A Y-valve quick-detachable slave-end interventional surgical robot drive device

Abstract

A quick-disassembly driven device for the distal access surgical robot of a Y-valve, which comprises a driving seat. The driving seat includes a shell main body and a fixed box device. An installation surface is provided on the shell main body. The fixed box device is installed on the installation surface of the shell main body, and one side of the fixed box device can rotate relative to the installation surface. The fixed box device includes a base and an inner cover installed on the base. An installation groove for installing the Y-valve is provided on the base. When the Y-valve is clamped in the installation groove, the inner cover can be manually separated and covered on the base to limit the Y-valve. The base is fixed on the installation surface of the shell main body by a magnetic attraction method. The present invention enables the Y-valve to be quickly disassembled and assembled from the fixed box device, with good flexibility, convenient for doctors to operate, strong practicability, and has strong popularization significance.

Description

Technical Field

[0001] The present invention relates to a device in the field of medical device robots, and particularly to a Y-valve quick-disassembly driven device for a slave-end interventional surgical robot. Background Art

[0002] Interventional therapy is a minimally invasive therapy using modern high-tech means - that is, under the guidance of medical imaging equipment, special catheters, guide wires and other precision instruments are introduced into the human body to diagnose and locally treat pathological conditions in the body.

[0003] Interventional therapy applies digital technology, expanding the doctor's vision. With the help of catheters and guide wires, the doctor's hands are extended. Its incision (puncture point) is only the size of a grain of rice. Without cutting the human tissue, many diseases that could not be treated in the past, and had to be treated surgically or had poor efficacy with medical treatment, such as tumors, hemangiomas, various hemorrhages, etc., can be treated. Interventional therapy has the characteristics of non-invasive, less trauma, quick recovery and good effect. It is the development trend of future medicine.

[0004] For vascular interventional surgery, doctors need to be exposed to X-ray radiation for a long time. Therefore, a master-slave vascular interventional surgical robot with remote operation has been developed in engineering. The master-slave vascular interventional surgical robot can work in a strongly radioactive environment, enabling doctors to control it outside the radioactive environment.

[0005] During the operation of the surgical robot, a corresponding transmission mechanism is required to drive it. However, for the transmission mechanism of the existing surgical robot, due to unreasonable structural design, the overall structure is not flexible enough, and the Y-valve is not convenient to disassemble and assemble on the transmission mechanism, which brings troubles to interventional surgeons. Summary of the Invention

[0006] Based on this, it is necessary to provide a new Y-valve quick-disassembly driven device for a slave-end interventional surgical robot in view of the deficiencies in the prior art.

[0007] A Y-valve quick-disassembly driven device for a slave-end interventional surgical robot includes a driving seat. The driving seat includes a housing main body and a fixed box device. An installation surface is provided on the housing main body. The fixed box device is installed on the installation surface of the housing main body. One side of the fixed box device can rotate relative to the installation surface. The fixed box device includes a base and an inner cover installed on the base. An installation groove for installing the Y-valve is provided on the base. When the Y-valve is placed in the installation groove, the inner cover can be detachably covered on the base to limit the Y-valve. The base is fixed on the installation surface of the housing main body by a magnetic attraction method.

[0008] Further, the fixed box device rotatably installs the base on the installation surface of the housing main body through a first rotating shaft.

[0009] Further, one side of the inner cover is pivotally connected to the base through a second rotating shaft, and the axial direction of the inner connecting shaft is different from the axial direction of the steering shaft of the fixed box device.

[0010] Further, among the base of the fixed box device and the mounting surface of the housing body, one of them is provided with a magnetic element, and the other of them is provided with an iron-containing element or a magnetic element.

[0011] Further, among the base and the inner cover, one of them is provided with a magnetic element, and the other of them is provided with an iron-containing element or a magnetic element.

[0012] Further, the Y-valve includes a Luer connection end for connecting a catheter. The fixed box device further includes an adapter device. The Y-valve quick-disconnect slave end intervention surgical robot driving device further includes a power seat. The power seat drives the Luer connection end through the adapter device to rotate the catheter.

[0013] Further, the adapter device includes a connecting shaft, a first adapter gear installed at one end of the connecting shaft, and a driving ring provided at the Luer connection end of the Y-valve.

[0014] Further, the adapter device further includes a second adapter gear installed at the other end of the connecting shaft, and a main driving gear meshing with the second adapter gear is provided on the power seat.

[0015] Further, both the second adapter gear and the main driving gear are bevel gears.

[0016] Further, a through hole communicating with the installation groove is provided on the base corresponding to the driving ring. The mounting surface of the fixed box device is recessed to form an outer space communicating with the through hole. The driving ring and the first adapter gear are meshed through spur gears in the outer space.

[0017] Further, a support portion is provided on the housing body near the outer space. The connecting shaft passes through the support portion, so that the first adapter gear at one end of the connecting shaft is placed in the outer space, and the first adapter gear at the other end of the connecting shaft is isolated outside the outer space.

[0018] In summary, the driving seat of the Y-valve quick-disconnect slave end intervention surgical robot driving device of the present invention is used to install the Y-valve, drives the guiding catheter connected to the Y-valve to rotate through the power seat. And when the Y-valve cooperates with the fixed box device, the base is fixed on the mounting surface of the housing body by a magnetic attraction method, and the angle of the base can be manually adjusted, so that the Y-valve can be quickly disassembled and assembled from the fixed box device, with good flexibility, convenient for doctors to operate, strong practicability, and has strong popularization significance. Description of the Drawings

[0019] Figure 1Schematic diagram of the assembled structure of the driving seat and the power seat of the Y-valve quick-disassembly slave-end intervention surgical robot driving device of the present invention;

[0020] Figure 2 is Figure 1 The sectional view of the driving seat shown;

[0021] Figure 3 Schematic diagram of the structure of the outer box of the driving seat of the present invention after being opened;

[0022] Figure 4 is Figure 3 Schematic diagram of the structure of the outer box and the inner cover of the driving seat shown after being opened simultaneously;

[0023] Figure 5 Schematic diagram of the structure of the Y-valve;

[0024] Figure 6 is Figure 4 Schematic diagram of the structure of the driving seat shown when the Y-valve is not installed; Detailed implementation manners

[0025] In order to make the purpose, technical solutions and advantages of the invention more clear and understandable, the following further details the invention in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not used to limit the invention.

[0026] As Figures 1 to 6 shown, the present invention provides a Y-valve quick-disassembly slave-end intervention surgical robot driving device, which is installed on the slave-end robot to realize the rotational operation of medical devices. The Y-valve quick-disassembly slave-end intervention surgical robot driving device includes a power seat 10 and a driving seat 20. The driving seat 20 is installed on the power seat 10, and the driving seat 20 is a consumable for single use and cannot be reused.

[0027] The power seat 10 includes a driving group 12 and an outer cover 11. The driving group 12 extends out from the outer cover 11. The driving group 12 includes a driving motor (not shown in the figure) and a main driving gear 121 connected to the driving motor. The main driving gear 121 is a bevel gear. The main driving gear 121 is arranged outside the outer cover 11. The driving motor drives the main driving gear 121 to rotate, and the main driving gear 121 drives the driving seat 20 to work during the rotation process.

[0028] The driving seat 20 includes a housing main body 21, a fixed box device 23 and an outer box 22. The side of the housing main body 21 facing away from the power seat 10 is an installation surface. One end of the outer box 22 is pivotally connected to the installation surface of the housing main body 21 through a pivot 221. The outer box 22 rotates around the axis of the pivot 221 to open the outer box 22 to expose the fixed box device 23, or to cover the outer box 22 outside the fixed box device 23. The fixed box device 23 includes a base 231 and an inner cover 232 installed on the base 231. An installation groove 233 for installing the Y-valve 40 is provided on the base 231. The fixed box device 23 rotatably installs the base 231 on the installation surface of the housing main body 21 through a first rotating shaft 235, which facilitates the adjustment of the angle of the Y-valve 40 to install medical devices on the Y-valve 40.

[0029] One side of the inner cover 232 is pivotally connected to the base 231 through a second rotating shaft 236. The axial direction of the second rotating shaft 236 is different from the axial direction of the first rotating shaft 235 of the fixed box device 23. In this embodiment, the axial direction of the second rotating shaft 236 is perpendicular to the axial direction of the first rotating shaft 235. When the Y-valve 40 is clamped in the installation groove 233, one side of the inner cover 232 can rotate relative to the base 231 around the second rotating shaft 236. One of the base 231 and the inner cover 232 is provided with a magnetic element, and the other is provided with an iron-containing element or a magnetic element. The inner cover 232 is manually detachably covered on the base 231 by magnetic attraction. When the inner cover 232 is covered on the base 231, the inner cover 232 limits the position of the Y-valve 40.

[0030] The Y-valve 40 includes a valve main body (not labeled in the figure), a Luer connection end 43 provided at one end of the valve main body and used for connecting a catheter 100. The valve main body includes a first pipe body 41 and a second pipe body 42 connected to one side of the first pipe body 41. A first channel (not labeled in the figure) is further provided on the first pipe body 41, and a second channel (not labeled in the figure) is provided on the second pipe body 42. The first channel and the second channel are communicated with each other. The catheter 100 is installed on the Luer connection end 43. A through hole 234 communicated with the installation groove 233 is provided on the base 231. When the Y-valve 40 is installed on the installation groove 233, a driving ring 44 on the Luer connection end 43 extends into the interior of the housing main body 21 from the through hole 234.

[0031] The fixed box device 23 further includes a transfer device 24. The power seat 10 drives the Luer connection end 43 through the transfer device 24 to rotate the catheter 100. The transfer device 24 includes a connecting shaft 241, a first transfer gear 242 installed at one end of the connecting shaft 241, a second transfer gear 243 installed at the other end of the connecting shaft 241, and a driving ring 244 provided on the Luer connection end 43 of the Y-valve 40. A main driving gear 121 meshing with the second transfer gear 243 is provided on the power seat 10. Both the second transfer gear 243 and the main driving gear 121 are bevel gears. The first transfer gear 242 is a spur gear, and straight teeth meshing with the first transfer gear 242 are provided on the driving ring 244.

[0032] An installation surface of the housing main body 21 is recessed to form an outer space 25 communicating with the through hole 234. The straight teeth of the driving ring 244 and the first transfer gear 242 are meshed in the outer space 25. A support portion 211 is provided on the housing main body 21 near the outer space 25. The connecting shaft 241 passes through the support portion 211, so that the first transfer gear 242 at one end of the connecting shaft 241 is placed in the outer space 25, and the second transfer gear 243 at the other end of the connecting shaft 241 is isolated outside the outer space 25 and placed on the back of the installation surface. By providing an outer space 25, the Y-valve 40 and the power seat 10 connected to the transfer device 24 at the same time are spatially separated, preventing the surgical liquid from contaminating the power seat 10 during the operation, and at the same time preventing the oil stain of the power seat 10 from entering the driving seat 20, realizing two-way isolation.

[0033] During use, a first channel of the first tube body 41 of the Y-valve 40 and the catheter 100 establish a delivery channel between a surgical patient and the slave robot. A medical device (such as a guide wire or a catheter) 100 can enter the patient's body through the delivery channel, and a contrast agent or other medical preparations can enter the patient's body through the second channel of the Y-valve 40 and the catheter 100. The driving motor of the power seat 10 drives the main driving gear 121 to rotate. The main driving gear 121 transmits power to the Luer connection end 43 of the Y-valve 40 through the transfer device 24, and then drives the catheter 100 to rotate.

[0034] In summary, the driving seat of the Y-valve quick-disassembly slave intervention surgical robot driving device of the present invention is used to install the Y-valve 40, and drives the catheter 100 installed and connected to the Y-valve 40 to rotate through the power seat 10. Moreover, when the Y-valve 40 cooperates with the fixed box device 23, the base 231 can be manually and detachably fixed on the installation surface of the housing main body 21 by a magnetic attraction method, and the base 231 can be manually adjusted in angle, so that the Y-valve 40 can be quickly disassembled and assembled from the fixed box device 23, with good flexibility, convenient for doctors to operate, strong practicability, and strong popularization significance.

[0035] The above-described embodiments merely represent one implementation manner of the invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the inventive concept, several modifications and improvements can still be made, and these all fall within the protection scope of the invention. Therefore, the protection scope of the invention patent shall be subject to the appended claims.

Claims

1. A quick-disassembly driving device for a distal access surgical robot of a Y-valve, characterized in that It includes a driving seat, which includes a shell body and a fixed box device. The shell body is provided with a mounting surface, and the fixed box device is installed on the mounting surface of the shell body. One side of the fixed box device can rotate relative to the mounting surface. The fixed box device includes a base and an inner cover installed on the base. The base is provided with a mounting groove for installing a Y valve. When the Y valve is clamped in the mounting groove, the inner cover can be detachably covered on the base to limit the Y valve. The base is fixed to the mounting surface of the shell body by magnetic attraction. The fixed box device also includes an adapter. The Y-valve quick-detachable slave-end interventional surgical robot drive device also includes a power seat. The mounting surface of the shell body is recessed to form an external space, which separates the Y valve connected to the adapter from the power seat in space.

2. The drive device of the Y-valve quick-disassembly distal access surgical robot according to claim 1, characterized in that: The fixing box device rotatably mounts the base on the mounting surface of the shell body through a first rotating shaft.

3. The Y-valve quick-disassembly slave-end intervention surgical robot driving device according to claim 2, wherein: One side of the inner cover is pivotally connected to the base via a second rotating shaft, and the axial direction of the second rotating shaft is different from the axial direction of the first rotating shaft of the fixing box device.

4. The drive device of the Y-valve quick-disassembly distal access surgical robot according to claim 1, wherein: One of the base of the fixing box device and the mounting surface of the shell body is provided with a magnetic element, and the other is provided with an iron-containing element or a magnetic element.

5. The driving device of the Y-valve quick-disassembly distal access surgical robot according to claim 1, characterized in that: One of the base and the inner cover is provided with a magnetic element, and the other is provided with an iron-containing element or a magnetic element.

6. The drive device of the Y-valve quick-disassembly distal access surgical robot according to claim 1, wherein: The Y-valve includes a Luer connection end connected to a catheter, and the power seat drives the Luer connection end through a switching device to rotate the catheter.

7. The drive device of the Y-valve quick-disassembly distal access surgical robot according to claim 6, characterized in that: The transfer device comprises a connecting shaft, a first transfer gear mounted on one end of the connecting shaft and a driving ring arranged on the Luer connecting end of the Y valve.

8. The drive device of the Y-valve quick-disassembly distal access surgical robot according to claim 7, characterized in that: The transfer device also includes a second transfer gear mounted on the other end of the connecting shaft, and the power seat is provided with a main driving gear meshing with the second transfer gear.

9. The drive device of the Y-valve quick-disassembly slave-end interventional surgical robot according to claim 8, wherein: The second transfer gear and the main driving gear are both bevel gears.

10. The drive device of the Y-valve quick-disassembly distal access surgical robot according to claim 8, characterized in that: A through hole communicating with the mounting groove is provided on the base corresponding to the drive ring, and the mounting surface of the fixed box device is recessed to form an outer space communicating with the through hole, and the drive ring and the first transfer gear are meshed in the outer space through a spur gear.

11. The drive device of the Y-valve quick-disassembly distal access surgical robot according to claim 10, wherein: The shell body is provided with a support portion near the outer space, and the connecting shaft passes through the support portion, so that the first transfer gear at one end of the connecting shaft is placed in the outer space and the first transfer gear at the other end of the connecting shaft is isolated outside the outer space.

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