# US 12,734,002 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 12,734,002 B2 - Document ID: US12734002B2 - Status: Granted - Kind: B2 - Application number: 17/956,914 - Filed: 2022-09-30 - Published: 2023-01-26 - Granted: 2026-09-15 - 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/US12734002B2 ## CPC - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 90/57: Accessory clamps - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61M 25/09041: {Mechanisms for insertion of guide wires} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - 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, 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. ## Claims ### Claim 1 A slave-end apparatus for an interventional robot, comprising: a body, a first drive mechanism, a second drive mechanism and a front clamper proximal to the first drive mechanism that are successively mounted on the body; wherein the first drive mechanism is configured to clamp and rotate a first catheter and a second catheter, and the second drive mechanism is configured to clamp and rotate a first guide wire and a second guide wire; and wherein the front clamper is a fixed-position clamping device that does not advance or drive the first catheter, wherein: after the first guide wire is inserted into the first catheter, the first catheter and the first guide wire are clamped and moved to a target position along an axial direction of the body; the first catheter the first drive mechanism releases the first catheter and the second drive mechanism releases the first guide wire, and the front clamper clamps and holds the first catheter at a fixed axial position as a stable reference; and wherein, with the front clamper holding the first catheter stationary, the first drive mechanism is configured to clamp and advance the second catheter to guide the second catheter into the first catheter, and the second drive mechanism is configured to clamp and advance the second guide wire to guide the second guide wire into the second catheter. ### 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. ### Claim 4 (depends on 3) The slave-end apparatus for the interventional robot according to claim 3, wherein 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 first guide wire and the second guide wire. ### 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 4) The slave-end apparatus for the interventional robot according to claim 4, wherein the second assembly is a slave-end guide wire and catheter twisting apparatus for the interventional robot. ### Claim 7 (depends on 6) The slave-end apparatus for the interventional robot according to claim 6, further comprising: a rear clamper; wherein in a case that the second drive mechanism moves to a boundary position within a predefined degrees of freedom and is to be restored to release the second guide wire, the rear clamper is configured to clamp the second guide wire to prevent movement thereof. ### Claim 8 (depends on 7) The slave-end apparatus for the interventional robot according to claim 7, wherein the front clamper and the rear clamper are respectively positioned at a front portion and a rear portion of the body; wherein the front clamper and the rear clamper are both mounted on the body and movable relative to the body; or one of the front clamper and the rear clamper is mounted on the body and movable relative to the body, and the other of the front clamper and the rear clamper is mounted separately from the body; or the front clamper and the rear clamper are both mounted separately from the body. ### Claim 9 (depends on 1) The slave-end apparatus for the interventional robot according to claim 1, further comprising: a third drive mechanism mounted on the body; wherein the third 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 a boundary position within a predefined degrees of freedom and is to be restored to release the first catheter and the second catheter, the third 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 third drive mechanism move along the same axial direction as 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, wherein the third drive mechanism is positioned between the first drive mechanism and the second drive mechanism. ### Claim 13 (depends on 9) The slave-end apparatus for the interventional robot according to claim 9, wherein the first drive mechanism, the second drive mechanism and the third drive mechanism are all active drive mechanisms. ### Claim 14 (depends on 9) The slave-end apparatus for the interventional robot according to claim 9, wherein the first drive mechanism and the second drive mechanism are active drive mechanisms, and the third drive mechanism is a passive drive mechanism. ### Claim 15 (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 16 (depends on 15) The slave-end apparatus for the interventional robot according to claim 15, wherein the exchange mechanism is detachably fixed to the second drive mechanism, or the exchange mechanism and the second drive mechanism are integrally designed. ### Claim 17 A slave-end apparatus for an interventional robot, comprising: a body, a first drive mechanism, a second drive mechanism and a front clamper proximal to the first drive mechanism that are successively mounted on the body; wherein the first drive mechanism is configured to clamp and rotate a first catheter and a second catheter, and the second drive mechanism is configured to clamp and rotate a first guide wire and a second guide wire; and wherein the front clamper is disposed forwardly of the first drive mechanism and is structurally independent from the body, and the front clamper is a fixed-position clamping device that does not advance or drive; wherein, after the first guide wire is inserted into the first catheter and moved axially to a target position, the first drive mechanism releases the first catheter, the second drive mechanism releases the first guide wire, and the front clamper clamps and holds the first catheter stationary; wherein the second drive mechanism comprises a first assembly that clamps and rotates the first catheter and the second catheter via a Y adapter and a Luer connector, and a second assembly that clamps and rotates the first guide wire and the second guide wire. ### Claim 18 A slave-end apparatus for an interventional robot, comprising: a body, a first drive mechanism, a second drive mechanism and a front clamper proximal to the first drive mechanism that are successively mounted on the body; wherein the first drive mechanism is configured to clamp and rotate a first catheter and a second catheter, and the second drive mechanism is configured to clamp and rotate a first guide wire and a second guide wire; and wherein the front clamper is disposed forwardly of the first drive mechanism and structurally independent from the body, and acts as a fixed-position clamping device that does not advance or drive; wherein, after the first guide wire is inserted into the first catheter and moved axially to a target position, the first drive mechanism releases the first catheter, the second drive mechanism releases the first guide wire, and the front clamper clamps and holds the first catheter stationary; wherein the first drive mechanism advances the second catheter into the first catheter while the front clamper maintains the first catheter in a fixed position; and further comprising an exchange mechanism selected from a rapid exchange mechanism or a coaxial exchange mechanism.