Interventional consumable feeding device and drive mechanism for an interventional surgical robot

Abstract

The application relates to the field of surgical robots and discloses an interventional consumable feeding device and a driving mechanism for an interventional surgical robot. The interventional consumable feeding device comprises a main body, a friction wheel and a pressing member, the pressing member can be elastically abutted to the circumferential surface of the friction wheel to press a part of the interventional consumable between the pressing member and the friction wheel, so that the rotation of the friction wheel can drive the movement of the interventional consumable. The interventional consumable driving mechanism comprises a fixing frame, the above-mentioned interventional consumable feeding device, a first driving member and a second driving member. The interventional consumable feeding device provided by the application can press a part of the interventional consumable on the circumferential surface of the friction wheel through the pressing member, so as to adapt to interventional consumables with different diameters, increase the applicable range, press the interventional consumable between the friction wheel and the pressing member, increase the driving friction of the friction wheel, ensure that the friction wheel can stably convey the interventional consumable, and further ensure the feeding precision of the interventional consumable.

Description

Technical Field

[0001] This invention relates to the field of surgical robots, and more specifically to an interventional consumables feeding device and drive mechanism for interventional surgical robots. Background Technology

[0002] An interventional surgical robot is a surgical device that can be remotely controlled. It is equipped with a drive mechanism to rotate and / or advance the catheter or guidewire in a linear direction. This drive mechanism can be divided into a linear drive device for advancing the catheter or guidewire in a linear direction and a rotary drive device for rotating the catheter or guidewire.

[0003] The core of existing linear drive devices consists of two wheels. In operation, a guide wire or conduit is held between the two wheels. Rotating one wheel or both wheels in opposite directions generates friction on the guide wire or conduit, creating forward or backward driving force. By using a rotary drive to flip the guide wire or conduit held by the two wheels, the forward, backward, and flipping motion of the guide wire or conduit can be achieved. However, this design of linear drive device cannot adapt to objects of different diameters, limiting its use. Furthermore, the object cannot achieve a tight fit with the wheels, which can easily affect the feeding accuracy of the object. Summary of the Invention

[0004] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, the present invention provides an interventional consumable feeding device and a drive mechanism for an interventional surgical robot.

[0005] This invention provides an interventional consumable feeding device for an interventional surgical robot, comprising a main body, a friction wheel, and a clamping component.

[0006] The friction wheel is rotatably mounted on the main body, and the clamping member can elastically abut against the circumferential surface of the friction wheel to press a portion of the interventional consumable between the clamping member and the friction wheel, so that the rotation of the friction wheel can drive the movement of the interventional consumable.

[0007] Optionally, a groove structure is provided around the circumferential surface of the friction wheel, and the interventional consumable is pressed against the friction wheel through the groove structure.

[0008] Optionally, the groove structure includes two opposing and outwardly inclined surfaces, and the interventional consumable can be pressed against the inclined surfaces.

[0009] Optionally, the clamping member abuts against the interventional consumable via a flat direct contact surface; or

[0010] The clamping member abuts against the interventional consumable through an arc-shaped contact surface, and the shape of the arc-shaped contact surface matches part of the circumferential surface of the friction wheel.

[0011] Optionally, the interventional consumable feeding device further includes an elastic element, and the clamping member is connected to the main body through the elastic element so that the clamping member can elastically abut against the circumferential surface of the friction wheel.

[0012] Optionally, the clamping member is provided with a limiting hole into which a portion of the elastic element can be inserted.

[0013] Optionally, the main body is provided with a first opening through which the interventional consumable can pass, and the clamping member is provided with a second opening through which the interventional consumable can pass, and the interventional consumable can pass through the first opening and the second opening in sequence.

[0014] The present invention also provides an interventional consumable drive mechanism for an interventional surgical robot, comprising:

[0015] Fixture;

[0016] In any of the above technical solutions, the main body of the interventional consumable feeding device is rotatably mounted on the fixed frame;

[0017] The first driving component is used to drive the friction wheel to rotate;

[0018] The second driving component is used to drive the main body to rotate.

[0019] Optionally, the second driving element includes:

[0020] A flip drive shaft is rotatably mounted on the fixed frame, and the flip drive shaft extends along a direction perpendicular to the rotation axis of the main body;

[0021] A flip drive motor is used to drive the flip drive shaft to rotate;

[0022] A first tilting bevel gear is disposed on the tilting drive shaft; and

[0023] The second flipping bevel gear is disposed on the rotation shaft of the main body, and the first flipping bevel gear meshes with the second flipping bevel gear.

[0024] Optionally, the first driving element includes:

[0025] The first feed drive shaft is rotatably mounted on the fixed frame, and the tilt drive shaft extends along a direction perpendicular to the rotation axis of the main body;

[0026] A feed drive motor is used to drive the tilting drive shaft to rotate;

[0027] The second feed drive shaft is mounted on the fixed frame. The end of the first feed drive shaft is provided with a first feed bevel gear. The end of the second feed drive shaft that extends out of the fixed frame is provided with a second feed bevel gear that meshes with the first feed bevel gear. The end of the second feed drive shaft that extends into the fixed frame is provided with a third feed bevel gear.

[0028] A third feed drive shaft is rotatably mounted on the main body. The third feed drive shaft is equipped with a first gear and a fourth feed bevel gear meshing with the third feed bevel gear.

[0029] The second gear is disposed on the rotating shaft of the friction wheel, and the second gear meshes with the first gear.

[0030] The technical solution provided by the embodiments of the present invention has the following advantages compared with the prior art:

[0031] When in use, the interventional consumable feeding device provided by the present invention can insert the interventional consumable between the friction wheel and the clamping component, and then the clamping component presses a part of the interventional consumable onto the circumferential surface of the friction wheel to accommodate interventional consumables of different diameters, thereby increasing the applicability range. It can also make the interventional consumable press against the friction wheel and the clamping component, increasing the driving friction of the friction wheel, ensuring that the friction wheel can stably and slowly deliver the interventional consumable, thereby ensuring the feeding accuracy of the interventional consumable. Attached Figure Description

[0032] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0034] Figure 1 This is a cross-sectional view of the interventional consumable feeding device according to an embodiment of the present invention;

[0035] Figure 2 This is a partial cross-sectional view of the interventional consumable feeding device when the contact position between the interventional consumable and the friction wheel is in a straight line, according to an embodiment of the present invention.

[0036] Figure 3 for Figure 2 Cross-sectional view at point AA;

[0037] Figure 4This is a partial cross-sectional view of the interventional consumable feeding device when the contact position between the interventional consumable and the friction wheel is curved, as described in an embodiment of the present invention.

[0038] Figure 5 This is a schematic diagram of the interventional consumable driving mechanism according to an embodiment of the present invention;

[0039] Figure 6 This is a top view of the interventional consumable driving mechanism according to an embodiment of the present invention;

[0040] Figure 7 for Figure 6 Cross-sectional view at point BB.

[0041] Explanation of reference numerals in the attached figures

[0042] 1. Main body; 11. First opening; 2. Friction wheel; 21. Groove structure; 3. First driving component; 31. First feed drive shaft; 32. Second feed drive shaft; 33. First feed bevel gear; 34. Second feed bevel gear; 35. Third feed bevel gear; 36. Third feed drive shaft; 37. First gear; 38. Fourth feed bevel gear; 39. Second gear; 4. Clamping component; 41. Limiting hole; 42. Second opening; 5. Elastic component; 51. Spring; 6. Intervention consumable; 7. Fixing frame; 8. Second driving component; 81. Tilting drive shaft; 82. First tilting bevel gear; 83. Second tilting bevel gear. Detailed Implementation

[0043] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments and features of the present invention can be combined with each other.

[0044] The following description sets forth many specific details in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments described in the specification are only some, not all, of the embodiments of the invention.

[0045] Combination Figures 1 to 4 As shown, the interventional consumable feeding device for interventional surgical robots provided in this embodiment of the invention includes a main body 1, a friction wheel 2, and a clamping component 4.

[0046] The friction wheel 2 is rotatably mounted on the main body 1. The friction wheel 2 can be driven manually or automatically, depending on actual needs. The clamping member 4 elastically abuts against the circumferential surface of the friction wheel 2 to press a portion of the interventional consumable 6 between the clamping member 4 and the friction wheel 2, so that the rotation of the friction wheel 2 can drive the movement of the interventional consumable 6. Specifically, a gap is formed between the friction wheel 2 and the clamping member 4, allowing the interventional consumable 6 to pass through. The width of this gap is smaller than the radial dimension of the interventional consumable 6. The interventional consumable 6 passes through this gap, and the clamping member 4 presses the portion of the interventional consumable 6 within this gap against the friction wheel 2, so that this portion of the interventional consumable 6 can be pressed against the clamping member 4 and the friction wheel 2.

[0047] Furthermore, it should be noted that the present invention does not impose any restrictions on the specific structure of the main body 1 and the pressing member 4, as long as the main body 1 can provide a supporting function and the pressing member 4 can provide a static pressing surface. For example, the pressing member 4 can be a plate-like structure or a bracket-like structure, which are not limiting.

[0048] When in use, the interventional consumable feeding device provided by the present invention can insert the interventional consumable 6 between the friction wheel 2 and the clamping member 4, and then the clamping member 4 presses a part of the interventional consumable 6 onto the circumferential surface of the friction wheel 2 to accommodate interventional consumables 6 of different diameters, thereby increasing the applicability range. It can also make the interventional consumable 6 press tightly between the friction wheel 2 and the clamping member 4, increasing the driving friction of the friction wheel 2, ensuring that the friction wheel 2 can stably and slowly feed the interventional consumable 6, thereby ensuring the feeding accuracy of the interventional consumable 6.

[0049] Traditional interventional consumables 6 are fed by the clamping action of gears, that is, by two opposing gears. However, the local stress during gear clamping is relatively large, which can easily cause excessive compression of the interventional consumables 6. Therefore, this invention specifically adopts the method of friction wheel 2 cooperating with clamping component 4 to achieve feeding.

[0050] Meanwhile, in order to ensure the clamping effect of the friction wheel 2 and the clamping component 4 on the interventional consumable 6 and thus improve the feeding accuracy of the interventional consumable 6, combined with Figures 1 to 4As shown, this application has a groove structure 21 surrounding the circumferential surface of the friction wheel 2. The interventional consumable 6 is pressed against the friction wheel 2 through the groove structure 21. That is, from the cross-section of the interventional consumable 6, the clamping member 4 presses part of the interventional consumable 6 into the groove structure 21, while another part of the interventional consumable 6 is exposed outside the groove structure 21 to abut against the clamping member 4. The friction wheel 2 drives the part of the interventional consumable 6 in the groove structure 21 to be transported in a preset direction, and the clamping member 4 can continuously provide pressure to the interventional consumable 6 during the transport process. This design uses the groove structure 21 to guide the transport of the interventional consumable 6, preventing the interventional consumable 6 from coming out between the friction wheel 2 and the clamping member 4, or from deviating from the transport path during the transport process, ensuring that the transport direction of the interventional consumable 6 meets the surgical requirements.

[0051] In addition, in the traditional two-wheel drive method, the two wheels make point contact with the interventional consumable 6. The friction generated by this contact method is very small. Even if the interventional consumable 6 is deformed at the pressing part, the contact surface is still a very small linear contact, which makes the interventional consumable 6 easy to slip during the transmission process, thus affecting the transmission accuracy of the interventional consumable 6.

[0052] In this regard, such as Figure 3 As shown, this application specifically provides two opposing and outwardly inclined surfaces in the groove structure 21, allowing the interventional consumable 6 to be pressed against the inclined surfaces. That is, the width of the groove structure 21 gradually increases along the direction away from the center of the friction wheel 2. After the pressing member 4 presses the interventional consumable 6 into the groove structure 21, the outer periphery of the interventional consumable 6 contacts the inclined surface of the groove structure 21, and a portion of the interventional consumable 6 can be located above the groove structure 21, so that the pressing member 4 can always apply force to the interventional consumable 6, ensuring the pressing effect of the interventional consumable 6.

[0053] In this design, the interventional consumable 6 located in the groove structure 21 is tangent to the two side walls of the groove structure 21. Therefore, the friction wheel 2 can transform the traditional point contact drive into a single wheel double linear contact drive, increasing the contact area between the friction wheel 2 and the interventional consumable 6, thereby increasing the driving friction force and preventing the interventional consumable 6 from experiencing gaps or deviating from the transmission route during transmission, thus ensuring the transmission accuracy of the interventional consumable 6.

[0054] As a feasible implementation, the groove structure 21 has a trapezoidal cross-section along the radial direction of the friction wheel 2. Compared with the groove structure 21 with a triangular cross-section, the trapezoidal cross-section of the groove structure 21 can reduce the slot size on the friction wheel 2, thereby avoiding the phenomenon that the slot is too large and affects the structural strength of the friction wheel 2. In addition, the trapezoidal cross-section of the groove structure 21 can better achieve contact between the two side walls of the groove structure 21 and the outer periphery of the interventional consumable 6, ensuring the delivery effect of the interventional consumable 6 (when the cross-section of the groove structure 21 is rectangular, the interventional consumable 6 will contact the bottom end of the groove structure 21 to provide driving force to the interventional consumable 6 through the bottom end of the groove structure, which makes it difficult to achieve single wheel double linear contact drive).

[0055] like Figure 3 As shown, the groove structure 21 is formed in the middle of the circumferential surface of the friction wheel 2, and the overall annular groove structure 21 is coaxially arranged with the friction wheel 2, so that the force on the two side walls of the groove structure 21 is uniform, ensuring that the friction wheel 2 can stably support the interventional consumable 6. Furthermore, during the rotation of the friction wheel 2, the interventional consumable 6 can always be kept within the groove structure 21, ensuring that the friction wheel 2 can deliver the interventional consumable 6 along the preset direction.

[0056] In other embodiments, the groove structure 21 of this application includes an arcuate surface for accommodating a portion of the interventional consumable 6, the interventional consumable 6 being able to abut against the arcuate surface. The arcuate surface should be able to conform to at least a portion of the interventional consumable 6 extending into the groove structure 21, such that the contact between the interventional consumable 6 and the friction wheel 2 is an arcuate contact, thereby increasing the contact area between the interventional consumable 6 and the friction wheel 2, and thus increasing the driving friction force of the interventional consumable 6.

[0057] Specifically, the curvature of the arc surface of the groove structure 21 can be set to be relatively large. That is, when the diameter of the interventional consumable 6 is small, the contact area between the interventional consumable 6 and the arc surface is relatively small. When the diameter of the interventional consumable 6 increases, the contact area between the interventional consumable 6 and the arc surface will increase accordingly, in order to accommodate interventional consumables 6 of different diameters. Of course, the curvature of the arc surface of the groove structure 21 can be adapted to the curvature of the interventional consumable 6, so that the part of the interventional consumable 6 pressed into the groove structure 21 completely fits the arc surface of the groove structure 21, thereby increasing the contact area between the interventional consumable 6 and the groove structure 21 and ensuring the delivery effect of the interventional consumable 6.

[0058] Further optimized, the depth of the groove structure 21 should allow a portion of the interventional consumable 6 to extend radially out of the groove structure 21, so that during the transmission of the interventional consumable 6, the clamping member 4 can always press the interventional consumable 6 into the groove structure 21, ensuring the stable transmission of the interventional consumable 6.

[0059] It is understandable that the cross-section of the groove structure 21 can also adopt an irregular graphic structure, which can be designed according to actual usage requirements, but must meet the delivery requirements of the interventional consumables 6.

[0060] In other embodiments, the interventional consumable 6 may also be completely contained within the groove structure 21 to reduce the space occupied by the friction wheel 2 in its radial direction. In this case, the clamping member 4 should be configured to clamp the interventional consumable 6 contained within the groove structure 21 to increase the driving friction of the friction wheel 2.

[0061] As a feasible implementation, the clamping member 4 is provided with a protrusion that can extend into the groove structure 21, so that the protrusion can continuously press the interventional consumable 6 within the groove structure 21. The structure of the protrusion is not limited, as long as it can consistently press against the interventional consumable 6 during its transport. For example, the protrusion can be a rectangular block structure, the width of which should be smaller than the width of the corresponding groove structure 21 to prevent the rectangular block from scraping against the friction wheel 2 and affecting its normal rotation.

[0062] In other embodiments, the pressing member 4 is provided with a limiting groove along the extension direction of the interventional consumable 6. The limiting groove is used to accommodate part of the interventional consumable 6. Before pressing the interventional consumable 6 towards the friction wheel 2, a part of the interventional consumable 6 can be inserted into the limiting groove to prevent the interventional consumable 6 from deviating from the preset position during the movement of the pressing member 4 towards the friction wheel 2, thus preventing the interventional consumable 6 from being pressed into the groove structure 21 and ensuring the positioning effect of the interventional consumable 6.

[0063] The clamping member 4 of this application is based on different materials. The contact surface between the interventional consumable 6 and the clamping member 4 can be a flat direct contact surface or an arc-shaped contact surface to ensure the driving effect of the interventional consumable 6 of the corresponding material.

[0064] In some implementations, combined Figure 2 and Figure 3 As shown, when the interventional consumable 6 is a catheter or hard guidewire with relatively high hardness, since the catheter or hard guidewire can provide a large frictional force and is not easy to recover after deformation, the clamping member 4 of this application can ensure the feeding effect by pressing against the interventional consumable 6 through the flat direct contact surface. At this time, the contact between the interventional consumable 6 and the friction wheel 2 is a double straight line contact to ensure the smooth delivery of the catheter or hard guidewire.

[0065] In other implementations, such as Figure 4As shown, when the interventional consumable 6 is made of a material such as a microwire with relatively low hardness, the microwire is soft and can provide less friction, and it is easy to recover after deformation. Therefore, the clamping member 4 is pressed against the interventional consumable 6 through the arc-shaped contact surface, and the shape of the arc-shaped contact surface matches part of the circumferential surface of the friction wheel 2 to press the interventional consumable 6 into the arc-shaped gap between the friction wheel 2 and the clamping member 4.

[0066] Specifically, when the microguidewire is inserted between the clamping member 4 and the friction wheel 2, the clamping member 4 presses the microguidewire towards the friction wheel 2. After the microguidewire contacts the friction wheel 2, the clamping continues, causing the microguidewire to deform according to the shape of the arc-shaped contact surface and a portion of the circumferential surface of the friction wheel 2. This deformation continues until the shape of the portion of the microguidewire between the clamping member 4 and the friction wheel 2 matches the shape of the arc-shaped contact surface and a portion of the circumferential surface of the friction wheel 2. This allows the interventional consumable 6 to adhere to the circumferential surface of the friction wheel 2. At this point, the contact between the interventional consumable 6 and the friction wheel 2 is a hyperbolic contact, increasing the contact area between the microguidewire and the friction wheel 2 and effectively ensuring the accuracy of the feed. It is worth noting that due to the inherent characteristics of the microguidewire, when the microguidewire is fed forward under the action of the friction wheel 2, the microguidewire that has detached from the clamping member 4 and the friction wheel 2 will return to its original state, ensuring that the microguidewire can be transported in a straight line and avoiding affecting the effectiveness of the microguidewire.

[0067] In some implementations, such as Figure 1 As shown, the interventional consumable feeding device also includes an elastic element 5. The clamping member 4 is connected to the main body 1 through the elastic element 5, so that the clamping member 4 can elastically abut against the circumferential surface of the friction wheel 2. Specifically, the elastic element 5 is disposed on the side of the clamping member 4 away from the friction wheel 2, so as to provide a force to the clamping member 4 in the direction of the friction wheel 2, thereby clamping the interventional consumable 6 in the direction of the friction wheel 2. The elastic element 5 has a simple structure, is easy to implement, and can automatically adapt to interventional consumables 6 of different diameters, effectively increasing the applicability of the interventional consumable feeding device.

[0068] In one feasible implementation, the elastic element 5 includes a spring 51, which has corresponding first and second ends. The first end of the spring 51 is connected to the side of the pressing member 4 away from the friction wheel 2, and the second end of the spring 51 is connected to the main body 1. Figure 1Taking the direction shown as an example, the first end of spring 51 is the top end of spring 51, and the second end of spring 51 is the bottom end of spring 51. In this design, spring 51 provides a spring force to the clamping member 4 in the direction of the friction wheel 2, so that the clamping member 4 clamps the interventional consumable 6 in the direction of the friction wheel 2. Spring 51 is small in size, easy to install, and its spring force can be designed according to usage requirements to meet the clamping needs of the corresponding interventional consumable 6.

[0069] Further optimized, the clamping member 4 is provided with a limiting hole 41 into which a portion of the elastic member 5 can be inserted. Specifically, the limiting hole 41 can accommodate the top end of the elastic member 5 to increase the positioning effect of the top end of the elastic member 5. At the same time, the limiting hole 41 can guide the extension and retraction of the elastic member 5, ensuring that the elastic force applied by the elastic member 5 to the clamping member 4 is perpendicular to the clamping member 4, thereby ensuring the stability of the elastic force provided by the elastic member 5 to the clamping member 4.

[0070] In other embodiments, a perforated structure may also be provided on the main body 1, allowing the bottom end of the elastic element 5 to be inserted into the perforated structure. Similarly, the perforated structure can enhance the positioning effect of the bottom end of the elastic element 5. Simultaneously, the perforated structure can guide the expansion and contraction of the elastic element 5, ensuring that the elastic force applied by the elastic element 5 to the pressing member 4 is perpendicular to the pressing member 4, further ensuring the stability of the elastic force provided by the elastic element 5 to the pressing member 4. It is understood that a columnar structure may also be provided on the main body 1, with the bottom end of the elastic element 5 fitted around the outer periphery of the columnar structure, so that the columnar structure provides a positioning effect for the elastic element 5.

[0071] The elastic element 5 consists of two or more elements, which are evenly distributed to ensure that the clamping member 4 is subjected to uniform force. This results in a more uniform pressure applied to the interventional consumable 6 by the clamping member 4, ensuring stable delivery of the interventional consumable 6. It is understood that the number of elastic elements 5 is not limited, as long as they can stably support the clamping member 4.

[0072] In other embodiments, the elastic element 5 includes a spring 51 and an adjusting element, which is used to adjust the elastic force applied by the spring 51 to the clamping member 4, thereby adapting to different types of interventional consumables 6 and meeting the delivery requirements of different types of interventional consumables 6.

[0073] As a feasible implementation, the adjusting component can be an adjusting bolt passing through the main body 1. The end of the adjusting bolt extends out of the main body 1 towards the clamping member 4, and the adjusting bolt is threadedly engaged with the main body 1. Therefore, the position of the adjusting bolt in its axial direction can be changed by rotating the adjusting bolt. One end of the adjusting bolt extending into the main body 1 is connected to the bottom end of the spring 51. Thus, the degree of compression of the spring 51 can be adjusted by rotating the adjusting bolt, thereby changing the elastic force provided by the spring 51 to the clamping member 4. This type of adjusting component has a simple structure, is easy to adjust, increases operational convenience, and ensures the accuracy of the spring force adjustment.

[0074] Further optimized, the bottom end of the spring 51 can be fitted around the outer periphery of the end of the bolt that extends into the main body 1, and the spring 51 can rotate relative to the bolt to meet the needs of adjusting the spring force of the spring 51. A knob is provided at the end of the bolt that extends out of the main body 1 to increase the convenience of operation.

[0075] In other embodiments, a telescopic member can be provided on the adjusting member. The telescopic member can extend and retract along the extension direction of the spring 51. The end of the telescopic member is connected to the end of the spring 51 away from the friction wheel 2, so as to adjust the compression degree of the spring 51 by means of the telescopic member, thereby meeting the needs of different types of interventional consumables 6. The telescopic member can be set inside the main body 1 to reduce space occupation, and the telescopic member can be an electric push rod, etc., to realize automatic control of the compression degree of the spring 51. At the same time, it can ensure that the extension and retraction amount of multiple telescopic members is the same, thereby ensuring the consistency of adjustment of multiple springs 51.

[0076] Furthermore, although the above embodiments all achieve elastic contact by means of the elastic member 5, this is only a partial preferred arrangement. Obviously, it is also possible to achieve elastic contact by setting the pressing member 4 as an elastic block, such as an elastic rubber block, and the elasticity of the pressing member 4 itself can also be used to achieve elastic contact. These solutions will also be included in the protection scope of the present invention.

[0077] like Figure 1 As shown, the main body 1 has a first opening 11 through which the interventional consumable 6 can pass, and the clamping member 4 has a second opening 42 through which the interventional consumable 6 can pass. The interventional consumable 6, passing through the second opening 42, is located on the side of the friction wheel 2. The first opening 11 and the second opening 42 are positioned opposite each other, allowing the interventional consumable 6 to pass through them sequentially. The first opening 11 and the second opening 42 guide the delivery of the interventional consumable 6, ensuring that it is delivered along a predetermined direction.

[0078] In this design, after the interventional consumable 6 passes through the first opening 11 and the second opening 42 in sequence, the part of the interventional consumable 6 that passes through the second opening 42 is positioned between the clamping member 4 and the friction wheel 2. The clamping member 4 can then press the interventional consumable 6 towards the friction wheel 2, so that the interventional consumable 6 fits against the circumferential surface of the friction wheel 2, ensuring the accuracy of the positioning of the interventional consumable 6.

[0079] As a possible implementation method, such as Figure 1 As shown, the clamping member 4 includes a pressure plate, which is radially opposite to the friction wheel 2. A second opening 42 is provided through the pressure plate, so that a gap can be formed between the portion of the pressure plate below the second opening 42 and the friction wheel 2, allowing the interventional consumable 6 to pass through. Correspondingly, a relief groove is provided on the side of the pressure plate near the friction wheel 2, allowing the interventional consumable 6 to be exposed. A portion of the friction wheel 2 can pass through the relief groove and be pressed against the outer periphery of the interventional consumable 6. This design ensures the extension path of the interventional consumable 6 through the first opening 11 and the second opening 42, avoiding the phenomenon of bending in the middle of the interventional consumable 6 due to its length, and further plays a guiding role. Moreover, the friction wheel 2 can pass through the clamping member 4 and be pressed against the interventional consumable 6, which can reduce the space occupied by the overall structure.

[0080] In other embodiments, a receiving groove may be provided in the main body 1, and a pressing member 4 is disposed in the receiving groove. The pressing member 4 is configured to move in the receiving groove along the direction close to or away from the friction wheel 2 to ensure that the pressing member 4 can press the interventional consumable 6. At the same time, the receiving groove can limit the range of movement of the pressing member 4 to avoid the pressing member 4 providing too much pressure to the interventional consumable 6, which would prevent the friction wheel 2 from transmitting the interventional consumable 6.

[0081] Combination Figures 5 to 7 As shown, the present invention also provides an interventional consumable driving mechanism for an interventional surgical robot, including a fixed frame 7, an interventional consumable feeding device as described in any of the above technical solutions, a first driving member 3, and a second driving member 8.

[0082] The main body 1 is rotatably mounted on the fixed frame 7, which can be mounted on the interventional surgical robot as a mounting base. The first drive component 3 drives the friction wheel 2 to rotate; that is, the rotation axis of the friction wheel 2 is rotatably mounted on the main body 1. The first drive component 3 drives the rotation axis of the friction wheel 2 to rotate, thereby driving the friction wheel 2 to rotate. The second drive component 8 drives the main body 1 to rotate. This design allows the second drive component 8 to drive the main body 1 to rotate, thereby causing the interventional consumable 6 to rotate around the rotation axis of the main body 1, achieving the flipping of the interventional consumable 6. The first drive component 3 can drive the interventional consumable 6 to move along its extension direction, achieving forward or backward movement. Thus, the automatic feeding and rotation of the interventional consumable 6 can be achieved through the first drive component 3 and the second drive component 8, realizing automated control.

[0083] Combination Figure 5 and Figure 7 As shown, the second driving component 8 includes a tilting drive shaft 81, a tilting drive motor, a first tilting bevel gear 82, and a second tilting bevel gear 83.

[0084] The tilting drive shaft 81 is rotatably mounted on the fixed frame 7, and extends along a direction perpendicular to the rotation axis of the main body 1, reducing the space occupied by the overall drive mechanism. A tilting drive motor is used to drive the tilting drive shaft 81 to rotate. A first tilting bevel gear 82 is mounted on the tilting drive shaft 81, such as... Figure 5 As shown, the first reversing bevel gear 82 is disposed at the top of the reversing drive shaft 81. The second reversing bevel gear 83 is disposed on the rotating shaft of the main body 1, wherein the rotating shaft of the main body 1 passes through the fixed frame 7, and the second reversing bevel gear 83 is disposed at the end of the rotating shaft of the main body 1 that extends out of the fixed frame 7. The first reversing bevel gear 82 and the second reversing bevel gear 83 mesh with each other, so as to drive the reversing drive shaft 81 to rotate through the reversing drive motor, and then drive the main body 1 to rotate under the action of the first reversing bevel gear 82 and the second reversing bevel gear 83. This arrangement of the second driving component 8 is compact and reduces space occupation.

[0085] In a further optimized manner, the rotating shaft of the main body 1 and the second flipping bevel gear 83 are respectively provided with a first through hole through which the interventional consumable 6 can pass, so that the interventional consumable can pass through the first through hole and through the first opening 11 of the main body 1 to extend between the friction wheel 2 and the clamping member 4, ensuring that the interventional consumable 6 can extend along the preset path.

[0086] In other embodiments, the tilting drive motor can be directly connected to the rotation shaft of the main body 1. In this case, the extension direction of the drive shaft of the tilting drive motor is consistent with that of the rotation shaft of the main body 1, so that the drive shaft can drive the rotation shaft of the main body 1 to rotate synchronously. This design simplifies the structure of the transmission components, thereby reducing equipment costs.

[0087] Combination Figure 5 , Figure 6 and Figure 7 As shown, the first driving component 3 includes a first feed drive shaft 31, a feed drive motor, a second feed drive shaft 32, a third feed drive shaft 36, and a second gear 39.

[0088] The first feed drive shaft 31 is rotatably mounted on the fixed frame 7, and the tilt drive shaft 81 extends along the rotation axis perpendicular to the main body 1, reducing the space occupied by the overall drive mechanism. The feed drive motor is used to drive the tilt drive shaft 81 to rotate. The second feed drive shaft 32 passes through the fixed frame 7, and the extension direction of the second feed drive shaft 32 is consistent with the extension direction of the rotation axis of the main body 1. The end of the first feed drive shaft 31 is provided with a first feed bevel gear 33, and the end of the second feed drive shaft 32 extending out of the fixed frame 7 is provided with a second feed bevel gear 34 that meshes with the first feed bevel gear 33, so that the first feed drive shaft 31 drives the second feed drive shaft 32 to rotate. The end of the second feed drive shaft 32 extending into the fixed frame 7 is provided with a third feed bevel gear 35, so that the third feed bevel gear 35 rotates synchronously with the second feed bevel gear 34. The third feed drive shaft 36 is rotatably mounted on the main body 1, and its extension direction is consistent with the extension direction of the rotation axis of the friction wheel 2. The third feed drive shaft 36 is equipped with a first gear 37 and a fourth feed bevel gear 38 that meshes with the third feed bevel gear 35. The third feed drive shaft 36 is then driven to rotate via the second feed drive shaft 32, thereby driving the first gear 37 on the third feed drive shaft 36 to rotate. A second gear 39 is mounted on the rotation axis of the friction wheel 2 and meshes with the first gear 37, thus driving the rotation axis of the friction wheel 2 to rotate via the third feed drive shaft 36. In this design, the feed drive motor drives the insertion consumable 6 forward or backward through multiple gear transmissions, resulting in a more compact overall structure.

[0089] Furthermore, the second feed drive shaft 32 is sleeved on the outer periphery of the rotation shaft of the main body 1, and the second feed drive shaft 32 and the rotation shaft of the main body 1 can rotate relative to each other. This design further reduces space occupation and increases the structural compactness of the drive mechanism.

[0090] In a further optimized manner, the second feed drive shaft 32, the second feed bevel gear 34 and the third feed bevel gear 35 are respectively provided with second through holes at their centers, and the intervention consumable 6 can pass through multiple second through holes in sequence to ensure that the intervention consumable 6 can extend along the preset path.

[0091] The drive mechanism provided in this application can be used to drive the movement of catheters or guidewires. The catheter or guidewire is pressed against the friction wheel 2 under the action of the clamping member 4. As the friction wheel 2 rotates, the catheter or guidewire moves forward or backward under the action of friction. The rotation of the flip drive motor can drive the main body 1 and the catheter or guidewire on the main body 1 to flip, thereby meeting the movement requirements of the catheter or guidewire.

[0092] In this design, when the flip drive motor drives the main body 1 to flip, the main body 1 will drive the third feed drive shaft 36 and the first gear 37 and the fourth feed bevel gear 38 on the third feed drive shaft 36 to rotate around the rotation axis of the main body 1. This, in turn, will cause the fourth feed bevel gear 38 to drive the third feed bevel gear 35 to rotate, which in turn drives the second feed drive shaft 32 to rotate. At this time, the feed drive motor can drive the first feed drive shaft 31 to rotate in the opposite direction to adapt to the rotation of the second feed drive shaft 32, thereby eliminating the influence of the output shaft of the feed drive motor on the flipping of the main body 1. This elimination method (the rotation speed of the feed drive motor) can be accomplished by those skilled in the art by setting a corresponding program, and the setting of such a program is conventional technology for those skilled in the art; therefore, it is not described in detail here.

[0093] The interventional consumables driving mechanism provided by the present invention can be applied to interventional surgical robots, so that the interventional consumables driving mechanism on the interventional surgical robot can include all the technical features of the above-mentioned interventional consumables driving mechanism.

[0094] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus 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, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0095] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those 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 invention. Therefore, the present invention is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. An interventional consumable feeding device for an interventional surgical robot, characterized in that, It includes a main body (1), a friction wheel (2), and a clamping component (4). The friction wheel (2) is rotatably mounted on the main body (1). The clamping member (4) can provide a static clamping surface and can elastically abut against the circumferential surface of the friction wheel (2) to clamp a portion of the interventional consumable (6) between the clamping member (4) and the friction wheel (2), so that the rotation of the friction wheel (2) can drive the movement of the interventional consumable (6). The friction wheel (2) has a groove structure (21) arranged around its circumferential surface. The interventional consumable (6) abuts against the friction wheel (2) through the groove structure (21). The groove structure (21) has a trapezoidal cross section along the radial direction of the friction wheel (2), and includes two oppositely arranged and outwardly inclined surfaces. The interventional consumable (6) can abut against the inclined surfaces. The clamping member (4) abuts against the intervention consumable (6) through an arc-shaped contact surface, and the shape of the arc-shaped contact surface matches part of the circumferential surface shape of the friction wheel (2); The interventional consumable feeding device also includes an elastic element (5), and the clamping member (4) is connected to the main body (1) through the elastic element (5) so that the clamping member (4) can elastically abut against the circumferential surface of the friction wheel (2); The clamping member (4) is provided with a limiting hole (41) into which a part of the elastic member (5) can be inserted.

2. The interventional consumable feeding device of claim 1, wherein, The main body (1) is provided with a first opening (11) through which the interventional consumable (6) can pass, and the clamping member (4) is provided with a second opening (42) through which the interventional consumable (6) can pass. The interventional consumable (6) can pass through the first opening (11) and the second opening (42) in sequence.

3. A drive mechanism for interventional consumables in an interventional surgical robot, characterized in that, include: Fixture (7); The interventional consumable feeding device as described in any one of claims 1 to 2, wherein the main body (1) is rotatably mounted on the fixed frame (7); The first driving component (3) is used to drive the friction wheel (2) to rotate; The second driving component (8) is used to drive the main body (1) to rotate.

4. The interventional consumable driving mechanism according to claim 3, characterized in that, The second driving element (8) includes: A flip drive shaft (81) is rotatably mounted on the fixed frame (7), and the flip drive shaft (81) extends along a direction perpendicular to the rotation axis of the main body (1); A flip drive motor is used to drive the flip drive shaft (81) to rotate; A first reversing bevel gear (82) is disposed on the reversing drive shaft (81); and The second flipping bevel gear (83) is disposed on the rotation shaft of the main body (1), and the first flipping bevel gear (82) meshes with the second flipping bevel gear (83).

5. The interventional consumable driving mechanism according to claim 4, characterized in that, The first driving element (3) includes: The first feed drive shaft (31) is rotatably mounted on the fixed frame (7), and the flip drive shaft (81) extends along the rotation axis perpendicular to the main body (1); A feed drive motor is used to drive the tilting drive shaft (81) to rotate; The second feed drive shaft (32) is mounted on the fixed frame (7). The end of the first feed drive shaft (31) is provided with a first feed bevel gear (33). The end of the second feed drive shaft (32) extending out of the fixed frame (7) is provided with a second feed bevel gear (34) that meshes with the first feed bevel gear (33). The end of the second feed drive shaft (32) extending into the fixed frame (7) is provided with a third feed bevel gear (35). A third feed drive shaft (36) is rotatably mounted on the main body (1). The third feed drive shaft (36) is provided with a first gear (37) and a fourth feed bevel gear (38) meshing with the third feed bevel gear (35); and The second gear (39) is disposed on the rotating shaft of the friction wheel (2), and the second gear (39) meshes with the first gear (37).

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