 28 and the slide base 29 fixed on the third slide block 28; the clamp base 26 includes two opposite left end plates 261 and right end plates 262, the left end plate 261 and the slide base 29 is fixed with a spring guide rod 31, the spring guide rod 31 is covered with a clamping spring 32, the right end plate 262 is respectively provided with a fixed rubber block 33 and a movable rubber block 34 on the side opposite to the sliding base 29, two rubber blocks The block can clamp the conduit, and it can be prevented from being damaged while the conduit is fixed; the clamping motor 35 is also installed on the clamping base 26, and the output shaft of the clamping motor 35 is equipped with an outer surface against the clamping guide seat 30. Variable radius curved sphere 36. The variable-radius curved sphere 36 can be selected as a part of a curved sphere obtained by rotating a parabola around a central axis.
摆动座安装架5包括与同步带固定板4固定的安装架下底板51以及垂直于安装架下底板51的用来安装摆动座6的安装支板52；安装架下底板51的上表面上安装有压力传感器37；压力传感器37的测试端与摆动座6的下底面接触。The swing seat installation frame 5 comprises the mounting frame bottom plate 51 fixed with the synchronous belt fixed plate 4 and the mounting support plate 52 that is used to install the swing seat 6 perpendicular to the mounting frame bottom plate 51; There is a pressure sensor 37; the test end of the pressure sensor 37 is in contact with the lower bottom surface of the swing seat 6.
本实施例中，第一导轨2具有相互平行的两条，同步带固定板4的四个角分别具有一个第一滑块3。In this embodiment, two first guide rails 2 are parallel to each other, and four corners of the timing belt fixing plate 4 are respectively provided with a first slider 3 .
本发明实施例的具体工作过程为：The specific work process of the embodiment of the present invention is:
首先将导管穿入夹丝杆11的偏心通孔111中，通过启动开合电机23带动偏心轮24转动，进而推动夹丝端盖推块22向前移动，压缩开合弹簧13，使夹丝端盖12的盖部121与夹丝杆11的端部脱离，此时导管可以自由前后移动；当导管从夹丝杆11前端伸出一定长度后，再次启动开合电机23，带动偏心轮24转动，使开合弹簧13向后张开，夹丝端盖12与夹丝杆11前端压紧，由于导管穿过的偏心通孔111与端盖通孔125不同心，导致导管被压紧，导管此时不能自由在偏心通孔111中转动和移动。若需要旋转导管，则启动旋转电机7，通过主动摩擦轮9驱动从动摩擦轮10进而带动夹丝杆11旋转，实现导管的旋转。若需要将导管向前推进或后退，则启动移动电机15，通过同步带19带动同步带固定板4以上的夹丝杆11前后移动。导丝穿在导管内，并最终从导管的最前端穿出进行手术。First, the catheter is inserted into the eccentric through hole 111 of the clamping screw rod 11, and the eccentric wheel 24 is driven to rotate by starting the opening and closing motor 23, and then the pushing block 22 of the clamping wire end cover is pushed to move forward, and the opening and closing spring 13 is compressed to make the clamping wire The cover portion 121 of the end cap 12 is separated from the end of the clamping rod 11, and now the conduit can move forward and backward freely; when the conduit stretches out from the front end of the clamping rod 11 for a certain length, the opening and closing motor 23 is started again to drive the eccentric wheel 24 Rotate to make the opening and closing spring 13 open backward, and the clamping wire end cover 12 is pressed against the front end of the clamping wire rod 11. Since the eccentric through hole 111 through which the conduit passes is not concentric with the end cover through hole 125, the conduit is compressed. At this time, the conduit cannot freely rotate and move in the eccentric through hole 111 . If the catheter needs to be rotated, the rotating motor 7 is started, and the driven friction wheel 10 is driven by the driving friction wheel 9 to drive the clamping screw 11 to rotate to realize the rotation of the catheter. If the catheter needs to be advanced or retreated, start the moving motor 15, and drive the clamping screw 11 above the timing belt fixing plate 4 to move back and forth by the timing belt 19. A guide wire is threaded inside the catheter and eventually out the front end of the catheter for the procedure.
介入手术中，若医生根据手术的要求，导管导丝最终需要实现轴向进给和绕轴向旋转两个自由度的运动，而若实现导丝导管的此两项动作，目前的实现方式一般靠直接接触导管产生的正压力，以在压力下产生的摩擦力来实现。然而在被操作对象，即导管/导丝非常细的情况下(最细不足1mm)，靠摩擦来实现导丝和导管的轴向进给和绕自身轴线的旋转，对机构的结构和材料要求非常高，可靠性难以保证。为规避此问题，本发明通过独特设计的夹丝杆11和夹丝端盖12组成的机构，如图1-5，导管/导丝通过夹丝杆11和夹丝端盖12之间的偏心孔之间的压力，从而使其与夹丝杆11固定。通过夹丝杆11将导管/导丝夹住，如此可视直径很小的导丝和导管为一体，这样就可以通过动作夹丝杆11来完成导丝和导管的轴向进给以及周向旋转。In interventional surgery, if the doctor meets the requirements of the operation, the catheter guide wire needs to achieve two degrees of freedom of axial feed and axial rotation. However, if these two actions of the guide wire catheter are realized, the current implementation method is generally It is achieved by the positive pressure generated by direct contact with the catheter, and the friction generated under pressure. However, in the case of the operated object, that is, the catheter/guide wire is very thin (the thinnest is less than 1mm), the axial feed and rotation around its own axis of the guide wire and catheter are realized by friction, which requires the structure and material of the mechanism. Very high, reliability is difficult to guarantee. In order to avoid this problem, the present invention uses a mechanism composed of a uniquely designed clamping rod 11 and a clamping wire end cover 12, as shown in Figure 1-5, the catheter/guide wire passes through the eccentricity between the clamping wire rod 11 and the clamping wire end cover 12. The pressure between the holes, so that it is fixed with the screw rod 11. The catheter/guide wire is clamped by the clamping rod 11, so that the guide wire with a small diameter can be integrated with the catheter, so that the axial feed and the circumferential direction of the guide wire and catheter can be completed by moving the clamping rod 11. rotate.
固定导管/导丝机构的弹簧导杆31一端与滑动底座29的一侧固定连接，另一端活动穿设于左端板261的导杆孔内，从而弹簧导杆31可以在滑动底座29的带动下在导杆孔内水平移动，夹持弹簧32产生的压力可以使其自动复位，固定橡胶块33和活动橡胶块34用于固定起导航作用的递送进血管的粗导管，除此之外，在可前后移动的部分空程返回时，固定导管和导丝，避免导管和导丝从血管内抽回。One end of the spring guide rod 31 of the fixed catheter/guide wire mechanism is fixedly connected to one side of the sliding base 29, and the other end is movably installed in the guide rod hole of the left end plate 261, so that the spring guide rod 31 can be driven by the sliding base 29 Move horizontally in the hole of the guide rod, the pressure generated by the clamping spring 32 can make it reset automatically, the fixed rubber block 33 and the movable rubber block 34 are used to fix the thick catheter delivered into the blood vessel for navigation, in addition, in When the part of the space that can move back and forth returns, the catheter and guide wire are fixed to prevent the catheter and guide wire from being withdrawn from the blood vessel.
本发明中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处。综上所述，本说明书内容不应理解为对本发明的限制。In the present invention, specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the method and core idea of the present invention; meanwhile, for those of ordinary skill in the art, according to the present invention The idea of the invention will have changes in the specific implementation and scope of application. In summary, the contents of this specification should not be construed as limiting the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910445602.0ACN110151310B (en) | 2019-05-27 | 2019-05-27 | A Minimally Invasive Vascular Intervention Robotic Catheter/Guide Wire Rotary Propulsion Device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910445602.0ACN110151310B (en) | 2019-05-27 | 2019-05-27 | A Minimally Invasive Vascular Intervention Robotic Catheter/Guide Wire Rotary Propulsion Device |
| Publication Number | Publication Date |
|---|---|
| CN110151310Atrue CN110151310A (en) | 2019-08-23 |
| CN110151310B CN110151310B (en) | 2020-08-25 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910445602.0AActiveCN110151310B (en) | 2019-05-27 | 2019-05-27 | A Minimally Invasive Vascular Intervention Robotic Catheter/Guide Wire Rotary Propulsion Device |
| Country | Link |
|---|---|
| CN (1) | CN110151310B (en) |
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| CN111588471A (en)* | 2020-06-23 | 2020-08-28 | 四川大学 | Robot for vascular intervention operation |
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| CN113827342A (en)* | 2021-10-12 | 2021-12-24 | 复旦大学 | A robotic guide wire delivery twisting device for minimally invasive vascular interventional surgery |
| CN114082081A (en)* | 2021-11-19 | 2022-02-25 | 北京邮电大学 | Blood vessel intervention operation robot with rotary friction wheel |
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| CN115969523A (en)* | 2023-02-10 | 2023-04-18 | 知脉(上海)机器人有限公司 | Slender instrument driving device and surgical robot |
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| CN101999941A (en)* | 2010-11-29 | 2011-04-06 | 燕山大学 | Tube and wire feeding device for intravascular intervention surgical robot |
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| CN102462536A (en)* | 2010-11-18 | 2012-05-23 | 无锡佑仁科技有限公司 | Duct propulsion operating device for vascular intervention surgical robot |
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| CN106880380A (en)* | 2017-03-21 | 2017-06-23 | 上海大学 | Blood vessel intervention operation wire catheter operation device |
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| CN108514448A (en)* | 2017-12-14 | 2018-09-11 | 深圳先进技术研究院 | Blood vessel intervention operation robot guide wire, conduit control device |
| CN108704214A (en)* | 2018-04-28 | 2018-10-26 | 燕山大学 | Interventional surgery robotic catheter/seal wire rotating mechanism and propulsion device |
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| CN87106192A (en)* | 1987-04-22 | 1988-11-02 | 鲁德维格·希麦特 | Injection instruments for artificial insemination or embryo transfer, etc. |
| WO2010091212A1 (en)* | 2009-02-04 | 2010-08-12 | Blatter Duane D | Blood filter retrieval devices and methods |
| US20110130718A1 (en)* | 2009-05-25 | 2011-06-02 | Kidd Brian L | Remote Manipulator Device |
| CN102462536A (en)* | 2010-11-18 | 2012-05-23 | 无锡佑仁科技有限公司 | Duct propulsion operating device for vascular intervention surgical robot |
| CN101999941A (en)* | 2010-11-29 | 2011-04-06 | 燕山大学 | Tube and wire feeding device for intravascular intervention surgical robot |
| US9999751B2 (en)* | 2013-09-06 | 2018-06-19 | Catheter Precision, Inc. | Adjustable nose cone for a catheter positioning system |
| CN106714714A (en)* | 2014-06-05 | 2017-05-24 | 奥蒂科勒勃有限责任公司 | Transcatheter device for the ablation of calcified tissue at the flaps of an aortic valve |
| CN205737340U (en)* | 2016-06-23 | 2016-11-30 | 河南虹光精工电气有限公司 | Catheter anchoring system |
| CN106880380A (en)* | 2017-03-21 | 2017-06-23 | 上海大学 | Blood vessel intervention operation wire catheter operation device |
| CN107374737A (en)* | 2017-07-06 | 2017-11-24 | 北京理工大学 | A kind of intervention operation robot catheter guide wire cooperating system and its control method |
| CN108514448A (en)* | 2017-12-14 | 2018-09-11 | 深圳先进技术研究院 | Blood vessel intervention operation robot guide wire, conduit control device |
| CN108704214A (en)* | 2018-04-28 | 2018-10-26 | 燕山大学 | Interventional surgery robotic catheter/seal wire rotating mechanism and propulsion device |
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| US11504020B2 (en) | 2019-10-15 | 2022-11-22 | Imperative Care, Inc. | Systems and methods for multivariate stroke detection |
| US12186064B2 (en) | 2019-10-15 | 2025-01-07 | Kandu Health, Inc. | Systems and methods for multivariate stroke detection |
| CN111035453A (en)* | 2019-11-27 | 2020-04-21 | 北京理工大学 | Catheter external anti-bending device for vascular cavity interventional surgical robot |
| CN110974423A (en)* | 2019-12-20 | 2020-04-10 | 郑州大学 | Two-degree-of-freedom master hand with force feedback for gastrointestinal endoscopic surgery |
| CN111588967A (en)* | 2020-04-29 | 2020-08-28 | 江西省人民医院 | Cardiovascular anesthesia interventional therapy device |
| CN111588471A (en)* | 2020-06-23 | 2020-08-28 | 四川大学 | Robot for vascular intervention operation |
| CN111811721A (en)* | 2020-09-01 | 2020-10-23 | 上海介入医疗器械有限公司 | Flexible rod pushing resistance detection system and method |
| CN111811721B (en)* | 2020-09-01 | 2021-01-12 | 上海介入医疗器械有限公司 | Flexible rod pushing resistance detection system and method |
| CN112656512A (en)* | 2020-12-31 | 2021-04-16 | 北京唯迈医疗设备有限公司 | Disinfection box suitable for double-wire interventional operation robot |
| CN112790865A (en)* | 2021-01-05 | 2021-05-14 | 上海海事大学 | A medical redundant protective wire motion carrying module with electromagnetic environment compatibility |
| CN112790865B (en)* | 2021-01-05 | 2021-11-05 | 上海海事大学 | Medical redundant protection line motion carrying module with electromagnetic environment compatibility |
| GB2621095A (en)* | 2021-05-26 | 2024-01-31 | Prec Robotics Hong Kong Limited | Robotic surgery device and feeding system |
| WO2022247504A1 (en)* | 2021-05-26 | 2022-12-01 | Precision Robotics (Hong Kong) Limited | Robotic surgery device and feeding system |
| US12376928B2 (en) | 2021-08-12 | 2025-08-05 | Imperative Care, Inc. | Catheter drive system for supra-aortic access |
| US12232838B2 (en) | 2021-08-12 | 2025-02-25 | Imperative Care, Inc. | Method of robotically performing a neurovascular procedure |
| CN113827342A (en)* | 2021-10-12 | 2021-12-24 | 复旦大学 | A robotic guide wire delivery twisting device for minimally invasive vascular interventional surgery |
| CN113827342B (en)* | 2021-10-12 | 2024-06-25 | 复旦大学 | Minimally invasive vascular interventional operation robot guide wire delivery twisting device |
| CN114082081B (en)* | 2021-11-19 | 2022-12-30 | 北京邮电大学 | Blood vessel intervention operation robot with rotary friction wheel |
| CN114082081A (en)* | 2021-11-19 | 2022-02-25 | 北京邮电大学 | Blood vessel intervention operation robot with rotary friction wheel |
| WO2023125438A1 (en)* | 2021-12-31 | 2023-07-06 | 沛嘉医疗科技(苏州)有限公司 | Delivery device and surgical robot system |
| WO2023142290A1 (en)* | 2022-01-29 | 2023-08-03 | 深圳市爱博医疗机器人有限公司 | Interventional medical instrument auxiliary apparatus |
| CN114587616B (en)* | 2022-02-23 | 2023-04-25 | 上海奥朋医疗科技有限公司 | Guide wire catheter conveying device |
| CN114587616A (en)* | 2022-02-23 | 2022-06-07 | 上海奥朋医疗科技有限公司 | Guide wire catheter conveying device |
| CN115252134B (en)* | 2022-06-29 | 2024-01-23 | 上海神玑医疗科技有限公司 | Clamping device for interventional operation, rotary driving mechanism and operation robot |
| CN115252134A (en)* | 2022-06-29 | 2022-11-01 | 上海神玑医疗科技有限公司 | Clamping device for interventional operation, rotary driving mechanism and surgical robot |
| US12419703B2 (en) | 2022-08-01 | 2025-09-23 | Imperative Care, Inc. | Robotic drive system for achieving supra-aortic access |
| US12329397B2 (en) | 2022-08-02 | 2025-06-17 | Imperative Care, Inc. | Fluidics management system |
| USD1069809S1 (en) | 2022-08-25 | 2025-04-08 | Kandu Health, Inc. | Display screen or portion thereof with graphical user interface |
| US12440289B2 (en) | 2022-12-01 | 2025-10-14 | Imperative Care, Inc. | Method of priming an interventional device assembly |
| US12433702B2 (en) | 2022-12-01 | 2025-10-07 | Imperative Care, Inc. | Telescoping drive table |
| CN115886951A (en)* | 2022-12-08 | 2023-04-04 | 西安交通大学医学院第一附属医院 | An interventional treatment device for vascular embolism |
| CN115969523A (en)* | 2023-02-10 | 2023-04-18 | 知脉(上海)机器人有限公司 | Slender instrument driving device and surgical robot |
| US12377206B2 (en) | 2023-05-17 | 2025-08-05 | Imperative Care, Inc. | Fluidics control system for multi catheter stack |
| CN116983533B (en)* | 2023-09-26 | 2023-12-29 | 沛嘉医疗科技(苏州)有限公司 | Delivery device and surgical robot system |
| CN116983533A (en)* | 2023-09-26 | 2023-11-03 | 沛嘉医疗科技(苏州)有限公司 | Delivery device and surgical robot system |
| Publication number | Publication date |
|---|---|
| CN110151310B (en) | 2020-08-25 |
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| CN110151310B (en) | A Minimally Invasive Vascular Intervention Robotic Catheter/Guide Wire Rotary Propulsion Device | |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |