Abstract

The embodiments of the present application relate to the field of interventional robots, and in particular relate to an instrument driving method, the method comprising: in response to a received instrument driving instruction, acquiring control parameters for controlling a motor, the control parameters comprising a control rotating speed and a control rotating displacement; comparing the control parameters with preset control parameters to determine a data transmission state; if the data transmission state is an abnormal state, acquiring the number of anomalies, and, according to the number of anomalies, the control rotating speed and the control rotating displacement, determining an expected rotating displacement; acquiring a measured rotating displacement collected by a coder and a storage rotating displacement stored in the motor, and, according to the measured rotating displacement, the current rotating displacement and the expected rotating displacement, determining a target control parameter; and, according to the target control parameter, performing compensation control on the motor to drive an instrument to move. Also provided in the present application are an instrument driving apparatus, a computer device, and a storage medium. The present application effectively improves instrument driving accuracy.

IPC Classes  ?

• H02P 23/14 - Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
• A61B 34/30 - Surgical robots
• A61B 17/00 - Surgical instruments, devices or methods
• G08C 25/00 - Arrangements for preventing or correcting errorsMonitoring arrangements
• H02P 23/24 - Controlling the direction, e.g. clockwise or counterclockwise
• H02K 11/21 - Devices for sensing speed or position, or actuated thereby

Abstract

The present application relates to the field of data processing, and relates to a vascular interventional surgical navigation method and apparatus, a device, and a storage medium. The method comprises: calculating model blood vessel center points and a model blood vessel radius of a three-dimensional blood vessel model, and generating a blood vessel center line; recognizing bifurcation points of the blood vessel center line, and segmenting the blood vessel center line on the basis of the bifurcation points to obtain a plurality of segmented center lines; marking and sorting the plurality of segmented center lines, arranging an association relationship between the segmented center lines, and adding the association relationship to the segmented center lines to obtain segmented association center lines; calculating an instrument operation path on the basis of operation information and initial instrument position information, and determining whether a surgical instrument has collided with a model blood vessel wall during operation; and if the surgical instrument has collided with the model blood vessel wall, calculating a return path on the basis of collision position information, and adjusting the position. In the present application, when the surgical instrument is manipulated, the collision between the surgical instrument and the blood vessel wall can be effectively avoided, improving the surgical safety.

IPC Classes  ?

• A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
• A61B 34/35 - Surgical robots for telesurgery
• G06T 19/20 - Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
• G06T 7/00 - Image analysis
• G06T 7/66 - Analysis of geometric attributes of image moments or centre of gravity

Abstract

The present application relates to the field of data processing, and to an artificial intelligence-based blood vessel registration method and apparatus, a device, and a storage medium. The method comprises: acquiring a blood vessel model image and an original angiography image and training an effective prediction model; inputting the original angiography image into the effective prediction model, and obtaining a registered blood vessel model image; comparing the registered blood vessel model image with the original angiography image, and determining whether comparison result data satisfies a preset condition threshold; if yes, using the effective prediction model as a standard prediction model; if not, iteratively adjusting the blood vessel model image and the effective prediction model, and using the adjusted effective prediction model as a standard prediction model; and inputting a real-time angiography image into the standard prediction model, performing a registration operation, and displaying position information of the real-time angiography image. The present application allows for effective registration of a preoperative angiography image with a three-dimensional blood vessel model to display the angiography image of a real-time position.

IPC Classes  ?

• G06T 7/30 - Determination of transform parameters for the alignment of images, i.e. image registration

Abstract

A rapid-exchange instrument delivery state detection apparatus (10) and detection method, and an interventional operation robot (20). The rapid-exchange instrument delivery state detection apparatus (10) comprises a first apparatus body (100), a second apparatus body (200), a fixed valve (300), a delivery mechanism (400), a first detection component (500), a second detection component (600), and a third detection component (700), wherein in the length direction of a guide wire (40), the first apparatus body (100) and the second apparatus body (200) are spaced apart, the fixed valve (300) is disposed on the first apparatus body (100), and the delivery mechanism (400) is disposed on the second apparatus body (200). The forward movement state and the backward movement state of a balloon catheter (30) can be detected, and damage to the balloon catheter (30) during forward movement and backward movement can be avoided.

IPC Classes  ?

• A61M 25/10 - Balloon catheters
• A61M 39/22 - Valves or arrangement of valves
• A61B 34/30 - Surgical robots

Abstract

The present application relates to the technical field of medical treatments, and in particular to a method and apparatus for driving an elongated instrument, and a storage medium. The method is applied to a driving apparatus of an interventional surgical robot. The driving apparatus comprises a delivery electric motor and a rotary electric motor. The method comprises: receiving a control instruction, wherein the control instruction is used for controlling an elongated instrument to move, and the control instruction carries rotation information of a rotary electric motor and/or rotation information of a delivery electric motor; determining a control mode of the elongated instrument on the basis of the control instruction, wherein the control mode comprises one of the following modes: delivery, rotation, and delivery and rotation; when the control mode is rotation, calculating compensation information of the delivery electric motor on the basis of the rotation information of the rotary electric motor carried in the control instruction; and on the basis of the rotation information of the rotary electric motor, controlling the rotary electric motor to rotate, and on the basis of the compensation information of the delivery electric motor, controlling the delivery electric motor to rotate, so as to drive the elongated instrument. By means of the present application, the movement of an elongated instrument can be accurately controlled.

IPC Classes  ?

• H02P 5/485 - Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing mechanical values representing the speeds using differential movement of the two motors, e.g. using differential gearboxes
• A61B 34/37 - Leader-follower robots
• A61M 25/09 - Guide wires
• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters

Abstract

A medical instrument delivery apparatus and an interventional operation robot. The medical instrument delivery apparatus comprises: a driving mechanism (10) and a guidewire end fixing mechanism (20), wherein the guidewire end fixing mechanism (20) is configured to clamp or release a guidewire (a). During fitting, the guidewire (a) is controlled to be separated from the driving mechanism (10), and then the tip of a rapid exchange balloon (b) is controlled to enter from the end of the guidewire (a), with the end of the guidewire (a) passing out from a rapid exchange port of the rapid exchange balloon (b), and the rapid exchange port of the rapid exchange balloon (b) passing through the guidewire end fixing mechanism (20); the guidewire end fixing mechanism (20) is controlled to clamp the guidewire (a); and the rapid exchange balloon (b) is controlled to move along the guidewire (a) in a direction away from the guidewire end fixing mechanism (20). During the fitting or removal of the rapid exchange balloon (b), the guidewire (a) is fixed by means of the guidewire end fixing mechanism (20), which avoids displacement of the guidewire (a) to improve the stability of the guidewire (a), thereby reducing the operation difficulty and improving the operation efficiency and accuracy.

IPC Classes  ?

• A61M 25/10 - Balloon catheters

Abstract

A master-slave interventional surgical robot and an interventional surgical system. The master-slave interventional surgical robot comprises a master end control device (10) and a slave end driving device (20); the slave end driving device (20) acquires attribute information of at least one control instrument installed on the slave end driving device (20), and sends the attribute information to the master end control device (10); and the master end control device (10) receives in real time the attribute information of the at least one control instrument sent by the slave end driving device (20), and displays at least one target instrument area (121), wherein each target instrument area (121) correspondingly displays the at least one control instrument and the attribute information of the control instrument. The attribute information of the control instrument is shared and displayed between a master end and a slave end, so that a user can see, on the master end control device (10), the attribute information of the control instrument on the slave end, thereby reducing operation errors of the user and reducing the operation costs.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
• A61B 34/30 - Surgical robots

Abstract

A driving device having a force measurement function, and a reaction force measurement method. The driving device is applied to a slave end of an interventional surgical robot, and comprises: a base (10); a delivery assembly (20), used for clamping or axially moving an elongated medical instrument (40), and slidably mounted onto the base (10) in the axial direction of the elongated medical instrument (40); and a force measurement portion, comprising at least two force measurement assemblies, wherein each force measurement assembly comprises a force sensor and an elastic component, the force sensor is fixedly mounted on the base (10), one end of the elastic component is connected to an acquisition end of the force sensor, the other end of the elastic component is connected to the delivery assembly (20), and the force sensor is used for acquiring the force of the elongated medical instrument (40) in the axial direction. A plurality of force measurement components are provided for respectively measuring forces in two opposite directions in the axial direction of the elongated medical instrument (40) when the delivery assembly (20) delivers the elongated medical instrument (40), then a resultant force in the two directions can be calculated, and finally, the reaction force of the elongated medical instrument (40) is calculated on the basis of system resistance and the resultant force. A doctor can accurately sense the resistance and change of the head of the elongated medical instrument (40), thereby reducing the surgical risk.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
• A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
• A61M 25/082 - Self-propulsion arrangements
• G01L 5/16 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force

Abstract

The present application belongs to the technical field of medical image processing. Disclosed are an interventional navigation method and apparatus based on image registration, and a device and a medium. The method comprises: extracting a first head end position of an intervention structure in an original DSA image in real time, and marking the first head end position, so as to obtain a marked DSA image; extracting a three-dimensional vascular model image, and registering the marked DSA image to the three-dimensional vascular model image, so as to obtain a registered image; searching the registered image for a second head end position corresponding to the intervention structure in the marked DSA image; and sending the second head end position to a display end, so as to display the second head end position. A mapping process of the registration method has the advantage of smoothness and reversibility, and a marked DSA image can be registered to a three-dimensional vascular model image with relatively high precision, such that a second head end position of an intervention structure is precisely displayed in real time.

IPC Classes  ?

• G06T 19/00 - Manipulating 3D models or images for computer graphics
• A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• A61B 17/34 - TrocarsPuncturing needles
• G06T 19/20 - Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
• G06T 7/33 - Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
• G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
• G06T 3/40 - Scaling of whole images or parts thereof, e.g. expanding or contracting

Abstract

A lesion length measurement apparatus. An elongated medical instrument is pushed by means of an operator, such that a mark point coincides with a distal end of a lesion, and distance data of an encoder is recorded as zero; the elongated medical instrument is pushed according to a preset mode by means of the operator, such that the mark point moves in the direction of a proximal end of the lesion; when the mark point coincides with the proximal end of the lesion, the operator stops pushing the elongated medical instrument, reads a plurality of pieces of distance data which are recorded in the encoder, and stores the plurality of pieces of distance data in a circular buffer; and the distance data in the circular buffer is calculated by using a median algorithm, so as to obtain a lesion length which is measured for the first time. The present application further relates to a device and a storage medium. The technical problems of insufficient accuracy and low fault tolerance of existing lesion length measurement methods can be solved.

IPC Classes  ?

• G16H 10/00 - ICT specially adapted for the handling or processing of patient-related medical or healthcare data

Abstract

A device for automatically threading a guide wire into a valve and a fully-automatic radiography robot. Said device comprises a controller, and a catheter driving mechanism (1), a guide wire driving mechanism (2) and a threading assistant assembly (3) which are in communication connection to the controller. The catheter driving mechanism (1) is provided with a radiography valve body (11), the radiography valve body (11) being connected to a catheter (12) on the catheter driving mechanism (1). The guide wire driving mechanism (2) comprises a guide wire moving mechanism (21) and a guide wire delivery mechanism (211) mounted on the guide wire moving mechanism (21). The threading assistant assembly (3) is mounted on the side of the guide wire driving mechanism (2) close to the catheter driving mechanism (1). In a working state, a guide wire is clamped by the guide wire driving mechanism (2) and partially enters the threading assistant assembly (3); then the controller acquires a wire threading instruction, and, on this basis, controls the guide wire moving mechanism (21) to move towards the catheter driving mechanism (1) until part of the threading assistant assembly (3) enters the radiography valve body (11); and then controls the guide wire delivery mechanism (211) to deliver the guide wire into the catheter (12). The present application does not need doctors to perform manual operation on guide wires.

IPC Classes  ?

• A61B 34/32 - Surgical robots operating autonomously
• A61M 25/09 - Guide wires
• A61M 39/22 - Valves or arrangement of valves
• A61M 5/00 - Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular wayAccessories therefor, e.g. filling or cleaning devices, arm rests

Abstract

Embodiments of the present application relate to the technical field of medical instruments, and relate to a disassembly/assembly type driving device and an interventional operation robot slave end. The disassembly/assembly type driving device comprises: moving platforms which are slidably mounted at the interventional operation robot slave end; a delivery platform; and a snap-fitting member, comprising a first snap-fitting part and a second snap-fitting part which are matched with each other, wherein one of the first snap-fitting part and the second snap-fitting part is arranged on the end face at the proximal end of the moving platform, and the other one is arranged on the end face at the distal end of the delivery platform. By means of the snap-fitting member, the delivery platform is detachably mounted on the moving platform and can slide at the interventional operation robot slave end along with the moving platform. According to the technical solution provided by the present application, less sterile boxes are used, and the operation cost is reduced. In addition, the present application achieves detachable mounting of the delivery platform and the moving platforms by means of the first snap-fitting part and the second snap-fitting part, so that the delivery platform can be mounted on the moving platform close to the distal end during interventional operation in a one-catheter one-guidewire manner.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots

Abstract

The present invention belongs to the technical field of medical apparatuses. Disclosed are a control apparatus and control method for an elongated medical instrument. The control apparatus for an elongated medical instrument comprises: a driving device (100), which is provided with a first accommodating tank (101); a locking member (200), which is detachably mounted in the first accommodating tank (101) and configured to maintain the driving device (100) in an instrument remove-and-place position, such that the elongated medical instrument (a) can be removed and placed in the first accommodating tank (101) when the driving device (100) is in the instrument remove-and-place position; and a positioning control device, which is connected to the driving device (100) and is configured to obtain position information of the driving device (100) and control the driving device (100) to move to the instrument remove-and-place position. The control apparatus can automatically control the driving device (100) to move to the instrument remove-and-place position, such that the process of replacing the instrument is simpler and faster to provide convenience for use by a user, thereby improving the reliability of an interventional operation.

IPC Classes  ?

• A61B 34/30 - Surgical robots

Abstract

An instrument driving apparatus, a medical instrument delivery device, and an interventional surgical slave robot. The instrument driving apparatus comprises a sterile box (1), an instrument driving mechanism (12), and a linkage mechanism (13); the sterile box (1) comprises a box body (111) and an upper cover (112) rotatably connected to the box body (111); the instrument driving mechanism (12) is provided in the box body (111); the linkage mechanism (13) is provided in the box body (111), two ends of the linkage mechanism (13) are respectively connected to the upper cover (112) and the instrument driving mechanism (12), and the instrument driving mechanism (12) is partially slidably connected to the box body (111); when the upper cover (112) is rotated, the upper cover (112) drives, by means of the linkage mechanism (13), the instrument driving mechanism (12) to clamp or loosen an elongated medical instrument (5); after the upper cover (112) rotates over a predetermined position in a predetermined direction, the linkage mechanism (13) drives the upper cover (112) to continue to rotate in the predetermined direction until the upper cover (112) stops at a limited position. The instrument driving apparatus can achieve accurate and firm positioning of the opening of the upper cover (112) of the sterile box (1), thereby increasing the loading speed of medical instruments, and improving the surgical efficiency.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• A61M 25/08 - Advancing means, e.g. self-propelled
• A61M 25/09 - Guide wires

Abstract

A delivery apparatus for elongated medical instruments includes a first driving mechanism, a second driving mechanism, and a third driving mechanism. A rotating and delivering assembly configured to clamp a medical instrument is not arranged on the second driving mechanism, whereas a third rotating and delivering assembly is arranged on the third driving mechanism. Under different intervention modes, the third rotating and delivering assembly may be configured to clamp, rotate and deliver a third medical instrument, or the third rotating and delivering assembly, upon manipulating the third medical instrument, clamp, rotates and delivers a fourth medical instrument. A third delivering assembly is configured to clamp the third medical instrument when the third rotating and delivering assembly manipulates the fourth medical instrument, such that the volume and weight of the entire slave-end apparatus are reduced and the costs are lowered.

IPC Classes  ?

• A61B 34/30 - Surgical robots

Abstract

A delivery device for elongated medical devices, relating to the technical field of interventional surgical robots. The delivery device comprises a first drive mechanism (1), a second drive mechanism (2) and a third drive mechanism (3). Only the third drive mechanism (3) is provided with a third rotary delivery assembly (31) while the second drive mechanism (2) is not provided with a rotary delivery assembly for clamping a medical device. Thus, in different intervention modes, the third rotary delivery assembly (31) can be used for clamping a third medical device (103) and rotating and delivering the third medical device (103); or after finishing the operation on the third medical device (103), the third rotary delivery assembly (31) clamps a fourth medical device (104) and rotates and delivers the fourth medical device (104). A third delivery assembly (33) is used for clamping the third medical device (103) when the third rotary delivery assembly (31) operates the fourth medical device (104), so that the whole slave end device has a reduced size and weight, thereby saving costs. In addition, the delivery device can execute a "one-catheter-two-wires" intervention mode.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots

Goods & Services

stands for machines; industrial robots; handling machines, automatic [manipulators]; Robotic arms for industrial purposes; tables for machines; hangers [parts of machines]; hand-held tools, other than hand-operated; Electromechanical machines for chemical industry; machines and apparatus for cleaning, electric; washing apparatus. Computer programs for editing images, sound and video; Computer programs for enabling access or entrance control; Computer software for processing digital images; Computer programs for connecting remotely to computers or computer networks; Data processing equipment; Computer software applications, downloadable; Telepresence robots; Software as a medical device [SaMD], downloadable; Security surveillance robots; Dissecting instruments for scientific or research purposes; Audiovisual teaching apparatus; Measuring instruments; Resuscitation mannequins [teaching apparatus]; Laboratory robots. Injection needles for medical use; Knives for medical use; Luer tapers for medical use; Balloon catheters; Medical instruments; Medical guidewires; Medical catheters; Medical stents; Medical analysis instruments; Drug-coated stents for thrombosis; Medical radiation apparatus; MRI diagnostic apparatus; Electroencephalographs; Hospital gurneys; Medical drapes of non-woven textile materials; Artificial vascular grafts; Medical diagnostic instruments; Surgical robots. research and development of new products for others; scientific research for medical purposes; research in the field of artificial intelligence technology; scientific research; clinical trials; medical research; industrial design; Design and development of computer software; Computer programming in the medical field; design and development of software in the field of mobile applications. Massages; Medical assistance services; Physiotherapy services; Rental of sanitary installations; Rental of surgical robots; Providing medical information from a web site; Behavioral analysis for medical purposes; Rental of medical equipment; Providing information relating to traditional Japanese massage; Veterinary assistance.

Goods & Services

stands for machines; industrial robots; handling machines, automatic [manipulators]; Robotic arms for industrial purposes; tables for machines; hangers [parts of machines]; hand-held tools, other than hand-operated; Electromechanical machines for chemical industry; machines and apparatus for cleaning, electric; washing apparatus. Computer programs for editing images, sound and video; Computer programs for enabling access or entrance control; Computer software for processing digital images; Computer programs for connecting remotely to computers or computer networks; Data processing equipment; Computer software applications, downloadable; Telepresence robots; Software as a medical device [SaMD], downloadable; Security surveillance robots; Dissecting instruments for scientific or research purposes; Audiovisual teaching apparatus; Measuring instruments; Resuscitation mannequins [teaching apparatus]; Laboratory robots. Injection needles for medical use; Knives for medical use; Luer tapers for medical use; Balloon catheters; Medical instruments; Medical guidewires; Medical catheters; Medical stents; Medical analysis instruments; Drug-coated stents for thrombosis; Medical radiation apparatus; MRI diagnostic apparatus; Electroencephalographs; Hospital gurneys; Medical drapes of non-woven textile materials; Artificial vascular grafts; Medical diagnostic instruments; Surgical robots. research and development of new products for others; scientific research for medical purposes; research in the field of artificial intelligence technology; scientific research; clinical trials; medical research; industrial design; Design and development of computer software; Computer programming in the medical field; design and development of software in the field of mobile applications. Massages; Medical assistance services; Physiotherapy services; Rental of sanitary installations; Rental of surgical robots; Providing medical information from a web site; Behavioral analysis for medical purposes; Rental of medical equipment; Providing information relating to traditional Japanese massage; Veterinary assistance.

Goods & Services

stands for machines; industrial robots; handling machines, automatic [manipulators]; Robotic arms for industrial purposes; tables for machines; hangers [parts of machines]; hand-held tools, other than hand-operated; Electromechanical machines for chemical industry; machines and apparatus for cleaning, electric; washing apparatus. Computer programs for editing images, sound and video; Computer programs for enabling access or entrance control; Computer software for processing digital images; Computer programs for connecting remotely to computers or computer networks; Data processing equipment; Computer software applications, downloadable; Telepresence robots; Software as a medical device [SaMD], downloadable; Security surveillance robots; Dissecting instruments for scientific or research purposes; Audiovisual teaching apparatus; Measuring instruments; Resuscitation mannequins [teaching apparatus]; Laboratory robots. Injection needles for medical use; Knives for medical use; Luer tapers for medical use; Balloon catheters; Medical instruments; Medical guidewires; Medical catheters; Medical stents; Medical analysis instruments; Drug-coated stents for thrombosis; Medical radiation apparatus; MRI diagnostic apparatus; Electroencephalographs; Hospital gurneys; Medical drapes of non-woven textile materials; Artificial vascular grafts; Medical diagnostic instruments; Surgical robots. research and development of new products for others; scientific research for medical purposes; research in the field of artificial intelligence technology; scientific research; clinical trials; medical research; industrial design; Design and development of computer software; Computer programming in the medical field; design and development of software in the field of mobile applications. Massages; Medical assistance services; Physiotherapy services; Rental of sanitary installations; Rental of surgical robots; Providing medical information from a web site; Behavioral analysis for medical purposes; Rental of medical equipment; Providing information relating to traditional Japanese massage; Veterinary assistance.

Goods & Services

Axles for machines; Bearings, as parts of machines; Cargo handling machines; Hand-held battery actuated hydraulic crimp tool; Industrial robots; Mounting hangers adapted for exhaust systems for internal combustion engines; Power transmission belts for machines, motors and engines used in industrial applications; Regulators being parts of machines; Robots for power washing; Stands for machines Data processing equipment; Downloadable computer programs for connecting remotely to computers or computer networks; Downloadable computer programs for editing images, sound, and video; Downloadable computer programs for the enabling of access or entrance control; Downloadable computer software for application and database integration; Downloadable computer software for processing digital images; Laboratory robots; Medical teaching mannequins; Software as a Medical Device (SaMD), downloadable, for use as electrocardiographs; Telepresence robots Stents; Apparatus for blood analysis; Balloon catheters; Drug-coated stents for thrombosis; Knives for medical use; Luer tapers for medical use; Medical and surgical catheters; Medical guidewires; Surgical apparatus and instruments for medical use; Surgical robots Computer programming in the medical field; Design and development of computer software; Design and development of software in the field of mobile applications; Industrial design; Mechanical research; Medical and scientific research, namely, conducting clinical trials for others; Medical research; Research and development of new products for others; Research in the field of artificial intelligence technology; Scientific research Massages; Behavioral analysis for medical purposes; Medical assistance services; Physiotherapy; Providing information relating to traditional Japanese massage; Providing medical information from a web site; Rental of medical equipment; Rental of sanitary installations; Rental of surgical robots; Veterinary services

Goods & Services

Axles for machines; Bearings, as parts of machines; Cargo handling machines; Hand-held battery actuated hydraulic crimp tool; Industrial robots; Mounting hangers adapted for exhaust systems for internal combustion engines; Power transmission belts for machines, motors and engines used in industrial applications; Regulators being parts of machines; Robots for power washing; Stands for machines Data processing equipment; Downloadable computer programs for connecting remotely to computers or computer networks; Downloadable computer programs for editing images, sound, and video; Downloadable computer programs for the enabling of access or entrance control; Downloadable computer software for application and database integration; Downloadable computer software for processing digital images; Laboratory robots; Medical teaching mannequins; Software as a Medical Device (SaMD), downloadable, for use as electrocardiographs; Telepresence robots Apparatus for blood analysis; Balloon catheters; Drug-coated stents for thrombosis; Knives for medical use; Luer tapers for medical use; Medical and surgical catheters; Medical guidewires; Stents; Surgical apparatus and instruments for medical use; Surgical robots Computer programming in the medical field; Design and development of computer software; Design and development of software in the field of mobile applications; Industrial design; Mechanical research; Medical and scientific research, namely, conducting clinical trials for others; Medical research; Research and development of new products for others; Research in the field of artificial intelligence technology; Scientific research; None of the above services are related to ostomy Behavioral analysis for medical purposes; Massages; Medical assistance services; Physiotherapy; Providing information relating to traditional Japanese massage; Providing medical information from a web site; Rental of medical equipment; Rental of sanitary installations; Rental of surgical robots; Veterinary services; None of the above services are related to ostomy

Goods & Services

Axles for machines; Bearings, as parts of machines; Cargo handling machines; Hand-held battery actuated hydraulic crimp tool; Industrial robots; Mounting hangers adapted for exhaust systems for internal combustion engines; Power transmission belts for machines, motors and engines used in industrial applications; Regulators being parts of machines; Robots for power washing; Stands for machines Data processing equipment; Downloadable computer programs for connecting remotely to computers or computer networks; Downloadable computer programs for editing images, sound, and video; Downloadable computer programs for the enabling of access or entrance control; Downloadable computer software for application and database integration; Downloadable computer software for processing digital images; Laboratory robots; Medical teaching mannequins; Software as a Medical Device (SaMD), downloadable, for use as electrocardiographs; Telepresence robots Apparatus for blood analysis; Balloon catheters; Drug-coated stents for thrombosis; Knives for medical use; Luer tapers for medical use; Medical and surgical catheters; Medical guidewires; Stents; Surgical apparatus and instruments for medical use; Surgical robots Computer programming in the medical field; Design and development of computer software; Design and development of software in the field of mobile applications; Industrial design; Mechanical research; Medical and scientific research, namely, conducting clinical trials for others; Medical research; Research and development of new products for others; Research in the field of artificial intelligence technology; Scientific research Behavioral analysis for medical purposes; Massages; Medical assistance services; Physiotherapy; Providing information relating to traditional Japanese massage; Providing medical information from a web site; Rental of medical equipment; Rental of sanitary installations; Rental of surgical robots; Veterinary services

Abstract

A multi-instrument cooperative operating system of an interventional surgical robot, belonging to the technical field of medical robot control. The system comprises a master end operator (1), a slave end driving mechanism (2), a first operating part (11), a second operating part (12) and a linkage unit (13). When the linkage unit (13) is selected, one of the first operating part (11) and the second operating part (12) is operated independently to generate instruction information; and on the basis of the instruction information, the slave end driving mechanism (2) controls a plurality of elongated medical instruments corresponding to the first operating part (11) and a plurality of elongated medical instruments corresponding to the second operating part (12) to act jointly. Therefore, a user can simultaneously operate and control two different control apparatuses simply by means of independently operating one of the first operating part (11) and the second operating part (12), thereby improving the operating cooperation of the elongated medical instruments, and further improving the operating precision, improving surgical efficiency, improving the degree of assisting doctors, and reducing the potential safety hazards during surgeries.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• A61B 17/00 - Surgical instruments, devices or methods
• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
• A61M 25/09 - Guide wires

Abstract

A flexible medical instrument delivery system, relating to the technical field of interventional machine control. The system comprises: a processor, and a first control mechanism (400), a second control mechanism (500), and a third control mechanism (600) communicatively connected to the processor. The processor is used for: acquiring a target control mode and a forward motion instruction; and determining a target controlled object on the basis of the target control mode, determining, on the basis of the target controlled object, whether a target compensation object is present, and if a target compensation object is present, screening out the target controlled object and the target compensation object from a first catheter (100), a second catheter (200), and a guide wire (300). By acquiring the target control mode, it can be determined that the target controlled object is the first catheter (100), the second catheter (200), or the guide wire (300). By adjusting the compensation speed, slippage of the catheter or the guide wire due to a mechanical structure is compensated for, and misalignment between the catheter (100) and the catheter (200) and misalignment between the catheters (100, 200) and the guide wire (300) are eliminated.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
• A61M 25/09 - Guide wires

Abstract

Disclosed is a slave-end guidewire/catheter driving apparatus with a force detection function, disposed at a slave end of an interventional surgical robot, and configured to clamp and drive a guidewire/catheter. The apparatus includes an inner frame, a rubbing mechanism, and a first force detection module. The rubbing mechanism is disposed on the inner frame, and includes two opposite clamping sets and a driving component driving the two sets to approach or move away from each other along a first direction to clamp or unclamp the guidewire/catheter. The first force detection module is at the bottom of the inner frame, and configured to detect advancement resistance in an advancement direction, perpendicular to the first direction, of the guidewire/catheter when the two sets clamp the guidewire/catheter. This application allows doctors to learn about resistance in time, which increases a sense of presence and improves surgery safety with high practicability and wide application.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• A61B 34/30 - Surgical robots
• A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters

Abstract

Provided are a surgical robot slave end operation apparatus, a pressure detection device, and a data processing method. The pressure detection device is applied to the surgical robot slave end operation apparatus, and comprises: a fixed frame (01), which is rigidly connected to a driving motor and comprises a protruding first connecting part; a movable frame (02), which comprises second connecting parts located on both sides of the first connecting part; a sensor assembly, which comprises pressure sensors (03) arranged between the first connecting part and the second connecting parts and configured for detecting an acting force between the movable frame (02) and the fixed frame (01); an acceleration sensor, which is fixed to the movable frame (02) and configured for detecting the acceleration of the movable frame (02); and a micro-processing module (400), which is configured for determining, on the basis of a first detection result of the pressure sensor (03) and a second detection result of the acceleration sensor, an acting force acting on the movable frame (02).

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• G01L 5/00 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes

Abstract

Provided are an interventional surgical robot catheter guide wire action control method and a related device (600) thereof. The method comprises: acquiring target control information (201); determining a target controlled object according to the target control information, determining whether the target controlled object satisfies a preset safety distance condition and satisfies a preset low-speed following condition (202); if the target controlled object satisfies the preset safety distance condition and satisfies the preset low-speed following condition, controlling, according to a first preset optimization parameter, the target controlled object to perform low-speed following motion (203); and if the target controlled object satisfies the preset safety distance condition but does not satisfy the preset low-speed following condition, controlling, according to a second preset optimization parameter, the target controlled object to perform high-speed following motion (204). The control method and the device (600) of the present invention can reduce the motion noise of a catheter guide wire, thereby more facilitating carrying out surgery.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery
• A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
• A61M 25/082 - Self-propulsion arrangements
• A61M 25/09 - Guide wires

Abstract

An interventional robot and a multi-mode control method. The interventional robot comprises a master device (1), a slave device (2), a master processor (3), and a slave processor (4); the master device (1) comprises a first control terminal (111) and a second control terminal (112), or a first driver trigger key (121) and a second driver trigger key (122); the slave device (2) comprises a first control mechanism (21), a second control mechanism (22), and a third control mechanism (23); the first control terminal (111), the second control terminal (112), the first driver trigger key (121), and the second driver trigger key (122) are connected to the master processor (3), the first control mechanism (21), the second control mechanism (22), and the third control mechanism (23) are connected to the slave processor (4), and the master processor (3) is connected to the slave processor (4). The interventional robot can be conveniently and flexibly used by a doctor.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots

Abstract

The present invention provides an elongated medical instrument delivery system and delivery method, an apparatus, and a medium, which relate to the technical field of medical robot control. The system comprises: a master end operator (1) configured for sending instruction information; a slave end driver (2) connected to the master end operator (1) and configured for receiving the instruction information sent by the master end operator (1) and determining whether the instruction information satisfies a compensation condition, and when the instruction information satisfies the compensation condition, acquiring a target compensation amount; and a target driving mechanism (3) connected to the slave end driver (2) and configured for clamping a first elongated medical instrument. When the instruction information satisfies the compensation condition, the slave end driver (2) controls, on the basis of the instruction information and the target compensation amount, the target driving mechanism (3) to move to deliver the first elongated medical instrument, such that the arching phenomenon of the first elongated medical instrument under the influence of a frictional force is avoided, the operating acccuracy is improved, and the need for an operator to enter an operating room to adjust a catheter is eliminated, thereby improving the operating efficiency.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery
• A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
• A61M 25/082 - Self-propulsion arrangements
• A61M 25/09 - Guide wires

Abstract

A force feedback mechanism (100), a master end control device (1000), and a corresponding interventional surgery robot. The force feedback mechanism (100) is used in the master end control device (1000) of the interventional surgery robot. The master end control device (1000) is configured for cooperating with a slave end robot of the interventional surgery robot, and the slave end robot can receive operation information from the master end control device (1000) and perform a corresponding action. The force feedback mechanism (100) comprises a mounting base (10), a driving assembly (20), and a friction assembly (30). The driving assembly (20) is arranged on the mounting base (10). The friction assembly (30) is connected to the driving assembly (20) and capable of being in damping fit with an operation portion (200) of the master end control device (1000). The driving assembly (20) can drive, according to delivery resistance information sent by the slave end robot, the friction assembly (30) to move so that the friction assembly (30) is switched between a zero damping state and a damping state, and the magnitude of a damping force between the friction assembly (30) and the operation portion (200) is adjusted. When the friction assembly (30) is in the zero damping state, a damping force between the friction assembly (30) and the operation portion (200) is zero. When the friction assembly (30) is in the damping state, the friction assembly (30) is in damping fit with the operation portion (200).

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery

Abstract

Disclosed is a slender medical instrument driving apparatus (100), comprising a mounting box (10), driving wheels (20), a supporting part (30), a first driving assembly (40), and a second driving assembly (50). A mounting plate (11) is arranged inside the mounting box (10). The driving wheels (20) comprise first drive wheels (21) and first driven wheels (22). The first drive wheels (21) and the first driven wheels (22) are rotatably arranged on the mounting plate (11). The supporting part (30) is arranged on the mounting plate (11), and a slender medical instrument (31) is arranged within the supporting part (30). The slender medical instrument (31) is placed between the first drive wheels (21) and the first driven wheels (22). The first driving assembly (40) is arranged within the mounting box (10) and is used to drive the rotation of the supporting part (30) and the mounting plate (11) together, thereby driving the rotation of the slender medical instrument (31). The second driving assembly (50) is arranged within the mounting box (10) and is used to drive the rotation of the first drive wheels (21), thereby driving the delivery of the slender medical instrument (31).

IPC Classes  ?

• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters

Abstract

Provided are a catheter guide wire delivery method, a driving apparatus for delivering a catheter guide wire, a computer device, and a computer-readable storage medium. The driving apparatus comprises a first driving mechanism (1), a second driving mechanism (2) and a third driving mechanism (3). In the initial delivery stage, a catheter (5) between the first driving mechanism (1) and the second driving mechanism (2) is in a bent state; during the first stage of delivery, the first driving mechanism (1) delivers the catheter (5) and a guide wire (6) together, and in the continuous delivery process, the bending degree of the catheter (5) between the first driving mechanism (1) and the second driving mechanism (2) gradually decreases; during the second stage of delivery, a detection mechanism (4) detects whether the catheter (5) between the first driving mechanism (1) and the second driving mechanism (2) is straightened, and if so, the third driving mechanism (3) drives the second driving mechanism (2) to move in the delivery direction of the catheter (5) and the guide wire (6).

IPC Classes  ?

• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
• A61B 34/30 - Surgical robots

Abstract

The present invention relates to the technical field of medical instrument robots, and in particular to a slave end driving device of an interventional surgical robot and an elongated medical instrument delivery method. The slave end driving device of the interventional surgical robot comprises a rack (6); a first driving mechanism (1) fixedly arranged on the rack (6) to clamp one end of an elongated medical instrument (3) and deliver the elongated medical instrument (3); and a second driving mechanism (2) movably arranged on the rack (6) to clamp the other end of the elongated medical instrument (3) and deliver the elongated medical instrument (3) by means of moving on the rack (6). The first driving mechanism (1) is fixedly arranged, and only the second driving mechanism (2) moves on the rack (6), so the overall size of a slave end is reduced by means of a reasonable structural design, and the occupied space and the overall mass of the slave end are reduced, which is conducive to the spatial layout of the surgical robot.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots

Abstract

The present application relates to the field of medical robots, and provides an interventional robot system and a readable storage medium. A touch switch of the interventional robot system is arranged on an operating rod, is connected to a processor, and is configured to send a current state of the switch to the processor; a master encoder is arranged on the operating rod, is connected to the processor, and is configured to send an operating rod displacement to the processor formed by the operating rod being controlled to perform the current operation; a zero position sensor is arranged on a base, is connected to the processor, and is configured to send a current state of the sensor to the processor; the processor is configured to receive the operating rod displacement sent by the master encoder, the current state of the sensor sent by the zero position sensor, and the current state of the switch sent by the touch switch; and on the basis of the operating rod displacement, the current state of the sensor, and the current state of the switch, the interventional robot system is controlled to perform movement corresponding to the operating rod displacement from the end, thereby ensuring an accurate control of the movement of elongated medical instruments and eliminating invalid operations.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
• G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation

Abstract

Provided are a method for initializing an interventional operation robot slave and a readable storage medium. The method comprises: acquiring a starting instruction, controlling N driving sensing units on the basis of the starting instruction to execute an error-removing operation, and acquiring error-removing results fed back by the N driving sensing units (S101); determining whether the error-removing results fed back by the N driving sensing units meet an initialization condition (S102); and if the error-removing results fed back by the N driving sensing units meet the initialization condition, controlling the N driving sensing units to execute an initialization operation, such that each driving sensing unit moves to a corresponding target initialization position to complete the initialization (S103). The present invention enables the N driving sensing units to move accurately and quickly to the corresponding target initialization positions so as to facilitate subsequent operation by a doctor.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery

Abstract

Disclosed is a slave apparatus of an interventional operation robot comprising a body (10). The body (10) is provided with a fixed driving apparatus (11) and a first movable driving apparatus (12). The fixed driving apparatus (11) is fixedly mounted at a distal end of the body (10). The first movable driving apparatus (12) moves along the body (10). The first movable driving apparatus (12) comprises a first supporting unit (120), a first delivery unit (121) and a first rotating member (122). The first supporting unit (120) is used for, together with the fixed driving apparatus (11), clamping, delivering, and rotating a first elongated medical instrument. The first delivery unit (121) and the first rotating member (122) are used for clamping, delivering, and rotating a second elongated medical instrument. When the first movable driving apparatus (12) moves, the first delivery unit (121) releases the second elongated medical instrument. The slave apparatus of the interventional operation robot can accurately deliver elongated medical instruments to a proper position of a lesion in a patient's body, and can prevent the elongated medical instruments from being bent in the delivery process and prevent doctors from harm due to long-term exposure to X-ray radiation.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
• A61M 25/09 - Guide wires

Abstract

The present application relates to the technical field of medical robots, and in particular, to a slave driving device of an interventional surgical robot and an elongated medical instrument delivery method. The slave driving device includes: a frame; a first driving mechanism, fixedly arranged on the frame to clamp one end of an elongated medical instrument to deliver the elongated medical instrument; and a second driving mechanism, movably arranged on the frame to clamp the other end of the elongated medical instrument to deliver the elongated medical instrument through movement on the frame. Since only the second driving mechanism is able to move on the frame, the overall size of the slave driving device is reduced by using a reasonable structural design, and the occupied space and the overall weight of the slave driving device are reduced, thereby facilitating the spatial layout of the surgical robot.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
• A61B 34/30 - Surgical robots
• A61B 17/00 - Surgical instruments, devices or methods

Goods & Services

surgical robots; Injection needles for medical use; Knives for medical use; Luer tapers for medical use; Balloon catheters; Medical instruments; Medical guidewires; Medical catheters; Medical stents; Medical analysis instruments; Drug-coated stents for thrombosis; Medical radiation apparatus; MRI diagnostic apparatus; Scanners of electroencephalogram (EEG) apparatus for medical use; Hospital gurneys; Medical drapes of non-woven textile materials; Artificial vascular grafts; Medical diagnostic instruments.

Goods & Services

Apparatus for blood analysis; Artificial vascular grafts; Balloon catheters; Drug-coated stents for thrombosis; Hospital gurneys; Injection needles for medical use; Knives for medical use; Luer tapers for medical use; Medical and surgical catheters; Medical apparatus and instruments for monitoring blood properties and respiratory events; Medical devices and apparatus, namely, ultrasound imaging apparatus, scanners and needle guides, and parts and fittings therefor; Medical diagnostic apparatus for testing blood sugar levels; Medical drapes of non-woven textile materials; Medical guidewires; Medical instruments for intraluminal emplacement of stents or of synthetic stent grafts, namely, stent or synthetic stent graft delivery systems; Medical radiation apparatus; MRI apparatus for medical purposes; Surgical apparatus and instruments for medical use; Surgical robots

Abstract

Disclosed is an interventional medical instrument auxiliary apparatus, comprising a guide rail (10), a fixing base (20) slidably mounted on the guide rail (10) and driving a catheter (200) to be withdrawn, and a clamping set (30) mounted on the fixing base (20), the clamping set (30) being used for clamping a guide wire (100) passing through the catheter (200) and moving relative to the guide wire (100) along with the fixing base (20). In the process that the interventional medical instrument auxiliary apparatus in the present invention drives the catheter (200) to be withdrawn, the clamping set (30) is in rolling fit with the guide wire (100), and the guide wire (100) is kept still, so that the catheter (200) can be quickly withdrawn from the body of a patient, thereby effectively improving the efficiency of the interventional operation.

IPC Classes  ?

• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
• A61B 34/30 - Surgical robots
• A61B 17/00 - Surgical instruments, devices or methods

Abstract

The present application provides a slave driver having a covering detection function. The slave driver comprises a driving seat for driving a medical instrument, a power seat for transmitting power to the driving seat, and a distance measurement device. The driving seat comprises a main body portion and a first cover body movably mounted on the main body portion. The distance measurement device is configured to detect that the first cover body covers the main body portion.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• A61B 34/30 - Surgical robots
• A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery

Abstract

An interventional surgical robot with vibration elimination, which relates to the field of medical instrument robots, and is used to grip and deliver an elongated medical instrument (100). The interventional surgical robot comprises a power mechanism (50), a drive device, a force-transfer connection mechanism (70) and a damping mechanism (60), wherein one end of the force-transfer connection mechanism (70) is connected to the power mechanism (50), and the other end thereof is connected to the drive device; and the damping mechanism (60) is arranged between the power mechanism (50) and the force-transfer connection mechanism (70) to eliminate the vibration of the power mechanism (50). The interventional surgery robot is reasonably designed, improves the detection accuracy of the device, and can meet the usage requirements of a surgeon.

IPC Classes  ?

• A61B 34/30 - Surgical robots
• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters

Abstract

An interventional surgery robot main end operation device (100), used for controlling and operating a slave end robot (200) to execute corresponding actions, and comprising a frame (10), and an operation apparatus (20) and a controller (30) mounted on the frame (10). The operation apparatus (20) comprises a linkage assembly (22) and a return assembly (23), and the return assembly (23) is connected to or separated from the linkage assembly (22) by means of a clutch (232). Therefore, the electromagnetic induction effect possibly generated when an operator operates the main end operation device (100) to drive the return assembly (23) to move and the interference current generated by the electromagnetic induction effect are eliminated, not only electronic components of the main end operation device (100) are effectively protected, but also the reaction force of an interference current on operation is avoided, and the operation precision of the main end operation device (100) is effectively improved.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery

Abstract

A slave-end power base (100) of an interventional surgical robot. The slave-end power base is assembled on a sliding mechanism (200) and comprises: power mechanisms (1), each power mechanism (1) comprising a power output end (11); a housing (2), the housing (2) having an accommodating cavity (21), and the housing (2) being provided with through first relief holes (22); and a connecting member (3), the connecting member (3) being connected to the sliding mechanism (200) and the housing (2). The power mechanisms (1) are provided in the accommodating cavity (21), the power output ends (11) pass through the first relief holes (22) and are exposed out of the housing (2), and the power output ends (11) are provided below a connection position of the connecting member (3) and the sliding mechanism (200). According to the slave-end power base (100), a mounting height of the power output end (11) is reduced, a distance between a medical instrument mounted on a slave-end driving base and a person to be treated is reduced, and the medical instrument can be inserted into the body of the person to be treated at a small angle, thereby reducing a difficulty of an interventional operation and facilitating smooth implementation of the interventional operation.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery

Abstract

A slave end driving seat (100) of an interventional surgical robot, which is applicable to the field of medical robots. The slave end driving seat (100) transmits power of a slave end power seat, drives a medical instrument (200) and/or a connector thereof to rotate, and comprises: a driving mechanism (1), the driving mechanism (1) comprising a power input end (12, 121, 122), and a power output end (11, 111, 112) connected to the power input end (12, 121, 122), the power input end (12, 121, 122) being connected to the slave end power seat, and the power output end (11, 111, 112) driving the medical instrument (200) and/or the connector thereof to rotate; and a housing assembly (2), the housing assembly (2) comprising a main housing (21), the main housing (21) being provided with an accommodating cavity (211) and a mounting cavity (212), the accommodating cavity (211) being used for accommodating the driving mechanism (1) and the slave end power seat, and the mounting cavity (212) being used for mounting the medical instrument (200) and/or the connector thereof. The overall volume of the slave end driving seat (100) is reduced, such that a user can carry out replacement conveniently. In addition, the production cost of the slave end driving seat (100) is also reduced, and the economic burden of a patient is alleviated.

IPC Classes  ?

• A61B 34/30 - Surgical robots
• A61B 34/37 - Leader-follower robots

Abstract

The present application relates to the field of medical robots. Provided is an auxiliary clamping device for interventional surgery. The auxiliary clamping device is used for clamping a slender medical instrument (10), and comprises a fixing seat (20), a clamping group (30), which is mounted on the fixing seat (20), and a cover plate (40), which is movably mounted on the fixing seat (20) and linked with the clamping group (30). When the cover plate (40) covers the fixing seat (20), the clamping group (30) clamps the slender medical instrument (10). According to the auxiliary clamping device for interventional surgery in the present application, the cover plate is linked with the clamping group and drives a driven wheel group to be separated from a driving wheel group while being turned outwards, such that a doctor can rapidly mount the slender medical instrument between the driving wheel group and the driven wheel group, thereby achieving rapid mounting and effectively improving the surgical efficiency of the doctor. The auxiliary clamping device has high practicality and relatively strong popularization significance.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery

Abstract

An interventional surgical robot provided with operating dual guide wires and a system. After a first guide wire penetrates into a second catheter, the second catheter penetrates into a first catheter, and the two are separately clamped by a third driving mechanism (16), a second driving mechanism (14) and a first driving mechanism (12) and move into position on a main body (10) in the direction of a front clamp (18), switching is performed such that the front clamp (18) clamps the first catheter and the first driving mechanism (12) clamps the second catheter; after a second guide wire penetrates into a third catheter, the third catheter penetrates into the second catheter, and the two are separately clamped by the third driving mechanism (16) and the second driving mechanism (14) and move into position on the main body (10) in the direction of the front clamp (18), switching is performed such that a middle clamp clamps the third catheter and the second guide wire; the third guide wire penetrates into a fourth catheter, the fourth catheter penetrates into the second catheter, and the two are separately clamped by the third driving mechanism (16) and the second driving mechanism (14) and move into position on the main body (10) in the direction of the front clamp (18).

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery

Abstract

An interventional robot system and a readable storage medium. In the interventional robot system, a touch switch is arranged on an operation lever and connected to a processor, and is configured to send a current switch state to the processor; a master-end encoder is arranged on the operation lever and connected to the processor, and is configured to send to the processor an operation lever displacement generated in response to the operation lever being controlled to perform a current operation; a null sensor is arranged on a base and connected to the processor, and is configured to send a current sensor state to the processor; and the processor is configured to control an interventional robot slave end to perform a movement corresponding to the operation lever displacement, such that an elongated medical instrument is accurately controlled to move, and invalid operations are eliminated.

IPC Classes  ?

• A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• A61B 34/37 - Leader-follower robots
• A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges

Abstract

A sterile box (40), comprising a main body portion (41), a first cover body (42) movably mounted on a first side surface (44) of the main body portion (41), and a second cover body (43) movably mounted on the second side surface (45) of the main body portion (41) opposite to the first side surface (44), wherein the first cover body (42) is opened from the main body portion (41) to mount an elongated medical device (100) and close the first side surface (44) of the main body portion (41); and the second cover body (43) is opened from the main body portion (41) to cover the sterile box outside the other device and close the second side surface (45) of the main body portion (41). A full-protection type interventional surgical robot slave-end driving apparatus comprises the sterile box (40) and a driving mechanism (10) accommodated in the sterile box (40). The present application reduces the surgical cost, reduces the economic burden of a patient, and is compact in overall structure and small in occupied space.

IPC Classes  ?

• A61B 34/30 - Surgical robots

Abstract

The present application provides a split driving type interventional surgical robot. The split driving type interventional surgical robot comprises a base, a guide device and a lead screw which are arranged on the base, a plurality of connecting plates which are arranged on the guide device and can slide relative to the guide device, a plurality of driving motors which are meshed with the lead screw and are installed in one-to-one correspondence with the connecting plates, and a driving device provided on each connecting plate. The driving motor moves along the lead screw when working, the connecting plate correspondingly connected to the driving motor is driven to slide along the guide device, and then the driving device on the connecting plate is adjusted.

IPC Classes  ?

• A61B 34/30 - Surgical robots
• A61M 25/08 - Advancing means, e.g. self-propelled

Abstract

A linkage structure and a portal frame for an interventional operation robot (80). The linkage structure comprises a linkage cam structure (50) and a linkage locking structure (60), wherein the linkage cam structure (50) comprises a linkage shaft (51), and a first camshaft (52) and a second camshaft (53), which are arranged on the linkage shaft (51); the linkage locking structure (60) comprises a first locking structure (61) and a second locking structure (62); one end of the first locking structure (61) abuts against the first camshaft (52), and the other end thereof is used for, under the action of the first camshaft (52), releasing or locking a first structure to be locked; and one end of the second locking structure (62) abuts against the second camshaft (53), and the other end thereof is used for, under the action of the second camshaft (53), releasing or locking a second structure to be locked. The linkage structure can achieve linkage control and is convenient to operate.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery
• A61B 34/37 - Leader-follower robots

Abstract

The present application relates to the field of medical robots, and provides a simple slave-side operating device for an interventional surgery robot, comprising a main body, a first driving mechanism used for clamping a first elongate medical instrument, and a second driving mechanism. The first driving mechanism is fixedly installed on the main body, and when the second driving mechanism slides along the main body to drive the first elongate medical instrument to move, the first driving mechanism is only used for supporting the first elongate medical instrument and cooperating with the second driving mechanism to enable the first elongate medical instrument to move synchronously, such that the driving mechanism and the control process thereof are simpler and less costly while the delivery of the elongate medical instrument is guaranteed to be smoother.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery

Abstract

An easy-to-adjust portal frame, comprising a frame (10) and a rotary locking structure (30). The frame (10) is configured to be in butt joint with a catheter bed; the rotary locking structure (30) comprises a slave-end rotating structure (31) and a slave-end locking structure; the slave-end rotating structure (31) is mounted on the frame (10) and configured to be connected to an interventional surgery robot (20); the slave-end locking structure is fixedly connected to the slave-end rotating structure (31), such that the rotary locking structure (30) enters a locked state; alternatively, the slave-end locking structure is rotatably connected to the slave-end rotating structure (31), such that the rotary locking structure (30) enters a released state. According to the easy-to-adjust portal frame of the present application, the interventional surgery robot (20) is rotated according to surgical requirements by means of the rotary locking structure (30); in addition, the interventional surgery robot (20) can be firmly mounted on the frame (10) during surgery, and the practicability is high.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery

Abstract

A multifunctional interventional surgical robot slave-end driving device, comprising a supporting frame; a fixed support plate mounted on the supporting frame; a first driving assembly; a movable support plate; and two clamping groups respectively mounted on the fixed support plate and the movable support plate, wherein the first driving assembly drives the movable support plate to approach or move away from the fixed support plate in a first direction, such that the two clamping groups cooperate with each other to clamp or release an elongated medical device. The driving device has a good transmission effect and occupies little space.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery

Abstract

The present application relates to the field of medical robots and digital medical treatments. Provided is a synchronous interventional surgical robot. The synchronous interventional surgical robot comprises a main body, and a first driving mechanism and a second driving mechanism installed on the main body. The first driving mechanism and the second driving mechanism are used for clamping a first elongated medical instrument and synchronously pushing the first elongated medical instrument to move on the main body. An operator can remotely control the robot so as to avoid X-ray radiation, and the elongated medical instrument can be prevented from being bent by means of the synchronous movement, such that control is more accurate.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery

Goods & Services

surgical robots; Injection needles for medical use; Knives for medical use; Luer tapers for medical use; Balloon catheters; Medical instruments; Medical guidewires; Medical catheters; Medical stents; Medical analysis instruments; Drug-coated stents for thrombosis; Medical radiation apparatus; MRI diagnostic apparatus; Scanners of electroencephalogram (EEG) apparatus for medical use; Hospital gurneys; Medical drapes of non-woven textile materials; Artificial vascular grafts; Medical diagnostic instruments.

Goods & Services

Apparatus for blood analysis; Artificial vascular grafts; Balloon catheters; Drug-coated stents for thrombosis; Hospital gurneys; Injection needles for medical use; Knives for medical use; Luer tapers for medical use; Medical and surgical catheters; Medical apparatus and instruments for monitoring blood properties and respiratory events; Medical devices and apparatus, namely, ultrasound imaging apparatus, scanners and needle guides, and parts and fittings therefor; Medical diagnostic apparatus for testing blood sugar levels; Medical drapes of non-woven textile materials; Medical guidewires; Medical instruments for intraluminal emplacement of stents or of synthetic stent grafts, namely, stent or synthetic stent graft delivery systems; Medical radiation apparatus; MRI apparatus for medical purposes; Surgical apparatus and instruments for medical use; Surgical robots

Abstract

An independently-driven interventional surgery robot, comprising a base and multiple driving assemblies. Each driving assembly comprises a connecting plate, a main driving device, and an auxiliary driving device; the main driving device and the auxiliary driving device are respectively mounted on the connecting plate; the main driving device is slidable along the base; the main driving device drives, when sliding along the base, the connecting plate and the auxiliary driving device to slide along the base; a medical instrument is mounted on the auxiliary driving device. In conclusion, in the present application, the auxiliary driving devices on different connecting plates are independent of each other during movement, the structure is flexible, multiple catheters and guide wires can be independently controlled, the control of an operation mode of multiple catheters and one wire is achieved, and great help is provided for operation doctors to achieve more complex interventional operations.

IPC Classes  ?

• A61B 34/30 - Surgical robots

Abstract

A sterile protective interventional surgical robot, comprising: a base (10), a guide device (60), which is mounted on the base (10), several connecting plates (40), which are mounted on the guide device (60), several main driving devices (30) and several auxiliary driving devices (50), which are mounted correspondingly to the connecting plates (40) on a one-to-one basis, and an outer cover (20), which is mounted on the base (10) and covers the base (10), wherein the main driving devices (30) and the auxiliary driving devices (50) are arranged on the connecting plates (40) on two sides of the guide device (60); the outer cover (20) and the base (10) enclose an isolation space (70), and the guide device (60) and the main driving devices (30) are arranged inside the isolation space (70); an elongate movable gap (90) is provided between the outer cover (20) and the base (10), and the connecting plates (40) extend from the movable gap (90); and the auxiliary driving devices (50) are arranged on the connecting plates (40) outside the outer cover (20). The sterile protective intervention surgical robot achieves smooth operation of an apparatus, is easy to clean, and ensures a sterile operation during usage.

IPC Classes  ?

• A61B 34/30 - Surgical robots

Abstract

A multifunctional interventional surgical robot slave-end driving device, comprising a supporting frame, a fixed support plate mounted on the supporting frame, a first driving assembly, a moving support plate, and two clamping groups respectively mounted on the fixed support plate and the moving support plate, wherein the first driving assembly drives, in a first direction, the moving support plate to move close to or away from the fixed support plate, such that the two clamping groups cooperate with each other to clamp or unclamp slender medical equipment. The driving device has a good transmission effect and occupies little space.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
• A61M 25/09 - Guide wires

Abstract

A portal frame for supporting an interventional surgical robot, comprising a frame and a multidirectional rotating structure. The frame is connected to the two sides of a catheter bed body; the multidirectional rotating structure is mounted on the frame; and the multidirectional rotating structure is connected to the interventional surgical robot for driving the interventional surgical robot to rotate. The multidirectional rotating structure is used for driving the interventional surgical robot to rotate in multiple directions, such that an interventional device on the interventional surgical robot is aligned with a target position of a patient, thereby improving the adjustment efficiency of the interventional surgical robot.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery

Abstract

A limiting type interventional surgical robot slave end supporting device, comprising a connecting portion used for fixing a slave end of an interventional surgical robot and a first supporting arm connected to the connecting portion. A first rotating portion is provided at a connection position of the connecting portion and the first supporting arm. The first rotating portion is provided with a limiting block used for limiting a rotating angle of the connecting portion with respect to the first supporting arm, so that the requirements for the angle and the position of the interventional surgical robot slave end device during surgery are met, and the characteristic of simple operation is achieved.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery
• A61B 34/37 - Leader-follower robots
• A61B 34/30 - Surgical robots

Abstract

A detachable slave interventional surgical robot driving device, comprising a power base and a driving base, wherein the driving base comprises a shell main body and functional groups; the driving base is detachably fastened to the power base by means of butt joint slots; and the power base is detachably jointed with the functional groups located outside the butt joint slots, so as to quickly remove the damaged or contaminated driving base from the power base, or replace said driving base with a driving base having different functions, thereby making it convenient for a doctor to perform an adjustment according to surgical requirements during actual operations.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots

Abstract

An interventional surgical robot slave end device, comprising a main body (10) and a first driving mechanism and a second driving mechanism mounted on the main body (10). The first driving mechanism is configured to clamp and rotate a catheter, and the second driving mechanism is configured to clamp and rotate a guide wire (92); when the guide wire (92) passes through the catheter, and the catheter and the guide wire (92) are respectively clamped by the first driving mechanism and the second driving mechanism, the first driving mechanism and the second driving mechanism move along the same axial direction on the main body (10) to drive the catheter and the guide wire (92) to move. A doctor can remotely control the robot, thereby protecting the body from X-ray radiation. Moreover, the first catheter (90) and the guide wire (92) are controlled to move more accurately, not only reducing the working intensity, but also avoiding a large error.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery
• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
• A61M 25/09 - Guide wires

Abstract

Provided in the present application is an interventional surgical robot master end control apparatus having an accidental-touch prevention function. The apparatus is used to cooperate with a slave end robot, and the slave end robot receives manipulation information of the interventional surgical robot master end control apparatus having an accidental-touch prevention function and executes corresponding actions. The apparatus comprises a control handle and a switch, wherein the control handle comprises a rack and at least one master end manipulator mounted on the rack; each master end manipulator comprises a manipulation rod mounted on the rack; and the manipulation rod can only be effectively manipulated when the switch detects, in real time, an operator using the apparatus. In summary, by means of the present application, an accidental touch is effectively prevented; surgical risks caused by an accidental touch during interventional surgery are reduced, thereby improving the safety of surgery; and the present application has strong practicability and promotion significance.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots

Abstract

An interventional surgical robot master end control device, which is used to cooperate with a slave end robot (200). The slave end robot (200) receives operation information of the master end control device and executes a corresponding action. The interventional surgical robot master end control device comprises a rack (10), and a master end operator (100) mounted on the rack (10). The master end operator (100) comprises an operating rod (20) that is axially displaced, and a force feedback device (50). The force feedback device (50) comprises a linkage block (70) and a damper (60), wherein the linkage block (70) is movably connected to the operating rod (20), and the linkage block (70) cooperates with the damper (60). In the axial displacement advancing process of the operating rod (20), the damper (60) adjusts a damping force according to delivery resistance information of the slave end robot (200), and feeds back the damping force to the operating rod (20) by means of the linkage block (70), thereby achieving force feedback of the interventional surgical robot master end control device, increasing the sense of presence, and improving surgical safety.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots

Abstract

The present application relates to the field of medical robots, and provides a slave device for an interventional surgical robot, comprising: a main body, and a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism which are sequentially mounted on the main body. When a guide wire penetrates a third catheter, the third catheter penetrates a second catheter, the second catheter penetrates a first catheter, and the first catheter, the second catheter, the third catheter and the guide wire are respectively clamped to the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism, the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism move on the main body along the same axial direction and drive the first catheter, the second catheter, the third catheter and the guide wire to move respectively. Therefore, a doctor can remotely control the robot and is free from X-ray radiation. Moreover, the control of the motion of the first catheter and the guide wire is more accurate, and major mistakes can be avoided.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery
• A61B 34/37 - Leader-follower robots
• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
• A61M 25/09 - Guide wires

Abstract

An interventional surgical robot driving device with a catheter and guidewire diameter identification function. The driving device is mounted at a slave end of the interventional surgical robot and is used for clamping and driving a guidewire and catheter, and the driving device comprises an inner frame (20), a rubbing mechanism and a first stroke measurement device (60). The rubbing mechanism comprises two clamping sets (30) arranged opposite each other, and a first driving assembly (40). The first driving assembly (40) comprises: two first bottom frames (43), which are movably mounted to the inner frame (20) and are respectively connected to the two clamping sets (30); and a driver (41), which is used for driving the two first bottom frames (43) to move close to or move away from each other. The first stroke measurement device (60) is configured to measure the amount of displacement of the guidewire and catheter during a process of the driver (41) driving the two first bottom frames (43) to move close to each other until the guidewire and catheter are clamped by the two clamping sets (30), thereby obtaining a diameter of the catheter and guidewire. The diameter of the catheter and guidewire can be obtained, such that an operating doctor at a master end can effectively and quickly maneuver the guidewire and catheter to enter a lesion during a guidewire or catheter delivery process.

IPC Classes  ?

• A61B 34/30 - Surgical robots

Abstract

An interventional surgical robot guidewire/catheter drive device with a force measurement function, which device is mounted at a slave end of an interventional surgical robot and used for clamping and driving a guidewire/catheter. The device comprises an inner support (20), a rubbing mechanism and a first force measurement module (50), wherein the rubbing mechanism is mounted on the inner support (20), and comprises two clamping sets (30) arranged facing each other, and a drive assembly (40), the drive assembly (40) driving the two clamping sets (30) to move close to or away from each other in a first direction so as to clamp or release the guidewire/catheter; and the first force measurement module (50) is mounted at the bottom of the inner support (20), and the first force measurement module (50) is used, when the two clamping sets (30) clamp the guidewire/catheter, to measure the delivery resistance in the advancing direction of the guidewire/catheter that is perpendicular to the first direction. The device enables a doctor to learn resistance information in a timely manner to improve the telepresence so as to improve the surgical operation safety; and same has strong practicability, and has great promotion significance.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots

Abstract

An improved slave-end guidewire/catheter twisting device for an interventional surgical robot is mounted on a slave end of the interventional surgical robot, is configured to clamp and rotate a guidewire/catheter (100), and comprises two clamping sets (30) arranged oppositely, a first driving assembly (40) and a second driving assembly (50). The first driving assembly (40) drives the two clamping sets (30) to be close to or away from each other in a first direction, so that the two clamping sets (30) alternately switch between a clamping position and a non-clamping position in the first direction with respect to the second driving assembly (50). When the two clamping sets (30) are at the clamping position in the first direction, the two clamping sets (30) clamp the guidewire/catheter (100), and the second driving assembly (50) drives the two clamping sets (30) that tightly clamp the guidewire/catheter (100) to move opposite to each other in a second direction different from the first direction, to twist the guidewire/catheter (100) to rotate. The present invention has a good transmission effect and a relatively simple structure, effectively reduces the use cost of products, reduces the economic burden of patients, and is compact in structure, small in occupied space and high in practicability.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots

Abstract

An interventional surgical robot slave end driving device with a protective isolation function. The device is mounted at a slave end of an interventional surgical robot and comprises a rubbing mechanism and a machine frame (10), wherein the rubbing mechanism comprises two clamping assemblies (30) arranged opposite each other and a drive component, each clamping assembly (30) comprising a clamping portion (31) and a position adjustment portion (32); and the machine frame (10) is provided with two extension tubes (111), the position adjustment portions (32) of the clamping assemblies (30) pass through the extension tubes (111) and are then fitted and mounted to the drive component, and the clamping portions (31) of the clamping assemblies (30) are wrapped outside the extension tubes (111) when the drive component drives the clamping assemblies (30) to work. The entire device does not need to be replaced after being used, thereby effectively reducing the use cost of a product to reduce the economic burden of patients. In addition, the device has a compact structure, small occupied space, high practicability and relatively high promotion significance.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots

Abstract

A slave-end apparatus for an interventional robot includes: a body, and a front clamper, a first drive mechanism, a second drive mechanism and a third drive mechanism that are mounted on the body; wherein in a case that the first guide wire runs into the second catheter, the second catheter runs into the first catheter, and the first guide wire, the second catheter and the first catheter are moved along on the body to a desired position, the front clamper and the second drive mechanism take over to clamp the first catheter and the second catheter, the third catheter is caused to run into the second catheter and the second guide wire is caused to run into the third catheter, and the third catheter and the second guide wire are respectively clamped by the second drive mechanism and the third drive mechanism and move on the body.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• B25J 3/00 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
• A61B 34/30 - Surgical robots
• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters

Abstract

A slave-end apparatus for an interventional robot includes: a body, a first drive mechanism, a second drive mechanism and a front clamper that are mounted on the body. In a case that a first guide wire runs into a first catheter, and the first catheter and the first guide wire are respectively clamped by the first drive mechanism and the second mechanism and move to a desired position on the body, the first catheter and the first guide wire are taken off from the first drive mechanism and the second drive mechanism, the front clamper clamps the first catheter to prevent movement thereof, such that a second catheter runs into the first catheter, a second guide wire runs into the second catheter, and the second catheter and the second guide wire are clamped by the first drive mechanism and the second drive mechanism and is pushed on the body.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots

Abstract

A slave end apparatus of an interventional surgical robot, comprising a main body (10), and a first driving mechanism, a second driving mechanism and a third driving mechanism sequentially mounted on the main body (10); and when a guide wire (92) penetrates a second catheter (91), the second catheter (91) penetrates a first catheter (90), and the first catheter (90), second catheter (91) and guide wire (92) are clamped to the first driving mechanism, second driving mechanism and third driving mechanism respectively, the first driving mechanism, the second driving mechanism and the third driving mechanism move on the main body (10) along the same axial direction so as to drive the first catheter (90), the second catheter (91) and the guide wire (92) respectively to move. Thus, doctors can remotely control the robot, avoiding their health being impacted due to X-ray radiation; in addition, control of the first catheter (90) and the guide wire (92) to move is more accurate, thus not only reducing work intensity, but also preventing major errors.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery
• A61B 34/37 - Leader-follower robots
• A61M 25/08 - Advancing means, e.g. self-propelled
• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters

Abstract

A slave end device for an interventional surgical robot, comprising a main body (10,19), a front holder (18,82) mounted on the main body (10,19), a first driving mechanism, a second driving mechanism, and a third driving mechanism. After a first guide wire penetrates into a second catheter, the second catheter penetrates into the first catheter, and the first guide wire, the second catheter and the first catheter are respectively held by the third driving mechanism, the second driving mechanism and the first driving mechanism and move in place along the same axial direction on the main body (10,19), a first catheter, the second catheter and the first guide wire are respectively removed from the first driving mechanism, the second driving mechanism and the third driving mechanism. The first catheter and the second catheter are respectively held instead by the front holder (18,82) and the second driving mechanism, and are not allowed to move. The third catheter is made to penetrate into the second catheter, the second catheter is made to penetrate into the third catheter, and the second guide wire and the third catheter are respectively held by the second driving mechanism and the third driving mechanism and move along the same axial direction on the main body (10,19). The control is made more accurate.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery

Abstract

A slave end apparatus for an interventional surgical robot, comprising a body (10), and a first driving mechanism (12), a second driving mechanism (14) and a front clamping device (18) mounted on the body (10). When a first guide wire penetrates into a first catheter and the first catheter and the first guide wire are respectively clamped to the first driving mechanism (12) and the second driving mechanism (14), and after the first catheter and the first guide wire move in place in the same axial direction on the body (10), the first catheter and the first guide wire are respectively taken down from the first drive mechanism (12) and the second drive mechanism (14), the front clamping device (18) clamps the first catheter so that the first catheter does not move, the second catheter penetrates into the first catheter, the second guide wire penetrates into the second catheter, and the second catheter and the second guide wire are respectively clamped to the first drive mechanism (12) and the second drive mechanism (14) and are pushed in the same axial direction on the body (10). A doctor can remotely control the robot, X-ray radiation is avoided, control is more accurate, and large errors can be avoided.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery
• A61M 25/09 - Guide wires
• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters

Abstract

A master operating handle of an interventional surgical robot for matching with a slave robot (100). The slave robot (100) receives operation information of the master operating handle and executes corresponding actions. The master operating handle of the interventional surgical robot comprises a rack, an operating rod (20) provided on the rack, an angle detection device (50), and a displacement detection device (60). The angle detection device (50) and the displacement detection device (60) respectively detect the rotation angle and the movement distance of the operating rod (20), and transmits rotational motion information and axial motion information to the slave robot (100). The master operating handle is further provided with a torque feedback device (40). The slave robot (100) records the resistance when a catheter or a guide wire intervenes, and feeds back the resistance information to the torque feedback device (40), so as to implement force push feedback of the master operating handle, and increase the presence sense.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
• A61M 25/09 - Guide wires

Abstract

A slave end guide wire/catheter twisting apparatus for an interventional surgical robot, said apparatus being arranged on a slave end of an interventional surgical robot and used for implementing grasping and rotating of a guide wire/catheter (100). The apparatus comprises a frame (10) and a twisting mechanism (20); the twisting mechanism (20) comprises two opposing grasping sets (21), a first drive assembly that drives the two grasping sets (21) to approach each other along a first direction, so as to grasp the guide wire/catheter (100), and a second drive assembly (23) that drives the two grasping sets (21) to go away from each other in a second direction different from the first direction, so as to twist the guide wire/catheter (100) to rotate. The present apparatus has a good transmission effect and a relatively simple structure, and use costs of a product are effectively reduced.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery
• A61B 34/37 - Leader-follower robots

Abstract

An interventional surgical robot master end control module, which is used for receiving manipulation information and executing a corresponding action at a slave end robot (400). The control module comprises a transceiver (300), a system controller, manipulation handles (100), and a switching apparatus (200); the manipulation handles (100) give manipulation information provided by a master end to the system controller; the transceiver (300) establishes a signal connection with an external slave end robot (400); the switching apparatus (200) can switch to different states; the master end control module identifies a gear after a pull lever has been switched, and transmits same to the slave end robot (400); the slave end robot (400) determines a target of a current manipulation according to gear information, and performs manipulation on a corresponding guide wire or catheter according to manipulation information provided by a manipulation handle (100a). The present control module implements accurate single wire multiple tube control, and is highly practical.

IPC Classes  ?

• A61B 34/37 - Leader-follower robots
• A61B 34/35 - Surgical robots for telesurgery

Goods & Services

Apparatus for blood analysis; Artificial vascular grafts; Balloon catheters; Drug-coated stents for thrombosis; Medical apparatus, namely, hospital gurneys; Injection needles for medical use; Knives for medical use; Luer tapers for medical use; Medical and surgical catheters; Medical apparatus and instruments for monitoring blood properties and respiratory events; Medical devices and apparatus, namely, ultrasound imaging apparatus, scanners and needle guides, and parts and fittings therefor; Medical diagnostic apparatus for testing blood sugar levels; Medical drapes of non-woven textile materials; Medical guidewires; Medical instruments for intraluminal emplacement of stents or of synthetic stent grafts, namely, stent or synthetic stent graft delivery systems; Medical radiation apparatus; MRI apparatus for medical purposes; Surgical apparatus and instruments for medical use; Surgical robot

Goods & Services

Downloadable computer programs for connecting remotely to computers or computer networks; Downloadable computer programs for editing images, sound, and video; Downloadable computer programs for the enabling of access or entrance control; Downloadable computer software for application and database integration; Downloadable computer software for processing digital images; Downloadable Software as a Medical Device (SaMD) for wireless remote control of and synchronization of X-Ray machines; Software as a Medical Device (SaMD), downloadable, for measuring and displaying the electrical signal produced by the heart; Software as a Medical Device (SaMD), downloadable, for use as electrocardiographs; Telepresence robots Artificial vascular grafts; Balloon catheters; Drug-coated stents for thrombosis; Hospital gurneys; Injection needles for medical use; Knives for medical use; Luer tapers for medical use; Medical and surgical catheters; Medical Devices and apparatus, namely, whole-body CT scanner; Medical guidewires; Medical instruments for intraluminal emplacement of stents or of synthetic stent grafts, namely, stent or synthetic stent graft delivery systems; Surgical apparatus and instruments for medical use; Surgical robots Behavioral analysis for medical purposes; Massages; Medical assistance services; Physiotherapy; Providing information relating to traditional Japanese massage; Providing medical information from a website; Rental of medical equipment; Rental of surgical robots; Veterinary services

Goods & Services

Computer programs for editing images, sound and video; Computer programs for enabling access or entrance control; Computer software for processing digital images; Computer programs for connecting remotely to computers or computer networks; Data processing equipment; Computer software applications, downloadable; Telepresence robots; Software as a medical device [SaMD], downloadable; Security surveillance robots; Dissecting instruments for scientific or research purposes; Audiovisual teaching apparatus; Measuring instruments; Medical teaching mannequins; Laboratory robots. Injection needles for medical use; Knives for medical use; Luer tapers for medical use; Balloon catheters; Medical instruments; Medical guidewires; Medical catheters; Medical stents; Medical analysis instruments; Drug-coated stents for thrombosis; Medical radiation apparatus; MRI diagnostic apparatus; Scanners of electroencephalogram (EEG) apparatus for medical use; Hospital gurneys; Medical drapes of non-woven textile materials; Artificial vascular grafts; Medical diagnostic instruments; Surgical robots. Massages; Medical assistance services; Physiotherapy services; Rental of sanitary installations; Rental of surgical robots; Providing medical information from a web site; Behavioral analysis for medical purposes; Rental of medical equipment; Providing information relating to traditional Japanese massage; Veterinary assistance.