The application discloses a bacteria-proof cover for an interventional surgery robot driving device and an interventional surgery robot driving assembly

Abstract

The present application relates to a kind of intervention surgery robot drive device cover and intervention surgery robot drive assembly, the cover including main cover and the crimping cover for clamping elongated medical instrument, the crimping cover movably installed on the main cover.The intervention surgery robot drive assembly includes drive device and the cover of drive device described in the cover.After intervention surgery is completed, the entire drive device does not need to be replaced, only need to replace cover once, effectively reduce the use cost of product, reduce the economic burden of patient, and compact structure, smaller space is occupied, practicality is strong, with strong popularization significance.

Description

Technical Field

[0001] This invention relates to a medical device in the field of interventional surgical robots, and more particularly to a sterile cover for an interventional surgical robot drive device and an interventional surgical robot drive assembly. Background Technology

[0002] Interventional therapy is a minimally invasive treatment that utilizes modern high-tech methods. Under the guidance of medical imaging equipment, specialized catheters, guidewires, and other precision instruments are introduced into the human body to diagnose and treat internal diseases locally.

[0003] Interventional therapy utilizes digital technology, expanding the doctor's field of vision and extending their reach with the aid of catheters and guidewires. Its incision (puncture point) is only the size of a grain of rice, allowing for the treatment of many previously untreatable diseases, requiring surgery or ineffective medical treatments, such as tumors, hemangiomas, and various types of bleeding, without cutting into human tissue. Interventional therapy is characterized by being non-surgical, minimally invasive, allowing for rapid recovery, and yielding good results, representing a future trend in medicine.

[0004] To address the issue of prolonged X-ray exposure for surgeons during vascular interventional procedures, a remotely operated master-slave vascular interventional surgical robot has been developed. The slave end of this robot can operate in environments with intense radiation, while the surgeon controls it from outside the radiation environment via the master end.

[0005] When an interventional surgical robot moves a slender medical instrument (guidewire or catheter) forward, backward, or rotates, it requires a corresponding drive device. This drive device, which manipulates the instrument, is easily contaminated by residual fluids such as blood during the procedure. Therefore, the drive device must be discarded as a consumable after each surgery to avoid reusing contaminated devices and posing a significant risk to the patient's health and safety. Because the drive device requires high precision in transmission and control, its manufacturing cost is also high. Discarding the drive device as a consumable would undoubtedly increase the patient's financial burden and medical costs. Summary of the Invention

[0006] Therefore, it is necessary to address the shortcomings of existing technologies by providing a novel, easily replaceable, and highly effective antibacterial cover for an interventional surgical robot drive device and an interventional surgical robot drive assembly.

[0007] An antibacterial cover for an interventional surgical robot drive device includes a shell-shaped main cover and a rubbing cover for clamping a slender medical device, which can move synchronously with the main cover. The main cover has an opening corresponding to the rubbing cover, the opening including a pre-installation position and an installation position. The rubbing cover is installed from the pre-installation position into the installation position. The pre-installation position includes a positioning opening on the side wall of the main cover near the opening. The installation position includes a guide opening on the side wall of the main cover near the opening. The rubbing cover has positioning protrusions that can respectively engage with the positioning opening and the guide opening.

[0008] Furthermore, the rubbing cover is movably mounted at the mounting position.

[0009] Furthermore, the main cover is recessed near the accommodating opening to form a support wall, and the support wall forms a high-level portion, a low-level portion, and a transition portion connecting the high-level portion and the low-level portion along the extending direction of the main cover.

[0010] Furthermore, the antibacterial cover for the interventional surgical robot drive device also includes a flip-top cover that closes the accommodating opening.

[0011] Furthermore, the antibacterial cover for the interventional surgical robot drive device also includes a shell-shaped bottom cover, which is installed on the main cover to close the main cover.

[0012] Furthermore, the flip cover and the bottom cover are rotatably mounted on the main cover, and the rotation direction of the flip cover is opposite to that of the bottom cover.

[0013] Furthermore, a notch is formed on the side wall of the flip cover corresponding to the transition portion, and an abutment portion is provided for restricting the elongated medical device.

[0014] Furthermore, the side wall of the flip cover is also provided with a certain stabilizing part located in the lower part, and a magnetic component is installed on the stabilizing part.

[0015] Furthermore, the flip cover is mounted near one end of the main cover, and the main cover forms a through groove at the other opposite end.

[0016] The present invention also provides a drive assembly for an interventional surgical robot, comprising:

[0017] The drive unit is installed on the end of the interventional surgical robot;

[0018] A sterile cover is fitted onto the drive device, the sterile cover being a sterile cover for the drive device of the interventional surgical robot as described above.

[0019] Furthermore, the main cover has an opening corresponding to the rubbing cover, the opening including a pre-installation position and an installation position, the rubbing cover is installed from the pre-installation position into the installation position, and the driving device also includes a rubbing device, the rubbing device abuts against the rubbing cover to allow it to be installed from the pre-installation position into the installation position.

[0020] Furthermore, the driving device has a guide protrusion at one end and a guide groove near the other opposite end. The main cover has a guide receiving part at one end corresponding to the guide protrusion and a guide strip near the other opposite end corresponding to the guide groove. The main cover is fitted onto the driving device under the guidance and cooperation of the guide receiving part and the guide strip with the corresponding guide protrusion and guide groove, respectively.

[0021] In summary, this invention allows the rubbing cover to be installed together with the main cover, which can be installed on the drive device with one hand. After use, the antibacterial cover can be replaced once, avoiding the tediousness of multiple removals. It is convenient to operate, and the disposable consumables designed separately from the drive device can reduce the cost of use and alleviate the economic burden on patients. It has strong promotional value. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of an antibacterial cover for an interventional surgical robot drive device according to the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of a drive assembly for an interventional surgical robot according to the present invention;

[0024] Figure 3 This is a schematic diagram of the driving device of the present invention;

[0025] Figure 4 for Figure 3 A schematic diagram of the drive unit from another angle;

[0026] Figure 5 for Figure 1 A schematic diagram of the bottom cover of the antibacterial cover is shown;

[0027] Figure 6 for Figure 1 The diagram shows the main cover of the antibacterial shield;

[0028] Figure 7 for Figure 6 Another angle view of the main cover shown;

[0029] Figure 8 for Figure 1 The diagram shows the flip-top cover of the antibacterial cover;

[0030] Figure 9 for Figure 8 Another angle view of the flip cover shown;

[0031] Figure 10 for Figure 1 The diagram shows a rubbing motion of the antibacterial cover.

[0032] Figure 11 for Figure 10 The diagram shows another angle of the rubbing cover. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention.

[0034] like Figure 1 , Figure 2 , Figure 3 As shown, the present invention provides a sterile cover 10 for an interventional surgical robot drive device, comprising a thin-walled shell-shaped bottom cover 100, a main cover 110, a flip cover 120, and a rubbing cover 130. The bottom cover 100 is detachably fitted onto the bottom of the interventional surgical robot drive device 20, and the rubbing cover 130 is detachably fitted onto the rubbing device 201 of the drive device 20. The rubbing device 201 is used to rub a slender medical device 30. When the sterile cover 10 is in the closed state, it can completely isolate the drive device 20 from the environment and the slender medical device 30.

[0035] like Figure 3 , Figure 4The driving device 20 includes a mounting bracket 200 fixedly installed at one end of the driving device 20, a pair of opposing rubbing actuators 201, two positioning protrusions 202 distributed at both ends of the bottom of the driving device 20, a guide protrusion 203 located at the other end of the driving device 20, a support recess 204, and a longitudinally arranged elongated guide groove 205, the opening end of the guide groove 205 being flared; the driving device 20 is fixedly installed on the drive motor (not shown in the figure) at the lower end of the interventional surgical robot via the mounting bracket 200, the drive motor being able to drive the driving device to move, specifically referring to the "Interventional Surgical Robot with High-Precision Force Detection Function" applied for on the same day; the horizontal cross sections of the positioning protrusions 202 are rectangular and square, respectively, and magnetic components are installed in both positioning protrusions 202; the guide protrusion 203 is located at the other end of the driving device 20. 3. The drive device 20 is located at one end away from the mounting bracket 200, and its width is formed by the other parts of the drive device 20; the support recess 204 is located at one end of the drive device 20 near the mounting bracket 200, and extends from one side along the width direction of the drive device 20 to the other side along the length direction; the guide groove 205 is located on one side near the length direction of the rubbing device 201 and at one end near the support recess 204; each of the two sides along the length direction of each rubbing device 201 is provided with two rectangular grooves 206, the opposite sides of the two rubbing devices 201 are full of horizontal grooves 207, the top surface of each rubbing device 201 is provided with a roughly rectangular recessed groove, and a cylindrical positioning post 208 is provided at each end of the recessed groove, and a magnetic element is installed in each positioning post 208.

[0036] like Figure 5 As shown, the base cover 100 is formed by two side walls 100a in the length direction, side walls 100b and 100c in the width direction, and a bottom wall 100d. The side walls 100a are approximately "﹂" shaped. The bottom wall 100d is provided with two first positioning parts 101 that match the two positioning protrusions 202 of the driving device 20. The two first positioning parts 101 are located at both ends of the length direction of the bottom wall 100d, and are protruding cavities with rectangular and square horizontal cross sections, respectively. Magnetic elements are installed in both first positioning parts 101. The bottom wall 100d also includes four elliptical positioning grooves for accommodating the locking nut heads at the bottom of the driving device 20. The first positioning parts 101 can ensure that the base cover 100 can be accurately attached to the bottom of the driving device 20 when it is installed and can prevent the base cover 100 from moving horizontally. Each of the two side walls 100a has a symmetrical arc-shaped lug 102 on the top of one end of the "-" shape, and the lug 102 has a first mounting hole 103.

[0037] like Figure 6 , Figure 7The main cover 110 is formed by side walls 110a, 110b, 110f, 110c, 110e, 110g, a top wall 110d, an open receiving cylinder 111, and a supporting wall 112. The main cover 110 also includes two parallel reinforcing walls 110h and 110i inside. Side walls 110a and 110b are parallel to each other, forming side walls in the length direction. Side wall 110c intersects side walls 110a and 110b perpendicularly, forming a side wall in the width direction. The top wall 110d intersects side walls 110a, 110b, and 110c perpendicularly, and the extending plane of the top wall 110d is perpendicular to the extending plane of the side wall 110c. The reinforcing walls 110h and 110i are parallel to and perpendicular to side wall 110c, intersecting with side walls 110a, 110b, and the top wall 110d. The accommodating cylinder 111 is formed by side walls 111a, 111b, 111c and reinforcing wall 110i, and an opening is formed in the top wall 110d to communicate with the interior of the main cover 110. The side walls 111a and 111b are parallel to each other and parallel to the side wall 110a, and intersect the side wall 111c perpendicularly. A pair of V-shaped support grooves 113 are provided at approximately the middle of the length direction of the side walls 111a and 111b. The side walls 111a and 111b are provided with a plurality of square guide openings 114 of the same shape and size on both sides of the support grooves 113. To support and fix the elongated medical device 30, the support wall 112 is divided into a lower-level portion 112a and a higher-level portion 112c along its length, and an arc-shaped transition portion 112b connecting the lower-level portion 112a and the higher-level portion 112c. The transition portion 112b is located directly in front of the extension of the line connecting the support groove 113. Directly below the plurality of guide openings 114, at the junction of the side walls 111a and 111b with the side wall 110a and the bottom 112a of the support wall 112, a long strip-shaped second positioning opening 119 with the same width as the guide opening 114 is provided. One end of the main cover 110 is provided with two guide receiving portions 115, which are formed by recesses at the intersections of the side wall 110c with the side walls 110a and 110b. When the main cover 110 is installed on the drive device 20, the guide receiving portion 115 can be well matched with the guide protrusion 203 of the drive device 20. A pair of cylindrical first mounting posts 116 are provided at the ends of the two guide receiving portions 115 away from the support wall 112. The first mounting posts 116 match the first mounting holes 103 of the bottom cover 100. When the main cover 110 is installed on the bottom cover 110, the main cover 110 can rotate to open and close around the pivot axis formed by connecting the two first mounting holes 103 or the first mounting posts 116.A guide strip 118 is longitudinally arranged inside the side wall 110a, located between the reinforcing walls 110h and 110i. When the antibacterial cover 10 is installed onto the driving device 20, the shape, size, and position of the guide strip 118 can well cooperate with the guide groove 205 on the driving device 20, ensuring that the main cover 110 can well cover the driving device 20. A through groove is formed at the other end of the main cover 110 opposite the side wall 110c, near the top wall 110d, to facilitate the extension of the mounting bracket 200 from the main cover 110. A second mounting hole 117 is provided on both the side wall 111a and the side wall 110f near the top wall 110d.

[0038] like Figure 8 , Figure 9 As shown, the flip cover 120 is approximately "﹁" shaped and is formed by side walls 120a, 120b, 120c, and 120d. Side walls 120a and 120b are parallel and intersect side walls 120c and 120d perpendicularly. Side wall 120c also intersects side wall 120d perpendicularly, and is located at one end of side walls 120a and 120b. An arc-shaped lug is formed at the opposite end of each of the side walls 120a and 120b. A cylindrical second mounting post 121 is symmetrically provided on the inner wall of each of the two arc-shaped lugs. The two second mounting posts 121 can be used to mount the flip cover 120 into the two second mounting holes 117 of the main cover 110, thereby enabling the flip cover 120 to pivotally open or close. The sidewall 120b is provided with two rectangular abutment portions 122 and stabilizing portions 123 at intervals along its length. The abutment portion 122 has a semi-circular arc-shaped notch in part of the sidewall 120b. The stabilizing portion 123 has a closed bottom wall inside, dividing the stabilizing portion 123 into two non-communicating upper and lower parts. A magnetic component is installed in the lower part of the stabilizing portion 123. When the flip cover 120 is in the closed state, the side walls 120a, 120b and the abutment portion 122 can effectively seal the main cover 110, while ensuring that the support groove 113 of the main cover 110 can support the slender medical devices 30 of various sizes. In particular, when the slender medical device 30 is a catheter, the semi-circular notch of the abutment portion 122 and the side wall 120b can well accommodate the tail of the catheter. The stabilizing portion 123 uses its bottom magnetic element to adhere to the bottom 112a of the support wall 112 of the main cover 110. The sides of the abutment portion 122 and the stabilizing portion 123 opposite to the side wall 120a can fit well with the side wall 111b of the receiving cylinder 111.

[0039] like Figure 10 , Figure 11As shown, the rubbing cover 130 has a certain inclination on one side wall in the width direction for easy production and installation. On the other side wall, a silicone buffer pad 135 with the same shape as the side wall is fixedly installed by bonding or ultrasonic welding. When clamping the slender medical device 30, the silicone buffer pad 135 can protect the slender medical device 30 from being crushed. Two elongated second positioning protrusions 131 are provided laterally on both sides of the rubbing cover 130 near both ends along its length. Elongated second positioning grooves 132 are provided longitudinally on both sides of the second positioning protrusions 131 along its length to facilitate elastic deformation of the second positioning protrusions 131. The shape and size of the second positioning protrusions 131 can be well matched with the guide opening 114 and the second positioning opening 119 on the receiving cylinder 111. Two annular third positioning grooves 133 are provided inside the top wall of the rubbing cover 130. Magnetic components can be placed in the annular third positioning grooves 133. The inner wall of the side wall on which the buffer silicone pad 135 is fixedly installed is filled with grooves 134 parallel to the top wall of the rubbing cover 130. When the rubbing cover 134 is installed on the rubbing device 201, the shape, size and position of the second positioning protrusion 131 and the second positioning groove 132 can match the groove 206 on the rubbing device 201, the shape, size and position of the annular third positioning groove 133 can match the positioning post 208 on the rubbing device 201, and the engraving 134 can cooperate with the engraving 207 on the rubbing device 201, ensuring that the rubbing cover 130 can be stably installed on the rubbing device 201 of the driving device 20.

[0040] In use, firstly, a pair of the rubbing covers 130 are inserted into the receiving cylinder 111 through the bottom of the main cover 110. The second positioning protrusion 131 is engaged in the second positioning opening 119 of the receiving cylinder 111, supporting the pair of rubbing covers and allowing them to reciprocate in the receiving cylinder 111 along the first direction. Then, the main cover 110 is installed on the driving device 20 under the guidance of the guide receiving part 115 and the guide strip 118, which are respectively engaged with the corresponding guide protrusion 203 and guide groove 205. The second positioning protrusion 131 of the two rubbing covers 130 disengages from the second positioning opening 119 and slides into the guide opening 114 of the receiving cylinder 111 and is respectively fitted onto the corresponding rubbing device 201. The positioning post 208 is positioned in the corresponding third positioning groove 133, and the groove 207 and groove 134 cooperate with each other for positioning. After installation, the tops of the pair of rubbing covers 130 and the flip cover 120d have a gap that allows the two rubbing devices 201 to drive the pair of rubbing covers 130 to reciprocate along a second direction perpendicular to the first direction. When the pair of rubbing covers 130 move along the first or second direction, the second positioning protrusion 131 also moves along the first or second direction in the guide opening 114. When the antibacterial cover needs to be replaced during interventional surgery or removed after interventional surgery, simply rotate the flip cover 120 upward to remove the slender medical device 30, then rotate the main cover upward. At this time, the multiple guide openings 114 exert an upward force on the multiple positioning protrusions 131 of the pair of rubbing covers 130, separating the pair of rubbing covers 130 from the pair of rubbing devices 201. Finally, rotate the bottom cover 100 downward to open it, and the antibacterial cover 10 can be easily and quickly removed.

[0041] like Figure 2 As shown, the present invention provides a drive assembly for an interventional surgical robot, which includes a drive device 20 (see figure). Figure 3 , Figure 4 ) and antibacterial cover 10 (see Figure 1 For details, please refer to the description above; further details will not be repeated here.

[0042] The embodiments described above illustrate only one implementation of the invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept, and these all fall within the scope of protection of the invention. Therefore, the scope of protection of the invention patent should be determined by the appended claims.

Claims

1. A sterile cover for a drive device of an interventional surgical robot, comprising a shell-shaped main cover and a rubbing cover for clamping elongated medical instruments, characterized in that: The rubbing cover is movably mounted on the main cover and can move synchronously with the main cover. The main cover has an opening corresponding to the rubbing cover. The opening includes a pre-installation position and an installation position. The rubbing cover is installed from the pre-installation position into the installation position. The pre-installation position includes a positioning opening on the side wall of the main cover near the opening. The installation position includes a guide opening on the side wall of the main cover near the opening. The rubbing cover has positioning protrusions that can respectively engage with the positioning opening and the guide opening.

2. The antibacterial cover for an interventional surgical robot drive device as described in claim 1, characterized in that: The rubbing cover is movably mounted at the mounting position.

3. The antibacterial cover for an interventional surgical robot drive device as described in claim 1, characterized in that: The main cover is recessed near the accommodating opening to form a support wall. The support wall forms a high-level part, a low-level part, and a transition part connecting the high-level part and the low-level part along the extension direction of the main cover.

4. The antibacterial cover for an interventional surgical robot drive device as described in claim 3, characterized in that: The antibacterial cover for the interventional surgical robot drive device also includes a flip-top cover that closes the accommodating opening.

5. The antibacterial cover for an interventional surgical robot drive device as described in claim 4, characterized in that: The antibacterial cover for the interventional surgical robot drive device also includes a shell-shaped bottom cover, which is installed on the main cover to close the main cover.

6. The antibacterial cover for an interventional surgical robot drive device as described in claim 5, characterized in that: The flip cover and the bottom cover are rotatably mounted on the main cover, and the rotation direction of the flip cover is opposite to that of the bottom cover.

7. The antibacterial cover for an interventional surgical robot drive device as described in claim 4, characterized in that: A notch is formed on the side wall of the flip cover corresponding to the transition portion, and an abutment portion is provided for restricting slender medical devices.

8. The antibacterial cover for an interventional surgical robot drive device as described in claim 7, characterized in that: The side wall of the flip cover is also provided with a certain stabilizing part located in the lower part, and a magnetic component is installed on the stabilizing part.

9. The antibacterial cover for an interventional surgical robot drive device as described in claim 5, characterized in that: The flip cover is installed near one end of the main cover, and the main cover has a through groove at the other opposite end.

10. A drive assembly for an interventional surgical robot, comprising: The drive unit is installed on the end of the interventional surgical robot; A sterile cover fitted onto the drive device, wherein the sterile cover is a sterile cover for an interventional surgical robot drive device as described in any one of claims 1 to 9.

11. The interventional surgical robot drive assembly as described in claim 10, characterized in that: The main cover has an opening corresponding to the rubbing cover. The opening includes a pre-installation position and an installation position. The rubbing cover is installed from the pre-installation position into the installation position. The driving device also includes a rubbing device, which abuts against the rubbing cover to allow it to be installed from the pre-installation position into the installation position.

12. The interventional surgical robot drive assembly as described in claim 11, characterized in that: The driving device has a guide protrusion at one end and a guide groove near the other opposite end. The main cover has a guide receiving part at one end corresponding to the guide protrusion and a guide strip near the other opposite end corresponding to the guide groove. The main cover is fitted onto the driving device under the guidance and cooperation of the guide receiving part and the guide strip with the corresponding guide protrusion and guide groove, respectively.

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