CN111035453A - Catheter external anti-bending device for vascular cavity interventional surgical robot - Google Patents
Catheter external anti-bending device for vascular cavity interventional surgical robot Download PDFInfo
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- CN111035453A CN111035453A CN201911181055.6A CN201911181055A CN111035453A CN 111035453 A CN111035453 A CN 111035453A CN 201911181055 A CN201911181055 A CN 201911181055A CN 111035453 A CN111035453 A CN 111035453A
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- 238000005452 bending Methods 0.000 title claims abstract description 13
- 230000002792 vascular Effects 0.000 title abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims description 7
- 238000001356 surgical procedure Methods 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 claims description 5
- 238000000034 method Methods 0.000 description 7
- 210000004204 blood vessel Anatomy 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000000338 in vitro Methods 0.000 description 5
- 238000004659 sterilization and disinfection Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 239000008280 blood Substances 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- 238000002583 angiography Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000250 revascularization Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Media Introduction/Drainage Providing Device (AREA)
Abstract
本发明公开了一种用于血管腔内介入手术机器人的导管体外防弯曲装置，属于手术机器人技术领域，包括：固定安装座、推送安装座、弹簧、软管及导管；所述固定安装座固定在手术机器人上；软管的一端固定在固定安装座的通孔A内，另一端穿过推送安装座的通孔B后，与外部的拉紧机构连接；弹簧套装在处于直线紧绷状态的软管外部，且其两端分别与固定安装座和推送安装座固连；所述导管贯穿软管，其两端均伸出软管，且导管的头部通过拉杆与所述推送安装座固连，导管的尾部伸出于固定安装座；该装置能够防止导管在体外环境递送时受到阻力而弯曲，实现了导管轴向的安全推送。
The invention discloses an extracorporeal anti-bending device for a catheter used for an interventional surgical robot in a vascular cavity, belonging to the technical field of surgical robots, comprising: a fixed mounting seat, a push mounting seat, a spring, a hose and a catheter; the fixed mounting seat is fixed On the surgical robot; one end of the hose is fixed in the through hole A of the fixed mounting seat, and the other end is connected to the external tensioning mechanism after passing through the through hole B of the push mounting seat; the spring sleeve is set in the linear tight state. The outside of the hose, and its two ends are respectively fixedly connected with the fixed mounting seat and the push mounting seat; the conduit runs through the hose, and both ends protrude out of the hose, and the head of the conduit is fixed to the push mounting seat through a pull rod The tail of the catheter protrudes from the fixed mounting seat; the device can prevent the catheter from being bent due to resistance during delivery in the external environment, and realizes the safe axial push of the catheter.
Description
Technical Field
The invention belongs to the technical field of surgical robots, and particularly relates to a catheter in-vitro bending prevention device for a vascular cavity interventional surgical robot.
Background
The endovascular technology has become the basic means of vascular therapy, and most of the revascularization procedures performed at present need the technology. The operation of guide wire-catheter is the core content of the endovascular technology, determining the quality of the operation. Currently, the clinical doctor manually performs the positioning operation of the guide wire-catheter in the blood vessel of the patient by means of digital silhouette angiography imaging technology (DSA). Conventional passive guide wires, guide catheters, balloon catheters are basic instruments used in surgery. The robot device is used for positioning guide wires (catheters or other instruments, the same shall apply hereinafter), so that the positioning operation precision is improved, the fatigue of doctors is reduced, and the operation quality is improved.
The path limitation of the catheter during the extracorporeal delivery is an important factor that restricts the operation of the endovascular interventional surgical robot. During the process of delivering the catheter driven by the interventional operation robot, the catheter is easily bent and deformed due to the influence of the viscous force of blood and the friction force of a blood vessel wall on the catheter. Because the catheter body is restrained by the vessel wall, the catheter will not bend significantly during delivery, even if it is subjected to resistance. However, the catheter of the extracorporeal blood vessel is not limited by the vessel wall, and if the catheter of the extracorporeal part is not limited by the path, the catheter is obviously bent under the condition of the resistance, and the delivery of the catheter cannot be completed smoothly.
The current interventional operation robot adopts a telescopic sleeve structure similar to a radio antenna, the telescopic sleeve structure is made of hard plastics, the head end of an extravascular catheter is fixed at one end of the telescopic sleeve, meanwhile, the catheter penetrates through the telescopic sleeve, and the inner wall of the sleeve can limit the catheter from being obviously bent so as to achieve the aim that the catheter can be normally delivered in the interventional operation process.
The existing human body external path limiting scheme of the vascular cavity interventional operation catheter has the following problems:
1. at present, the vascular cavity interventional surgical robot uses a telescopic sleeve or a mode of placing clamps at equal intervals to prevent a catheter from bending. The telescopic sleeve is made of hard plastic and remains for a certain distance even if the sleeve is completely contracted. In this case, the catheter in the sleeve cannot be fed into the blood vessel, reducing the effective usable length of the catheter, and the manner of preventing the catheter from bending using the clamp is not reliable.
2. The telescopic sleeve is a structure formed by combining a plurality of hard cylinders with different outer diameters, and the outer diameter of the outermost cylinder is still large due to the manufacturing process and the hardness requirement. The catheter in the sleeve is easy to bend greatly, the damage to the catheter can be caused most seriously, and the clinical use requirement of the vascular cavity interventional surgical robot cannot be met.
3. Sterilization and disinfection are difficult. The telescopic sleeve is a semi-closed part, and tiny dust is easy to exist in the telescopic sleeve and is difficult to thoroughly eliminate. The dust may adhere to the catheter and enter the blood, endangering the patient's health.
Disclosure of Invention
In view of the above, the present invention provides an in vitro catheter bending prevention device for a robot for endovascular intervention surgery, which can prevent a catheter from bending due to resistance when delivered in an in vitro environment, so as to realize safe axial pushing of the catheter; and the device adopts hose and spring integrated configuration, can effectively reduce the external redundant length of pipe, increases the effective use length of pipe.
The invention is realized by the following technical scheme:
an in vitro catheter bending prevention device for an endovascular intervention surgical robot, comprising: the device comprises a fixed mounting seat, a pushing mounting seat, a spring, a hose and a conduit;
a through hole A for passing through a guide pipe is processed on the fixed mounting seat;
a through hole B for passing through a hose is processed on the pushing mounting seat;
an opening along the axial direction of the hose is processed on the outer circumferential surface of the hose;
the overall connection relationship is as follows: the fixed mounting seat is fixed on the surgical robot; one end of the hose is fixed in the through hole A of the fixed mounting seat, and the other end of the hose penetrates through the through hole B of the pushing mounting seat and is connected with an external tensioning mechanism which is used for tensioning the hose, so that the hose between the fixed mounting seat and the pushing mounting seat is in a linear tight state, and the end part of the hose extending out of the pushing mounting seat is outwards opened; the spring is sleeved outside the hose in a linear tight state, and two ends of the spring are fixedly connected with the fixed mounting seat and the pushing mounting seat respectively; the guide pipe penetrates through the hose, the hose extends out of two ends of the guide pipe, the head of the guide pipe is fixedly connected with the pushing mounting seat through the pull rod, and the tail of the guide pipe extends out of the fixing mounting seat.
Furthermore, the fixed mounting seat is formed by butting two split modules which are respectively a fixed seat A and a fixed seat B; processing has the mounting groove A that is used for passing through the pipe on the fixing base A, when fixing base A and fixing base B butt joint are as an organic whole, mounting groove A's opening side is sealed by fixing base B, forms through-hole A.
Further, the pushing installation seat is formed by butting two split modules, wherein the two split modules are a pushing seat A and a pushing seat B respectively; processing has the mounting groove B that is used for passing through the hose on the propelling movement seat B, when propelling movement seat A and propelling movement seat B butt joint as an organic whole, mounting groove B's opening side is closed by propelling movement seat A, forms through-hole B.
Has the advantages that: (1) the invention adopts a structure that the hose and the spring are mutually matched, the catheter can be pushed forwards and backwards in the hose in the delivery process, and the head part of the catheter and the pushing mounting seat can also extrude and stretch the spring, so that the catheter is always wrapped by the hose and the spring outside the body, and the catheter is prevented from being separated from the hose; the spring with high compression performance can be compressed to be very short, so that the effective use length of the catheter is increased; and the outer circumference of the hose is provided with an opening along the axial direction, so that the hose can be thoroughly cleaned, sterilized and disinfected, and the problems existing in the sleeve are solved.
(2) In the delivery process of the catheter, the hose is always in a tensioned state, so that the catheter can be prevented from being bent excessively under the wrapping of the hose, and the hose wrapped by the spring can prevent the catheter between the pushing mounting seat and the fixing mounting seat from sliding out of an opening of the hose; therefore, the spring and the hose are used as key parts of the catheter anti-bending device, the catheter is prevented from being separated from the catheter in a dual-guarantee mode, the stability of the catheter is greatly enhanced, the catheter can efficiently, stably and accurately complete external delivery operation in the using process, and the vascular cavity interventional surgical robot is more stable and safe.
(3) The invention adopts the spring with high compression performance, and the spring with high compression performance can be compressed to a very short length in the delivery process of the catheter, so that the length of the catheter between the pushing mounting seat and the fixing mounting seat is reduced, the length of the external part of the catheter is further reduced, the delivery length of the catheter to the blood vessel is increased, namely, the catheter which can not be delivered into the blood vessel in the operation is shortened, the effective use length of the catheter is increased, and the catheter can reach a farther lesion position in a human body.
(4) The outer circumferential surface of the hose is provided with the opening along the axial direction, so that the guide pipe after the mounting seat is pushed can be separated from the hose, the linear pushing of the guide pipe is ensured, and meanwhile, the opening is beneficial to the disinfection and sterilization operation of the guide pipe.
(5) The fixed mounting seat and the pushing mounting seat are in a structure formed by butt joint in a split mode, so that the operation of a doctor is facilitated, the upper half part can be opened to rapidly take out the catheter, the disinfection and sterilization treatment can be conveniently carried out, and the convenience of the operation of the vascular cavity interventional surgical robot is improved.
Drawings
FIG. 1 is a structural component diagram of the present invention;
FIG. 2 is a schematic structural view of the fixed mount of the present invention;
FIG. 3 is a schematic structural view of a push mount of the present invention;
wherein, 1-fixed seat A, 2-fixed seat B, 3-spring, 4-pushing seat A, 5-pushing seat B, 6-hose, 7-conduit.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The embodiment provides a catheter in-vitro bending-prevention device for a robot for endovascular intervention surgery, referring to fig. 1, comprising: the device comprises a fixed mounting seat, a pushing mounting seat, a spring 3, a hose 6 and a conduit 7;
referring to fig. 2, a through hole a for passing through the conduit 7 is formed on the fixed mounting seat; the fixed mounting seat is formed by butting two split modules which are respectively a fixed seat A1 and a fixed seat B2; the fixing seat A1 is provided with a mounting groove A for passing through the guide tube 7, and when the fixing seat A1 and the fixing seat B2 are butted into a whole, the opening side of the mounting groove A is closed by the fixing seat B2 to form the through hole A;
referring to fig. 3, a through hole B for passing the hose 6 is formed on the pushing mounting seat; the pushing mounting seat is formed by butting two split modules, wherein the two split modules are a pushing seat A4 and a pushing seat B5 respectively; a mounting groove B for passing through the hose 6 is processed on the pushing seat B5, and when the pushing seat A4 and the pushing seat B5 are butted into a whole, the opening side of the mounting groove B is closed by the pushing seat A4 to form the through hole B;
an opening along the axial direction of the hose 6 is processed on the outer circumferential surface of the hose;
the overall connection relationship is as follows: the fixed mounting seat is fixed on the surgical robot; one end of the hose 6 is fixed in the through hole A of the fixed mounting seat, and the other end of the hose 6 penetrates through the through hole B of the pushing mounting seat and then is connected with an external tensioning mechanism which is used for tensioning the hose 6 so that the hose 6 between the fixed mounting seat and the pushing mounting seat is in a linear tight state, the end part of the hose 6 extending out of the pushing mounting seat is outwards stretched and forms a certain included angle with the hose 6 in the linear tight state; the spring 3 is sleeved outside the hose 6 in a linear tight state, and two ends of the spring are fixedly connected with the fixed mounting seat and the pushing mounting seat respectively; the guide pipe 7 penetrates through the hose 6, the two ends of the guide pipe all extend out of the hose 6, the head of the guide pipe 7 is fixedly connected with the pushing mounting seat through a pull rod, and the tail of the guide pipe 7 extends out of the fixed mounting seat.
The working principle is as follows: when the catheter 7 is pushed, the head of the catheter 7 is driven to move towards the direction of the fixed mounting seat by pushing the pushing mounting seat, meanwhile, the spring 3 is compressed, the pushing mounting seat and the hose 6 move relatively, and as the hose 6 is always in a linear tight state, an opening in the axial direction of the hose 6 is processed on the outer circumferential surface of the hose 6, and a certain included angle is formed between the end part of the hose 6 and the hose 6 in the linear tight state, the catheter 7 moving in the hose 6 can be pushed linearly; the opening in the hose 6 ensures that the conduit 7 does not interfere with the head of the conduit 7 during its movement; the spring 3 serves to prevent the conduit 7 from being detached from the opening in the hose 6.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911181055.6A CN111035453B (en) | 2019-11-27 | 2019-11-27 | An extracorporeal catheter anti-bending device for an intravascular interventional surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911181055.6A CN111035453B (en) | 2019-11-27 | 2019-11-27 | An extracorporeal catheter anti-bending device for an intravascular interventional surgical robot |
Publications (2)
| Publication Number | Publication Date |
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| CN111035453A true CN111035453A (en) | 2020-04-21 |
| CN111035453B CN111035453B (en) | 2025-02-11 |
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| CN201911181055.6A Active CN111035453B (en) | 2019-11-27 | 2019-11-27 | An extracorporeal catheter anti-bending device for an intravascular interventional surgical robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114191084A (en) * | 2022-01-07 | 2022-03-18 | 北京万思医疗科技有限公司 | Long-distance guiding mechanism of disposable sterile catheter of vascular intervention operation robot |
| CN115430007A (en) * | 2022-09-08 | 2022-12-06 | 深圳市爱博医疗机器人有限公司 | Guidewire catheter delivery methods and devices |
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2019
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115430007A (en) * | 2022-09-08 | 2022-12-06 | 深圳市爱博医疗机器人有限公司 | Guidewire catheter delivery methods and devices |
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| Publication number | Publication date |
|---|---|
| CN111035453B (en) | 2025-02-11 |
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