An interventional surgery robot slave end actuator device

Abstract

An interventional surgery robot slave end actuator device is used to promote the movement of a slender medical device in an interventional surgery. The interventional surgery robot slave end actuator device includes a housing, a driving device installed in and extending from the housing, and a sterile isolation device that seals the housing. One end of the driving device passes through the sterile isolation device. During the process of the driving device clamping and pushing the slender medical device in the interventional surgery, the sterile isolation device maintains close contact with the driving device. The present invention keeps the non-consumable part sealed, effectively preventing the non-consumable part from being completely exposed to the air and causing contamination of the non-consumable part, effectively improving the safety of the interventional surgery, protecting the life and health of the patient, and having strong practicality, increasing the application of interventional surgery.

Description

Technical Field

[0001] The present invention relates to a device in the field of medical instrument robots, and in particular to a slave end actuator device of an interventional surgery robot. Background Art

[0002] Interventional therapy is a minimally invasive treatment performed using modern high-tech means. 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 pathologies in the body.

[0003] Interventional therapy uses digital technology to expand the doctor's vision and extend the doctor's hands with the help of catheters and guide wires. Its incision (puncture point) is only the size of a grain of rice. Without cutting human tissue, it can treat many diseases that were previously untreatable and required surgical treatment or poor medical treatment, such as tumors, hemangiomas, and various bleeding. Interventional therapy has the characteristics of no surgery, less trauma, quick recovery, and good results. It is the development trend of future medicine.

[0004] In vascular intervention surgery, doctors need to be exposed to X-ray radiation for a long time. Therefore, a remotely operated master-slave vascular intervention surgery robot has been developed. The master-slave vascular intervention surgery robot can work in a strong radiation environment, allowing doctors to control it outside the radiation environment.

[0005] When the surgical robot executes the advancement, retreat and rotation of the guidewire (or catheter), it needs to be driven by a corresponding transmission mechanism. The connection between the guidewire (or catheter) and the transmission mechanism is a major problem that plagues engineers in the industry, because the transmission mechanism must not only realize the control of the guidewire (or catheter), but also ensure that the non-consumable parts of the transmission mechanism are not contaminated by residual fluids such as blood clots during the operation. Therefore, the problem of aseptic operation of the transmission mechanism has restricted the development of surgical robots to a certain extent, and there is an urgent need to improve the structure of traditional surgical robots. Summary of the invention

[0006] Based on this, it is necessary to provide a new type of interventional surgical robot slave end actuator device to address the deficiencies in the prior art.

[0007] An interventional surgical robot slave end actuator device is used to promote the movement of a slender medical device during interventional surgery. The interventional surgical robot slave end actuator device includes a shell, a driving device installed in and extending from the shell, and a sterile isolation device that seals the shell. One end of the driving device passes through the sterile isolation device. During the process of the driving device clamping and promoting the movement of the slender medical device during interventional surgery, the sterile isolation device maintains close contact with the driving device.

[0008] Furthermore, the driving device includes a consumable part and a non-consumable part.

[0009] Furthermore, the consumables part includes a sterile box.

[0010] Furthermore, the non-consumable part includes a connecting section, an end of the connecting section close to the sterile box is a fixed end, and the consumable part is detachably mounted on the fixed end.

[0011] Furthermore, the consumable part includes a connecting section, and the connecting section and the non-consumable part are detachably mounted together.

[0012] Furthermore, the shell is provided with a movable groove, and the sterile isolation device cover is provided at the notch of the movable groove to seal the notch of the movable groove.

[0013] Furthermore, the non-consumable part includes a guide rail, a push block slidably arranged on the guide rail, and a driving module that drives the push block to move linearly. The driving module includes a driving motor that drives the push block to slide along the guide rail.

[0014] Furthermore, the aseptic isolation device includes a scale group and a return assembly, the scale group is linearly arranged into two rows of scales, and any scale in each row corresponds one-to-one with the scales in the adjacent row in the horizontal direction, forming a feed line between the two rows of scales.

[0015] Furthermore, the return component is arranged outside the scales, and the return component squeezes two horizontally opposite scales so that the two horizontally opposite scales fit together, and two adjacent scales arranged in the same row of scales fit together.

[0016] Furthermore, each of the scales includes an isolation plate and a guide portion connected to the bottom of the isolation plate, an inclined guide surface is provided at a corner position of the guide portion on the side close to the feed line, and guide blocks are provided on both sides of the connecting section.

[0017] Furthermore, the isolation plate is in a square shape as a whole, and the guide portion is smaller in shape than the isolation plate.

[0018] Furthermore, a feed groove is provided on the inner side of each scale close to the feed line. When two horizontally opposite scales are in a fitted state, the feed grooves on the two opposite scales are combined to form a feed hole. The feed holes are linearly aligned with each other and form a feed channel for placing slender medical devices.

[0019] Furthermore, the aseptic isolation device comprises an elastic cloth, the elastic cloth is provided with perforations, and the perforations on the elastic cloth correspond one-to-one to the connecting sections.

[0020] Furthermore, a fixing protrusion is provided at one end of the connecting section close to the sterile box, and the fixing protrusion passes through the perforation of the elastic cloth.

[0021] Furthermore, the sterile isolation device also includes a sealing ring, which is sleeved on the outside of the fixed protrusion; the sealing ring limits the elastic cloth, and the consumable part is detachably mounted on the fixed protrusion.

[0022] Furthermore, the elastic cloth can be freely assembled and disassembled on the outer shell.

[0023] The beneficial effects of the present invention are as follows: by arranging a sterile isolation device on the actuator device at the slave end of the interventional surgical robot, when the driving device is moving, the sterile isolation device forms a sterile barrier, keeps the non-consumable parts sealed, and effectively prevents the non-consumable parts from being completely exposed to the air and causing contamination of the non-consumable parts, thereby effectively improving the safety of interventional surgery, protecting the life and health of patients, having strong practicality, and increasing the application of interventional surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of a first embodiment of an interventional surgical robot slave end effector device of the present invention;

[0025] Figure 2 for Figure 1 The schematic diagram of the structure of the interventional surgical robot after the outer shell is removed from the end effector device is shown;

[0026] Figure 3 for Figure 2 As shown, it is a schematic diagram of the structure when two scales arranged opposite to each other cooperate;

[0027] Figure 4 for Figure 2 As shown, the schematic diagram of the structure of the scale;

[0028] Figure 5 for Figure 2 As shown, a schematic diagram of the structure of the connecting section of the driving device;

[0029] Figure 6 for Figure 2 As shown, the structural schematic diagram of the connecting section of the driving device and the scales when they cooperate;

[0030] Figure 7 It is a structural schematic diagram of the second embodiment of the slave-end effector device of the interventional surgery robot of the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the invention more clearly understood, the invention is further described in detail below 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.

[0032] like Figures 1 to 6As shown, it is the first embodiment of the present invention. This embodiment provides an interventional surgery robot slave end actuator device, which drives the slender medical device (guide wire or catheter) 200 in the interventional surgery to move, including executing forward, backward, forward rotation, and reverse rotation operations. Among them, driving the slender medical device 200, i.e., the guide wire or catheter forward means to move the guide wire or catheter into the direction of the surgical patient's body, backward means to move the guide wire or catheter out of the surgical patient's body, forward rotation means to rotate the guide wire or catheter into the direction of the surgical patient's body, and reverse rotation means to rotate the guide wire or catheter out of the surgical patient's body.

[0033] The interventional surgical robot's slave end actuator device includes a housing 300, a driving device installed in and extending from the housing 300, and a sterile isolation device 400 that seals the interior of the housing 300. The upper end of the driving device passes through the sterile isolation device 400, and the sterile isolation device 400 maintains a close contact state with the driving device during the movement of the driving device.

[0034] The driving device includes a consumable part and a non-consumable part. The non-consumable part includes a connecting section 21. The consumable part includes a sterile box 22. The connecting section 21 is connected to the sterile box 22. The end of the connecting section 21 close to the sterile box 22 is a fixed end. The fixed end is installed with the consumable part using a detachable structure.

[0035] A movable groove is provided inside the shell 300, and the sterile isolation device 400 cover is provided on the notch of the movable groove to seal the notch of the movable groove, the non-consumable part of the driving device is installed in the movable groove, and the connecting section 21 of the consumable part passes through the sterile isolation device 400, and the connecting section 21 of the consumable part maintains close contact with the sterile isolation device 400, so that the sterile box 22 of the consumable part is arranged on the outside of the movable groove.

[0036] The sterile box 22 of the consumable part clamps the slender medical device 200, and at the same time, the sterile box 22 can drive the slender medical device 200 to rotate along its axis. The non-consumable part also includes a guide rail, a push block slidably arranged on the guide rail, and a driving module that drives the push block to move linearly, and the driving module includes a driving motor, and the driving motor drives the push block to slide along the guide rail.

[0037] The sterile isolation device 400 includes a scale group 10 and a return assembly, wherein the scale group 10 is linearly arranged into two rows of scales 11, the two rows of scales 11 are arranged side by side, and any scale 11 in any row corresponds to the scale 11 in the adjacent row in a horizontal direction, and the return assembly is arranged outside the scales 11 arranged side by side, and the return assembly squeezes the two horizontally opposite scales 11 so that the two horizontally opposite scales 11 fit each other. In addition, for two scales 11 arranged in the same row and adjacent to each other, the scales 11 also fit each other.

[0038] A feeding line is formed between two rows of scales 11, and each of the scales 11 includes an isolation plate 11 and a guide portion 112 connected to the bottom of the isolation plate 11. The isolation plate 11 is generally square in shape, and the guide portion 112 is smaller in shape than the isolation plate 11. An inclined guide surface 113 is provided at the corner position of the guide portion 112 on the side of the feeding line, and a guide block 211 is protrudingly provided on the connecting section 21 of the non-consumable part along the forward and backward directions of the slender medical device 200.

[0039] A feed groove 114 is also provided on the inner side of each scale 11. When the two horizontally opposite scales 11 are in a fitted state, the feed grooves 114 on the two opposite scales 11 are combined to form a feed hole 30. These feed holes 30 are linearly aligned with each other and form a feed channel 100. The slender medical device 200 can be placed in the feed channel 100.

[0040] Initially, the consumable part is installed on the non-consumable part, and the connecting section 21 of the non-consumable part passes between the two rows of scales 11 of the scale group 10. Under the extrusion of the connecting section 21, the two opposite scales 11 in contact with the connecting section 21 open outward, and the return component part on the outside of the two opposite scales 11 elastically shrinks, while the other scales 11 that are not in contact with the connecting section 21 fit together under the extrusion of the return component.

[0041] Then install the slender medical device 200 on the consumable part, the consumable part clamps the slender medical device 200 and is placed in the feeding channel 100. When the position of the slender medical device 200 needs to be adjusted during the operation, the driving module of the non-consumable part drives the push block to move forward or backward. During the movement, the push block drives the connecting section 21 and the consumable part clamping the slender medical device 200 to move synchronously, so that the slender medical device 200 moves. During the movement of the connecting section 21, the guide block 211 squeezes the inclined guide surfaces 113 of the two linearly arranged corresponding scales 11 one by one, so that the two scales 11 open outward. After the guide block 211 passes, the two scales 11 are reset and kept in contact with each other under the squeezing of the return assembly. After completing the interventional surgery, the consumable part and the slender medical device 200 can be removed, and replaced with a new consumable part and slender medical device 200 in the next operation.

[0042] See also Figure 7 , which is the second embodiment of the present invention. The slave end actuator device of the interventional surgical robot of this embodiment also includes a housing, a driving device installed in the housing and extending from the housing, and a sterile isolation device for sealing the interior of the housing. The upper end of the driving device passes through the sterile isolation device, and the sterile isolation device and the driving device are kept in close contact during the movement of the driving device. The driving device includes a consumable part and a non-consumable part, and the non-consumable part includes a connecting section 21a. The difference is that: the sterile isolation device 10a includes an elastic cloth 11a and a sealing ring 12a, the elastic cloth 11a is provided with a perforation 13a, and the perforation 13a on the elastic cloth 11a corresponds to each connecting section 21a of the non-consumable part. The elastic cloth is detachably installed on the housing to seal the movable groove. The upper end of the connecting section 21a is provided with a fixing protrusion 211a, and the fixing protrusion 211a passes through the perforation 13a of the elastic cloth 11, and the sealing ring 12a is sleeved on the outside of the fixing protrusion 111a. The sealing ring 12a limits the elastic cloth 11a to prevent the elastic cloth 11a from falling off the fixed protrusion 211a, and the consumable part is installed on the fixed protrusion 211a. When the position of the slender medical device needs to be adjusted during the operation, the driving module of the non-consumable part drives the push block forward or backward. During the movement of the push block, the push block drives the connecting section 21a and the consumable part to move synchronously. During the movement of the connecting section 21a, the elastic cloth 11a undergoes elastic deformation, but the elastic cloth 11a is still in the state of the internal space of the sealed shell.

[0043] It can be understood that in the first and second embodiments, the connecting sections 21, 21a belong to the non-consumable parts. In other embodiments of the present invention, the connecting sections can also be used as consumable parts. The connecting section is close to one end of the non-consumable part and is connected to the non-consumable part by a plug-in or other quick disassembly structure.

[0044] In addition, when the connecting section is used as a non-consumable part, in order to further ensure that the non-consumable part is not contaminated, before use, an isolation layer is first applied to the surface of the connecting section to prevent blood or other contamination of the non-consumable part generated during the operation. After the operation is completed, the consumable part and the isolation layer are removed.

[0045] Generally, in interventional surgery, multiple slender medical devices are required, including the replacement of slender medical devices. Therefore, the interventional surgery robot slave end actuator device should include multiple driving devices, which are all slidably arranged on the same guide rail, and each driving device is used to clamp a different slender medical device 200 and can be easily replaced.

[0046] The beneficial effects of the present invention are as follows: by arranging a sterile isolation device 400 on the actuator device at the slave end of the interventional surgery robot, when the driving device is moving, the sterile isolation device 400 forms a sterile barrier, keeps the non-consumable parts sealed, and effectively prevents the non-consumable parts from being completely exposed to the air and causing contamination of the non-consumable parts, thereby effectively improving the safety of the interventional surgery, protecting the life and health of the patient, having strong practicality, and increasing the operability of the interventional surgery.

[0047] The above-mentioned embodiment only expresses one implementation method of the invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the inventive concept, which all belong to the protection scope of the invention. Therefore, the protection scope of the invention patent shall be based on the attached claims.

Claims

1. In an interventional surgery robot slave end actuator device, used to promote the movement of a slender medical device in interventional surgery, It is characterized in that The interventional surgical robot end actuator device includes a shell, a driving device installed in and extending from the shell, and a sterile isolation device for sealing the shell. One end of the driving device passes through the sterile isolation device. During the movement of the driving device clamping and pushing the slender medical device in the interventional surgery, the sterile isolation device maintains close contact with the driving device. The driving device includes a consumable part and a non-consumable part. The consumable part or the non-consumable part includes a connecting section. The sterile isolation device includes a scale group and a return assembly. The scale group is linearly arranged into two rows of scales. The connecting section passes between the two rows of scales. Under the pressure of the connecting section, the two relative scales in contact with the connecting section open outward, and the return assembly part on the outside of the two relative scales elastically contracts. The scales that are not in contact with the connecting section fit together under the pressure of the return assembly.

2. The interventional surgery robot slave end effector device according to claim 1, Features: The consumables part includes a sterile box.

3. The interventional surgery robot slave end effector device according to claim 2, Features: The non-consumable part includes a connecting section, one end of the connecting section close to the sterile box is a fixed end, and the consumable part is detachably mounted on the fixed end.

4. The interventional surgery robot slave end effector device according to claim 2, Features: The consumable part comprises a connecting section, and the connecting section is detachably mounted with the non-consumable part.

5. The interventional surgery robot slave end effector device according to claim 3 or 4, Features: The shell is provided with a movable groove, and the sterile isolation device cover is arranged at the notch of the movable groove to seal the notch of the movable groove.

6. The interventional surgery robot slave end effector device according to claim 5, Features: The non-consumable part includes a guide rail, a push block slidably arranged on the guide rail, and a driving module for driving the push block to move linearly. The driving module includes a driving motor, and the driving motor drives the push block to slide along the guide rail.

7. The interventional surgery robot slave end effector device according to claim 5, Features: Any scale in each row corresponds to the scales in the adjacent row in the horizontal direction, and a feed line is formed between the two rows of scales.

8. The interventional surgery robot slave end effector device according to claim 7, Features: The return assembly is arranged outside the scales, and the return assembly squeezes two horizontally opposite scales so that the two horizontally opposite scales fit together, and two adjacent scales arranged in the same row of scales fit together.

9. The interventional surgery robot slave end effector device according to claim 7, Features: Each of the scales comprises an isolation plate and a guide portion connected to the bottom of the isolation plate, an inclined guide surface is provided at the corner position of the guide portion on the side close to the feed line, and guide blocks are provided on both sides of the connecting section.

10. The interventional surgery robot slave end effector device according to claim 9, Features: The isolation plate is in a square shape as a whole, and the guide portion is smaller in shape than the isolation plate.

11. The interventional surgery robot slave end effector device according to claim 7, Features: A feed groove is also provided on the inner side of each scale close to the feed line. When two horizontally opposite scales are in a fitted state, the feed grooves on the two opposite scales are combined to form a feed hole. The feed holes are linearly aligned with each other and form a feed channel for placing slender medical devices.

12. The interventional surgery robot slave end effector device according to claim 5, Features: The aseptic isolation device comprises an elastic cloth, the elastic cloth is provided with perforations, and the perforations on the elastic cloth correspond one-to-one to the connecting sections.

13. The interventional surgery robot slave end effector device according to claim 12, Features: A fixing protrusion is arranged at one end of the connecting section close to the sterile box, and the fixing protrusion passes through the perforation of the elastic cloth.

14. The interventional surgery robot slave end effector device according to claim 13, Features: The aseptic isolation device also includes a sealing ring, which is sleeved on the outside of the fixed protrusion; the sealing ring limits the elastic cloth, and the consumable part is detachably mounted on the fixed protrusion.

15. The interventional surgery robot slave end effector device according to claim 12, Features: The elastic cloth can be freely assembled and disassembled on the outer shell.

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