CN105709325A - Conveying operation device for intervention catheter - Google Patents

Abstract

The invention relates to an automatic delivery device for interventional catheters in medical operations, in particular to an interventional catheter delivery operation device, which includes a linear push module, an axis-rotating module, a push-pull module, a front-end catheter twisting delivery module, a catheter instrument handle and a catheter sheath The sleeve clamping module, in which the linear push module, the axis rotation module, and the push-pull module are used to realize the linear push, axis rotation, and bending of the front end of the catheter in the outer sleeve of the interventional catheter; the outer sleeve clamping device of the catheter realizes the external The clamping of the sleeve is fixed. The invention can assist surgical operators to carry out precise operation of interventional catheters in surgical operations. Compared with traditional manual operation methods, the invention can improve catheter operation accuracy, reduce doctors' labor intensity, and improve operation efficiency.

Description

An interventional catheter delivery operation device

technical field

The invention relates to an automatic delivery device for interventional catheters in medical operations, in particular to an interventional catheter delivery operation device.

Background technique

In surgical operations, interventional catheters are widely used, mainly including gastroenterology, anorectal surgery, and urology surgery. Especially when patients with kidney stones in urology surgery do lithotripsy, one of the current main methods is to use an interventional catheter to enter the human body to perform the operation. However, in the current lithotripsy operation, the doctor mainly operates the interventional catheter device manually, and completes the entire operation process by holding the outer catheter and the handle of the interventional catheter device. The operation time is usually longer, and the operation may be extended for several hours in the case of a patient with severe stones. In this way, doctors have high labor intensity, fatigue, and poor operation stability, especially in the case of difficult operations, these problems are more prominent.

Contents of the invention

In order to solve the above-mentioned problems existing in the current manual operation of interventional catheter instruments for surgery, the object of the present invention is to provide an interventional catheter delivery operation device.

The purpose of the present invention is achieved through the following technical solutions:

The invention includes a linear push module, a shaft-circling module, a push-pull module, a catheter instrument handle, a front-end catheter twisting module and a catheter outer sleeve clamping module, wherein the shaft-circling module includes a rotary bearing support, a rotary hollow shaft and a rotary drive motor, the slewing bearing support is connected to the output end of the linear push module, and is driven to move by the linear push module, the slewing hollow shaft is rotatably mounted on the slewing bearing support, and is installed on the slewing bearing support The rotary drive motor is driven to rotate; the push-pull module includes a catheter instrument handle clamping base plate and a catheter instrument handle mover driving motor, the catheter instrument handle clamping base plate is connected with the rotary hollow shaft, and the catheter instrument handle moves The sub-drive motor is installed on the clamping base plate of the catheter device handle; The mover driving motor of the catheter instrument handle drives the interventional catheter to move axially; the front-end catheter twisting module includes a roller driving motor, a driving roller, a passive roller, a roller assembly slewing support and a roller Assembly seat, the roller assembly slewing support is installed on the linear push module, the roller assembly seat is rotatably connected with the roller assembly slewing support, and the driving roller and the driven roller are respectively installed on the roller On the component seat, the driving roller is connected with the roller driving motor installed on the roller component seat, and the driving motor is driven to rotate through the roller, driving the driven roller to rotate synchronously, and then twisting the interventional catheter The clamping module of the outer sleeve of the catheter is installed on the rotary support of the roller assembly, one end of the interventional catheter is connected to the handle of the catheter instrument, and the other end is sequentially connected between the rotating hollow shaft, the driving roller and the driven roller, The roller assembly seat and the roller assembly slewing support pass through, and pass through the clamping module of the outer sleeve of the catheter.

Wherein: the linear push module includes a base, a linear push linear guide rail, a linear push drive motor, an installation base plate and a linear slider, the base is installed on the installation base plate, and a linear push linear guide rail is provided on the base, The linear slider is mobile connected with the linear push linear guide rail, and the slewing bearing support is installed on the linear slider; the linear push drive motor is installed on the base, and is connected with the linear guide through the screw nut driving mechanism. The sliders are connected, and the linear slider is driven to move along the linear push linear guide rail, and drives the slewing bearing support and the catheter instrument handle to clamp the bottom plate to do reciprocating linear movement;

The rotary drive motor is connected to the rotary hollow shaft through a synchronous pulley and a synchronous toothed belt, and drives the rotary hollow shaft to rotate around the axis of the interventional catheter, thereby driving the catheter instrument handle to clamp the bottom plate and the catheter instrument handle to drive the mover The motor and the handle of the catheter instrument rotate; one end of the rotary hollow shaft is located on one side of the rotary bearing support and is connected with the rotary drive motor. A linear bearing is installed inside the end, and the other end of the rotary hollow shaft is installed on the The rotary hollow shaft on the other side of the slewing bearing support is connected to the flange, and the intervening catheter is sequentially passed through the rotary hollow shaft and the rotary hollow shaft connecting flange; between the slewing bearing support and the roller assembly seat A guide shaft, one end of the guide shaft is connected to the roller assembly seat, and the other end passes through the rotary hollow shaft to connect the flange and the rotary hollow shaft to cooperate with the linear bearing; the roller assembly seat and its The front-end catheter twisting module rotates around the axis of the intervention catheter synchronously with the rotating hollow shaft through the guide shaft;

Above the handle of the catheter device, there is a clamping plate with a fixing hole for the handle of the catheter device installed on the clamping base plate of the handle of the catheter device, and the output end of the mover drive motor of the handle of the catheter device is connected to the clamping base plate of the mover of the catheter device handle , the catheter instrument handle mover is installed on the catheter instrument handle mover clamping base plate, and the catheter instrument handle mover installed on the catheter instrument handle mover clamping base plate is arranged above the catheter instrument handle mover clamping plate;

A tension spring is installed on the wheel shaft of the passive roller, one end of the tension spring is connected to the roller assembly seat, and the other end is connected to the wheel shaft of the driven roller, and the driven roller is always connected by the tension spring It abuts against the driving roller and is driven by the driving roller to rotate synchronously, so that the intervention catheter is pressed between the driving roller and the passive roller; the middle of the driving roller and the passive roller are all along the circumferential direction There is a groove, and the intervention catheter pressed between the driving roller and the driven roller is accommodated in the groove;

The conduit outer sleeve clamping module includes an outer conduit clamping plate and an outer conduit clamping base plate, the outer conduit clamping base plate is installed on the rotary support of the roller assembly, and the outer conduit clamping plate is installed on the outer conduit On the clamping base plate, the outer catheter of the catheter device is clamped between the outer catheter clamping platen and the outer catheter clamping base plate, and the interventional catheter is passed through the outer catheter of the catheter device; the twisting delivery intervention of the front-end catheter twisting module The operation of the catheter is performed synchronously with the pushing operation of the linear pushing module.

Advantage of the present invention and positive effect are:

1. The present invention utilizes the motor and transmission mechanism to realize actions such as linear push, rotation around the axis, and bending of the end of the interventional catheter, which can be operated under the remote control of the doctor, which can effectively reduce labor intensity, improve the success rate of the operation, and adapt to surgical operations Medium and long-term surgical operations.

2. The present invention is equipped with a front-end catheter twisting module, which adapts to the soft and bendable characteristics of the interventional catheter, effectively realizes the pushing operation of the catheter along the axial direction, and has high operation accuracy.

3. The linear pushing, pivoting, and catheter end bending actions of the present invention are all driven by servo motors, which can effectively ensure the accuracy of surgical operations.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is a partial enlarged view of place A in Fig. 1;

Among them: 1 is the base, 2 is the linear push linear guide rail, 3 is the linear push drive motor, 4 is the installation base plate, 5 is the linear slider, 6 is the rotary bearing support, 7 is the rotary hollow shaft, and 8 is the rotary drive motor , 9 is the clamping bottom plate of the handle of the catheter instrument, 10 is the drive motor of the mover of the handle of the catheter instrument, 11 is the clamping base plate of the mover of the handle of the catheter instrument, 12 is the clamping plate of the mover of the handle of the catheter instrument, and 13 is the fixing hole clamp of the handle of the catheter instrument Holding plate, 14 is the handle of the catheter device, 15 is the mover of the catheter device handle, 16 is the connecting flange of the rotary hollow shaft, 17 is the roller drive motor, 18 is the passive roller, 19 is the driving roller, 20 is the roller assembly The slewing support, 21 is the roller assembly seat, 22 is the clamping plate of the outer catheter, 23 is the outer catheter of the catheter device, 24 is the interventional catheter, 25 is the clamping base plate of the outer catheter, and 26 is the guide shaft.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in Figures 1 and 2, the present invention includes a linear push module, a pivoting module, a push-pull module, a catheter instrument handle 14, a front-end catheter twisting module and a catheter outer sleeve clamping module, wherein the linear push module includes a base 1. Linear push linear guide rail 2, linear push drive motor 3, installation base plate 4 and linear slider 5, the axis-rotating module includes a rotary bearing support 6, a rotary hollow shaft 7 and a rotary drive motor 8, and the push-pull module includes a catheter instrument handle Clamping base plate 9, catheter device handle mover driving motor 10, catheter device handle mover clamping base plate 11, catheter device handle mover clamping pressure plate 12 and catheter device handle fixing hole clamping pressure plate 13, the front end catheter twisting module includes Roller driving motor 17, driving roller 19, passive roller 18, roller assembly slewing support 20 and roller assembly seat 21, the clamping module of the outer sleeve of the catheter includes the outer catheter clamping platen 22 and the outer catheter clamping bottom plate 25.

The base 1 in the linear push module is fixed on the installation base plate 4, two parallel linear push linear guide rails 2 are arranged on the base 1, each linear push linear guide rail 2 is moved and connected with a linear slider 5, The slewing bearing support 6 is installed on the linear slider 5 . The linear push drive motor 3 is installed on the base 1, the output end is connected with a lead screw, the two ends of the lead screw are rotated and installed on the base 1, the screw is threaded with a nut, and the nut is fixed with any linear slider 5. Then, the linear slider 5 is driven by the linear push drive motor 3 to move along the linear push linear guide rail 2 .

The rotary bearing support 6 in the pivoting module is fixedly connected with the linear slider 5, and the rotary hollow shaft 7 is rotatably mounted on the rotary bearing support 6. The clamping bottom plate 9 of the catheter instrument handle in the push module is fixedly connected to the rotary hollow shaft 7, and the drive motor 10 of the mover of the catheter instrument handle is installed on the lower surface of the clamping base plate 9 of the catheter instrument handle. The motor 10 is a linear moving motor, and a servo motor plus a ball screw can also be used; the fixed end of the catheter device handle 14 is fixed on the upper surface of the catheter device handle clamping base plate 9, and a mounting device is provided above the catheter device handle 14. The catheter device handle fixing hole on the catheter device handle clamping base plate 9 clamps the pressure plate 13, and the fixed end of the catheter device handle 14 is installed on the catheter device handle clamping base plate 9, and is pressed by the catheter device handle fixing hole clamping pressure plate 13. tight. The output end of the catheter instrument handle mover drive motor 10 passes through the catheter instrument handle clamping bottom plate 9, and is connected to the catheter instrument handle mover clamping base plate 11, and the catheter instrument handle mover 15 is installed on the catheter instrument handle mover clamping bottom plate 11 , above the mover 15 of the handle of the catheter device, a clamping plate 12 of the mover of the handle of the catheter device 12 installed on the clamping bottom plate 11 of the mover of the handle of the catheter device is provided. The mover 15 of the handle of the catheter device is installed on the clamping bottom plate 11 of the mover of the handle of the catheter device, and is pressed by the pressure plate 12 clamped by the mover of the handle of the catheter device, and the mover 11 of the handle of the catheter device is clamped by the mover of the handle of the catheter device. The driving motor 10 is driven.

One end of the rotary hollow shaft 7 is located on one side of the rotary bearing support 6, and the rotary drive motor 8 is installed on the rotary bearing support 6, and the output end is connected with one end of the rotary hollow shaft 7 through a synchronous pulley and a synchronous toothed belt. The rotary hollow shaft 7 rotates; a linear bearing is installed inside one end of the rotary hollow shaft 7 . The other end of the rotary hollow shaft 7 is connected with the rotary hollow shaft connecting flange 16 installed on the other side of the rotary bearing support 6 .

The roller assembly revolving support 20 in the front-end conduit twist feeding module is installed on the base 1 , and the roller assembly seat 21 is rotatably connected with the roller assembly revolving support 20 . The driving roller 19 and the driven roller 18 are installed on the roller assembly seat 21 respectively, and the driving roller 19 is connected with the roller driving motor 17 installed on the roller assembly seat 21 . Extension spring is installed on the axle of passive roller 18, and one end of this extension spring links to each other with roller assembly seat 21, and the other end is connected on the axle of passive roller 18, and passive roller 18 is connected with driving roller all the time by this extension spring. 19 abutments. The driving roller 19 is driven to rotate by the roller driving motor 17, and drives the driven roller 18 to rotate synchronously. The middle of the driving roller 19 and the driven roller 18 are all provided with grooves along the circumferential direction. One end of the interventional catheter 24 is connected to the catheter instrument handle 14, and the other end is sequentially composed of the rotating hollow shaft 7, the connecting flange 16 of the rotating hollow shaft, between the driving roller 19 and the driven roller 18, the roller assembly seat 21 and the roller assembly The slewing support 20 passes through and passes through the clamping module of the outer sleeve of the catheter; the intervening catheter 24 between the driving roller 19 and the driven roller 18 is accommodated in the groove of the two rollers and driven by the rollers The motor 17 drives the driving roller 19 and the driven roller 18 to rotate synchronously, so as to realize the compression of the interventional catheter 24 between the driving roller 19 and the passive roller 18, and twist and send the interventional catheter 24.

There are two guide shafts 26 between the slewing bearing support 6 and the roller assembly seat 21, one end of each guide shaft 26 is connected to the roller assembly seat 21, and the other end passes through the rotary hollow shaft connecting flange 16 , The rotary hollow shaft 7 cooperates with the linear bearing inside one end of the rotary hollow shaft 7. The roller assembly base 21 and the front-end catheter twisting module on it rotate around the axis of the intervention catheter 24 synchronously with the rotating hollow shaft 7 through the guide shaft 26 .

The outer conduit clamping bottom plate 25 in the conduit outer sleeve clamping module is installed on the roller assembly slewing support 20, the outer conduit clamping platen 22 is installed on the outer conduit clamping base plate 25, and the outer conduit clamping platen 22 and the outer conduit The outer catheter 23 of the catheter device is clamped between the clamping base plates 25 and pressed against the clamping base plate 25 of the outer catheter; the other end of the interventional catheter 24 passes through the outer catheter 23 of the catheter device.

The linear slider 5 in the linear push module is fixedly connected with the slewing bearing support 6 in the slewing module, and the hollow shaft 7 in the slewing module is fixedly connected with the catheter device handle clamping base 9 in the push-pull module. The push drive motor 3 drives the linear slider 5 to move back and forth, and drives the slewing bearing support 6 and the catheter instrument handle to clamp the bottom plate 9 to move back and forth in a straight line, so as to realize the axial forward and backward movement of the catheter instrument handle 14. Moreover, the clamping base plate 9 of the catheter instrument handle can also be driven by the rotary drive motor 8 to rotate around the axis of the intervention catheter 24 along with the rotary hollow shaft 7; The roller assembly slewing support 20 and the roller assembly seat 21 installed thereon, the driving roller 19, the driven roller 18, and the roller driving motor 17 rotate.

Working principle of the present invention is:

The linear push drive motor 3 in the linear push module drives the slewing bearing support 6 in the revolving module and the clamping base plate 9 of the catheter instrument handle in the push-pull module to move along the linear push linear guide rail 2, driving the catheter instrument handle to clamp the base plate The handle 14 of the catheter instrument installed on 9 moves; at the same time, the roller drive motor 17 in the front-end catheter twisting module drives the driving roller 18 to drive the intervention catheter 24 to move along the guide shaft 26. The pushing operation of the front-end catheter twisting module and the pushing operation of the linear pushing module utilize the controller (the controller of the present invention is the prior art) to realize synchronous pushing control, and then realize the pushing operation of the end of the interventional catheter 24 along the lumen in the human body.

The rotary drive motor 8 in the pivoting module drives the rotary hollow shaft 7 and the clamping base plate 9 of the catheter instrument handle to rotate around the axis of the interventional catheter 24 through the synchronous pulley and the synchronous toothed belt, driving the catheter instrument handle 14 around the interventional catheter 24 At the same time, the rotary hollow shaft 7 drives the roller assembly seat 21 to rotate synchronously through the guide shaft 26, so as to realize the rotary operation of the end of the interventional catheter 24 in the human body along the cavity axis.

After the end of the interventional catheter 24 moves to the designated position in the human body, the linear push drive motor 3 stops working, and the catheter device handle mover drive motor 10 drives the catheter device handle mover clamping base plate 11 to drive the catheter device handle mover 15 The movement of the handle 14 relative to the catheter instrument implements the bending action of the distal end of the interventional catheter 24 .

The invention can replace the doctor to operate the interventional catheter, realize the linear push and the rotation around the axis of the interventional catheter, and realize the bending action of the end of the interventional catheter through the electric push and pull of the handle of the catheter instrument, and can replace the surgeon to complete the precise electric operation of the interventional catheter for lithotripsy , Reduce the labor intensity of doctors.

Claims (10)

1. an interposing catheter conveying operations device, it is characterized in that: include straight line pushing module, module is turned round around axle, push-and-pull module, catheter apparatus handle (14), nose catheter is twisted with the fingers and is sent module and catheter jacket cylinder self-clamping module, wherein turn round module around axle and include floating bearing bearing (6), revolution hollow axle (7) and revolution drive motor (8), described floating bearing bearing (6) is connected with the outfan of described straight line pushing module, driven mobile by straight line pushing module, described revolution hollow axle (7) is rotatably installed on this floating bearing bearing (6), and drive rotation by the described revolution drive motor (8) being arranged on floating bearing bearing (6)；Described push-and-pull module includes catheter apparatus handle clamping base plate (9) and catheter apparatus handle mover drive motor (10), this catheter apparatus handle clamping base plate (9) is connected with described revolution hollow axle (7), and described catheter apparatus handle mover drive motor (10) is arranged on catheter apparatus handle clamping base plate (9)；Described catheter apparatus handle (14) is arranged on catheter apparatus handle clamping base plate (9), catheter apparatus handle mover (15) of this catheter apparatus handle (14) is connected with described catheter apparatus handle mover drive motor (10), this catheter apparatus handle mover drive motor (10) drive, drive described interposing catheter (24) to be axially moveable；Described nose catheter is twisted with the fingers and is sent module to include running roller drive motor (17), active roll (19), passive running roller (18), roll assembly pivoting support (20) and roll assembly seat (21), this roll assembly pivoting support (20) is arranged on described straight line pushing module, described roll assembly seat (21) and roll assembly pivoting support (20) are rotationally connected, described active roll (19) and passive running roller (18) are separately mounted on this roll assembly seat (21), described active roll (19) is connected with the running roller drive motor (17) being arranged on roll assembly seat (21), driven by this running roller drive motor (17) and rotate, drive described passive running roller (18) synchronous rotary, and then sth. made by twisting send described interposing catheter (24)；Described catheter jacket cylinder self-clamping module is arranged on roll assembly pivoting support (20), one end of described interposing catheter (24) is connected with catheter apparatus handle (14), the other end successively by revolution hollow axle (7), between active roll (19) and passive running roller (18), roll assembly seat (21) and roll assembly pivoting support (20) traverse, and passed by described catheter jacket cylinder self-clamping module.

2. by the interposing catheter conveying operations device described in claim 1, it is characterized in that: described straight line pushing module includes pedestal (1), straight line pushes line slideway (2), straight line pushes drive motor (3), mounting base (4) and linear slider (5), this pedestal (1) is arranged on mounting base (4), described pedestal (1) is provided with straight line and pushes line slideway (2), described linear slider (5) pushes line slideway (2) mobile link with this straight line, described floating bearing bearing (6) is arranged in linear slider (5)；Described straight line pushes drive motor (3) and is arranged on pedestal (1), and be connected with described linear slider (5) by feed screw nut driving mechanism, drive linear slider (5) to push line slideway (2) along described straight line mobile, and drive described floating bearing bearing (6) and catheter apparatus handle clamping base plate (9) to do reciprocating linear and move.

3. by the interposing catheter conveying operations device described in claim 1, it is characterized in that: described revolution drive motor (8) is connected with revolution hollow axle (7) by synchronous pulley, synchronous cog belt, drive described revolution hollow axle (7) to rotate around the axis of described interposing catheter (24), and then drive catheter apparatus handle clamping base plate (9), catheter apparatus handle mover drive motor (10) and catheter apparatus handle (14) to rotate.

4. by the interposing catheter conveying operations device described in claim 3, it is characterized in that: one end of described revolution hollow axle (7) is located at turn around the side of bearing spider (6) and is connected with described revolution drive motor (8), this end is internally installed linear bearing, the other end of described revolution hollow axle (7) is connected with revolution hollow axle adpting flange (16) being arranged on floating bearing bearing (6) opposite side, and described interposing catheter (24) is passed by revolution hollow axle (7), revolution hollow axle adpting flange (16) successively；It is provided with the axis of guide (26) between described floating bearing bearing (6) and roll assembly seat (21), one end of this axis of guide (26) is connected on described roll assembly seat (21), the other end, through revolution hollow axle adpting flange (16), revolution hollow axle (7), coordinates with described linear bearing.

5. by the interposing catheter conveying operations device described in claim 4, it is characterised in that: described roll assembly seat (21) and nose catheter thereon sth. made by twisting send module to pass through the axis of guide (26) and synchronize to rotate around the axis of interposing catheter (24) with revolution hollow axle (7).

6. by the interposing catheter conveying operations device described in claim 1, it is characterized in that: catheter apparatus handle fixing hole clamping pressing plate (13) being arranged over being arranged on catheter apparatus handle clamping base plate (9) of described catheter apparatus handle (14), the outfan of described catheter apparatus handle mover drive motor (10) is connected to catheter apparatus handle mover clamping base plate (11), described catheter apparatus handle mover (15) is arranged on this catheter apparatus handle mover clamping base plate (11), catheter apparatus handle mover clamping pressing plate (12) being arranged over being arranged on described catheter apparatus handle mover clamping base plate (11) at catheter apparatus handle mover (15).

7. by the interposing catheter conveying operations device described in claim 1, it is characterized in that: the wheel shaft of described passive running roller (18) is provided with extension spring, one end of this extension spring is connected with described roll assembly seat (21), the other end is connected on the wheel shaft of described passive running roller (18), described passive running roller (18) is abutted with active roll (19) all the time by this extension spring, is driven synchronous rotary by described active roll (19), it is achieved described interposing catheter (24) compresses between active roll (19) and passive running roller (18).

8. by the interposing catheter conveying operations device described in claim 7, it is characterized in that: the centre of described active roll (19) and passive running roller (18) all along the circumferential direction has groove, and the described interposing catheter (24) being pressed between active roll (19) and passive running roller (18) is placed in described groove.

9. by the interposing catheter conveying operations device described in claim 1, it is characterized in that: described catheter jacket cylinder self-clamping module includes outer catheter clamping pressing plate (22) and outer catheter clamping base plate (25), this outer catheter clamping base plate (25) is arranged on described roll assembly pivoting support (20), described outer catheter clamping pressing plate (22) is arranged on outer catheter clamping base plate (25), it is clamped with catheter apparatus outer catheter (23) outside between conduit clamping pressing plate (22) and outer catheter clamping base plate (25), described interposing catheter (24) is passed by this catheter apparatus outer catheter (23).

10. by the interposing catheter conveying operations device described in claim 1, it is characterised in that: described nose catheter is twisted with the fingers and is sent the sth. made by twisting of module to send the operation of interposing catheter (24) to be synchronously performed with the push operation of described straight line pushing module.