An interventional surgery robot collaborative device

Abstract

The present invention relates to a collaborative device for an interventional surgical robot, comprising: a base located on one side of a catheter bed; a collaborative device, the bottom of which is fixedly mounted on the base and can linearly move relative to the base along the X-axis, Y-axis, and Z-axis directions of the catheter bed; and a clamping device connected to the top of the collaborative device and having a mounting and clamping position for mounting the slave end mechanism of the interventional surgical robot thereon; wherein the collaborative device and the clamping device are controlled in an automatic and / or manual manner. The present invention discloses a collaborative device for an interventional surgical robot, which is arranged on one side of the catheter bed, fixes the slave end mechanism of the interventional surgical robot through the clamping device, and can linearly adjust its position along the X-axis, Y-axis, and Z-axis directions of the catheter bed according to the surgical conditions, solving a series of problems caused by fixing the slave end robotic arm of the interventional surgical robot on the catheter bed and extending the service life of the catheter bed.

Description

Technical Field

[0001] The present invention relates to the technical field of interventional surgery, and more particularly to a collaborative device for an interventional surgery robot. Background Art

[0002] Currently, the slave manipulator of an interventional surgery robot is generally fixedly installed on the catheter bed. This not only occupies the space of the operating bed, causing inconvenience in actual clinical operations, but also the installation and removal of the manipulator are relatively complex, taking a long time, and are not conducive to replacement and transfer. Generally, the manipulator is relatively heavy, and being fixedly installed on the catheter bed for a long time is likely to cause damage to the catheter bed.

[0003] Therefore, how to provide a collaborative device for an interventional surgery robot is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0004] To this end, the purpose of the present invention is to propose a collaborative device for an interventional surgery robot to solve a series of problems caused by the fact that the slave manipulator of the current interventional surgery robot is fixed on the catheter bed.

[0005] The present invention provides a collaborative device for an interventional surgery robot, including:

[0006] A base, the base is located on one side of the catheter bed;

[0007] A collaborative device, the bottom of the collaborative device is fixed on the base, and it can linearly move along the X-axis, Y-axis, and Z-axis directions of the catheter bed relative to the base; and

[0008] A clamping device, the clamping device is connected to the top of the collaborative device, and it has a mounting and clamping position for installing the slave mechanism of the interventional surgery robot;

[0009] Wherein the collaborative device and the clamping device are controlled in an automatic and / or manual manner.

[0010] Through the above technical solutions, compared with the prior art, the present invention discloses a collaborative device for an interventional surgery robot, which is arranged on one side of the catheter bed. The slave mechanism of the interventional surgery robot is fixed by the clamping device, and the position can be linearly adjusted along the X-axis, Y-axis, and Z-axis directions of the catheter bed according to the surgical situation, solving a series of problems caused by the fact that the slave manipulator of the interventional surgery robot is fixed on the catheter bed, and extending the service life of the catheter bed.

[0011] Further, the base is in a flat plate shape, and four groups of universal wheels for walking and four groups of telescopic support mechanisms for fixing the base are installed at the bottom.

[0012] Further, each group of the telescopic support mechanisms includes:

[0013] A fixed support frame, the bottom of which can move up and down along a through hole provided on the base;

[0014] A fixed lead screw motor assembly, which is fixed to the base near the through hole. Its lead screw is in transmission cooperation with a first threaded hole provided on the top of the fixed support frame, and a first slider is fixed thereon; the fixed lead screw motor assembly is connected to an automatic control and / or manual device;

[0015] A fixed guide rail bracket, the bottom of which is fixed near the fixed lead screw motor assembly. Its side faces the side of the first slider, and a fixed linear guide rail is fixed thereon, and the first slider is in sliding cooperation with the fixed linear guide rail.

[0016] Furthermore, the cooperation device includes a Z-axis driving component fixed to the base. The top of the Z-axis driving component is linearly slidably connected to an X-axis driving component. The upper part of the X-axis driving component is linearly slidably connected to a Y-axis driving component. The linear sliding direction of the Y-axis driving component is consistent with the length direction of the catheter bed. The clamping device linearly slides on the Y-axis driving component. The Z-axis driving component, the X-axis driving component and the Y-axis driving component are all electrically connected to a manual control device and / or a workstation. The clamping device is also electrically connected to the manual control device and / or the workstation. The workstation is used for processing data and sending instructions.

[0017] Furthermore, the Z-axis driving component includes: a column, the cross section of which is convex-shaped. Its two sides are driven by two groups of symmetrically arranged Z-axis driving parts and move up and down along the Z-axis direction; each group of Z-axis driving parts has a Z-axis guide rail bracket, a Z-axis linear guide rail, and a Z-axis lead screw motor assembly; the Z-axis guide rail bracket is fixed to the middle of the base at the bottom, and a Z-axis linear guide rail is fixed to its inner side. A second slider slides on the Z-axis linear guide rail, and the second slider is fixed to the side of the column. The rear side of the column has a second threaded hole that cooperates with the lead screw in the Z-axis lead screw motor assembly. The top of the column is fixed with a bottom plate, and the Z-axis lead screw motor assembly is electrically connected to the manual control device and / or the workstation.

[0018] Furthermore, the X-axis driving component includes a connecting plate, which is arranged parallel to the bottom plate. An X-axis lead screw motor assembly is arranged along the X-axis direction on the top of the bottom plate. The lead screw in the X-axis lead screw motor assembly is in transmission cooperation with a third threaded hole provided on the connecting plate; two groups of X-axis linear guide rails fixed to the top of the bottom plate are symmetrically arranged on both sides of the X-axis lead screw motor assembly. Two third sliders are fixed to the bottom of the connecting plate and are in sliding cooperation with the two groups of X-axis linear guide rails. The X-axis lead screw motor assembly is electrically connected to the manual control device and / or the workstation.

[0019] Further, the Y-axis driving component includes a Y-axis lead screw motor assembly, which is arranged along the Y-axis direction at the top end of the connecting plate, and its lead screw is in transmission cooperation with the fourth threaded hole at the bottom of the clamping device; on both sides of the Y-axis lead screw motor assembly, two groups of Y-axis linear guide rails fixed on the connecting plate are symmetrically arranged. On each Y-axis linear guide rail, a fourth slider slides, and the fourth slider is fixed to the bottom of the clamping device, wherein the Y-axis lead screw motor assembly is electrically connected to the manual control device and / or the workstation.

[0020] Further, the clamping device includes a clamping connecting plate, the bottom of the clamping connecting plate is fixed to the top of the Y-axis driving component, and it is in the shape of a rectangular plate. A support plate is vertically fixed on the top surface of the plate near one side edge. On both sides of the support plate, two groups of clamping lead screw motor assemblies fixed on the clamping connecting plate are symmetrically arranged. The two groups of clamping lead screw motor assemblies correspondingly connect two screw connectors. Each screw connector is in the shape of an L. On the horizontal end of the L-shaped screw connector, there is a fifth threaded hole for cooperation with the lead screw of the clamping lead screw motor assembly. The vertical end is attached to the side surface of the support plate. Its top and both sides of the gantry-shaped pressing plate are connected by two clamping pressure sensors, and the installation clamping position is formed. The clamping pressure sensors are in communication connection with the workstation; the workstation is fixed on the base or the clamping connecting plate, and the clamping lead screw motor assembly is electrically connected to the manual control device and / or the workstation.

[0021] Further, the manual control device is fixed on the clamping connecting plate, and it has a support frame in the shape of a bench structure, on which a plurality of function keys are arranged for controlling operations, and a display screen for display is also provided, as well as an emergency stop button.

[0022] Further, a detection device for detecting the real-time position of the catheter bed is also included. The detection device includes: an elastic connecting piece, a position sensor and a fixing clip; one end of the elastic connecting piece is connected to the cooperation device, and the other end is connected to the fixing clip clamped on the catheter bed. A position sensor for detecting the real-time position of the catheter bed is arranged at the connection of the fixing clip and the elastic connecting piece, and the position sensor is connected to the workstation of the cooperation device. Description of the Drawings

[0023] 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 use in the description of the embodiments or the prior art. Obviously, the following drawings are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0024] Figure 1 The accompanying drawings are schematic structural diagrams of a collaborative device for an interventional surgical robot provided by the present invention;

[0025] Figure 2 The accompanying drawings are exploded views of a collaborative device for an interventional surgical robot provided by the present invention;

[0026] Figure 3 The accompanying drawings are schematic structural diagrams of a base of a collaborative device for an interventional surgical robot provided by the present invention;

[0027] Figure 4 The accompanying drawings are for Figure 3 exploded views;

[0028] Figure 5 The accompanying drawings are schematic structural diagrams of a collaborative device of a collaborative device for an interventional surgical robot provided by the present invention;

[0029] Figure 6 The accompanying drawings are for Figure 5 exploded views;

[0030] Figure 7 The accompanying drawings are schematic structural diagrams of a clamping device of a collaborative device for an interventional surgical robot provided by the present invention;

[0031] Figure 8 The accompanying drawings are for Figure 7 exploded views;

[0032] Figure 9 The accompanying drawings are schematic working diagrams of a collaborative device for an interventional surgical robot and a slave end of an interventional surgical robot in a catheterization laboratory. Detailed implementation manners

[0033] The following details the embodiments of the present invention. The 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 with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0034] 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.

[0035] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, 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 specifically defined otherwise.

[0036] In the present invention, unless otherwise clearly defined and limited, terms such as "mounted", "connected", "coupled", "fixed", etc. 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 communication inside two components or the interaction relationship between two components. 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.

[0037] 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 in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" 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 "underneath" 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.

[0038] Since the distal manipulator of the existing interventional surgical robot is generally fixedly mounted on the catheter bed, occupying the space of the operating bed, the installation and removal of the manipulator are complex, time-consuming, and difficult to replace and transfer. The manipulator is relatively heavy and fixedly mounted on the catheter bed for a long time, which is likely to damage the catheter bed.

[0039] Therefore, an embodiment of the present invention discloses a collaborative device for an interventional surgical robot, as shown in the attached Figure 9 , located on one side of the catheter bed 600, including: a base 100, a collaborative device 200, and a clamping device 300. The bottom of the collaborative device 200 is fixed to the base 100, and it can linearly move relative to the base 100 along the X-axis, Y-axis, and Z-axis directions of the catheter bed 600; the clamping device 300 is connected to the top of the collaborative device 200, and has a mounting and clamping position for mounting the distal mechanism 500 of the interventional surgical robot, wherein the collaborative device 200 and the clamping device 300 are controlled in an automatic and / or manual manner.

[0040] Therefore, the collaborative device is arranged on one side of the catheter bed. The end mechanism of the interventional surgical robot is fixed by the clamping device and can be linearly adjusted in the X-axis, Y-axis, and Z-axis directions of the catheter bed according to the surgical conditions, without affecting the catheter bed, solving a series of problems caused by fixing the end robotic arm of the interventional surgical robot on the catheter bed and extending the service life of the catheter bed.

[0041] In each embodiment of the present invention, the following method of combining manual control and automatic control of each device is adopted, and other methods will not be elaborated here.

[0042] Advantageously, referring to the appendix Figure 1 and 2 , the base 100 is in the shape of a flat plate. Four groups of universal wheels 107 for walking are installed at the bottom of the flat plate, and four groups of telescopic support mechanisms for fixing the base 100; thus, during the movement, the four universal wheels 107 are in contact with the ground for convenient movement; when moving to a suitable position, the four groups of telescopic support mechanisms are lowered until the universal wheels leave the ground to achieve the purpose of fixation.

[0043] In a further embodiment, referring to the appendix Figure 3 and 4 , each group of the telescopic support mechanisms includes: a fixed support frame 105, the bottom of the fixed support frame 105 can move up and down along the through holes provided on the base 100. The through holes can be round holes, square holes, etc. The cross-section of the fixed support frame 105 is adapted to the through holes, and a silica gel pad is provided at the top; a fixed lead screw motor assembly 106, the fixed lead screw motor assembly 106 is fixed to the base 100 near the through hole, its lead screw is in transmission cooperation with the first threaded hole provided on the top of the fixed support frame 105, and a first slider is fixed thereon; a fixed guide rail bracket 103, the bottom of the fixed guide rail bracket 103 is fixed near the fixed lead screw motor assembly 106, a fixed linear guide rail 104 is fixed on its side facing the first slider side, and the first slider is in sliding cooperation with the fixed linear guide rail 104. The fixed lead screw motor assembly 106 is connected to the workstation and the manual control device 400, and the motors in the four groups of fixed lead screw motor assemblies 106 are synchronously controlled to move through the workstation.

[0044] When the collaborative device is in the working state, after pressing the motor switch button, the motor will drive the lead screw to rotate, so that the 4 groups of fixed support frames 105 move downward until the universal wheels under the vehicle body leave the ground. In this way, the whole vehicle body is stationary relative to the ground. When the work is completed, click the button, the motor will drive the lead screw to rotate in the reverse direction, so that the 4 groups of fixed support frames 105 move upward until the fixed support frames 105 return to the initial position and the universal wheels are in contact with the ground again. At this time, the whole device can move flexibly. This step can generally be manually controlled.

[0045] In some other embodiments of the present invention, the cooperation device 200 includes a Z-axis driving component fixed on the base 100. An X-axis driving component is linearly slidably connected to the top of the Z-axis driving component. A Y-axis driving component is linearly slidably connected above the X-axis driving component. The linear sliding direction of the Y-axis driving component is consistent with the length direction of the catheter bed 600. The clamping device 300 linearly slides on the Y-axis driving component. The Z-axis driving component, the X-axis driving component and the Y-axis driving component are all electrically connected to the manual control device 400 and the workstation G. The clamping device 300 is also electrically connected to the manual control device 400 and the workstation G. Thus, the relative position of the interventional surgical robot on the catheter bed can be adjusted by controlling the manual control device, or can be automatically controlled and adjusted by the workstation.

[0046] See appendix Figure 5 and 6 , the Z-axis driving component includes: a column 203. The cross-section of the column 203 is convex-shaped. Its two sides are driven by two sets of symmetrically arranged Z-axis driving members and move up and down along the Z-axis direction. Each set of Z-axis driving members has Z-axis guide rail brackets 201, 206, Z-axis linear guide rails 202, 205, and Z-axis lead screw motor assemblies 204. The bottoms of the Z-axis guide rail brackets 201, 206 are fixed to the middle of the base 100. The inner sides thereof are fixed with Z-axis linear guide rails 202, 205. A second slider slides on the Z-axis linear guide rails 202, 205. The second slider is fixed to the side of the column 203. The rear side of the column 203 has a second threaded hole that mates with the lead screw in the Z-axis lead screw motor assembly 204. The top of the column 203 is fixed with a bottom plate 207. Among them, the Z-axis lead screw motor assembly 204 is electrically connected to the manual control device 400 and the workstation G. Driven by the Z-axis lead screw motor assembly 204, the column 203 can move up and down, thereby driving the interventional robot to move up and down along the Z-axis direction.

[0047] The X-axis driving component includes a connecting plate 213. The connecting plate 213 is arranged in parallel with the bottom plate 207. An X-axis lead screw motor assembly 217 is arranged along the X-axis direction on the top of the bottom plate 207. The lead screw in the X-axis lead screw motor assembly 217 is in transmission cooperation with a third threaded hole provided on the connecting plate 213. Two sets of X-axis linear guide rails 216, 211 fixed to the top of the bottom plate 207 are symmetrically arranged on both sides of the X-axis lead screw motor assembly 217. Two third sliders are fixed to the bottom of the connecting plate 213 and cooperate with the two sets of X-axis linear guide rails 216, 211 to slide. Among them, the X-axis lead screw motor assembly 217 is electrically connected to the manual control device 400 and the workstation G. Driven by the X-axis lead screw motor assembly 217, the connecting plate 213 can move back and forth, thereby driving the interventional robot to move back and forth along the X-axis.

[0048] The Y-axis driving component includes a Y-axis lead screw motor assembly 214, which is arranged at the top of the connecting plate 213 along the Y-axis direction, and its lead screw cooperates with the fourth threaded hole at the bottom of the clamping device 300 for transmission; two groups of Y-axis linear guides 215, 212 fixed on the connecting plate 213 are symmetrically arranged on both sides of the Y-axis lead screw motor assembly 214, and a fourth slider slides on each of the Y-axis linear guides 215, 212, and the fourth slider is fixed to the bottom of the clamping device 300, wherein the Y-axis lead screw motor assembly 214 is electrically connected to the manual control device 400 and the workstation G. Driven by the Y-axis lead screw motor assembly 214, the clamping device 300 can move left and right along the Y-axis, thereby driving the interventional robot to move left and right along the Y-axis.

[0049] See attached Figure 7 and 8 In some other embodiments of the present invention, the clamping device 300 includes a clamping connecting plate 301, the bottom of the clamping connecting plate 301 is fixed to the top of the Y-axis driving component, which is a rectangular plate, and a support plate 309 is vertically fixed on the top surface of the plate near one side edge, and two groups of clamping screw motor assemblies 302, 307 fixed to the clamping connecting plate 301 are symmetrically arranged on both sides of the support plate 309, and the two groups of clamping screw motor assemblies 302, 307 are correspondingly connected to two screw connectors 303, 306, and each of the screw connectors 303, 306 is L-shaped, and the L-shaped The lateral ends of the screw connectors 303, 306 have fifth threaded holes that cooperate with the screws of the clamping screw motor assemblies 302, 307, and the vertical ends are attached to the side surfaces of the support plate 309. The top and the two sides of the gantry-shaped pressure plate 305 are connected through two clamping pressure sensors 304 to form the installation clamping position, and a protrusion 1 is formed upward on one side of the upper ends of the screw connectors 303, 306, and one end of the clamping pressure sensor 304 is fixed on the outside of the protrusion 1. The bottom of the pressure plate has a protrusion 2 that is staggered with the protrusion 1 and faces downward, and the other end of the clamping pressure sensor is connected to the outside of the protrusion 2.

[0050] The clamping pressure sensor 304 is communicatively connected with the workstation G; the workstation G is fixed on the base 100 or the clamping connecting plate 301, and the clamping screw motor assembly 302, 307 is electrically connected with the manual control device 400 and the workstation G, and the workstation G is used to process data and send control instructions.

[0051] In some other embodiments of the present invention, the manual control device 400 is fixed to the clamping connection plate 301. It is a part for manually controlling the device. It has a support frame in the shape of a bench structure, on which there are multiple buttons for manually controlling each motor. It also has a small display screen for displaying system information, an emergency stop switch for emergency braking, a power on / off button, function buttons, etc.

[0052] When it is necessary to tighten, it can be controlled through the buttons on the manual control device. The pressing plate 305 can move downward under the action of the clamping lead screw motor assemblies 302 and 307. When it presses the fixing part of the interventional robot, the clamping pressure sensor can detect the force, and then stop further tightening, thus completing the automatic fixing of the interventional robot. When it is necessary to loosen the interventional robot, click the button, and the pressing plate 305 can move upward under the action of the clamping lead screw motor assemblies 302 and 307 to complete the loosening action. Since the pressing plate structure adopted by this device can be adapted to various models of interventional robots, it is a general-purpose device, which increases the applicable range of the device.

[0053] All the lead screw motor assemblies mentioned in the present invention include: a servo motor, a lead screw and related connecting parts.

[0054] In some other embodiments of the present invention, refer to the attached Figure 6 , on the basis of the above embodiments, it further includes a detection device for detecting the real-time position of the catheter bed 600. The detection device includes: an elastic connecting piece 210, a position sensor 209 and a fixing clip 208; one end of the elastic connecting piece 210 is connected to the cooperation device 200, and the other end is connected to the fixing clip 208 clamped on the catheter bed 600. The elastic connecting piece 210 can be a spring wire for meeting the wire length from the cooperation device to the catheter bed guide rail. A position sensor 209 for detecting the real-time position of the catheter bed 600 is arranged at the connection of the fixing clip 208 and the elastic connecting piece 210. The position sensor 209 is connected to the workstation G of the cooperation device. The position sensor 209 can detect the position information in three directions of the X-axis, Y-axis and Z-axis and transmit the data to the workstation in real time. The workstation is electrically connected to multiple motors. The workstation G processes the data and sends operation instructions to each motor. After the catheter bed moves, the position sensor 209 detects the change amount. After the workstation analyzes and processes it, it controls the corresponding motor to act, so that the cooperation device and the catheter bed can move to the same position, keeping relative static between them, so that the relative static state is maintained between the robot and the patient, ensuring the surgical safety when moving the catheter bed.

[0055] The position sensor 209 used in the present invention is a non-contact sensor, also known as a spatial tracking locator or a three-dimensional airborne sensor, which can detect in real time the values of a moving object in six degrees of freedom relative to a fixed object, that is, the position values on the X, Y, and Z coordinates, as well as the rotation values around the X, Y, and Z axes. Low-frequency magnetic field sensors and ultrasonic sensors can be used. Taking the low-frequency magnetic field sensor as an example, its low-frequency magnetic field is generated by the magnetic field transmitter of the sensor. The transmitter consists of three orthogonal antennas, and an orthogonal antenna is also installed in the receiver. It is installed on a moving object at a distance. According to the magnetic field received by the receiver, the position and direction of the receiver relative to the transmitter can be calculated, and the data is transmitted to the host computer through a communication cable.

[0056] During installation, the device is pushed beside the catheter bed, and the position sensor 209 is clamped on the guide rail on the side of the catheter bed 600, thus completing the installation of the entire device. Since the entire interventional robot from the end mechanism 500 is installed on the general interventional surgical robot, it will not have any impact on the catheter bed. After the operation, just open the fixing clip 208 of the position sensor 209, and the entire device can be easily pushed away. It is convenient for clinical use and facilitates the cleaning and disinfection of the catheter bed.

[0057] The cooperative device of the present invention mainly controls the movement of the device following the catheter bed during the working state, with three-dimensional movements: forward and backward movement, left and right movement, and up and down movement. In terms of structure, the three-dimensional movements are realized by a lead screw motor driving a linear guide rail. The position sensor is fixed to the guide rail of the catheter bed through a clip, used to collect the displacement information of the catheter bed, send the collected data to the workstation, and after processing, it becomes the rotation instructions of each motor, and then controls the motors to act, so that the device and the catheter bed make the same actions.

[0058] The clamping device is used to fix the end effector of the interventional robot, so that the device is connected to the interventional robot. The connection process can be automatically completed through a pressure sensor. The control device is the control panel that can operate the device. Most of the actions of the workbench cart are automatic. For safety, this device can also be manually adjusted. The buttons in the control device include the manual control of each movement, the power on / off button, the status display, the operation buttons, the emergency stop, etc.

[0059] The present invention solves the problems in the fixation of the end propulsion mechanism of the existing interventional surgical robot. Fixing the robotic arm on the catheter bed will cause problems such as inconvenient installation and removal, occupying a large space on the catheter bed, affecting the normal surgical operation of doctors, and causing a relatively large pressure on the catheter bed for a long time.

[0060] The present invention adopts the design of a mobile device, and the mounting bracket can be moved and installed flexibly. After the operation, it can be placed in the corner without occupying the space of the catheter bed. The overall structure is simple, the disassembly and assembly are convenient, and the structure is compact. The position sensors of the device of the present invention and the catheter bed can keep the device and the catheter bed relatively stationary, which can meet the normal requirements for the robot during the operation. The automatic control can be realized through the setting of the workstation of the present invention. The operation is simple and easy to master, which is especially suitable for clinical use. When necessary, the manual control device can be used for control.

[0061] In the description of the present 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 connection with the embodiment or example are included in at least one embodiment or example of the present invention. In the present specification, the schematic representations of the above terms are not necessarily directed 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 can combine and combine the different embodiments or examples described in the present specification.

[0062] 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. An interventional surgical robot collaborative device, characterized in that Comprising: A base (100), the base (100) being located on one side of the catheter bed (600); A coordination device (200), the bottom of the coordination device (200) being fixed on the base (100), and being linearly movable relative to the base (100) along the X-axis, Y-axis, and Z-axis directions of the catheter bed (600); and A clamping device (300), the clamping device (300) being connected to the top of the coordination device (200), and having a mounting and clamping position for mounting the distal mechanism (500) of the interventional surgical robot thereon; Wherein the coordination device (200) and the clamping device (300) are controlled in an automatic and / or manual manner; The coordination device (200) includes a Z-axis driving component fixed on the base (100), an X-axis driving component is linearly slidably connected to the top of the Z-axis driving component, a Y-axis driving component is linearly slidably connected above the X-axis driving component, the linear sliding direction of the Y-axis driving component is consistent with the length direction of the catheter bed (600), the clamping device (300) linearly slides on the Y-axis driving component, the Z-axis driving component, the X-axis driving component, and the Y-axis driving component are all electrically connected to a manual control device (400) and / or a workstation (G), the clamping device (300) is also electrically connected to the manual control device (400) and / or the workstation (G), and the workstation (G) is used for processing data and sending instructions; The clamping device (300) includes a clamping connection plate (301), the bottom of the clamping connection plate (301) being fixed to the top of the Y-axis driving component, which is in the shape of a rectangular plate, a support plate (309) is vertically fixed on the top surface of the plate near one side edge, two groups of clamping lead screw motor assemblies (302, 307) fixed on the clamping connection plate (301) are symmetrically arranged on both sides of the support plate (309), the two groups of clamping lead screw motor assemblies (302, 307) correspondingly connect two lead screw connection members (303, 306), each lead screw connection member (303, 306) is in an L shape, the horizontal end of the L-shaped lead screw connection member (303, 306) has a fifth threaded hole matching the lead screw of the clamping lead screw motor assembly (302, 307), the vertical end is attached to the side surface of the support plate (309), and its top and both sides of the gantry-shaped pressing plate (305) are connected by two clamping pressure sensors (304), and form the mounting and clamping position, the clamping pressure sensors (304) are communicatively connected to the workstation (G); the workstation (G) is fixed on the base (100) or the clamping connection plate (301), and the clamping lead screw motor assemblies (302, 307) are electrically connected to the manual control device (400) and / or the workstation (G).

2. The collaborative device for interventional surgical robots according to claim 1, wherein, The base (100) is in the shape of a flat plate, and four groups of universal wheels (107) for walking are installed at the bottom thereof, as well as four groups of telescopic support mechanisms for fixing the base (100).

3. The collaborative device for interventional surgical robots according to claim 2, characterized in that, Each group of the telescopic support mechanisms includes: Fixed support frame (105), the bottom of the fixed support frame (105) can move up and down along the through hole provided on the base (100); Fixed lead screw motor assembly (106), the fixed lead screw motor assembly (106) is fixed to the base (100) near the through hole, its lead screw is in transmission cooperation with the first threaded hole provided on the top of the fixed support frame (105), and a first slider is fixed thereon; the fixed lead screw motor assembly (106) is connected to an automatic control and / or manual device; Fixed guide rail support (103), the bottom of the fixed guide rail support (103) is fixed near the fixed lead screw motor assembly (106), its side faces the side of the first slider, a fixed linear guide rail (104) is fixed, and the first slider is in sliding cooperation with the fixed linear guide rail (104).

4. The collaborative device for interventional surgical robots according to claim 1, wherein, The Z-axis driving component includes: a column (203), the cross section of the column (203) is convex-shaped, and its two sides are driven by two sets of symmetrically arranged Z-axis driving members and move up and down along the Z-axis direction; each set of Z-axis driving members has Z-axis guide rail supports (201, 206), Z-axis linear guide rails (202, 205), and Z-axis lead screw motor assemblies (204); the bottoms of the Z-axis guide rail supports (201, 206) are fixed to the middle of the base (100), and Z-axis linear guide rails (202, 205) are fixed to their inner sides, a second slider slides on the Z-axis linear guide rails (202, 205), the second slider is fixed to the side of the column (203), and the rear side of the column (203) has a second threaded hole in cooperation with the lead screw in the Z-axis lead screw motor assembly (204), the top of the column (203) is fixed with a bottom plate (207), wherein the Z-axis lead screw motor assembly (204) is electrically connected to the manual control device (400) and / or the workstation (G).

5. The collaborative device for interventional surgical robots according to claim 4, wherein, The X-axis driving component includes a connecting plate (213), the connecting plate (213) is arranged parallel to the bottom plate (207), an X-axis lead screw motor assembly (217) is arranged along the X-axis direction on the top of the bottom plate (207), the lead screw in the X-axis lead screw motor assembly (217) is in transmission cooperation with the third threaded hole provided on the connecting plate (213); two sets of X-axis linear guide rails (216, 211) fixed to the top of the bottom plate (207) are symmetrically arranged on both sides of the X-axis lead screw motor assembly (217), two third sliders are fixed to the bottom of the connecting plate (213) and are in sliding cooperation with the two sets of X-axis linear guide rails (216, 211), wherein the X-axis lead screw motor assembly (217) is electrically connected to the manual control device (400) and / or the workstation (G).

6. The collaborative device for an interventional surgical robot according to claim 5, characterized in that, The Y-axis drive component includes a Y-axis lead screw motor assembly (214). The Y-axis lead screw motor assembly (214) is arranged along the Y-axis direction at the top of the connecting plate (213), and its lead screw is in transmission cooperation with the fourth threaded hole at the bottom of the clamping device (300). On both sides of the Y-axis lead screw motor assembly (214), two groups of Y-axis linear guide rails (215, 212) fixed on the connecting plate (213) are symmetrically arranged. A fourth slider slides on each of the Y-axis linear guide rails (215, 212), and the fourth slider is fixed to the bottom of the clamping device (300). Among them, the Y-axis lead screw motor assembly (214) is electrically connected to the manual control device (400) and / or the workstation (G).

7. An interventional surgical robot collaborative device according to claim 1, wherein, The manual control device (400) is fixed on the clamping connecting plate (301). It has a support frame in the shape of a bench structure, on which a plurality of function keys are arranged for controlling operations. A display screen for display and an emergency stop button are also provided.

8. An interventional surgical robot collaborative device according to any one of claims 1-7, characterized in that, It further includes a detection device for detecting the real-time position of the catheter bed (600). The detection device includes: an elastic connecting piece (210), a position sensor (209) and a fixing clip (208); one end of the elastic connecting piece (210) is connected to the cooperation device (200), and the other end is connected to the fixing clip (208) clamped on the catheter bed (600). A position sensor (209) for detecting the real-time position of the catheter bed (600) is arranged at the connection of the fixing clip (208) and the elastic connecting piece (210), and the position sensor (209) is connected to the workstation (G) of the cooperation device.

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