A general-purpose waterproof disinfection box for an interventional robot

Abstract

The present invention relates to a general-purpose waterproof disinfection box for an interventional robot, which includes a sterile box body, a sterile box cover, a catheter driving assembly and a guide wire driving assembly; a Y-valve assembly is provided at one end of the sterile box body, one end of the Y-valve fixing member rotates on one end of the sterile box body, and the other end thereof is magnetically connected to the sterile box body; a meshing through hole is provided in the middle of the Y-valve fixing member, the bottom wheel shaft of the Y-valve driving gear rotates in the shaft hole, and the bottom of its wheel shaft has a wheel shaft gear that cooperates with the motor output gear in the propulsion mechanism. The Y-valve driving gear is located in the meshing through hole. The Y-valve clamping member is two or more arc-shaped members that can be connected into a ring, and the ring has a toothed ring that meshes with the Y-valve driving gear; one end of the Y-valve body is fixed in the Y-valve clamping member through an elastic filler, and the other end is fixed on the Y-valve fixing member. Thus, Y-valve bodies of different specifications can be used, and then catheters of different specifications can be installed, enabling the catheter to rotate, realizing the universality of the disinfection box for interventional angiography and treatment surgery.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive vascular interventional surgery, and relates to the control technology for ensuring a sterile environment during the operation of the robot at the distal end during the interventional operation. More specifically, it relates to a sterile disinfection box for disposable use with a robot, which is applicable to both angiography operations and therapeutic operations at the same time. Background Art

[0002] Minimally invasive cardiovascular and cerebrovascular interventional therapy is the main treatment method for cardiovascular and cerebrovascular diseases. Compared with traditional surgical operations, it has obvious advantages such as small incisions and short postoperative recovery time. The cardiovascular and cerebrovascular interventional operation is a process in which a doctor manually sends instruments such as a catheter, a guide wire, and a stent into the patient's body to complete the treatment.

[0003] There are the following two problems in the interventional angiography operation. First, during the operation, since the DSA emits X-rays, the doctor's physical strength decreases rapidly, and the attention and stability also decrease, which will lead to a decrease in the operation accuracy and is likely to cause accidents such as vascular intimal injury and vascular perforation rupture caused by improper pushing force, resulting in life-threatening to the patient. Second, the cumulative damage of long-term ionizing radiation will greatly increase the probability of doctors suffering from leukemia, cancer, and acute cataracts. The phenomenon that doctors continuously accumulate rays due to performing interventional operations has become an issue that cannot be ignored in damaging the professional life of doctors and restricting the development of interventional operations.

[0004] The interventional angiography operation is the basis for diagnosing cardiovascular and cerebrovascular lesions and is also a necessary step for further treatment. By means of robot technology, this problem can be effectively solved, the operation accuracy and stability can be greatly improved, and at the same time, the harm of radiation to interventional doctors can be effectively reduced, and the probability of intraoperative accidents can be reduced. Therefore, cardiovascular and cerebrovascular interventional operation assistance robots are increasingly concerned by people and have gradually become the key research and development objects of various scientific and technological powers in the field of medical robots today.

[0005] And the interventional operation needs to be carried out in a sterile environment. There are the following problems in the sterile environment of interventional operation robots in China: (1) The disinfection of the robot is relatively cumbersome and does not meet the actual operation requirements; (2) The structure is relatively bloated and complex, with a large volume, inconvenient installation, and lack of flexibility and convenience; (3) When using the robot during the operation, it is inconvenient to install the catheter and guide wire, and it is not easy to replace the catheter and guide wire during the operation; (4) It is impossible to simultaneously push and rotate the guide wire; (5) It is easy for blood to drip into the robot during the operation; (6) The device is prone to slipping during the pushing of the guide wire, affecting the operation effect; (7) The consumable cost during the operation is high, which is not conducive to popularization and promotion; (8) There is no universal disinfection box that is applicable to both interventional angiography and therapeutic operations at the same time.

[0006] Patent document CN 211355867 U discloses a disposable sterile box for an interventional surgical robot. Although it solves some of the above problems, there are still certain problems in waterproof performance and compatibility with interventional angiography surgery in practice.

[0007] Therefore, how to provide a general-purpose waterproof disinfection box for interventional robots is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0008] The present invention aims to solve at least one of the above technical problems in the prior art to a certain extent.

[0009] Interventional angiography surgery is the basis for diagnosing cardiovascular and cerebrovascular diseases and also a prerequisite for further treatment. The treatment surgical process is a necessary step to relieve pain. Different from the operation methods of interventional surgery, the implementation processes are different. The interventional surgical disinfection boxes disclosed in the prior art cannot be used for interventional angiography surgery because angiography surgery requires rotational control of the angiography catheter to smoothly enter the coronary ostium for the purpose of angiography. However, the existing interventional surgical disinfection boxes cannot achieve rotation of the angiography catheter.

[0010] For this reason, an object of the present invention is to provide a general-purpose waterproof disinfection box for interventional robots to solve the technical problem that the disinfection boxes for interventional angiography and treatment surgeries cannot be made universal.

[0011] The present invention provides a general-purpose waterproof disinfection box for interventional robots, including a sterile box body, a sterile box cover hinged to one side thereof, and a catheter driving assembly and a guide wire driving assembly fixed on the sterile box body; a Y-valve assembly is arranged at one end of the sterile box body.

[0012] The Y-valve assembly includes: a Y-valve fixing member, a Y-valve clamping member, a Y-valve body, and a Y-valve driving gear.

[0013] One end of the Y-valve fixing member rotates on one end of the sterile box body along the advancing direction of the catheter and the guide wire, and the other end thereof is magnetically connected to the sterile box body; a meshing through hole is arranged in the middle of the Y-valve fixing member, and a shaft hole is arranged on the sterile box body corresponding to the meshing through hole; the bottom wheel shaft of the Y-valve driving gear rotates in the shaft hole, and a wheel shaft gear for cooperating with the motor output gear in the advancing mechanism is arranged at the bottom of the wheel shaft. The Y-valve driving gear is located in the meshing through hole. The Y-valve clamping member is composed of two or more arc-shaped members that can be connected into a ring, and a tooth ring meshing with the Y-valve driving gear is arranged on the ring; one end of the Y-valve body is fixed in the Y-valve clamping member through an elastic filler, and the other end is fixed on the Y-valve fixing member.

[0014] As can be seen from the above technical solutions, compared with the prior art, the present invention discloses a general-purpose waterproof disinfection box for an interventional robot. Through the change of the Y-valve assembly structure, first, one end of the Y-valve body is fixed in the Y-valve clamping member through an elastic filler. The deformation of the elastic filler allows the use of Y-valve bodies of different specifications, and thus different specifications of catheters or contrast catheters can be installed. Second, the motor output gear in the propulsion mechanism drives the Y-valve drive gear, which in turn drives the toothed ring on the Y-valve clamping member, further driving the contrast catheter to rotate, realizing the universality of the interventional angiography and treatment surgical disinfection box. Third, one end of the Y-valve fixing member rotates on one end of the sterile box body along the advancing direction of the catheter and guide wire, and the other end is magnetically connected to the sterile box body; it is convenient for doctors to replace the guide wire and catheter and fix the Y-valve body.

[0015] Furthermore, the Y-valve fixing member includes a fixing plate, a meshing ring body, a hinged portion, and a claw; the fixing plate is strip-shaped, and one end of its bottom is magnetically connected to the sterile box body; the other end is integrally connected to one end of the meshing ring body, and a meshing through hole is formed in the middle of the meshing ring body; the other end of the meshing ring body is connected with a hinged portion, and the hinged portion is hinged to a hinged block arranged on the sterile box body near the outside of the shaft hole; there are two or more groups of claws, which are arranged in sequence along the length direction of the fixing plate; the other end of the Y-valve body is clamped on the claws. Among them, the claws have a certain elasticity, and an opening is formed at the top, which is convenient for installation and disassembly.

[0016] Furthermore, a first Y-valve electromagnet is arranged near the inside of the shaft hole of the sterile box body, and the first Y-valve electromagnet is magnetically connected to a second Y-valve electromagnet arranged corresponding to the bottom position of the fixing plate. This facilitates the fixing of the Y-valve body.

[0017] Since the movable block in the existing disinfection box adopts a square design, in actual operation, the waterproof film (isolation film) easily blocks the iron sheet fixed behind the movable block, thus affecting the connection between the electromagnet and the movable block.

[0018] Therefore, the second object of the present invention is to provide a disinfection box that does not interfere with the movement of the movable block.

[0019] Among them, a main block base extends backward from the back of the corresponding main block in the guide wire drive assembly, and the area of the main block base is smaller than the area of the main block iron sheet. The main block iron sheet is embedded in the main block through groove of the sterile box body and contacts the main block isolation film; for the corresponding driven block in the guide wire drive assembly, a driven block base extends downward from its bottom, and the area of the driven block base is smaller than the bottom area of the driven block iron sheet. The driven block iron sheet is embedded in the driven block through groove of the sterile box body and contacts the driven block isolation film. Thus, the movable block of this disinfection box changes the shape of the movable block, so that the iron sheet part of the movable block is embedded in the through groove of the disinfection box, and thus the isolation film will not interfere with the cooperation between the iron sheet on the movable block and the electromagnet.

[0020] In the prior art, the waterproof film is adhered to the disinfection box body, which makes it difficult to install the waterproof film and easy to fall off after installation. Therefore, the waterproof property is unreliable.

[0021] For this reason, the third object of the present invention is to provide a disinfection box with good waterproof property.

[0022] Among them, the active block through groove is provided with an active block isolation film clamped and fixed by a first active clamping frame and a second active clamping frame fixed thereon; the driven block through groove is provided with a driven block isolation film clamped and fixed by a first driven clamping frame and a second driven clamping frame fixed thereon. Thus, the two clamping frames are fixed by screws to tightly fix the isolation film. This not only facilitates installation, but also makes the waterproof and anti-fouling effects more reliable.

[0023] Further, a long hole for sliding the wheel shaft of the driven friction wheel in the catheter driving assembly is opened on one side of the sterile box body near the driven block through groove. A driven friction wheel bracket is provided at the top of the long hole, and the wheel shaft of the driven friction wheel is arranged in the driven friction wheel bracket; an installation groove is provided at the position corresponding to the bottom of the long hole on the sterile box body, and a bottom fixing piece is embedded in the installation groove. The middle part of the catheter isolation film bulges upward, enters the driving hole at the bottom of the wheel shaft of the driven friction wheel through the jack at the bottom of the driven friction wheel bracket, and then covers and is fixed on the bottom fixing piece downward through the long hole. Thus, the robot fork piece and the driving hole at the bottom of the wheel shaft of the driven friction wheel, and the long hole are isolated by the catheter isolation film, further improving the waterproof and anti-fouling properties of the disinfection box. And the bottom of the catheter isolation film is fixed in the installation groove by the bottom fixing piece, and the fixing is reliable.

[0024] Further, a detection rod through hole for the robot detection rod is opened on the other side of the sterile box body near the driven block through groove. Probe isolation films are fixed on both sides of the detection rod through hole by a first probe clamping frame and a second probe clamping frame respectively, and the top of the probe isolation film bulges upward through the detection rod through hole to form a space for the up and down movement of the robot detection rod. Thus, an upwardly bulging isolation film is provided at the detection through hole of the robot detection rod and the disinfection box body, completely closing all the holes on the disinfection box body and increasing the waterproof and anti-fouling properties. Description of the Drawings

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0026] Figure 1 The drawing is a schematic structural diagram of a general-purpose waterproof disinfection box for an interventional robot provided by the present invention;

[0027] Figure 2 and Figure 3 The accompanying drawings are an exploded view of a universal waterproof disinfection box Y-valve assembly provided by the present invention;

[0028] Figure 4 The accompanying drawings show an enlarged view of the Y-valve assembly;

[0029] Figure 5 The accompanying drawings show a schematic structural diagram of the Y-valve fixing member;

[0030] Figure 6 and 7 The accompanying drawings show a schematic structural diagram of the active block and the passive block in the wire guide driving assembly;

[0031] Figure 8 The accompanying drawings show a partial schematic diagram of the disinfection box body;

[0032] Figure 9 The accompanying drawings show an exploded view of the driven friction wheel shaft, the driven friction wheel bracket, the catheter isolation film and the bottom fixing piece, in which the disinfection box body is not shown;

[0033] Figure 10 The accompanying drawings show an exploded view of the robot detection rod, the first detection rod clamping frame, the second detection rod clamping frame and the detection rod isolation film;

[0034] In the figures: 101 - sterile box body, 1011 - shaft hole, 1012 - hinge block, 1013 - Y-valve electromagnet 1, 1014 - active block through groove, 1015 - driven block through groove, 1016 - second active clamping frame, 1017 - second driven clamping frame, 102 - sterile box cover, 103 - catheter driving assembly, 1031 - driven friction wheel shaft, 1032 - driven friction wheel bracket, 1033 - bottom fixing piece, 1034 - catheter isolation film, 104 - wire guide driving assembly, 1041 - active block, 10411 - active block base, 10412 - active block iron sheet, 1042 - driven block, 10421 - driven block base, 10422 - driven block iron sheet, 105 - Y-valve assembly, 1051 - Y-valve fixing member, 10511 - meshing through hole, 10512 - fixing plate, 10513 - meshing ring body, 10514 - claw, 10515 - hinge part, 1052 - Y-valve clamping member, 10521 - tooth ring, 1053 - Y-valve body, 1054 - Y-valve driving gear, 106 - robot detection rod, 1061 - detection rod through hole, 1062 - first detection rod clamping frame, 1063 - second detection rod clamping frame, 1064 - detection rod isolation film, 107 - motor output gear. Detailed implementation manners

[0035] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0036] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0037] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0038] In the present invention, unless otherwise clearly defined and limited, the terms such as "mounted", "connected", "connected to", "fixed" and the like should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0040] See the appendix Figure 1-4, in an embodiment of the present invention, a general-purpose waterproof disinfection box for an interventional robot is disclosed, which includes a sterile box body 101, a sterile box cover 102 hinged to one side thereof, and a catheter driving assembly 103 and a guide wire driving assembly 104 are fixed on the sterile box body 101; a Y-valve assembly 105 is arranged at one end of the sterile box body 101,

[0041] The Y-valve assembly 105 includes: a Y-valve fixing member 1051, a Y-valve clamping member 1052, a Y-valve body 1053 and a Y-valve driving gear 1054;

[0042] One end of the Y-valve fixing member 1051 rotates on one end of the sterile box body 101 along the advancing direction of the catheter and the guide wire, and the other end thereof is magnetically connected to the sterile box body 101; a meshing through hole 10511 is arranged in the middle of the Y-valve fixing member 1051, and a shaft hole 1011 is arranged on the sterile box body 101 corresponding to the position of the meshing through hole 10511; the bottom wheel shaft of the Y-valve driving gear 1054 rotates in the shaft hole 1011, and a wheel shaft gear matching with the motor output gear 107 in the advancing mechanism is arranged at the bottom of the wheel shaft. The Y-valve driving gear 1054 is located in the meshing through hole 10511. The Y-valve clamping member 1052 is two or more arc-shaped members that can be connected into a ring. A toothed ring 10521 with the same module as the Y-valve driving gear 1054 is arranged on the ring and meshes therewith; one end of the Y-valve body 1053 is fixed in the Y-valve clamping member 1052 through an elastic filler, and the other end is fixed on the Y-valve fixing member 1051.

[0043] The present invention discloses a general-purpose waterproof disinfection box for an interventional robot. Through the change of the Y-valve assembly structure, first, one end of the Y-valve body is fixed in the Y-valve clamping member through an elastic filler. The deformation of the elastic filler can use Y-valve bodies of different specifications, and thus catheters or contrast catheters of different specifications can be installed. Second, the motor output gear in the advancing mechanism drives the Y-valve driving gear, and then drives the toothed ring on the Y-valve clamping member, and further drives the contrast catheter to rotate, realizing the generalization of the interventional angiography and treatment surgical disinfection box. Third, one end of the Y-valve fixing member rotates on one end of the sterile box body along the advancing direction of the catheter and the guide wire, and the other end thereof is magnetically connected to the sterile box body; it is convenient for doctors to replace the guide wire and the catheter and fix the Y-valve body.

[0044] The sterile box cover can rotate 150 degrees, an electromagnet is installed at the bottom, which can be attracted to the sterile box body, and there is an opening handle on the top. The elastic filler can be sponge, silica gel, etc.

[0045] The motor output gear drives the Y-valve drive gear, which in turn drives the toothed ring on the Y-valve holder, further driving the rotation of the contrast catheter. The forward and reverse rotations of the motor respectively correspond to the clockwise and counterclockwise rotations of the catheter. A semi-closed hose is provided on the sterile cartridge body. Its inner diameter is much larger than the diameter of the catheter and can be sleeved outside the contrast catheter. The head of the hose is fixed on the outer sheath. When the whole propulsion mechanism moves, the contrast catheter can enter or leave the human body along the hose.

[0046] See the appendix Figure 5 , the Y-valve fixing member 1051 includes a fixing plate 10512, a meshing ring body 10513, a hinged portion 10515 and a claw 10514; the fixing plate 10512 is strip-shaped, and the bottom of one end thereof is magnetically connected to the sterile cartridge body 101; the other end thereof is integrally connected to one end of the meshing ring body 10513, and a meshing through hole 10511 is formed in the middle of the meshing ring body 10513; the other end of the meshing ring body 10513 is connected with a hinged portion 10515, and the hinged portion 10515 is hinged with a hinged block 1012 provided on the sterile cartridge body 101 near the outside of the shaft hole 1011; the claws 10514 are more than two groups and are arranged in sequence along the length direction of the fixing plate 10512; the other end of the Y-valve body 1053 is clamped on the claws 10514. The claws have a certain elasticity, and an opening is formed at the top thereof for convenient installation and disassembly.

[0047] Advantageously, a first Y-valve electromagnet 1013 is provided inside the sterile cartridge body 101 near the shaft hole 1011, and the first Y-valve electromagnet 1013 is magnetically connected to a second Y-valve electromagnet corresponding to the bottom position of the fixing plate 10512.

[0048] See the appendix Figure 6 and 7 , in another embodiment of the present invention. The back of the corresponding active block 1041 in the guide wire drive assembly 104 extends backward to form an active block base 10411, and the area of the active block base 10411 is smaller than the area of the active block iron sheet 10412. The active block iron sheet 10412 is embedded in the active block through slot 1014 of the sterile cartridge body 101 and contacts the active block isolation film; for the corresponding driven block 1042 in the guide wire drive assembly 104, the bottom thereof extends downward to form a driven block base 10421, and the area of the driven block base 10421 is smaller than the bottom area of the driven block iron sheet 10422. The driven block iron sheet 10422 is embedded in the driven block through slot 1015 of the sterile cartridge body 101 and contacts the driven block isolation film. Thus, the movable block of this disinfection cartridge changes the shape of the movable block, so that the iron sheet part of the movable block is embedded in the through slot of the disinfection cartridge, and thus the isolation film will not interfere with the cooperation between the iron sheet on the movable block and the electromagnet.

[0049] See the appendix Figure 8, in some other embodiments of the present invention, an active block isolation film is clamped and fixed on the active block through groove 1014 by fixing a first active clamping frame and a second active clamping frame 1016 thereon; a driven block isolation film is clamped and fixed on the driven block through groove 1015 by fixing a first driven clamping frame and a second driven clamping frame 1017 thereon. Thus, the two clamping frames are fixed by screws to tightly fix the isolation film, which is not only convenient for installation, but also has a more reliable waterproof and anti-fouling effect.

[0050] Advantageously, referring to the attached Figure 9 , a long hole for sliding the driven friction wheel shaft 1031 in the catheter driving assembly 103 is provided on one side of the sterile box body 101 near the driven block through groove 1015. A driven friction wheel bracket 1032 is provided at the top of the long hole, and the driven friction wheel shaft 1031 is arranged in the driven friction wheel bracket 1032; an installation groove is provided at the position corresponding to the bottom of the long hole on the sterile box body 101, and a bottom fixing piece 1033 is embedded in the installation groove. The middle part of the catheter isolation film 1034 bulges upward, enters the driving hole at the bottom of the driven friction wheel shaft 1031 through the bottom jack of the driven friction wheel bracket 1032, and then covers and is fixed on the bottom fixing piece 1033 after passing through the long hole downward. Thus, the robot fork member and the driving hole at the bottom of the driven friction wheel shaft, and the long hole are isolated by the catheter isolation film, further improving the waterproof and anti-fouling properties of the disinfection box. And the bottom of the catheter isolation film is fixed in the installation groove by the bottom fixing piece, and the fixing is reliable.

[0051] More advantageously, referring to the attached Figure 10 , a detection rod through hole 1061 of the robot detection rod 106 is provided on the other side of the sterile box body 101 near the driven block through groove 1015. A probe isolation film 1064 is fixed on both sides of the detection rod through hole 1061 by a first probe clamping frame 1062 and a second probe clamping frame 1063 respectively, and the top of the probe isolation film 1064 bulges upward through the detection rod through hole 1061 to form a space for the up and down movement of the robot detection rod 106. Thus, an upwardly bulging isolation film is provided at the detection through hole of the robot detection rod and the disinfection box body, and all the holes on the disinfection box body are completely closed, increasing the waterproof and anti-fouling properties.

[0052] In the present invention, each isolation film can be made of latex, and a thickness of about 0.1 mm can meet the use requirements.

[0053] The present invention can be used as a consumable for an interventional surgical robot and can be used in conjunction with the propulsion mechanism of the interventional surgical robot to create a sterile environment for the robot. It can achieve forward, backward, and rotational control of catheters and guidewires in the interventional surgical robot. Doctors can control the robot to manipulate the catheter and guidewire clamp in the disinfection box through the interventional surgical robot control device outside the operating room, thereby advancing the catheter and guidewire into the patient's body to achieve the purpose of interventional surgical treatment. The disinfection box is for single use and is sterile processed, ensuring a sterile environment for the surgery. It can be used for both interventional angiography and interventional treatment surgeries. It has the advantages of simple structure, small size, light weight, convenient loading and unloading, and low cost.

[0054] The connection method between the sterile box and the robot propulsion mechanism is plug-and-play, that is, the sterile box can be directly buckled on the propulsion mechanism to complete the installation process without tool installation, and the whole process only takes 3 seconds to complete. After the operation, just pull out the sterile box, which is fast and convenient, and then it can be recycled uniformly. The operation process is as follows: after placing the guidewire or catheter, close the sterile box lid, trigger the detection rod, and the robot will automatically clamp the catheter or guidewire, and then operate and control the movement of the robot to control the movement of the catheter or guidewire, thereby completing the operation. The disinfection box has a completely waterproof function, so there is no need to worry about blood falling into the robot.

[0055] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection 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 can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0056] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A general-purpose waterproof disinfection box for an interventional robot, comprising a sterile box body (101), a sterile box cover (102) hinged to one side thereof, and a catheter driving assembly (103) and a guide wire driving assembly (104) fixed on the sterile box body (101); one end of the sterile box body (101) is provided with a Y-valve assembly (105), characterized in that, The Y-valve assembly (105) includes: a Y-valve fixing member (1051), a Y-valve clamping member (1052), a Y-valve body (1053) and a Y-valve driving gear (1054); One end of the Y-valve fixing member (1051) rotates on one end of the sterile box body (101) along the advancing direction of the catheter and the guide wire, and the other end thereof is magnetically connected to the sterile box body (101); a meshing through hole (10511) is provided in the middle of the Y-valve fixing member (1051), and a shaft hole (1011) is provided in the sterile box body (101) corresponding to the position of the meshing through hole (10511); the bottom wheel shaft of the Y-valve driving gear (1054) rotates in the shaft hole (1011), and a wheel shaft gear matching with the motor output gear (107) in the advancing mechanism is provided at the bottom of the wheel shaft. The Y-valve driving gear (1054) is located in the meshing through hole (10511). The Y-valve clamping member (1052) is composed of two or more arc-shaped members that can be connected into a ring, and a toothed ring (10521) meshing with the Y-valve driving gear (1054) is provided on the ring; one end of the Y-valve body (1053) is fixed in the Y-valve clamping member (1052) through an elastic filler, and the other end is fixed on the Y-valve fixing member (1051); In the guide wire driving assembly (104), the corresponding back of the active block (1041) extends backward to form an active block base (10411), and the area of the active block base (10411) is smaller than the area of the active block iron sheet (10412). The active block iron sheet (10412) is embedded in the active block through slot (1014) of the sterile box body (101) and contacts the active block isolation film; for the corresponding driven block (1042) in the guide wire driving assembly (104), the bottom thereof extends downward to form a driven block base (10421), and the area of the driven block base (10421) is smaller than the bottom area of the driven block iron sheet (10422). The driven block iron sheet (10422) is embedded in the driven block through slot (1015) of the sterile box body (101) and contacts the driven block isolation film; The active block isolation film is clamped and fixed on the active block through slot (1014) by a first active clamping frame and a second active clamping frame (1016) fixed thereon; the driven block isolation film is clamped and fixed on the driven block through slot (1015) by a first driven clamping frame and a second driven clamping frame (1017) fixed thereon; A long hole for sliding the driven friction wheel axle (1031) in the catheter driving assembly (103) is formed on one side of the sterile box body (101) near the driven block through groove (1015). A driven friction wheel bracket (1032) is arranged at the top of the long hole, and the driven friction wheel axle (1031) is arranged in the driven friction wheel bracket (1032). An installation groove is arranged at the bottom position of the sterile box body (101) corresponding to the long hole, and a bottom fixing piece (1033) is embedded in the installation groove. The middle part of the catheter isolation film (1034) bulges upward, enters the driving hole at the bottom of the driven friction wheel axle (1031) through the bottom jack of the driven friction wheel bracket (1032), and then covers and is fixed on the bottom fixing piece (1033) after passing through the long hole downward.

2. The general waterproof and disinfection box for an interventional robot according to claim 1, characterized in that The Y-valve fixing member (1051) includes a fixing plate (10512), an engaging ring body (10513), a hinge part (10515) and a claw (10514). The fixing plate (10512) is in a long strip shape, and the bottom of one end thereof is magnetically connected to the sterile box body (101). The other end of the fixing plate is integrally connected to one end of the engaging ring body (10513), and the engaging through hole (10511) is formed in the middle of the engaging ring body (10513). The other end of the engaging ring body (10513) is connected with the hinge part (10515), and the hinge part (10515) is hinged to a hinge block (1012) arranged on the sterile box body (101) near the outside of the shaft hole (1011). The claws (10514) are in two or more groups and are arranged in sequence along the length direction of the fixing plate (10512). The other end of the Y-valve body (1053) is clamped on the claws (10514).

3. The general waterproof and disinfection box for an interventional robot according to claim 2, characterized in that, A first Y-valve electromagnet (1013) is arranged on the sterile box body (101) near the inside of the shaft hole (1011), and the first Y-valve electromagnet (1013) is magnetically connected to a second Y-valve electromagnet arranged at the corresponding position at the bottom of the fixing plate (10512).

4. The general waterproof and disinfection box for an interventional robot according to claim 1, wherein, A detection rod through hole (1061) for a robot detection rod (106) is formed on the other side of the sterile box body (101) near the driven block through groove (1015). Probe rod isolation films (1064) are fixed on both sides of the detection rod through hole (1061) through a first probe rod clamping frame (1062) and a second probe rod clamping frame (1063) respectively, and the top of the probe rod isolation film (1064) bulges upward through the detection rod through hole (1061) to form a space for the up and down movement of the robot detection rod (106).

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