CN116115398A - Aortic stent releasing device for endovascular interventional surgical robot - Google Patents

Abstract

The invention provides an aortic stent release device for an endovascular interventional surgical robot, which comprises a driving mechanism, a control mechanism and an aortic stent, wherein the aortic stent comprises a stent base and a release handle, the stent base is provided with a mounting end and a driving end, the self-expansion stent is sleeved on the mounting end, a tightening sleeve is sleeved outside the self-expansion stent, the release handle is sleeved at a first position of the driving end, the driving mechanism can drive the release handle to move towards a second position of the driving end so as to enable the tightening sleeve to be separated from the self-expansion stent, the self-expansion stent generates self-expansion and enables the mounting end to be separated from the self-expansion stent when the stent base moves away from the self-expansion stent, and the control mechanism is connected with signals of the driving mechanism.

Description

Aortic stent release device for endovascular interventional surgery robot

technical field

The invention relates to the technical field of medical devices, in particular to an aortic stent release device for an intravascular interventional surgery robot.

Background technique

In recent years, with the rise of vascular interventional therapy in my country, many emerging disciplines have been formed, including cardiovascular interventional therapy, cerebrovascular interventional therapy, vascular surgery, and interventional radiology. Due to the continuous advancement of vascular interventional therapy technology and the continuous emergence and application of various intraluminal devices, many lesions that could not be treated by vascular interventional therapy have benefited from this minimally invasive treatment, and the safety and effectiveness of vascular interventional therapy And long-term efficacy continues to improve. However, current vascular interventional therapy also has its limitations.

During vascular interventional treatment, doctors need to use X-ray-based digital silhouette angiography (DSA) guidance to complete the operation. Although doctors are equipped with lead-containing protective clothing, they still cannot protect the doctor's upper limbs and head from X-rays Radiation; and due to the complexity of vascular interventional treatment, it is often necessary to be exposed to X-rays for a long time, and the cumulative radiation dose of doctors is large; and wearing heavy lead-containing protective clothing for a long time increases the pressure load on the spine, which has already There are many reports showing that the incidence of thyroid cancer, radiation lens damage, and lumbar spondylosis among vascular interventional doctors is significantly higher than that of doctors from other disciplines. There are about 700,000 medical staff engaged in endovascular treatment operations across the country, and more than 10 million endovascular treatments are performed nationwide every year. Occupational injuries related to X-rays have become an unavoidable problem, seriously threatening the health of doctors status and long-term development of vascular interventional therapy.

Regarding the release of the aortic stent during the operation, manual release is used clinically. During this process, doctors are exposed to X-rays for a long time, which is harmful to health. In the specific operation process, firstly, hold the base of the bracket with the left hand, hold the release handle with the right hand, secondly, stabilize the base of the bracket with the left hand, rotate the release handle with the right hand to separate them to a suitable distance, and finally slide the release button with the thumb of the right hand And steady, pull the release handle directly to the maximum distance. During the whole endovascular interventional operation, the release of the stent is the top priority and is very critical. This is related to the accuracy of the position of the stent in the blood vessel. Therefore, the release of the stent has a great influence on the strength of the operator's arm, the stability of the release process, and the The speed of release has very high requirements, and a very experienced doctor is required to undertake this task, which increases the risk of surgery.

Patent document CN203493780U discloses an intraluminal stent releaser, the releaser sends and releases the stent into the human blood vessel cavity, and belongs to medical equipment. The main structure of the release device is a release wire and a catheter assembly, but this design still needs to rely on the doctor's on-site operation, which is not conducive to the doctor's health.

Contents of the invention

Aiming at the defects in the prior art, the object of the present invention is to provide an aortic stent release device for an intravascular interventional surgery robot.

An aortic stent release device for an endovascular interventional surgery robot provided according to the present invention includes a driving mechanism, a control mechanism and an aortic stent;

The aortic stent includes a stent base and a release handle, the stent base has a mounting end and a driving end, the self-expanding stent is sleeved on the mounting end and a tightening sleeve is sleeved on the outside of the self-expanding stent, the releasing The handle is slidably or rotatably set at the first position of the driving end, and the driving mechanism can drive the release handle to move toward the second position of the driving end. At this time, the tightening sleeve follows the movement of the release handle and then The cinch sleeve is released from the restraint of the self-expanding stent, and the self-expanding stent self-expands and disengages the mounting end from the self-expanding stent when the stent base moves away from the self-expanding stent;

The control mechanism is in signal connection with the drive mechanism.

Preferably, the driving mechanism includes a first clamping assembly and a second clamping assembly, wherein the first clamping assembly is used to clamp the release handle, and the second clamping assembly is used to clamp the driving end of the second position.

Preferably, the release handle is threadedly engaged with the driving end; or the release handle is slidingly engaged with the driving end.

Preferably, the release handle is provided with a locking pin having a locked state and an unlocked state;

When the lock pin is in the unlocked state, the release handle can move on the driving end;

When the locking pin is locked, the release handle cannot be moved on the drive end.

Preferably, both the first clamping component and the second clamping component have a linear driver, a clamping driver, a base and a clamping structure;

The clamping driver can drive the clamping structure to switch between the clamping state and the loosening state, and the linear driver is installed on the base and can drive the clamping driver to drive the clamping structure along the support base. Movement in the axial direction of the seat can in turn drive the release handle towards the second position of the drive end.

Preferably, the clamping structure includes a left clamping arm and a right clamping arm;

The clamping driver can drive the left clamping arm and the right clamping arm to move closer or farther away.

Preferably, the clamping ends of the left clamping arm and the right clamping arm both adopt arc-shaped surface structures, and the clamping surfaces of the arc-shaped surface structures have tooth-shaped structures.

Preferably, both the left clamping arm and the right clamping arm are made of stainless steel or aluminum alloy.

Preferably, the left clamping arm and the right clamping arm both include a clamping housing, a support column, a buckle, a button, and a compression spring;

The clamping housing has a support column cavity and a button socket communicating with the support column cavity, one end of the support column has a first notch and extends into the interior of the support column cavity, and the support column The other end of the drive is connected with the clamping driver;

The end of the buckle passes through the button socket and extends into the first notch, and an accommodation hole is provided on the clamping housing for accommodating the button, and one end of the button is installed with the push button. spring and is movable in a third position and a fourth position;

When the button is in the third position, the button can be locked by the pin;

After the pin is removed, the button can move to the fourth position under the elasticity of the pressure spring to lock the buckle.

Preferably, both the left clamping arm and the right clamping arm include a torsion spring and a torsion spring pin, the torsion spring is sleeved on the torsion spring pin and installed on the clamping housing through the torsion spring pin, and the buckle The torsion spring is connected, and the torsion spring has a buckling torsion force that twists and presses the first notch.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention uses a power device instead of human hands to complete the release of the stent, reducing the risk of surgery caused by human factors, and the operation is simple, stable and reliable.

2. The present invention can remotely control the linear driver and the clamping driver to cooperate with each other through the control mechanism, so that the doctor is not exposed to X-ray radiation, and has strong practicability.

3. The present invention adopts the sharp-toothed design of the large and small clips, which effectively clamps the handle and has good stability.

4. The present invention uses a bolt to fix the position of the slider, which is stable and reliable, and has a simple structure.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the structural representation of locking pin;

Fig. 3 is a schematic structural view of the release handle at the first position, wherein the tightening sleeve in the figure is not shown;

Fig. 4 is a schematic cross-sectional view of the structure A-A in Fig. 3, wherein the tightening sleeve in the figure is not drawn;

Fig. 5 is a structural schematic diagram when the release handle is in the second position;

Figure 6 is a schematic cross-sectional view of the structure in the B-B direction in Figure 5, wherein the self-expanding stent undergoes self-expansion and has a gap with the mounting end of the stent base, at this time, the mounting end of the stent base can be separated from the self-expansion driven by an external force bracket;

Fig. 7 is a schematic view of the front structure of the first clamping assembly or the second clamping assembly;

Fig. 8 is a schematic view of the side structure of the first clamping assembly or the second clamping assembly;

9 is a schematic structural view of the left clamping arm and the right clamping arm of the first clamping assembly;

Fig. 10 is a structural schematic diagram of the left clamping arm and the right clamping arm of the second clamping assembly;

Fig. 11 is a structural schematic diagram of the tooth structure of the large clip;

Fig. 12 is a structural schematic diagram of the toothed structure of the small clip;

Fig. 13 is a structural schematic diagram of the design of the distribution of tines following the shape on the large clip;

Fig. 14 is a structural schematic diagram of the design of the distribution of tines following the shape on the small clip;

Figure 15 is a schematic structural view of the left clamping arm;

Figure 16 is a schematic cross-sectional view of E-E in Figure 15;

Figure 17 is a schematic cross-sectional view of E-E in Figure 15;

Figure 18 is a schematic view of the front structure of the support column;

Figure 19 is a schematic diagram of the front structure of the button;

Fig. 20 is a schematic top view of the structure of the clamping shell;

Figure 21 is a schematic diagram of the side structure of the button;

Figure 22 is a schematic top view of the structure of the button;

Fig. 23 is a schematic structural view of the clamping shell, in which a U-shaped structural hole and a torsion spring fixing hole are shown;

Figure 24 is a schematic cross-sectional view of F-F in Figure 15;

Fig. 25 is a schematic top view of the torsion spring, the torsion spring pin and the buckle connection;

Fig. 26 is a schematic bottom view of the torsion spring, the torsion spring pin and the buckle connection.

The figure shows:

Linear drive 1 Compression spring 16

Clamping driver 2 Wave-shaped concave-convex structure 17

Lock pin 3 Tapered end 18

Base 4 Toothed structure 19

Aortic stent 5 Conformal tine distribution design 20

Bracket base 6 V-shaped boss 21

Release handle 7 First notch 22

Left clamping arm 8 D-shaped structure 23

Right clamping arm 9 U-shaped structure hole 24

Clamping shell 10 Straight edge 25

Support column 11 hypotenuse 26

Buckle 12 U-shaped column 27

Button 13 Compression spring fixing hole 28

Torsion spring 14 Torsion spring fixing hole 29

Torsion spring pin 15 Self-expanding bracket 101

Detailed ways

The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

The present invention provides an aortic stent release device for an intravascular interventional surgery robot, as shown in FIG. And the release handle 7, the stent base 6 has an installation end and a driving end, the self-expanding stent 101 is sleeved on the installation end and the outside of the self-expanding stent 101 is covered with a tightening sleeve. The self-expandable stent 101 is placed at a specific position in the blood vessel, therefore, accurate and precise placement must be achieved during the operation.

The release handle 7 is slidably or rotatably fitted at the first position of the driving end. In a specific design, the release handle 7 is threadedly fitted with the driving end; or the release handle 7 is slidably fitted with the driving end. In order to ensure the stability of the release handle 7, the release handle 7 is provided with a lock pin 3 having a locked state and an unlocked state.

Further, as shown in FIG. 2 , the lock pin 3 has a cone-like shape, and the surface of the lock pin 3 has a wave-shaped concave-convex structure 17. The wave-shaped concave-convex structure 17 increases the friction force when the lock pin 3 is inserted and pulled out. The front end of the lock pin 3 has a The tapered end 18, the taper design of the tapered end 18 increases the ease of insertion of the lock pin 3, the release handle 7 has a lock pin hole, the lock pin 3 can be matched and inserted into the lock pin hole, when the lock pin 3 is released from the lock pin hole When the middle is pulled out, when the lock pin 3 is in the unlocked state, the release handle 7 can move on the driving end; when the lock pin 3 is inserted into the lock pin hole, the lock pin 3 is in the locked state, and the release handle 7 cannot be driven. End sports.

As shown in Figure 3, Figure 4, Figure 5 and Figure 6, the driving mechanism can drive the release handle 7 to move towards the second position of the driving end, at this time, the tightening sleeve follows the movement of the release handle 7 and then The tightening sleeve breaks away from the restraint of the self-expanding stent 101, and the self-expanding stent 101 self-expands and when the stent base 6 moves away from the self-expanding stent 101, the installation end is separated from the self-expanding stent 101, thereby When the self-expandable stent 101 is installed in the blood vessel, the driving mechanism is connected with the control mechanism by signals, and the control mechanism can output control signals to control the action of the driving mechanism to complete the implantation of the self-expandable stent 101 .

It should be noted that the inside of the bracket base 6 in the present invention is a hollow structure, and the part at the driving end has a gap arranged in the axial direction, which can be pulled when the release handle 7 moves from the first position to the second position. One end of the connecting piece arranged in the hollow structure moves so that the other end of the connecting piece pulls the tightening sleeve to move toward the second position. The purpose of setting the gap is to release the handle 7 and still be able to connect with the connecting piece when it moves or rotates. The connection realizes the driving effect on the connector, and realizes that the tightening sleeve is detached from the self-expanding stent 101 .

In practical applications, the selection of the connector is not limited to a specific structural form, and any structure that can achieve the desired action effect can be selected. For example, when the release handle 7 is threadedly engaged with the driving end, the rotation of the release handle 7 remains the same. The inner thread and the end of the connecting piece can form a driving guide to drive the connecting piece to move with the release handle 7. When the release handle 7 is slidably fitted with the driving end, the movement of the driving connecting piece is simpler and will not be repeated here.

Specifically, the driving mechanism includes a first clamping assembly and a second clamping assembly, wherein the first clamping assembly is used to clamp the release handle 7, and the second clamping assembly is used to clamp the handle of the driving end. In the second position, in actual operation, when the first clamping component and the second clamping component are clamped in place, the first clamping component drives the release handle 7 to move toward the second direction to realize the self-expanding release of the self-expandable stent 101 .

Both the first clamping assembly and the second clamping assembly have a linear driver 1, a clamping driver 2, a base 4, and a clamping structure. The first clamping assembly can realize the release of the handle 7 relative to the support base according to the actual application scene. 6 turns or slides.

As shown in Figure 7, the clamping driver 2 can drive the clamping structure to switch between the clamping state and the loosening state, and the linear driver 1 is installed on the base 4 and can drive the clamping driver 2 Drive the clamping structure to move along the axial direction of the stent base 6, thereby driving the release handle 7 to move toward the second position of the driving end, and finally make the tightening head on the outside of the self-expanding stent 101 detach from the self-expanding stent 101, when the self-expanding stent 101 When the expandable stent 101 is in the self-expandable state, the linear driver 1 can be operated to drive the stent base 6 away from the self-expandable stent 101 so that the self-expandable stent 101 stays inside the blood vessel.

Further, the clamping structure includes a left clamping arm 8 and a right clamping arm 9, as shown in FIG. 8 , the clamping driver 2 can drive the left clamping arm 8 and the right clamping arm 9 to move closer or far .

Specifically, the clamping ends of the left clamping arm 8 and the right clamping arm 9 all adopt an arc-shaped surface structure, and the clamping surface of the arc-shaped surface structure has a tooth-shaped structure 19, wherein the left clamping The material that arm 8, right clamping arm 9 are made can be stainless steel material, also can adopt aluminum alloy material.

In practical applications, the diameter of the release handle 7 clamped by the left clamping arm 8 and the right clamping arm 9 of the first clamping assembly is larger than that of the left clamping arm 8 and right clamping arm 7 of the first clamping assembly. The diameter of the second position of the driving end clamped by the arm 9, so that the two clamping arms of the clamped release handle 7 form a large clamp, the two clamping arms of the second position of the driving end form a small clamp, and the large clamp 1. The size of the curved surface structure corresponding to the small clip is also different, as shown in Figure 9 and Figure 10, wherein the tooth structure 19 on the large clip and the small clip, and the tine distribution design 20 following the shape can also be designed to be different. The size and structure are shown in Figure 11, Figure 12, Figure 13, and Figure 14.

The left clamping arm 8 and the right clamping arm 9 both include a clamping housing 10, a support column 11, a buckle 12, a button 13 and a stage clip 16, as shown in Figures 15 and 16, the clamping housing 10 There is a support column cavity and a button socket connected to the support column cavity, the cross section of the support column cavity is a D-shaped structure 23, as shown in Figure 17, one end of the support column 11 has a first notch 22 and extend to the inside of the support column cavity, the end of one end of the support column 11 is tapered for easy installation, as shown in Figure 18, the other end of the support column 11 is drivingly connected with the clamping driver 2, the first groove The mouth 22 is preferably a V-shaped notch, and the end of the buckle 12 passes through the button socket and extends into the first notch 22. The end of the buckle 12 is preferably a V-shaped boss 21, V-shaped The boss 21 matches the V-shaped notch.

The clamping shell 10 is also provided with a receiving hole for receiving the button 13, the receiving hole is a U-shaped structural hole 24 and communicated with the button socket, as shown in Figure 9 and Figure 20, the button 13 faces one end of the buckle 12 With straight side 25 and hypotenuse 26, button 13 has U-shaped column 27, U-shaped column 27 matches U-shaped structural hole 24, and U-shaped column 27 has compression spring fixing hole 28, and described button 13 is connected with described compression spring 16 And can move in the third position and the fourth position, when the button 13 is in the third position, the button 13 can be locked by the pin 17; when the pin 17 is removed, the button 13 can be driven by the spring 16 It can move to the fourth position and then lock the buckle 12. At this time, the straight edge 25 limits the buckle 12. When the button 13 is in the fourth position and the buckle 12 is not installed in place, when the buckle 12 is pressed, The buckle 12 contacts the hypotenuse 26 and can drive the button 13 to move toward the third position so that the buckle 12 is installed in place, and the V-shaped boss 21 is matched and installed in the V-shaped notch.

Left clamping arm 8 and right clamping arm 9 all comprise torsion spring 14 and torsion spring pin 15, as shown in Figure 23～Fig. On the torsion spring fixing hole 29 and sleeved on the torsion spring pin 15, both ends of the torsion spring pin 15 are installed on the clamping housing 10, the buckle 12 is connected to the torsion spring 14 and the torsion spring 14 There is a torsion force that twists the buckle 12 toward the first notch 22 .

In the description of this application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship indicated by "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, rather than indicating or implying the referred device Or elements must have a certain orientation, be constructed and operate in a certain orientation, and thus should not be construed as limiting the application.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. In the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims (10)

1. An aortic stent release device for an intravascular interventional surgery robot, characterized in that it includes a drive mechanism, a control mechanism and an aortic stent (5); The aortic stent (5) includes a stent base (6) and a release handle (7), the stent base (6) has a mounting end and a driving end, the self-expanding stent (101) is sleeved on the mounting end and the The outside of the self-expanding stent (101) is covered with a tightening sleeve, the release handle (7) is slidably or rotatably set at the first position of the driving end, and the driving mechanism can drive the release handle (7) ) moves toward the second position of the driving end, at this time, the tightening sleeve follows the movement of the release handle (7) so that the tightening sleeve breaks away from the restraint of the self-expanding stent (101), and the self-expanding stent (101 ) undergoes self-expansion and disengages the mounting end from the self-expanding stent (101) when the stent base (6) moves away from the self-expanding stent (101); The control mechanism is in signal connection with the drive mechanism. 2. The aortic stent release device for an endovascular interventional surgery robot according to claim 1, wherein the drive mechanism comprises a first clamping assembly and a second clamping assembly, wherein the first clamping The holding assembly is used to hold the release handle (7), and the second holding assembly is used to hold the second position of the driving end. 3. the aortic stent release device for intravascular interventional surgery robot according to claim 1, characterized in that, the release handle (7) is threadedly engaged with the drive end; or the release handle (7) ) is in sliding fit with the drive end. 4. the aortic stent release device for intravascular interventional surgery robot according to claim 1, characterized in that, the release handle (7) is provided with a lock pin (3) with locked state and unlocked state ); When the lock pin (3) is in an unlocked state, the release handle (7) can move on the driving end; When the lock pin (3) is in the locked state, the release handle (7) cannot move on the drive end. 5. the aortic stent release device for intravascular interventional surgery robot according to claim 2, characterized in that, the first clamping assembly, the second clamping assembly all have a linear drive (1), clamping Hold the driver (2), the base (4) and the clamping structure; The clamping driver (2) can drive the clamping structure to switch between the clamping state and the loosening state, and the linear driver (1) is installed on the base (4) and can drive the clamping driver (2) Driving the clamping structure to move along the axial direction of the support base (6) and then driving the release handle (7) to move toward the second position of the driving end. 6. the aortic stent release device for intravascular interventional surgery robot according to claim 5, characterized in that, the clamping structure comprises a left clamping arm (8) and a right clamping arm (9); The clamping driver (2) can drive the left clamping arm (8) and the right clamping arm (9) to move closer or farther away. 7. the aortic stent release device for intravascular interventional surgery robot according to claim 6, characterized in that, the clamping arms of the left clamping arm (8) and the right clamping arm (9) Both ends adopt an arc-shaped surface structure, and the clamping surface of the arc-shaped surface structure has a tooth-shaped structure. 8. The aortic stent release device for intravascular interventional surgery robot according to claim 6, characterized in that, the left clamping arm (8) and the right clamping arm (9) are all made of stainless steel or aluminum alloy material. 9. The aortic stent release device for endovascular interventional surgery robot according to claim 6, characterized in that, the left clamping arm (8) and the right clamping arm (9) both comprise a clamping shell Body (10), support column (11), buckle (12), button (13) and stage clip (16); The clamping housing (10) has a support column cavity and a button socket communicating with the support column cavity, and one end of the support column (11) has a first notch (22) and extends to the Inside the support column cavity, the other end of the support column (11) is drivingly connected to the clamping driver (2); The end of the buckle (12) passes through the button insertion hole and extends into the first notch (22), and the clamping housing (10) is also provided with an accommodation hole for accommodating the button (13), one end of the button (13) is equipped with the compression spring (16) and can move in the third position and the fourth position; When the button (13) is in the third position, the button (13) can be locked by the pin (17); After the pin (17) is removed, the button (13) can move to the fourth position under the elastic drive of the compression spring (16) to lock the buckle (12). 10. the aortic stent release device for intravascular interventional surgery robot according to claim 9, characterized in that, the left clamping arm (8) and the right clamping arm (9) all comprise torsion springs ( 14) and the torsion spring pin (15), the torsion spring (14) is sleeved on the torsion spring pin (15) and installed on the clamping housing (10) by the torsion spring pin (15), the buckle ( 12) Connect the torsion spring (14) and the torsion spring (14) has a torsion force that twists and presses the buckle (12) toward the first notch (22).

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