Interventional consumables storage device, interventional consumables drive system and interventional surgical robot

Abstract

The present invention relates to the field of medical device technology, and discloses an interventional consumables storage device, an interventional consumables drive system, and an interventional surgical robot. The interventional consumables storage device includes a storage mechanism, which includes a main storage tray and a driven storage member. The main storage tray is configured to rotate around its axis and thereby drive the interventional consumables to be wound around the main storage tray. The driven storage member is linked to the main storage tray and coaxially arranged with the main storage tray, wherein: the main storage tray is configured to drive the driven storage member to rotate after the main storage tray rotates to store a preset length of interventional consumables so that the interventional consumables continue to be wound around the driven storage member. The interventional consumables storage device can sequentially store interventional consumables in different storage trays or release them from different storage trays, not only achieving a storage effect, but also effectively avoiding the influence of each other on the stored interventional consumables.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an interventional consumables storage device, an interventional consumables drive system, and an interventional surgical robot. Background Art

[0002] Interventional therapy is a minimally invasive treatment performed using modern high-tech means. 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 internal diseases.

[0003] Taking vascular intervention as an example, minimally invasive vascular intervention is a fundamental tool for the diagnosis and treatment of cardiovascular and cerebrovascular diseases. Most vascular disease diagnosis and revascularization procedures currently performed require this technology. Guidewire-catheter manipulation is the core of minimally invasive vascular intervention and determines surgical quality. Currently, interventional physicians manually position the guidewire-catheter within the patient's vasculature using digital silhouette angiography (DSA). Long, straight consumables such as guidewires, catheters, and balloon catheters are essential surgical instruments. Using robotic devices to position guidewires and other medical devices improves positioning accuracy and stability, freeing medical personnel from radiation exposure, avoiding the collateral damage caused by wearing heavy lead aprons, and preventing unreliable intraoperative procedures due to fatigue. This improves the traditional reliance on individual physician experience, reduces the learning curve, and provides more precise procedures. Robotic-assisted intervention has become a key development in vascular intervention.

[0004] In interventional surgical robot-assisted treatment, long straight consumables commonly used in interventional surgery, such as guide wires, need to be stored. However, the current storage method will store long straight consumables such as guide wires together. This storage method is not only not convenient for precise delivery, but also causes mutual influence between adjacent long straight consumables. Summary of the Invention

[0005] The purpose of the present invention is to overcome the problem in the prior art that interventional consumables such as guide wires are centrally stored, which causes the stored guide wires to affect each other. An interventional consumables storage device for an interventional surgical robot is provided. The interventional consumables storage device can store interventional consumables in different storage trays or release them from different storage trays in turn. It can not only effectively achieve the storage effect, but also effectively avoid the influence between the interventional consumables after storage, and make the storage and release of interventional consumables controllable.

[0006] In order to achieve the above-mentioned object, the present invention provides, on one hand, an interventional consumables storage device for an interventional surgical robot, wherein the interventional consumables storage device includes a storage mechanism, and the storage mechanism includes:

[0007] a main receiving tray, the main receiving tray being configured to rotate about its axis and thereby driving the interventional consumables to be wound around the main receiving tray; and

[0008] A driven receiving member is provided in a linkage manner with the main receiving tray and is coaxially arranged with the main receiving tray; wherein:

[0009] The main receiving tray is configured to drive the driven receiving member to rotate after the main receiving tray rotates to receive the interventional consumable of a preset length, so that the interventional consumable continues to be wound around the driven receiving member.

[0010] In the above technical solution, the present invention provides a rotatable main storage tray and a driven storage member that is linked to and coaxially arranged with the main storage tray. As a result, the main storage tray is driven by rotation to store interventional consumables such as guidewires separately in the main storage tray and the driven storage member. This avoids excessive concentration of guidewires and reduces the impact of stored guidewires. When the two cooperate to store interventional consumables such as guidewires, the main storage tray first rotates around its own axis to store a preset length of interventional consumables, and then drives the driven storage member to rotate so that the interventional consumables continue to be wound around the driven storage member. In this way, the interventional consumables such as guidewires can continue to be wound around the outer periphery of the driven storage member.

[0011] Optionally, the driven storage part includes a driven storage tray radially arranged outside the main storage tray. Among the two adjacent storage trays, the storage tray located on the inner circle rotates to store the interventional consumables of a preset length and can drive the storage tray located on the outer circle to rotate and thus continue to store the interventional consumables.

[0012] Optionally, the main receiving tray is provided with a main opening extending in its radial direction, and the driven receiving tray is provided with a secondary opening extending in its radial direction and capable of communicating with the main opening for allowing the interventional consumable to pass through.

[0013] Optionally, an escape space capable of evading the interventional consumables is formed between the driven storage tray and the main storage tray.

[0014] Optionally, the storage mechanism further comprises a positioning mechanism provided in the avoidance space, the positioning mechanism comprising a supporting boss and a supporting boss capable of abutting against the supporting boss; wherein:

[0015] The abutting boss is arranged on one of two adjacent storage trays, and the supporting boss is arranged on the other one.

[0016] Optionally, there are multiple driven receiving trays, and the multiple driven receiving trays are sequentially arranged in a radial direction, and adjacent receiving trays are arranged in linkage with each other, wherein:

[0017] The main receiving tray is configured to sequentially drive the driven receiving trays sleeved on the outside to rotate after the main receiving tray rotates to receive the interventional consumables of a preset length, so that the interventional consumables are sequentially wound around the corresponding driven receiving trays.

[0018] Optionally, the storage mechanism further comprises a linkage mechanism disposed between adjacent storage trays, the linkage mechanism comprising a first protrusion and a second protrusion capable of cooperating with the first protrusion, the first protrusion being disposed on one of the two adjacent storage trays, and the second protrusion being disposed on the other; wherein:

[0019] One of the first protrusion and the second protrusion is configured to rotate along with the storage tray located on the inner circle by a preset angle and then abut against the other, thereby pushing the storage tray located on the outer circle to rotate along with the storage tray located on the inner circle.

[0020] Optionally, the interventional consumables storage device further includes a base capable of supporting the storage mechanism; and / or

[0021] The interventional consumables storage device further includes a packaging cover capable of covering the disk surface of the storage tray.

[0022] Optionally, the storage mechanism further comprises a fixed plate which is sleeved on the outside of the driven storage member and spaced apart from the adjacent driven storage plate, and the fixed plate is provided with a communication port which extends along its radial direction and can communicate with a secondary opening provided on the adjacent driven storage plate.

[0023] Optionally, the interventional consumables storage device further includes a driving motor and a connecting gear set, and the driving motor can drive the main storage tray to rotate through the connecting gear set.

[0024] Optionally, the interventional consumables storage device further includes at least one operating column disposed on the main storage tray, and the operating column is configured to withstand thrust to drive the main storage tray to rotate.

[0025] A second aspect of the present invention further provides an interventional consumable drive system for an interventional surgical robot, comprising the interventional consumable storage device provided by the present invention and a rotational drive unit, the rotational drive unit being configured to rotate the interventional consumable. The rotational drive unit secures the operating end of an interventional consumable, such as a guidewire, and the storage device allows the consumable, such as a guidewire, to be safely and efficiently stored. Furthermore, after the guidewire is released, the rotational drive unit rotates the guidewire.

[0026] Optionally, the rotational drive unit includes a worm and a turbine that cooperates with the worm, and the operating end of the interventional consumable is fixedly mounted on the turbine so as to rotate with the rotation of the turbine. Before the interventional consumable is stored in the interventional consumable storage device, the operating end of the interventional consumable can be mounted on the turbine, and the interventional consumable can pass through the channel formed by the main opening and the secondary opening; thereafter, the main storage tray first rotates around its own axis to store a preset length of interventional consumable, and then drives the driven storage member to rotate so that the interventional consumable continues to be wound around the driven storage member. In this way, the interventional consumable, such as a guide wire, can continue to be wound around the outer periphery of the driven storage member.

[0027] When storing the guide wire, the operating end of the guide wire can first be fixed on the turbine, and the main storage tray can rotate to drive the interventional consumables such as the guide wire to be wound around the outer periphery of the main storage tray. After the main storage tray stores a circle of guide wire, it can drive the adjacent driven storage tray, namely the first driven storage tray, to rotate. The first driven storage tray can rotate one circle and drive the guide wire to continue to be wound around the outer periphery of the first driven storage tray. After rotating to store a circle of guide wire, the first driven storage tray can continue to drive the driven storage tray adjacent to the first driven storage tray, namely the second driven storage tray, to rotate one circle to continue to store a circle of guide wire, and so on. In this way, multiple storage trays can start to rotate in sequence from the main storage tray, and after the previous storage tray rotates one circle, it can drive the next storage tray to rotate and continue to store interventional consumables such as guide wires, thereby storing interventional consumables such as guide wires on the outer periphery of multiple storage trays in sequence.

[0028] The third aspect of the present invention further provides an interventional surgical robot, which includes the interventional consumables drive system provided by the present invention. When using the interventional surgical robot to perform interventional surgery, the guide wire can be effectively and controllably stored or released, effectively solving the technical problem of sterile isolation required during interventional surgery. It should be noted that the operating end of the interventional consumable can be set on the turbine, and the interventional consumable can pass through the channel formed by the main opening and the secondary opening. The passing end of the interventional consumable that can pass through the human body is located outside the storage tray.

[0029] Optionally, the interventional surgical robot includes a valve control mechanism, which includes a mounting platform for supporting a three-way valve and a switch control structure provided on the mounting platform for controlling the opening or closing of the valve of the three-way valve.

[0030] Optionally, the switch control structure includes a plurality of limiting bosses provided on the mounting platform, wherein the plurality of limiting bosses are spaced apart around the axis of the mounting platform, and a limiting space is formed between adjacent limiting bosses to allow the valve to pass through; wherein:

[0031] The mounting platform is configured to be capable of reciprocatingly rotating around its axis by a preset angle so that the adjacent limiting bosses drive the valve to rotate to achieve opening or closing. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a structural schematic diagram of an interventional consumables driving system according to a preferred embodiment of the present invention in an application state, wherein an interventional consumables storage device according to a preferred embodiment of the present invention is provided;

[0033] Figure 2 yes Figure 1 A schematic cross-sectional view of the structure shown;

[0034] Figure 3 2 is a schematic diagram of the three-dimensional structure of an interventional consumables storage device according to a preferred embodiment of the present invention;

[0035] Figure 4 yes Figure 3 A schematic diagram of the three-dimensional structure of the interventional consumables storage device when no packaging cover is provided;

[0036] Figure 5 yes Figure 3 A schematic cross-sectional view of the interventional consumables storage device shown;

[0037] Figure 6 yes Figure 3 A schematic cross-sectional view of the interventional consumables storage device from another angle is shown;

[0038] Figure 7 yes Figure 5 Bottom view of the structure shown.

[0039] Description of Reference Numerals

[0040] 10. Storage device; 11. Operating column; 12. Main storage tray; 120. Main opening; 122. Avoidance space; 124. Accommodation hole; 13. Base; 14. Driven storage member; 140. Secondary opening; 141. Driven storage tray; 15. Packaging cover; 16. Positioning mechanism; 160. Abutment boss; 162. Support boss; 17. Fixed plate; 170. Communication port; 18. Linkage mechanism; 180. First boss; 182, second boss; 19, connecting gear set; 190, first gear; 192, second gear; 20, drive system; 22, rotation drive unit; 220, worm; 222, turbine; 40, Y-valve; 42, three-way valve; 420, valve; 44, catheter drive mechanism; 440, first bevel gear; 442, second bevel gear; 46, valve control mechanism; 460, mounting platform; 462, limiting boss. DETAILED DESCRIPTION

[0041] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0042] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0043] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean 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 invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0044] The present invention provides an interventional consumables storage device for an interventional surgical robot. The interventional consumables storage device 10 includes a storage mechanism, which includes a main storage tray 12 and a driven storage member 14.

[0045] Among them, the main storage tray 12 is constructed to be able to rotate around the axis of the main storage tray 12 and thus be able to drive the interventional consumables to be wound on the main storage tray 12. Specifically, the interventional consumables such as guide wires can be wound around the outer periphery of the main storage tray 12. It can be understood that the operating end of the interventional consumables such as the guide wire, that is, the end of the guide wire that can be operated outside the human body, can be fixed. When the interventional consumables storage device 10 is assembled in an interventional surgical robot, the operating end of the guide wire can be set in the turbine of the rotation drive unit. In this way, the operating end of the guide wire is fixed, and the main storage tray 12 is used to rotate and store the interventional consumables such as the guide wire. The content of the rotation drive unit will be described in the following content and will not be repeated here. During the rotation of the main storage tray 12, the guide wire can be stored on the outer periphery of the main storage tray 12.

[0046] The driven storage member 14 is linked to the main storage tray 12, and the driven storage member 14 is coaxially arranged with the main storage tray 12, wherein the driven storage member 14 can be constructed to have a rotation axis, so that the driven storage member 14 can appear in the structural form of a rotating body, and the rotation axis of the driven storage member 14 can coincide with the axis of the main storage tray 12, and the driven storage member 14 can rotate around its own rotation axis, that is, the driven storage member 14, under the drive of the main storage tray 12.

[0047] In the process of the two cooperating with each other to store interventional consumables such as guide wires, the main storage tray 12 first rotates around its own axis to store the interventional consumables of a preset length, and then drives the driven storage part 14 to rotate so that the interventional consumables continue to be wound around the driven storage part 14. In this way, the interventional consumables such as guide wires can continue to be wound around the outer periphery of the driven storage part 14.

[0048] By providing a rotatable main storage tray 12 and a driven storage part 14 that is linked to and coaxially arranged with the main storage tray 12, interventional consumables such as guide wires can be respectively stored in the main storage tray 12 and the driven storage part 14 under the rotation of the main storage tray 12. In this way, the excessive concentration of the guide wires can be avoided and the influence between the stored guide wires can be reduced.

[0049] The driven storage part 14 may include a driven storage tray 141 radially arranged outside the main storage tray 12. Among the two adjacent storage trays, the storage tray located on the inner circle rotates to store interventional consumables of a preset length and then drives the storage tray located on the outer circle to rotate and thus continue to store interventional consumables.

[0050] Taking the example of setting up two storage trays, a driven storage tray 141 can be set outside the main storage tray 12. The driven storage tray 141 can be linked with the main storage tray 12 and arranged coaxially. When storing interventional consumables such as guide wires, the main storage tray 12 rotates to store a preset length of interventional consumables, which can drive the driven storage tray 141 located on the outer ring to rotate so that the interventional consumables continue to be wound around the driven storage tray 141. In this way, the interventional consumables can be stored separately in the main storage tray 12 and the driven storage tray 141.

[0051] It should be noted that in order to further improve the safety of interventional consumables such as guidewires, the main storage tray 12 can be rotated one circle, such as one circle clockwise, to store one circle of guidewire. The main storage tray 12 can then drive the driven storage tray 141 to rotate clockwise, thereby allowing the guidewire to continue to be stored in the driven storage tray 141. After the driven storage tray 141 rotates one circle, the guidewire is wrapped around the driven storage tray 141. Through the mutual cooperation between the two storage trays, the interventional consumables are stored separately, thus achieving effective and controllable storage of the interventional consumables.

[0052] Combine Figure 4 、 Figure 5 and Figure 6 As shown in , a main opening 120 can be opened on the main receiving tray 12. The main opening 120 extends radially along the main receiving tray 12. The main opening 120 can allow interventional consumables to pass through. It should be noted that the operating end of the guide wire can be fixed to the middle of the main receiving tray 12, so that the guide wire can pass through the main opening 120. Driven by the rotation of the main receiving tray 12, the guide wire can be wound around the outer periphery of the main receiving tray 12. In addition, a secondary opening 140 can be provided on the driven receiving tray 141, which extends radially along itself, i.e., the driven receiving tray 141, and can be connected to the main opening 120. The secondary opening 140 can allow interventional consumables such as guide wires to pass through. In this way, the main opening 120 and the secondary opening 140 together constitute a channel for the passage of interventional consumables, thereby facilitating their respective winding on the corresponding receiving trays.

[0053] In order to prevent the interventional consumables from being damaged by the rotation of the storage tray, an escape space 122 for the interventional consumables to escape may be formed between the driven storage tray 141 and the main storage tray 12 .

[0054] In addition, it should be noted that when it is necessary to release interventional consumables such as guide wires, the driven storage tray 141 can first be rotated in the opposite direction to when the guide wire was stored, such as counterclockwise, to release the guide wire. Afterwards, the main storage tray 12 can be driven to rotate counterclockwise, thereby releasing the interventional consumables wrapped around the main storage tray 12.

[0055] In order to further improve the storage efficiency and better protect the stored objects such as guide wires, a plurality of driven storage trays 141 can be sequentially sleeved on the outside of the main storage tray 12. The plurality of storage trays are coaxially arranged with each other, wherein adjacent storage trays can be arranged in linkage with each other. According to the above content, the driven storage tray 141 can be provided with a secondary opening 140 extending along the radial direction of the driven storage tray 141 and being able to communicate with the main opening 120, and an escape space 122 that can avoid interventional consumables is formed between adjacent storage trays. It can be understood that an escape space 122 can be formed between the main storage tray 12 and the adjacent driven storage trays 141. In addition, an escape space 122 can also be formed between adjacent driven storage trays 141; wherein: the main storage tray 12 can be set to be able to drive the driven storage tray 141 sleeved on the outside to rotate in turn after the main storage tray 12 rotates to store the interventional consumables of a preset length so that the interventional consumables are sequentially wound around the corresponding driven storage trays. The outer periphery of the receiving tray 141 can be understood that the main receiving tray 12 can drive the driven receiving tray 141 adjacent to the main receiving tray 12 to rotate after receiving the preset length of guide wire, that is, the driven receiving tray 141 will not rotate with the main receiving tray 12 when the main receiving tray 12 has not fully received the preset length of guide wire. After the driven receiving tray 141 continues to receive the guide wire of the corresponding length, it can drive the driven receiving tray 141 adjacent to the driven receiving tray 141 to rotate to continue receiving the guide wire, and so on. The guide wire can be wound on the outer circle of the driven receiving tray 141 in sequence. Thus, the guide wire can be wound on the driven receiving tray 141 located on the outer circle in sequence starting from the receiving tray located in the innermost circle, that is, the main receiving tray 12.

[0056] Taking the example of each storage tray storing a circle of interventional consumables, the main storage tray 12 can rotate to drive the interventional consumables such as guide wires to be wound around the outer periphery of the main storage tray 12. After the main storage tray 12 stores a circle of guide wire, it can drive the adjacent driven storage tray 141, i.e. the first driven storage tray, to rotate. The first driven storage tray can rotate one circle and drive the guide wire to continue to be wound around the outer periphery of the first driven storage tray. After rotating to store a circle of guide wire, the first driven storage tray can continue to drive the driven storage tray 141, i.e. the second driven storage tray, adjacent to the first driven storage tray, to rotate one circle to continue to store a circle of guide wire, and so on. In this way, multiple storage trays can rotate in sequence starting from the main storage tray 12. After the previous storage tray is wrapped with a circle of guide wire, it can drive the next storage tray to rotate and continue to store interventional consumables such as guide wires, thereby storing interventional consumables such as guide wires on the outer periphery of multiple storage trays in sequence.

[0057] In addition, it should be noted that when interventional consumables such as guide wires need to be released, multiple storage trays can start rotating from the storage tray in the outermost circle, and drive the storage trays in the inner circle in turn, thereby releasing interventional consumables such as guide wires from the outer periphery of multiple storage trays in turn.

[0058] In order to realize the linkage between the storage trays, such as Figure 7 As shown in , a linkage mechanism 18 may be provided between adjacent storage trays. The linkage mechanism 18 may include a first protrusion 180 and a second protrusion 182 cooperating with the first protrusion 180. The first protrusion 180 may be provided on one of the two adjacent storage trays. For example, the first protrusion 180 may be provided on the storage tray closer to the axis of the main storage tray 12, while the second protrusion 182 may be provided on the other. One of the first protrusion 180 and the second protrusion 182 may be configured to rotate with the storage tray located in the inner circle through a predetermined angle before abutting against the other, thereby forcing the storage tray located in the outer circle to rotate along with the storage tray located in the inner circle. Preferably, both the first protrusion 180 and the second protrusion 182 are strip-shaped protrusions provided along the axial direction, and the cross-section of the strip protrusions is semicircular to reduce impact. The length of the strip protrusion is the same as the height of the storage tray to increase the contact area and further reduce the adverse effects of impact. It is understood that one of the first protrusion 180 and the second protrusion 182 can be configured to rotate with the corresponding storage tray and then contact and push the other to rotate so that the corresponding storage tray can rotate with the second protrusion 182. Figure 7 As shown in the example, when the main receiving disk 12 rotates clockwise, it can drive the corresponding first boss 180 to rotate. After rotating one circle, it collides with the adjacent driven receiving disk 141, i.e. the second boss 182 of the first driven receiving disk, to prompt the first driven receiving disk to rotate with the main receiving disk 12 and thereby realize the storing operation. Afterwards, the first driven receiving disk rotates and drives the corresponding first boss 180 to rotate. After rotating one circle, it collides with the adjacent driven receiving disk 141 located on the outer ring, i.e. the second boss 182 of the second driven receiving disk, to prompt the second driven receiving disk to rotate with the main receiving disk 12 and the first driven receiving disk for the storing operation. Similarly, the multiple driven receiving disks 141 arranged on the outside of the main receiving disk 12 can rotate in sequence to continuously store the guide wires.

[0059] In addition, when it is necessary to release interventional consumables such as guide wires, the outermost circle driven storage tray 141 can be rotated counterclockwise to drive the corresponding second boss 182 to rotate. After one rotation, it collides with the first boss 180 of the adjacent driven storage tray 141, that is, the second outer circle driven storage tray 141, to prompt the second outer circle driven storage tray 141 to perform a rotational release operation. Afterwards, the second outer circle driven storage tray 141 rotates to drive the corresponding second boss 182 to rotate. After one rotation, it collides with the first boss 180 of the adjacent driven storage tray 141, to prompt the driven storage tray 141 to perform a rotational release operation. Similarly, multiple storage trays are rotated in sequence starting from the outermost circle driven storage tray 141 to release the guide wires.

[0060] Combine Figure 5 and Figure 6As shown in , a positioning mechanism 16 can be provided in the avoidance space 122. The positioning mechanism 16 may include abutting bosses 160 and supporting bosses 162 that can abut against the abutting bosses 160; wherein: the abutting bosses 160 can be provided on one of two adjacent storage trays, and the supporting bosses 162 can be provided on the other. When assembling the storage mechanism, the abutting bosses 160 and supporting bosses 162 of adjacent storage trays can be made to abut against each other. Thus, by providing the positioning mechanism 16, the main structure of the storage mechanism can be made more stable, and the assembly between the storage trays can also be facilitated. It should be pointed out that the avoidance space 122 for avoiding the guide wire can be provided above the corresponding supporting bosses 162.

[0061] Combine Figure 4 and Figure 5 As shown in , a fixed plate 17 spaced apart from the adjacent driven receiving tray 141 can be provided on the outside of the driven receiving member 14. The fixed plate 17 forms a gap with the adjacent driven receiving tray 141 to avoid the interventional consumables. A communication port 170 extending along the radial direction of the fixed plate 17 can be provided on the fixed plate 17. The communication port 170 can be connected to the secondary opening 140 of the adjacent driven receiving tray 141 to allow the interventional consumables to pass through. By providing the fixed plate 17, the overall stability of the storage mechanism can be further improved. Figure 1 As shown in , it is also convenient for the storage device 10 to be positioned with the provided Y-valve 40 after being assembled in the interventional surgery robot.

[0062] like Figure 3 and Figure 4 As shown in , at least one operating column 11 can be provided on the main storage tray 12. The operating column 11 can be configured to withstand manual thrust to drive the main storage tray 12 to rotate. Before the storage device 10 is assembled on the interventional surgical robot, the main storage tray 12 can be rotated by manually pushing the operating column 11, and the driven storage tray 141 can be driven to sequentially store interventional consumables such as guidewires. The axis of the operating column 11 can extend along the axial direction of the main storage tray 12. In addition, a pair of operating columns 11 can be provided, and the pair of operating columns 11 can be opposite to each other. In this way, the pair of operating columns 11 can be simultaneously manipulated to rotate the main storage tray 12.

[0063] In addition, a base 13 capable of supporting the storage mechanism can be provided. It is understood that the storage tray of the storage mechanism can be assembled on the base 13. In order to make the structure of the storage mechanism more stable, a limiting boss 130 can be provided on the base 13 to prevent the main storage tray 12 from falling out. In addition, a sealing cover 15 can be provided to cover the tray surface of the storage mechanism to protect the storage mechanism.

[0064] In addition, a driving motor and a connecting gear set 19 may be provided, wherein the driving motor can drive the main receiving tray 12 to rotate via the connecting gear set 19. Figure 1As shown in , the connecting gear set 19 may include a first gear 190 provided on the drive motor and a second gear 190 meshing with the first gear 190, wherein the drive motor may be coaxially arranged with the first gear 190, and the drive motor may drive the first gear 190 to rotate, and the second gear 190 may be coaxially arranged with the main storage tray 12, and the second gear 190 may drive the main storage tray 12 to rotate. When the drive motor drives the first gear 190 to rotate, it may correspondingly drive the second gear 190 to rotate, and further drive the main storage tray 12 to rotate. By providing a drive motor and a connecting gear set 19 connecting the drive motor and the main storage tray 12, stable rotation of the main storage tray 12 can be achieved.

[0065] The working mode of the interventional consumables storage device 10 will be further explained below in conjunction with the interventional consumables storage device 10 for the interventional surgical robot provided by the present invention.

[0066] In the interventional consumables storage device 10, the main storage tray 12 is constructed to be able to rotate around its axis and thereby drive the interventional consumables to be wound around the main storage tray 12; a plurality of driven storage trays 141 are provided, and the plurality of driven storage trays 141 are sequentially sleeved on the outside of the main storage tray 12 along the radial direction of the main storage tray 12, and the adjacent storage trays are arranged in linkage with each other, and the main storage tray 12 can be configured to be able to sequentially drive the driven storage trays 141 sleeved on the outside to rotate after the main storage tray 12 rotates to store the interventional consumables of a preset length so that the interventional consumables are sequentially wound around the corresponding driven storage trays 141; the main storage tray 12 is provided with a main opening 120 extending along its radial direction, and the driven storage trays 141 are sequentially sleeved on the outside of the main storage tray 12 along the radial direction of the main storage tray 12. The storage tray 141 is provided with a secondary opening 140 extending along its radial direction and capable of being connected to the main opening 120 for the passage of interventional consumables; a linkage mechanism 18 is provided between adjacent storage trays, and the linkage mechanism 18 may include a first protrusion 180 and a second protrusion 182 capable of cooperating with the first protrusion 180. The first protrusion 180 may be provided on one of the two adjacent storage trays, and the second protrusion 182 may be provided on the other, wherein: one of the first protrusion 180 and the second protrusion 182 is provided to be able to follow the storage tray located in the inner circle to rotate through a preset angle and then abut against the other, thereby pushing the storage tray located in the outer circle to rotate together with the storage tray located in the inner circle.

[0067] Taking the storage of guide wires and storing a circle of guide wire on each storage tray as an example, the main storage tray 12 can rotate to drive the guide wire to wrap around the outer periphery of the main storage tray 12. When the main storage tray 12 rotates one circle and stores a circle of guide wire, it can drive the adjacent driven storage tray 141, i.e. the first driven storage tray, to rotate; the first driven storage tray can rotate one circle and drive the guide wire to continue to wrap around the outer periphery of the first driven storage tray. After rotating to store a circle of guide wire, the first driven storage tray can continue to drive the driven storage tray 141, i.e. the second driven storage tray, adjacent to the first driven storage tray, to rotate one circle to continue to store a circle of guide wire; and so on. In this way, multiple storage trays can start from the main storage tray 12 and rotate one circle in sequence. After the previous storage tray completes storage, it can continue to drive the next storage tray to rotate and continue to store interventional consumables such as guide wires, thereby storing interventional consumables such as guide wires on the outer periphery of multiple storage trays in sequence. It should be noted that the first boss 180 of the previous storage tray can push the second boss 182 of the next storage tray to rotate, thereby realizing the above storage process.

[0068] In addition, taking the release of the guide wire that has been stored as an example, when the outermost circle driven storage disk 141 rotates counterclockwise, it can drive the corresponding second boss 182 to rotate. After rotating one circle, it can collide with the first boss 180 of the adjacent driven storage disk 141, that is, the driven storage disk 141 of the second outer circle, to prompt the driven storage disk 141 of the second outer circle to perform a rotational release operation. Afterwards, the driven storage disk 141 of the second outer circle rotates and drives the corresponding second boss 182 to rotate. After rotating one circle, it can collide with the first boss 180 of the adjacent driven storage disk 141 to prompt the driven storage disk 141 to perform a rotational release operation. Similarly, multiple storage disks rotate in sequence starting from the outermost circle driven storage disk 141 to release the guide wire.

[0069] The present invention also provides an interventional consumable drive system for an interventional surgical robot. The interventional consumable drive system 20 may include the interventional consumable storage device 10 provided by the present invention and a rotation drive unit 22. The rotation drive unit 22 is configured to rotate an interventional consumable, such as a guidewire, and the rotation drive unit 22 may be disposed in the center of the main storage tray 12. The rotation drive unit 22 can secure the operating end of an interventional consumable, such as a guidewire, and under the action of the storage device 10, the interventional consumable, such as a guidewire, can be safely and efficiently stored. In addition, after the guidewire is released, the rotation drive unit 22 can drive the guidewire to rotate.

[0070] Combine Figure 1 and Figure 2 As shown in , a receiving hole 124 extending along the axial direction of the main receiving tray 12 may be provided in the middle of the main receiving tray 12 ; the rotation driving unit 22 may be provided in the receiving hole 124 .

[0071] To achieve a more compact structure and more precise control of the rotational drive unit 22, the rotational drive unit 22 may include a worm 220 and a turbine 222 mating with the worm 220. The operating end of the interventional consumable may be fixedly mounted on the turbine 222 so as to rotate with the rotation of the turbine 222. It is understood that the rotational drive unit 22 may include a worm 220 disposed within the receiving hole 124, the worm 220 extending axially along the main receiving tray 12, and a turbine 222 mating with the worm 220. The operating end of the interventional consumable may be mounted on the turbine 222. Driven by the worm 220, the turbine 222 can rotate the guidewire. The bottom of the turbine 222 is secured by a bearing, and the operating end of the interventional consumable is secured to the center hole of the turbine 222 via a columnar fixing structure. Rotation of the worm 220 drives the turbine 222, which in turn drives the columnar fixing structure located in the center hole, thereby rotating the interventional consumable.

[0072] Before using the interventional consumables storage device 10 for the interventional surgical robot to store interventional consumables, the operating end of the interventional consumables can be set on the turbine 222 to fix the operating end, and then the interventional consumables can pass through the channel formed by the main opening 120 and the auxiliary opening 140; thereafter, the main storage tray 12 first rotates around its own axis to store the interventional consumables of a preset length, and then can drive the driven storage part 14 to rotate so that the interventional consumables continue to be wound around the driven storage part 14, so that the interventional consumables such as guide wires can continue to be wound around the outer periphery of the driven storage part 14.

[0073] The present invention also provides an interventional surgical robot, comprising the interventional consumable drive system 20 provided by the present invention. When performing an interventional procedure using the interventional surgical robot, a guidewire can be effectively and controllably stored or released, effectively resolving the technical challenge of requiring sterile isolation during interventional procedures.

[0074] It should be noted that the operating end of the interventional consumable can be set on the turbine 222, the interventional consumable can pass through the channel formed by the main opening 120 and the auxiliary opening 140, and the passing end of the interventional consumable that can pass through the human body can be located outside the storage tray.

[0075] like Figure 1 As shown in the figure, a Y valve 40 can be set. It should be pointed out that the Y valve 40 has a main line and two branch lines respectively connected to the main line, namely a first branch line and a second branch line, wherein the main line and the first branch line are connected to each other to form a first passage, and the main line and the second branch line are connected to each other to form a second passage.

[0076] In addition, the port of the main line of the Y-valve 40 may be provided with a catheter that can cooperate with the guidewire. In order to drive the catheter to rotate, a catheter drive mechanism 44 that can drive the catheter to rotate may be provided. The structure of the catheter drive mechanism 44 that drives the catheter to rotate is not particularly limited, as long as it can drive the catheter to rotate. The catheter drive mechanism 44 may include a first bevel gear 440 and a second bevel gear 442 that cooperates with the first bevel gear 440, wherein: the rotation axis of the first bevel gear 440 and the rotation axis of the second bevel gear 442 are perpendicular to each other. For example, the rotation axis of the first bevel gear 440 may extend in the vertical direction, and the rotation axis of the second bevel gear 442 may extend in the horizontal direction. The second bevel gear 442 may be sleeved on the outside of the catheter. The first bevel gear 440 may rotate under the drive of the motor to drive the second bevel gear 442 to rotate and thereby drive the catheter to rotate.

[0077] Taking the guidewire as an example, the passing end of the guidewire can pass through a passage such as the first passage in the Y-valve 40 and enter the interior of the catheter, the operating end of the guidewire can pass through the channel formed by the main opening 120 and the secondary opening 140 and be fixed on the turbine 222, and the part of the guidewire close to its operating end can be stored on each storage tray of the storage mechanism.

[0078] In addition, it should be noted that a three-way valve 42 connected to the second branch pipe of the Y-valve 40 can be provided. To meet the requirements of interventional surgery, multiple, for example, two, three-way valves 42 can be connected in series. In this way, a desired number of passages can be formed to allow corresponding fluids to enter the Y-valve 40. It is understood that the three-way valve 42 has a valve 420.

[0079] A valve control mechanism 46 may be provided. The valve control mechanism 46 may include a mounting platform 460 for supporting the three-way valve 42 and a switch control structure disposed on the mounting platform 460. The switch control structure may be configured to control the opening or closing of the valve 420 of the three-way valve 42. It should be noted that the base of the three-way valve 42 may be mounted on the mounting platform 460. The switch control structure can control the opening or closing of the valve 420 of the three-way valve 42, thereby achieving automatic control of the valve 420.

[0080] like Figure 1As shown in , the switch control structure may include a plurality of limiting bosses 462 arranged on the mounting platform 460, and the plurality of limiting bosses 462 may be arranged at intervals around the axis of the mounting platform 460, and a limiting space allowing the valve 420 to pass through may be formed between adjacent limiting bosses 462. It can be understood that after the Y-valve 40 and the three-way valve 42 are assembled, the valve 420 of the three-way valve 42 can be confined within the limiting space; wherein: the mounting platform 460 can be constructed to be able to rotate back and forth around its axis by a preset angle so that the adjacent limiting bosses 462 drive the valve 420 to rotate to achieve opening or closing. During the rotation process, the mounting platform 460 can correspondingly drive the limiting bosses 462 to rotate, thereby driving the limited valve 420 to rotate by a preset angle. In the process of controlling the opening and closing of the valve 420, when the mounting platform 460 rotates clockwise, it can drive the limiting boss 462 to rotate clockwise, thereby the valve 420 confined between adjacent limiting bosses 462 can follow the mounting platform 460 to rotate clockwise by a preset angle, so that the valve 420 can be opened; and when the mounting platform 460 rotates counterclockwise, it can drive the limiting boss 462 to rotate counterclockwise, thereby the valve 420 confined between adjacent limiting bosses 462 can follow the mounting platform 460 to rotate counterclockwise by a preset angle, so that the valve 420 can be closed.

[0081] It should be pointed out that, since the initial state of the valve 420 of the three-way valve 42 may be in different positions, the valve 420 of the three-way valve 42 can be confined to different limit spaces by providing a plurality of limiting bosses 462 on the mounting platform 460. In this way, the valve 420 of the three-way valve 42 can be confined in the corresponding initial state, thereby improving the applicability of the switch control structure.

[0082] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Within the scope of the technical concept of the present invention, the technical solution of the present invention may be subjected to a variety of simple modifications, including combining the various specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple modifications and combinations should also be regarded as disclosed in the present invention and fall within the scope of protection of the present invention.

Claims

1. An interventional consumables storage device for an interventional surgical robot, characterized in that: The interventional consumables storage device (10) comprises a storage mechanism, which comprises: A main receiving tray (12), the main receiving tray (12) being configured to be rotatable about its axis and thereby driving the interventional consumables to be wound around the main receiving tray (12); and A driven receiving member (14), the driven receiving member (14) is linked to the main receiving tray (12) and is coaxially arranged with the main receiving tray (12); wherein: The main receiving tray (12) is configured to drive the driven receiving member (14) to rotate after the main receiving tray (12) rotates to receive the interventional consumable of a preset length, so that the interventional consumable continues to be wound around the driven receiving member (14); The driven storage member (14) includes a driven storage disk (141) radially sleeved outside the main storage disk (12). Among the two adjacent storage disks, the storage disk located on the inner circle rotates to store the interventional consumables of a preset length and then contacts and pushes the storage disk located on the outer circle to rotate together and thus continue to store the interventional consumables.

2. The interventional consumables storage device according to claim 1, characterized in that: The main receiving tray (12) is provided with a main opening (120) extending in its radial direction, and the driven receiving tray (141) is provided with a secondary opening (140) extending in its radial direction and capable of communicating with the main opening (120) for allowing the interventional consumable to pass through.

3. The interventional consumables storage device according to claim 1, characterized in that: An escape space (122) capable of evading the interventional consumables is formed between the driven storage tray (141) and the main storage tray (12).

4. The interventional consumables storage device according to claim 3, characterized in that: The storage mechanism further includes a positioning mechanism (16) disposed in the avoidance space (122), the positioning mechanism (16) including a supporting boss (160) and a supporting boss (162) capable of abutting against the supporting boss (160); wherein: The abutting boss (160) is arranged on one of two adjacent storage trays, and the supporting boss (162) is arranged on the other one.

5. The interventional consumables storage device according to claim 1, characterized in that: The number of the driven receiving disks (141) is multiple, and the multiple driven receiving disks (141) are sequentially arranged in a radial direction, and adjacent receiving disks are arranged in linkage with each other, wherein: The main receiving tray (12) is configured to sequentially drive the driven receiving tray (141) sleeved on the outside to rotate after the main receiving tray (12) rotates to receive the interventional consumables of a preset length, so that the interventional consumables are sequentially wound around the corresponding driven receiving tray (141).

6. The interventional consumables storage device according to claim 1, characterized in that: The storage mechanism further includes a linkage mechanism (18) disposed between adjacent storage trays, the linkage mechanism (18) including a first protrusion (180) and a second protrusion (182) capable of cooperating with the first protrusion (180), the first protrusion (180) being disposed on one of the two adjacent storage trays, and the second protrusion (182) being disposed on the other; wherein: One of the first protrusion (180) and the second protrusion (182) is configured to follow the storage tray located on the inner ring and rotate to a preset angle before abutting against the other, thereby pushing the storage tray located on the outer ring to rotate along with the storage tray located on the inner ring.

7. The interventional consumables storage device according to claim 1, characterized in that: The interventional consumables storage device (10) further includes a base (13) capable of supporting the storage mechanism; and / or The interventional consumables storage device (10) further comprises a packaging cover (15) capable of sealing the disk surface of the storage disk.

8. The interventional consumables storage device according to claim 2, characterized in that: The storage mechanism further comprises a fixed disk (17) sleeved on the outside of the driven storage member (14) and spaced apart from the adjacent driven storage disk (141); the fixed disk (17) is provided with a communication opening (170) extending in its radial direction and capable of communicating with a secondary opening (140) provided on the adjacent driven storage disk (141).

9. The interventional consumables storage device according to any one of claims 1 to 8, characterized in that: The interventional consumables storage device (10) further comprises a driving motor and a connecting gear set (19), wherein the driving motor can drive the main storage tray (12) to rotate via the connecting gear set (19).

10. The interventional consumables storage device according to any one of claims 1 to 8, characterized in that: The interventional consumables storage device (10) further comprises at least one operating column (11) arranged on the main storage tray (12), wherein the operating column (11) is configured to be able to withstand thrust to drive the main storage tray (12) to rotate.

11. An interventional consumables drive system for an interventional surgical robot, characterized in that: The interventional consumable drive system (20) comprises the interventional consumable storage device (10) according to any one of claims 1 to 10 and a rotation drive unit (22), wherein the rotation drive unit (22) is configured to drive the interventional consumable to rotate.

12. The interventional consumables driving system according to claim 11, characterized in that: The rotation drive unit (22) includes a worm (220) and a turbine (222) matched with the worm (220), and the operating end of the interventional consumable is fixedly arranged on the turbine (222) so as to rotate along with the rotation of the turbine (222).

13. An interventional surgical robot, characterized in that: The interventional surgical robot comprises the interventional consumables drive system (20) described in claim 11 or 12.

14. The interventional surgery robot according to claim 13, characterized in that: The interventional surgical robot further includes a valve control mechanism (46), wherein the valve control mechanism (46) includes a mounting platform (460) for supporting the three-way valve (42) and a switch control structure disposed on the mounting platform (460) for controlling the opening or closing of a valve (420) of the three-way valve (42).

15. The interventional surgery robot according to claim 14, characterized in that: The switch control structure comprises a plurality of limiting bosses (462) arranged on the mounting platform (460), wherein the plurality of limiting bosses (462) are arranged at intervals around the axis of the mounting platform (460), and a limiting space is formed between adjacent limiting bosses (462) to allow the valve (420) to pass through; wherein: The mounting platform (460) is configured to be capable of reciprocatingly rotating around its axis at a preset angle so that the adjacent limiting boss (462) drives the valve (420) to rotate to achieve opening or closing.

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