Primary and secondary channel locking module and interventional robot slave end device

Abstract

The utility model provides a primary and secondary channel locking module and interventional robot from end device, module seat is equipped with at least one primary channel and at least one secondary channel, wherein the primary channel and the secondary channel one end respectively extend to the same direction setting, or the secondary channel gathers to the primary channel in turn, the movable setting of module seat has the pressing plate structure, when the pressing plate structure opens, the primary channel and / or secondary channel of module seat is opened, and the one end of interventional consumable or variable rail part can be taken out or loaded in from the corresponding primary channel or secondary channel, when the pressing plate structure closes, the one end of interventional consumable or variable rail part will be limited in the corresponding primary channel or secondary channel, the utility model discloses a primary and secondary channel locking module can realize different interventional consumable to wear in bifurcated valve simultaneously, can realize the simultaneous delivery of multiple interventional consumable, or realize the individual delivery of each interventional consumable, and the interventional consumable who does not need delivery and / or rotation is clamped and fixed by the pressing plate structure on the corresponding secondary channel.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a primary and secondary channel locking module and an interventional robot slave device. Background Technology

[0002] The main steps in vascular interventional surgery include femoral / radial artery puncture, coordinated advancement of the guidewire and angiography catheter, digital subtraction angiography (DSA), coordinated advancement of the treatment guidewire and balloon catheter, and placement of the vascular stent. The coordinated advancement of the guidewire, catheter, and balloon catheter is the most time-consuming step and requires X-ray-guided image navigation. Currently, vascular interventional surgery is usually performed manually by a surgeon. During the procedure, because DSA emits X-rays, the surgeon needs to wear a heavy lead apron, which leads to a rapid decline in physical strength, reduced attention, and decreased stability, resulting in decreased operational precision and an increased risk of accidents such as endothelial damage, vascular perforation, and rupture due to improper pushing force, endangering the patient's life. Furthermore, long-term wearing of lead aprons can damage the surgeon's spine. Secondly, the cumulative damage from long-term ionizing radiation significantly increases the surgeon's risk of leukemia, cancer, and acute cataracts. Therefore, to protect the health of surgeons and ensure surgical quality, research and development of interventional surgical robots are increasing, and more and more robots are being used clinically.

[0003] Existing interventional surgical robots mainly adopt a master-slave end operation structure to isolate doctors from the radiation environment. The slave end device of the existing interventional robot needs to hold the slender medical instruments such as catheters and guidewires and move them from the proximal end to the distal end. Through the coordinated movement of the device, the catheters and guidewires are advanced and delivered to the lesion in the patient's body (such as inside the blood vessel), so that doctors can carry out subsequent related treatments such as angiography, embolization of malformed blood vessels, thrombolysis, and dilation of narrowed blood vessels.

[0004] For example, the following patents applied for by Shenzhen Aibo Medical Robotics Co., Ltd.: Application No. 2022116787026, a slave end of an interventional surgical robot; Application No. 202211686818.4, a slave end of an interventional surgical robot; Application No. 202210923132.6, a slave end guidewire / catheter control device for an interventional surgical robot; Application No. 202210326352.0, a slave end device for an interventional surgical robot, etc.; these patents separate the power control of the catheter / guidewire and control it through the catheter delivery mechanism. The system controls the delivery of the corresponding catheter, the catheter rotation mechanism controls the rotation of the corresponding catheter, the guidewire delivery mechanism controls the delivery of the guidewire, and the guidewire rotation mechanism controls the rotation of the guidewire. Its shortcomings are: (1) The structure of the catheter rotation mechanism and the guidewire rotation mechanism is relatively complex; (2) The balloon delivery mechanism applies frictional power to the balloon catheter by rotating synchronously with the active roller and the driven roller. Under the action of frictional power, the balloon is delivered forward. It is unable to sense the force during the delivery process, so the force feedback cannot be realized and the safety of the operation cannot be guaranteed; (3) It cannot realize the coordinated delivery of multiple catheters and guidewires.

[0005] In the delivery of multiple catheters and guidewires, the catheters and / or guidewires need to converge into the guiding catheter or the next-level catheter. Depending on the surgical requirements, some procedures require the simultaneous delivery of the catheter and guidewire, or the separate delivery of the catheter and guidewire, or the simultaneous delivery of multiple guidewires, etc. Different surgical scenarios involve the catheters and / or guidewires first converging into the guiding catheter or the next-level catheter. Existing technologies cannot flexibly achieve this convergence function. Utility Model Content

[0006] The purpose of this invention is to provide a primary and secondary channel locking module and an intervention robot slave device to solve the existing technical defects and unmet technical requirements.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A primary and secondary channel locking module includes a module base with at least one primary channel and at least one secondary channel. One end of the primary channel and the secondary channel extend in the same direction, or the secondary channels converge into the primary channel. A pressure plate structure is movably disposed on the module base. When the pressure plate structure is open, the primary channel and / or secondary channel of the module base are opened, and one end of the intervention consumable or the guide rail can be taken out or inserted from the corresponding primary channel or secondary channel. When the pressure plate structure is closed, one end of the intervention consumable or the guide rail is restricted in the corresponding primary channel or secondary channel.

[0009] Preferably, the module base has a main channel and two secondary channels. The pressure plate structure includes two first pressure plates, each of which is hinged to the side of the corresponding secondary channel. Each first pressure plate can press the intervention consumable or the guide rail part in the secondary channel. Two L-shaped first clamping members are rotatably installed on the side of the module base through a hinge shaft. After the first pressure plate is fastened, when the operator drives the L-shaped first clamping member to rotate around the hinge axis towards the first pressure plate, the first clamping member rotates and presses against the corresponding first pressure plate, thereby locking the first pressure plate. Conversely, when the operator drives the L-shaped first clamping member to rotate around the hinge axis away from the first pressure plate, the first clamping member rotates and disengages from the corresponding first pressure plate, thereby releasing the first pressure plate. At least one of the first pressure plates or the inner side of the secondary channel is provided with an elastic body. When the first pressure plate structure is closed, the intervention consumable or the guide rail part will be pressed into the corresponding secondary channel by the elastic body.

[0010] Preferably, the module base has one main channel and three secondary channels. The pressure plate structure includes a first consumable pressure plate structure disposed on the module base and located on the side of at least one secondary channel. The first consumable pressure plate structure can press the intervention consumable or the track-changing part in the secondary channel. The first consumable pressure plate structure adopts a self-locking push-button spring latch or a threaded structure. The self-locking push-button spring latch includes a latch body and a second pressure plate mounted on the latch body. The latch body is installed inside the module base. Pressing the second pressure plate can lock or disengage the second pressure plate from the latch body. This allows the second pressure plate to press against the interventional consumable or the guide rail section, or to disengage from the interventional consumable or the guide rail section. The threaded structure includes a screw and a second pressure plate, which are threadedly connected to the screw. By rotating the screw, the second pressure plate can be driven to move along the screw axis, thereby pressing against the interventional consumable or the guide rail section, or disengaging from the interventional consumable or the guide rail section. At least one of the second pressure plates or secondary channels has an elastic body on its inner side. When the second pressure plate structure is closed, the interventional consumable or the guide rail section will be pressed into the corresponding secondary channel by the elastic body.

[0011] Preferably, the secondary channel is an open channel structure with the opening facing upwards, and the pressure plate structure locks the intervention consumables or track changing parts in the secondary channel from the top or side of the channel structure.

[0012] Preferably, the main channel of the module base is connected to a first telescopic sleeve for supporting interventional consumables. The diameters of different sections of the first telescopic sleeve decrease sequentially. The tube body of the section with the largest diameter of the first telescopic sleeve extends into the main channel of the module base. The module base is provided with a telescopic sleeve locking part. The tube body of the first telescopic sleeve is clamped and fixed by the telescopic sleeve locking part. The telescopic sleeve locking part is a clamp structure, a locking structure, a magnetic structure, a pressing structure, or a threaded structure.

[0013] Alternatively, the telescopic sleeve locking part is fixedly connected to the tube body of the section with the largest diameter of the first telescopic sleeve, and the telescopic sleeve locking part is detachably mounted on the module base.

[0014] Preferably, the main channel is an open channel structure with the opening facing upwards, and the telescopic sleeve locking part locks the tube body of the first telescopic sleeve with the largest diameter section from the top or side of the channel structure; the distance between the front end face of the tube body of the first telescopic sleeve with the largest diameter section and the front end face of the module seat is less than 20mm.

[0015] Preferably, when the locking part of the telescopic sleeve is a locking structure, the locking structure includes a first locking seat, and a fourth pressure plate is movably disposed on the first locking seat. The fourth pressure plate locks the tube body of the largest diameter section of the first telescopic sleeve from the top or side of the channel structure through a snap-fit ​​structure or a threaded structure.

[0016] Preferably, the module base has a main channel and two secondary channels, one of which is connected to or aligned with the track-changing part. The track-changing part is used to guide the intervention consumables on the second linear track group to the first linear track group. The track-changing part is a telescopic track-changing tube, which includes a rigid coaxial second telescopic sleeve. The last and first sections of the second telescopic sleeve are respectively covered with the ends of the first and second flexible hoses. The second telescopic sleeve is axially limited by a first limiting structure set on the outside of the tube body to prevent different sections in the second telescopic sleeve from completely separating. The first limiting structure is one or a combination of a pull rope structure, a limiting telescopic sleeve, a pull rod structure, a connecting rod structure, and a corrugated pipe structure. The module base has a first track-changing part locking part, which can lock the front end of the telescopic track-changing tube. The first track-changing part locking part is a clamp structure, a locking structure, a magnetic structure, a pressing structure, or a threaded structure.

[0017] Alternatively, the locking part of the first track-changing section is fixedly connected to the front end of the telescopic track-changing tube, and the locking part of the first track-changing section is detachably mounted on the module base.

[0018] An interventional robot slave device includes a linear track assembly. At least one linear track assembly is provided. When two linear track assemblies are provided, they are arranged in parallel. At least two module mounting seats are provided along the length of one of the linear track assemblies. Surgical function modules are mounted on the module mounting seats. The surgical function modules are port support mechanisms, port control mechanisms, rotary delivery mechanisms, or delivery mechanisms. A port support mechanism or port control mechanism located at the front end and a rotary delivery mechanism or delivery mechanism located at the rear end form a delivery kit. The module mounting seats are fixed to the linear track assemblies, or the module mounting seats can reciprocate on the linear track assemblies. During reciprocating motion, the module mounting seats can drive the corresponding port control mechanism and / or rotary delivery mechanism and / or delivery mechanism to reciprocate.

[0019] Preferably, the interventional consumables include one or a combination of a port control valve, a catheter, and a guidewire. The catheter may be a sheath, a guiding catheter, a microcatheter, a balloon catheter, a radiofrequency ablation electrode catheter, an intravascular ultrasound catheter, or an interatrial septal puncture sheath. The port control valve may be a bifurcated valve or a non-bifurcated control valve.

[0020] Supporting elements are provided between the port support mechanism and the rotary delivery mechanism, or between the port control mechanism and the rotary delivery mechanism, or between the port control mechanism and the delivery mechanism. The supporting elements are sleeved on the outside of the interventional consumables to provide support, so that the axis of the interventional consumables is in a straight line. The supporting elements are supported by a rigid coaxial first telescopic sleeve or a second telescopic sleeve that is sleeved in stages.

[0021] The linear track assembly consists of a first linear track assembly and a second linear track assembly. When a first delivery kit and a second delivery kit are arranged one in front of the other on the first linear track assembly, the first delivery kit includes a first port control mechanism or a first port support mechanism placed at the front end and a first rotary delivery mechanism placed at the rear end. The first delivery kit is used to deliver a first interventional consumable. The second delivery kit includes a second port control mechanism placed at the front end and a second rotary delivery mechanism or a second delivery mechanism placed at the rear end. The second delivery kit is used to deliver a second interventional consumable. The first rotary delivery mechanism and the second port control mechanism are synchronously moved on the first linear track assembly. The tail end of the first catheter is fixed to the first port support mechanism. A hemostatic valve is provided at the rear end of the first catheter, or the rear end of the first catheter is connected to the front end of the first port control valve. The first port control valve is installed inside the first port control mechanism. The first port support mechanism or the first port control mechanism is fixed to the front end of the first linear track assembly, or the first port support mechanism or the first port control mechanism is installed on the first linear track assembly. On the fixed frame outside the group; a first bifurcation valve is installed on the second port control mechanism, and a first connecting part is provided on the first rotary delivery mechanism. The first connecting part is locked with the first interventional consumable. The first rotary delivery mechanism can drive the first interventional consumable to perform a rotary delivery movement through the first connecting part. It also includes an internal connecting tube, which passes through the first connecting part and is connected to the front end of the first connecting part; or the first connecting part is a hollow pipe structure, and the front end of the internal connecting tube is connected to the rear end of the first connecting part. The rear end of the internal connecting tube is fixedly connected to the rotatable part of the front end of the first bifurcation valve. The internal connecting tube is provided with a flexible part. When the second port control mechanism controls the rotatable part of the front end of the first bifurcation valve to rotate synchronously with the rotation of the first rotary delivery mechanism, if the two rotational movements are not completely synchronized, the flexible part of the internal connecting tube will undergo slight torsional deformation. However, since the flexible part is soft enough, it will not affect the torque force sensing element in the first rotary delivery mechanism to sense the torque force on the first interventional consumable.

[0022] A third delivery kit is installed on the second linear track group. The third delivery kit includes a third delivery mechanism or a third rotary delivery mechanism, which can reciprocate along the second linear track group. A primary and secondary channel locking module is provided behind the second port control mechanism. The front end of the second interventional consumable passes through the primary channel of the primary and secondary channel locking module and the first bifurcation valve into the first interventional consumable. One of the secondary channels of the primary and secondary channel locking module is connected to the third delivery mechanism or the third rotary delivery mechanism through a track-changing part. The third delivery mechanism or the third rotary delivery mechanism is provided with a third connecting part, which can lock the fourth interventional consumable. The three delivery mechanisms or the third rotary delivery mechanism can drive the fourth interventional consumable to perform axial delivery or rotary delivery. The front end of the fourth interventional consumable passes through the changing track part, the secondary channel of the main and secondary channel locking module, and the first bifurcation valve into the first interventional consumable. The changing track part is a telescopic changing track tube. When two surgical functional modules that are not on the same delivery line move relative to each other, the telescopic changing track tube guides the fourth interventional consumable from one of the surgical functional modules to the delivery line where the other surgical functional module is located. The telescopic changing track tube adjusts its own length according to the relative position between the two surgical functional modules, and the first and second flexible tubes of the telescopic changing track tube will adaptively change their angles.

[0023] The beneficial effects of this utility model are as follows:

[0024] 1. This utility model can guide different interventional consumables to pass into the bifurcation valve at the same time through the main and secondary channel locking module, which can realize the simultaneous delivery of multiple interventional consumables or the individual delivery of each interventional consumable. Furthermore, interventional consumables that do not require delivery and / or rotation are clamped and fixed by the pressure plate structure on the corresponding secondary channel, which is highly flexible and convenient for use in different surgical scenarios.

[0025] 2. The main channel is an open channel structure with the opening facing upward, so that the tube body of the largest diameter section of the first telescopic sleeve can be inserted into the main channel. The tube body of the first telescopic sleeve can be clamped and fixed by the telescopic sleeve locking part. The tube body of the first telescopic sleeve can also be easily removed by opening the pressure plate structure.

[0026] 3. The secondary channel is an open channel structure with the opening facing upward, so that one end of the interventional consumable or the changing track part can be inserted into the secondary channel. The end of the interventional consumable or the changing track part can be clamped and fixed by closing the pressure plate structure. The end of the interventional consumable or the changing track part can also be easily removed by opening the pressure plate structure. The pressure plate structure is equipped with an elastic body to avoid crushing the interventional consumable or the changing track part.

[0027] 4. When two surgical functional modules that are not on the same delivery line move relative to each other, the telescopic guide tube guides the interventional consumables from one surgical functional module to the delivery line where the other surgical functional module is located. The telescopic guide tube adjusts its length according to the relative position between the two surgical functional modules, and the first and second hoses of the telescopic guide tube will adaptively change their angles. The telescopic guide tube plays a role in supporting the interventional consumables and also ensures that the interventional consumables can change tracks during delivery and can be delivered smoothly without jamming. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the usage state of Example 1;

[0029] Figure 2 This is a schematic diagram of the structure of the second port control mechanism, module base, and telescopic sleeve locking part in Embodiment 1;

[0030] Figure 3 This is a schematic diagram of the main and secondary channel locking module in Embodiment 1;

[0031] Figure 4 This is one of the usage state diagrams of Example 2;

[0032] Figure 5 This is the second schematic diagram of the usage state of Example 2;

[0033] Figure 6 This is a schematic diagram of the locking part of the telescopic sleeve in Example 2;

[0034] Figure 7 This is a schematic diagram of the structure of Embodiment 2, which includes a locking mechanism for the track-changing section and a locking mechanism for the second consumable.

[0035] Figure 8 This is a schematic diagram of the second consumable locking mechanism in Embodiment 2;

[0036] Figure 9 This is an internal schematic diagram of the second consumable locking mechanism in Embodiment 2;

[0037] Figure 10 This is a schematic diagram of the structure of Example 3;

[0038] Figure 11 This is an exploded structural diagram of the telescopic guide tube in Example 3;

[0039] Figure 12 This is a schematic diagram of the hinge support structure in Example 3;

[0040] Figure 13 This is a schematic diagram of the structure of the locking part of the first track-changing section in Embodiment 3;

[0041] Figure 14This is a schematic diagram of the assembly structure of the second track-changing locking mechanism and the third rotary delivery mechanism in Embodiment 3;

[0042] Figure 15 This is a schematic diagram of the structure of an interventional robot slave device according to Embodiment 4. Detailed Implementation

[0043] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0044] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0046] Example 1

[0047] A primary and secondary channel locking module includes a module base with at least one primary channel and at least one secondary channel, wherein one end of the primary channel and one secondary channel extend in the same direction; or the secondary channels converge sequentially into the primary channel. A pressure plate structure is movably disposed on the module base. When the pressure plate structure is open, the primary channel and / or secondary channel of the module base are opened, allowing one end of an insert consumable or guide rail to be removed or inserted from the corresponding primary or secondary channel. When the pressure plate structure is closed, one end of the insert consumable or guide rail is confined within the corresponding primary or secondary channel.

[0048] The module base has a main channel and two secondary channels. The pressure plate structure includes two first pressure plates, each of which is hinged to the side of the corresponding secondary channel. Each first pressure plate can press the intervention consumable or the guide rail part in the secondary channel. Two L-shaped first clamping members are rotatably installed on the side of the module base through a hinge shaft. After the first pressure plate is fastened, when the operator drives the L-shaped first clamping member to rotate around the hinge axis towards the first pressure plate, the first clamping member rotates and presses against the corresponding first pressure plate, thereby locking the first pressure plate. Conversely, when the operator drives the L-shaped first clamping member to rotate around the hinge axis away from the first pressure plate, the first clamping member rotates and disengages from the corresponding first pressure plate, thereby releasing the first pressure plate. At least one of the first pressure plates or the inner side of the secondary channel is provided with an elastic body. When the first pressure plate structure is closed, the intervention consumable or the guide rail part will be pressed into the corresponding secondary channel by the elastic body.

[0049] The secondary channel is an open channel structure with the opening facing upwards, and the pressure plate structure locks the intervention consumables or track changing parts in the secondary channel from the top or side of the channel structure.

[0050] The main channel of the module base is connected to a first telescopic sleeve for supporting interventional consumables. The diameters of different sections of the first telescopic sleeve decrease sequentially. The tube body of the section with the largest diameter of the first telescopic sleeve extends into the main channel of the module base. The module base is provided with a telescopic sleeve locking part. The tube body of the first telescopic sleeve is clamped and fixed by the telescopic sleeve locking part. The telescopic sleeve locking part is a clamp structure, a locking structure, a magnetic structure, a pressing structure, or a threaded structure.

[0051] Alternatively, the telescopic sleeve locking part is fixedly connected to the tube body of the section with the largest diameter of the first telescopic sleeve, and the telescopic sleeve locking part is detachably mounted on the module base.

[0052] The main channel is an open channel structure with the opening facing upwards. The telescopic sleeve locking part locks the tube body of the first telescopic sleeve with the largest diameter section from the top or side of the channel structure. The distance between the front end face of the tube body of the first telescopic sleeve with the largest diameter section and the front end face of the module seat is less than 20mm.

[0053] When the locking part of the telescopic sleeve is a locking structure, the locking structure includes a first locking seat and a fourth pressure plate. The fourth pressure plate is movably provided on the first locking seat. The fourth pressure plate locks the tube body of the largest diameter section of the first telescopic sleeve from the top or side of the channel structure through a snap-fit ​​structure or a threaded structure.

[0054] Specifically, such as Figures 1-3As shown, the first rotary delivery mechanism 10272 and the second port control mechanism 10273 are synchronously moved and mounted on the module fixing base. The module fixing base is mounted on the first linear track group. The first rotary delivery mechanism 10272 has a first connecting part, the front end of which extends out of the first rotary delivery mechanism 10272. The first connecting part on the first rotary delivery mechanism 10272 is locked with the second conduit. The locking structure is located at the front end of the rotating shaft. A rotating sleeve is provided inside the rotating shaft of the first rotary delivery mechanism 10272. The first connecting part is rotatable and axially limited within the rotating sleeve. A first bearing structure is provided between the first connecting part 1022501 and the rotating sleeve. The first connecting part and the rotating sleeve are axially limited but circumferentially rotatable, so that the rotating sleeve is only subjected to axial force from the first connecting part and not to circumferential torque.

[0055] The Luer connector at the rear end of the second catheter is threadedly connected to the threaded transition head 102202. The threaded transition head 102202 includes a threaded structure and a quick-connect structure. The threaded transition head 102202 is screwed to the Luer connector at the tail end of the interventional consumable through the threaded structure. The threaded structure is a Luer thread structure, and the quick-connect structure is an anti-rotation snap-fit ​​structure. Alternatively, the threaded transition head 102202 is directly connected to the first connecting part 1022501.

[0056] The anti-rotation buckle structure includes hooks, hooks 1033020017 are detachably mounted on the threaded transition head 102202. There are two hooks, which are symmetrically mounted on both sides of the threaded transition head 102202. The head of the hook is a snap-fit ​​part, and the tail of the hook is a pressing part. Pressing the pressing part can cause the snap-fit ​​part to open outward. Releasing the pressing part causes the snap-fit ​​part to close inward under its own elasticity.

[0057] The anti-rotation buckle structure also includes an anti-rotation structure, which is an anti-rotation protrusion or anti-rotation groove provided on the threaded transition head 102202. The anti-rotation buckle structure also includes a cylindrical guide portion that extends to the rear end of the threaded transition head. The anti-rotation protrusion or anti-rotation groove is provided at the connection between the guide portion and the main body of the threaded transition head 102202.

[0058] The first connecting part is connected to the front part of an internal connecting pipe 1027301, and the rear part of the internal connecting pipe 1027301 is connected to the rotatable front part of the bifurcation valve 1027302. The second conduit and the bifurcation valve are connected through the internal connecting pipe 1027301. The bifurcation valve is installed on the second port control mechanism 10273.

[0059] The internal connecting pipe has a flexible section with a certain amount of bulging and bending, which allows it to float in the axial direction. This solves the problem of torque and axial force interference caused by the asynchronous axial displacement and circumferential rotation of the first connecting part and the bifurcation valve. Alternatively, the internal connecting pipe can be a rigid pipe, with its rear end connected to the rotatable part at the front end of the bifurcation valve. The rigid pipe is driven to rotate through the first connecting part, which in turn drives the rotatable part at the front end of the bifurcation valve to rotate.

[0060] The module base is a first module base 1027303, which is mounted on a module fixing base and is located behind the second port control mechanism 10273. The first module base 1027303 has a main channel and two secondary channels, and a secondary channel is provided on each side of the main channel. Multiple intervention consumables can enter the bifurcation valve together along the corresponding main channel and two secondary channels on the first module base 1027303.

[0061] First pressure plates 102730301 are hinged to both sides of the first module base 1027303. The two first pressure plates 102730301 respectively press the intervention consumables or the guide rail section in the secondary channel on one side or fix one end of the guide rail section in the secondary channel on the other side. Two L-shaped clamping members 102730302 are rotatably installed on the side of the first module base 1027303 via a hinge shaft. After the first pressure plates 102730301 are fastened, the operator drives the L-shaped clamping members 102. When 730302 rotates about the hinge axis toward the first pressure plate 102730301, the clamping member rotates and presses against the corresponding first pressure plate 102730301, thereby locking the first pressure plate 102730301. Conversely, when the operator drives the L-shaped clamping member 102730302 to rotate about the hinge axis away from the first pressure plate 102730301, the clamping member rotates and disengages from the corresponding first pressure plate 102730301, releasing the first pressure plate 102730301. The first pressure plate 102730301 is fixedly connected to the inclined plate 1027303011. The operator can press the inclined plate 1027303011 to open the first pressure plate 102730301. The larger diameter end of the first telescopic sleeve 103302 extends into the main channel of the first module seat 1027303, and the telescopic sleeve locking part is provided at the rear of the first module seat 1027303.

[0062] The module fixing base is provided with a telescopic sleeve locking part that can clamp the tube body of the first telescopic sleeve or the locking connecting block. The telescopic sleeve locking part is a clamp structure, a buckle structure, a magnetic structure, a pressing structure or a threaded structure.

[0063] The rear end of the first telescopic sleeve is fixed to the telescopic sleeve locking part on the delivery mechanism or the rotary delivery mechanism; as the adjacent module fixing seats approach each other, the segments behind the first telescopic sleeve retract and insert into the foremost segment.

[0064] like Figure 3 As shown, the telescopic sleeve locking part is a locking structure, including a first locking seat 102730303 and a fourth pressure plate 102730304. The first locking seat 102730303 is hinged or locked to the fourth pressure plate 102730304. The first locking seat 102730303 and / or the fourth pressure plate 102730304 are provided with locking grooves. The fourth pressure plate 102730304 is fastened to the first locking seat 102730303 to clamp and fix the tube body of the largest diameter section of the first telescopic sleeve 103302 in the locking groove.

[0065] Example 2

[0066] The parts of this embodiment that are the same as those in Embodiment 1 will not be described in detail. The differences are as follows:

[0067] The module base has one main channel and three secondary channels. The pressure plate structure includes a first consumable pressure plate structure disposed on the module base and located on the side of at least one secondary channel. The first consumable pressure plate structure can press the intervention consumable or the guide rail part in the secondary channel. The first consumable pressure plate structure adopts a self-locking push-button spring latch (similar to the push-button structure of a ballpoint pen) or a threaded structure. The self-locking push-button spring latch includes a latch body and a second pressure plate mounted on the latch body. The latch body is installed inside the module base. Pressing the second pressure plate can lock the second pressure plate with the latch body. The second pressure plate can be tightened or disengaged, thereby pressing the interventional consumable or the guide rail part against the second pressure plate, or disengaging the second pressure plate from the interventional consumable or the guide rail part; the threaded structure includes a screw and a second pressure plate, the second pressure plate and the screw are threadedly connected, and by rotating the screw, the second pressure plate can be driven to move along the screw axis, thereby pressing the second pressure plate against the interventional consumable or the guide rail part against the second pressure plate, or disengaging the second pressure plate from the interventional consumable or the guide rail part; wherein at least one of the second pressure plates or the inner side of the secondary channel is provided with an elastic body, and when the second pressure plate structure is closed, the interventional consumable or the guide rail part will be pressed into the corresponding secondary channel by the elastic body.

[0068] like Figure 4 and Figure 5As shown, the module seat is a second module seat 1027403. The second module seat 1027403 is located behind the bifurcation valve 10273 on the second port control mechanism 10273. The second module seat 1027403 is implemented by a first bifurcation seat. The first bifurcation seat is provided with a main channel and at least two secondary channels. Each secondary channel is set independently. One end of each secondary channel extends in the same direction and is aligned with the port of the bifurcation valve. Alternatively, the secondary channels converge into a main channel, which is aligned with the port of the bifurcation valve. At least one interventional consumable can enter the bifurcation valve 1027302 along the corresponding main channel and secondary channel on the second module seat 1027403. In this embodiment, the first bifurcation seat is provided with three secondary channels. The end of at least one interventional consumable (mainly a guidewire) is fitted with a marking sleeve 1027304. The marking sleeve is provided with at least two colors, and each color corresponds to a different interventional consumable to facilitate the differentiation of interventional consumables.

[0069] The first bifurcation seat has three secondary channels. A first consumable locking mechanism is installed on the side of at least one of the secondary channels, capable of pressing against the intervention consumable or the guide rail section. The first consumable locking mechanism is a self-locking push-button spring latch, comprising a latch body and a second pressure plate a102730307 mounted on the latch body. The latch body is installed inside the first bifurcation seat. Pressing the second pressure plate a102730307 can lock or disengage it from the latch body, thereby pressing the second pressure plate a102730307 against the intervention consumable or the guide rail section, or disengaging the second pressure plate a102730307 from the intervention consumable or the guide rail section. The self-locking push-button spring latch structure can also be replaced by a threaded structure.

[0070] The second pressure plate a102730307 has an inverted L-shaped structure. The second pressure plate a can slide up and down on the first bifurcation seat. An elastic clamping block is installed on the inner side of the crossbeam or in the secondary channel of the inverted L-shaped structure at a position that allows it to contact the intervention consumable or the guide rail section. The elastic clamping block is one or a combination of silicone blocks and rubber blocks. The elastic material, such as silicone or rubber, can improve the locking effect and prevent damage to the intervention consumable or the guide rail section. The opening direction of the inverted L-shaped structure of the second pressure plate a102730307 faces the main channel of the first bifurcation seat.

[0071] As an alternative, such as Figures 7-9As shown, the first bifurcation seat has one main channel and three secondary channels. Two of the secondary channels are located on the side of the main channel closer to the operator, and the third secondary channel is located on the other side of the main channel away from the operator. The third secondary channel of the first bifurcation seat is equipped with a track-changing locking mechanism. The track-changing locking mechanism is a hinged pressure plate. The track-changing locking mechanism includes a first pressure plate 102730301 hinged to the first bifurcation seat, which fixes one end of the track-changing part in the third secondary channel. A second consumable locking mechanism is installed on the side of the first bifurcation seat closer to the operator, which can press the interventional consumables into the secondary channel.

[0072] The locking mechanism of the track-changing section includes an L-shaped clamping member 102730302. After the first pressure plate 102730301 is fastened, when the operator drives the L-shaped clamping member 102730302 to rotate around the hinge axis toward the first pressure plate 102730301, the clamping member rotates and presses against the corresponding first pressure plate 102730301, thereby locking the first pressure plate 102730301. Conversely, when the operator drives the L-shaped clamping member 102730302 to rotate around the hinge axis away from the first pressure plate 102730301, the clamping member rotates and disengages from the corresponding first pressure plate 102730301, releasing the first pressure plate 102730301. The first pressure plate 102730301 is fixedly connected to the inclined plate 1027303011. The operator can press the inclined plate 1027303011 to open the first pressure plate 102730301. The larger diameter end of the first telescopic sleeve 103302 extends into the main channel of the second module seat 1027403. The rear of the second module seat 1027403 is provided with a telescopic sleeve locking part that can clamp the tube body of the first telescopic sleeve.

[0073] The first bifurcation seat has a second consumable locking mechanism (equivalent to the first consumable pressure plate structure using a threaded structure) installed on the side closest to the operator. The second consumable locking mechanism includes a locking screw 102730501 and a pressing block 102730502. The pressing block 102730502 is laterally slidable on one side of the secondary channel. The locking screw is axially arranged laterally. The locking screw is circumferentially rotatable and axially limited on the first bifurcation seat. The pressing block is sleeved on the locking screw and the two are threaded together. Rotating the locking screw can make the pressing block move closer to or away from the interventional consumable in the secondary channel, thereby pressing or releasing the interventional consumable in the secondary channel.

[0074] The first fork seat has a movable cavity for the lower end of the clamping block 102730502 to move. A locking screw is inserted into the movable cavity from the side of the first fork seat. The head of the locking screw abuts against the side of the first fork seat. The front end of the locking screw is connected to the lower end of the clamping block through a threaded sleeve 102730503. The locking screw 102730501 and the threaded sleeve 102730503 are threadedly engaged. The lower end of the clamping block 102730502 is fixedly sleeved on the threaded sleeve 102730503. The middle part of the locking screw has an annular groove, and a retaining spring 1 is engaged at the annular groove. 02730504, and the retaining ring and the clamping block are abutted by the spring 102730505, so that the retaining ring can abut against the inner wall of the movable cavity to limit the axial position of the locking screw. Rotating the locking screw can cause the threaded sleeve and the clamping block to move together relative to the locking screw, so that the clamping block moves closer to or away from the interventional consumable in the secondary channel, thereby pressing or releasing the interventional consumable in the secondary channel; an elastic clamping block is installed on the inner side of the clamping block 102730502 or in the secondary channel at a position that can contact the interventional consumable. The elastic clamping block is one or a combination of silicone block and rubber block.

[0075] A support element is provided between the second port control mechanism 10273 and the second rotary delivery mechanism. The support element is sleeved on the outside of the interventional consumable to provide support and keep the axis of the interventional consumable in a straight line. The support element is supported by a rigid, coaxially connected first telescopic sleeve; or by multiple closed or openable support ring assemblies arranged at intervals along the axis of the interventional consumable, with each adjacent two support ring assemblies connected by an axial elastic element; or by a corrugated pipe; or by a slotted C-shaped pipe.

[0076] When the support element is supported by a rigid coaxially connected first telescopic sleeve 103302, the first telescopic sleeve is axially limited by a first limiting structure set on the outside of the tube body of the first telescopic sleeve to prevent different sections in the first telescopic sleeve from completely separating. The first limiting structure is one or a combination of a rope structure, a limiting telescopic sleeve, a tie rod structure, a connecting rod structure, and a corrugated pipe structure.

[0077] The rear part of the first fork seat is equipped with a telescopic sleeve locking part 10330203 that can clamp the tube body of the first telescopic sleeve. The telescopic sleeve locking part is a clamp structure, a locking structure, a magnetic structure, a pressing structure, or a threaded structure.

[0078] The rear end of the first telescopic sleeve 103302 is fixed to the telescopic sleeve locking part on the second rotary delivery mechanism; during the approach process between the second port control mechanism 10273 and the second rotary delivery mechanism, the segments behind the first telescopic sleeve retract and insert into the foremost segment.

[0079] The smallest diameter section of the first telescopic sleeve 103302 between the second port control mechanism and the second rotary delivery mechanism is fixed to the telescopic sleeve locking part on the second rotary delivery mechanism. A second module seat 1027403 is provided behind the second port control mechanism. The largest diameter section of the first telescopic sleeve extends into the main channel of the second module seat 1027403, and the tube body of the largest diameter section of the first telescopic sleeve is clamped and fixed by the telescopic sleeve locking part. The distance between the front end face of the tube body of the largest diameter section of the first telescopic sleeve and the front end face of the first bifurcation seat is less than 20mm.

[0080] The connecting block at the head end of the smallest section of the first telescopic sleeve is the first connecting block. The second rotary delivery mechanism is provided with a telescopic sleeve locking part to fix the first connecting block. The telescopic sleeve locking part includes an openable clamping claw. The outer circumferential surface of the first connecting block is provided with an annular groove. The two clamping claws close and are inserted into the annular groove to clamp the first connecting block and achieve clamping. The clamping claws are provided with magnets or buckles. The two clamping claws are closed and attracted by the attraction of the magnets or the buckles.

[0081] Preferably, such as Figure 6 As shown, the locking part of the telescopic sleeve at the rear of the first forked seat is a hinge clamp structure. The hinge clamp structure includes an upper hinge pressure plate 102730401, a lower hinge pressure plate 102730402, and a pressure plate pressing structure. The middle parts of the upper and lower hinge pressure plates are connected by a hinge shaft 102730403. The hinge shaft 102730403 is located on one side of the first telescopic sleeve 103302, and the axis of the hinge shaft 102730403 is parallel to the axis of the first telescopic sleeve 103302. The upper hinge pressure plate and / or the lower hinge pressure plate can rotate relative to each other around the axis parallel to the first telescopic sleeve 103302. The hinge upper pressure plate and / or hinge lower pressure plate are provided with locking grooves 102730404 adapted to the shape of the first telescopic sleeve, and the hinge clamp structure has a feed port 102730405 on the side facing the operator. The operator can feed the interventional consumables laterally into the feed port 102730405, and then insert the first telescopic sleeve into the locking groove on the hinge upper pressure plate and / or hinge lower pressure plate along the front and back of the interventional consumables. The pressure plate pressing structure and the locking groove of the first telescopic sleeve are located on both sides of the hinge shaft. The pressure plate pressing structure can drive the hinge upper pressure plate and / or hinge lower pressure plate to rotate and clamp the first telescopic sleeve in the locking groove.

[0082] Furthermore, the pressure plate pressing structure includes a pressure screw 102730406. The upper pressure plate 102730401 of the hinge is provided with a threaded hole, and the pressure screw 102730406 is screwed into the threaded hole. Rotating the pressure screw 102730406 can cause the pressure screw 102730406 to move relative to the screw 102730406. When the end of the pressure screw 102730406 abuts against the upper surface of the lower pressure plate 102730402 of the hinge, continuing to rotate the pressure screw 102730406 can cause one side of the upper pressure plate 102730401 of the hinge to move upward relative to the pressure screw 102730406. With the cooperation of the hinge shaft, the other side of the upper pressure plate 102730401 of the hinge can rotate downward to press the first telescopic sleeve 103302.

[0083] Alternatively, the pressure plate pressing structure adopts a pliers-like tightening and pressing method, which clamps the first telescopic sleeve in the lock groove by pulling one end of the upper pressure plate and the lower pressure plate of the hinge towards each other.

[0084] Example 3

[0085] The parts of this embodiment that are the same as those in Embodiment 1 will not be described in detail. The differences are as follows:

[0086] The module base has a main channel and two secondary channels. One of the secondary channels is connected to or aligned with the track-changing section. The track-changing tube is used to guide the intervention consumables on the second linear track group to the first linear track group. The track-changing section is a telescopic track-changing tube, which includes a rigid coaxial second telescopic sleeve. The last and first sections of the second telescopic sleeve are respectively covered with the ends of the first and second flexible hoses. The second telescopic sleeve is axially limited by a first limiting structure set on the outside of the tube body to prevent different sections in the second telescopic sleeve from completely separating. The first limiting structure is one or a combination of a pull rope structure, a limiting telescopic sleeve, a pull rod structure, a connecting rod structure, and a corrugated pipe structure. The module base has a first track-changing section locking part, which can lock the front end of the telescopic track-changing tube. The first track-changing section locking part is a clamp structure, a buckle structure, a magnetic structure, a compression structure, or a threaded structure.

[0087] Alternatively, the locking part of the first track-changing section is fixedly connected to the front end of the telescopic track-changing tube, and the locking part of the first track-changing section is detachably mounted on the module base.

[0088] Specifically, such as Figures 10-14As shown, the module base is a third module base 10271001. A bifurcation valve is provided on the second port control mechanism, and the third module base 10271001 is located behind the bifurcation valve. A telescopic guide tube is provided between one of the secondary channels on the third module base 10271001 and the third rotary delivery mechanism 10276. The telescopic guide tube is used to support the interventional consumables and includes a rigid, coaxial, progressively connected second telescopic sleeve 103303.

[0089] Each section of the second telescopic sleeve 103303 has a connecting block 103302001 fixedly connected to its head end. Each section of the second telescopic sleeve 103303 is provided with a first limiting structure to prevent different sections of the second telescopic sleeve 103303 from completely disengaging. The thickest and thinnest sections of the second telescopic sleeve 103303 are respectively fitted with one end of the first flexible hose 1033020021 and the second flexible hose 1033020022. The other end of the first flexible hose 1033020021 is clamped by the second track-changing locking mechanism of the third rotary delivery mechanism 10276, and the other end of the second flexible hose 1033020022 is clamped by the first track-changing locking part of the third module seat 10271001.

[0090] Furthermore, the first flexible hose 1033020021 and the second flexible hose 1033020022 are provided with a hinge support structure 1033020023. The hinge support structure 1033020023 includes a first hinge plate 10330200231 and a second hinge plate 10330200232. One end of the first hinge plate 10330200231 and the second hinge plate 10330200232 are hinged to each other, and the other end of the first hinge plate 10330200231 and the second hinge plate 10330200232 are respectively fixedly connected to a limiting sleeve 10. 330200233, the limiting sleeve 10330200233 is fitted over the first hose 1033020021 or the second hose 1033020022, which can guide the bending direction of the first hose 1033020021 or the second hose 1033020022, avoid excessive bending, and prevent the first hose 1033020021 or the second hose 1033020022 from being damaged. When the material of the first hose 1033020021 or the second hose 1033020022 is relatively hard, the hinge support structure 1033020023 may not be provided.

[0091] To prevent interventional consumables from getting stuck on the end faces between different sections of the second telescopic sleeve 103303 when inserted from the front or rear end, the second telescopic sleeve 103303 is fitted with a guide tube 1033020031 to facilitate the smooth passage of the interventional consumables through the second telescopic sleeve 103303. One end of the guide tube 1033020031 is connected to the thinnest section of the second telescopic sleeve 103303, and the other end of the guide tube 1033020031 extends toward the thickest section of the second telescopic sleeve 103303. The guide tube 1033020031 is a flexible guide tube.

[0092] With the second telescopic sleeve 1033020031 fully retracted, the other end of the guide tube 1033020031 is no more than 10mm away from the rear end of the thickest section of the second telescopic sleeve 103303. At this time, the operator can insert the interventional consumable directly from the other end of the guide tube 1033020031. Guided by the flexible guide tube 1033020031, the interventional consumable can smoothly pass through the second telescopic sleeve 103303 without getting stuck between different sections of the second telescopic sleeve 103303.

[0093] Alternatively, the operator can insert the interventional consumable directly into the inlet end of the second flexible tube 1033020022. Guided by the flexible guide tube 1033020031, the interventional consumable can pass smoothly through the second telescopic sleeve 103303 without getting stuck.

[0094] The outer diameter of different sections of the second telescopic sleeve 103303 decreases sequentially from back to front. The difference in outer diameter between two adjacent sections of the second telescopic sleeve 103303 is less than 0.8 mm, and the wall thickness of each section is less than 0.4 mm.

[0095] The second telescopic sleeve 103303 is axially limited by a first limiting structure set on the outside of the tube body of the second telescopic sleeve 103303, so as to prevent different sections in the second telescopic sleeve 103303 from completely separating. The first limiting structure is one or a combination of a rope structure, a limiting telescopic sleeve, a pull rod structure, a connecting rod structure, and a corrugated pipe structure.

[0096] like Figure 13 and 14As shown, the locking part of the first track-changing section is a hinged pressure plate, which includes a fifth pressure plate 1033020011 hinged to the third module seat 10271001. The fifth pressure plate 1033020011 fixes the front end of the second flexible tube 1033020022 in the third secondary channel of the third module seat 10271001. The locking mechanism of the second track-changing section is also a hinged pressure plate, which includes a sixth pressure plate 1033020012 hinged to the moving plate 1033020013. The sixth pressure plate 1033020012 fixes the rear end of the first flexible tube 1033020021. The third rotation delivery... The mechanism 10276 has a boss 1033020014 on its side. The boss 1033020014 has a sliding groove, and the sliding plate 1033020013 can slide within this groove to adjust the distance between the sliding plate 1033020013 and the third rotary delivery mechanism 10276, accommodating interventional consumables of different lengths. The boss 1033020014 is equipped with a bolt 1033020015. After adjusting the sliding plate 1033020013 to a suitable position, the bolt 1033020015 is tightened to fix the sliding plate 1033020013. The bolt 1033020015 can be replaced by other locking structures, such as snap-fit ​​mechanisms.

[0097] Example 4

[0098] An interventional robot slave device includes a linear track assembly. At least one linear track assembly is provided. When two linear track assemblies are provided, they are arranged in parallel. At least two module mounting seats are provided along the length of one of the linear track assemblies. Surgical function modules are mounted on the module mounting seats. The surgical function modules are port support mechanisms, port control mechanisms, rotary delivery mechanisms, or delivery mechanisms. A port support mechanism or port control mechanism located at the front end and a rotary delivery mechanism or delivery mechanism located at the rear end form a delivery kit. The module mounting seats are fixed to the linear track assemblies, or the module mounting seats can reciprocate on the linear track assemblies. During reciprocating motion, the module mounting seats can drive the corresponding port control mechanism and / or rotary delivery mechanism and / or delivery mechanism to reciprocate.

[0099] Interventional consumables include one or a combination of port control valves, catheters, and guidewires. The catheters are sheaths, guiding catheters, microcatheters, balloon catheters, radiofrequency ablation electrode catheters, intravascular ultrasound catheters, or interatrial septal puncture sheaths. The port control valves are bifurcated valves or non-bifurcated control valves.

[0100] Supporting elements are provided between the port support mechanism and the rotary delivery mechanism, or between the port control mechanism and the rotary delivery mechanism, or between the port control mechanism and the delivery mechanism. The supporting elements are sleeved on the outside of the interventional consumables to provide support, so that the axis of the interventional consumables is in a straight line. The supporting elements are supported by a rigid coaxial first telescopic sleeve or a second telescopic sleeve that is sleeved in stages.

[0101] like Figure 15 As shown, the linear track group 102701 consists of a first linear track group 10270101 and a second linear track group 10270102. When a first delivery kit and a second delivery kit are arranged one in front of the other on the first linear track group 10270101, the first delivery kit includes a first port control mechanism or a first port support mechanism 10271 placed at the front end and a first rotary delivery mechanism 10272 placed at the rear end. The first delivery kit is used to deliver the first interventional consumable. The second delivery kit includes a second port control mechanism 10273 placed at the front end and a second rotary delivery mechanism 10275 placed at the rear end. Alternatively, a second delivery mechanism or a second delivery kit is used to deliver a second interventional consumable. A first rotary delivery mechanism 10272 and a second port control mechanism 10273 are synchronously mounted on a first linear guide rail assembly. The tail end of the first catheter is fixed to a first port support mechanism 10271. A hemostatic valve is provided at the rear end of the first catheter, or the rear end of the first catheter is connected to the front end of a first port control valve. The first port control valve is installed within the first port control mechanism. The first port support mechanism 10271 or the first port control mechanism is fixed to the front end of the first linear guide rail assembly 10270101, or the first port support mechanism 10271... 271 or the first port control mechanism is mounted on a fixed frame outside the first linear track assembly 10270101; the second port control mechanism 10273 is equipped with a first bifurcation valve, and the first rotary delivery mechanism 10272 is provided with a first connecting part, which is locked to the second catheter (equivalent to the first interventional consumable). The first rotary delivery mechanism 10272 can drive the second catheter to perform rotary delivery movement through the first connecting part. It also includes an internal connecting tube, which passes through the first connecting part and is connected to the front end of the first connecting part; or the first connecting part is a hollow pipe structure, with the internal connecting part... The front end of the connecting tube is connected to the rear end of the first connecting part, and the rear end of the internal connecting tube is fixedly connected to the rotatable part of the front end of the first bifurcation valve. The internal connecting tube is provided with a flexible part. When the second port control mechanism 10273 controls the rotatable part of the front end of the first bifurcation valve to rotate synchronously with the rotation of the first rotating delivery mechanism 10272, if the two rotational movements are not completely synchronized, the flexible part of the internal connecting tube will undergo slight torsional deformation. However, since the flexible part is soft enough, it will not affect the torque force sensing element in the first rotating delivery mechanism 10272 to sense the torque force on the second conduit.

[0102] A third delivery kit is installed on the second linear track assembly 10270102. The third delivery kit includes a third delivery mechanism or a third rotary delivery mechanism 10276, which is capable of reciprocating along the second linear track assembly 10270102. A primary and secondary channel locking module is provided behind the second port control mechanism 10273. The front end of the second interventional consumable passes through the primary channel of the primary and secondary channel locking module and the first bifurcation valve into the second conduit. One of the secondary channels of the primary and secondary channel locking module is connected to the third delivery mechanism or the third rotary delivery mechanism 10276 through a track-changing part. A third connecting part is provided on the third delivery mechanism or the third rotary delivery mechanism 10276. The third connecting part can lock the fourth interventional consumable. The third delivery mechanism or the third rotary delivery mechanism can drive the fourth interventional consumable to perform axial delivery or rotary delivery. The front end of the fourth interventional consumable passes through the changing track part, the secondary channel of the main and secondary channel locking module, and the first bifurcation valve into the second catheter. The changing track part is a telescopic changing track tube. Two surgical functional modules that are not on the same delivery line move relative to each other. The telescopic changing track tube guides the fourth interventional consumable from one surgical functional module to the delivery line where the other surgical functional module is located. The telescopic changing track tube adjusts its own length according to the relative position between the two surgical functional modules, and the first and second hoses of the telescopic changing track tube will adaptively change their angles.

[0103] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A primary-secondary channel locking module, characterized by, The device includes a module base with at least one main channel and at least one secondary channel. One end of the main channel and one secondary channel extend in the same direction, or the secondary channels converge into the main channel. A pressure plate structure is movably provided on the module base. When the pressure plate structure is open, the main channel and / or secondary channel of the module base are opened, and one end of the intervention consumable or the guide rail can be taken out or inserted from the corresponding main channel or secondary channel. When the pressure plate structure is closed, one end of the intervention consumable or the guide rail is restricted in the corresponding main channel or secondary channel.

2. The primary-secondary channel locking module of claim 1, wherein, The module base has a main channel and two secondary channels. The pressure plate structure includes two first pressure plates, each of which is hinged to the side of the corresponding secondary channel. Each first pressure plate can press the intervention consumable or the guide rail part in the secondary channel. Two L-shaped first clamping members are rotatably installed on the side of the module base through a hinge shaft. After the first pressure plate is fastened, when the operator drives the L-shaped first clamping member to rotate around the hinge axis towards the first pressure plate, the first clamping member rotates and presses against the corresponding first pressure plate, thereby locking the first pressure plate. Conversely, when the operator drives the L-shaped first clamping member to rotate around the hinge axis away from the first pressure plate, the first clamping member rotates and disengages from the corresponding first pressure plate, thereby releasing the first pressure plate. At least one of the first pressure plates or the inner side of the secondary channel is provided with an elastic body. When the first pressure plate structure is closed, the intervention consumable or the guide rail part will be pressed into the corresponding secondary channel by the elastic body.

3. The primary-secondary channel locking module of claim 1, wherein, The module base has one main channel and three secondary channels. The pressure plate structure includes a first consumable pressure plate structure disposed on the module base and located on the side of at least one secondary channel. The first consumable pressure plate structure can press the intervention consumable or the track-changing part in the secondary channel. The first consumable pressure plate structure adopts a self-locking push-button spring lock or a threaded structure. The self-locking push-button spring lock includes a lock body and a second pressure plate mounted on the lock body. The lock body is installed inside the module base. Pressing the second pressure plate can lock or disengage the second pressure plate from the lock body, thereby... The second pressure plate can press against the interventional consumable or the guide rail section, or disengage from the interventional consumable or the guide rail section. The threaded structure includes a screw and a second pressure plate, which are threadedly connected to the screw. By rotating the screw, the second pressure plate can be driven to move along the screw axis, thereby pressing against the interventional consumable or the guide rail section, or disengaging from the interventional consumable or the guide rail section. At least one of the second pressure plates or secondary channels has an elastic body on its inner side. When the second pressure plate structure is closed, the interventional consumable or the guide rail section will be pressed into the corresponding secondary channel by the elastic body.

4. The primary-secondary channel locking module of claim 1, wherein, The secondary channel is an open channel structure with the opening facing upwards, and the pressure plate structure locks the intervention consumables or track changing parts in the secondary channel from the top or side of the channel structure.

5. The primary-secondary channel locking module of claim 1, wherein, The main channel of the module base is connected to a first telescopic sleeve for supporting interventional consumables. The diameters of different sections of the first telescopic sleeve decrease sequentially. The tube body of the section with the largest diameter of the first telescopic sleeve extends into the main channel of the module base. The module base is provided with a telescopic sleeve locking part. The tube body of the first telescopic sleeve is clamped and fixed by the telescopic sleeve locking part. The telescopic sleeve locking part is a clamp structure, a locking structure, a magnetic structure, a pressing structure, or a threaded structure. Alternatively, the telescopic sleeve locking part is fixedly connected to the tube body of the section with the largest diameter of the first telescopic sleeve, and the telescopic sleeve locking part is detachably mounted on the module base.

6. The primary-secondary channel locking module of claim 5, wherein, The main channel is an open channel structure with the opening facing upwards. The telescopic sleeve locking part locks the tube body of the first telescopic sleeve with the largest diameter section from the top or side of the channel structure. The distance between the front end face of the tube body of the first telescopic sleeve with the largest diameter section and the front end face of the module seat is less than 20mm.

7. The primary-secondary channel locking module of claim 5, wherein, When the locking part of the telescopic sleeve is a locking structure, the locking structure includes a first locking seat, on which a fourth pressure plate is movably disposed. The fourth pressure plate locks the tube body of the largest diameter section of the first telescopic sleeve from the top or side of the channel structure through a snap-fit ​​structure or a threaded structure.

8. The primary-secondary channel locking module of claim 1, wherein, The module base has a main channel and two secondary channels. One of the secondary channels is connected to or aligned with the track-changing part, which guides the intervention consumables on the second linear track group to the first linear track group. The track-changing part is a telescopic track-changing tube, which includes a rigid coaxial second telescopic sleeve. The last and first sections of the second telescopic sleeve are respectively covered with the ends of the first and second flexible hoses. The second telescopic sleeve is axially limited by a first limiting structure set on the outside of the tube body to prevent different sections in the second telescopic sleeve from completely separating. The first limiting structure is one or a combination of a pull rope structure, a limiting telescopic sleeve, a pull rod structure, a connecting rod structure, and a corrugated pipe structure. The module base has a first track-changing part locking part, which can lock the front end of the telescopic track-changing tube. The first track-changing part locking part is a clamp structure, a buckle structure, a magnetic structure, a compression structure, or a threaded structure. Alternatively, the locking part of the first track-changing section is fixedly connected to the front end of the telescopic track-changing tube, and the locking part of the first track-changing section is detachably mounted on the module base.

9. An interventional robot slave device employing the primary-secondary channel locking module of any one of claims 1 to 8. The handheld device includes a linear track assembly, with at least one set of linear track assemblies. When two sets of linear track assemblies are provided, the two sets of linear track assemblies are arranged in parallel. At least two module fixing seats are provided along the length of one of the linear track assemblies. A surgical function module is mounted on the module fixing seat. The surgical function module is a port support mechanism, a port control mechanism, a rotary delivery mechanism, or a delivery mechanism. A port support mechanism or port control mechanism located at the front end and a rotary delivery mechanism or delivery mechanism located at the rear end form a delivery kit. The module fixing seat is fixed on the linear track assembly, or the module fixing seat can reciprocate on the linear track assembly. When the module fixing seat reciprocates, it can drive the corresponding port control mechanism and / or rotary delivery mechanism and / or delivery mechanism to reciprocate.

10. An interventional robotic slave device according to claim 9, wherein: Interventional consumables include one or a combination of port control valves, catheters, and guidewires, wherein the port control valve is a branched valve or a non-branched control valve; Supporting elements are provided between the port support mechanism and the rotary delivery mechanism, or between the port control mechanism and the rotary delivery mechanism, or between the port control mechanism and the delivery mechanism. The supporting elements are sleeved on the outside of the interventional consumables, so that the axis of the interventional consumables is in a straight line. The supporting elements are supported by a rigid coaxial first telescopic sleeve or a second telescopic sleeve that is sleeved in stages. The linear track assembly consists of a first linear track assembly and a second linear track assembly. When a first delivery kit and a second delivery kit are arranged one in front of the other on the first linear track assembly, the first delivery kit includes a first port control mechanism or a first port support mechanism placed at the front end and a first rotary delivery mechanism placed at the rear end. The first delivery kit is used to deliver a first interventional consumable. The second delivery kit includes a second port control mechanism placed at the front end and a second rotary delivery mechanism or a second delivery mechanism placed at the rear end. The second delivery kit is used to deliver a second interventional consumable. The first rotary delivery mechanism and the second port control mechanism are synchronously moved on the first linear track assembly. The tail end of the first catheter is fixed to the first port support mechanism. A hemostatic valve is provided at the rear end of the first catheter, or the rear end of the first catheter is connected to the front end of the first port control valve. The first port control valve is installed inside the first port control mechanism. The first port support mechanism or the first port control mechanism is fixed to the front end of the first linear track assembly, or the first port support mechanism or the first port control mechanism is installed on the first linear track assembly. On the fixed frame outside the group; a first bifurcation valve is installed on the second port control mechanism, and a first connecting part is provided on the first rotary delivery mechanism. The first connecting part is locked with the first interventional consumable. The first rotary delivery mechanism can drive the first interventional consumable to perform a rotary delivery movement through the first connecting part. It also includes an internal connecting tube, which passes through the first connecting part and is connected to the front end of the first connecting part; or the first connecting part is a hollow pipe structure, and the front end of the internal connecting tube is connected to the rear end of the first connecting part. The rear end of the internal connecting tube is fixedly connected to the rotatable part of the front end of the first bifurcation valve. The internal connecting tube is provided with a flexible part. When the second port control mechanism controls the rotatable part of the front end of the first bifurcation valve to rotate synchronously with the rotation of the first rotary delivery mechanism, if the two rotational movements are not completely synchronized, the flexible part of the internal connecting tube will undergo slight torsional deformation. However, since the flexible part is soft enough, it will not affect the torque force sensing element in the first rotary delivery mechanism to sense the torque force on the first interventional consumable. A third delivery kit is installed on the second linear track group. The third delivery kit includes a third delivery mechanism or a third rotary delivery mechanism, which can reciprocate along the second linear track group. A primary and secondary channel locking module is provided behind the second port control mechanism. The front end of the second interventional consumable passes through the primary channel of the primary and secondary channel locking module and the first bifurcation valve into the first interventional consumable. One of the secondary channels of the primary and secondary channel locking module is connected to the third delivery mechanism or the third rotary delivery mechanism through a track-changing part. The third delivery mechanism or the third rotary delivery mechanism is provided with a third connecting part, which can lock the fourth interventional consumable. The three delivery mechanisms or the third rotary delivery mechanism can drive the fourth interventional consumable to perform axial delivery or rotary delivery. The front end of the fourth interventional consumable passes through the changing track part, the secondary channel of the main and secondary channel locking module, and the first bifurcation valve into the first interventional consumable. The changing track part is a telescopic changing track tube. When two surgical functional modules that are not on the same delivery line move relative to each other, the telescopic changing track tube guides the fourth interventional consumable from one of the surgical functional modules to the delivery line where the other surgical functional module is located. The telescopic changing track tube adjusts its own length according to the relative position between the two surgical functional modules, and the first and second flexible tubes of the telescopic changing track tube will adaptively change their angles.

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