Interventional consumable guiding mechanism, interventional consumable delivery device, and interventional surgical robot

Abstract

The application relates to the technical field of medical devices, and discloses an interventional consumable guiding mechanism, an interventional consumable conveying device and an interventional surgery robot, wherein the interventional consumable guiding mechanism is used for assisting an interventional consumable to pass through a driving module of the interventional surgery robot, the interventional consumable guiding mechanism comprises a first guiding pipe and a second guiding pipe, and the first guiding pipe and the second guiding pipe are oppositely arranged in an axial direction; at least one of the first guiding pipe and the second guiding pipe is configured to be capable of moving towards the other one so that the first guiding pipe and the second guiding pipe can be spliced with each other to form a guiding channel for the interventional consumable to pass through. The interventional consumable guiding mechanism of the application realizes accurate guidance of the interventional consumable, so that the interventional consumable can smoothly pass through the guiding channel formed by splicing the first guiding pipe and the second guiding pipe; after the passing is completed, one of the guiding pipes is removed, and normal operation of the driving module can be ensured, and the passing difficulty of the interventional consumable is greatly reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an interventional consumable guiding mechanism, an interventional consumable delivery device and an interventional surgery robot. BACKGROUND

[0002] Interventional therapy is a minimally invasive treatment using modern high-tech means, that is, under the guidance of medical imaging equipment, special catheters, guide wires and other precision instruments are introduced into the human body to diagnose and locally treat body diseases.

[0003] Taking vascular interventional therapy as an example, minimally invasive vascular interventional surgery is a basic means for diagnosis and treatment of cardiovascular and cerebrovascular diseases, and most of the current vascular lesion diagnosis and vascular reconstruction surgeries need to use this technology. The operation of guide wire-catheter is the core content of minimally invasive vascular interventional surgery, which determines the quality of surgery. At present, interventional doctors manually complete the positioning operation of guide wire-catheter in the blood vessels of patients with the help of digital subtraction angiography (DSA) imaging technology. Guide wire, catheter and balloon catheter are basic instruments used in surgery. Using a robot device to position medical instruments such as guide wires can improve the positioning operation precision and stability, free medical staff from radiation, avoid additional harm caused by heavy lead clothing worn by medical staff, avoid unreliable intraoperative operation caused by fatigue of medical staff, improve the situation that traditional interventional surgery is extremely dependent on the personal experience of doctors, reduce the learning curve of interventional surgery, and provide more accurate operation for vascular interventional surgery. Interventional surgery robot assistance has become an important direction of the development of vascular interventional therapy.

[0004] In the assisted treatment of interventional surgery robots, one of the most core functions is to use robots to realize the delivery of catheters and guide wires, such as advancing, retracting and rotating. Taking the realization of catheter delivery as an example, two clamping rollers capable of passing the catheter are usually configured, and the catheter generates forward power under the pushing action of the clamping rollers. Before delivering the catheter, the front end of the catheter needs to be inserted between the clamping rollers, and the current method is to pull or push one of the clamping rollers from the side of the clamping rollers and separate it from the other clamping roller, and then insert the catheter to pass through the pressing surface. Since the front end of the catheter is soft and easy to bend, the front end of the catheter is prone to deviation during insertion, which may cause inaccurate positioning. SUMMARY

[0005] The purpose of the present application is to overcome the problem that the existing technology is prone to deviation or misplacement when inserting the interventional consumable into the clamping wheel for delivery, and to provide an interventional consumable guiding mechanism, which has a pair of guiding tubes capable of being combined with each other to form a guiding channel for guiding the interventional consumable to pass through.

[0006] In order to achieve the above-mentioned object, the present application provides an interventional material guiding mechanism for an interventional surgery robot, which is used for assisting an interventional material to pass through a driving module of the interventional surgery robot, and the interventional material guiding mechanism comprises:

[0007] a first guiding tube and a second guiding tube, which are spaced apart in an axial direction; wherein:

[0008] at least one of the first guiding tube and the second guiding tube is configured to be movable towards the other one so that the first guiding tube and the second guiding tube can be spliced with each other to form a guiding channel for the interventional material to pass through.

[0009] By arranging the first guiding tube and the second guiding tube which are spaced apart in the axial direction, and enabling at least one of the first guiding tube and the second guiding tube to be movable towards the other one, the first guiding tube and the second guiding tube can be spliced with each other to form the guiding channel for the interventional material to pass through after the guiding tubes are close to each other, so that the interventional material can be basically oriented and linearly advanced under the guidance of the guiding channel, and is not easy to deviate or be misaligned, so as to smoothly pass the interventional material, thereby the precise guiding and positioning of the interventional material, especially the interventional material which is soft and easy to bend, can be realized. In addition, since the first guiding tube and the second guiding tube are in a disconnected state before being spliced, only when the interventional material such as a guide wire or a catheter needs to be guided, the first guiding tube and the second guiding tube can be spliced with each other to pass the interventional material such as the guide wire or the catheter, and then the first guiding tube and the second guiding tube can be in the disconnected state, so that the arrangement of the guiding tubes does not affect the normal operation of the clamping wheel for driving the interventional material to advance, and the portability of the passing and the portability of the transmission are taken into account.

[0010] Optionally, the first guiding tube is arranged to be movable relative to the second guiding tube, and an outer wall surface of a first end portion of the first guiding tube close to the second guiding tube is provided with a guiding inclined surface; wherein:

[0011] in a direction from the first end portion of the first guiding tube to a direction away from the second guiding tube, the guiding inclined surface gradually moves away from the axis of the first guiding tube so that the first guiding tube can generate an outward component force in the radial direction of the first guiding tube during the movement towards the second guiding tube.

[0012] Optionally, the first end portion of the first guiding tube is provided with a pair of the guiding inclined surfaces, and the pair of the guiding inclined surfaces are opposite to each other.

[0013] Optionally, the interventional material guiding mechanism comprises a guiding matching structure arranged between the first guiding tube and the second guiding tube, the guiding matching structure comprises a first guiding cone surface and a second guiding cone surface capable of being sleeved outside the first guiding cone surface to be capable of cooperating with the first guiding cone surface, the first guiding cone surface is tapered in a direction from a middle part of the corresponding guiding tube to an end part of the guiding tube close to the other guiding tube, and the second guiding cone surface is divergent in the direction.

[0014] The first guiding cone surface is arranged on an outer wall surface of a first end part of the second guiding tube close to the first guiding tube, and the second guiding cone surface is arranged on an inner wall surface of a first end part of the first guiding tube close to the second guiding tube; or, the first guiding cone surface is arranged on an outer wall surface of a first end part of the first guiding tube close to the second guiding tube, and the second guiding cone surface is arranged on an inner wall surface of a first end part of the second guiding tube close to the first guiding tube.

[0015] Optionally, the first guiding tube is arranged to be capable of moving relative to the second guiding tube, and an inner wall of a second end part of the second guiding tube away from the first guiding tube is provided with a guiding cone surface for the interventional material to enter; wherein:

[0016] The guiding cone surface is divergent in a direction from the second end part of the second guiding tube to away from the first guiding tube.

[0017] Optionally, the first guiding tube is arranged to be capable of moving relative to the second guiding tube, and the interventional material guiding mechanism comprises a pressing boss arranged around the first guiding tube and capable of being pressed.

[0018] Optionally, the interventional material guiding mechanism comprises a first boss and a second boss arranged at intervals along an axial direction of the first guiding tube, the first boss is arranged on an outer wall of the first guiding tube, and the first boss is capable of moving with the first guiding tube relative to the second boss, and the first boss and the second boss are both arranged in front of the pressing boss in a direction in which the first guiding tube moves towards the second guiding tube.

[0019] The interventional material guiding mechanism comprises a reset mechanism, the reset mechanism comprises an elastic member arranged between the first boss and the second boss, wherein: the elastic member is arranged to be capable of driving the first guiding tube to move in a direction away from the second guiding tube to reset when a pressing force on the pressing boss is removed.

[0020] Optionally, the intervention material guiding mechanism comprises a stop boss, which is arranged in front of the pressing boss in the direction in which the first guiding tube moves towards the second guiding tube, and is arranged to be capable of stopping the pressing boss from continuing to move forward.

[0021] The second aspect of the present application provides an intervention material delivery device, which comprises:

[0022] a driving module, which comprises at least one pair of rotatable clamping wheels opposite to each other, and a pair of the clamping wheels are arranged to be capable of moving radially close to or away from each other to form a clamping channel for clamping the intervention material; and

[0023] an intervention material guiding mechanism, which is the intervention material guiding mechanism provided by the present application, and the first guiding tube and the second guiding tube are arranged along the axial direction of the clamping channel.

[0024] By arranging the intervention material guiding mechanism provided by the present application in the intervention material delivery device, the intervention material can be guided to move forward, so that the intervention material such as a catheter is less likely to deviate or misalign. In addition, when the guiding operation is completed, the first guiding tube and the second guiding tube can be in a separated state, so that the opposite clamping wheels can clamp the intervention material to push the intervention material.

[0025] The third aspect of the present application provides an intervention surgery robot, which comprises the intervention material delivery device provided by the present application. By arranging the intervention material delivery device provided by the present application in the intervention surgery robot, under the guiding action of the intervention material guiding mechanism, the intervention material can be conveniently and accurately guided into the pair of clamping wheels, so that the accurate delivery of the intervention material such as a catheter or a guide wire is realized. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a side view structural schematic diagram of the intervention material delivery device of the preferred embodiment of the present application;

[0027] Figure 2 is a three-dimensional structural schematic diagram of the intervention material guiding mechanism of the preferred embodiment of the present application, in which an intervention material is arranged;

[0028] Figure 3 is a side view structural schematic diagram of the intervention material guiding mechanism shown in Figure 2 ;

[0029] Figure 4 is a cross-sectional structural schematic diagram taken along the B-B line shown in Figure 3 ;

[0030] Figure 5 It is along Figure 1 The diagram shows a cross-sectional structure taken by the AA line, and it shows the state before the insertion of the interventional consumables;

[0031] Figure 6 It is along Figure 5 A schematic diagram of the cross-sectional structure taken by line B1-B1;

[0032] Figure 7 This is a cross-sectional structural schematic diagram of the interventional consumables guiding mechanism according to a preferred embodiment of the present invention;

[0033] Figure 8 This is a front view structural schematic diagram of the interventional consumable guiding mechanism according to a preferred embodiment of the present invention, and it shows the state after the interventional consumable is inserted and the first guide tube has not been reset;

[0034] Figure 9 It is along Figure 8 The diagram shows a cross-sectional structure taken along line B2-B2.

[0035] Figure 10 This is a front view structural schematic diagram of the interventional consumable guide mechanism according to a preferred embodiment of the present invention, and shows the state after the interventional consumable is inserted and the first guide tube is reset;

[0036] Figure 11 It is along Figure 10 The diagram shows a cross-sectional structure taken from line B3-B3.

[0037] Explanation of reference numerals in the attached figures

[0038] 10. Interventional consumable guiding mechanism; 100. Guide channel; 12. First guide tube; 120. Guide inclined surface; 122. Pressing boss; 14. Second guide tube; 140. Guide cone surface; 16. Guide mating structure; 160. First guide cone surface; 162. Second guide cone surface; 180. Guide sleeve; 184a. First boss; 184b. Second boss; 186. Elastic element; 188. Stop boss; 20. Interventional consumable conveying device; 220. Clamping wheel; 24. Bracket; 240. First side plate; 242. Second side plate; 244. Top plate; 246. Bottom plate; 40. Interventional consumable. Detailed Implementation

[0039] In the description of the application, it should be understood that the terms "first", "second" are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an indicated number of technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0040] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms is not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or features of different embodiments or examples described in the present application without contradiction.

[0042] It should be noted that the interventional surgery robot is provided with a driving module for driving the interventional consumables (such as catheters or guide wires) to move forward, and the driving module can include at least one pair of rotatable clamping wheels opposite to each other. It can be understood that the clamping wheels can be arranged to rotate around the axis of the clamping wheels, and the pair of clamping wheels can be close to or away from each other to form a clamping channel for clamping the interventional consumables. When the interventional consumables (such as catheters or guide wires) are delivered by the front end delivery mechanism (i.e. the driving module) of the interventional surgery robot, the catheter or guide wire is placed in the clamping channel between the pair of clamping wheels opposite to each other, and the catheter or guide wire can move forward along the axis direction of the catheter or guide wire under the common pushing action of the pair of clamping wheels.

[0043] The application provides an interventional material guiding mechanism for an interventional surgery robot, which is used for assisting an interventional material 40 to pass through a driving module of the interventional surgery robot, and comprises a first guiding tube 12 and a second guiding tube 14, both ends of the first guiding tube 12 are open, both ends of the second guiding tube 14 are open, and the second guiding tube 14 is spaced apart from the first guiding tube 12 in an axial direction, such as an axial direction of the first guiding tube 12; wherein: at least one of the first guiding tube 12 and the second guiding tube 14 is configured to be movable towards the other one so that the first guiding tube 12 and the second guiding tube 14 can be spliced with each other to form a guiding channel 100 for the interventional material 40, such as a catheter or a guide wire, to pass through. By arranging the first guiding tube 12 and the second guiding tube 14 to be spaced apart in the axial direction and enabling at least one of the first guiding tube 12 and the second guiding tube 14 to be movable towards the other one, the guiding channel 100 for the interventional material 40 to pass through can be formed by splicing the guiding tubes with each other after the guiding tubes are close to each other, so that the interventional material 40 can basically be oriented and linearly advanced under the guidance of the guiding channel 100, and is not easy to deviate or be misaligned, so as to smoothly pass the interventional material, thereby the precise guiding and positioning of the interventional material 40, especially the interventional material 40 with soft material and easy to bend, can be realized. In addition, since the first guiding tube 12 and the second guiding tube 14 are in a disconnected state before the guiding tubes are spliced, only when the interventional material 40, such as a guide wire or a catheter, needs to be guided, the first guiding tube 12 and the second guiding tube 14 can be spliced with each other first to pass the interventional material 40, such as a guide wire or a catheter, and then the first guiding tube 12 and the second guiding tube 14 can be in a disconnected state, so that the arrangement of the guiding tubes will not affect the normal operation of the clamping wheel 220 for driving the interventional material 40 to advance. However, the prior art needs to manually separate two clamping wheels 220 by manpower, and then the interventional material 40 is passed in, which is as difficult to operate as putting a needle in a box, and then threading a wire into the needle hole and out of the other side of the box. The application can solve the problem by using the channel formed by the splicing of the first guiding tube 12 and the second guiding tube 14.

[0044] In combination Figure 1 , Figure 5 and Figure 6As shown in the figure, the intervention material delivery device 20 can include a driving module and the intervention material guiding mechanism 10 provided by the present application, the driving module can include a pair of pinch rollers 220 opposite to each other, the pinch rollers 220 can be arranged to be able to rotate around the axis of the pinch rollers 220, and the pair of pinch rollers 220 are arranged to be able to approach or move away from each other to form a pinch channel for clamping the intervention material 40. It can be understood that the first guide tube 12 and the second guide tube 14 in the intervention material guiding mechanism 10 can be arranged axially spaced apart along the pinch channel, wherein the axis of the pinch channel and the axes of the first guide tube 12, the second guide tube 14 and the guide channel 100 coincide, and the first guide tube 12 and the second guide tube 14 can be respectively located on both sides of the pinch rollers 220 before the guide channel 100 is formed.

[0045] In the intervention material delivery device 20, a bracket 24 for assembling the relevant components of the intervention material delivery device can be arranged, and the bracket 24 can have a frame structure. The bracket 24 can include a first side plate 240 and a second side plate 242 opposite to each other; the bracket 24 can also include a top plate 244 and a bottom plate 246 arranged between the first side plate 240 and the second side plate 242; wherein the top plate 244 and the bottom plate 246 are opposite to each other. The pinch rollers 220 are assembled between the top plate 244 and the bottom plate 246, and the axis of the pinch rollers 220, i.e. the rotation axis, can be perpendicular to the axis of the guide tube, such as the first guide tube 12, and the pair of pinch rollers 220 can approach or move away from each other through the tensioning rubber ring. In addition, the second guide tube 14 can be assembled to the first side plate 240, and the first guide tube 12 can be assembled to the second side plate 242, and the first guide tube 12 and the second guide tube 14 are spaced apart in the axial direction of the pinch channel, and the first guide tube 12 and the second guide tube 14 can be respectively located on both sides of the pinch rollers 220.

[0046] The first guide tube 12 can be arranged to be movable relative to the second guide tube 14, and it can be understood that the first guide tube 12 can be movable towards the second guide tube 14, such as Figure 2 As shown in the figure, the outer wall surface of the first end of the first guide tube 12 close to the second guide tube 14 can be provided with a guide inclined surface 120; wherein: in the direction from the first end of the first guide tube 12 to the direction away from the second guide tube 14, the guide inclined surface 120 can be arranged to gradually move away from the axis of the first guide tube 12, so that the first guide tube 12 can generate an outward component force in the radial direction of the first guide tube 12 during the movement towards the second guide tube 14, when the first guide tube 12 moves through the pair of pinch rollers 220, the front end of the guide inclined surface 120 first enters the pair of pinch rollers 220, and during the continuous movement of the first guide tube 12, the guide inclined surface 120 gradually applies a radial outward force to the corresponding pinch roller 220, thereby being able to separate the pair of pinch rollers 220, and facilitating the separation of the pair of pinch rollers 220. As shown in the figure,Figure 6 As shown in Figs. 1 and 2, the first guide tube 12 is moved towards the second guide tube 14, and when the first guide tube 12 approaches the clamping wheel 220, the first guide tube 12 is separated from the second guide tube 14 under the action of the guide inclined surface 120. Figure 8 and Figure 9 As shown in Figs. 1 and 2, the first guide tube 12 is moved towards the second guide tube 14, and when the first guide tube 12 approaches the clamping wheel 220, the first guide tube 12 is separated from the second guide tube 14 under the action of the guide inclined surface 120.

[0047] In order to better separate the pair of clamping wheels 220, the first end of the first guide tube 12 is provided with a pair of guide inclined surfaces 120, which can be opposite to each other. It can be understood that the pair of guide inclined surfaces 120 can be respectively directed towards the corresponding clamping wheel 220, that is, in the moving direction of the first guide tube 12, the pair of guide inclined surfaces 120 can be respectively located on both sides of the axis of the first guide tube 12, so as to apply a force to the corresponding clamping wheel 220 along the radial direction of the clamping wheel 220, thereby more easily separating the pair of clamping wheels 220 from each other.

[0048] A guide matching structure 16 can be arranged between the first guide tube 12 and the second guide tube 14, and the guide matching structure 16 can guide the first guide tube 12 and the second guide tube 14 to be matched with each other, so that the matching between the first guide tube 12 and the second guide tube 14 can be guided, and the first guide tube 12 and the second guide tube 14 can be matched more accurately and quickly. The specific structure of the guide matching structure 16 is not particularly limited as long as it can guide the matching between the first guide tube 12 and the second guide tube 14.

[0049] As shown in Figs. 1 and 2, the first guide tube 12 is moved towards the second guide tube 14, and when the first guide tube 12 approaches the clamping wheel 220, the first guide tube 12 is separated from the second guide tube 14 under the action of the guide inclined surface 120. Figure 2 , Figure 4 , Figure 8 and Figure 9 As shown in Figs. 1 and 2, the first guide tube 12 is moved towards the second guide tube 14, and when the first guide tube 12 approaches the clamping wheel 220, the first guide tube 12 is separated from the second guide tube 14 under the action of the guide inclined surface 120.

[0050] For example, the first guide cone surface 160 is arranged on the outer wall surface of the first end of the second guide tube 14 close to the first guide tube 12, and the second guide cone surface 162 is arranged on the inner wall surface of the first end of the first guide tube 12 close to the second guide tube 14, and the first guide tube 12 is arranged to be capable of moving towards the second guide tube 14, a guide inclined surface 120 can be arranged on the outer wall surface of the first end of the first guide tube 12 close to the second guide tube 14, and in the direction from the first end of the first guide tube 12 to the direction away from the second guide tube 14, the guide inclined surface 120 gradually moves away from the axis of the first guide tube 12 so that the first guide tube 12 can generate an outward component force in the radial direction of the first guide tube 12 during the movement towards the second guide tube 14. When the first guide tube 12 is moved towards the second guide tube 14 by the external thrust, the front end of the guide inclined surface 120 first enters between the pair of pinch rollers 220, and then the guide inclined surface 120 can exert a radial outward component force towards the corresponding pinch roller 220 as the first guide tube 12 moves, so that when the first guide tube 12 continues to move towards the second guide tube 14, the guide inclined surface 120 can separate the pair of pinch rollers 220 from each other; it should be noted that during the movement of the first guide tube 12 towards the second guide tube 14, when the guide inclined surface 120 gradually exerts a radial outward component force towards the corresponding pinch roller 220, the first guide cone surface 160 and the second guide cone surface 162 cooperate with each other, i.e. the second guide cone surface 162 is arranged outside the first guide cone surface 160, so that the first guide tube 12 and the second guide tube 14 are spliced together to form a guide channel 100 for the interventional consumable 40 such as a catheter to pass through. Since the first guide cone surface 160 and the second guide cone surface 162 can cooperate with each other, the first guide tube 12 and the second guide tube 14 can be better guided to splice the first guide tube 12 and the second guide tube 14 better, thereby achieving more accurate splicing.

[0051] From the foregoing, it can be seen that the first guide tube 12 can be arranged to be capable of moving relative to the second guide tube 14, and it can be understood that the first guide tube 12 can move towards the second guide tube 14, in combination with Figure 5 、 Figure 6 、 Figure 8 、 Figure 9 、 Figure 10 and Figure 11As shown in the figure, the inner wall of the second end of the second guide tube 14 away from the first guide tube 12 can be provided with a guide cone surface 140 for the intervention material 40 to enter; wherein: in the direction from the second end of the second guide tube 14 to away from the first guide tube 12, it can be understood that in the direction from the first end of the second guide tube 14 to the second end of the second guide tube 14, the guide cone surface 140 is diverging, and the intervention material 40 can first enter the guide channel 100 from the guide cone surface 140, and since the guide cone surface 140 is diverging, the intervention material 40 can more conveniently enter the guide channel 100 formed by the first guide tube 12 and the second guide tube 14.

[0052] It should be noted that in the process of moving the first guide tube 12 towards the second guide tube 14, first the guide inclined surface 120 gradually applies a radial outward component force towards the corresponding clamping wheel 220 to separate the pair of clamping wheels 220 from each other, at the same time, the second guide cone surface 162 can be sleeved outside the first guide cone surface 160 to enable the first guide tube 12 and the second guide tube 14 to be mutually combined to form a guide channel 100 allowing the intervention material 40 such as a catheter to pass through, after the guide channel 100 is formed, the intervention material 40 can more conveniently enter the guide channel 100 through the guide cone surface 140 of the second guide tube 14.

[0053] In addition, a pressing boss 122 for pressing can be provided, the pressing boss 122 can be arranged around the outside of the first guide tube 12, by applying a pressing force to the pressing boss 122, the first guide tube 12 can be driven to move towards the second guide tube 14. Specifically, the pressing boss 122 can be located outside the bracket 24. When the intervention material 40 needs to be guided, a pressing force can be applied to the pressing boss 122 to enable the first guide tube 12 to move towards the second guide tube 14, until the pressing boss 122 abuts against the stop boss 188, the first guide tube 12 and the second guide tube 14 are combined with each other to form a guide channel 100 allowing the intervention material 40 such as a catheter to pass through, wherein the stop boss 188 will be mentioned in the following content, which will not be described here.

[0054] In combination with Figure 2 , Figure 3 and Figure 7As shown in FIG. 1, the first boss 184a and the second boss 184b can be arranged axially apart from each other, the first boss 184a can be arranged on the outer wall of the first guide tube 12, and the first boss 184a can move along with the first guide tube 12 relative to the second boss 184b. It should be noted that the second boss 184b can be arranged on the second side plate 242 of the bracket 24 so that the second boss 184b is stationary relative to the first boss 184a. In the direction in which the first guide tube 12 moves towards the second guide tube 14, the first boss 184a and the second boss 184b can be arranged in front of the pressing boss 122. In addition, a reset mechanism can be arranged between the first boss 184a and the second boss 184b. The reset mechanism can be configured to reset the first guide tube 12 when the pressing force applied to the pressing boss 122 is removed, thereby achieving the disconnection between the first guide tube 12 and the second guide tube 14, so that the interventional consumable 40 located in the clamping channel is pushed under the transmission of the pair of clamping wheels 220.

[0055] The reset mechanism can include an elastic member 186 arranged between the first boss 184a and the second boss 184b. The elastic member 186 can be arranged to move the first guide tube 12 in a direction away from the second guide tube 14 when the pressing force applied to the pressing boss 122 is removed, thereby achieving automatic reset of the first guide tube 12. The elastic member 186 can be a spring, or can be formed of an elastic material such as rubber. The two ends of the spring can abut against the first boss 184a and the second boss 184b, respectively. It can be understood that when the pressing force is applied to the pressing boss 122, the first guide tube 12 can move towards the second guide tube 14, thereby moving the first boss 184a towards the second boss 184b, so that the elastic member 186 located between the first boss 184a and the second boss 184b is compressed. When the pressing boss 122 is released, i.e., the pressing force applied to the pressing boss 122 is removed, the elastic member 186 can move the first guide tube 12 in a direction away from the second guide tube 14 until the first boss 184a abuts against the stop boss 188, and the first guide tube 12 can stop moving, thereby achieving reset of the first guide tube 12.

[0056] In combination with Figure 6 and Figure 7As shown in the figure, the guide sleeve 180 can be assembled to the second side plate 242 of the bracket 24, the guide sleeve 180 can be sleeved to the outside of the first guide tube 12, and the first boss 184a and the elastic member 186 can be located in the guide sleeve 180, in addition, the second boss 184b can also be located in the guide sleeve 180. Wherein, the guide sleeve 180 can be assembled to the second side plate 242 of the bracket 24, and the axial direction of the guide sleeve 180 can coincide with the axial direction of the second guide tube 14. When the pressing boss 122 is pressed by the pressing force, the first guide tube 12 can move towards the second guide tube 14, under the guidance of the guide sleeve 180, the elastic member 186 is stably stretched or contracted.

[0057] In addition, the stop boss 188 can be arranged in front of the pressing boss 122 in the direction in which the first guide tube 12 moves towards the second guide tube 14, and the stop boss 188 can be arranged to stop the pressing boss 122 from continuing to move forward. It should be noted that when the stop boss 188 contacts the pressing boss 122, the first guide tube 12 can be stopped from continuing to move forward, which is equivalent to limiting the movement of the pressing boss 122, so that the first guide tube 12 and the second guide tube 14 can be more accurately matched. Wherein, the surface of the stop boss 188 away from the pressing boss 122 can be provided with a cavity extending along the axial direction of the first guide tube 12 and for the first boss 184a to slide into, so that the stop boss 188 can realize the stop limiting action of the first boss 184a, and the structure of the entire intervention material guiding mechanism 10 is more compact.

[0058] The guiding process of the intervention material guiding mechanism 10 provided by the application for the intervention material 40 will be described in detail below.

[0059] In the intervention material guiding mechanism 10, the first guide tube 12 and the second guide tube 14 are oppositely spaced in the axial direction, at least one of the first guide tube 12 and the second guide tube 14 is configured to be movable towards the other one so that the first guide tube 12 and the second guide tube 14 can be spliced with each other to form the guide channel 100; the first guide tube 12 can be arranged to be movable relative to the second guide tube 14, an outer wall surface of a first end portion of the first guide tube 12 close to the second guide tube 14 is provided with a guide inclined surface 120, in a direction from the first end portion of the first guide tube 12 to away from the second guide tube 14, the guide inclined surface 120 gradually moves away from the axis of the first guide tube 12 so that the first guide tube 12 can generate an outward component force in the radial direction of the first guide tube 12 in the process of moving towards the second guide tube 14; a guide matching structure 16 can be arranged between the first guide tube 12 and the second guide tube 14, the guide matching structure 16 can include a first guide cone surface 160 and a second guide cone surface 162 which can be sleeved outside the first guide cone surface 160 to be able to cooperate with the first guide cone surface 160, in a direction from the middle of the corresponding guide tube to the end portion of the guide tube close to the other guide tube, the first guide cone surface 160 can be tapered, and the second guide cone surface 162 can be gradually expanded, wherein: the first guide cone surface 160 can be arranged on the outer wall surface of the first end portion of the second guide tube 14 close to the first guide tube 12, and the second guide cone surface 162 can be arranged on the inner wall surface of the first end portion of the first guide tube 12 close to the second guide tube 14; the inner wall of the second end portion of the second guide tube 14 away from the first guide tube 12 can be provided with a guide cone surface 140 for the intervention material 40 to enter, wherein: in a direction from the second end portion of the second guide tube 14 to away from the first guide tube 12, the guide cone surface 140 can be gradually expanded; a pressing boss 122 surrounding the first guide tube 12 and being pressed can be arranged on the first guide tube 12, and first and second bosses 184a and 184b spaced apart in the axial direction of the first guide tube 12 can be arranged, the first boss 184a can be arranged on the outer wall of the first guide tube 12, and the first boss 184a can move with the first guide tube 12 relative to the second boss 184b, in the direction of the first guide tube 12 moving towards the second guide tube 14, the first and second bosses 184a and 184b can be arranged in front of the pressing boss 122, a reset mechanism can be arranged, the reset mechanism can include a resilient member 186 arranged between the first and second bosses 184a and 184b, wherein: the resilient member 186 can be arranged to move the first guide tube 12 in the direction away from the second guide tube 14 to reset when the pressing force on the pressing boss 122 is removed.

[0060] Before the intervention consumable 40 enters the paired clamping wheels 220, a pressing force can be applied to the pressing boss 122 provided on the first guide tube 12, thereby causing the pressing boss 122 to move the first guide tube 12 toward the second guide tube 14; during the movement of the first guide tube 12 toward the second guide tube 14, combined with Figure 3 , Figure 5 , Figure 6 and Figure 8 As shown, the guide inclined surface 120 of the first guide tube 12 can apply a radially outward component force toward the corresponding clamping wheel 220. In particular, when a pair of guide inclined surfaces 120 opposite to each other are provided on the first guide tube 12, the guide inclined surfaces 120 can respectively apply a radially outward component force toward the corresponding clamping wheel 220, thereby making it easier for the pair of clamping wheels 220 to separate from each other. Under the push of the pressing force, the first guide tube 12 can continue to move toward the second guide tube 14. The first guide tube 12 and the second guide tube 14 approach each other, and the first guide cone surface 160 and the second guide cone surface 162 cooperate with each other, that is, the second guide cone surface 162 can be sleeved on the first guide tube 14. On the outside of the conical surface 160, the first guide tube 12 and the second guide tube 14 are joined together to form a guide channel 100. Simultaneously, the pressing boss 122 abuts against the stop boss 188, limiting the position of the first guide tube 12. After the guide channel 100 is formed, the interventional consumable 40, such as a catheter, can enter the guide channel 100 through the guiding conical surface 140. After the interventional consumable 40 passes through the guide channel 100, the pressing boss 122 can be released, i.e., the pressing force on the pressing boss 122 is removed. It should be noted that during the movement of the first guide tube 12 toward the second guide tube 14, the elastic element 186 in the reset mechanism can be in a compressed state, combined with... Figure 10 and Figure 11 As shown, when the pressing boss 122 is released, the first guide tube 12 can move away from the second guide tube 14 under the action of the elastic member 186 to achieve reset. Thus, the interventional consumable guiding mechanism 10 realizes the guiding operation of the interventional consumable 40, such as a catheter, making it easier for the interventional consumable 40 to enter between the paired clamping wheels 220, and making it less likely for the interventional consumable 40 to deviate or become misaligned.

[0061] The application further provides an interventional material conveying device for an interventional surgery robot, the interventional material conveying device 20 comprising a driving module and the interventional material guiding mechanism 10 provided by the application, the driving module can comprise at least one pair of rotatable pinch rollers 220 opposite to each other, it can be understood that the pinch rollers 220 are arranged to be rotatable around the axis of the pinch rollers 220, in the process of rotating the pair of pinch rollers 220 relative to each other, the pair of pinch rollers 220 can push the interventional material 40 such as a catheter, one pair of pinch rollers 220 are arranged to be able to approach or move away from each other in the radial direction of the pinch rollers 220 to form a pinch channel for clamping the interventional material 40, it should be noted that one pair of pinch rollers 220 can approach or move away from each other through a tensioning rubber ring; the first guide tube 12 and the second guide tube 14 in the interventional material guiding mechanism 10 are arranged in the axial direction of the pinch channel, it can be understood that the axis of the pinch channel coincides with the axis of the first guide tube 12, the second guide tube 14 and the guide channel 100, and the first guide tube 12 and the second guide tube 14 can be located on the two sides of the pinch rollers 220 respectively. By arranging the interventional material guiding mechanism 10 provided by the application in the interventional material conveying device 20, the interventional material 40 can be guided to move forward, so that the interventional material 40 such as a catheter is not prone to deviation or misalignment.

[0062] In combination with the illustrations in Figure 5 and Figure 6 , the first guide tube 12 can move towards the second guide tube 14 by pressing the pressing boss 122, when the first guide tube 12 approaches the pinch rollers 220, the first guide tube 12 can exert a radial outward force towards the corresponding pinch roller 220 under the action of the guide inclined surface 120, in combination with the illustrations in Figure 8 and Figure 9 , the first guide tube 12 can be inserted between the pair of pinch rollers 220 to separate the pair of pinch rollers 220 from each other, then, under the cooperation of the first guide cone surface 160 and the second guide cone surface 162, the first guide tube 12 can be spliced with the second guide tube 14 to form the guide channel 100, after the interventional material 40 such as a catheter is inserted into the guide channel 100, in combination with the illustrations in Figure 10 and Figure 11 , the pressing force on the pressing boss 122 can be removed, the pressing boss 122 moves towards the direction away from the second guide tube 14 under the action of the elastic member 186 to reset, it can be understood that the first guide tube 12 and the second guide tube 14 are disconnected from each other at this time, the pair of pinch rollers 220 can clamp the interventional material 40 such as a catheter and push the interventional material 40.

[0063] The application further provides an interventional surgery robot, which comprises the interventional consumable conveying device 20 provided by the application, wherein the interventional consumable conveying device 20 can be used to push the interventional consumable 40 such as a catheter. By arranging the interventional consumable conveying device 20 provided by the application in the interventional surgery robot, the interventional consumable 40 can be conveniently and accurately guided into the pair of clamping wheels 220 under the guidance of the interventional consumable guiding mechanism 10, so that the accurate delivery of the interventional consumable 40 such as a catheter or a guide wire is realized.

[0064] The preferred embodiments of the application are described in detail above with reference to the drawings, but the application is not limited thereto. Within the technical concept of the application, various simple modifications can be made to the technical solutions of the application, including the combination of various specific technical features in any suitable manner. In order to avoid unnecessary repetition, the application will not further describe various possible combination manners. However, these simple modifications and combinations should also be regarded as the disclosed content of the application and belong to the protection scope of the application.

Claims

1. An interventional consumable guiding mechanism for an interventional surgical robot, characterized in that, The intervention material guiding mechanism (10) is used for assisting the intervention material (40) to pass through the driving module of the intervention operation robot, and the intervention material guiding mechanism (10) comprises: A first guide pipe (12) and a second guide pipe (14) are oppositely arranged in the axial direction; wherein: At least one of the first guide pipe (12) and the second guide pipe (14) is configured to be movable towards the other one so that the first guide pipe (12) and the second guide pipe (14) can be spliced with each other to form a guide channel (100) for the intervention material (40) to pass through; The first guide pipe (12) is arranged to be movable relative to the second guide pipe (14), and an outer wall surface of a first end portion of the first guide pipe (12) close to the second guide pipe (14) is provided with a guide inclined surface (120) which is directed towards a clamping wheel (220); wherein: In a direction from the first end portion of the first guide pipe (12) to away from the second guide pipe (14), the guide inclined surface (120) gradually moves away from the axis of the first guide pipe (12) so that the first guide pipe (12) can generate an outward component force in the radial direction of the first guide pipe (12) during the movement towards the second guide pipe (14), and a pair of clamping wheels (220) are separated from each other; The intervention material guiding mechanism (10) comprises a guide matching structure (16) arranged between the first guide pipe (12) and the second guide pipe (14), the guide matching structure (16) comprises a first guide cone surface (160) and a second guide cone surface (162) which can be sleeved outside the first guide cone surface (160) to be matched with the first guide cone surface (160), in a direction from the middle part of the corresponding guide pipe to the end portion of the guide pipe close to the other guide pipe, the first guide cone surface (160) is tapered, and the second guide cone surface (162) is gradually expanded; wherein: The first guide cone surface (160) is arranged on the outer wall surface of the first end portion of the second guide pipe (14) close to the first guide pipe (12), and the second guide cone surface (162) is arranged on the inner wall surface of the first end portion of the first guide pipe (12) close to the second guide pipe (14); or, the first guide cone surface (160) is arranged on the outer wall surface of the first end portion of the first guide pipe (12) close to the second guide pipe (14), and the second guide cone surface (162) is arranged on the inner wall surface of the first end portion of the second guide pipe (14) close to the first guide pipe (12).

2. The interventional consumable guiding mechanism of claim 1, wherein, The first end portion of the first guide pipe (12) is provided with a pair of guide inclined surfaces (120), and the pair of guide inclined surfaces (120) are oppositely arranged.

3. The interventional consumable guidance mechanism of claim 1, wherein, The first guide tube (12) is arranged to be movable relative to the second guide tube (14), and an inner wall of a second end of the second guide tube (14) away from the first guide tube (12) is provided with a guide cone surface (140) for the interventional consumable (40) to enter; wherein: The guide cone surface (140) is divergent in a direction from the second end of the second guide tube (14) to away from the first guide tube (12).

4. The interventional consumable guiding mechanism of any of claims 1-3, wherein, The first guide tube (12) is arranged to be movable relative to the second guide tube (14), and the interventional consumable guide mechanism (10) comprises a pressing boss (122) arranged around the first guide tube (12) for pressing.

5. The interventional consumable guidance mechanism of claim 4, wherein, The interventional consumable guide mechanism (10) comprises a first boss (184a) and a second boss (184b) arranged axially to each other and spaced apart, the first boss (184a) is arranged on an outer wall of the first guide tube (12), and the first boss (184a) is movable with the first guide tube (12) relative to the second boss (184b), and in a direction in which the first guide tube (12) moves towards the second guide tube (14), the first boss (184a) and the second boss (184b) are both arranged in front of the pressing boss (122); The interventional consumable guide mechanism (10) comprises a reset mechanism, the reset mechanism comprises a resilient member (186) arranged between the first boss (184a) and the second boss (184b), wherein: the resilient member (186) is arranged to drive the first guide tube (12) to move in a direction away from the second guide tube (14) after the pressing force on the pressing boss (122) is removed.

6. The interventional consumable guiding mechanism of claim 5, wherein, The interventional consumable guide mechanism (10) comprises a stop boss (188), in a direction in which the first guide tube (12) moves towards the second guide tube (14), the stop boss (188) is arranged in front of the pressing boss (122), and the stop boss (188) is arranged to stop the pressing boss (122) from continuing to move forward.

7. An interventional consumable delivery device, characterized by, The interventional consumable delivery device (20) comprises: a drive module, the drive module comprises at least one pair of rotatable clamping wheels (220) opposite to each other, and a pair of the clamping wheels (220) are arranged to be able to approach or move away from each other in a radial direction to form a clamping channel for clamping an interventional consumable (40); and The interventional consumable guide mechanism (10) is the interventional consumable guide mechanism (10) of any one of claims 1-6, and the first guide tube (12) and the second guide tube (14) are arranged in an axial direction of the clamping channel.

8. An interventional procedure robot, characterized by The interventional surgery robot comprises the interventional consumable delivery device (20) of claim 7. The interventional surgery robot comprises the interventional consumable delivery device (20) of claim 7.

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