# US 11,998,294 B2 · Slave-end apparatus for interventional robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,998,294 B2 - Document ID: US11998294B2 - Status: Granted - Kind: B2 - Application number: 17/963,173 - Filed: 2022-10-10 - Published: 2023-02-02 - Granted: 2024-06-04 - Earliest claimed: 2021-07-05 - Assignees: Shenzhen Institute of Advanced Biomedical Robot Co., Ltd. - Applicants: Shenzhen Institute of Advanced Biomedical Robot Co., Ltd. - Inventors: Yonghong Ou; Wenyong Ren - Web page: https://patentgrep.com/patent/US11998294B2 ## CPC - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - B25J 3/00: Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61M 25/00: Catheters; Hollow probes (dilators A61M29/00; {peritoneal catheters A61M1/285; tracheal tubes A61M16/04; for drainage A61M27/00; for uterus, vagina or rectum A61M31/00} ; for measuring or testing A61B; {materials for catheters A61L29/00}) - A61M 25/0113: {Mechanical advancing means, e.g. catheter dispensers} - A61M 25/0662: {Guide tubes} - A61M 25/09: Guide wires - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} ## 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. ## Claims ### Claim 1 A slave-end apparatus for an interventional robot, comprising: a body, and a first drive mechanism, a second drive mechanism, a third drive mechanism and a front clamper distal to the first drive mechanism that are successively mounted on the body; wherein the front clamper is positioned at a front side of the body and configured to be retractable between an extended position where the front clamper moves to an outside of the body along an extending direction of the body and a hidden position where the front clamper moves back onto the body relative to the front of the body, the first drive mechanism is configured to clamp and rotate a first catheter and a second catheter, the second drive mechanism is configured to clamp and rotate the second catheter and a third catheter, and the third drive mechanism is configured to clamp and rotate a first guide wire and a second guide wire; and 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 respectively clamped by the third drive mechanism, the second drive mechanism and the first drive mechanism and move along a same axial direction on the body toward the front clamper to a desired position, the first catheter, the second catheter and the first guide wire are respectively taken off from the first drive mechanism, the second drive mechanism and the third drive mechanism, the front clamper and the first 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 along the same axial direction on the body toward the front clamper; wherein the first drive mechanism and the second drive mechanism are configured to collaboratively clamp the first guide catheter to drive the first guide catheter to move forward, when the first drive mechanism moves to an extreme position and is to be restored to release the first guide catheter, the second drive mechanism is configured to clamp the first guide catheter to prevent movement thereof; when the first drive mechanism is restored to a proximal position between the front clamper and the second drive mechanism, the first drive mechanism is configured to clamp the first guide catheter again, and the first drive mechanism and the second drive mechanism are configured to collaboratively drive the first guide catheter to move forward again, in such way that operations are repeated until the first guide catheter moves to a desired position; wherein the front clamper is configured to be connected with an Y adapter connected to the first catheter and to rotate a Luer connector of the Y adapter to drive the first catheter to rotate. ### Claim 2 (depends on 1) The slave-end apparatus for the interventional robot according to claim 1, further comprising: a plurality of front clampers; wherein a plurality of first catheters one-by-one pushed by the first drive mechanism to desired positions are respectively clamped by the plurality of front clampers. ### Claim 3 (depends on 1) The slave-end apparatus for the interventional robot according to claim 1, wherein the second drive mechanism is configured to clamp and rotate, together with the first drive mechanism, the first catheter and the second catheter; the second drive mechanism comprises: a first assembly configured to clamp and rotate the first catheter and the second catheter, and a second assembly configured to clamp and rotate the second catheter and the third catheter. ### Claim 4 (depends on 3) The slave-end apparatus for the interventional robot according to claim 3, wherein the first drive mechanism and the second mechanism are configured to collaboratively clamp the first guide catheter to drive the first guide catheter to move forward, when the first drive mechanism moves to an extreme position and is to be restored to release the first guide catheter, the second drive mechanism is configured to clamp the first guide catheter to prevent movement thereof; when the first drive mechanism is restored to a position proximal to the second drive mechanism, the first drive mechanism is configured to clamp the first guide catheter again, and the first drive mechanism and the second mechanism are configured to collaboratively drive the first guide catheter to move forward again, in such way operations are repeated until the first guide catheter moves to a desired position. ### Claim 5 (depends on 4) The slave-end apparatus for the interventional robot according to claim 4, wherein the first assembly of the second drive mechanism is configured to clamp an Y adapter connected to the first catheter and the second catheter to clamp the first catheter and the second catheter, and rotate a Luer connector of the Y adapter to drive the first catheter and the second catheter to rotate. ### Claim 6 (depends on 3) The slave-end apparatus for the interventional robot according to claim 3, wherein the third drive mechanism is configured to clamp and rotate, together with the second drive mechanism, the second catheter and the third catheter; the third drive mechanism comprises: a first assembly configured to clamp and rotate the second catheter and the third catheter, and a second assembly configured to clamp and rotate the first guide wire and the second guide wire. ### Claim 7 (depends on 6) The slave-end apparatus for the interventional robot according to claim 6, the front clamper is configured to be connected with an Y adapter connected to the first catheter and to rotate a Luer connector of the Y adapter to drive the first catheter to rotate. ### Claim 8 (depends on 6) The slave-end apparatus for the interventional robot according to claim 6, wherein the first assembly of the third drive mechanism is configured to clamp an Y adapter connected to the second catheter and the third catheter to clamp the second catheter and the third catheter, and rotate a Luer connector of the Y adapter to drive the second catheter and the third catheter to rotate. ### Claim 9 (depends on 1) The slave-end apparatus for the interventional robot according to claim 1, further comprising: a fourth drive mechanism mounted on the body; wherein the fourth drive mechanism is configured to clamp and rotate, together with the first drive mechanism, the first catheter and the second catheter. ### Claim 10 (depends on 9) The slave-end apparatus for the interventional robot according to claim 9, wherein in a case that the first drive mechanism moves to an extreme position and is to be restored to release the first catheter and the second catheter, the fourth drive mechanism is configured to clamp the first catheter and the second catheter to prevent movement thereof. ### Claim 11 (depends on 9) The slave-end apparatus for the interventional robot according to claim 9, wherein the fourth drive mechanism is positioned between the first drive mechanism and the second drive mechanism. ### Claim 12 (depends on 9) The slave-end apparatus for the interventional robot according to claim 9, further comprising: a fifth drive mechanism mounted on the body; wherein the fifth drive mechanism is configured to clamp and rotate, together with the second drive mechanism, the second catheter and the third catheter. ### Claim 13 (depends on 12) The slave-end apparatus for the interventional robot according to claim 12, wherein in a case that the second drive mechanism moves to an extreme position and is to be restored to release the second catheter and the third catheter, the fifth drive mechanism is configured to clamp the second catheter and the third catheter to prevent movement thereof. ### Claim 14 (depends on 12) The slave-end apparatus for the interventional robot according to claim 12, wherein the fifth drive mechanism is positioned between the second drive mechanism and the third drive mechanism. ### Claim 15 (depends on 12) The slave-end apparatus for the interventional robot according to claim 12, wherein the fourth drive mechanism and the fifth drive mechanism move along the same axial direction as the first drive mechanism, the second drive mechanism and the third drive mechanism. ### Claim 16 (depends on 1) The slave-end apparatus for the interventional robot according to claim 1, further comprising: an exchange mechanism; wherein the exchange mechanism is a rapid exchange mechanism or a coaxial exchange mechanism. ### Claim 17 (depends on 16) The slave-end apparatus for the interventional robot according to claim 16, wherein the exchange mechanism is detachably fixed to the third drive mechanism, or the exchange mechanism and the third drive mechanism are integrally designed.