A slave end drive seat of an interventional surgical robot

Abstract

The present invention is applicable to the field of medical robots and provides a slave-end drive seat of an interventional surgical robot, which transmits power from a slave-end power seat and drives the medical device and / or its connector to rotate, including: a drive mechanism, the drive mechanism includes a power input end and a power output end connected to the power input end, the power input end is connected to the slave-end power seat, and the power output end drives the medical device and / or its connector to rotate; a shell assembly, the shell assembly includes a main shell, the main shell has a accommodating cavity and an installation cavity, the accommodating cavity is used to accommodate the drive mechanism and the slave-end power seat, and the installation cavity is used to install the medical device and / or its connector. The present invention reduces the volume of the slave-end drive seat as a whole, making it easier for the owner to replace it. In addition, it also reduces the production cost of the slave-end drive seat, alleviating the economic burden on patients.

Description

Technical Field

[0001] The present invention belongs to the field of medical robots and is applied to a master-slave type vascular interventional surgical robot, and in particular relates to a slave end drive seat of the interventional surgical robot. Background Art

[0002] Existing interventional surgical robots establish a master-slave mapping relationship between the master device and the slave robot, so that the doctor can directly operate the master device to achieve motion control of the slave robot. The slave robot drives the corresponding components to perform related operations through the motion control mechanism. The motion control mechanism mainly includes a drive seat and a power seat. The drive seat drives the guide wire, catheter and other medical devices to move and / or rotate, and the power seat provides power for the drive seat. The drive seat is in direct contact with medical devices such as guide wires and catheters. To avoid contamination, a new drive seat needs to be replaced during each operation. The existing drive seat is large in size, which is not convenient for users to replace. In addition, the production cost of the existing drive seat is high, and it is discarded as a consumable, which increases medical costs and increases the financial burden on patients. Summary of the Invention

[0003] The purpose of the present invention is to provide a slave end drive seat for an interventional surgical robot, aiming to solve the technical problems of the existing drive seat being large in size, inconvenient for users to replace, and having a high manufacturing cost, which increases the financial burden on patients.

[0004] The present invention is implemented as follows: a slave-end drive seat of an interventional surgical robot, which transmits power from a slave-end power seat and drives the medical device and / or its connector to rotate, including: a driving mechanism, the driving mechanism including a power input end and a power output end connected to the power input end, the power input end is connected to the slave-end power seat, and the power output end drives the medical device and / or its connector to rotate; a shell assembly, the shell assembly including a main shell, the main shell having a accommodating cavity and an installation cavity, the accommodating cavity is used to accommodate the driving mechanism and the slave-end power seat, and the installation cavity is used to install the medical device and / or its connector.

[0005] Furthermore, the installation cavity is formed by a depression in the main shell.

[0006] Furthermore, the main shell includes a top plate and side plates, and the outer portion of the top plate is recessed along the direction of gravity so that the outer portion of the top plate and the inner wall of the side plate are enclosed to form the installation cavity.

[0007] Furthermore, the housing assembly further includes a partition assembly, and a partition assembly for fixedly connecting to the medical device and / or its connector is provided on the outside of the top plate in the mounting cavity.

[0008] Furthermore, the partition assembly includes a plurality of partition units, and the plurality of partition units are arranged at intervals to form a slot that is matched to be connected to the medical device and / or its connector.

[0009] Furthermore, the installation cavity has an opening, and the housing assembly further includes a first cover plate, which is arranged to cover the opening of the installation cavity to isolate the medical device and / or its connector in the installation cavity.

[0010] Furthermore, the inner surface of the top plate and the inner wall of the side plate are enclosed to form the accommodating cavity, and the accommodating cavity and the installation cavity are arranged back to back with each other.

[0011] Furthermore, the power input end of the driving mechanism is arranged in the accommodating cavity of the main shell, and the power output end of the driving mechanism is arranged in the installation cavity of the main shell.

[0012] Furthermore, the top plate includes a first plate body, a second plate body and a third plate body, and the first plate body is staggered relative to the second plate body along the gravity direction to form the third plate body between the first plate body and the second plate body.

[0013] Furthermore, the first plate body, the second plate body, the third plate body and the side plate together form the accommodating cavity, and the first plate body, the third plate body and the side plate together form the installation cavity.

[0014] Furthermore, the accommodating cavity has an opening, and the housing assembly also includes a second cover plate, which is arranged to cover the opening of the accommodating cavity so as to isolate the slave end power seat in the accommodating cavity.

[0015] Furthermore, the driving mechanism includes a plurality of power output ends.

[0016] Furthermore, the driving mechanism includes a plurality of power input ends, and the plurality of power input ends are arranged corresponding to the plurality of power output ends.

[0017] Furthermore, the main housing has a plurality of accommodating cavities, and the plurality of accommodating cavities are arranged corresponding to the plurality of power output ends.

[0018] Furthermore, the multiple accommodating cavities are located on the same side, and the multiple accommodating cavities are arranged opposite to the installation cavity.

[0019] Furthermore, the multiple accommodating cavities are interconnected so that the multiple power input ends are located in the same accommodating cavity.

[0020] Furthermore, a through hole connecting the accommodating cavity and the mounting cavity is provided on the main shell, and the power output end is passed through the through hole.

[0021] Furthermore, the driving mechanism also includes a fixing seat, the power input end is fixed in the accommodating cavity through the fixing seat, and the power output end is placed in the space formed by the fixing seat and the through hole and is connected to the installation cavity.

[0022] The present invention provides the following beneficial effects: The main housing is provided with a receiving cavity and a mounting cavity, and the drive mechanism, medical device, and / or its connector are all mounted in the corresponding cavities. This structure allows the drive mechanism, medical device, and / or its connector to be mounted more compactly within the housing assembly. This reduces the overall size of the slave drive seat, making it easier for the owner to replace it. Furthermore, the processing material required for the slave drive seat is reduced, lowering its production cost. When used as a consumable, this reduces the financial burden on patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 1 is a schematic structural diagram of a closed state of a slave-end drive seat of an interventional surgical robot provided in a first embodiment of the present invention;

[0024] Figure 2 1 is a schematic structural diagram of the slave-end drive seat of the interventional surgical robot provided in the first embodiment of the present invention in the deployed state;

[0025] Figure 3 This is a schematic diagram of the assembly of the main housing and the drive mechanism of the slave-end drive seat of the interventional surgical robot provided in the first embodiment of the present invention;

[0026] Figure 4 This is a structural diagram of the main housing and drive mechanism of the slave-end drive seat of the interventional surgical robot provided in the first embodiment of the present invention;

[0027] Figure 5 This is a diagram showing the use status of the slave end drive seat of the interventional surgical robot provided in the first embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of the structure of the slave end drive seat of the interventional surgery robot provided in the second embodiment of the present invention. Figure 1 ;

[0029] Figure 7 This is a schematic diagram of the structure of the slave end drive seat of the interventional surgery robot provided in the second embodiment of the present invention. Figure 2 ;

[0030] Figure 8 yes Figure 7 Assembly diagram of

[0031] Figure 9 This is a usage status diagram of the slave end drive seat of the interventional surgical robot provided in Example 2 of the present invention.

[0032] 100-slave end drive seat,

[0033] 1- driving mechanism,

[0034] 11-power output end, 111-first power output end, 112-second power output end, 12-power input end, 121-first power input end, 122-second power input end, 13-fixed seat,

[0035] 2- Shell assembly,

[0036] 21-Main shell,

[0037] 211-accommodation chamber, 2111-first accommodation chamber, 2112-second accommodation chamber,

[0038] 212-Installation cavity,

[0039] 213-via,

[0040] 214-top plate, 2141-first plate, 2142-second plate, 2143-third plate,

[0041] 215-side plate, 2151-through hole,

[0042] 22-first cover plate,

[0043] 23-Second cover plate,

[0044] 24-partition assembly,

[0045] 25-limiting plate,

[0046] 26- third cover plate,

[0047] 200-Medical devices. DETAILED DESCRIPTION

[0048] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0049] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connections, detachable connections, integrated connections, or even connections that allow relative movement; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; they may refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0050] In the description of the present invention, the terms "length", "diameter", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present invention.

[0051] As used in the present invention, the direction "far" is the direction toward the patient, and the direction "near" is the direction away from the patient. The terms "up" and "upper part" refer to the general direction away from the direction of gravity, and the terms "bottom", "lower" and "lower part" refer to the general direction of gravity. The term "front" refers to the side of the interventional surgical robot facing the user from the end device, and "forward" refers to the direction in which the guide wire or catheter is displaced into the body of the surgical patient. The term "backward" refers to the side of the interventional surgical robot facing away from the user from the end device, and "backward" refers to the direction in which the guide wire or catheter is displaced out of the body of the surgical patient. The term "inwardly" refers to the internal part of a feature. The term "outwardly" refers to the external part of a feature. The term "rotation" includes "forward rotation" and "reverse rotation", wherein "forward rotation" refers to the direction in which the guide wire or catheter is rotated into the body of the surgical patient, and "reverse rotation" refers to the direction in which the guide wire or catheter is rotated out of the body of the surgical patient.

[0052] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified with "first," "second," etc., may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" or "multiple" means two or more.

[0053] Finally, it should be noted that, if there is no conflict, the embodiments of the present invention and the various features therein can be combined with each other and are all within the protection scope of the present invention.

[0054] The guidewires here include but are not limited to guide wires, micro guidewires and fixing seats and other guiding and supporting interventional medical devices, and the catheters include but are not limited to guide catheters, micro catheters, angiography catheters, multi-functional tubes (also known as intermediate catheters), thrombolytic catheters, balloon dilatation catheters and balloon dilatation fixing seat catheters and other therapeutic interventional medical devices.

[0055] As attached Figure 1As shown in the figure, a slave end driving seat 100 of an interventional surgical robot provided in the first embodiment of the present invention comprises: a driving mechanism 1 and a housing assembly 2. The driving mechanism 1 of the slave end driving seat 100 is fixedly installed in the housing assembly 2. During the operation, the slave end driving seat 100 transmits power from the slave end power seat (not shown) and drives the medical device 200 ( Figure 5 It is understandable that the medical device 200 driven by the end drive seat 100 can be a guide wire, a catheter, or an element connected to a guide wire or a catheter.

[0056] As attached Figure 2 As shown, the housing assembly 2 of this embodiment includes a main housing 21. The main housing 21 is a frame-shaped structure. Figure 3 、 4 As shown, the main shell 21 has a accommodating chamber 211 and a mounting chamber 212. The accommodating chamber 211 is used to accommodate the driving mechanism 1 and the slave power seat, and the mounting chamber 212 is used to install the medical device 200 and / or its connector. The accommodating chamber 211 and the mounting chamber 212 of this embodiment are arranged independently of each other. In order to facilitate the establishment of a linkage relationship between the driving mechanism 1 located in the accommodating chamber 211 and the medical device 200 and / or its connector located in the mounting chamber 212, a through hole 213 connecting the accommodating chamber 211 and the mounting chamber 212 is provided on the main shell 21. Of course, in other embodiments, the accommodating chamber 211 and the mounting chamber 212 can also be combined into one cavity.

[0057] Combined with attachment Figure 2-4 As shown, in order to further reduce the space occupied by the main housing 21 and reduce the overall volume of the slave drive seat 100, in one embodiment, a mounting cavity 212 is formed by a recess in the main housing 21. Specifically, the main housing 21 includes a top plate 214 and side plates 215, with the side plates 215 connected to the sides of the top plate 214. The outer portion of the top plate 214 is recessed in the direction of gravity, allowing the outer surface of the top plate 214 and the inner walls of the side plates 215 to enclose the mounting cavity 212. The mounting cavity 212 should have sufficient accommodation space to meet the installation requirements of the medical device 200 and / or its connector.

[0058] In order to better fix the medical device 200 and / or its connectors, such as the Y valve, T valve, etc., in the installation cavity 212, the attached Figure 3 、 5As shown, in one embodiment, the housing assembly 2 further includes a partition assembly 24. A partition assembly 24 for fixedly connecting to the connector of the medical device 200 is provided on the outside of the top plate 214 in the mounting cavity 212. Specifically, the partition assembly 24 includes a plurality of partition units. The plurality of partition units extend upward along the outside of the top plate 214. The plurality of partition units are spaced apart to form a card slot that fits and connects to the medical device 200 and / or its connector. The inner wall size of the card slot corresponds to the outer contour size of the medical device 200 and / or its connector. The partition assembly 24 can be integrally formed with the top plate 214, or the partition assembly 24 can be fixed to the top plate 214 by bonding, welding, clamping, etc.

[0059] To facilitate installation of the medical device 200 and / or its connector, in one embodiment, the mounting cavity 212 has an opening. In this embodiment, the opening of the mounting cavity 212 is located directly above the top plate 214. Of course, in other embodiments, the opening of the mounting cavity 212 may also be located on the side plate 215.

[0060] In order to prevent contamination of related components during surgery, such as Figure 2 As shown, in one embodiment, the housing assembly 2 further includes a first cover plate 22, which covers the opening of the mounting cavity 212, thereby isolating the medical device 200 and / or its connector within the mounting cavity 212. The dimensions of the first cover plate 22 correspond to the dimensions of the opening of the mounting cavity 212. The first cover plate 22 is movably connected to the main housing 21. In this embodiment, the first cover plate 22 is rotatably connected to the main housing 21. Specifically, one end of the first cover plate 22 is connected to the axial hole of the main housing 21, and the other end of the first cover plate 22 is secured to the main housing 21 via a snap connection, magnetic attraction, or other means. As the first cover plate 22 rotates relative to the main housing 21, the opening of the mounting cavity 212 is opened or closed. Of course, in other embodiments, the first cover plate 22 can also be detachably connected to the main housing 21 via a snap connection, threaded connection, or other means. To better secure the medical device 200 and / or its connector, in addition to providing a partition plate assembly 24 on the top plate 214, a partition plate assembly 24 can also be provided at a corresponding position on the inner wall of the second cover plate 23. When the second cover plate 23 is fastened, the upper and lower partition assemblies 24 can better fix the medical device 200 and / or its connector.

[0061] The relative positions of the accommodating cavity 211 and the mounting cavity 212 can be adjusted according to design requirements. Figure 2-4As shown, in one embodiment, the inside of the top plate 214 and the inner wall of the side plate 215 enclose a accommodating chamber 211. The accommodating chamber 211 and the mounting chamber 212 are arranged back to back with each other, that is, the accommodating chamber 211 and the mounting chamber 212 are respectively located on the upper and lower sides of the main shell 21. For example, the accommodating chamber 211 is located below the main shell 21, and the mounting chamber 212 is located above the main shell 21. Of course, in other embodiments, the accommodating chamber 211 and the mounting chamber 212 can also be arranged in the same direction, that is, the accommodating chamber 211 and the mounting chamber 212 are located on the same side of the main shell 21. Alternatively, the open end of the accommodating chamber 211 and the mounting chamber 212 are arranged at an angle to each other. The through hole 213 of the main shell 21 is opened on the top plate 214 to facilitate the communication between the accommodating chamber 211 and the mounting chamber 212.

[0062] As attached Figure 2-4 As shown, in order to facilitate the installation of the drive mechanism 1, in one embodiment, the accommodating chamber 211 has an opening. The opening positions of the accommodating chamber 211 and the opening of the installation chamber 212 can be adjusted according to design requirements. In this embodiment, the opening of the accommodating chamber 211 and the opening of the installation chamber 212 are arranged opposite to each other, that is, the opening of the accommodating chamber 211 faces the bottom of the main housing 21, and the opening of the installation chamber 212 faces the top of the main housing 21. Of course, in other embodiments, the opening of the accommodating chamber 211 and the opening of the installation chamber 212 can also be arranged vertically, that is, the opening of the accommodating chamber 211 faces the bottom of the main housing 21, and the opening of the installation chamber 212 faces the side of the main housing 21.

[0063] In order to prevent contamination of related components during surgery, Figure 2 、 4 As shown, in one embodiment, the housing assembly 2 further includes a second cover plate 23, and the second cover plate 23 is arranged to cover the opening of the accommodating chamber 211, so that the slave-end power seat is isolated in the accommodating chamber 211. The size of the second cover plate 23 corresponds to the opening size of the accommodating chamber 211. The second cover plate 23 is movably connected to the main shell 21. In this embodiment, the second cover plate 23 is rotatably connected to the main shell 21. Specifically, one end of the second cover plate 23 is connected to the axial hole of the main shell 21, and the other end of the second cover plate 23 is fixed to the main shell 21 by means of snap connection, magnetic attraction, etc. During the rotation of the second cover plate 23 relative to the main shell 21, the opening of the accommodating chamber 211 is opened or closed. Of course, in other embodiments, the second cover plate 23 can also be connected to the main shell 21 in a detachable manner, such as snap connection, threaded connection, etc. In order to avoid interference between the second cover plate 23 and the slave-end power seat located in the accommodating chamber 211 during rotation, as shown in the attached Figure 4 As shown, a limit plate 25 is provided in the inner wall of the accommodating cavity 211. The limit plate 25 limits the installation position of the slave end power seat, ensuring that the second cover plate 23 can rotate freely and can seal the opening of the accommodating cavity 211.

[0064] The accommodating chamber 211 and the mounting chamber 212 may have different accommodating spaces according to the use requirements. For example, in this embodiment, in addition to accommodating the driving mechanism 1, the accommodating chamber 211 also needs to accommodate the slave power seat when the slave drive seat 100 is assembled with the slave power seat. Therefore, the accommodating chamber 211 should have a sufficiently large accommodating space. The mounting chamber 212 is used to fix the medical device 200 and / or its connector, and the required accommodating space is relatively small. In order to reasonably utilize the space, the structure of the slave drive seat 100 is made more compact, as shown in the attached figure. Figure 3 As shown, in one embodiment, the top plate 214 has a stepped structure. The top plate 214 includes a first plate 2141, a second plate 2142, and a third plate 2143. The first plate 2141 is staggered relative to the second plate 2142 along the direction of gravity, forming the third plate 2143 between the first and second plates 2141, 2142. In this embodiment, the first and second plates 2141, 2142 are arranged parallel to each other, although in other embodiments, the first and second plates 2141, 2142 may also be arranged at an angle. The third plate 2143 is connected between the first and second plates 2141, 2142. In this embodiment, the third plate 2143 is perpendicular to the first plate 2141, although in other embodiments, the third plate 2143 may also be arranged at an angle to the first plate 2141. In this embodiment, the first plate 2141, the second plate 2142 and the third plate 2143 are an integrally formed structure. Of course, in other embodiments, the first plate 2141, the second plate 2142 and the third plate 2143 can also be fixedly connected by bonding, clamping, etc.

[0065] As attached Figure 4 As shown, the first plate 2141, the second plate 2142, the third plate 2143 and the side plate 215 enclose and form the accommodating cavity 211. Figure 3 As shown, the first plate 2141, the third plate 2143, and the side plate 215 enclose the mounting cavity 212. This structure, while meeting the installation requirements of the medical device 200 and / or its connector, reduces the accommodation space of the mounting cavity 212 and increases the accommodation space of the accommodation cavity 211, thereby making more efficient use of the space of the slave drive seat 100 and reducing the overall volume of the slave drive seat 100. This not only facilitates replacement by the owner, but also saves materials and reduces the production cost of the slave drive seat 100. Of course, in other embodiments, the top plate 14 may also be a flat plate.

[0066] Combined with attachment Figure 3-5As shown, the drive mechanism 1 of the slave drive seat 100 of this embodiment cooperates with the slave power seat to drive the medical device 200 and / or its connector to rotate. The drive mechanism 1 includes a power input end 12 and a power output end 11 connected to the power input end 12. The power input end 12 of the drive mechanism 1 is disposed in the accommodating cavity 211 of the main housing 21 and is connected to the slave power seat; the power output end 11 of the drive mechanism 1 is passed through the through hole 213. The power output end 11 is disposed in the mounting cavity 212 of the main housing 21 and is connected to the medical device 200 and / or its connector, thereby driving the medical device 200 and / or its connector to rotate. Specifically, the slave drive seat 100 is assembled on the slave power seat, and the power input end 12 of the drive mechanism 1 is connected to the power output portion of the slave power seat. The slave power seat provides power to the drive mechanism 1 of the slave drive seat 100. The power input terminal 12 of the drive mechanism 1 transmits power from the power base to the power output terminal 11. The power output terminal 11 then transmits the power to the medical device 200 and / or its connector, thereby driving the medical device 200 and / or its connector to rotate. The number of power output terminals 11 provided can be adjusted according to the medical device 200 to be driven. The drive mechanism 1 of this embodiment includes one power output terminal 11.

[0067] In this embodiment, the driving mechanism 1 is fixed on the main housing 21. Specifically, the driving mechanism 1 also includes a fixing seat 13, and the power input end 12 is fixed in the accommodating cavity 211 through the fixing seat 13. The power output end 11 is placed in the space formed by the fixing seat 13 and the through hole 213 and is connected to the installation cavity 212. The power output end 11 passes through the through hole 213 and is connected to the medical device 200 and / or its connector in the installation cavity 212. Of course, in other embodiments, the power output end 11, the medical device 200 and / or its connector may also be connected in the through hole 213, or the medical device 200 and / or its connector may be passed through the through hole 213, and the medical device 200 and / or its connector may be connected to the power output end 11 in the accommodating cavity 211.

[0068] When assembling the slave-end drive seat 100 and the slave-end power seat, first, rotate the second cover plate 23 to open the opening of the accommodating cavity 211; then, cover the main shell 21 on the slave-end power seat, and the slave-end power seat is accommodated in the accommodating cavity 211, and the power output part of the slave-end power seat is connected to the power input end 12 of the drive mechanism 1; finally, rotate the second cover plate 23 in the opposite direction to close the opening of the accommodating cavity 211, and the shell assembly 2 of the slave-end drive seat 100 is wrapped around the outside of the slave-end power seat.

[0069] When installing the medical device 200 and / or its connector on the slave-end drive seat 100, first, rotate the first cover plate 22 to open the opening of the installation cavity 212; then, place the medical device 200 and / or its connector into the gap formed by the partition assembly 24, and connect the medical device 200 and / or its connector to the power output end 11 of the drive mechanism 1; finally, rotate the first cover plate 22 in the opposite direction to close the opening of the installation cavity 212, and the medical device 200 and / or its connector are installed in the housing assembly 2 of the slave-end drive seat 100 to receive power from the slave-end power seat and allow the slave-end power seat to achieve sterile isolation.

[0070] As attached Figure 6 FIG2 shows a slave end drive seat 100 of an interventional surgical robot according to a second embodiment of the present invention. The structure of the second embodiment is similar to that of the first embodiment, and the main difference lies in the number of power output ends 11 of the drive mechanism 1 and the corresponding structural adjustment.

[0071] Combined with attachment Figure 6 、 9 As shown, the driving mechanism 1 of the second embodiment includes a plurality of power output terminals 11. The plurality of power output terminals 11 are respectively connected to a plurality of medical devices 200 and / or their connectors in the mounting cavity 212. The first cover plate 22 of the housing assembly 2 is located above the plurality of power output terminals 11 and covers the opening of the mounting cavity 212. In this embodiment, the plurality of power output terminals 11 include a first power output terminal 111 and a second power output terminal 112. The first power output terminal 111 and the second power output terminal 112 are spaced apart. The first power output terminal 111 and the second power output terminal 112 are respectively connected to or in contact with two medical devices 200 and / or their connectors to drive different catheters or guidewires to move. Of course, in other embodiments, a greater number of power output terminals 11 may be provided according to the driving requirements of the medical devices 200 and / or their connectors.

[0072] Combined with attachment Figure 6-8 As shown, in order to facilitate the connection between the power input end 12 of the driving mechanism 1 and the multiple power output ends 11, in one embodiment, the driving mechanism 1 includes multiple power input ends 12. The multiple power input ends 12 are arranged corresponding to the multiple power output ends 11. Specifically, the multiple power input ends 12 include a first power input end 121 and a second power input end 122. Among them, the first power input end 121 is connected to the first power output end 111, and the second power input end 122 is connected to the second power output end 112. The first power input end 121 and the second power input end 122 are respectively connected to the power output part of the slave end power seat. Of course, in other embodiments, only one power input end 12 can be provided, and one power input end 12 is connected to multiple power output ends 11.

[0073] To facilitate the installation of different power output ends 11, in one embodiment, the main housing 21 has multiple accommodating chambers 211. The multiple accommodating chambers 211 are arranged corresponding to the multiple power output ends 11. Specifically, the multiple accommodating chambers 211 include a first accommodating chamber 2111 and a second accommodating chamber 2112, wherein the first power output end 111 is installed in the first accommodating chamber 2111 and exposed to the installation chamber 212, and the second cover plate 23 is covered by the opening of the first accommodating chamber 2111; the second power output end 112 is installed in the second accommodating chamber 2112 and exposed to the installation chamber 212, and the third cover plate 26 is covered by the opening of the second accommodating chamber 2112. The multiple accommodating chambers 211 of this embodiment are arranged in a one-to-one correspondence with the multiple power output ends 11. Of course, in other embodiments, multiple power output ends 11 can also be installed in one accommodating chamber 211.

[0074] As attached Figure 8 As shown, in order to facilitate the connection of multiple power input terminals 12 with the power output portion of the slave power seat, in one embodiment, multiple accommodating chambers 211 are interconnected so that multiple power input terminals 12 are located in the same accommodating chamber 211. Specifically, the first accommodating chamber 2111 and the second accommodating chamber 2112 are respectively located on both sides of the side plate 215, and a through hole 2151 is provided on the side plate 215. One end of the second power output terminal 112 is inserted into the first accommodating chamber 2111 through the through hole 2151. In order to prevent the opening of the through hole 2151 from being exposed to the external space and causing contamination, the third cover plate 26 abuts against the side plate 215, enclosing the opening of the through hole 2151 in a closed space.

[0075] The placement of the multiple accommodating cavities 211 can be adjusted according to design requirements. In one embodiment, the multiple accommodating cavities 211 are located on the same side, and the multiple accommodating cavities 211 are arranged opposite the installation cavity 212. Specifically, the first accommodating cavity 2111 and the second accommodating cavity 2112 are located below the main housing 21, while the installation cavity 212 is located above the main housing 21. The first accommodating cavity 2111 and the second accommodating cavity 2112 can be configured with different storage spaces according to usage requirements. For example, in addition to accommodating the first power output end 111, the first accommodating cavity 2111 also accommodates the slave drive base 100 when assembled with the slave power base. Correspondingly, the first power input end 121 and the second power input end 122 are also accommodated in the first accommodating cavity 2111. The first accommodating cavity 2111 should have a larger storage space. The second accommodating cavity 2112 is used to accommodate the second power output end 112, requiring less storage space. By rationally allocating the storage space between the different accommodating cavities 211, the structure of the slave drive base 100 is made more compact. Of course, in other embodiments, the multiple accommodating cavities 211 may also be arranged in a back-to-back manner.

[0076] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims of the present invention.

[0077] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A slave drive seat of an interventional surgical robot, which transmits power from a slave power seat and drives a medical device and / or its connector to rotate, characterized by: include: A driving mechanism, the driving mechanism comprising a power input end and a power output end connected to the power input end, the power input end being connected to a slave power seat, the power output end driving the medical device and / or its connector to rotate; A housing assembly, comprising a main housing, the main housing having a receiving cavity and a mounting cavity, the receiving cavity being used to accommodate the drive mechanism and the slave power seat, and the mounting cavity being used to mount the medical device and / or its connector; The installation cavity is formed by a depression in the main housing; the main housing includes a top plate and a side plate, the outer portion of the top plate is depressed along the direction of gravity so that the outer portion of the top plate and the inner wall of the side plate enclose the installation cavity; the inner portion of the top plate and the inner wall of the side plate enclose the accommodating cavity; The medical device and / or its connector is mounted on the recessed position of the top plate.

2. The slave end drive seat of the interventional surgical robot according to claim 1, characterized in that: The housing assembly further comprises a partition assembly, and a partition assembly for fixedly connecting to a medical device and / or its connector is provided on the outside of the top plate in the mounting cavity.

3. The slave end drive seat of the interventional surgical robot according to claim 2, characterized in that: The partition assembly includes a plurality of partition units, and the plurality of partition units are arranged at intervals to form a card slot that is matched and connected to the medical device and / or its connector.

4. The slave end drive seat of the interventional surgical robot according to claim 1, characterized in that: The installation cavity has an opening, and the housing assembly further includes a first cover plate, which is arranged to cover the opening of the installation cavity to isolate the medical device and / or its connector in the installation cavity.

5. The slave end drive seat of the interventional surgical robot according to claim 1, characterized in that: The accommodating cavity and the installing cavity are arranged back to back with each other.

6. The slave end drive seat of the interventional surgical robot according to claim 1, characterized in that: The power input end of the driving mechanism is arranged in the accommodating cavity of the main housing, and the power output end of the driving mechanism is arranged in the mounting cavity of the main housing.

7. The slave end drive seat of the interventional surgical robot according to claim 1, characterized in that: The top plate includes a first plate body, a second plate body and a third plate body. The first plate body is staggered relative to the second plate body along the gravity direction to form the third plate body between the first plate body and the second plate body.

8. The slave end drive seat of the interventional surgical robot according to claim 7, characterized in that: The first plate body, the second plate body, the third plate body and the side plate together form the accommodating cavity, and the first plate body, the third plate body and the side plate together form the installing cavity.

9. The slave end drive seat of the interventional surgical robot according to claim 1, characterized in that: The accommodating cavity has an opening, and the housing assembly further includes a second cover plate, which is arranged to cover the opening of the accommodating cavity so as to isolate the slave end power seat from the accommodating cavity.

10. The slave end drive seat of the interventional surgical robot according to claim 1, characterized in that: The driving mechanism includes a plurality of power output ends.

11. The slave end drive seat of the interventional surgical robot according to claim 10, characterized in that: The driving mechanism includes a plurality of power input ends, and the plurality of power input ends are arranged corresponding to the plurality of power output ends.

12. The slave end driving seat of the interventional surgical robot according to claim 11, characterized in that: The main housing has a plurality of accommodating cavities, and the plurality of accommodating cavities are arranged corresponding to the plurality of power output ends.

13. The slave end drive seat of the interventional surgical robot according to claim 12, characterized in that: The plurality of accommodating cavities are located on the same side, and the plurality of accommodating cavities are arranged opposite to the installation cavity.

14. The slave end drive seat of the interventional surgical robot according to claim 12, characterized in that: The multiple accommodating cavities are interconnected so that the multiple power input ends are located in the same accommodating cavity.

15. The slave end drive seat of the interventional surgical robot according to any one of claims 1 to 14, characterized in that: The main shell is provided with a through hole communicating with the accommodating cavity and the mounting cavity, and the power output end is passed through the through hole.

16. The slave end drive seat of the interventional surgical robot according to claim 15, characterized in that: The driving mechanism further includes a fixing seat, the power input end is fixed in the accommodating cavity through the fixing seat, and the power output end is placed in a space formed by the fixing seat and the through hole and communicates with the installation cavity.

Images