CN209137698U - A kind of catheter controller - Google Patents

Abstract

The utility model discloses a catheter controller used for interventional surgery or angiography or interventional surgery training, which belongs to the technical field of minimally invasive vascular interventional surgery. The catheter controller includes a catheter main body, a catheter clamping device, a guide wire auxiliary fastening mechanism, a force sensor and an adjustable base. The contrast agent can be injected from the upper part of the catheter to solve the problem that the existing robot is difficult to complete the coordinated operation of the catheter and the guide wire. The six-axis force sensor is installed on the device, so that the doctor's hand can remotely sense the resistance generated during the movement process, and achieve more accurate. operate.

Description

A catheter controller

technical field

The utility model belongs to the technical field of minimally invasive vascular interventional surgery, and relates to a catheter controller and a using method thereof. The catheter controller and the guide wire controller are installed on the operating platform in combination to control the catheter and the guide wire to complete the clamping, pushing, twisting, force measurement and force feedback of the catheter, which can be used for angiography, interventional surgery virtual reality surgery Training and surgical practice.

Background technique

Cardiovascular disease is the most common type of disease in human beings, and it is a major cause of death in the world's population, which seriously threatens human health. Cardiovascular and cerebrovascular diseases have become one of the three major causes of death in human diseases. Every year, 16.7 million people die from cardiovascular and cerebrovascular diseases in the world, accounting for 29.2% of the mortality rate of all diseases. 2.5 million people died.

Cardiovascular and cerebrovascular minimally invasive interventional therapy is the main treatment method for cardiovascular and cerebrovascular diseases. Under the guidance of medical imaging equipment, interventional catheters are used to reach distant diseased parts along the lumen of blood vessels, such as coronary arteries and brains. An emerging medical procedure in which minimally invasive treatment is performed on the lesion site within the blood vessels of the liver and kidney. During vascular interventional treatment, doctors need to use X-ray-based digital silhouette angiography (DSA) to guide the operation. Although doctors are equipped with lead-containing protective clothing, they still cannot protect doctors' upper limbs and head from X-rays. Radiation; and due to the complexity of vascular interventional therapy, it often requires long-term exposure to X-ray environment, and the cumulative amount of radiation for doctors is large; and wearing heavy lead-containing protective clothing for a long time increases the pressure load on the spine, which has There are many reports showing that the incidence of thyroid cancer, radiation lens injury, lumbar spondylosis, etc. of vascular interventional doctors is significantly higher than that of doctors of other disciplines. There are about 700,000 medical staff engaged in endovascular treatment operations nationwide, and more than 10 million endovascular treatments are performed nationwide every year. Occupational injuries related to X-rays have become an unavoidable problem, which seriously threatens the health of doctors. conditions and the long-term development of vascular interventional therapy. The surgical method of telemanipulation of catheters and guide wires with the help of robotic technology can effectively deal with this problem, which can greatly improve the accuracy and stability of surgical operations, and at the same time, can effectively reduce radiation damage to the surgeon and reduce the probability of intraoperative accidents. Therefore, cardiovascular and cerebrovascular interventional surgery assistant robots have attracted more and more attention, and have gradually become the key research and development objects in the field of medical robots in various countries.

At present, the vascular interventional surgery robot mainly adopts the master-slave operation structure to isolate the doctor from the radiation. For example, the invention patent applied by Tianjin University of Technology with the application number of 201410206956.7 discloses a master-slave auxiliary system for minimally invasive vascular interventional surgery. The device includes an axial pushing unit, a rotating unit, a gripping unit, a surgical catheter, an operating force detection unit and an adjustable base with an inclination angle, and its working method includes signal detection, transmission, processing and action. The advantage is that it can imitate the interventional operation of the doctor, has high operation accuracy, and effectively improves the safety of the operation; it can ensure that different recipients or different interventional positions can be adjusted to the angle expected by the operator. Another example is the invention patent filed by Beihang University with the application number of 201210510169.2, which discloses a master-slave teleoperated vascular interventional surgery robot, including a master-side control mechanism, a slave-side propulsion mechanism, and a PMAC controller; the master-side control mechanism The mechanism acts as the operating end of the doctor; the slave-end propulsion mechanism acts as the actuator of the robot, which replaces the doctor to hold the catheter in the operating room to complete the movement function of the catheter; the PMAC control box is used to realize the information transfer between the master-end control mechanism and the slave-end propulsion mechanism , so that the slave-end catheter propulsion mechanism moves according to the motion information of the master-end control mechanism, which adopts the master-slave teleoperation mode to assist the doctor in performing the operation, and the slave-end propulsion mechanism realizes the axial feeding and circumferential rotation of the catheter. For another example, Harbin Institute of Technology applied for a patent for a catheter robot system for minimally invasive intravascular interventional surgery. Using a controllable catheter, the pose information of the bendable and controllable segments of the controllable catheter can be obtained, ensuring that Control the flexibility of the front end of the catheter and the maneuverability of the intubation operation. At the same time, the master-slave interventional device is controlled by the master hand handle to realize the push/pull, rotation and bending of the controllable catheter, and the information on the delivery force of the controllable catheter in the operating room can be obtained. , to ensure the accuracy and stability of the intubation. For example, the application number applied by Beijing Institute of Technology is: 201510064919.1 discloses a measuring device for an interventional surgical robot, the base of which is connected with an upper cover through a hinge; the upper cover is provided with a concave limit plate and a push block. When the upper cover is closed, the concave limit plate presses the column gear with the driving wheel and the idler to limit the vertical displacement. The push block pushes the left U-shaped block to the right, and the right U-shaped block, The left U-shaped block clamps the guide wire drive auxiliary; the base is mounted on the slider of the linear drive assembly. This solution can effectively reduce the loss of the pushing force in the transmission process, and reduce the large error caused by assembly or vibration. However, it is only used to drive the guide wire and cannot complete the coordinated operation of the catheter and guide wire, nor can it be understood during the operation. The relative position of the guide wire inside the blood vessel, between the tip end of the guide wire and the blood vessel wall.

The above solutions are relatively advanced researches on vascular interventional surgery robots in China, but they all have the following problems: (1) Only the guide wire or catheter can be pushed alone, and the catheter and guide wire cannot be pushed together during the operation, and cannot be completely simulated. The operation action of the doctor, and it is difficult to operate in some parts that require the guide wire catheter to be advanced at the same time, resulting in low operation accuracy, low operation efficiency, low degree of assistance to the doctor, and certain safety hazards; (2) The structure of the catheter controller Complex, not only high manufacturing cost, but also affecting the accuracy of operation; (3) it is inconvenient to disassemble and assemble the catheter, it is not easy to replace the catheter during the operation, and it is not convenient to sterilize the catheter and the interface; (4) the operation of the catheter cannot be known during the operation. Relative position, the operation is performed inside the body, and the contact force between the blood vessel and the catheter cannot be detected, and the operation risk is high; (5) The collection and feedback of the axial operation force of the catheter has become a focus, but the rotational torque of the catheter is often ignored. At the same time, in the detection of the force on the front end of the catheter, the detection of the contact force of the side wall of the catheter hardly involves or only detects whether there is a contact force and its magnitude, without distinguishing the direction of the force.

At present, there is an urgent need to provide a catheter controller for a surgical robot slave device that can realize the coordinated operation of the catheter and guide wire, has a simple structure, is easy to operate, and has intuitive feedback of tactile information.

The utility model is a device that is more in line with the actual needs of doctors, has a simpler structure, more comprehensive force measurement, and is easy to disassemble and assemble. .

Utility model content

Aiming at the defects of the prior art, the purpose of the present invention is to provide a catheter controller and a method of using the same. The purpose of the catheter controller is to solve the problem that the prior art is difficult to meet the requirements of the cooperating operation of the catheter and guide wire, and at the same time, it cannot be as intuitive as the traditional surgical operation. Problems with sensing tactile information. The catheter controller is provided with a guide wire auxiliary clamping device, so that the catheter and the guide wire can be operated and controlled at the same time, and a six-axis force sensor is installed to solve the problem that the existing robot is difficult to complete the coordinated operation of the catheter and the guide wire and cannot intuitively feel the operation. The problem of operation is improved, the safety and operability of interventional operation or angiography are improved, and the structure is simple and easy to realize. The catheter controller can be used for interventional procedures or imaging, while the device can also be used for operational training or teaching training.

The utility model is achieved through the following technical solutions:

A catheter controller for interventional surgery or angiography or surgical training, characterized in that the catheter controller comprises a catheter controller main body (1), a catheter clamping device (3), a guide wire auxiliary fastening device (2) ), a catheter six-axis force measuring device (5) and a base (10) with an adjustable inclination angle, a catheter clamping device (3) for clamping the catheter, and a guide wire auxiliary fastening device (2) for clamping or loosening The guide wire is opened to realize the cooperation between the catheter and the guide wire, and the six-axis force measuring device (5) is used to measure the resistance and resistance torque generated by the catheter during movement; the catheter clamping device (3) and the guide wire The auxiliary fastening device (2) can be detachably installed on the main body (1) of the catheter controller, and the catheter is a surgical catheter with a side wall contact force and a front contact force sensor; the main body (1) of the catheter controller is provided with an inclination angle The adjustable base (12) is capable of adjusting the angle according to the delivery angle of the catheter, and the catheter clamping device (3) includes a medical three-way valve (310) and a fastener (320); the medical three-way valve (320) 310) is used to connect the catheter, which is fastened to the main body part (1) by means of fasteners (320).

The catheter controller main body 1 includes a casing (110) and an upper cover (120), the catheter clamping device (3) is installed above the upper cover (120), and the guide wire auxiliary clamping mechanism (2) is fixed on the casing (110). ), the whole device is mounted on the base (10) with adjustable inclination angle through the main body of the catheter controller (1), and a pair of plug-in boards (111) are arranged at the bottom of the casing (110), corresponding to the base (111) with the adjustable angle of inclination. An insertion hole (51) is arranged on the upper part, the insertion board (111) is inserted into the insertion hole (51), and a pin hole is arranged on the insertion board (111), so that the insertion board (111) is reliably connected to the base (10) with an adjustable inclination angle.

The casing (110) is a shell-like structure with an open top and a rear end, an upper cover (120) is mounted on the top of the casing (110), a closed space is formed in the casing (110), and a conduit torsion assembly is installed in the space (4) and a six-axis force measuring device (5).

The inclination-adjustable base (10) is composed of a vertical plate (24), a base (25), a support plate (52), a vertical plate connecting shaft (27), a sleeve (26), a sleeve connecting shaft (53), an adjustment The rod (28), the connecting shaft (36) and the fastening screw (35) are formed; the support plate (52) is provided with an insertion hole (51), and the vertical plate (24) is installed on the base (25); the The sleeve (26) is connected with the base (25) and can be rotated around the sleeve connecting shaft (53); the adjusting rod (28) is embedded in the sleeve (26) according to a fastening screw (35) whose embedded length can be adjusted in; the support plates (52) of the adjustable inclination base are respectively connected with the vertical plate (24) through the vertical plate connecting shaft (27), and are connected with the adjustment rod (28) through the connecting shaft (36), and the vertical plate connecting shaft ( 27) and the connecting shaft (36) are rotatable connecting shafts.

The medical three-way valve (310) includes a three-way body, a control valve and a screw cap, the screw cap can be rotated relative to the three-way body, the catheter is connected to the connecting sheath (324), and the connecting sheath (324) is threadedly connected to the screw cap, The catheter is connected to the medical three-way valve (310) so as to be able to rotate relatively.

The contrast medium is injected through the upper opening of the three-way valve.

The medical three-way valve (310) is clamped and fixed from both sides by two fasteners (320), and each fastener (320) includes a clamping block (322) and a clamping block (322). 322) below the switch base (321), a toggle switch (323) is arranged between the clamping block (322) and the switch base (321), the switch (323) is used to lock or unlock the conduit connection plate (540) .

The catheter controller further includes a catheter torsion assembly (4), which is used to drive the screw cap of the medical three-way valve (310) to drive the catheter to rotate; the catheter torsion assembly (4) includes a motor (401), a small Gear (402), large gear (403) and torque sensor (405); the motor (401) is installed in the main body part (1), which is connected to the pinion (402); the large gear A (403) drives the installation The connecting sheath (324) on the screw cap of the medical three-way valve (310) rotates, and the connecting sheath (324) is used to fix the catheter; the pinion A (402) and the large gear (403) are engaged for transmission, and the torque sensor (405) is installed between the output of the motor and the pinion (402).

The six-axis force measuring device (5) comprises a partition plate (510), a conduit connecting plate (540) and a six-axis force sensor (550) arranged in the conduit controller main body (1); the conduit connecting plate ( 540) is arranged on the partition plate (510) through the linear guide rail pair A (520), and the conduit connecting plate (540) is used to connect the conduit clamping mechanism (3); one end of the six-axis force sensor (550) is connected to the partition plate (540). 510), and the other end is connected to the conduit connecting plate (540).

A pair of plug-in boards (541) with plug-in holes (542) are arranged on the conduit connecting board (540), and the plug-in boards (541) pass through the upper cover (120) from the inside of the casing (110), so that the plug-in boards (541) can be inserted into the casing (110). The hole (542) is higher than the surface of the upper cover (120)

The guide wire auxiliary clamping mechanism (2) comprises a support member (220), a clamping member (230) and a driving element; the clamping member (230) is supported on the support member (220) by a spring (240) Among them, the upper end of the clamping piece (230) has a pressing block (231), and the driving element can drive the supporting piece (220) to move up and down in the vertical direction.

beneficial effect

Compared with the prior art, the beneficial effects of the present utility model are:

(1) The device of the present utility model can complete the coordinated push of the catheter and the guide wire before and after on the same track, continuously and accurately advance and rotate the catheter and the guide wire, and simultaneously or successively or separately as required. Control, meet the needs of actual surgical operation, completely simulate the actual operation of doctors, effectively improve the efficiency of surgery, and reduce the time for medical staff to contact radiation equipment;

(2) The catheter controller of the present invention is small in size, light in weight and low in cost, and can be better applied to clinical operations;

(3) The catheter controller of the present utility model is equipped with a six-axis force sensor, which can realize information monitoring during the operation, and intuitively feedback real-time tactile information to the doctor. Safety and operability, the side wall of the catheter is provided with a contact force sensor, which can fully reflect the force of the catheter and can also distinguish the direction of the force, making the surgical operation more accurate.

(4) In the catheter controller of the present utility model, the catheter clamping device and the guide wire auxiliary clamping mechanism are detachably installed on the main body part. This clamping mechanism has a simple structure and overcomes the defects that are not easy to sterilize in the prior art. It is easy to disassemble, replace and sterilize, and with the guide wire controller, the catheter and guide wire can be pushed individually or at the same time, and the manual operation can be imitated by a doctor;

(5) The catheter clamping device in the catheter controller of the present utility model creatively adopts the structural form of the fastener to clamp the medical three-way valve, the assembly and disassembly are simple, and the clamping structure is greatly simplified. The simple and fast connection is convenient for the disinfection of their joints, and more importantly, through the medical three-way valve, the contrast agent can be injected into the blood vessel during the operation, and the inside of the blood vessel can be contrasted, and then the catheter guide wire and blood vessels can be observed. The relative position of the valve is convenient for the further operation of the catheter guide wire and improves the safety of the operation; in addition, the medical three-way valve has a low cost, can be used once and can be discarded after use, and does not require a clamping mechanism like the existing one. Repeated disassembly and disinfection;

(6) In the catheter controller of the present invention, the torsion operation of the catheter can be realized through the catheter torsion assembly, so as to satisfy the angle control of the catheter head end during the operation, and to ensure that the catheter can be smoothly advanced to the predetermined position in the blood vessel; the catheter torsion assembly has The same simple and convenient, can reverse the effect of easy control operation;

(7) The fastener of the catheter clamping device in the catheter controller of the present utility model can simply and reliably clamp the medical three-way valve, and the catheter clamping can be quickly completed by flipping the switch in the fastener. The disassembly and assembly of the conduit connecting plate in the force measuring device and the force measuring assembly are ingenious in structural design;

(8) The guide wire auxiliary clamping mechanism in the catheter controller of the present utility model innovatively adopts the structural form in which the steering gear drives the wire pulley to drive the wire to pull the clamping member to clamp the guide wire, and the reverse force of the spring can make the clamp The tightening piece loosens the guide wire, which is easy to operate and easy to control, and can cooperate with the catheter clamping device to complete the coordinated operation of the catheter guide wire;

(9) The catheter controller of the utility model adopts a modular structure design, which is easy to disassemble and assemble, compact in structure, and most of which can be made of plastic, with light overall weight and low manufacturing cost.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of a catheter controller;

Fig. 2 is the front view structure schematic diagram of the catheter clamping mechanism in the catheter controller;

Fig. 3 is C-C sectional view in Fig. 2;

Fig. 4 is B-B sectional view in Fig. 3;

Figure 5 is an exploded view of the main body portion of the conduit controller;

Fig. 6 is the front view structure schematic diagram of the catheter clamping mechanism in the catheter controller;

Fig. 7 is C-C sectional view in Fig. 6;

8 is a schematic three-dimensional structural diagram of a guide wire auxiliary clamping mechanism in a catheter controller;

9 is an exploded view of the guide wire auxiliary clamping mechanism in the catheter controller;

Fig. 10 is a three-dimensional schematic diagram of a guide wire auxiliary clamping mechanism in a catheter controller;

Fig. 11 is an exploded view of the guide wire auxiliary clamping mechanism in the catheter controller;

Figure 12 is a schematic structural diagram of an angle-adjustable base;

FIG. 13 is a schematic perspective view of the operating platform viewed from above.

In the figure: catheter controller main body 1, guide wire auxiliary clamping mechanism 2, catheter clamping device 3, catheter torsion assembly 4 and catheter six-axis force measuring assembly 5

1 main body of conduit controller; 110 shell; 111 plug board; 120 upper cover;

2 Guide wire auxiliary clamping mechanism; 210 base; 211 insert block; 220 support piece; 221 spring cavity; 230 clamping piece; 231 pressing block; 240 spring; 250 steering gear A; 260 wire wheel;

3 catheter clamping device; 310 medical three-way valve; 320 fastener; 321 switch base; 322 clamping block; 323 switch A; 324 connecting sheath;

4 conduit torsion assembly; 401 motor; 402 pinion; 403 large gear;

5. Six-axis force measuring device; 510 partition plate; 520 linear guide rail pair A; 530 supporting plate; 540 conduit connection plate; 541 plug-in plate;

10 Inclination adjustable base; 24 vertical plate; 25 base; 52 support plate; 51 jack; 27 vertical plate connecting shaft; 26 casing; 53 casing connecting shaft; 28 adjusting rod; 36 connecting shaft; 35 fastening screws;

1110 support platform; 1120 linear guide pair D; 1130 platform connection block; 1140 drive mechanism; 1141 rope; 1142 drive motor; 1143 rope pulley; Tensioning bracket; 1155 guide wheel; 1156 screw; 1170 displacement acquisition unit; 1180 IP camera.

Detailed ways

The present utility model will be further described below with reference to specific embodiments and accompanying drawings.

Example

This embodiment provides a catheter controller, which is used in an interventional surgery operating device, an interventional surgery training device or an imaging device. On an operating platform provided with a support platform 1110 , a platform connecting block 1130 and a driving mechanism 1140 , the two platforms are connected to each other. A catheter controller and a guidewire controller are installed in block 1030, respectively. The catheter controller is used to clamp the catheter and perform rotation and push force detection of the catheter, and the guide wire controller is used to clamp the guide wire and perform rotation and push force detection of the guide wire.

The platform connecting block 1130 is arranged on the supporting platform 1110 through the linear guide rail pair 1020, and each platform connecting block 1130 is independently driven by a driving mechanism 1140, and the number of the driving mechanism is the same as the number of the platform connecting block, and each driving mechanism 1140 includes a driving mechanism. Motor 1142, rope 1141 and tensioning mechanism 1150;

The device is designed to cooperate with the supporting platform 1110, the platform connecting block 1130, the driving mechanism 1140 and the tensioning mechanism 1150, and adopts the form of one track and multiple sliders to complete the control of the catheter controller and the guide wire controller at the same time. On the linear track, linear movement control is performed; at the same time, a force sensor is installed, which can feedback the force of the doctor's hand operation. It has the advantages of convenient installation and adjustment, high control precision, simultaneous push of the catheter and guide wire, and feedback of the force feeling of the interventional machinery such as the guide wire catheter, and the real hand feeling.

The structure of the catheter controller will be described in detail.

Structure of the catheter controller

As shown in Figure 1, the catheter controller mainly includes six parts, namely the catheter controller main body 1, the guide wire auxiliary clamping mechanism 2, the catheter clamping device 3, the catheter torsion assembly 4, the six-axis force measuring device 5 and Inclination-adjustable base 10; wherein, the catheter controller main body 1 is the installation basis for other parts, the catheter clamping device 3 and the guide wire auxiliary clamping mechanism 2 can be detachably installed on the main body 1, and the guide wire auxiliary clamping mechanism 2 It is used to assist clamping or loosening the guide wire, the catheter clamping device 3 is used to clamp the catheter, the catheter torsion assembly 4 is used to complete the torsion operation of the catheter, and the six-axis force measuring device 5 is used to detect the pushing of the catheter. force. The catheter is a surgical catheter with lateral contact force and anterior contact force sensors. Through the mutual cooperation of various parts, the device can complete the clamping, pushing, twisting and force measurement of the catheter, as well as the auxiliary clamping or loosening of the guide wire, so as to realize the coordination between the catheter and the guide wire, and complete the needs of the operation. .

2 to 5 , the main body 1 includes a casing 110 and an upper cover 120 . In this embodiment, the casing 110 is a shell-like structure with an open top and a rear end, and the upper cover 120 is mounted on the casing 110 . On the top, a relatively closed space is formed in the housing 110 to create space for installing the conduit torsion assembly 4 and the six-axis force measuring device 5 . The catheter clamping device 3 is installed above the upper cover 120, and the guide wire auxiliary clamping mechanism 2 is fixed at the rear end of the housing 110, and the installation positions are reasonably allocated. A pair of plug-in boards 111 are arranged at the bottom of the housing 110 , and correspondingly are provided with jacks on the support plate 52 of the adjustable base 10 . It is reliably connected with the support plate 52 and is easy to disassemble.

The adjustable inclination base is composed of a vertical plate 24, a base 25, a support plate 52, a vertical plate connecting shaft 27, a sleeve 26, a sleeve connecting shaft 53, an adjustment rod 28, a connecting shaft 36 and a fastening screw 35; the The vertical plate 24 is installed on the base 25; the sleeve 26 is connected with the base 25 and can rotate around the sleeve connecting shaft 53; the adjustment rod 28 is embedded in the sleeve 26 according to the fastening screw 35 whose embedded length can be adjusted The support plate 52 of the adjustable base is connected to the vertical plate 24 through the vertical plate connecting shaft 27, and is connected to the adjustment rod 28 through the connecting shaft 36. The vertical plate connecting shaft 27 and the connecting shaft 36 are rotatable connecting shafts.

For different recipients or surgical intervention positions, any intervention angle of 0-45° can be obtained by adjusting the inclination adjustable base; the length of the adjustment rod deep into the cannula determines the size of the intervention angle, when the length of the adjustment rod deep into the cannula reaches When the intervention angle desired by the doctor, fix it by tightening the screw;

As shown in FIG. 2 to FIG. 5 , the six-axis force measuring device 5 is installed in the housing 110, and it mainly includes a partition 510, a conduit connecting plate 540 and a six-axis force sensor 550; wherein, the partition 510 is fixed on the housing In the middle of 110, the inner space of the housing 110 is mainly divided into upper and lower parts, the opposite sides of the partition A510 are folded upward to form side plates, and a linear guide rail pair 520 is installed on each of the two side plates, and the linear guide rail pair 520 is connected. The conduit connecting plate 540, so that the conduit connecting plate 540 can move relative to the partition plate 510, which is also the premise that the push force detection of the conduit can be performed subsequently. In this embodiment, the linear guide rail pair 520 is preferably a ball linear guide rail pair, and the friction force is small and almost negligible, so that the motion resistance of the conduit connecting plate 540 is negligible, which ensures high accuracy of conduit pushing force detection. The linear guide rail pair 520 includes a guide rail and a slider. The guide rail is fixed on the side plate of the partition plate 510 . The slider is connected to the conduit connecting plate 540 through the supporting plate 530 , and the conduit connecting plate 540 is used to connect the conduit clamping device 3 . An L-shaped sensor fixing plate 560 is also installed on the partition plate 510. One end of the six-axis force sensor 550 is connected to the conduit connecting plate 540, and the other end is connected to the sensor fixing plate 560. In this way, the thrust of the conduit passes through the conduit clamping device. 3 is transmitted to the catheter connecting plate 540, the catheter connecting plate 540 moves relative to the partition 510, and the pushing force of the catheter during the pushing process can be detected by the six-axis force measuring device 5, so as to achieve the precise control of the catheter and improve the safety of the operation; The six-axis force sensor 550 measures the resistance and resistance torque between the catheter and the blood vessel wall in real time, and the doctor can intuitively feel the magnitude of the force; The six-axis force sensor 550 is well protected, and the force measurement form of the force sensor 550 is simple and convenient, the intermediate connecting parts are relatively few, and the force measurement accuracy is high.

The conduit side wall contact force sensor is composed of copper electrodes, pressure-sensitive rubber, copper wires, a gated sensor element, a DC voltage source and a constant-value resistor;

The front-end collision force sensor of the catheter is an optical fiber-based collision detection sensor, the output of which is demodulated and transmitted to the slave controller.

In order to facilitate the connection between the conduit connecting plate 540 and the conduit clamping device 3 , in this embodiment, a pair of inserting plates 541 with inserting holes 542 are arranged on the conduit connecting plate 540 . Passing through the upper cover 120 , the insertion hole 542 is raised above the surface of the upper cover 120 , through which the conduit connecting plate 540 and the conduit clamping device 3 can be quickly connected or disconnected. At the same time, in order to adapt to the structural form of the conduit connecting plate 540, the structure of the conduit clamping device 3 also has specific requirements.

The catheter clamping device 3 includes a medical three-way valve 310 and a fastener 320; wherein, the medical three-way valve 310 is used to connect the catheter, which is a commonly used medical appliance in clinical practice, but it has never been used in the prior art. In the field of minimally invasive vascular interventional surgery, it is innovatively used in the clamping control of the catheter. It mainly includes a three-way body, a control valve and a screw cap, and the screw cap can rotate relative to the three-way body. In use, the catheter is first connected to the connecting sheath 324, and then the connecting sheath 324 is threadedly connected to the screw cap, so that the catheter is connected to the medical three-way valve 310 and can be rotated relatively. The fasteners 320 are used to clamp and fix the medical three-way valve 310, and the three-way body of the medical three-way valve 310 is fixed. It includes a clamping block 322, one side of the clamping block 322 has a clamping groove that is engaged with the half of the three-way body of the medical three-way valve 310, and the clamping grooves of the two clamping blocks 322 can be combined to form a A clamping cavity can reliably clamp the three-way body of the medical three-way valve 310 without affecting the rotation of the screw cap. Of course, in order to adapt to the connection structure of the above-mentioned conduit connecting plate 540 , here, there is an open groove on the lower side of the clamping block 322 , and the switch base 321 is fitted in the open groove, and between the clamping block 322 and the switch base 321 A toggle switch 323 is provided, and the switch 323 is used to lock or unlock the conduit connection plate 540 . The switch 323 is composed of a horizontal card plate and a vertical toggle plate. The card plate is slidably arranged in the chute on the switch base 321 , and the toggle plate passes through the hole on the clamping block 322 for toggle. When the conduit clamping device 3 is installed above the upper cover 120, the plug-in board 541 is inserted into the vertical insertion hole formed between the clamping block 322 and the switch base 321, and the plug-in board can be inserted by turning the switch 323. The insertion hole 542 of the insertion plate 541 can realize the detachable connection between the conduit connecting plate 540 and the conduit clamping device 3 .

As can be seen from the above, the catheter clamping device 3 adopts the structural form of the fastener 320 to clamp the medical three-way valve 310, and the assembly and disassembly are simple, which greatly simplifies the clamping structure. The medical three-way valve 310 is innovatively used to connect the catheter, which can not only be easily and quickly connected to the catheter to facilitate the disinfection of their connection, but more importantly, through the medical three-way valve 310, it can be injected into the blood vessel during the operation. The contrast agent is used to contrast the inside of the blood vessel at the tip of the catheter, and then the relative position of the catheter guide wire and the blood vessel can be observed, which is convenient for the further operation of the catheter guide wire and improves the safety of the operation; in addition, the cost of the medical three-way valve 310 It is relatively low, can be used once, and can be discarded after use, without the need for repeated disassembly and disinfection like the existing clamping mechanism.

The conduit torsion assembly 4 includes a motor 401, a pinion gear 402 and a large gear 403; wherein, the motor 401 is fixed in the housing 110 and has a good protective effect, the output shaft of the motor 401 is connected to the pinion gear 402, and the large gear 403 is connected to the fixed conduit The connecting sheath 324 is connected, and the pinion 402 and the large gear 403 are engaged for transmission; in use, the motor 401 drives the pinion 402 to rotate, and the pinion 402 and the large gear 403 are engaged for transmission, and the large gear 403 drives the connecting sheath 324 to rotate, thereby driving the catheter By twisting, the angle of the catheter tip can be adjusted to ensure that the catheter can be smoothly advanced in the blood vessel. The center of the large gear 403 is provided with a hole matching the shape of the connecting sheath 324 , and the connecting sheath 324 can be connected to the large gear 403 by inserting the connecting sheath 324 into the hole.

The catheter twisting assembly 4 can realize the twisting operation of the catheter, so as to satisfy the angle control of the catheter tip during the operation and ensure that the catheter can be smoothly advanced to the predetermined position in the blood vessel; the catheter twisting assembly 4 adopts the form of the motor 401 to drive the gear, By adjusting the transmission ratio of the large and small gears, the rotation speed of the catheter can be adjusted, and the connection between the large gear A403 and the medical three-way valve is realized through the connecting sheath 324, which can not only complete the torsional drive of the catheter, but also easily and conveniently install the catheter into the medical 310 on the three-way valve. The torque sensor is installed between the output end of the motor and the pinion; when the torque sensor detects the output torque of the rotary drive motor, the real-time output torque is subtracted from the no-load output torque, and the real-time operation of the surgical catheter can be obtained. torque.

The guide wire auxiliary clamping mechanism 2 includes a base 210, a support member 220, a clamping member 230 and a driving element; wherein, the base 210 is used to install the guide wire auxiliary clamping mechanism 2 on the housing A110, the support member 220 and The driving elements are all mounted on the base 210, and the clamping member 230 is supported and arranged in the supporting member 220 by the spring 240, which can be moved up and down in the vertical direction by driving the driving element to clamp or loosen the guide wire. The support member 220 has an accommodating cavity, and the spring 240 is located in the accommodating cavity; the clamping member 230 is a rod-shaped structure with a pressing block 231 at its upper end and a small hole at its lower end, and the lower end is inserted into the accommodation cavity from above the support member 220 In the cavity, after passing through the spring 240, it protrudes through the lower part of the support member 220 to connect the driving element. The driving element only needs to be able to drive the clamping member 230 to move up and down, but in this embodiment, the driving element adopts the steering gear 250, the steering gear 250 is connected to the wire wheel 260, the wire wheel 260 is wound with a wire, and one end of the wire penetrates the lower end of the clamping member 230 The small holes are thus connected to the clamping member 230 . When in use, the steering gear 250 drives the wire wheel 260 to rotate, and drives the clamping member 230 to move down the compression spring 240 through the wire. Thus, the clamping of the guide wire is realized.

In addition, in order to facilitate the installation of the guide wire auxiliary clamping mechanism 2 on the housing A110, the base 210 is provided with a pair of insert blocks 211 for mounting it on the housing A110, and the pair of insert blocks 211 are inserted into the housing A110 through the pair of insert blocks 211. the rear side and fasten it with bolts.

Based on the above description, the catheter controller device has the following advantages:

① The overall structure is simple, and the modular structure design is adopted. Each part is relatively independent. The assembly can be completed by simple combination. The disassembly and assembly are convenient, and the structure is compact and small. Most of the components are simple in structure and can be made of plastic. The product is made of light weight and greatly reduces the manufacturing cost;

②It can realize the clamping, pushing, twisting and force measurement of the catheter at the same time, as well as the auxiliary clamping or loosening of the guide wire, so that it can cooperate with the guide wire controller to complete the coordinated operation control of the catheter and guide wire to meet various operation needs of the operation. ;

③The relatively closed structure has better protection for the sensor and motor;

④ During the operation, it is convenient to perform angiography on the blood vessels at the tip of the catheter, so as to understand the relative positional relationship between the catheter and the guide wire and the blood vessels, and improve the safety of the operation.

The above-mentioned catheter controller is used to control the catheter and guide wire, which mainly completes the clamping, pushing, twisting and force measurement of the catheter, as well as the clamping and loosening of the guide wire, and the coordination control of the catheter and guide wire to meet the operation of interventional surgery. The corresponding operation steps are described in detail below.

First, the main body part 1 is installed into the socket of the platform connection block 1130 through the plug-in plate 111 and fixed by pins.

Then, the catheter clamping device 3 clamps the catheter and installs it, specifically: firstly connect and install the tail end of the catheter to the connecting sheath 324, and at this step, the large gear 403 and the connecting sheath 324 are installed together to form the subsequent catheter torsion assembly. 4. Prepare for transmission; then screw the connecting sheath 324 to the screw cap of the medical three-way valve 310; then clamp and fix the medical three-way valve 310 from both sides through the clamping block 322 of the fastener 320; After tightening the medical three-way valve 310, the fastener 320 is inserted into the catheter connection plate 540 above the upper cover 120, and the toggle switch A323 is inserted into the insertion hole 542 of the catheter connection plate 540 and locked, so that the catheter clamping device 3 It is connected and fixed with the conduit connecting plate 540. At this time, the pinion gear 402 and the large gear 403 are also engaged in a transmission connection;

Next, after the guide wire controller clamps the guide wire, the head end of the guide wire is inserted into the catheter through the medical three-way valve 310 to ensure that the guide wire behind the medical three-way valve 310 passes through the guide wire auxiliary clamping mechanism 2 Between the support piece 220 and the pressing block 231 of the clamping piece 230, the guide wire is installed in place.

After the above preparations, the catheter controller can control the catheter and guide wire accordingly, as follows:

(1) When it is necessary to control the catheter separately

The guide wire auxiliary clamping mechanism 2 loosens the guide wire, that is, the steering gear 250 loses power. Under the force of the spring 240, the pressing block 231 of the clamping member 230 is far away from the surface of the support member 220, so that the pressing block 231 will not Compress the guide wire; the platform connecting block 1130 moves to drive the main body part 1 to move, which in turn drives the catheter clamping device 3 to move, controls the catheter to move independently, and completes the push.

(2) When it is necessary to control the catheter and guide wire at the same time

The guide wire auxiliary clamping mechanism 2 assists in clamping the guide wire, that is, the steering gear 250 is energized to drive the wire wheel 260 to rotate, the wire wheel 260 pulls the clamping member 230 downward through the wire, and the clamping member 230 overcomes the resistance of the spring 240 and moves downward , until the pressing block 231 presses the guide wire on the surface of the support member 220 to complete the clamping of the guide wire; the platform connecting block 1130 drives the main body 1 to move, and then the catheter clamping device 3 drives the catheter to move, and at the same time, the guide wire The auxiliary clamping mechanism 2 drives the guide wire to act synchronously to realize the synchronous push of the catheter and the guide wire.

(3) When it is necessary to control the guide wire separately

The operation platform stops moving, the catheter clamping device 3 does not move, the guide wire auxiliary clamping mechanism 2 releases the guide wire, and the guide wire controller drives the guide wire to push the guide wire independently.

(4) Torsion control of the catheter

The action of the motor A401 drives the connecting sheath 324 and the screw cap of the medical three-way valve 310 to rotate together through the meshing transmission of the pinion 402 and the large gear 403, thereby driving the catheter to twist, completing the twisting operation of the catheter, and realizing the angle adjustment of the catheter head. . The torque sensor measures the output torque.

Through the above steps, the clamping, pushing, twisting and pushing force detection of the catheter, as well as the auxiliary clamping and loosening of the guide wire can be completed. The synergistic operation of the silk can meet various operational needs during the operation.

For the whole machine, the above-mentioned control method of the interventional robot catheter controller for the coordinated operation of the catheter and the guide wire is to control the relative positions of the catheter controller and the guide wire controller in the moving direction through the operation platform, and cooperate with the catheter controller. The control action of the catheter and the guide wire with the guide wire controller can be completed in an orderly manner; the clamping, loosening, pushing, twisting or force measurement of the catheter and the guide wire can be controlled at the same time to complete complex surgical actions; Yes, when the guide wire controller pushes the guide wire close to the catheter controller, the guide wire controller needs to be moved backward, then the catheter controller clamps the guide wire through the guide wire auxiliary clamping mechanism 2, and the guide wire controller loosens the guide wire. After the guide wire is opened and pushed back to the desired position, the guide wire holder re-clamps the guide wire. At this time, the guide wire auxiliary clamping mechanism 2 can release the guide wire to realize the switching action during the guide wire pushing process. This form ensures that the guide wire position will not change during the switching process.

The examples of the present utility model are only to describe the preferred embodiments of the present utility model, and do not limit the concept and scope of the present utility model. Various deformations and improvements made by the scheme should all fall within the protection scope of the present invention.

Claims (10)

1. A catheter controller, characterized in that the catheter controller comprises a catheter controller main body (1), a catheter clamping device (3), a guide wire auxiliary clamping mechanism (2), a catheter six-axis force measuring device ( 5) and a base (10) with an adjustable inclination angle, the catheter clamping device (3) is used to clamp the catheter, and the guide wire auxiliary clamping mechanism (2) is used to clamp or loosen the guide wire to realize the connection between the catheter and the guide wire. In cooperation, the six-axis force measuring device (5) is used to measure the resistance and resistance torque generated by the catheter during movement; the catheter clamping device (3) and the guide wire auxiliary clamping mechanism (2) can be disassembled Installed on the catheter controller main body (1), the catheter is a surgical catheter with side wall contact force and front contact force sensors; the catheter controller main body (1) is provided with an inclination adjustable base (10), which can be adjusted according to the catheter The delivery angle needs to be adjusted, and the catheter clamping device (3) includes a medical three-way valve (310) and a fastener (320); the medical three-way valve (310) is used to connect the catheter, and it is The firmware (320) is fixed on the main body (1); wherein, the adjustable base (10) is composed of a vertical plate (24), a base (25), a support plate (52), a vertical plate connecting shaft (27), The casing (26), the casing connecting shaft (53), the adjusting rod (28), the connecting shaft (36) and the fastening screw (35) are formed; the support plate (52) is provided with an insertion hole (51), the The vertical plate (24) is installed on the base (25); the sleeve (26) is connected with the base (25) and can be rotated around the sleeve connecting shaft (53); the adjustment rod (28) is embedded in an adjustable way The length of the fastening screw (35) is embedded in the sleeve (26); the support plate (52) of the adjustable inclination base is respectively connected with the vertical plate (24) through the vertical plate connecting shaft (27), and the connecting shaft ( 36) is connected with the adjusting rod (28), and the vertical plate connecting shaft (27) and the connecting shaft (36) are rotatable connecting shafts. 2. The catheter controller according to claim 1, characterized in that: the catheter controller main body (1) comprises a casing (110) and an upper cover (120), and the catheter clamping device (3) is mounted on the upper cover (120). ), the guide wire auxiliary clamping mechanism (2) is fixed on the rear end of the housing (110), and the entire device is mounted on the base (10) with adjustable inclination angle through the catheter controller body (1). ) is provided with a pair of plug-in boards (111) at the bottom, correspondingly, jacks are provided on the base with adjustable inclination angle, the plug-in boards (111) are inserted into the jacks, and pin holes are arranged on the plug-in board (111), so that the plug-in board (111) Reliably connected to the base (10) with an adjustable inclination angle. 3. The catheter controller according to claim 2, wherein the casing (110) is a shell-like structure with an open top and a rear end, and the upper cover (120) is mounted on the top of the casing (110), A closed space is formed in the housing (110), and a conduit torsion assembly (4) and a six-axis force measuring device (5) are installed in the space. 4. The catheter controller according to claim 1, wherein the medical three-way valve (310) comprises a three-way body, a control valve and a screw cap, the screw cap can be rotated relative to the three-way body, and the catheter is connected to the connecting sheath ( 324), and then connect the connecting sheath (324) to the screw cap threadedly, so that the catheter is connected to the medical three-way valve (310) and can rotate relatively. 5. The catheter controller according to claim 1, wherein the contrast agent is injected through the upper opening of the three-way valve. 6. The catheter controller according to claim 3, wherein the medical three-way valve (310) is clamped and fixed from both sides by two fasteners (320), each fastener (320) comprises a clamping block (322) and a switch base (321) fixed under the clamping block (322), a toggle switch (323) is arranged between the clamping block (322) and the switch base (321) , the switch (323) is used to lock or unlock the conduit connection plate (540). 7. The catheter controller according to claim 1, characterized in that: the catheter controller further comprises a catheter twist assembly (4), and the catheter twist assembly (4) is used to drive the screw cap of the medical three-way valve (310) to drive the catheter Rotation; the catheter torsion assembly (4) includes a motor (401), a pinion (402), a large gear (403) and a torque sensor (405); the motor (401) is installed in the main body (1), which is connected to a small gear (402); the large gear (403) drives a connecting sheath (324) installed on the screw cap of the medical three-way valve (310) to rotate, and the connecting sheath (324) is used to fix the catheter; the small gear (402) meshes with the large gear (403) for transmission, and the torque sensor (405) is installed between the output end of the motor and the pinion (402). 8. The catheter controller according to claim 1, wherein the six-axis force measuring device (5) comprises a partition (510), a catheter connecting plate (510) arranged in the catheter controller main body (1) 540) and a six-axis force sensor (550); the conduit connecting plate (540) is arranged on the partition plate (510) through the linear guide rail pair A (520), and the conduit connecting plate (540) is used to connect the conduit clamping device ( 3); one end of the six-axis force sensor (550) is connected to the partition plate (510), and the other end is connected to the conduit connecting plate (540). 9. The catheter controller according to claim 8, characterized in that: a pair of plug-in boards (541) with plug-in holes (542) are arranged on the catheter connection plate (540), and the plug-in boards (541) are connected from The casing (110) passes through the upper cover (120), so that the insertion hole (542) is higher than the surface of the upper cover (120). 10. The catheter controller according to claim 1, characterized in that: the guide wire auxiliary clamping mechanism (2) comprises a supporting member (220), a clamping member (230) and a driving element; the clamping The part (230) is supported and arranged in the support part (220) by the spring (240), the upper end of the clamping part (230) has a pressing block (231), and the driving element can drive the support part (220) to move up and down in the vertical direction .