An interventional catheter room surgical consumables management system

Abstract

The present invention discloses an interventional catheter room surgical consumables management system, wherein the side wall of the consumables storage cabinet has a delivery port; a serpentine guide rail is fixed on the upper part of the consumables storage cabinet; a plurality of pulleys are slidably connected on the serpentine guide rail, and adjacent pulleys are connected by a connecting rod; each pulley is connected with a clip, and the clip is used to clamp the surgical consumables; a pushing mechanism is installed on the upper part of the consumables storage cabinet, and is used to cooperate with the pulley, and provide a pushing force to make the pulley circulate on the serpentine guide rail; a delivery mechanism is installed on the upper part of the consumables storage cabinet, and corresponds to the delivery port; the delivery mechanism is used to open or release the clip of the surgical consumables to be taken, and clamp the surgical consumables and deliver them out of the delivery port. The present invention automatically stores, records, searches, identifies and delivers the consumables used in the operation, especially catheters, guidewires, stents, etc. of different models, and delivers the consumables needed to the ongoing interventional operating table in a timely manner.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive vascular interventional surgery, and to the management and delivery technology of surgical and robotic consumables in interventional surgery. More specifically, it is a method of automatically completing the storage, extraction, and delivery of interventional surgical consumables through a robot. Background Art

[0002] Minimally invasive cardiovascular interventional therapy is the main treatment for cardiovascular and cerebrovascular diseases. Compared with traditional surgical operations, it has obvious advantages such as small incisions and short postoperative recovery time. Cardiovascular interventional surgery is a process in which doctors manually insert catheters, guide wires, stents and other devices into the patient's body to complete the treatment.

[0003] The number of patients who undergo interventional surgery is increasing year by year. The increase in the number of surgeries for patients also increases the pressure on medical staff in hospitals, which is more obvious in tertiary hospitals. There are many types of consumables for interventional surgery. Surgical consumables such as guidewires and catheters are relatively fragile and need to be carefully kept. During the operation, the doctor needs to understand the number and type of existing surgical consumables according to different conditions, and the nurse needs to deliver the consumables to the doctor during the operation so that the operation can be completed normally. For interventional surgery, delivering surgical consumables during the operation is an essential step.

[0004] There are several problems with the management and delivery of consumables during interventional surgery: (1) Management can only be done manually; (2) Delivery of consumables during surgery can only be done manually; (3) There are many types of consumables, which are prone to errors; (4) During the consumable delivery process, the surgery needs to be postponed, affecting efficiency.

[0005] Therefore, how to provide an interventional catheter room surgical consumables management system is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0006] In view of this, the present invention provides an interventional catheter room surgical consumables management system, which aims to solve the problems that the existing interventional operating room consumables management and delivery work can only be completed manually. With the increase in the number of surgeries, the workload of manual management and delivery of consumables is large, the types of consumables are various, the manual search time is long and prone to errors, and the delivery of surgical consumables during the operation requires the operation to be suspended, affecting the efficiency of the operation.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] An interventional catheter room surgical consumables management system includes a consumables management module; the consumables management module includes:

[0009] Consumables storage cabinet; the side wall of the consumables storage cabinet has a shipping port;

[0010] A serpentine guide rail; the serpentine guide rail is fixed on the upper part of the consumable storage cabinet; a plurality of pulleys are slidably connected to the serpentine guide rail, and adjacent pulleys are connected by connecting rods; each pulley is connected to a clamp, and the clamp is used to clamp surgical consumables;

[0011] Pushing mechanism; the pushing mechanism is installed above the inside of the consumable storage cabinet and is used to cooperate with the pulley and provide a pushing force to make the pulley circulate on the serpentine guide rail;

[0012] Shipping mechanism; the shipping mechanism is installed above the inside of the consumables storage cabinet and corresponds to the shipping port; the shipping mechanism is used to open or release the clamps of the surgical consumables to be taken, and clamp the surgical consumables and deliver them out of the shipping port.

[0013] Through the above technical scheme, the present invention is used in interventional surgery to automatically store, record, search, identify and deliver consumables used in the surgery, especially catheters, guide wires, stents, etc. of different models, and deliver the required surgical consumables to the ongoing interventional operating table in a timely manner to assist doctors in performing interventional surgery.

[0014] Preferably, in the above-mentioned interventional catheter room surgical consumables management system, the delivery port is located on the front of the consumables storage cabinet; the front of the consumables storage cabinet is also equipped with a glass window and a first touch screen. The first touch screen is used for human-computer interaction; the glass window is used to observe the situation in the cabinet; the delivery port is used to take out the selected surgical consumables.

[0015] Preferably, in the above-mentioned interventional catheter room surgical consumables management system, the pushing mechanism includes a first motor bracket fixed to the top wall of the consumables storage cabinet; the pushing motor is fixed on the first motor bracket, and the power output shaft of the pushing motor is fixedly mounted with a gear, and the gear has a plurality of divergent long tooth surfaces, and the long tooth surfaces are inserted into the gaps between adjacent pulleys. The gear is provided with a longer tooth surface, which can cooperate with the plane on the pulley, like the relationship between a gear and a rack. In this way, when the pushing motor rotates, it can drive the pulley to move, and because the entire pulley is connected together, it will move at the same time.

[0016] Preferably, in the above-mentioned interventional catheter room surgical consumables management system, 200-300 pulleys are placed in the serpentine guide rail, and they are rigidly connected by connecting rods, like carriages in a long train; each pulley is provided with a clip to place surgical consumables, and each group has its own number to facilitate query and record.

[0017] Preferably, in the above-mentioned interventional catheter room surgical consumables management system, the number of the pushing mechanisms is multiple sets, and they are arranged at intervals on the outside of the serpentine guide rail. A further preferred option is that two sets of pushing mechanisms with the same structure are provided in the system to increase the pushing force and ensure that the overall pulley system can move smoothly. The pushing motor can push forward when it rotates forward and push backward when it rotates reversely. The host can obtain the best pushing method through calculation, and push the required surgical consumables to the shipping mechanism to improve the efficiency of user pickup.

[0018] Preferably, in the above-mentioned interventional catheter room surgical consumables management system, the delivery mechanism includes two delivery linear guide rails fixed to the inner top wall of the consumables storage cabinet, the length directions of the two delivery linear guide rails are both directed to the delivery port, and the two delivery linear guide rails are both slidably connected with delivery sliders; the two delivery sliders are fixedly connected with a double-layer connecting plate; the delivery screw motor is fixed to the inner top wall of the consumables storage cabinet through the second motor bracket, and the screw at the shaft end of the delivery screw motor is threadedly connected with the threaded hole on the side of the connecting plate; the first electric gripper and the second electric gripper are respectively installed on the upper and lower plates of the connecting plate, the first electric gripper is used to realize the opening of the clamp, and the second electric gripper is used to realize the clamping of the surgical consumables. The first electric gripper is used to cooperate with the clamp, and it can complete the clamping and loosening of the clamp, thereby realizing the fixing and release of the surgical consumables. The second electric gripper is used to clamp the released surgical consumables. The delivery screw motor can realize the overall position movement on the delivery linear guide rail. The whole process of taking surgical consumables is as follows: First, the user selects on the first touch screen, or the robot communicates with the user to inform the system of the number of the surgical consumables to be found. Then the push mechanism moves the surgical consumables with the corresponding number to the shipping mechanism, which takes the surgical consumables and then opens the shipping port to notify the user or robot to extract them. The placement process of surgical consumables is the opposite of the removal process. During the whole process, the system will record the information of surgical consumables in the host and update it to the first touch screen in real time.

[0019] Preferably, in the above-mentioned consumables management system for interventional catheter room surgery, it also includes a consumables delivery module that cooperates with the shipping mechanism; the consumables delivery module includes a base walking part, a lifting part and an execution part that are sequentially connected from bottom to top. It mainly completes the extraction, delivery, unpacking and other tasks of consumables.

[0020] Preferably, in the above-mentioned interventional catheter room surgical consumables management system, the base walking part includes a base plate and a support plate fixed on the top of the base plate by four columns; the four corners of the base plate are equipped with automatic walking wheel assemblies; the automatic walking wheel assembly includes a first servo motor fixed on the top surface of the base plate, the power shaft of the first servo motor passes through the corresponding hole opened on the base plate, and is connected to the right angle plate through a bearing, the right angle plate is fixed with a second servo motor, and the power shaft of the second servo motor passes through the right angle plate and is connected to a wheel; the base plate is equipped with a host for receiving information, storing information, processing information and sending instructions, and a lithium battery; the base plate and the support plate are respectively equipped with a first driver and a second driver for driving each motor, and a Bluetooth module and a WiFi module are installed in the host, which can actually transmit wirelessly. The first servo motor can control the steering of the wheel, and the second servo motor can control the forward and backward movement of the wheel. The cooperation of the two, plus the movement of the four sets of wheels together, can realize the full-range movement of the entire vehicle body.

[0021] Preferably, in the above-mentioned interventional catheter room surgical consumables management system, the lifting part includes two guide rail brackets vertically and symmetrically fixed on both sides of the top surface of the support plate; lifting linear guide rails are fixed on the corresponding surfaces of the two guide rail brackets; the two side walls of the U-shaped lifting frame are respectively slidably connected with the two lifting linear guide rails through lifting sliders, and the two diagonal corners of the bottom end of the U-shaped lifting frame have threaded holes, and the two threaded holes are respectively threadedly connected with the screws of the first lifting screw motor and the second lifting screw motor on the top surface of the U-shaped lifting frame; the actuator is installed on the top surface of the U-shaped lifting frame. The first lifting screw motor and the second lifting screw motor can cooperate to drive the lifting operation of the U-shaped lifting frame.

[0022] Preferably, in the above-mentioned interventional catheter room surgical consumables management system, the execution unit includes a head assembly, the head assembly includes a cylinder rotatably connected to the groove on the top surface of the U-shaped lifting frame through a bearing, and a turntable is fixed on the top of the cylinder; a third motor bracket is fixed to the top surface of the U-shaped lifting frame, a third servo motor is fixed to the third motor bracket, and the power shaft of the third servo motor is fixedly connected to a driving gear, and the driving gear is meshed with a driven gear fixed on the cylinder; a fourth motor bracket is fixed to the top surface of the turntable, a fourth servo motor is fixed to the fourth motor bracket, and a camera bracket is fixed to the power shaft of the fourth servo motor, and a second touch screen is fixed to the camera bracket, and two cameras located on both sides of the second touch screen are installed on both sides of the camera bracket. The third servo motor can control the entire head assembly to rotate in the horizontal direction, and the fourth servo motor can control the head assembly to move in the vertical direction, so that the entire head assembly can move flexibly, so that the robot can observe objects at various angles. The second touch screen is used for human-computer interaction, and people can perform some operations on the second touch screen, and the system information will also be displayed on the second touch screen. The two sets of cameras are the eyes of the robot, which are used to observe the surrounding environment, detect distance, etc. The information obtained will be sent to the host for analysis and processing.

[0023] Preferably, in the above-mentioned interventional catheter room surgical consumables management system, the execution part also includes two arm components symmetrically arranged on both sides of the head component; the arm component includes an arm linear guide fixed on the top surface of the U-shaped lifting frame, the arm linear guide is slidably connected with an arm slider, the arm slider is fixed with a connecting piece, and the connecting piece is fixed with a rear arm; the front end of the rear arm is rotatably connected with a middle arm connecting piece, and a fifth servo motor is installed on the rear arm, and the power shaft of the fifth servo motor is fixed to the middle arm connecting piece; the middle arm connecting piece is fixed to the middle arm, and the front end of the middle arm is rotatably connected with a forearm, and a sixth servo motor is installed on the middle arm, and the power shaft of the sixth servo motor is fixed to the forearm; the front end of the forearm is fixed with a seventh servo motor, and the power shaft of the seventh servo motor is fixed with a third electric gripper; an arm lead screw motor is installed on the U-shaped lifting frame, and the shaft end lead screw of the arm lead screw motor is threadedly connected to the threaded hole on the side of the connecting piece. The arm lead screw motor can realize the extension and retraction of the arm, the fifth and sixth servo motors can realize the rotation of the arm, just like the joints of the human hand, and the seventh servo motor can realize the rotation of the third electric gripper. By controlling various motors, the two arms can cooperate to complete the grasping of surgical consumables, opening of packaging paper and other operations.

[0024] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a management system for surgical consumables in an interventional catheterization room, which has the following beneficial effects:

[0025] The interventional surgical consumables management and delivery robot provided by the present invention realizes automatic management and delivery of surgical consumables by the robot, automates the entire process, saves human resources, and has a compact overall device structure and a small size, which is very suitable for the environment in the catheter room.

[0026] The interventional surgery consumables management and delivery robot provided by the present invention has a fast search speed for surgical consumables and a high search accuracy, can work continuously for 24 hours, and improves the efficiency of the surgery.

[0027] The interventional surgical consumables management and delivery robot provided by the present invention can realize automatic movement and positioning, automatically unpack surgical consumables, and perform all manual operations. It can also better adapt to the environment of different catheter rooms through machine learning, and effectively ensure safety during surgery.

[0028] The interventional surgical consumables management and delivery robot provided by the present invention has a simple overall device structure, adopts a modular design, has low cost, is easy to use, and is simple to operate.

[0029] The interventional surgery consumables management and delivery robot provided by the present invention can record the information of surgical consumables, greatly improve the management efficiency of surgical consumables, and realize the electronic management of surgical consumables in the catheterization room. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0031] Figure 1 The accompanying drawing is an overall schematic diagram of the interventional catheter room surgical consumables management system provided by the present invention;

[0032] Figure 2 The accompanying drawing is an overall schematic diagram of the consumables management module provided by the present invention;

[0033] Figure 3 The accompanying drawing is an overall schematic diagram of the interior of the consumables management module provided by the present invention including surgical consumables;

[0034] Figure 4 The accompanying drawing is an overall schematic diagram of the interior of the consumables management module provided by the present invention without surgical consumables;

[0035] Figure 5 The accompanying drawing is an exploded schematic diagram of the shipping mechanism of the consumables management module provided by the present invention;

[0036] Figure 6 The accompanying drawing is a schematic diagram of the overall structure of the push mechanism of the consumables management module provided by the present invention;

[0037] Figure 7 The accompanying drawing is a schematic diagram of the side cross-sectional structure of the pushing mechanism of the consumables management module provided by the present invention;

[0038] Figure 8 The accompanying drawing is a schematic diagram of the upper cross-sectional structure of the pushing mechanism of the consumables management module provided by the present invention;

[0039] Fig. 9 The accompanying drawing is a front overall schematic diagram of the consumable delivery module provided by the present invention;

[0040] Fig.10 The accompanying drawing is a schematic overall back view of the consumable delivery module provided by the present invention;

[0041] Fig.11 The accompanying drawing is an overall schematic diagram of the base walking part and the lifting part of the consumable delivery module provided by the present invention;

[0042] Fig.12 The accompanying drawing is an exploded schematic diagram of the base walking part of the consumable delivery module provided by the present invention;

[0043] Fig.13 The accompanying drawing is an overall schematic diagram of the head component and the arm component of the consumable delivery module provided by the present invention;

[0044] Fig.14 The accompanying drawing is an exploded schematic diagram of the head component and the arm component of the consumable delivery module provided by the present invention.

[0045] in:

[0046] 100-consumables management module; 101-glass window; 102-first touch screen; 103-shipping port; 104-consumables storage cabinet; 105-surgical consumables; 106-snake rail; 107-pushing mechanism; 108-shipping mechanism; 109-first electric gripper; 110-shipping linear guide rail; 111-second motor bracket; 112-shipping lead screw motor; 113-connecting plate; 114-second electric gripper; 115-clip; 116-gear; 117-pushing motor; 118-first motor bracket; 119-pulley; 120-connecting rod; 121-shipping slider;

[0047] 200-consumables delivery module; 201-guide rail bracket; 202-lifting linear guide rail; 203-support plate; 204-first driver; 205-lithium battery; 206-host; 207-column; 208-wheel; 209-first servo motor; 210-second servo motor; 211-right angle plate; 212-bottom plate; 213-first lifting screw motor; 214-second driver; 215-second lifting screw motor; 216-turntable; 217-camera; 218-camera bracket; 219-fourth motor bracket; 220 -sixth servo motor; 221-second touch screen; 222-fifth servo motor; 223-arm lead screw motor; 224-connecting piece; 225-rear arm; 226-arm linear guide; 227-seventh servo motor; 228-middle arm; 229-middle arm connecting piece; 230-arm slider; 231-forearm; 232-third electric gripper; 233-lifting slider; 234-third servo motor; 235-third motor bracket; 236-driving gear; 237-U-shaped lifting frame; 238-fourth servo motor; 239-driven gear. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] See attached Figure 1 To Attachment Fig.14 The embodiment of the present invention discloses an interventional catheter room surgical consumables management system, including a consumables management module 100; the consumables management module 100 includes:

[0050] Consumables storage cabinet 104; the side wall of the consumables storage cabinet 104 has a delivery port 103;

[0051] The serpentine guide rail 106 is fixed on the upper part of the consumable storage cabinet 104; a plurality of pulleys 119 are slidably connected to the serpentine guide rail 106, and adjacent pulleys 119 are connected by connecting rods 120; each pulley 119 is connected to a clamp 115, and the clamp 115 is used to clamp the surgical consumables 105;

[0052] Pushing mechanism 107; the pushing mechanism 107 is installed above the inside of the consumable storage cabinet 104, and is used to cooperate with the pulley 119 and provide a pushing force to make the pulley 119 circulate on the serpentine guide rail 106;

[0053] Shipping mechanism 108; the shipping mechanism 108 is installed above the inside of the consumables storage cabinet 104 and corresponds to the shipping port 103; the shipping mechanism 108 is used to open or release the clamp 115 of the surgical consumables 105 to be taken, and clamp the surgical consumables 105 and deliver it out of the shipping port 103.

[0054] In order to further optimize the above technical solution, the delivery port 103 is located at the front of the consumable storage cabinet 104 ; the front of the consumable storage cabinet 104 is also equipped with a glass window 101 and a first touch screen 102 .

[0055] In order to further optimize the above technical solution, the pushing mechanism 107 includes a first motor bracket 118 fixed to the inner top wall of the consumable storage cabinet 104; the pushing motor 117 is fixed on the first motor bracket 118, and the power output shaft of the pushing motor 117 is fixedly installed with a gear 116, and the gear 116 has a plurality of divergent long tooth surfaces, and the long tooth surfaces are inserted into the gaps between adjacent pulleys 119.

[0056] In order to further optimize the above technical solution, there are multiple sets of pushing mechanisms 107 , which are arranged at intervals on the outside of the serpentine guide rail 106 .

[0057] In order to further optimize the above technical solution, the shipping mechanism 108 includes two shipping linear guides 110 fixed on the inner top wall of the consumable storage cabinet 104, and the length directions of the two shipping linear guides 110 both point to the shipping port 103, and the two shipping linear guides 110 are slidably connected with shipping sliders 121; the two shipping sliders 121 are fixedly connected with a double-layer connecting plate 113; the shipping screw motor 112 is fixed to the inner top wall of the consumable storage cabinet 104 through the second motor bracket 111, and the screw at the shaft end of the shipping screw motor 112 is threadedly connected to the threaded hole on the side of the connecting plate 113; the first electric gripper 109 and the second electric gripper 114 are respectively installed on the upper and lower plates of the connecting plate 113, the first electric gripper 109 is used to realize the opening of the clamp 115, and the second electric gripper 114 is used to realize the clamping of the surgical consumables 105.

[0058] In order to further optimize the above technical solution, it also includes a consumable delivery module 200 that cooperates with the shipping mechanism 108; the consumable delivery module 200 includes a base walking part, a lifting part and an execution part that are sequentially connected from bottom to top.

[0059] In order to further optimize the above technical solution, the base walking part includes a bottom plate 212, and a support plate 203 fixed on the top of the bottom plate 212 by four columns 207; automatic walking wheel assemblies are installed at the four corners of the bottom plate 212; the automatic walking wheel assembly includes a first servo motor 209 fixed on the top surface of the bottom plate 212, the power shaft of the first servo motor 209 passes through the corresponding hole opened on the bottom plate 212, and is connected to the right angle plate 211 through a bearing, a second servo motor 210 is fixed on the right angle plate 211, and the power shaft of the second servo motor 210 passes through the right angle plate 211 and is connected to the wheel 208; a host 206 for receiving information, storing information, processing information and sending instructions, and a lithium battery 205 are installed on the bottom plate 212; a first driver 204 and a second driver 214 for driving each motor are respectively installed on the bottom plate 212 and the support plate 203.

[0060] In order to further optimize the above technical solution, the lifting part includes two guide rail brackets 201 vertically symmetrically fixed on both sides of the top surface of the support plate 203; lifting linear guide rails 202 are fixed on the corresponding surfaces of the two guide rail brackets 201; the two side walls of the U-shaped lifting frame 237 are respectively slidably connected with the two lifting linear guide rails 202 through the lifting sliders 233, and the two diagonals at the bottom end of the U-shaped lifting frame 237 have threaded holes, and the two threaded holes are respectively connected with the screw threads of the first lifting screw motor 213 and the second lifting screw motor 215 on the top surface of the U-shaped lifting frame 237; the actuator is installed on the top surface of the U-shaped lifting frame 237.

[0061] In order to further optimize the above technical solution, the execution part includes a head assembly, which includes a cylinder rotatably connected to the groove on the top surface of the U-shaped lifting frame 237 through a bearing, and a turntable 216 is fixed to the top of the cylinder; a third motor bracket 235 is fixed to the top surface of the U-shaped lifting frame 237, and a third servo motor 234 is fixed on the third motor bracket 235. The power shaft of the third servo motor 234 is fixedly connected to a driving gear 236, and the driving gear 236 is meshed with a driven gear 239 fixedly sleeved on the cylinder; a fourth motor bracket 219 is fixed to the top surface of the turntable 216, and a fourth servo motor 238 is fixed to the fourth motor bracket 219. The power shaft of the fourth servo motor 238 is fixedly connected to a camera bracket 218, and a second touch screen 221 is fixed on the camera bracket 218. Two cameras 217 located on both sides of the second touch screen 221 are installed on both sides of the camera bracket 218.

[0062] In order to further optimize the above technical solution, the execution part also includes two arm assemblies symmetrically arranged on both sides of the head assembly; the arm assembly includes an arm linear guide rail 226 fixed on the top surface of the U-shaped lifting frame 237, and an arm slider 230 is slidably connected to the arm linear guide rail 226, and a connecting piece 224 is fixed on the arm slider 230, and a rear arm 225 is fixed on the connecting piece 224; the front end of the rear arm 225 is rotatably connected to the middle arm connecting piece 229, and the rear arm 225 is installed with a fifth servo motor 222, and the power shaft of the fifth servo motor 222 and the middle arm connecting piece The connecting piece 229 is fixed; the middle arm connecting piece 229 and the middle arm 228 are fixed, the front end of the middle arm 228 is rotatably connected to the forearm 231, the sixth servo motor 220 is installed on the middle arm 228, and the power shaft of the sixth servo motor 220 and the forearm 231 are fixed; the front end of the forearm 231 is fixed with the seventh servo motor 227, and the power shaft of the seventh servo motor 227 is fixed with the third electric gripper 232; the U-shaped lifting frame 237 is installed with the arm lead screw motor 223, and the shaft end lead screw of the arm lead screw motor 223 is threadedly connected with the threaded hole on the side of the connecting piece 224.

[0063] The control method and control principle of this embodiment are:

[0064] The consumables management module 100 is used to manage surgical consumables 105, wherein the first touch screen 102 receives and feeds back information, and transmits it to the host 206 for processing, and the host 206 controls the movement of various parts of the system. The pushing mechanism 107 is used to control the movement of the surgical consumables 105 on the serpentine guide rail 106 to find the designated surgical consumables 105. It includes two sets of pushing motors 117, pulleys 119, etc. The shipping mechanism 108 is used to deliver the selected surgical consumables 105 and receive the replenishment of consumables. There are 200-300 groups of clips 115 in the consumables management module 100, and each clip 115 can clamp a surgical consumable 105. The system will number each clip 115 and record the information of each surgical consumable 105 in detail so that it corresponds one to one with the number. When it is necessary to search, the system can search and quickly find the number of the required surgical consumables 105, and move the required surgical consumables 105 to the shipping agency 108, which will take them down and deliver them to the user, and at the same time update the usage information of the surgical consumables 105.

[0065] The consumables delivery module 200 is used to deliver surgical consumables 105 to doctors for interventional surgery. Among them, the base walking part and the lifting part are mainly used to realize the movement and lifting of the robot. The base walking part controls the movement of the entire robot, including four sets of wheel devices controlled by motors. The lifting part can raise or lower the height of the system head component and arm component. The head component and the arm component are mainly used to complete system identification and arm control. The head component is the observation and output end of the system. Two cameras 217 are provided for observing the external environment. A second touch screen 221 is provided for providing information feedback to the user and receiving the user's instructions, which is the user's control end. The head component can move in all directions to achieve better observation of the environment. The arm component is used to complete the grabbing of items. The arm component can be extended and retracted forward and backward, and the arm is unfolded when it is necessary to grab. After the grabbing is completed, the arm is retracted. Through the arm component, the grabbing of surgical consumables 105 and the opening of the package can be completed.

[0066] The consumables management module 100 and the consumables delivery module 200 can communicate wirelessly via Bluetooth and thus can work well together.

[0067] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0068] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An interventional catheter room surgical consumables management system, characterized in that: The consumables management module (100) comprises: A consumables storage cabinet (104); a side wall of the consumables storage cabinet (104) having a delivery port (103); A serpentine guide rail (106); the serpentine guide rail (106) is fixed to the upper part of the consumable storage cabinet (104); a plurality of pulleys (119) are slidably connected to the serpentine guide rail (106), and adjacent pulleys (119) are connected via connecting rods (120); each pulley (119) is connected to a clamp (115), and the clamp (115) is used to clamp surgical consumables (105); A pushing mechanism (107); the pushing mechanism (107) is installed above the inside of the consumable storage cabinet (104) and is used to cooperate with the pulley (119) and provide a pushing force to make the pulley (119) cyclically move on the serpentine guide rail (106); A delivery mechanism (108); the delivery mechanism (108) is installed above the inside of the consumables storage cabinet (104) and corresponds to the delivery port (103); the delivery mechanism (108) is used to open or release the clamp (115) of the surgical consumables (105) to be taken, and to clamp and deliver the surgical consumables (105) out of the delivery port (103); It also includes a consumable material delivery module (200) that cooperates with the delivery mechanism (108); the consumable material delivery module (200) includes a base walking part, a lifting part and an execution part that are sequentially connected from bottom to top; The base walking portion comprises a bottom plate (212), and a support plate (203) fixed above the bottom plate (212) via four uprights (207); automatic walking wheel assemblies are installed at the four corners of the bottom plate (212); the automatic walking wheel assembly comprises a first servo motor (209) fixed to the top surface of the bottom plate (212); a power shaft of the first servo motor (209) passes through a corresponding hole provided on the bottom plate (212) and is connected to a right angle plate (211) via a bearing; the right angle plate ( A second servo motor (210) is fixed on the right-angle plate (211), and a power shaft of the second servo motor (210) passes through the right-angle plate (211) and is connected to a wheel (208); a host (206) for receiving information, storing information, processing information and sending instructions, and a lithium battery (205) are installed on the bottom plate (212); a first driver (204) and a second driver (214) for driving each motor are respectively installed on the bottom plate (212) and the support plate (203); The lifting part comprises two guide rail brackets (201) fixed vertically and symmetrically on both sides of the top surface of the support plate (203); lifting linear guide rails (202) are fixed on the corresponding surfaces of the two guide rail brackets (201); the two side walls of the U-shaped lifting frame (237) are respectively slidably connected to the two lifting linear guide rails (202) through lifting sliders (233); the two opposite corners of the bottom end of the U-shaped lifting frame (237) are provided with threaded holes, and the two threaded holes are respectively threadedly connected to the lead screws of the first lifting screw motor (213) and the second lifting screw motor (215) on the top surface of the U-shaped lifting frame (237); the execution part is installed on the top surface of the U-shaped lifting frame (237); The execution unit comprises a head assembly, the head assembly comprises a cylinder rotatably connected to a groove on the top surface of the U-shaped lifting frame (237) via a bearing, a turntable (216) being fixed to the top of the cylinder; a third motor bracket (235) being fixed to the top surface of the U-shaped lifting frame (237), a third servo motor (234) being fixed to the third motor bracket (235), a power shaft of the third servo motor (234) being fixedly connected to a driving gear (236), the driving gear (236) being meshed with a driven gear (239) fixedly sleeved on the cylinder; a fourth motor bracket (219) being fixed to the top surface of the turntable (216), a fourth servo motor (238) being fixed to the fourth motor bracket (219), a power shaft of the fourth servo motor (238) being fixedly connected to a camera bracket (218), a second touch screen (221) being fixed to the camera bracket (218), and two cameras (217) located on both sides of the second touch screen (221) being mounted on both sides of the camera bracket (218); The execution unit further comprises two arm assemblies symmetrically arranged on both sides of the head assembly; the arm assembly comprises an arm linear guide rail (226) fixed to the top surface of the U-shaped lifting frame (237); an arm slider (230) is slidably connected to the arm linear guide rail (226); a connecting piece (224) is fixed to the arm slider (230); a rear arm (225) is fixed to the connecting piece (224); the front end of the rear arm (225) is rotatably connected to a middle arm connecting piece (229); a fifth servo motor (222) is installed on the rear arm (225); a power shaft of the fifth servo motor (222) is fixed to the middle arm connecting piece (229); The middle arm connecting member (229) is fixed to the middle arm (228); the front end of the middle arm (228) is rotatably connected to the forearm (231); a sixth servo motor (220) is mounted on the middle arm (228); a power shaft of the sixth servo motor (220) is fixed to the forearm (231); a seventh servo motor (227) is fixed to the front end of the forearm (231); a third electric gripper (232) is fixed to the power shaft of the seventh servo motor (227); an arm lead screw motor (223) is mounted on the U-shaped lifting frame (237); a lead screw at the shaft end of the arm lead screw motor (223) is threadedly connected to a threaded hole on the side of the connecting member (224).

2. The interventional catheter room surgical consumables management system according to claim 1, characterized in that: The delivery port (103) is located on the front of the consumable storage cabinet (104); a glass window (101) and a first touch screen (102) are also installed on the front of the consumable storage cabinet (104).

3. The interventional catheter room surgical consumables management system according to claim 1, characterized in that: The pushing mechanism (107) comprises a first motor bracket (118) fixed to the top wall of the consumable storage cabinet (104); the pushing motor (117) is fixed to the first motor bracket (118), and a gear (116) is fixedly mounted on the power output shaft of the pushing motor (117), wherein the gear (116) has a plurality of divergent long tooth surfaces, and the long tooth surfaces are inserted into the gaps between adjacent pulleys (119).

4. The interventional catheter room surgical consumables management system according to claim 1, characterized in that: The pushing mechanisms (107) are provided in multiple sets and are arranged at intervals on the outside of the serpentine guide rail (106).

5. An interventional catheter room surgical consumables management system according to any one of claims 1 to 4, characterized in that: The delivery mechanism (108) comprises two delivery linear guide rails (110) fixed to the top wall of the consumable storage cabinet (104); the length directions of the two delivery linear guide rails (110) are both directed toward the delivery port (103); the two delivery linear guide rails (110) are both slidably connected with delivery sliders (121); the two delivery sliders (121) are fixedly connected with a double-layer connecting plate (113); the delivery lead screw motor (112) is fixed via a second motor bracket (111) On the inner top wall of the consumable storage cabinet (104), the lead screw at the shaft end of the delivery lead screw motor (112) is threadedly connected to the threaded hole on the side of the connecting plate (113); the first electric gripper (109) and the second electric gripper (114) are respectively mounted on the upper and lower plates of the connecting plate (113); the first electric gripper (109) is used to open the clamp (115), and the second electric gripper (114) is used to clamp the surgical consumable (105).

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