Interventional surgical robot slave drive

Abstract

The application relates to the technical field of interventional robots, and provides an interventional surgery robot slave end driving device which comprises a rack and a first delivery assembly, a second delivery assembly and a supporting assembly arranged on the rack. The directions of driving forces formed by the first delivery assembly and the second delivery assembly form a certain inclination angle relative to the axial direction of an elongated medical instrument. Different actions of the elongated medical instrument are realized by changing the directions and sizes of the driving forces. The driving device does not need to adjust a notch and then take and place the elongated medical instrument, and the elongated medical instrument can be directly taken and placed from the gap between the first delivery assembly and the second delivery assembly. The taking and placing mode is simple, fast and easy to operate, and the efficiency in a surgery process is improved.

Description

Technical Field

[0001] This application relates to the field of interventional surgical robot technology, and in particular to an end-drive device for an interventional surgical robot. Background Technology

[0002] Interventional vascular surgery is a method in which doctors, guided by digital subtraction angiography (DSA) equipment, manipulate interventional instruments within the body's blood vessels to accurately reach the lesion and perform treatment. Common interventional instruments include venous catheters, guidewires, filters, and spring-loaded emboli. Interventional vascular surgery has become an important means of treating cardiovascular diseases, and compared with traditional surgery, it features smaller incisions, faster recovery, and better results.

[0003] In master-slave vascular interventional surgical robots, the movement and rotation of guidewires (or catheters) require a corresponding transmission mechanism. Currently, some transmission mechanisms exist for this purpose, such as the guidewire / catheter control device for interventional surgical robots mentioned in patent US11114918B2. This device requires the openings of the second and first slots to be simultaneously facing upwards, and the axes of the second and first slots to coincide along the delivery direction of the catheter or guidewire, before the guidewire or catheter can be placed or removed. This method is extremely inconvenient, requiring significant time for device adjustments and impacting surgical efficiency. Summary of the Invention

[0004] The main objective of this application is to provide a drive device for an interventional surgical robot that can solve the technical problems of inconvenient guidewire or catheter placement and removal methods in existing devices, which require a lot of time to adjust the device and affect the efficiency of the surgical process.

[0005] This application provides a driven device for an interventional surgical robot, which is installed on the end of the interventional surgical robot to realize the movement of a slender medical device. It includes a frame and a first delivery component, a second delivery component, and a support component disposed on the frame. The direction of the driving force generated by the first delivery component and the second delivery component forms a certain tilt angle with respect to the axial direction of the slender medical device. The slender medical device is clamped between the first delivery component and the second delivery component. The support component is used to provide support force for the slender medical device.

[0006] When the driving forces of the first delivery component and the second delivery component are in the same direction, the driving forces of the first delivery component and the second delivery component cooperate with the support force provided by the support component for the elongated medical device, causing the elongated medical device to translate along its axial direction; when the driving forces of the first delivery component and the second delivery component are in opposite directions but the same magnitude, the driving forces of the first delivery component and the second delivery component cooperate with each other, causing the elongated medical device to rotate around its axis; when the driving forces of the first delivery component and the second delivery component are in opposite directions and the magnitudes are different, the driving forces of the first delivery component and the second delivery component cooperate with the support force provided by the support component for the elongated medical device, causing the elongated medical device to translate along its axial direction while simultaneously rotating around its axis.

[0007] Furthermore, the translation of the elongated medical device is performed in the horizontal direction;

[0008] When the driving forces of the first delivery component and the second delivery component are inclined downward and are of the same magnitude, the elongated medical device translates horizontally along a first translational direction; when the driving forces of the first delivery component and the second delivery component are inclined upward and are of the same magnitude, the elongated medical device translates horizontally along a second translational direction.

[0009] When the driving force of the first delivery component and the driving force of the second delivery component are the same, the driving force of the first delivery component is inclined downward and the driving force of the second delivery component is inclined upward, the elongated medical device rotates in the vertical direction along the first rotation direction; when the driving force of the first delivery component and the driving force of the second delivery component are the same, the driving force of the first delivery component is inclined upward and the driving force of the second delivery component is inclined downward, the elongated medical device rotates in the vertical direction along the second rotation direction.

[0010] When the driving force of the first delivery component is greater than the driving force of the second delivery component, the driving force direction of the first delivery component is inclined downwards, and the driving force direction of the second delivery component is inclined upwards. The elongated medical device translates horizontally along a first translational direction and rotates vertically along a first rotational direction. When the driving force of the first delivery component is greater than the driving force of the second delivery component, the driving force direction of the first delivery component is inclined upwards, and the driving force direction of the second delivery component is inclined downwards. The elongated medical device translates horizontally along a second translational direction and rotates vertically along a second rotational direction. When the driving force of the first delivery component is less than the driving force of the second delivery component, the driving force direction of the first delivery component is inclined upward, and the driving force direction of the second delivery component is inclined downward, the elongated medical device translates horizontally along a first translational direction and rotates vertically along a second rotational direction; when the driving force of the first delivery component is less than the driving force of the second delivery component, the driving force direction of the first delivery component is inclined downward, and the driving force direction of the second delivery component is inclined upward, the elongated medical device translates horizontally along a second translational direction and rotates vertically along a first rotational direction.

[0011] Furthermore, the first delivery assembly includes a first roller assembly and a first belt wound around the first roller assembly, the driving force of the first delivery assembly is generated at the contact point between the first belt and the elongated medical device; the second delivery assembly includes a second roller assembly and a second belt wound around the second roller assembly, the driving force of the second delivery assembly is generated at the contact point between the second belt and the elongated medical device.

[0012] When the first roller group drives the first belt to rotate, the driving force of the first delivery component is decomposed into a first component force in the same direction as the axis of the slender medical device and a second component force perpendicular to the axis of the slender medical device. When the second roller group drives the second belt to rotate, the driving force of the second delivery component is decomposed into a third component force in the same direction as the axis of the slender medical device and a fourth component force perpendicular to the axis of the slender medical device.

[0013] When the driving forces of the first delivery component and the second delivery component are in the same direction, the first component force and the third component force are superimposed to form a first delivery force. The second component force and the fourth component force are superimposed to cancel each other out with the support force provided by the support component for the elongated medical device, resulting in a resultant force of zero. The first delivery force causes the elongated medical device to translate along its axial direction. When the driving forces of the first delivery component and the second delivery component are in opposite directions but of the same magnitude, the first component force and the third component force are superimposed to form a resultant force of zero. The second component force and the fourth component force are superimposed to form a first rotational force, causing the elongated medical device to rotate around its axis. When the driving forces of the first delivery component and the second delivery component are in opposite directions and of different magnitudes, the first component force and the third component force are superimposed to form a second delivery force. The second component force and the fourth component force are superimposed to form a second rotational force, causing the elongated medical device to translate along its axial direction. The second rotational force causes the elongated medical device to rotate around its axis.

[0014] Furthermore, the first roller assembly includes a first roller, a first gear connected to the first roller, a second roller, a second gear connected to the second roller, and a third gear meshing with the first gear and the second gear respectively. The first belt is wound around the first roller and the second roller, and the third gear is connected to a power input end.

[0015] The second roller assembly includes a third roller, a fourth gear connected to the third roller, a fourth roller, a fifth gear connected to the fourth roller, and a sixth gear meshing with the fourth gear and the fifth gear respectively. The second belt is wound around the third roller and the fourth roller, and the sixth gear is connected to a power input end.

[0016] Furthermore, the first delivery assembly also includes a movable frame movably disposed on the frame, with the first roller assembly mounted on the movable frame. The second delivery assembly also includes a fixed frame fixedly disposed on the frame, with the second roller assembly mounted on the fixed frame. By moving the movable frame on the frame, the first roller assembly and the second roller assembly clamp or release the elongated medical device.

[0017] Furthermore, a guide rod is provided on the frame, and a guide hole is formed on the movable frame to cooperate with the guide rod.

[0018] Furthermore, the end-drive device of the interventional surgical robot also includes an air-vacuuming and water-absorbing structure, which is used to remove moisture from the slender medical device.

[0019] Furthermore, the air-suction and water-absorbing structure includes a first support member disposed on the movable frame and a second support member disposed on the fixed frame. The first belt and the second belt are each provided with a first water-absorbing hole, and the first support member and the second support member are each provided with a second water-absorbing hole and an air-suction and water-absorbing channel communicating with the second water-absorbing hole. Under the suction force of the air-suction and water-absorbing channel, the water on the slender medical device is sequentially sucked into the first water-absorbing hole, the second water-absorbing hole and the air-suction and water-absorbing channel and cleaned.

[0020] Furthermore, the support assembly includes a support plate disposed on the frame, through which the elongated medical device passes and is supported by the support plate.

[0021] Furthermore, the support plate includes a lower support member and an upper support member. The lower support member is disposed on the frame, and the upper support member is movably connected to the lower support member to facilitate the placement and removal of the slender medical device.

[0022] Compared to existing technologies, this application provides a drive device for an interventional surgical robot, including a frame and a first delivery component, a second delivery component, and a support component mounted on the frame. The direction of the driving force generated by the first and second delivery components forms a certain tilt angle with respect to the axial direction of the elongated medical device. By changing the direction and magnitude of the driving force, different movements of the elongated medical device can be achieved. The aforementioned drive device does not require adjustment of the slot before picking up or placing the elongated medical device; it can directly pick up or place the elongated medical device from the gap between the first and second delivery components. This picking and placing method is simple, quick, easy to operate, and improves the efficiency of the surgical process. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the end-drive device of the interventional surgical robot in this application;

[0024] Figure 2 This is a partial structural schematic diagram of one embodiment of the end-drive device for the interventional surgical robot of this application;

[0025] Figure 3 This is a partial structural schematic diagram of another embodiment of the end-drive device for the interventional surgical robot of this application;

[0026] Figure 4 Force analysis of the first delivery component under working conditions Figure 1 ( Figure 1 (Cross-sectional view along the AA direction);

[0027] Figure 5Force analysis of the second delivery component under operating conditions Figure 1 ( Figure 1 (Cross-sectional view along the BB direction);

[0028] Figure 6 Force analysis of the first delivery component under working conditions Figure 2 ( Figure 1 (Cross-sectional view along the AA direction);

[0029] Figure 7 Force analysis of the second delivery component under operating conditions Figure 2 ( Figure 1 (Cross-sectional view along the BB direction);

[0030] Figure 8 Force analysis of the first delivery component under working conditions Figure 3 ( Figure 1 (Cross-sectional view along the AA direction);

[0031] Figure 9 Force analysis of the second delivery component under operating conditions Figure 3 ( Figure 1 (Cross-sectional view along the BB direction);

[0032] Figure 10 Force analysis of the first delivery component under working conditions Figure 4 ( Figure 1 (Cross-sectional view along the AA direction);

[0033] Figure 11 Force analysis of the second delivery component under operating conditions Figure 4 ( Figure 1 (Cross-sectional view along the BB direction);

[0034] Figure 12 Force analysis of the first delivery component under working conditions Figure 5 ( Figure 1 (Cross-sectional view along the AA direction);

[0035] Figure 13 Force analysis of the second delivery component under operating conditions Figure 5 ( Figure 1 (Cross-sectional view along the BB direction);

[0036] Figure 14 Force analysis of the first delivery component under working conditions Figure 6 ( Figure 1 (Cross-sectional view along the AA direction);

[0037] Figure 15 Force analysis of the second delivery component under operating conditions Figure 6 ( Figure 1(Cross-sectional view along the BB direction);

[0038] Figure 16 Force analysis of the first delivery component under working conditions Figure 7 ( Figure 1 (Cross-sectional view along the AA direction);

[0039] Figure 17 Force analysis of the second delivery component under operating conditions Figure 7 ( Figure 1 (Cross-sectional view along the BB direction);

[0040] Figure 18 Force analysis of the first delivery component under working conditions Figure 8 ( Figure 1 (Cross-sectional view along the AA direction);

[0041] Figure 19 Force analysis of the second delivery component under operating conditions Figure 8 ( Figure 1 (Cross-sectional view along the middle BB direction).

[0042] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings.

[0043] The names of the components shown in the diagram are as follows: 1. First delivery assembly; 11. First belt; 12. First roller assembly; 121. First roller; 122. First gear; 123. Second roller; 124. Second gear; 125. Third gear; 126. Power input end; 13. Moving frame; 131. Guide hole; 2. Second delivery assembly; 21. Second belt; 22. Second roller assembly; 221. Third roller; 222. Fourth gear; 223. Fourth roller; 224. Fifth gear; 225. Sixth gear; 23. Fixing frame; 3. Slender medical device 4. Frame; 41. Guide rod; 42. Connecting window; 5. Air extraction and water suction structure; 51. First support member; 52. Second support member; 53. First water suction hole; 54. Second water suction hole; 55. Air extraction and water suction channel; 6. Support assembly; 61. Support plate; 611. Lower support member; 612. Upper support member; S1. First translation direction; S2. Second translation direction; V1. First rotation direction; V2. Second rotation direction; F0. Driving force; F1. First component force; F2. Second component force; F3. Third component force; F4. Fourth component force; F5. Supporting force. Detailed Implementation

[0044] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0045] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, 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 number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0046] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0048] Reference Figures 1 to 3An interventional surgical robot slave-end drive device is installed on the slave end of the interventional surgical robot to realize the movement of a slender medical device 3. It includes a frame 4 and a first delivery component 1, a second delivery component 2 and a support component 6 disposed on the frame 4. The direction of the driving force F0 generated by the first delivery component 1 and the second delivery component 2 forms a certain tilt angle with respect to the axial direction of the slender medical device 3. The slender medical device 3 is clamped between the first delivery component 1 and the second delivery component 2. The support component 6 is used to provide a support force F5 for the slender medical device 3.

[0049] When the driving forces F0 of the first delivery component 1 and the second delivery component 2 are in the same direction, the driving forces F0 of the first delivery component 1 and the second delivery component 2 cooperate with the support force F5 provided by the support component 6 for the elongated medical device 3, causing the elongated medical device 3 to translate along its axial direction; when the driving forces F0 of the first delivery component 1 and the second delivery component 2 are opposite in direction but the same in magnitude, the driving forces F0 of the first delivery component 1 and the second delivery component 2 cooperate with each other, causing the elongated medical device 3 to rotate around its axis; when the driving forces F0 of the first delivery component 1 and the second delivery component 2 are opposite in direction and the magnitudes are different, the driving forces F0 of the first delivery component 1 and the second delivery component 2 cooperate with the support force F5 provided by the support component 6 for the elongated medical device 3, causing the elongated medical device 3 to translate along its axial direction while simultaneously rotating around its axis. In this application, the elongated medical device 3 is a guidewire or catheter. The aforementioned interventional surgical robot's end-drive device eliminates the need for adjustment of the slot before picking up or placing the guidewire or catheter; it can directly pick up or place the guidewire or catheter from the gap between the first delivery component 1 and the second delivery component 2. This method is simple, quick, and easy to operate, improving efficiency during surgery. Furthermore, since the direction of the driving force F0 formed by the first delivery component 1 and the second delivery component 2 forms a certain angle of inclination relative to the axial direction of the elongated medical device 3, this design greatly simplifies the length of the drive device and effectively solves the problem of wasting elongated medical devices.

[0050] In one embodiment, the translation of the elongated medical device 3 is performed in the horizontal direction;

[0051] Reference Figure 4 and Figure 5 When the driving forces F0 of the first delivery component 1 and the second delivery component 2 are tilted downwards and of the same magnitude, the elongated medical device 3 translates horizontally along the first translation direction S1; (Refer to...) Figure 6 and Figure 7 When the driving force F0 of the first delivery component 1 and the second delivery component 2 is tilted upward and the magnitude is the same, the elongated medical device 3 translates in the horizontal direction along the second translation direction S2.

[0052] Reference Figure 8 and Figure 9 When the driving force F0 of the first delivery component 1 and the driving force F0 of the second delivery component 2 are the same, the driving force F0 of the first delivery component 1 is inclined downwards, and the driving force F0 of the second delivery component 2 is inclined upwards, the elongated medical device 3 rotates in the vertical direction along the first rotation direction V1; (Refer to...) Figure 10 and Figure 11 When the driving force F0 of the first delivery component 1 and the driving force F0 of the second delivery component 2 are the same, the driving force F0 of the first delivery component 1 is tilted upward, and the driving force F0 of the second delivery component 2 is tilted downward, the elongated medical device 3 rotates in the vertical direction along the second rotation direction V2.

[0053] Reference Figure 12 and Figure 13 When the driving force F0 of the first delivery component 1 is greater than the driving force F0 of the second delivery component 2, the driving force F0 of the first delivery component 1 is tilted downwards, and the driving force F0 of the second delivery component 2 is tilted upwards. The elongated medical device 3 translates horizontally along the first translation direction S1 and rotates vertically along the first rotation direction V1. (Refer to...) Figure 14 and Figure 15 When the driving force F0 of the first delivery component 1 is greater than the driving force F0 of the second delivery component 2, the driving force F0 of the first delivery component 1 is tilted upward, and the driving force F0 of the second delivery component 2 is tilted downward. The elongated medical device 3 translates horizontally along the second translation direction S2 and rotates vertically along the second rotation direction V2. (Refer to...) Figure 16 and Figure 17 When the driving force F0 of the first delivery component 1 is less than the driving force F0 of the second delivery component 2, the driving force F0 of the first delivery component 1 is tilted upward, and the driving force F0 of the second delivery component 2 is tilted downward. The elongated medical device 3 translates horizontally along the first translation direction S1 and rotates vertically along the second rotation direction V2. (Refer to...) Figure 18 and Figure 19The driving force F0 of the first delivery component 1 is less than the driving force F0 of the second delivery component 2. The driving force F0 of the first delivery component 1 is inclined downwards, and the driving force F0 of the second delivery component 2 is inclined upwards. The elongated medical device 3 translates horizontally along the second translation direction S2 and rotates vertically along the first rotation direction V1. In this embodiment, the translation direction of the elongated medical device 3 includes a delivery direction and a retraction direction, and the rotation direction of the elongated medical device 3 includes a clockwise rotation direction and a counterclockwise rotation direction. Specifically, the first translation direction S1 is the delivery direction of the elongated medical device 3, the second translation direction S2 is the retraction direction of the elongated medical device 3, the first rotation direction V1 is the counterclockwise rotation direction of the elongated medical device 3 when the line of sight is along the second translation direction S2, and the second rotation direction V2 is the counterclockwise rotation direction of the elongated medical device 3 when the line of sight is along the second translation direction S2. For better explanation of the translation and rotation directions, refer to... Figure 1 The direction of the slender medical device 3 in the figure to the left is defined as the first translation direction S1, and the direction of the rightward retraction is defined as the second translation direction S2. The clockwise and counterclockwise rotation directions described below are defined by observing along the second translation direction S2.

[0054] In one feasible implementation, the first delivery component 1 and the second delivery component 2 can be friction wheels. The frictional force between the friction wheel and the elongated medical device 3 serves as the driving force F0 for realizing the elongated medical device 3. A disposable sterile rubber sleeve is fitted onto the friction wheel to increase the frictional force between the friction wheel and the elongated medical device 3.

[0055] Reference Figure 2 and Figure 3 In a preferred embodiment, the first delivery component 1 includes a first roller assembly 12 and a first belt 11 wound around the first roller assembly 12, the delivery force of the first delivery component 1 is generated at the contact point between the first belt 11 and the elongated medical device 3; the second delivery component 2 includes a second roller assembly 22 and a second belt 21 wound around the second roller assembly 22, the delivery force of the second delivery component 2 is generated at the contact point between the second belt 21 and the elongated medical device 3;

[0056] When the first roller group 12 drives the first belt 11 to rotate, the delivery force of the first delivery component 1 is decomposed into a first component force F1 that is in the same direction as the axis of the slender medical device 3 and a second component force F2 that is perpendicular to the axis of the slender medical device 3. When the second roller group 22 drives the second belt 21 to rotate, the delivery force of the second delivery component 2 is decomposed into a third component force F3 that is in the same direction as the axis of the slender medical device 3 and a fourth component force F4 that is perpendicular to the axis of the slender medical device 3.

[0057] Reference Figures 4 to 7 When the driving forces F0 of the first delivery component 1 and the second delivery component 2 are in the same direction, the first component force F1 and the third component force F3 are superimposed to form the first delivery force. The second component force F2 and the fourth component force F4 are superimposed to cancel each other out with the support force F5 provided by the support component 6 for the slender medical device 3, resulting in a resultant force of zero. The first delivery force causes the slender medical device 3 to translate along its axial direction. (Refer to...) Figures 8 to 11 When the driving forces F0 of the first delivery component 1 and the second delivery component 2 are opposite in direction but equal in magnitude, the first component force F1 and the third component force F3 cancel each other out, resulting in a zero net force. The second component force F2 and the fourth component force F4 superimpose to form a first rotational force, which causes the slender medical device 3 to rotate around its axis. (Refer to...) Figures 12 to 19 When the driving forces F0 of the first delivery component 1 and the second delivery component 2 are opposite in direction and different in magnitude, the first component force F1 and the third component force F3 cancel each other out to form a second delivery force, and the second component force F2 and the fourth component force F4 cancel each other out to form a second rotational force. The second delivery force causes the elongated medical device 3 to translate along its axial direction, and the second rotational force causes the elongated medical device 3 to rotate around its axis. During the delivery of the elongated medical device 3, the driving device needs to maintain high stability to enhance reliability during the operation and avoid inaccurate delivery force due to vibration of the driving device. The belt transmission in this embodiment has buffering and vibration reduction capabilities, and low noise, ensuring the accuracy of the delivery force. The above only lists several possible specific components of the first delivery component 1 and the second delivery component 2. The focus of this application is that the first delivery component 1 and the second delivery component 2 are set at an angle. Other embodiments that can deliver the elongated medical device 3 at an angle should be within the scope of protection of this application.

[0058] The preceding section specifically analyzed the influence of the direction and magnitude of the driving force F0 of the first delivery component 1 and the second delivery component 2 on the movement of the elongated medical device 3. By controlling the direction and magnitude of the driving force F0, the elongated medical device 3 can perform translation, rotation, or simultaneous translation and rotation. The following section will analyze the influence of the rotational speed and direction of rotation of the first delivery component 1 and the second delivery component 2 on the movement of the elongated medical device 3. Specifically, refer to... Figure 1 When the first belt 11 rotates clockwise and the second belt 21 rotates counterclockwise, and the rotational speeds of the first belt 11 and the second belt 21 are the same, the elongated medical device 3 delivers along the first translational direction S1; when the first belt 11 rotates counterclockwise and the second belt 21 rotates clockwise, and the rotational speeds of the first belt 11 and the second belt 21 are the same, the elongated medical device 3 retracts along the second translational direction S2; when the first belt 11 rotates clockwise and the second belt 21 rotates counterclockwise, but the rotational speed of the first belt 11 is greater than the rotational speed of the second belt 21, the elongated medical device 3 delivers along the first translational direction S1 while simultaneously rotating counterclockwise; when the first belt 11 rotates clockwise and the second belt 21 rotates counterclockwise, but the rotational speed of the first belt 11 is less than the rotational speed of the second belt 21, the elongated medical device 3 retracts along the first translational direction S2. While delivering to S1, the device rotates clockwise; the first belt 11 rotates counterclockwise and the second belt 21 rotates clockwise, but when the rotational speed of the first belt 11 is greater than that of the second belt 21, the elongated medical device 3 retracts along the second translational direction S2 while rotating clockwise; the first belt 11 rotates counterclockwise and the second belt 21 rotates clockwise, but when the rotational speed of the first belt 11 is less than that of the second belt 21, the elongated medical device 3 retracts along the second translational direction S2 while rotating counterclockwise; both the first belt 11 and the second belt 21 rotate counterclockwise, at which point the rotational speed does not affect the translational direction or the rotational direction, and the elongated medical device 3 rotates counterclockwise; both the first belt 11 and the second belt 21 rotate clockwise, at which point the rotational speed does not affect the translational direction or the rotational direction, and the elongated medical device 3 rotates clockwise.

[0059] The analysis takes the case where the first belt 11 rotates clockwise and the second belt 21 rotates counterclockwise, but the rotational speed of the first belt 11 is greater than that of the second belt 21. Specifically, the tilt angle between the first belt 11 and the second belt 21 is 45°, and the speed of the first belt 11 is 2 mm / s faster than that of the second belt 21. After running for 1 second, with the first belt 11 and the second belt 21 as the internal reference frame, the second belt 21 remains stationary, while the first belt 11 moves relative to the second belt 21. From the perspective of an external reference frame, the slender medical device 3, the first belt 11 and the contact point of the slender medical device 3, and the second belt 21 and the contact point of the slender medical device 3 are considered as a whole, and the device is delivered forward. The combined effect is that the guide wire rotates while delivering the device. Since the horizontal force on the slender medical device 3 is equal on both sides, the slender medical device 3 does not move horizontally, but is rubbed downwards by the first belt 11 by 1mm in the vertical direction. If the diameter of the slender medical device 3 is 1mm, then the slender medical device 3 rotates by 360°*1 / (1*3.14)=114.6°. The analysis principle is the same for other cases, so it will not be elaborated further.

[0060] In another feasible implementation, the movement of the elongated medical device 3 can be altered by changing the coefficient of friction of the first belt 11 and the second belt 21. When the coefficients of friction of the first belt 11 and the second belt 21 are the same, the frictional force between the elongated medical device 3 and the first belt 11 or the second belt 21 is equal. Here, the frictional force is the driving force F0 exerted by the first delivery component 1 and the second delivery component 2 on the elongated medical device 3. In this case, simply changing the rotation direction of the first belt 11 and the second belt 21 can change the movement of the elongated medical device 3. For example, when the driving forces F0 of the first delivery component 1 and the second delivery component 2 are in the same direction, the first component force F1 and the third component force F3 are superimposed to form the first delivery force. The second component force F2 and the fourth component force F4 are superimposed to cancel each other out with the support force F5 provided by the support component 6 for the elongated medical device 3, resulting in a resultant force of zero. The first delivery force causes the elongated medical device 3 to translate along its axial direction. When the coefficients of friction of the first belt 11 and the second belt 21 are not the same, the frictional forces between the elongated medical device 3 and the first belt 11 and the second belt 21 are not equal. This unequal frictional force means that the driving forces F0 exerted by the first delivery component 1 and the second delivery component 2 on the elongated medical device 3 are not equal. For example, when the driving force F0 of the first delivery component 1 is greater than the driving force F0 of the second delivery component 2, the driving force F0 of the first delivery component 1 is inclined downwards, and the driving force F0 of the second delivery component 2 is inclined upwards. The elongated medical device 3 translates horizontally along the first translation direction S1 and rotates vertically along the first rotation direction V1. The above only lists several possible specific implementations of changing the driving magnitude and direction of the first delivery component 1 and the second delivery component 2. The focus of this application is that the first delivery component 1 and the second delivery component 2 are arranged in an inclined manner. Other implementations that can handle the elongated medical device 3 in an inclined manner should be within the scope of protection of this application.

[0061] Reference Figures 1 to 3In one feasible embodiment, the first roller group 12 includes a first roller 121, a first gear 122 connected to the first roller 121, a second roller 123, a second gear 124 connected to the second roller 123, and a third gear 125 meshing with the first gear 122 and the second gear 124 respectively. The first belt 11 is wound around the first roller 121 and the second roller 123. The third gear 125 is connected to a power input end 126. The second roller group 22 includes a third roller 221, a fourth gear 222 connected to the third roller 221, a fourth roller 223, a fifth gear 224 connected to the fourth roller 223, and a sixth gear 225 meshing with the fourth gear 222 and the fifth gear 224 respectively. The second belt 21 is wound around the third roller 221 and the fourth roller 223. The sixth gear 225 is connected to a power input end 126. The power input terminals 126 connected to the third gear 125 and the sixth gear 225 are connected to a power source, which provides driving force to the first roller group 12 and the second roller group 22, thereby driving the belt to rotate. This application does not limit the specific number of rollers; the number of rollers can be adjusted adaptively according to the actual application.

[0062] Reference Figure 2 and Figure 3 In another feasible embodiment, the first delivery assembly 1 further includes a movable frame 13 movably mounted on the frame 4, with the first roller assembly 12 mounted on the movable frame 13. The second delivery assembly 2 further includes a fixed frame 23 fixedly mounted on the frame 4, with the second roller assembly 22 mounted on the fixed frame 23. By moving the movable frame 13 on the frame 4, the first roller assembly 12 and the second roller assembly 22 clamp or release the elongated medical device 3. By controlling the movement of the movable frame 13 on the frame 4, the pressure of the first delivery assembly 1 and the second delivery assembly 2 on the elongated medical device 3 can be adjusted, effectively preventing the elongated medical device 3 from slipping during delivery and improving the accuracy of translation.

[0063] Furthermore, a guide rod 41 is provided on the frame 4, and a guide hole 131 is formed on the movable frame 13 to cooperate with the guide rod 41. During the movement of the movable frame 13, the guide rod 41 and the guide hole 131 cooperate to prevent the movable frame 13 from shifting during the movement. To facilitate the clamping of the slender medical device 3, a return spring (not shown in the figures) is fitted on the guide rod 41, and the elastic force of the return spring pushes the first delivery assembly 1 toward the second delivery assembly 2. When it is necessary to adjust the distance between the first delivery assembly 1 and the second delivery assembly 2 to place the slender medical device 33, the first delivery assembly 1 is moved away from the second delivery assembly 2, so that the distance between the first delivery assembly 1 and the second delivery assembly 2 is increased to allow the catheter or guidewire to be placed. Subsequently, the first delivery assembly 1 is released, and under the action of the return spring, the first delivery assembly 1 and the second delivery assembly 2 clamp the catheter or guidewire.

[0064] Reference Figure 2 and Figure 3 In one feasible implementation, the end-drive device of the interventional surgical robot further includes an air-vacuuming and water-absorbing structure 5, which is used to remove moisture from the slender medical device 3. The inclusion of a water-absorbing and air-absorbing module eliminates moisture factors that could cause the slender medical device 3 to slip, thus better preventing slippage and improving translational accuracy.

[0065] Specifically, the air-suction and water-absorbing structure 5 includes a first support member 51 disposed on the movable frame 13 and a second support member 52 disposed on the fixed frame 23. The first belt 11 and the second belt 21 each have a first water-absorbing hole 53, and the first support member 51 and the second support member 52 each have a second water-absorbing hole 54 and an air-suction and water-absorbing channel 55 communicating with the second water-absorbing hole 54. Under the suction force of the air-suction and water-absorbing channel 55, the water on the slender medical device 3 is sequentially sucked into the first water-absorbing hole 53, the second water-absorbing hole 54, and the air-suction and water-absorbing channel 55 and cleaned. In this embodiment, the first support member 51 and the second support member 52 can provide a supporting force F5 for the first belt 11 and the second belt 21, thereby providing a supporting force F5 for the slender medical device 3, balancing the force at the contact point between the first belt 11 and the second belt 21 and the slender medical device 3, and improving the accuracy during translation. Simultaneously, during rotation and translation, the slender medical device 3 can fully contact the first belt 11 and the second belt 21, better absorbing moisture from the slender medical device 3. Furthermore, the suction channel 55 is connected to a suction fan. The suction fan creates negative pressure in the suction channel 55, causing the moisture absorbed by the first belt 11 and the second belt 21 to sequentially enter the second suction hole 54 and the suction channel 55 under this negative pressure. The suction fan then extracts the moisture, effectively preventing the slender medical device 3 from slipping.

[0066] Reference Figures 1 to 3 In one feasible embodiment, the support assembly 6 includes a support plate 61 disposed on the frame 4, through which the elongated medical device 3 passes and is supported by the support plate 61 with a force F5. Specifically, two support plates 61 are provided, respectively disposed on both sides of the first delivery assembly 1 along the axial direction of the elongated medical device 3. This arrangement ensures that the forces on the front and rear ends of the elongated medical device 3 are balanced during translation.

[0067] Furthermore, the support plate 61 includes a lower support member 611 and an upper support member 612. The lower support member 611 is disposed on the frame 4, and the upper support member 612 is movably connected to the lower support member 611 to facilitate the placement and removal of the elongated medical device 3. The movable connection between the upper support member 612 and the lower support member 611 can be either detachable or rotatable. In the detachable connection method, when the elongated medical device 3 needs to be placed, the entire upper support member 612 is removed from the lower support member 611, and the elongated medical device 3 is placed on the notch formed in the lower support member 611. Simultaneously, the upper support member 612 also has a notch. When the upper support member 612 is then placed on top of the lower support member 611, the notches on the lower support member 611 and the upper support member 612 form a through hole through which the elongated medical device 3 can pass. When the lower support member 611 and the upper support member 612 are closed together, they can be fixed by a snap-fit ​​structure or a magnetic attraction structure. Specifically, in the snap-fit ​​method, the lower end face of the upper support member 612 is provided with an elastic snap, and the upper end face of the lower support member 611 is provided with a groove that engages with the snap. The snap on the upper support member 612 engages with the groove on the lower support member 611 to achieve fixation. In the magnetic attraction method, the lower support member 611 and the upper support member 612 are respectively provided with magnets that can attract each other, and fixation is achieved by the magnetic force between them. In the rotatable connection method, the upper support member 612 is hinged to one side of the lower support member 611 to achieve a rotatable connection. When a slender medical device 3 needs to be placed, the upper support member 612 is flipped over, and the slender medical device 3 is placed on the notch formed by the lower support member 611. Simultaneously, the upper support member 612 also has a notch. When the upper support member 612 is then placed on top of the lower support member 611, the notches on the lower support member 611 and the upper support member 612 form a through hole through which the slender medical device 3 can pass. When the lower support member 611 and the upper support member 612 are closed together, the two can be fixed by a snap-fit ​​structure or a magnetic attraction structure. Some feasible specific structures of snap-fit ​​or magnetic attraction structures have been listed above and will not be repeated here.

[0068] Reference Figure 3 In an optional embodiment, the frame 4 is provided with a connection window 42, which corresponds to the power input terminals 126 of the first delivery component 1 and the second delivery component 2. Specifically, a power source can pass through the connection window 42 to connect with the power input terminals 126 of the first delivery component 1 and the second delivery component 2, providing driving force for the first delivery component 1 and the second delivery component 2.

[0069] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0070] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. An interventional procedure robot slave drive device, which is installed on an interventional procedure robot slave end, and which is used to realize the action of an elongated medical instrument, characterized in that, The device includes a frame and a first delivery component, a second delivery component, and a support component disposed on the frame. The direction of the driving force generated by the first delivery component and the second delivery component forms a certain tilt angle with respect to the axial direction of the elongated medical device. The elongated medical device is clamped between the first delivery component and the second delivery component. The support component is used to provide support force for the elongated medical device. When the driving forces of the first delivery component and the second delivery component are in the same direction, the driving forces of the first delivery component and the second delivery component cooperate with the support force provided by the support component for the elongated medical device, causing the elongated medical device to translate along its axial direction; when the driving forces of the first delivery component and the second delivery component are in opposite directions but the same magnitude, the driving forces of the first delivery component and the second delivery component cooperate, causing the elongated medical device to rotate around its axis. When the driving forces of the first delivery component and the second delivery component are opposite in direction and different in magnitude, the driving forces of the first delivery component and the second delivery component cooperate with the support force provided by the support component for the elongated medical device, so that the elongated medical device translates along its axial direction while rotating around its axis.

2. The teleoperational surgical robotic slave drive of claim 1, wherein: The translation of the slender medical device is performed in the horizontal direction; When the driving forces of the first delivery component and the second delivery component are tilted downward and are of the same magnitude, the elongated medical device translates horizontally along a first translational direction; when the driving forces of the first delivery component and the second delivery component are tilted upward and are of the same magnitude, the elongated medical device translates horizontally along a second translational direction. When the driving force of the first delivery component and the driving force of the second delivery component are the same, the driving force of the first delivery component is inclined downward and the driving force of the second delivery component is inclined upward, the elongated medical device rotates in the vertical direction along the first rotation direction; when the driving force of the first delivery component and the driving force of the second delivery component are the same, the driving force of the first delivery component is inclined upward and the driving force of the second delivery component is inclined downward, the elongated medical device rotates in the vertical direction along the second rotation direction. When the driving force of the first delivery component is greater than the driving force of the second delivery component, the driving force direction of the first delivery component is inclined downwards, and the driving force direction of the second delivery component is inclined upwards. The elongated medical device translates horizontally along a first translational direction and rotates vertically along a first rotational direction. When the driving force of the first delivery component is greater than the driving force of the second delivery component, the driving force direction of the first delivery component is inclined upwards, and the driving force direction of the second delivery component is inclined downwards. The elongated medical device translates horizontally along a second translational direction and rotates vertically along a second rotational direction. When the driving force of the first delivery component is less than the driving force of the second delivery component, the driving force direction of the first delivery component is inclined upward, and the driving force direction of the second delivery component is inclined downward, the elongated medical device translates horizontally along a first translational direction and rotates vertically along a second rotational direction; when the driving force of the first delivery component is less than the driving force of the second delivery component, the driving force direction of the first delivery component is inclined downward, and the driving force direction of the second delivery component is inclined upward, the elongated medical device translates horizontally along a second translational direction and rotates vertically along a first rotational direction.

3. The end-drive device for the interventional surgical robot according to claim 1, characterized in that, The first delivery assembly includes a first roller assembly and a first belt wound around the first roller assembly. The driving force of the first delivery assembly is generated at the contact point between the first belt and the elongated medical device. The second delivery assembly includes a second roller assembly and a second belt wound around the second roller assembly. The driving force of the second delivery assembly is generated at the contact point between the second belt and the elongated medical device. When the first roller group drives the first belt to rotate, the driving force of the first delivery component is decomposed into a first component force in the same direction as the axis of the slender medical device and a second component force perpendicular to the axis of the slender medical device. When the second roller group drives the second belt to rotate, the driving force of the second delivery component is decomposed into a third component force in the same direction as the axis of the slender medical device and a fourth component force perpendicular to the axis of the slender medical device. When the driving forces of the first delivery component and the second delivery component are in the same direction, the first component force and the third component force are superimposed to form a first delivery force. The second component force and the fourth component force are superimposed to cancel each other out with the support force provided by the support component for the elongated medical device, resulting in a resultant force of zero. The first delivery force causes the elongated medical device to translate along its axial direction. When the driving forces of the first delivery component and the second delivery component are in opposite directions but of the same magnitude, the first component force and the third component force are superimposed to form a first rotational force. The first rotational force causes the elongated medical device to rotate around its axis. When the driving forces of the first delivery component and the second delivery component are opposite in direction and different in magnitude, the first component force cancels out the third component force to form a second delivery force, and the second component force cancels out the fourth component force to form a second rotational force. The second delivery force causes the elongated medical device to translate along its axial direction, and the second rotational force causes the elongated medical device to rotate around its axis.

4. The end-drive device for the interventional surgical robot according to claim 3, characterized in that, The first roller assembly includes a first roller, a first gear connected to the first roller, a second roller, a second gear connected to the second roller, and a third gear meshing with the first gear and the second gear respectively. The first belt is wound around the first roller and the second roller, and the third gear is connected to a power input end. The second roller assembly includes a third roller, a fourth gear connected to the third roller, a fourth roller, a fifth gear connected to the fourth roller, and a sixth gear meshing with the fourth gear and the fifth gear respectively. The second belt is wound around the third roller and the fourth roller, and the sixth gear is connected to a power input end.

5. The end-drive device for the interventional surgical robot according to claim 3, characterized in that, The first delivery assembly further includes a movable frame movably disposed on the frame, and the first roller assembly is disposed on the movable frame. The second delivery assembly further includes a fixed frame fixedly disposed on the frame, and the second roller assembly is disposed on the fixed frame. By moving the movable frame on the frame, the first roller assembly and the second roller assembly clamp or release the elongated medical device.

6. The end-drive device for the interventional surgical robot according to claim 5, characterized in that, The frame is provided with a guide rod, and the movable frame is provided with a guide hole that cooperates with the guide rod.

7. The end-drive device for the interventional surgical robot according to claim 5, characterized in that, The interventional surgical robot's end-drive device also includes an air-vacuuming and water-absorbing structure, which is used to remove moisture from the slender medical device.

8. The end-drive device for the interventional surgical robot according to claim 7, characterized in that, The air-suction and water-absorbing structure includes a first support member disposed on the movable frame and a second support member disposed on the fixed frame. Both the first belt and the second belt are provided with a first water-absorbing hole, and both the first support member and the second support member are provided with a second water-absorbing hole and an air-suction and water-absorbing channel communicating with the second water-absorbing hole. Under the suction force of the air-suction and water-absorbing channel, the water on the slender medical device is sequentially sucked into the first water-absorbing hole, the second water-absorbing hole and the air-suction and water-absorbing channel and cleaned.

9. The end-drive device for the interventional surgical robot according to claim 1, characterized in that, The support assembly includes a support plate disposed on the frame, and the elongated medical device passes through the support plate and is supported by the support plate.

10. The end-drive device for the interventional surgical robot according to claim 9, characterized in that, The support plate includes a lower support and an upper support. The lower support is mounted on the frame, and the upper support is movably connected to the lower support to facilitate the placement and removal of the slender medical device.

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