A disposable sterile box for interventional surgery robot

Abstract

The present invention relates to a disposable sterile box for an interventional surgical robot, comprising a sterile box body with a plurality of iron sheets arranged at the bottom; a sterile box cover hingedly connected to one side of the sterile box body, the sterile box cover having a box cover magnet adapted to the iron sheets; and the iron sheets can be fixed in cooperation with mounting magnets on the interventional surgical robot; a Y-valve assembly, the Y-valve assembly being connected to one side of the top of the sterile box body, the interior of which is used to insert a catheter and a guide wire; a catheter drive assembly, the catheter drive assembly being connected to the sterile box body, the catheter extending into the catheter drive assembly for propelling it; the catheter drive assembly being connected to a catheter propulsion portion of the interventional surgical robot; a guide wire fixing assembly, the guide wire fixing assembly being respectively fixed to the sterile box body and the sterile box cover; and being used to form a guide wire passing channel after being extended by the Y-valve assembly; and a guide wire drive assembly, the guide wire drive assembly being located between the guide wire passing channels, and being used to propel the guide wire to move or rotate; and the guide wire drive assembly being connected to the guide wire propulsion portion of the interventional surgical robot.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive vascular interventional surgery auxiliary devices, and to the control of a robot from the end during interventional surgery to ensure a sterile environment during surgery; more specifically, it relates to a disposable sterile box for an interventional surgery robot. Background Art

[0002] Minimally invasive interventional therapy for cardiovascular and cerebrovascular diseases is the main treatment for cardiovascular and cerebrovascular diseases. Compared with traditional surgical operations, it has obvious advantages such as small incisions and short postoperative recovery time. Cardiovascular and cerebrovascular interventional surgery is a process in which doctors manually insert catheters, guidewires, stents and other instruments into the patient's body to complete the treatment. There are two problems with interventional surgery. First, during the operation, since DSA will emit X-rays, the doctor's physical strength will decline rapidly, and his attention and stability will also decline, which will lead to a decrease in operation accuracy, and it is easy to cause accidents such as vascular intima damage and vascular perforation and rupture caused by improper pushing force, which will endanger the patient's life. Secondly, the cumulative damage of long-term ionizing radiation will greatly increase the doctor's chance of suffering from leukemia, cancer and acute cataracts. The phenomenon that doctors continue to accumulate radiation because of interventional surgery has become a problem that cannot be ignored in damaging the doctor's professional life and restricting the development of interventional surgery. By using robot technology, the above problems can be effectively addressed, and the accuracy and stability of surgical operations can be greatly improved. At the same time, it can effectively reduce the damage of radiation to interventional doctors and reduce the probability of intraoperative accidents. Therefore, cardiovascular and cerebrovascular interventional surgery assisting robots are attracting more and more attention and are gradually becoming the key research and development target in the field of medical robots in today's technological powers.

[0003] Interventional surgery needs to be performed in a sterile environment. The inventors found that there are several problems with the sterile environment of interventional surgical robots in China: (1) The disinfection of the robot is relatively cumbersome and does not meet the actual surgical needs; (2) The structure is relatively bloated and complex, large in size, inconvenient to install, and not flexible and convenient enough; (3) When using the robot during surgery, it is inconvenient to install the catheter guidewire, and it is not easy to replace the catheter guidewire during surgery; (4) It is impossible to advance and rotate the guidewire at the same time; (5) The device is prone to slipping when advancing the guidewire, affecting the surgical effect; (6) The cost of consumables during surgery is high, which is not conducive to popularization and promotion.

[0004] Therefore, how to provide a disposable sterile box for an interventional surgical robot is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0005] The present invention aims to solve one of the above-mentioned technical problems in the prior art at least to a certain extent.

[0006] To this end, an object of the present invention is to propose a disposable sterile box for an interventional surgical robot to solve the technical problems of complex disinfection of the interventional surgical robot, complex other sterile structures, large size, inconvenient installation, and difficult operation of the guidewire catheter.

[0007] The present invention provides a disposable sterile box for an interventional surgery robot, comprising:

[0008] A sterile box body, with a plurality of iron sheets arranged at the bottom of the sterile box body;

[0009] A sterile box cover, a sterile box cover is hingedly connected to one side of the sterile box body, and the sterile box cover is provided with a box cover magnet adapted to the iron sheet; and the iron sheet can be fixed in cooperation with the mounting magnet on the interventional surgical robot;

[0010] A Y-valve assembly, which is connected to one side of the top of the sterile box body, and the interior of the Y-valve assembly is used to insert a catheter and a guide wire;

[0011] A catheter drive assembly, the catheter drive assembly is connected to the sterile box body, the catheter extends into the catheter drive assembly for propelling it; the catheter drive assembly is connected to the catheter propulsion part of the interventional surgery robot;

[0012] A guide wire fixing assembly, which is fixed to the sterile box body and the sterile box cover respectively; and is used to form a passage for the guide wire to pass through after extending through the Y-valve assembly;

[0013] And a guidewire driving assembly, which is located between the guidewire passing channels and is used to promote the movement or rotation of the guidewire; and the guidewire driving assembly is connected to the guidewire propulsion part of the interventional surgery robot.

[0014] It can be seen from the above technical scheme that, compared with the prior art, the present invention discloses a disposable sterile box for an interventional surgical robot. Since the iron sheet on the sterile box body can be magnetically connected to the magnet on the sterile box cover, and can also be fixed with the mounting magnet on the interventional surgical robot, the sterile box body and the interventional surgical robot can be conveniently and quickly installed. The present invention drives the catheter drive assembly and the guide wire drive assembly respectively through the propulsion part of the interventional surgical robot to complete the propulsion of the catheter, the propulsion and rotation of the guide wire. Not only does it not need to disinfect the robot, but it also provides a sterile environment for the operation, occupies a small space, is easy to operate, reduces the cost of consumables, and is conducive to popularization and application.

[0015] Furthermore, the bottom of the sterile box body has a driving space and a catheter driving hole; the driving space is used to provide a movement space for the guidewire propulsion part of the interventional surgery robot to drive the guidewire driving assembly to move, and the catheter driving assembly is connected to the catheter propulsion part of the interventional surgery robot through the catheter driving hole.

[0016] Furthermore, the Y-valve assembly includes: a Y-valve connecting seat and a Y-valve; one end of the Y-valve connecting seat is hinged to the sterile box body, and the other end is magnetically connected to the sterile box body; the Y-valve is connected to the mounting groove on the Y-valve connecting seat, and the catheter and guide wire pass through the channel of the Y-valve.

[0017] Optionally, a hinge seat is provided on the sterile box body, an axial hole is provided on one end of the Y-valve connection seat, and the Y-valve connection seat is hinged to the hinge seat through a pin shaft, a magnet is provided at the bottom of the other end of the Y-valve connection seat, and a magnet matching the magnet at the other end of the Y-valve connection seat on the sterile box body is provided. In this way, the Y-valve can be conveniently fixed on the sterile box, while the Y-valve can be moved to facilitate the insertion of the guide wire and the catheter.

[0018] Furthermore, the catheter drive assembly includes: an active drive wheel group and a driven wheel group; the active drive wheel group is arranged on the sterile box body, and has a driving gear at the bottom thereof, and the driving gear is connected to the gear on the catheter propulsion part of the interventional surgery robot through the catheter drive hole; the driven wheel group is connected to the sterile box body and is located on the opposite side of the active drive wheel group, and forms a clamping and propulsion channel for the catheter with the active drive wheel group. Thus, the driving gear is driven by the gear on the catheter propulsion part of the interventional surgery robot, so that the active drive wheel group and the driven wheel group can be driven to rotate relative to each other to propel the catheter.

[0019] Furthermore, the active driving wheel set includes an active wheel shaft and an active friction wheel; the bottom of the active wheel shaft is fixed to the driving gear after being installed on the bearing seat on the guide tube driving hole; the active friction wheel is fixed on the active wheel shaft.

[0020] Since the catheter needs to be replaced, but the above embodiment is not convenient for replacement, further, the driven wheel group includes a mounting frame, a driven wheel shaft and a driven friction wheel; the sterile box body has a long strip hole and a spring mounting seat near the catheter driving hole, and the bottom of the mounting frame has a plug hole. The fork on the catheter propulsion part of the interventional surgery robot is inserted into the plug hole after passing through the long strip hole, and can be moved along the long strip hole; the mounting frame has a hole that slides with the spring mounting seat, and the spring mounting seat has a compression spring for horizontally squeezing the driven friction wheel; the bottom of the driven wheel shaft can be rotated on the mounting frame through the bearing, and the driven friction wheel is fixed on the driven wheel shaft, and cooperates with the active friction wheel to propel the catheter. The spring mounting seat is composed of two groups of pillars, each of which has two cross bars, the bottom of the pillar is fixed on the sterile box body, and the cross bars are used to pass the compression spring and provide movement space for the compression spring. Under the action of the compression spring, the mounting frame drives the driven friction wheel and the active friction wheel to fit together, thereby playing a clamping role. Thus, the rotation of the friction wheel can make the catheter move forward or backward, and the friction wheel can be opened to achieve the replacement of the catheter.

[0021] Furthermore, the sterile box body is magnetically connected with a side cover for supporting and closing the catheter drive assembly and the guide wire drive assembly, the middle of the side cover has a catheter clamping inclined groove, and both sides of the catheter clamping inclined groove have openings connected with it for exposing the active friction wheel and the driven friction wheel, and the top of the active wheel shaft and the driven wheel shaft are supported on the inner wall of the top of the side cover; a side of the side cover is provided with a notch groove for moving the guide wire drive assembly. The catheter is placed in the catheter clamping inclined groove and contacts the active friction wheel and the driven friction wheel through the opening, so as to be pushed forward.

[0022] Preferably, the guidewire drive assembly is divided into two groups, which are arranged at intervals between the guidewire passages to cooperate in advancing the guidewire to move or rotate;

[0023] Each set of guide wire drive components includes: an active drive end block, an active end iron sheet, an active end rubber block, a passive drive block, a passive end iron sheet and a passive end rubber block;

[0024] The driving space is a basin-shaped space with an opening facing downwards. A first through groove corresponding to the notch groove is provided on the side of the basin-shaped space near the side cover, and an initial installation groove is provided at a corresponding position at the bottom of the first through groove.

[0025] The bottom of the active drive end block is magnetically connected to one side of the initial installation slot and can be moved to the first through slot, with the active end iron sheet bonded to its back and the active end rubber block bonded to its front;

[0026] A second through slot is provided in the middle of the initial installation slot. After the driven end iron sheet is bonded to the bottom of the driven drive block, it is magnetically connected to the other side of the initial installation slot and can be moved to the second through slot.

[0027] Among them, the electromagnet on the guide wire propulsion part of the interventional surgery robot drives the active end iron sheet and the driven end iron sheet to move, and propels or rotates the guide wire between the active end rubber block and the driven end rubber block.

[0028] The active drive end block, the active end iron sheet, and the active end rubber block are fixed together, and the driven drive block, the driven end iron sheet, and the driven end rubber block are fixed together. The initial positions are fixed in the initial installation grooves by magnets. The active end iron sheet and the driven end iron sheet are driven by the electromagnet on the guide wire propulsion part of the interventional surgery robot, so that the active drive end and the driven drive end are first disengaged from the initial installation groove (the electromagnetic force is greater than the magnetic force of the installation magnet), and then move according to the electromagnet drive path on the guide wire propulsion part of the interventional surgery robot, wherein the active drive end can realize forward and backward movement, left and right movement, and up and down movement; the driven drive end can complete left and right movement and up and down movement, thereby realizing the pushing and rotation of the guide wire. After completing the propulsion and rotation, the component first returns to the initial installation groove, and then the electromagnet is powered off, and the component is magnetically connected to the initial installation groove again.

[0029] Preferably, the guide wire fixing assembly includes a plurality of first fixing members fixed on the sterile box body, and a second fixing member corresponding to the first fixing member and arranged on the sterile box cover; the first fixing member and the second fixing member are buckled to form a guide wire passage. The first fixing member or the second fixing member has a guide wire installation slot, and preferably the first fixing member has a guide wire installation slot.

[0030] In addition, blood is likely to drip into the robot during the interventional surgery, causing contamination; therefore, an isolation membrane is bonded to the first through groove and the second through groove of the present invention. The isolation membrane is a silicone film with a thickness of about 0.1 mm to prevent blood from contaminating the robot; in order to better retain the electromagnet on the guide wire propulsion part of the interventional surgery robot to drive the active end iron sheet and the driven end iron sheet to move, a small hole is opened at the isolation membrane corresponding to the active end iron sheet and / or the driven end iron sheet, and the active end iron sheet and the driven end iron sheet are bonded to the corresponding holes of the isolation membrane, and the diameter of the small hole is smaller than the contact area of ​​the active end iron sheet and the driven end iron sheet; thereby ensuring the magnetic connection between the electromagnet and the iron sheet, ensuring the stability of the driving force, and at the same time, because the silicone film is soft, it can move with the active end iron sheet and the driven end iron sheet. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0032] Figure 1 The accompanying drawing is a schematic structural diagram of a disposable sterile box for an interventional surgery robot provided by the present invention;

[0033] Figure 2 The accompanying drawing is a bottom view of a disposable sterile box for an interventional surgery robot provided by the present invention;

[0034] Figure 3 The accompanying drawing is a schematic structural diagram of a disposable sterile box (side cover not shown) for an interventional surgery robot provided by the present invention;

[0035] Figure 4 The accompanying drawings show an exploded schematic diagram of a Y-valve assembly and a catheter drive assembly provided by the present invention;

[0036] Figure 5 The attached picture is Figure 3 An enlarged schematic diagram of

[0037] Figure 6 The accompanying drawing is an exploded schematic diagram of a guide wire drive assembly of a disposable sterile box for an interventional surgical robot provided by the present invention;

[0038] Figure 7 The accompanying drawing is a schematic structural diagram of a side cover of a disposable sterile box for an interventional surgery robot provided by the present invention;

[0039] Figure 8 and Fig. 9 Shows a schematic diagram of the structure of the isolation membrane of two different embodiments;

[0040] In the figure: 100-sterile box body, 101-iron sheet, 102-driving space, 103-catheter driving hole, 105-first through slot, 106-initial installation slot, 107-second through slot, 108-long strip hole, 200-sterile box cover, 300-Y valve assembly, 301-Y valve connecting seat, 302-Y valve, 400-catheter driving assembly, 401-active driving wheel group, 4011-driving gear, 4012-active wheel shaft, 4013-active friction wheel, 402-driven wheel group, 4021-mounting frame, 4022-driven wheel shaft, 4023-driven friction wheel, 4024-spring mounting seat, 500-guide wire fixing assembly, 501-first fixing piece, 502-second fixing piece, 600-guide wire driving assembly, 601-active driving end block, 602-active end iron sheet, 603-active end rubber block, 604-active driving block, 605-active end iron sheet, 606-active end rubber block, 700-side cover, 701-catheter clamping inclined groove, 702-notch groove. DETAILED DESCRIPTION

[0041] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0042] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the 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 operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0043] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0046] The embodiment of the present invention discloses a disposable sterile box for an interventional surgical robot, which solves the technical problems of complicated disinfection of the interventional surgical robot, complex and large sterile structures, inconvenient installation, and difficult operation of the guidewire catheter.

[0047] See attached Figure 1-3 The present invention provides a disposable sterile box for an interventional surgery robot, comprising:

[0048] A sterile box body 100, with a plurality of iron sheets 101 arranged at the bottom of the sterile box body 100;

[0049] A sterile box cover 200 is hingedly connected to one side of the sterile box body 100, and the sterile box cover 200 has a box cover magnet adapted to the iron sheet 101; and the iron sheet 101 can be fixed with the mounting magnet on the interventional surgery robot;

[0050] The Y-valve assembly 300 is connected to one side of the top of the sterile box 100, and the interior of the Y-valve assembly 300 is used to insert a catheter and a guide wire;

[0051] The catheter drive assembly 400 is connected to the sterile box body 100, and the catheter extends into the catheter drive assembly 400 for propelling the catheter; the catheter drive assembly 400 is connected to the catheter propulsion part of the interventional surgery robot;

[0052] A guide wire fixing assembly 500, which is fixed to the sterile box body 100 and the sterile box cover 200 respectively; and is used to form a guide wire passage after extending through the Y-valve assembly 300;

[0053] And a guidewire driving assembly 600, which is located between the guidewire passing channels and is used to promote the movement or rotation of the guidewire; and the guidewire driving assembly 600 is connected to the guidewire propulsion part of the interventional surgery robot.

[0054] The present invention discloses a disposable sterile box for an interventional surgical robot. Since the iron sheet on the sterile box body can be magnetically connected to the magnet on the sterile box cover, and can also be fixed with the installation magnet on the interventional surgical robot, the sterile box body and the interventional surgical robot can be conveniently and quickly installed. The present invention drives the catheter drive assembly and the guide wire drive assembly respectively through the propulsion part of the interventional surgical robot to complete the propulsion of the catheter, the propulsion of the guide wire and the rotation. Not only does it not need to disinfect the robot, but it also provides a sterile environment for the operation, occupies a small space, is easy to operate, reduces the cost of consumables, and is conducive to popularization and application.

[0055] Specifically, the bottom of the sterile box body 100 has a driving space 102 and a catheter driving hole 103; the driving space 102 is used to provide a movement space for the guidewire propulsion part of the interventional surgery robot to drive the guidewire driving assembly 600 to move, and the catheter driving assembly 400 is connected to the catheter propulsion part of the interventional surgery robot through the catheter driving hole 103.

[0056] See attached Figure 4 In one embodiment provided by the present invention, the Y-valve assembly 300 includes: a Y-valve connecting seat 301 and a Y-valve 302; one end of the Y-valve connecting seat 301 is hinged to the sterile box body 100, and the other end is magnetically connected to the sterile box body 100; the Y-valve 302 is connected to the mounting groove 3011 on the Y-valve connecting seat 301, and the catheter and the guide wire pass through the channel of the Y-valve 302.

[0057] Optionally, a hinge seat is provided on the sterile box body, an axial hole is provided on one end of the Y-valve connection seat, and the Y-valve connection seat is hinged to the hinge seat through a pin shaft, a magnet is provided at the bottom of the other end of the Y-valve connection seat, and a magnet matching the magnet at the other end of the Y-valve connection seat on the sterile box body is provided. In this way, the Y-valve can be conveniently fixed on the sterile box, while the Y-valve can be moved to facilitate the insertion of the guide wire and the catheter.

[0058] See attached Figure 4The catheter drive assembly 400 includes: an active drive wheel set 401 and a driven wheel set 402; the active drive wheel set 401 is arranged on the sterile box body 100, and has a driving gear 4011 at the bottom thereof, and the driving gear 4011 is connected to the gear on the catheter propulsion part of the interventional surgery robot through the catheter drive hole 103; the driven wheel set 402 is connected to the sterile box body 100 and is located on the opposite side of the active drive wheel set 401, and forms a catheter clamping and propulsion channel with the active drive wheel set 401. Thus, the gear on the catheter propulsion part of the interventional surgery robot drives the driving gear, which can drive the active drive wheel set and the driven wheel set to rotate relative to each other, and propel the catheter.

[0059] The active driving wheel assembly 401 includes an active wheel shaft 4012 and an active friction wheel 4013 ; the bottom of the active wheel shaft 4012 is fixed to the driving gear 4011 through a bearing seat installed on the catheter driving hole 103 ; and the active friction wheel 4013 is fixed to the active wheel shaft 4012 .

[0060] However, in the above embodiment, it is not convenient to replace the catheter. Therefore, in another embodiment provided by the present invention, see the attached Figure 4 The driven wheel group 402 includes a mounting frame 4021, a driven wheel shaft 4022 and a driven friction wheel 4023; the sterile box body 100 is provided with an elongated hole 108 and a spring mounting seat 4024 near the catheter driving hole 103, and the bottom of the mounting frame 4021 is provided with a socket, and the fork on the catheter propulsion part of the interventional surgery robot is inserted into the socket after passing through the elongated hole 108, and can be moved along the elongated hole 108; the mounting frame 4021 is provided with a hole that cooperates with the spring mounting seat 4024 to slide, and the spring mounting seat 4024 is provided with a compression spring for laterally squeezing the driven friction wheel 4023; the bottom of the driven wheel shaft 4022 can be rotatable on the mounting frame 4021 through a bearing, and the driven friction wheel 4023 is fixed on the driven wheel shaft 4022, and cooperates with the active friction wheel 4013 to propel the catheter. The spring mounting seat is composed of two groups of pillars, each of which has two cross bars. The bottom of the pillar is fixed on the sterile box body. The cross bars are used to pass the compression spring and provide movement space for the compression spring. Under the action of the compression spring, the mounting frame drives the driven friction wheel and the active friction wheel to fit together, thereby playing a clamping role. Therefore, the rotation of the friction wheel can make the catheter move forward or backward, and the friction wheel can be opened to realize the replacement of the catheter.

[0061] See attached Figure 7In other embodiments provided by the present invention, a side cover 700 for supporting and closing the catheter drive assembly 400 and the guide wire drive assembly 600 is magnetically connected to the sterile box body 100, and a catheter clamping inclined groove 701 is provided in the middle of the side cover 700. The catheter clamping inclined groove 701 has openings on both sides thereof for exposing the active friction wheel 4013 and the driven friction wheel 4023, and the tops of the active wheel shaft 4012 and the driven wheel shaft 4022 are supported on the inner wall of the top of the side cover 700; a notch groove 702 for moving the guide wire drive assembly 600 is provided on one side of the side cover 700. The catheter is placed in the catheter clamping inclined groove, and contacts the active friction wheel and the driven friction wheel through the opening, so as to be pushed forward.

[0062] See attached Figure 5 and Figure 6 The guidewire drive assembly 600 is divided into two groups, which are arranged between the guidewire passages to cooperate with the guidewire to move or rotate;

[0063] Each set of guide wire drive components 600 includes: an active drive end block 601, an active end iron sheet 602, an active end rubber block 603, a passive drive block 604, a passive end iron sheet 605 and a passive end rubber block 606;

[0064] The driving space 102 is a basin-shaped space with an opening facing downwards. A first through slot 105 corresponding to the notch slot 702 is provided on the side of the basin-shaped space close to the side cover 700. An initial installation slot 106 is provided at a corresponding position at the bottom of the first through slot 105.

[0065] The bottom of the active driving end block 601 is magnetically connected to one side of the initial installation slot 106 and can be moved to the first through slot 105. The back of the active driving end block 601 is bonded to the active end iron sheet 602 and the front of the active end rubber block 603.

[0066] A second through slot 107 is provided in the middle of the initial installation slot 106. After the driven end iron sheet 605 is bonded to the bottom of the driven drive block 604, it is magnetically connected to the other side of the initial installation slot 106 and can be moved to the second through slot 107.

[0067] The electromagnet on the guide wire propulsion unit of the interventional surgery robot drives the active end iron sheet 602 and the passive end iron sheet 605 to move, thereby propel or rotate the guide wire between the active end rubber block 603 and the passive end rubber block 606 .

[0068] The active drive end block, the active end iron sheet, and the active end rubber block are fixed together, and the driven drive block, the driven end iron sheet, and the driven end rubber block are fixed together. The initial positions are fixed in the initial installation grooves by magnets. The active end iron sheet and the driven end iron sheet are driven by the electromagnet on the guide wire propulsion part of the interventional surgery robot, so that the active drive end and the driven drive end are first disengaged from the initial installation groove (the electromagnetic force is greater than the magnetic force of the installation magnet), and then move according to the electromagnet drive path on the guide wire propulsion part of the interventional surgery robot, wherein the active drive end can realize forward and backward movement, left and right movement, and up and down movement; the driven drive end can complete left and right movement and up and down movement, thereby realizing the pushing and rotation of the guide wire. After completing the propulsion and rotation, the component first returns to the initial installation groove, and then the electromagnet is powered off, and the component is magnetically connected to the initial installation groove again.

[0069] See attached Figure 3 The guide wire fixing assembly 500 includes a plurality of first fixing members 501 fixed on the sterile box body 100, and a second fixing member 502 corresponding to the first fixing member 501 and arranged on the sterile box cover 200; the first fixing member 501 and the second fixing member 502 are buckled to form a guide wire passage. The first fixing member or the second fixing member has a guide wire installation slot, and preferably the first fixing member has a guide wire installation slot.

[0070] In addition, blood may easily drip onto the robot during interventional surgery, causing contamination; therefore, in the present invention, an isolation membrane is bonded to the first through groove 105 and the second through groove 107. The isolation membrane is a silicone film with a thickness of about 0.1 mm to prevent blood from contaminating the robot; in order to better retain the electromagnet on the guide wire propulsion part of the interventional surgery robot to drive the active iron sheet and the driven iron sheet to move, a small hole is opened at the isolation membrane corresponding to the active iron sheet and / or the driven iron sheet, and the active iron sheet and the driven iron sheet are bonded to the corresponding holes of the isolation membrane, and the diameter of the small hole is smaller than the contact area of ​​the active iron sheet and the driven iron sheet; thereby, the magnetic connection between the electromagnet and the iron sheet is ensured, and the stability of the driving force is ensured. At the same time, the silicone film is soft and can move with the active iron sheet and the driven iron sheet. For the specific structure of the isolation membrane, please refer to the attached Figure 8 and 9 , either one can be used.

[0071] The disposable sterile box for the interventional surgical robot provided by the present invention is a specific example in which all components are installed on the sterile box body, all are sterile processed, and are disposable.

[0072] There are multiple pillars on the sterile box, which form a channel for the guide wire. On the left side of the sterile box, there is a Y-valve connection seat, and on the left side of the middle, there is a fixture for catheter clamping and rotation, and in the middle, there is a groove for placing the movable block. There are multiple small iron sheets attached to the bottom of the box, which are used for magnetic adsorption connection with the robot propulsion mechanism.

[0073] The lid of the sterile box can be opened 150 degrees. A magnet is installed on the lid, which can be attracted to the iron sheet of the sterile box body. There is an opening handle on the lid. The lid is designed with multiple pillars, which can cooperate with the channel for placing the guide wire to form a passage for the guide wire to pass through.

[0074] The Y-valve assembly is installed at the far left end of the sterile box body. There is a hole at the front end, which can be hinged with the intersection seat on the sterile box body with screws, so that the Y-valve can rotate, which is convenient for doctors to insert guide wires and catheters. There are 2 card slots on the Y-valve connection seat, and the Y-valve can be put into the card slots. There is a magnet at the lower end of the Y-valve connection seat, which can be adsorbed with the magnet on the sterile box body to fix the Y-valve.

[0075] The catheter clamping components include an active friction wheel, a driven friction wheel, a mounting bracket, etc. Two of the friction wheels are made of medical rubber. They can clamp the catheter. Rotating the active friction wheel can drive the driven friction wheel to rotate, completing the forward and backward pushing of the catheter. The active friction wheel is sleeved on the active wheel shaft and installed on the sterile box body. Its upper end cooperates with the inner wall of the top of the sterile box side cover. There is a gear at the lower end of the active wheel shaft, which can cooperate with the propulsion mechanism of the robot. The driven friction wheel is sleeved in the passive wheel shaft, and the passive wheel shaft is installed on the bracket. The lower end is sleeved in the bearing. Then the whole is placed on the sterile box body, and the holes on it are slidably connected to the four columns passing through it. With the four compression springs, the active and driven friction wheels can be fitted together, and the driven friction wheel can also be opened to facilitate the replacement of the catheter.

[0076] The guide wire clamping component includes four movable blocks, which are components used to connect the electromagnet and medical rubber block in the robot propulsion mechanism. The movable blocks can be divided into two groups, left and right, with the same structure. Each group is divided into two parts, front and back: the driven end and the active end. The movable block at the active end can move forward and backward, left and right, and up and down. The movable block at the driven end can move left and right, up and down. The movable blocks at the active end and the driven end are composed of magnets, movable blocks, iron sheets and medical rubber blocks, but they are different in shape. All movable blocks must be placed in the corresponding grooves of the sterile box body as the initial positioning. An isolation membrane is attached around each movable block. Since the isolation membrane is soft and thin and can be bent freely, it is easy to attach to the sterile box body, and the middle part is bonded to the movable block. Therefore, the isolation membrane does not affect the movement of the movable block and prevents blood drops from entering the robot propulsion mechanism.

[0077] It can be seen that the disposable sterile box for the interventional surgery robot provided by the present invention is connected to the robot by magnetic connection (adopting a plug-in installation method), and can be quickly installed and disassembled. Only a new sterilization box needs to be used for each operation, which effectively solves the problem of difficult robot disinfection. The disposable sterile box provided by the present invention has a simple structure, and can greatly reduce the volume and weight of the device in conjunction with the reciprocating motion device machine. It can well adapt to the needs of the real surgical environment. By cooperating with the robot control, the clamping, relaxation, pushing and withdrawal of the guide wire can be realized, and continuous operation can be performed without the need for midway switching and other operations. It is simple and convenient, and can meet all the needs of vascular intervention surgery for the guide wire. The present invention realizes a bionic thread rolling structure through the active drive end and the driven drive end, which conforms to the actual operation habits of doctors, and can also realize the simultaneous completion of the guide wire pushing and rotating the guide wire, meeting the operation requirements in the actual operation. In addition, the guide wire and the catheter can be controlled to move at the same time, the movement is precise, and the function of installing the bracket can be realized, meeting the operation requirements in the actual operation. The disposable sterile box has a simple structure and low cost, which reduces the cost of consumables and is conducive to promotion and application.

[0078] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0079] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A disposable sterile box for an interventional surgery robot, characterized in that: include: A sterile box body (100), wherein a plurality of iron sheets (101) are arranged at the bottom of the sterile box body (100); A sterile box cover (200), wherein the sterile box body (100) is hingedly connected to one side of the sterile box body (100), and the sterile box cover (200) is provided with a box cover magnet adapted to the iron sheet (101); and the iron sheet (101) can be fixed in cooperation with a mounting magnet on the interventional surgery robot; A Y-valve assembly (300), the Y-valve assembly (300) being connected to one side of the top of the sterile box body (100), the interior of the Y-valve assembly (300) being used to insert a catheter and a guide wire; A catheter drive assembly (400), the catheter drive assembly (400) being connected to a sterile box body (100), the catheter extending into the catheter drive assembly (400) for propelling the catheter; the catheter drive assembly (400) being connected to a catheter propulsion unit of an interventional surgery robot; A guide wire fixing assembly (500), the guide wire fixing assembly (500) being fixed to the sterile box body (100) and the sterile box cover (200) respectively; and being used to form a passage for the guide wire to pass through after extending through the Y-valve assembly (300); and a guidewire drive assembly (600), the guidewire drive assembly (600) being located between the guidewire passage channels and used to propel the guidewire to move or rotate; and the guidewire drive assembly (600) being connected to a guidewire propulsion unit of an interventional surgery robot; The bottom of the sterile box body (100) is provided with a driving space (102) and a catheter driving hole (103); the driving space (102) is used to provide a movement space for a guidewire propulsion unit of an interventional surgery robot that drives a guidewire driving assembly (600) to move, and the catheter driving assembly (400) is connected to the catheter propulsion unit of the interventional surgery robot via the catheter driving hole (103); The Y-valve assembly (300) comprises: a Y-valve connection seat (301) and a Y-valve (302); one end of the Y-valve connection seat (301) is hinged to the sterile box body (100), and the other end is magnetically connected to the sterile box body (100); the Y-valve (302) is connected to the mounting groove (3011) on the Y-valve connection seat (301), and the catheter and the guide wire pass through the channel of the Y-valve (302); The catheter drive assembly (400) comprises: an active drive wheel group (401) and a driven wheel group (402); the active drive wheel group (401) is arranged on the sterile box body (100), and has a drive gear (4011) at the bottom thereof, and the drive gear (4011) is connected to the gear on the catheter propulsion part of the interventional surgery robot through the catheter drive hole (103); the driven wheel group (402) is connected to the sterile box body (100) and is located on the opposite side of the active drive wheel group (401), and forms a catheter clamping and propulsion channel with the active drive wheel group (401); The active drive wheel assembly (401) comprises an active wheel shaft (4012) and an active friction wheel (4013); the bottom of the active wheel shaft (4012) is fixed to the driving gear (4011) via a bearing seat installed on the catheter drive hole (103); the active friction wheel (4013) is fixed on the active wheel shaft (4012); The driven wheel assembly (402) comprises a mounting frame (4021), a driven wheel shaft (4022) and a driven friction wheel (4023); the sterile box body (100) is provided with a long strip hole (108) and a spring mounting seat (4024) near the catheter driving hole (103); the bottom of the mounting frame (4021) is provided with a plug hole; the fork member on the catheter propulsion unit of the interventional surgery robot is inserted into the plug hole after passing through the long strip hole (108), and can be moved along the long strip hole (108) to move the fork member. The mounting frame (4021) is provided with a hole that cooperates with the spring mounting seat (4024) to slide, and the spring mounting seat (4024) is provided with a compression spring for laterally squeezing the driven friction wheel (4023); the bottom of the driven wheel shaft (4022) is rotatable on the mounting frame (4021) through a bearing, and the driven friction wheel (4023) is fixed on the driven wheel shaft (4022) and cooperates with the active friction wheel (4013) to advance the conduit; The sterile box body (100) is magnetically connected to a side cover (700) for supporting and enclosing the catheter drive assembly (400) and the guide wire drive assembly (600), the middle of the side cover (700) is provided with a catheter clamping inclined groove (701), and a side surface of the side cover (700) is provided with a notch groove (702) for movement of the guide wire drive assembly (600); The guidewire drive components (600) are divided into two groups, which are arranged at intervals between the guidewire passages and are used to cooperate in promoting the guidewire to move or rotate; Each group of the guide wire drive components (600) comprises: an active drive end block (601), an active end iron sheet (602), an active end rubber block (603), a passive drive block (604), a passive end iron sheet (605) and a passive end rubber block (606); The driving space (102) is a basin-shaped space with an opening facing downwards, and a first through groove (105) is provided on the side of the basin-shaped space close to the side cover (700) and is opposite to the notch groove (702), and an initial installation groove (106) is provided at a corresponding position at the bottom of the first through groove (105); The bottom of the active driving end block (601) is magnetically connected to one side of the initial installation groove (106) and is movable to the first through groove (105), with the active end iron sheet (602) bonded to its back and the active end rubber block (603) bonded to its front; A second through slot (107) is provided in the middle of the initial installation slot (106); after the driven end iron sheet (605) is bonded to the bottom of the driven drive block (604), it is magnetically connected to the other side of the initial installation slot (106) and can be moved to the second through slot (107); The electromagnet on the guidewire propulsion unit of the interventional surgery robot drives the active end iron sheet (602) and the passive end iron sheet (605) to move, thereby propel or rotate the guidewire between the active end rubber block (603) and the passive end rubber block (606).

2. The disposable sterile box for an interventional surgery robot according to claim 1, characterized in that: The catheter clamping inclined groove (701) has openings on both sides thereof that are connected thereto and are used to expose the active friction wheel (4013) and the driven friction wheel (4023). The tops of the active wheel shaft (4012) and the driven wheel shaft (4022) are supported on the top inner wall of the side cover (700).

3. The disposable sterile box for an interventional surgery robot according to claim 1, characterized in that: The guidewire fixing assembly (500) comprises a plurality of first fixing members (501) fixed on the sterile box body (100), and second fixing members (502) corresponding to the first fixing members (501) and arranged on the sterile box cover (200); the first fixing members (501) and the second fixing members (502) are fastened together to form a guidewire passageway.

4. The disposable sterile box for an interventional surgery robot according to claim 3, characterized in that: An isolation film is bonded to the first through groove (105) and the second through groove (107).

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