Interventional surgical robot and consumable drive apparatus therefor

Abstract

The application relates to the field of medical devices and discloses an interventional surgery robot and a consumable driving device thereof. The consumable driving device comprises a guide wire driving device, a bending prevention device and a Y valve assembly, the guide wire driving device comprises a driving seat and a first driving member, the first driving member is provided with a wire passing gap, and the Y valve assembly is arranged on the guide wire driving device; the bending prevention device comprises a guide member, and a limiting channel is formed in the guide member. The consumable driving device provided by the application is compact in structure, when the guide wire is disassembled, the size of the wire passing gap on the first driving member can be changed to increase the convenience of the guide wire passing and the operation efficiency, meanwhile, the conveying direction of the catheter can be limited by the bending prevention device to avoid the bending of the catheter during the conveying process, and the length of the catheter in the limiting channel can be reduced or increased along with the advancing or retreating of the catheter to reduce the limitation of the bending prevention device on the catheter and increase the effective use length of the catheter.

Description

Technical Field

[0001] This invention relates to the field of medical devices, specifically to an interventional surgical robot and its consumable drive device. Background Technology

[0002] Vascular interventional surgery robots can manipulate interventional surgical instruments to work in radiation environments that are detrimental to doctors. They can accurately locate themselves with reference to medical images, perform continuous movements without tremors, and quickly and accurately reach the target point in the target blood vessel by tracing complex trajectories. Finally, they can complete the vascular interventional surgery under the doctor's command or autonomously.

[0003] Taking guidewires and catheters as examples of interventional surgical instruments, these are the main components of interventional surgery. The guidewire guides the catheter as it is inserted into the blood vessel, while the catheter delivers angiographic fluid towards the target vessel. Traditionally, the catheter and guidewire are driven separately, resulting in complex driving equipment and a cumbersome guidewire clamping process, which affects surgical efficiency. The catheter is also prone to bending during delivery, leading to poor catheter delivery and affecting the stability of both the guidewire and catheter during delivery. Summary of the Invention

[0004] To solve the above-mentioned technical problems, or at least partially solve them, the present invention provides an interventional surgical robot and a consumable drive device thereof.

[0005] This invention provides a consumable driving device for use in interventional surgical robots, the consumable driving device comprising a guidewire driving device, an anti-bending device, and a Y-valve assembly.

[0006] The guidewire driving device includes a driving base and a first driving member disposed on the driving base. The first driving member is provided with a wire threading gap through which the guidewire can pass. The first driving member is configured to change the size of the wire threading gap. The Y valve assembly is disposed on the guidewire driving device and is positioned opposite to the wire threading gap. The end of the Y valve assembly is connected to a conduit.

[0007] The anti-bending device includes a guide member, the interior of which is formed a limiting channel through which the conduit can pass. The entrance of the limiting channel is opposite to the end position of the Y valve assembly. The length of the conduit within the limiting channel can decrease or increase as the conduit moves forward or backward.

[0008] Optionally, the drive seat includes a mounting body and a sliding body. The first drive component includes a first drive portion and a second drive portion respectively disposed on the mounting body and the sliding body. The sliding body has a drive position close to the mounting body and an idle position away from the mounting body. The sliding body is configured to be able to move from one of the drive position and the idle position to the other position.

[0009] Optionally, the guide wire driving device further includes a first limiting component, which is configured to hold the sliding seat at the driving position or the idle position.

[0010] Optionally, the first limiting component includes a limiting rod, a first limiting member, and a first elastic member. The limiting rod is disposed on the sliding seat and slides with the mounting seat, and is configured as follows:

[0011] When the sliding seat moves to an idle position, the first limiting member can maintain the position of the limiting rod.

[0012] When the first limiting member releases the limiting rod, the sliding seat can move to the driving position under the action of the first elastic member.

[0013] Optionally, the drive seat is further provided with a second limiting component, which is used to limit the guide wire within the wire threading gap.

[0014] Optionally, the guide member is made of a flexible material so that it can bypass the guide wire drive device and slide in cooperation with the guide wire drive device. The outer periphery of the guide member has an opening along the extension direction of the limiting channel, and the portion of the opening at the bend of the guide member is opposite to the position of the Y valve assembly.

[0015] Optionally, the anti-bending device further includes a limiting member configured to retain the conduit passing through the limiting channel within the limiting member.

[0016] Optionally, the anti-bending device further includes a forward member for maintaining the orientation of the opening in a preset direction.

[0017] Optionally, the guide member is configured to bend along a position corresponding to the Y valve assembly under the action of the positive member.

[0018] Optionally, the guide member is fixed to the robot body by a mounting assembly. The mounting assembly includes a first mounting base and a second elastic member and a second limiting member disposed on the first mounting base. The first mounting base can be fixed to the robot body, the second limiting member is connected to the guide member, and the second limiting member can be slidably disposed on the first mounting base in a direction close to or away from the guide member. The second elastic member is configured to apply a force to the second limiting member in a direction away from the guide member.

[0019] Optionally, the conduit is connected to the end of the Y valve assembly via a rotating member, and the consumable drive device further includes a conduit drive device for driving the rotating member to rotate.

[0020] Optionally, the Y valve assembly is mounted on the guide wire drive device via a Y valve base. The Y valve base has a mounting position that can accommodate Y valve assemblies of different sizes, and the Y valve assemblies of different sizes can be limited in the mounting position by a Y valve limiting assembly.

[0021] Optionally, the Y-valve base is provided with at least two mounting members for mounting the Y-valve base on the guide wire drive device, and configured as follows:

[0022] The Y-valve base can be mounted on the guide wire drive device using different mounting components, so that the Y-valve assembly can be oriented in different ways.

[0023] Optionally, the Y valve base is provided with a detection hole for inserting a bubble detection device, and the detection end of the bubble detection device inserted into the detection hole is opposite to the detection position of the Y valve assembly.

[0024] Optionally, it also includes a locking device, wherein the guide wire drive device is mounted on the robot body via the locking device. The locking device includes a first locking member connected to the robot body, a second locking member connected to the guide wire drive device, and an unlocking mechanism. The first locking member and the second locking member engage to achieve locking. The second locking member is configured to release the restriction between itself and the first locking member under the action of the unlocking mechanism.

[0025] Optionally, the unlocking mechanism includes an operating plate extending along the circumferential direction of the guidewire drive device. The operating plate has a force-applying end and a trigger end. The trigger end is connected to the second locking member and extends to the side of the guidewire drive device away from the trigger end.

[0026] Optionally, the guide wire drive device is provided with a liquid removal device at one end corresponding to the Y valve assembly for removing liquid from the guide wire.

[0027] The present invention also provides an interventional surgical robot, including the consumable driving device for the interventional surgical robot described in any of the above technical solutions.

[0028] The technical solution provided by the embodiments of the present invention has the following advantages compared with the prior art:

[0029] The consumable driving device provided by this invention sets the Y-valve assembly on the guidewire driving device, making the overall structure more compact. When installing or removing the guidewire, the size of the wire insertion gap on the first driving component can be changed to increase the convenience of guidewire insertion and increase surgical efficiency. At the same time, the anti-bending device can restrict the delivery direction of the catheter to prevent the catheter from bending during delivery, ensuring the stability of the guidewire and catheter during delivery. Moreover, the length of the catheter within the limiting channel can decrease or increase as the catheter moves forward or backward, thereby reducing the restriction of the anti-bending device on the catheter and increasing the effective usable length of the catheter. Attached Figure Description

[0030] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the consumable driving device according to an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the structure of the consumable drive device connected to the robot body according to an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the guide wire driving device according to an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of the guide wire driving device when the sliding seat moves to an idle position according to an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram of the guide wire driving device when the sliding seat moves to the driving position according to an embodiment of the present invention;

[0037] Figure 6 This is a structural schematic diagram of the arrangement of the first driving component according to an embodiment of the present invention;

[0038] Figure 7 This is a schematic diagram of the connection between the second driving part and the sliding seat body in an embodiment of the present invention;

[0039] Figure 8 This is a schematic diagram of the anti-bending device structure according to an embodiment of the present invention;

[0040] Figure 9 for Figure 8 A magnified view of a section at point A in the middle;

[0041] Figure 10 This is a schematic diagram of the limiting member in the open state according to an embodiment of the present invention;

[0042] Figure 11 This is a schematic diagram of the installation component according to an embodiment of the present invention;

[0043] Figure 12 This is a cross-sectional view of the mounting assembly according to an embodiment of the present invention;

[0044] Figure 13 This is a schematic diagram of the structure of the Y-valve base according to an embodiment of the present invention;

[0045] Figure 14 This is a schematic diagram of the Y valve assembly of the present invention mounted along a first direction on the Y valve base according to an embodiment of the present invention;

[0046] Figure 15 This is a schematic diagram of the Y valve assembly of the present invention mounted along the second direction on the Y valve base according to an embodiment of the present invention;

[0047] Figure 16 This is a schematic diagram of the connection between the bubble detection device and the Y valve base according to an embodiment of the present invention;

[0048] Figure 17 This is a schematic diagram of the configuration of the Y-valve limiting assembly according to an embodiment of the present invention;

[0049] Figure 18 This is a schematic diagram of the structure of the locking device according to an embodiment of the present invention;

[0050] Figure 19 This is a schematic diagram of the structure of the locking device according to an embodiment of the present invention after being cut open;

[0051] Figure 20 This is a schematic diagram of the structure when the locking device described in an embodiment of the present invention is connected to the consumable box.

[0052] Explanation of reference numerals in the attached figures

[0053] 1. Guide wire drive device; 11. Drive seat; 111. Mounting seat; 1111. Cover plate; 1112. End plate; 112. Sliding seat; 1121. Upper seat; 1122. Lower seat; 1123. Guide post; 1124. Pulley; 113. Rotating shaft; 1131. Slot; 12. First drive component; 121. Threading gap; 122. First drive part; 1221. First drive wheel set; 12211. First rotating shaft; 12212. First rotating gear; 1222. First pressing belt; 123. Second drive part; 1231. Second drive wheel set; 12311. Second rotating shaft; 12312. Second rotating gear; 1232. Second pressing belt; 124. Linear delivery gear; 1241. First clearance groove; 125. First transmission spur gear; 1251. First transmission shaft; 1252. First bevel gear; 126. Second transmission spur gear; 1261. Second transmission shaft; 1262. Second bevel gear; 13. First limiting assembly; 131. Limiting rod; 132. First limiting component; 1321. Limiting cylinder; 1322. Limiting post; 14. Second limiting assembly; 141. Limiting plate; 15. Guide wire linear antibacterial gear set; 16. Second driving component; 161. Rotary delivery gear; 1611. Second clearance groove; 17. Consumable box; 171. Mounting bracket; 2. Anti-bending device; 21. Guide component; 211. Opening; 2 2. Limiting component; 221. Limiting base; 222. Limiting top cover; 223. First hole; 23. Forward component; 231. Forward seat; 232. Second hole; 233. Protrusion; 24. Mounting assembly; 241. First mounting seat; 2411. Sliding hole; 2412. Guide hole; 242. Second elastic element; 243. Second limiting component; 2431. Sliding cylinder; 2432. Limiting cap; 244. Second mounting seat; 25. Mounting bracket; 26. First guide wheel; 27. Second guide wheel; 28. Guide seat; 3. Y valve assembly; 31. Rotating component; 32. Main pipe; 33. Branch pipe; 4. Conduit drive device; 5. Y valve base; 51. Mounting component; 511. Snap-fit ​​groove; 51 2. Hook body; 52. Detection hole; 53. Bubble detection device; 54. Y valve limiting assembly; 541. Limiting block; 5411. Limiting slot; 5412. Guide protrusion; 5413. Guide rod; 55. Mounting port; 56. Snap-fit ​​plate; 57. Fifth magnetic suction component; 58. Limiting protrusion; 6. Locking device; 61. First locking component; 611. First seat; 612. Locking block; 62. Second locking component; 621. Second seat; 622. Locking hook; 63. Unlocking mechanism; 631. Operating plate; 6311. Clearance hole; 6312. Operating rod; 6313. Reinforcing rod; 6314. Protruding structure; 632. Hinge; 633. Support; 634. Support base; 7. Liquid removal device. Detailed Implementation

[0054] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments and features of the present invention can be combined with each other.

[0055] The following description sets forth many specific details in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments described in the specification are only some, not all, of the embodiments of the invention.

[0056] First, it should be noted that interventional surgical robots typically include a master end located outside the operating room and a slave end located inside the operating room. The master and slave ends are communicatively connected, allowing the surgeon to control the slave end. The slave end mainly includes the robot body, a robotic arm, and a consumable container 17. The robot body is connected to the operating table via the robotic arm. The consumable container 17 is movably mounted on the robot body and contains at least part of the consumable drive device described in this application. Alternatively, the consumable drive device can be directly connected to the robot body. The consumable drive device can drive the movement of the long, straight interventional consumable, enabling the master end to control the movement of the long, straight interventional consumable through the consumable drive device. In this application, the long, straight interventional consumable includes a guidewire and a catheter, meaning the movement of the guidewire and catheter is controlled by the consumable drive device. Of course, this application does not impose any limitations on the specific composition or structure of the interventional surgical robot, as long as the interventional surgical robot can drive the long, straight interventional consumable through the consumable drive device.

[0057] Combination Figure 1 and Figure 2 As shown, the consumable driving device for interventional surgical robots provided in this embodiment of the invention includes a guidewire driving device 1, an anti-bending device 2, and a Y-valve assembly 3.

[0058] The guide wire drive device 1 includes a drive base 11 and a first drive member 12 disposed on the drive base 11. The first drive member 12 has a wire-passing gap 121 through which the guide wire can pass. The first drive member 12 can drive the guide wire passing through the wire-passing gap 121 to move linearly. The first drive member 12 is configured to change the size of the wire-passing gap 121 to facilitate the guide wire disengagement from the wire-passing gap 121 and increase the convenience of guide wire replacement. Alternatively, the guide wire can be pressed tightly within the wire-passing gap 121 to ensure the guide wire delivery effect. A Y-valve assembly 3 is disposed on the guide wire drive device 1. The position and installation method of the Y-valve assembly 3 on the guide wire drive device 1 are not limited and can be designed according to actual needs. The Y-valve assembly 3 should be installed such that its position is opposite to the wire-passing gap 121. A conduit is connected to the end of the Y-valve assembly 3 so that the guide wire can pass through the Y-valve assembly 3 and into the conduit.

[0059] The anti-bending device 2 includes a guide member 21, which is mounted on the robot body and is movable relative to the guide wire drive device 1. The guide member 21 has an internal limiting channel through which a conduit can pass. The conduit can pass through the limiting channel and move along its extension direction, thereby restricting the conduit's movement direction and preventing bending. The entrance of the limiting channel is opposite to the end of the Y-valve assembly 3, allowing the conduit connected to the Y-valve assembly 3 to directly enter the guide member 21, increasing the connection efficiency. The length of the conduit within the limiting channel can decrease or increase as the conduit moves forward or backward, ensuring the guide member 21 always constrains the conduit and preventing excessive length of the conduit remaining within the guide member 21. It should be noted that this application does not impose any limitations on the specific structure of the guide member 21; those skilled in the art can design it according to actual needs. For example, the guide member 21 can be a flexible tube with a C-shaped cross-section.

[0060] The consumable driving device provided by the present invention sets the Y valve assembly 3 on the guidewire driving device 1, making the overall structure more compact. When installing or removing the guidewire, the size of the wire insertion gap 121 on the first driving component 12 can be changed to increase the convenience of guidewire insertion and increase surgical efficiency. At the same time, the anti-bending device 2 can restrict the delivery direction of the catheter to prevent the catheter from bending during delivery, ensuring the stability of the guidewire and catheter during delivery. The length of the catheter in the limiting channel can decrease or increase as the catheter moves forward or backward, thereby reducing the restriction of the anti-bending device 2 on the catheter and increasing the effective usable length of the catheter.

[0061] In some embodiments, the first driving member 12 includes a first driving portion 122 and a second driving portion 123 respectively disposed on the driving base 11, with a threading gap 121 formed between the first driving portion 122 and the second driving portion 123. The second driving portion 123 is slidably disposed on the driving base 11, allowing it to move closer to or further away from the first driving portion 122, thereby changing the size of the threading gap 121. This design allows the driving base 11 to be a single piece, increasing the ease of manufacturing the driving base 11 and ensuring the stability of the connection between the driving base 11 and the robot body.

[0062] In other embodiments, combined Figures 3 to 5As shown, the drive seat 11 includes a mounting body 111 (which is relatively fixed) and a sliding body 112. The first drive member 12 includes a first drive portion 122 and a second drive portion 123 respectively disposed on the mounting body 111 and the sliding body 112, forming a threading gap 121 between the first drive portion 122 and the second drive portion 123. The sliding body 112 has a drive position close to the mounting body 111 and an idle position away from the mounting body 111. The sliding body 112 is configured to move from one of the drive position and the idle position to the other position, so that the movement of the sliding body 112 drives the second drive portion 123 to move, thereby changing the size of the threading gap 121. Specifically, when the sliding seat 112 moves toward the mounting seat 111, the wire threading gap 121 between the first driving portion 122 and the second driving portion 123 gradually decreases, thereby enabling both the first driving portion 122 and the second driving portion 123 to contact the guide wire, thus providing a clamping force to drive the guide wire movement (e.g., linear or rotary motion). When the sliding seat 112 moves away from the mounting seat 111, the wire threading gap 121 gradually increases, and the force exerted by the second driving portion 123 on the guide wire gradually disappears, allowing the guide wire to disengage from the wire threading gap 121, facilitating the installation and removal of the guide wire.

[0063] In this design, the first driving part 122 can be disposed in the mounting base 111, and the second driving part 123 can be disposed in the sliding base 112. This ensures that the first driving part 122 and the second driving part 123 can work in a sterile environment, and the second driving part 123 can be moved by the sliding base 112 so that the second driving part 123 can move closer to or away from the first driving part 122. This avoids damaging the sterile environment of the second driving part 123 during the adjustment of its position, and ensures that the surgery is performed safely and smoothly.

[0064] Of course, the specific configuration and driving method of the first driving component 12 are not restrictive, and those skilled in the art can set them according to actual usage requirements.

[0065] Furthermore, it should be noted that the present invention does not impose any restrictions on the specific manner in which the first driving part 122 and the second driving part 123 drive the guide wire. As long as the guide wire is driven by the clamping force of the first driving part 122 and the second driving part 123, it can be set according to actual usage requirements. For example, a clamping wheel can be used; or a movable clamping block can be used.

[0066] As one feasible implementation, the mounting base 111 has a mounting cavity for mounting the first driving part 122. The top of the mounting base 111 is open to allow the first driving part 122 to be installed in the mounting cavity. Then, a cover plate 1111 is fastened to the open end of the mounting base 111 to ensure the limiting effect of the first driving part 122. The cover plate 1111 can be bolted to the mounting base 111 to ensure the clamping effect of the first driving part 122. The side of the mounting base 111 facing the sliding base 112 has a C-shaped opening, and the sliding base 112 slides with the C-shaped opening. The sliding seat 112 is divided into an upper seat 1121 and a lower seat 1122. The upper seat 1121 and the lower seat 1122 are plugged into each other, and a mounting cavity for installing the second driving part 123 is formed between them after plugging. With this design, the sliding seat 112 can install the second driving part 123 on the lower seat 1122, and then plug the upper seat 1121 and the lower seat 1122 together to limit the position of the second driving part 123, increasing the convenience and firmness of the installation of the second driving part 123. The upper seat 1121 and the lower seat 1122 can be connected by bolts to enhance the limiting effect of the second driving part 123.

[0067] Further optimized, a guide member 21 is provided between the mounting base 111 and the sliding base 112, allowing the sliding base 112 to move towards or away from the mounting base 111 under the action of the guide member 21. The arrangement of the guide member 21 is not limited; for example, ... Figure 7 As shown, the guide member 21 includes a guide groove disposed on the side of the sliding seat 112, and a guide block that slides in conjunction with the guide groove is provided on the inner wall of the C-shaped opening of the mounting seat 111, so as to limit the movement direction of the sliding seat 112 by the cooperation of the guide groove and the guide block. Correspondingly, a guide block may also be provided on the side of the sliding seat 112, and a guide groove may be provided on the inner wall of the C-shaped opening of the mounting seat 111. These arrangements are only preferred and not restrictive, as long as it is ensured that the sliding seat 112 can move in the direction of approaching or moving away from the mounting seat 111.

[0068] Combination Figure 1 and Figure 2 As shown, the guide wire drive device 1 of this application also includes a consumable box 17, a drive base 11, and a first drive component 12 disposed on the drive base 11, all of which are disposed within the consumable box 17 to protect their internal structure and increase the service life of the internal components of the consumable box 17. The consumable box 17 is used to be mounted on the robot body.

[0069] The guidewire driving device 1 of this application further includes a first limiting component 13. The first limiting component 13 is configured to hold the sliding seat 112 in a driving position or an idle position, thereby holding the second driving part 123 in a position pressed against the outer periphery of the guidewire, so that the second driving part 123 can cooperate with the first driving part 122 to stably drive the interventional consumable. In this design, the fixed position of the sliding seat 112 can be limited, so that the width of the wire threading gap 121 between the first driving part 122 and the second driving part 123 can be limited, avoiding the phenomenon that the second driving part 123 cannot cooperate with the first driving part 122 to drive the guidewire due to improper adjustment, or the phenomenon that the movement position of the second driving part 123 cannot disengage the guidewire from the wire threading gap 121.

[0070] To further optimize the operation of the sliding seat 112 by medical staff, allowing the sliding seat 112 to move to the driving position or the idle position, a toggle block 1124 can be provided on the sliding seat 112 to increase the convenience of operation for medical staff.

[0071] As a feasible implementation method, combined with Figure 3 and Figure 7 As shown, the first limiting component 13 includes a limiting rod 131, a first limiting member 132, and a first elastic member. The limiting rod 131 is disposed on the sliding seat 112, and the limiting rod 131 slides in cooperation with the mounting seat 111, so that the limiting rod 131 can move synchronously with the sliding seat 112 relative to the mounting seat 111. Figure 4 As shown, when the sliding seat 112 moves to an idle position, the first limiting member 132 can maintain the position of the limiting rod 131, so as to facilitate the installation and removal of the guide wire by medical personnel; Figure 5 As shown, when the first limiting member 132 releases the limiting rod 131, the sliding seat 112 can move to the driving position under the action of the first elastic member, so that the second driving part 123 can cooperate with the first driving part 122 to drive the guide wire to make linear motion. At the same time, the second driving part 123 can press the guide wire under the action of the first elastic member to ensure the driving effect of the guide wire.

[0072] In some embodiments, the first limiting member 132 includes a limiting cylinder 1321 disposed on the mounting base 111. The limiting cylinder 1321 is provided with an insertion hole that slides with the limiting rod 131. The limiting rod 131 is provided with a limiting hole. A limiting post 1322 passes through the limiting cylinder 1321. When the sliding base 112 moves to an idle position, the limiting post 1322 is positioned opposite to the limiting hole, so that the limiting post 1322 can be inserted into or disengaged from the limiting hole.

[0073] Specifically, the C-shaped opening described above can be provided on the side of the mounting base 111 facing the sliding base 112, and an end plate 1112 is provided at the open end of the C-shaped opening. The limiting cylinder 1321 is provided on the end plate 1112 to increase the ease of installation of the limiting cylinder 1321. The limiting cylinder 1321 has an insertion hole in the middle, and the diameter of the insertion hole can be larger than the diameter of the limiting rod 131, so that the limiting rod 131 can be inserted into the insertion hole, and at the same time, the limiting rod 131 can move within a small range along the radial direction of the insertion hole. A limiting hole is provided at the position where the limiting rod 131 is inserted into the insertion hole, and a limiting post 1322 passes through the limiting cylinder 1321, which can be inserted into the limiting hole. The term "limiting post 1322 passing through limiting cylinder 1321" means that part of the limiting post 1322 is inside the limiting cylinder 1321, while another part of the limiting post 1322 extends out of the limiting cylinder 1321 for operation by medical staff. Alternatively, a button can be provided at the end of the limiting post 1322 to increase the convenience of operation for medical staff.

[0074] The first elastic element can be a spring disposed between the end plate 1112 and the sliding seat 112. To ensure that the spring can be compressed along a preset direction, a guide post 1123 can be provided on the side of the sliding seat 112 facing the end plate 1112, and the spring is sleeved on the outer periphery of the guide post 1123. When the sliding seat 112 adopts the configuration of an upper seat 1121 and a lower seat 1122, two guide posts 1123 can be provided on the upper seat 1121 and two guide posts 1123 can be provided on the lower seat 1122. The bottom of the upper seat 1121 should be provided with a clearance opening so that when the upper seat 1121 and the lower seat 1122 are engaged, the guide posts 1123 on the lower seat 1122 can be engaged into the clearance opening, making the overall structure of the sliding seat 112 more compact.

[0075] When the sliding seat 112 moves to the idle position, the limiting hole and the limiting post 1322 are positioned opposite each other. In this case, the limiting post 1322 can be inserted into the limiting hole to maintain the positions of the limiting rod 131 and the sliding seat 112, thereby keeping the sliding seat 112 in the idle position. After the guide wire assembly and disassembly operations are completed, the limiting post 1322 can be disengaged from the limiting hole by operating the limiting post 1322. At this time, the restriction between the limiting post 1322 and the limiting rod 131 is released, and the sliding seat 112 can move to the driving position under the action of the first elastic element to meet the driving requirements of the guide wire. The first limiting element 132 is easy to operate under this design.

[0076] As one feasible implementation, the limiting post 1322 includes an operating part extending out of the limiting cylinder 1321 and a limiting part disposed inside the limiting cylinder 1321. The limiting part can extend around the limiting rod 131 to the bottom of the limiting rod 131, so that the limiting part can be inserted into the limiting hole through the bottom of the limiting rod 131. At this time, a spring can be provided below the limiting part, and the spring applies an upward force to the limiting part, so that the limiting part can be inserted into the position of the limiting hole under normal conditions (i.e., without external force). When the operating part is pressed down, the operating part can drive the limiting part to move downward, so that the limiting part disengages from the limiting hole.

[0077] During use, as the sliding seat 112 moves towards the idle position, the limiting rod 131 gradually inserts into the insertion hole. At this time, by pressing the operating part, the operating part moves downward, causing the limiting part to move below the insertion hole, allowing the limiting rod 131 to be inserted into the insertion hole. When the sliding seat 112 moves to the idle position, the limiting hole on the limiting rod 131 is aligned with the limiting part. In this case, releasing the operating part causes the limiting part to move upward under the action of the spring, allowing the limiting part to be inserted into the limiting hole. After the guidewire installation and removal are completed, medical staff can press the operating part, causing the limiting part to move downward, releasing the limiting rod 131. This design of the limiting cylinder 1321 is convenient to operate, speeds up the operation, and reduces the operation time.

[0078] The drive seat 11 of this application is also provided with a second limiting component 14, which is used to limit the guidewire within the wire threading gap 121 to prevent the guidewire from coming out of the wire threading gap 121 during delivery, thereby reducing surgical risks.

[0079] As one feasible implementation, the second limiting assembly 14 includes limiting plates 141 disposed on the sides of the sliding seat 112 and the mounting seat 111, with the limiting plates 141 and the threading gap 121 positioned vertically opposite each other. Each side of the sliding seat 112 and the mounting seat 111 is provided with a limiting plate 141, and when the sliding seat 112 moves to the driving position, the end faces of the two limiting plates 141 are in contact, or a gap is formed between the end faces of the two limiting plates 141, the width of which should be less than the width of the threading gap 121. Alternatively, in combination with... Figure 4 and Figure 5As shown, both the sliding seat 112 and the mounting seat 111 have multiple limiting plates 141 spaced apart on their sides. The limiting plates 141 on the sliding seat 112 can be mounted on the cover plate 1111 of the sliding seat 112. The limiting plates 141 on the sliding seat 112 and the mounting seat 111 are staggered. When the sliding seat 112 moves to the driving position, the limiting plates 141 on the sliding seat 112 are inserted into the limiting openings between two adjacent limiting plates 141 on the mounting seat 111, so that the multiple limiting plates 141 can completely seal the wire threading gap 121 between the first driving part 122 and the second driving part 123.

[0080] Combination Figure 6 and Figure 7 As shown, the first driving part 122 includes a first driving wheel assembly 1221 and a first clamping band 1222 sleeved around the outer periphery of the first driving wheel assembly 1221. The second driving part 123 includes a second driving wheel assembly 1231 and a second clamping band 1232 sleeved around the outer periphery of the second driving wheel assembly 1231. The first driving wheel assembly 1221 and the second driving wheel assembly 1231 are arranged such that the rotation of the first driving wheel assembly 1221 and the second driving wheel assembly 1231 respectively drives the rotation of the first clamping band 1222 and the second clamping band 1232. This design increases the contact area with the guidewire through the first clamping band 1222 and the second clamping band 1232, increasing the driving friction of the guidewire and reducing the risk of slippage and delivery failure due to fluid carried by the guidewire, thus increasing surgical safety.

[0081] In one feasible implementation, the first drive wheel assembly 1221 includes two first rotating shafts 12211 rotatably mounted on the mounting base 111. The ends of the two first rotating shafts 12211 are connected to first rotating gears 12212. The two first rotating shafts 12211 are spaced apart along the wire feeding direction, so that the first clamping band 1222 sleeved around the outer periphery of the two first rotating shafts 12211 can deliver the wire along the wire feeding direction. The second drive wheel assembly 1231 includes two second rotating shafts 12311 rotatably mounted on the sliding base 112. The ends of the two second rotating shafts 12311 are connected to second rotating gears 12312. The two second rotating shafts 12311 are spaced apart along the wire feeding direction, so that the second clamping band 1232 sleeved around the outer periphery of the two second rotating shafts 12311 can deliver the wire along the wire feeding direction. As a preferred configuration, the first rotating shaft 12211 and the second rotating shaft 12311 are shafts that are thinner at both ends and thicker in the middle, and have anti-slip grooves. This facilitates the installation of the first rotating shaft 12211 and the second rotating shaft 12311, and the anti-slip grooves ensure the conveying effect of the first pressing belt 1222 and the second pressing belt 1232. The first pressing belt 1222 and the second pressing belt 1232 are soft rubber delivery belts with anti-slip grooves on their surfaces to provide greater friction for the guide wire and meet the requirement of stable guide wire delivery.

[0082] Specifically, the outer ring of the first rotating gear 12212 should extend outward from the first pressing band 1222, and correspondingly, the outer ring of the second rotating gear 12312 should extend outward from the second pressing band 1232, so that after the sliding seat 112 moves to the driving position, the corresponding first rotating gear 12212 and second rotating gear 12312 can mesh. With this design, the first rotating gear 12212 can be driven to rotate by a single driving component, which in turn drives the second rotating gear 12312. This effectively reduces the number of driving components, thereby reducing equipment costs. Furthermore, the single driving component eliminates concerns about the consistency of transmission between the first pressing band 1222 and the second pressing band 1232, ensuring the stability and accuracy of the guide wire feeding.

[0083] Combination Figures 3 to 7 As shown, the drive seat 11 has a rotating shaft 113 on each of its corresponding sides. One side of the rotating shaft 113 has a slot 1131 that communicates with the threading gap. The slot 1131 extends to the axis of the rotating shaft 113 to avoid affecting the feeding of the guide wire.

[0084] The first driving component 12 includes a linear delivery gear 124 rotatably disposed on the outer periphery of one of the rotating shafts 113. The linear delivery gear 124 has a first clearance groove 1241 along its radial direction, extending to the center of the linear delivery gear 124. When the linear delivery gear 124 rotates to a certain position, the first clearance groove 1241 communicates with the slot 1131, so that the guide wire can pass through the first clearance groove 1241 and be engaged in the slot 1131. Alternatively, the linear delivery gear 124 is fixedly disposed on the outer periphery of the rotating shaft 113. In this case, the rotating shaft 113 is rotatably engaged with the drive seat 11 to ensure that the first clearance groove 1241 and the slot 1131 are always in communication.

[0085] The linear delivery gear 124 has external teeth on its outer periphery that connect to the driving component, enabling it to rotate. Simultaneously, the linear delivery gear 124 has an annular boss on its outer periphery facing the drive seat 11, with internal teeth on the inner side of the annular boss. Therefore, the linear delivery gear 124 employs a double-tooth gear structure. The internal teeth of the linear delivery gear 124 mesh with a first transmission spur gear 125, allowing the linear delivery gear 124 to drive the first transmission spur gear 125 to rotate. The tooth surface of the first transmission spur gear 125 meshes with the internal tooth surface of the linear delivery gear 124, meaning the rotation axis of the first transmission spur gear 125 is parallel to the rotation axis of the linear delivery gear 124. This arrangement not only significantly reduces its overall space requirement but also provides a more stable and reliable transmission compared to bevel gears. Furthermore, the present invention effectively increases the width of the internal teeth by setting an annular boss, so as to effectively ensure that the internal tooth surface of the linear delivery gear 124 can fully mesh with the tooth surface of the first transmission spur gear 125 in the width direction, thereby effectively ensuring the reliability of transmission. Moreover, this arrangement ensures that other transmission components are all located inside the linear delivery gear 124, thereby further improving the compactness of the structure. A first transmission shaft 1251 is connected to the first transmission spur gear 125. A first bevel gear 1252 is provided at the end of the first transmission shaft 1251 away from the first transmission spur gear 125. The first bevel gear 1252 rotates synchronously with the first transmission spur gear 125 under the action of the first transmission shaft 1251. The first transmission spur gear 125, the first transmission shaft 1251, and the first bevel gear 1252 are integrally assembled into the mounting hole of the drive seat 11, making the overall structure more compact. The outer circumferences of both first rotating gears 12212 mesh with the second transmission spur gear 126, enabling the second transmission spur gear 126 to simultaneously drive both first rotating gears 12212 to rotate synchronously in the same direction. A second transmission shaft 1261 is connected to the second transmission spur gear 1261, and a second bevel gear 1262 is provided at the end of the second transmission shaft 1261 away from the second transmission spur gear 1261, and the second bevel gear 1262 meshes with the first bevel gear 1252. This design of the first drive component 12 results in a compact structure and reduces space occupation.

[0086] Combination Figure 1 and Figure 2As shown, the driving component includes a guidewire linear sterile gear set 15 and a drive motor. The drive motor can drive the guidewire linear sterile gear set 15 to rotate, thereby driving the linear delivery gear 124 to rotate. The guidewire linear sterile gear set 15 includes a guidewire linear sterile gear connected to the drive motor and a guidewire linear sterile gear meshing with the linear delivery gear 124. The guidewire linear sterile gear and the guidewire linear sterile gear rotate coaxially and are separated by a guidewire linear sterile separator to prevent the transfer of the sterile environment to the sterile environment, thus meeting the requirements for sterile driving.

[0087] Combination Figures 3 to 5 As shown, the consumable driving device of this application also includes a second driving component 16 for driving the drive seat 11 to rotate, that is, for realizing the rotation of the intervention consumable. The second driving component 16 includes a rotary delivery gear 161 disposed on another rotating shaft 113 of the drive seat 11. The rotary delivery gear 161 is fixedly connected to the rotating shaft 113 of the drive seat 11 so that the rotation of the rotary delivery gear 161 can drive the drive seat 11 to rotate, thereby driving the guide wire on the drive seat 11 to rotate along the circumferential direction of the guide wire. As a preferred arrangement, the linear delivery gear 124 and the rotary delivery gear 161 are the same size. The first driving part 122, the second driving part 123, the first limiting component 13 and the second limiting component 14 are disposed between the linear delivery gear 124 and the rotary delivery gear 161. This arrangement can not only effectively improve the compactness of the structure, but also effectively improve the balance of the drive seat 11, thereby effectively ensuring the driving effect. The rotary delivery gear 161 has a second clearance groove 1611 along its radial direction, extending to the center of the rotary delivery gear 161 and communicating with the slot 1131, so that the guide wire can pass through the second clearance groove 1611 and be engaged in the slot 1131. Furthermore, the second driving member 16 should also include a driving element for driving the rotary delivery gear 161 to rotate. The arrangement of the driving element is not limited, as long as it can drive the rotary delivery gear 161 to rotate. Preferably, the driving element here is arranged in the same way as the driving element of the linear delivery gear 124.

[0088] In addition, the upper shell of the drive base 11 of this application is provided with an identification plate for identification, which can be used for orientation identification and component function identification. As a foolproof design, it makes it easy for doctors to distinguish the installation direction and prevents incorrect installation.

[0089] Combination Figure 1 , Figure 2 and Figure 8As shown, the guide member 21 is made of a flexible material so that it can bypass the guide wire drive device 1 and slide in cooperation with it. An opening 211 is provided on the outer periphery of the guide member 21 along the extension direction of the limiting channel. The portion of the opening 211 located at the bend of the guide member 21 is opposite to the position of the Y valve assembly 3. The guide member 21 can be a C-shaped tube, etc., in which case the opening 211 is formed by the side of the C-shaped tube.

[0090] Specifically, the diameter of the conduit should be larger than the size of the opening 211. During installation, as the conduit is inserted into the limiting channel of the guide member 21, it compresses the opening 211, causing it to deform and expand, thus allowing the conduit to enter the limiting channel. Because the diameter of the conduit inserted into the limiting channel is larger than the opening 211, the conduit within the limiting channel is less likely to detach. When the conduit is subjected to external force and tends to detach from the limiting channel, the opening 211 expands due to the force of the conduit, allowing the conduit to detach from the limiting channel. The guide member 21 can bypass the guide wire drive device 1, specifically the consumable box 17 of the guide wire drive device 1, preventing the consumable box 17 from affecting the guide member 21. The bend of the guide member 21 is aligned with the position of the conduit, allowing the conduit to pass through the limiting channel of the guide member 21 along the bend, increasing the ease of conduit insertion. Simultaneously, it allows the conduit to engage or disengage with the guide member 21 at the bend during its movement, satisfying the need for the conduit to move backward or forward.

[0091] The guide member 21 under this design can effectively prevent the catheter from bending, ensure the delivery effect of the catheter and guide wire, and the catheter can pass through the opening 211 to disengage from or be inserted into the limiting channel during the forward or backward movement of the catheter, so as to reduce the limitation of the guide member 21 on the movement distance of the catheter and increase the effective length of the catheter.

[0092] Combination Figures 8 to 10 As shown, the anti-bending device 2 also includes a limiting member 22, which is configured to hold the conduit passing through the limiting channel within the limiting member 22. The limiting member 22 is slidably engaged with the guide member 21. This ensures that the conduit can slide within the limiting channel, thereby ensuring the effective delivery of the conduit.

[0093] Specifically, the limiting member 22 can be mounted on the guidewire drive device 1 via the mounting bracket 25, specifically on the mounting bracket 171 connected to the guidewire drive device 1. The mounting bracket 171 is connected to the consumable box 17 of the guidewire drive device 1, allowing the limiting member 22 to move with the consumable box 17. Both ends of the guide member 21 are mounted on the robot body, and the guide member 21 should be in a taut state to prevent bending. The limiting member 22 wraps around the engagement point between the guide member 21 and the catheter, thus blocking the opening 211 of the guide member 21 at this location to prevent the catheter inserted into the limiting channel from disengaging from the limiting channel. The limiting member 22 also assists in the catheter's insertion into the limiting channel, ensuring that the portion of the guide member 21 furthest from the blood vessel gradually engages with the catheter during retraction.

[0094] As one feasible implementation, the limiting member 22 includes a limiting base 221 and a limiting cover 222 that is fastened to the limiting base 221, so as to form a first hole 223 between the limiting base 221 and the limiting cover 222 for the guide member 21 to pass through. This design can increase the convenience of connecting the guide member 21 and the limiting member 22, and at the same time, facilitate the insertion of the conduit into the interior of the guide member 21.

[0095] Under normal conditions, the limiting base 221 and the limiting cover 222 are in the open state. During installation, the guide member 21 is placed on the limiting base 221 to support it. In this case, the catheter is inserted into the guide member 21 through the opening 211 and enters the limiting channel. The catheter is then inserted until it reaches the exit position of the limiting channel to prepare for surgery. After the catheter is inserted, the limiting cover 222 is closed on the limiting base 221 so that the guide member 21 is positioned within the first hole 223 formed by the limiting cover 222 and the limiting base 221. In this case, the guide member 21 can move relative to the first hole 223, and the limiting cover 222 and the limiting base 221 limit the catheter within the limiting channel.

[0096] The connection method between the limiting base 221 and the limiting cover 222 is not limited. For example, the limiting base 221 and the limiting cover 222 can be connected in a detachable manner. That is, under normal circumstances, the limiting cover 222 is detached from the limiting base 221. During installation, the limiting cover 222 can be installed on the limiting base 221 by bolt connection or snap-fit. Of course, the limiting cover 222 and the limiting base 221 can also be connected by a combination of pins and holes. These are not restrictive.

[0097] For example, combining Figure 9 and Figure 10As shown, the limiting base 221 is hinged to one side of the limiting cover 222, and the limiting base 221 is snapped into the other side of the limiting cover 222. With this design, the guide member 21 can be limited by rotating the limiting cover 222, making operation convenient. There are several ways to snap the limiting base 221 and the limiting cover 222 together. For example, a first locking plate can be provided on the limiting base 221, and a second locking plate can be provided on the limiting cover 222. As the limiting cover 222 rotates, the second locking plate can lock onto the side of the first locking plate opposite to the limiting cover 222, thus achieving the snapping of the limiting cover 222 and the limiting base 221. Furthermore, the limiting cover 222 can rotate in the opposite direction under external force, causing the second locking plate to disengage from the first locking plate, thereby opening the limiting cover 222. It is understood that other snapping methods can also be used to connect the limiting cover 222 and the limiting base 221.

[0098] To further optimize the operation and enhance convenience, a lever can be installed on the limiting cover 222, allowing operators to manipulate it. The lever has a first finger groove on the side facing the limiting base 221 and a second finger groove on the side facing away from the base 221. During use, the operator inserts their index finger into the first finger groove and presses their thumb into the second finger groove, further improving ease of operation.

[0099] Combination Figures 8 to 10 As shown, the anti-bending device 2 also includes a forward member 23, which is used to maintain the orientation of the opening 211 in a preset direction. During the movement of the conduit, the orientation of the opening 211 can be maintained by the forward member 23 to ensure that the conduit can smoothly enter the channel and ensure the delivery effect of the conduit.

[0100] As a feasible implementation, the forward member 23 includes a forward seat 231. The forward seat 231 is provided with a second hole 232 through which the guide member 21 can pass. The inner wall of the second hole 232 is provided with a protrusion 233 that slides with the opening 211, so that the opening 211 can be oriented toward a preset direction under the action of the protrusion 233.

[0101] Specifically, the forward-facing seat 231 is mounted on the mounting bracket 25, and the guide member 21 is slidably engaged with the second hole 232, so that the forward-facing seat 231 can move synchronously with the mounting bracket 25. A protrusion 233 is provided on the inner wall of the second hole 232, which restricts the orientation of the opening 211, thereby allowing the forward-facing seat 231 to continuously provide a positive force to the bend of the guide member 21. The protrusion 233 has a tapered cross-section, facilitating its insertion into the opening 211. Simultaneously, the tapered structure guides the forward orientation of the guide member 21. For example, when the guide member 21 twists, as it moves to the position of the protrusion 233, the twisted opening 211 first contacts the narrow side of the tapered protrusion 233, gradually moving towards the wide side of the tapered protrusion 233, thus transforming the twisted state into a straight state, achieving a smooth forward orientation of the guide member 21 and preventing damage to it. It is understandable that the protrusion 233 can also be rectangular or semi-circular, etc.

[0102] The guide member 21 of this application is configured to bend along a position corresponding to the Y valve assembly 3 under the action of the forward member 23, so that the extension direction of the guide member 21 is limited by the forward member 23 and the limiting member 22.

[0103] In this design, the extension direction of the second hole 232 forms a moving angle with the extension direction of the first hole 223, causing the guide member 21, which passes through the second hole 232 and the first hole 223, to bend along the extension directions of the second hole 232 and the first hole 223. At this time, a first guide wheel 26 can be set between the forward member 23 and the limiting member 22. In this design, the bending of the guide member 21 is achieved through the setting position of the guide member 21 and the forward member 23, thereby ensuring that the extension direction of the guide member 21 meets the design requirements. At the same time, the bend of the guide member 21 bypasses the first guide wheel 26, so as to effectively avoid excessive bending of the guide member 21 and ensure smooth movement. In addition, there is no need to use other structures to bend and extend the guide member 21, thus making the structure of the anti-bending device 2 more compact.

[0104] Further optimized, combined Figure 1 and Figure 2As shown, the anti-bending device 2 also includes a second guide wheel 27. The second guide wheel 27 is positioned opposite the consumable box 17 along the axial direction of the consumable box 17, so that the guide member 21 can bypass the second guide wheel 27 to achieve a second bend of the guide member 21, thereby allowing the guide member 21 to bypass the consumable box 17. The second guide wheel 27 is rotatably mounted on the mounting bracket 171. To further restrict the extension direction of the guide member 21, a guide seat 28 can be provided on the mounting bracket 171. The guide seat 28 has a third hole inside, extending along the axial direction of the consumable box 17, through which the guide member 21, bypassing the second guide wheel 27, passes.

[0105] Combination Figure 1 , Figure 2 and Figure 8 As shown, the guide member 21 is fixed to the robot body via a mounting assembly 24. The mounting assembly 24 includes a first mounting base 241 and a second elastic member 242 and a second limiting member 243 disposed on the first mounting base 241. The first mounting base 241 can be fixed to the robot body, thereby fixing the guide member 21 to the robot body so that the guide member 21 can be used to support the guide tube. The second limiting member 243 is connected to the guide member 21 and can slide on the first mounting base 241 in a direction close to or away from the guide member 21. The second elastic member 242 is configured to apply a force to the second limiting member 243 in a direction away from the guide member 21. It should be noted that the specific arrangement of the second elastic member 242 and the second limiting member 243 is not restrictive. Those skilled in the art can set them according to actual usage needs, as long as the above functions are met. Specifically, the guide member 21 has a first end and a second end disposed opposite to each other, so as to... Figure 8 Taking the direction shown as an example, the first end of the guide member 21 is the left end of the guide member 21, and the second end of the guide member 21 is the right end of the guide member 21.

[0106] In this design, the guide member 21 is installed by fixing the first mounting base 241 to the support structure of the robot body. For example, the support structure can be part of the robot body of the interventional surgical robot. Of course, the first mounting base 241 can also be fixed to the robot body in other ways, which is not a limitation. At this time, a force is applied to the second limiting member 243 in the direction of the guide member 21, causing the second limiting member 243 to drive the guide member 21 to move, straighten the guide member 21, and install the first end of the guide member 21 on the support structure of the robot body. The external force applied to the second limiting member 243 is then removed, and the second limiting member 243 is reset under the action of the second elastic member 242. Thus, the second elastic member 242 keeps the guide member 21 taut, preventing the guide member 21 from twisting and ensuring the conveying effect of the guide member 21.

[0107] Combination Figure 11 and Figure 12 As shown, the second limiting member 243 includes a sliding cylinder 2431 and a limiting cap 2432. The sliding cylinder 2431 slides with the first mounting base 241, allowing the sliding cylinder 2431 to move closer to or further away from the second end of the guide member 21 during sliding. The end of the sliding cylinder 2431 forms a mounting surface that connects to the end of the guide member 21 (the first end of the guide member 21), and the guide member 21 is connected to the mounting surface. The connection method between the guide member 21 and the mounting surface is unrestricted. For example, the first end of the guide member 21 can pass through the sliding cylinder 2431 and be knotted on the mounting surface to increase the cross-sectional area of ​​the first end of the guide member 21, thereby allowing the first end of the guide member 21 to be supported on the mounting surface. Alternatively, the mounting surface can have an annular mounting groove, and the first end of the guide member 21 can pass through the sliding cylinder 2431 and be wound around the annular mounting groove to achieve the connection of the first end of the guide member 21. Therefore, the connection method between the first end of the guide member 21 and the mounting surface is unrestricted and can be designed according to installation requirements. The limiting cap 2432 is detachably connected to the slide cylinder 2431, and the limiting cap 2432 can press the end of the guide member 21 against the mounting surface. Specifically, the limiting cap 2432 installed on the slide cylinder 2431 can press the first end of the guide member 21 against the mounting surface to ensure the fixing effect of the first end of the guide member 21. This connection method has a simple structure and is convenient to operate.

[0108] As a feasible implementation method, the outer periphery of the slide cylinder 2431 is provided with an external thread, and the inner wall of the limiting cap 2432 is provided with an internal thread that matches the external thread, so that the limiting cap 2432 can be screwed onto the outer periphery of the slide cylinder 2431. After the limiting cap 2432 is screwed to a certain position, the inner wall of the limiting cap 2432 can support the first end of the guide member 21, so as to achieve the pressing of the first end of the guide member 21. This design method is convenient to install, and the pressing force provided by the limiting cap 2432 can meet the pressing requirements of the first end of the guide member 21. It is understandable that the slide cylinder 2431 and the limiting cap 2432 can also be connected in other ways. For example, the outer periphery of the slide cylinder 2431 can be a smooth wall, and the inner wall of the limiting cap 2432 can also be a smooth wall. The limiting cap 2432 can be fastened to the outer periphery of the slide cylinder 2431, so that the limiting cap 2432 can press the first end of the guide member 21 against the mounting surface. Under this pressing method, the installation of the limiting cap 2432 is more convenient and can increase the installation efficiency. It can be seen that the connection method between the slide cylinder 2431 and the limiting cap 2432 is not limited and can be selected according to actual needs.

[0109] One end of the slide cylinder 2431 extends out of the first mounting base 241, and the mounting surface is provided at the extended end of the slide cylinder 2431 so that the limiting cap 2432 is connected to the outside of the slide cylinder 2431 outside the first mounting base 241, increasing the convenience of operation. A pressing gap is formed between the end of the limiting cap 2432 installed on the slide cylinder 2431 and the first mounting base 241. The existence of this pressing gap allows the limiting cap 2432 to drive the slide cylinder 2431 to move towards the second end of the guide member 21, thereby allowing the guide member 21 to move towards its second end, increasing the convenience of installing the second end of the guide member 21. After the second end of the guide member 21 is fixed, the force acting on the limiting cap 2432 is removed. At this time, the second elastic member 242 can push the slide cylinder 2431 to move away from the second end of the guide member 21, thereby tensioning the guide member 21.

[0110] Combination Figure 11 and Figure 12 As shown, in this embodiment, the first mounting base 241 is provided with a sliding hole 2411 that slides with the sliding cylinder 2431. The second elastic member 242 is disposed in the sliding hole 2411, with one end of the second elastic member 242 connected to the inner wall of the sliding hole 2411 and the other end of the second elastic member 242 connected to the sliding cylinder 2431, so as to provide elastic force to the sliding cylinder 2431 through the second elastic member 242 to ensure the reset effect of the second elastic member 242. The second elastic member 242 can be a spring. The first mounting base 241 is provided with a guide hole 2412 communicating with the sliding hole 2411 for the guide member 21 to pass through. The spring has an opening in the middle for the guide member 21 to pass through.

[0111] In use, the first end of the guide member 21 passes sequentially through the guide hole 2412, the central opening of the spring, and the slide cylinder 2431, so that the first end of the guide member 21 extends out of the slide cylinder 2431 to the side away from the second end of the guide member 21. The first end of the guide member 21 is then knotted so that the knotted first end of the guide member 21 can be supported on the mounting surface of the slide cylinder 2431. The limiting cap 2432 is installed on the protruding end of the slide cylinder 2431 so that the limiting cap 2432 presses the knotted first end of the guide member 21, completing the connection between the first end of the guide member 21 and the first mounting seat 241. The first mounting seat 241 is then installed on the corresponding support structure. The guide member 21 is straightened so that the second end of the guide member 21 is in the installation position. The limiting cap 2432 is pressed so that the slide cylinder 2431 moves the guide member 21 toward its second end. In this case, the second end of the guide member 21 can be installed on the support structure without overcoming the spring force, increasing the convenience of installing the second end of the guide member 21. Then, the force applied to the limit cap 2432 is removed, and the spring pushes the slide cylinder 2431 to reset, thereby causing the slide cylinder 2431 to move the first end of the guide member 21 away from its second end, thereby achieving the tensioning of the guide member 21.

[0112] The first mounting base 241 is further provided with a first socket for insertion into the support structure. This design allows the first mounting base 241 to be connected to the support structure, increasing the ease of installation. Further optimized, a first magnetic element is provided at the bottom of the first socket, and correspondingly, a second magnetic element is provided on the support structure. When the support structure is inserted into the first socket, the first and second magnetic elements are magnetically connected, increasing the firmness of the connection between the first mounting base 241 and the support structure.

[0113] Combination Figure 1 , Figure 2 and Figure 8 As shown, the mounting assembly 24 also includes a second mounting base 244, which is connected to the end of the guide member 21 away from the first mounting base 241. The second mounting base 244 has a second socket for insertion into the support structure of the robot body. This design allows the second mounting base 244 to be inserted into the support structure, increasing installation convenience. Further optimized, a third magnetic element is provided at the bottom of the second socket, and correspondingly, a fourth magnetic element is provided on the support structure. When the support structure is inserted into the second socket, the third and fourth magnetic elements are magnetically connected, increasing the robustness of the connection between the second mounting base 244 and the support structure.

[0114] The installation of the first mounting base 241 and the second mounting base 244 in this design is relatively convenient. The first mounting base 241 and the second mounting base 244 respectively wrap around the outer periphery of the first end and the second end of the guide member 21, achieving a wrap-around installation. This ensures that the aseptic environment at the connection points between the first mounting base 241 and the support structure, and between the second mounting base 244 and the support structure, is not affected, thus ensuring surgical safety. The second mounting base 244 connects to a vascular sheath clip, which is used to connect the vascular sheath, thereby establishing a stable pathway from the catheter to the vascular sheath and into the blood vessel. It is understood that the structures of the two support structures used to install the first mounting base 241 and the second mounting base 244 can be the same or different, and those skilled in the art can design them according to actual usage requirements.

[0115] The conduit in this application is connected to the end of the Y valve assembly 3 via a rotating member 31. The consumable driving device also includes a conduit driving device 4 for driving the rotating member 31 to rotate, thereby driving the conduit to rotate. The rotating member 31 includes a Y valve gear rotatably disposed at the end of the Y valve assembly 3. Figure 1 and Figure 2 As shown, the catheter driving device 4 includes a Y-valve transmission gear, a Y-valve sterile gear set, and a driving component. The driving component can drive the Y-valve sterile gear set to rotate, which in turn drives the Y-valve transmission gear, which in turn drives the Y-valve gear to rotate, thus meeting the driving requirements of the Y-valve assembly 3. The Y-valve sterile gear set includes a sterile Y-valve gear meshing with the driving component and a sterile Y-valve gear meshing with the Y-valve transmission gear. The sterile and sterile Y-valve gears rotate coaxially and are separated by the Y-valve sterile component to prevent the transfer of the sterile environment to the sterile environment, thus meeting the sterile driving requirements.

[0116] Combination Figure 1 and Figure 2 As shown, the Y-valve assembly 3 is mounted on the wire guide drive device 1 via the Y-valve base 5, specifically on the mounting bracket 171 of the wire guide drive device 1. The Y-valve base 5 has mounting positions that can accommodate Y-valve assemblies 3 of different sizes, and these assemblies can be limited within the mounting positions by the Y-valve limiting assembly 54. This design of the Y-valve base 5 allows it to be used with various specifications of Y-valve assemblies 3, increasing its applicability.

[0117] Combination Figures 13 to 15 As shown, in some embodiments, the Y valve base 5 is provided with a mounting port 55 for connecting to the Y valve assembly 3, and the interior of the mounting port 55 forms a mounting position, wherein the mounting port 55 can accommodate Y valve assemblies 3 of multiple sizes.

[0118] Continue to refer to Figures 13 to 15 The mounting position includes a mounting port 55 formed on the Y valve base 5, into which the Y valve assembly 3 can be inserted. The mounting port 55 should be able to accommodate Y valve assemblies 3 of multiple sizes.

[0119] As a feasible implementation, the mounting port 55 is a C-shaped opening located on the side of the Y-valve base 5. That is, one side of the mounting port 55 has a locking inlet. The Y-valve assembly 3 can be installed inside the mounting port 55 through the locking inlet, increasing the ease of installation. Of course, the specific shape of the mounting port 55 can be adjusted according to actual usage requirements. It is understood that the size of the mounting port 55 should be relatively large to accommodate multiple sizes of Y-valve assemblies 3. After the Y-valve assembly 3 is installed inside the mounting port 55, it can be held within the mounting port 55 by the Y-valve limiting component 54, ensuring the Y-valve assembly 3 is securely fixed and preventing it from shaking or detaching from the mounting port 55 during use.

[0120] like Figure 17 As shown, the Y-valve limiting assembly 54 includes a limiting block 541 and a third elastic member. The limiting block 541, under the action of the third elastic member, can limit the Y-valve assembly 3 within the mounting port 55. In this design, the limiting block 541 is supported on the outer periphery of the Y-valve assembly 3 under the action of the third elastic member, thus limiting the Y-valve assembly 3 within the mounting port 55. Furthermore, the limiting block 541 can change its position under the action of the third elastic member, allowing it to adapt to Y-valve assemblies 3 of different sizes. This design eliminates the need for a connection structure on the Y-valve assembly 3, thus offering better versatility.

[0121] The limiting block 541 and the third elastic element are both mounted on the Y valve base 5. A limiting groove is provided at a position corresponding to the mounting port 55 on the Y valve base 5. The opening of the limiting groove is located within the mounting port 55, allowing the limiting groove to communicate with the mounting port 55. The limiting block 541 slides within the limiting groove, and the third elastic element is located within the limiting groove. At least a portion of the limiting block 541 extends into the mounting port 55 under the action of the third elastic element, allowing the limiting block 541 to be supported on the side of the Y valve assembly 3. The third elastic element is located on the side of the limiting block 541 furthest from the mounting port 55. Under normal conditions, the limiting block 541 extends into the mounting port 55 under the action of the third elastic element. When the Y valve assembly 3 is inserted into the mounting port 55, the Y valve assembly 3 pushes the limiting block 541 to move towards the direction of the third elastic element against the elastic force of the third elastic element until the Y valve assembly 3 is inserted into the mounting port 55. At this point, the limiting block 541 is supported on the side of the Y valve assembly 3 under the action of the third elastic element. That is, the third elastic element generates an upward elastic force on the limiting block 541, so as to limit the position of the Y valve assembly 3 through the third elastic element and the limiting block 541.

[0122] Further optimized, the side of the limiting block 541 extending into the mounting port 55 is provided with a limiting groove 5411. The limiting block 541 is supported on the side of the Y valve assembly 3 by the limiting groove 5411. The limiting groove 5411 should match the side structure of the Y valve assembly 3. It is understood that, in order to make the limiting groove 5411 applicable to Y valve assemblies 3 of various sizes, the curvature of the limiting groove 5411 should be relatively large, so as to be able to support the side of Y valve assemblies 3 of different sizes.

[0123] During installation, the Y-valve assembly 3 is inserted into the mounting port 55. At this time, the side of the Y-valve assembly 3 is aligned with the position of the limiting groove 5411. Under the action of the third elastic element, the limiting block 541 is pressed against the side of the Y-valve assembly 3, thereby making the Y-valve assembly 3 fit snugly against the limiting groove 5411. The limiting groove 5411 further limits the position of the Y-valve assembly 3, preventing the Y-valve assembly 3 from moving in its radial direction and ensuring the secure installation of the Y-valve assembly 3.

[0124] To further prevent the Y valve assembly 3 from dislodging from the mounting port 55, a guide protrusion 5412 is provided on the side of the limiting block 541 that extends into the mounting port 55. The guide protrusion 5412 is located on the side of the limiting slot 5411. At the same time, to ensure that the Y valve assembly 3 can be smoothly inserted into the mounting port 55 under the action of external force, both sides of the guide protrusion 5412 have guide slopes. The two guide slopes of the guide protrusion 5412 are connected in an arc shape, and the two guide slopes are connected in an arc shape to the limiting block 541 to ensure the guiding effect of the guide slopes.

[0125] During installation, the side of the Y valve assembly 3 first contacts the side of the guide protrusion 5412 near the mounting port 55. At this time, since the side of the guide protrusion 5412 is provided with a guide slope, as the Y valve assembly 3 gradually enters the mounting port 55, it will push the limiting block 541 to gradually move towards the limiting groove by contacting the side of the guide protrusion 5412 until the Y valve assembly 3 completely passes the guide protrusion 5412 and is inserted into the limiting groove.

[0126] When the Y valve assembly 3 is disassembled, it is moved towards the locking inlet of the mounting port 55 under force. The Y valve assembly 3 first disengages from the limiting groove until the side of the Y valve assembly 3 contacts the guide slope of the guide protrusion 5412 away from the locking inlet. As the Y valve assembly 3 gradually disengages from the mounting port 55, it pushes the limiting block 541 to gradually move towards the limiting slide groove through contact with the side of the guide protrusion 5412 until the Y valve assembly 3 completely passes the guide protrusion 5412 and disengages from the mounting port 55.

[0127] In this design, the guide protrusion 5412 can prevent the Y valve assembly 3 from disengaging from the mounting port 55 along its radial direction, and the guide slope facilitates the Y valve assembly 3 to be inserted into the mounting port 55 under external force, or to disengage from the mounting port 55 under external force, so as to ensure the firmness of the Y valve assembly 3 positioning and increase the convenience of Y valve assembly 3 disassembly and assembly.

[0128] like Figure 13 As shown, the inner wall of the mounting port 55 of the Y valve base 5 is also provided with limiting protrusions 58. There are multiple limiting protrusions 58, located near the card inlet, and evenly distributed on two corresponding inner walls of the mounting port 55. Preferably, the number of limiting protrusions 58 on the two corresponding side walls of the mounting port 55 is the same, and their positions correspond one-to-one to ensure the limiting effect of the limiting protrusions 58.

[0129] like Figure 17 As shown, the Y-valve limiting assembly 54 includes a guide rod 5413 disposed on the Y-valve base 5, a limiting block 541 having a through hole that slides with the guide rod 5413, and a third elastic element including a spring sleeved on the outer periphery of the guide rod 5413, with both ends of the spring abutting between the limiting block 541 and the Y-valve base 5. In this design, the guide rod 5413 guides the movement of the limiting block 541, and also guides the compression or rebound of the spring, ensuring the stability of the elastic force provided by the spring to the limiting block 541, allowing the limiting block 541 to move vertically and preventing it from jamming during movement.

[0130] Combination Figure 14 and Figure 15As shown, the Y-valve base 5 is provided with at least two mounting members 51 for mounting the Y-valve base 5 on the guidewire drive device 1. The Y-valve base 5 can be mounted on the guidewire drive device 1 through different mounting members 51, so that the orientation of the Y-valve assembly 3 is different. The mounting member 51 is used to mount the Y-valve base 5 on the mounting bracket 171 of the guidewire drive device 1. The Y-valve assembly 3 includes a main pipe 32 and a branch pipe 33 disposed on the main pipe 32. The orientation of the Y-valve assembly 3 at this point refers to the orientation of the branch pipe 33 of the Y-valve assembly 3 relative to the main pipe 32. This design allows for adjustment of the orientation of the Y-valve assembly 3 with a single Y-valve base 5, resulting in a simple structure, convenient operation, and facilitating rapid surgical procedures while reducing material costs.

[0131] Combination Figures 13 to 15 As shown, in one feasible implementation, there are two mounting members 51, and the mounting directions of the two mounting members 51 are perpendicular, so that the orientation of the Y valve assembly 3 mounted on the mounting bracket 171 via different mounting members 51 is perpendicular. Figure 14 As shown, after the Y valve base 5 is installed on the consumable box 17 via one of the mounting components 51, the Y valve assembly 3 faces the first direction, that is, the branch pipe 33 of the Y valve assembly 3 is above the main pipe 32 of the Y valve assembly 3. Figure 15 As shown, after the Y valve base 5 is installed on the consumable box 17 via another mounting piece 51, the Y valve assembly 3 faces the second direction, that is, the branch pipe 33 of the Y valve assembly 3 is located on the side of the main pipe 32 of the Y valve assembly 3. It is understood that there may also be multiple mounting pieces 51, so that the Y valve assembly 3 can have multiple orientations.

[0132] Combination Figure 13 and Figure 15 As shown, the mounting component 51 also includes a snap-fit ​​groove 511 disposed on the Y valve base 5. The shape of the snap-fit ​​groove 511 matches a portion of the shape of the mounting bracket 171 to achieve snap-fit. This matching means that a portion of the side structure of the mounting bracket 171 can snap into the snap-fit ​​groove 511, thereby increasing the fixing effect between the Y valve base 5 and the mounting bracket 171. That is, when the mounting component 51 is connected to the mounting bracket 171, a portion of the side structure of the mounting bracket 171 snaps into the snap-fit ​​groove 511, preventing the Y valve base 5 from detaching from the consumable box.

[0133] like Figure 13As shown, the mounting component 51 includes a hook 512 disposed on the Y valve base 5, which is used to connect with the mounting bracket 171. Specifically, the shape of the hook 512 matches the shape of the cylindrical pin disposed on the mounting bracket 171 to achieve hooking. With this design, the mounting component 51 can be easily installed by simply hooking the hook 512 onto the cylindrical pin on the mounting bracket 171, making installation and removal convenient. Further optimized, a rubber pad is provided on the inner side of the hook 512 so that the hook 512 contacts the cylindrical pin through the rubber pad. The rubber pad avoids hard contact between the hook 512 and the cylindrical pin, preventing wear caused by friction between the hook 512 and the cylindrical pin, ensuring the service life of both the hook 512 and the cylindrical pin, and further guaranteeing the stability of the hooking connection.

[0134] The hook 512 can have a semi-circular cross-sectional shape, allowing it to hang on the outer circumference of the cylindrical pin. In this case, the hook 512 can work with other structures (such as the aforementioned snap-fit ​​groove 511) to mount the Y-valve base 5 onto the mounting bracket 171, increasing the stability of the Y-valve base 5 installation. Alternatively, the circumferential range of the hook 512 can be larger than a semi-circle. In this case, the hook 512 employs an elastic structure, allowing the cylindrical pin to pass through the hook opening and engage inside the hook 512, enhancing the connection between the hook 512 and the cylindrical pin. In this case, the hook 512 can mount the Y-valve base 5 onto the mounting bracket 171 through its own structure. Of course, to further enhance the connection between the Y-valve base 5 and the mounting bracket 171, the hook 512 in this design can also work with other structures (such as the aforementioned snap-fit ​​groove 511) to mount the Y-valve base 5 onto the mounting bracket 171. As can be seen, the way the hook 512 is set in this application is not limited, as long as it is ensured that the hook 512 can be connected to the cylindrical pin on the mounting bracket 171.

[0135] In some embodiments, at least one sidewall of the snap-fit ​​groove 511 is formed by a hook 512, making the structure of the Y valve base 5 more compact. When one sidewall of the snap-fit ​​groove 511 is formed by a hook 512, a snap-fit ​​plate 56 can be provided on the Y valve base 5. In this case, the snap-fit ​​plate 56 can serve as one sidewall of the snap-fit ​​groove 511, i.e., a snap-fit ​​groove 511 is formed between the snap-fit ​​plate 56 and the hook 512. When both sidewalls of the snap-fit ​​groove 511 are formed by hooks 512, i.e., a snap-fit ​​groove 511 is formed between the two hooks 512. For ease of description, when there are two hooks 512, the two hooks 512 are divided into a first hook structure and a second hook structure.

[0136] For example, when the first hook structure engages with the mounting bracket 171, the first hook structure abuts against one side of the side structure of the consumable box. At this time, the second hook structure abuts against the other side of the side structure of the mounting bracket 171, thereby enabling the side structure of the mounting bracket 171 to be engaged in the engagement groove 511 formed by the first hook structure and the second hook structure.

[0137] For example, when the second hook structure engages with the consumable box, and the first hook structure does not contact the other side of the consumable box's side structure, a snap-fit ​​plate 56 can be provided on the Y-valve base 5 to form a snap-fit ​​groove 511 between the second hook structure and the snap-fit ​​plate 56. During installation, the second hook structure abuts against one side of the consumable box's side structure, and the snap-fit ​​plate 56 abuts against the other side of the consumable box's side structure, thus snapping the consumable box's side structure into the snap-fit ​​groove 511 formed between the second hook structure and the snap-fit ​​plate 56.

[0138] Further optimized, the mounting component 51 also includes a fifth magnetic element 57 disposed on the Y-valve base 5, and when the hook 512 is connected to the mounting bracket 171, the fifth magnetic element 57 can be attracted to the mounting bracket 171. Specifically, a sixth magnetic element can be disposed on the mounting bracket 171, and the fifth magnetic element 57 is magnetically connected to the sixth magnetic element on the mounting bracket 171. This magnetic connection means that an attraction can be generated between the fifth magnetic element 57 and the sixth magnetic element, while ensuring that the fifth magnetic element 57 and the sixth magnetic element can be separated under the action of external force. In this design, the fifth magnetic element 57 can increase the firmness of the connection between the Y-valve base 5 and the mounting bracket 171. Of course, a part of the side wall of the consumable box can also be made of iron, and the fifth magnetic element 57 can be attracted to the side wall made of iron, as long as the Y-valve base 5 can be attracted to the consumable box by the fifth magnetic element 57.

[0139] Combination Figures 13 to 16 As shown, the Y-valve base 5 has a detection hole 52 for inserting a bubble detection device 53, and the detection end of the bubble detection device 53 inserted into the detection hole 52 is opposite to the detection position of the Y-valve assembly 3. This design allows the bubble detection device 53 to detect contrast agents and other liquids within the Y-valve assembly 3, thereby detecting the presence of bubbles in the contrast agents and other liquids within the Y-valve assembly 3, ensuring the safety of the contrast agents and other liquids entering the blood vessels, and reducing surgical risks. The bubble detection device 53 here can be a bubble sensor, a commonly used component for detecting whether air bubbles are mixed in with fluids. Its specific structure and detection method are not described in detail here. The detection position of the Y-valve assembly 3 is preferably at the three-way position of the Y-valve assembly 3.

[0140] In this design, the detection hole 52 is connected to the mounting port 55, and the detection end of the bubble detection device 53 and the detection position of the Y valve assembly 3 are both located at the connection point between the detection hole 52 and the mounting port 55. This design allows the detection end of the bubble detection device 53 to directly act on the detection position of the Y valve assembly 3, ensuring the detection effect of the bubble detection device 53, ensuring the accuracy of the detection results, and enabling the surgery to proceed safely and smoothly.

[0141] As one feasible implementation, the detection port 52 has two inlets, and the insertion direction of the bubble detection device 53 along the two inlets is perpendicular. The Y-valve base 5 is mounted on the mounting bracket 171 in a manner corresponding to different mounting parts 51. Figure 14 As shown, after the Y valve base 5 is installed on the mounting bracket 171 via one of the mounting components 51, the Y valve assembly 3 faces the first direction, that is, the branch pipe 33 of the Y valve assembly 3 is above the main pipe 32 of the Y valve assembly 3. At this time, the bubble detection device 53 is inserted into the detection hole 52 through one of the inlets of the detection hole 52. Figure 15 As shown, after the Y valve base 5 is installed on the mounting bracket 171 by another mounting component 51, the Y valve assembly 3 faces the second direction, that is, the branch pipe 33 of the Y valve assembly 3 is located on the side of the main pipe 32 of the Y valve assembly 3. At this time, the bubble detection device 53 is inserted into the detection hole 52 through another inlet of the detection hole 52.

[0142] Combination Figures 18 to 20 As shown, the consumable drive device applied to the interventional surgical robot also includes a locking device 6. The guidewire drive device 1 is mounted on the robot body via the locking device 6. Specifically, the consumable box 17 of the guidewire drive device 1 is mounted on the robot body via the locking device 6. The locking device 6 includes a first locking member 61 connected to the robot body, a second locking member 62 connected to the guidewire drive device 1, and an unlocking mechanism 63. The first locking member 61 and the second locking member 62 engage to achieve locking. The second locking member 62 is configured to release the restriction between itself and the first locking member 61 under the action of the unlocking mechanism 63. That is, the second locking member 62 can be operated by the unlocking mechanism 63 to disengage the engagement between the second locking member 62 and the first locking member 61, thereby allowing the guidewire drive device 1 to separate from the robot body under the action of external force.

[0143] This design enables the connection between the robot body and the consumable box 17 through the snap-fit ​​engagement between the first locking member 61 and the second locking member 62. During installation, simply pushing the consumable box 17 will snap the second locking member 62 onto the first locking member 61, making installation convenient and the connection secure. Furthermore, the unlocking between the first locking member 61 and the second locking member 62 is achieved through the unlocking mechanism 63, avoiding direct contact between the human hand and the first locking member 61 and the second locking member 62, thereby preventing damage to the sterile environment of the guidewire drive device 1 and ensuring the safety of the surgical procedure.

[0144] like Figure 19 As shown, the first locking member 61 includes a first base 611 and a locking block 612 disposed on the first base 611. The second locking member includes a second base 621 and a locking hook 622 disposed on the second base 621 that matches the locking block 612. The locking hook 622 is configured to engage with the locking block 612 to achieve locking and to disengage from the locking block 612 under the action of the unlocking mechanism 63 to achieve unlocking. It should be noted that the present invention does not impose any restrictions on the specific structure of the locking block 612 and the locking hook 622. Those skilled in the art can set them according to actual usage requirements, as long as the locking block 612 and the locking hook 622 can achieve locking.

[0145] The first base 611 is used to connect to the robot body, and the second base 621 is used to connect to the consumable box 17. During installation, the locking hook 622 can be engaged with the locking block 612 to connect the robot body and the consumable box 17, increasing the convenience of installation. Moreover, the locking hook 622 can remain engaged with the locking block 612 without being dislodged by external force, ensuring a secure connection.

[0146] It should be noted that this application does not impose any restrictions on the specific connection method between the first base 611 and the robot body and the second base 621 and the consumable box 17. For example, it can be screwed or snap-fitted. These are not restrictive, as long as a fixed connection can be achieved.

[0147] As one feasible implementation, the locking hook 622 is rotatably mounted on the second base 621. The unlocking mechanism 63 can drive the locking hook 622 to rotate between the locked position and the unlocked position, so that the locking hook 622 can unlock with the locking block 612 during rotation. Specifically, a pivot is provided through the middle of the locking hook 622, so that the locking hook 622 is rotatably mounted on the second base 621 via the pivot. One end of the locking hook 622 is engaged with the locking block 612, and the other end of the locking hook 622 is connected to the unlocking mechanism 63, so that the unlocking mechanism 63 can drive the locking hook 622 to rotate around the pivot, thereby enabling the locking hook 622 to rotate to the locked state or the unlocked state.

[0148] In a further optimized design, a reset element is connected to the locking hook 622, allowing the hook 622 to return to its locked state under the action of the reset element. When unlocking, the locking hook 622 is moved by the unlocking mechanism 63, causing it to disengage from the locking block 612. After unlocking, the locking hook 622 resets under the action of the reset element, preparing for the next engagement and increasing ease of use. Furthermore, when the locking hook 622 is in the locked state, the reset element continuously applies force to it, preventing it from disengaging from the locking block 612 and ensuring a secure connection. The reset element can be a return spring, etc.

[0149] Combination Figure 18 and Figure 20 As shown, the unlocking mechanism 63 includes an operating plate 631 extending along the circumferential direction of the guide wire drive device 1. The operating plate 631 has a force-applying end and a trigger end. The trigger end is connected to the second locking member 62 and extends to the side of the guide wire drive device 1 away from the trigger end. The operating plate 631 can slide with the consumable box 17 of the guide wire drive device 1, so that the locking hook 622 can be rotated by moving the operating plate 631 along the circumferential direction of the consumable box 17.

[0150] This design allows for unlocking or locking of the hook 622 via the force-applying end. It features a simple structure and convenient operation. Furthermore, the force-applying end of the operating plate 631 is located away from the connection point between the hook 622 and the locking block 612, preventing direct contact between the operator's hand and this connection point. This avoids compromising the sterile environment of the entire device and ensures the safety of the surgical procedure. The operating plate 631 has a clearance hole 6311 through which the guide member 21 can pass, preventing mutual interference between the operating plate 631 and the guide member 21, while also making the overall structure more compact.

[0151] As a feasible implementation, the operating plate 631 and the locking hook 622 can be connected by a hinge, so that the arc movement of the operating plate 631 drives the locking hook 622 to rotate. Specifically, the trigger end of the operating plate 631 is hinged to a hinge 632 for hinged connection with the locking block 612. The hinge 632 can change the transmission direction of the operating plate 631, so that the operating plate 631 can drive the locking hook 622 to rotate through the hinge 632, thereby achieving the unlocking requirement of the locking hook 622. One end of the hinge 632 is hinged to the trigger end of the operating plate 631, and the other end of the hinge 632 is hinged to the locking hook 622. During unlocking, pressing the force-applying end of the operating plate 631 causes the operating plate 631 to slide along the circumferential direction of the consumable box 17, causing the trigger end of the operating plate 631 to push the hinge 632 to move, thereby driving the locking hook 622 to rotate through the hinge 632, thus realizing the unlocking process of the locking hook 622.

[0152] Preferably, the control panel 631 surrounds the lower half of the consumable box 17, allowing the operator to unlock the locking hook 622 by pressing down on the control panel 631, effectively increasing the convenience of operation. It is understood that the control panel 631 can also surround the upper half of the consumable box 17, allowing the operator to unlock the locking hook 622 by pressing or lifting the force-applying end of the control panel 631. The design can be tailored to meet both space requirements and ease of operation.

[0153] As a feasible implementation, the control panel 631 includes two arc-shaped control levers 6312, which are connected by multiple reinforcing rods 6313 to ensure the structural strength of the control panel 631, while reducing the weight of the control panel 631 and increasing the convenience of operation for the staff.

[0154] like Figure 18 As shown, the operation panel 631 is mounted on the outer wall of the consumable box 17 via a support 633, and the operation panel 631 can move relative to the support 633 along the circumferential direction of the consumable box 17. The support 633 is a strip plate, and the support 633 extends along the axial direction of the consumable box 17.

[0155] In this embodiment, there are two supports 633, which are spaced apart. One support 633 is located near the force-applying end, and the other support 633 is located near the trigger end to ensure the stability of the operation panel 631. The supports 633 and the consumable box 17 can be connected by bolts to increase the convenience of connection and the stability of installation.

[0156] Specifically, the support 633 has a groove along the circumferential direction of the consumable box 17, and the operating plate 631 slides in the groove. Specifically, the groove is located on the side of the support 633 facing the consumable box 17, so that the support 633 can support the operating plate 631, and the groove can guide the movement direction of the operating plate 631, ensuring that the operating plate 631 can drive the locking hook 622 to rotate.

[0157] Furthermore, the operation plate 631 is provided with a protruding structure 6314, which is used to limit the sliding range of the operation plate 631 to prevent the operation plate 631 from having too large a stroke, which could damage the locking hook 622 or cause the operation plate 631 to detach from the mounting base.

[0158] like Figure 18As shown, a support base 634 is provided on the side of the support 633 near the trigger end, away from the consumable box 17. Since the outer periphery of the consumable box 17 has an arc-shaped structure, the support base 634 can be used to support the consumable box 17 on the support surface, thereby ensuring the stability of the consumable box 17 during use. Of course, the outer periphery of the consumable box 17 does not have to be an arc-shaped structure; it can also be a cuboid structure, etc., which is not a limitation. The structural form of the support base 634 is not limited and can be designed according to the structure of the support surface to ensure the stability of the consumable box 17. For example, the support base 634 can be a support plate provided on the support 633, with the edge of the support plate extending downwards beyond the outer periphery of the operating plate 631, so that the extended end of the support plate can be supported on the support surface.

[0159] Combination Figure 1 and Figure 2 As shown, the guide wire drive device 1 has a liquid removal device 7 at one end corresponding to the Y valve assembly 3 for removing liquid from the guide wire. The liquid removal device 7 includes a liquid removal box filled with absorbent material. The consumable box 17 includes a semi-circular upper shell and a semi-circular lower shell, which are hinged on one side and snap-fitted on the other side to increase the ease of opening and closing the consumable box 17.

[0160] As a feasible implementation, the liquid drain box is connected to one end of the consumable housing 17, and the liquid drain box is divided into an upper box body and a lower box body connected to the semi-circular upper shell and the semi-circular lower shell, respectively. Both the upper box body and the lower box body are filled with absorbent material, and a liquid drain gap is formed between the upper box body and the lower box body to allow the guide wire to pass through. After the upper box body and the lower box body are fastened together, the guide wire is located in the liquid drain gap, so that the absorbent material filler is in full contact with the guide wire, so that the absorbent material filler absorbs the liquid carried out by the guide wire by the Y valve assembly 3, thereby reducing the occurrence of guide wire slippage caused by liquid.

[0161] The present invention also provides an interventional surgical robot, including the consumable driving device for the interventional surgical robot as described in any of the above technical solutions. Furthermore, the interventional surgical robot also includes a robot body, the consumable driving device being mounted on the robot body and capable of driving the consumable driving device to perform linear motion via the robot body.

[0162] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0163] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A consumable drive device for use in interventional surgical robots, characterized in that, The consumable driving device includes a guide wire driving device (1), an anti-bending device (2), and a Y valve assembly (3). The guide wire driving device (1) includes a driving base (11) and a first driving member (12) disposed on the driving base (11). The first driving member (12) is provided with a wire threading gap (121) through which the guide wire can pass. The first driving member (12) is configured to change the size of the wire threading gap (121). The Y valve assembly (3) is disposed on the guide wire driving device (1), and the Y valve assembly (3) is positioned opposite to the wire threading gap (121). The end of the Y valve assembly (3) is connected to a conduit. The anti-bending device (2) includes a guide member (21), and a limiting channel is formed inside the guide member (21) for the conduit to pass through. The entrance of the limiting channel is opposite to the end position of the Y valve assembly (3). The length of the conduit within the limiting channel can decrease or increase as the conduit moves forward or backward. The guide member (21) is made of a flexible material so that the guide member (21) can bypass the guide wire drive device (1) and slide with the guide wire drive device (1). The outer periphery of the guide member (21) is provided with an opening (211) along the extension direction of the limiting channel. The portion of the opening (211) at the bend of the guide member (21) is opposite to the position of the Y valve assembly (3). The anti-bending device (2) also includes a forward member (23), which is used to keep the orientation of the opening (211) in a preset direction.

2. The consumable drive device for interventional surgical robots according to claim 1, characterized in that, The drive seat (11) includes a mounting body (111) and a sliding body (112). The first drive member (12) includes a first drive portion (122) and a second drive portion (123) respectively disposed on the mounting body (111) and the sliding body (112). The sliding body (112) has a drive station close to the mounting body (111) and an idle station away from the mounting body (111). The sliding body (112) is configured to be able to move from one of the drive station and the idle station to the other station.

3. The consumable drive device for interventional surgical robots according to claim 2, characterized in that, The guide wire driving device (1) further includes a first limiting component (13), which is configured to hold the sliding seat (112) at the driving position or the idle position.

4. The consumable drive device for interventional surgical robots according to claim 3, characterized in that, The first limiting component (13) includes a limiting rod (131), a first limiting member (132), and a first elastic member. The limiting rod (131) is disposed on the sliding seat (112), and the limiting rod (131) slides in cooperation with the mounting seat (111), and is configured as follows: When the sliding seat (112) moves to an idle position, the first limiting member (132) can maintain the position of the limiting rod (131); When the first limiting member (132) releases the limiting rod (131), the sliding seat (112) can move to the driving position under the action of the first elastic member.

5. The consumable drive device for interventional surgical robots according to claim 1, characterized in that, The drive seat (11) is also provided with a second limiting component (14), which is used to limit the guide wire within the wire threading gap (121).

6. The consumable drive device for interventional surgical robots according to claim 1, characterized in that, The anti-bending device (2) further includes a limiting member (22) configured to hold the conduit passing through the limiting channel within the limiting member (22).

7. The consumable drive device for interventional surgical robots according to claim 1, characterized in that, The guide member (21) is configured to be able to bend along a position corresponding to the Y valve assembly (3) under the action of the forward member (23).

8. The consumable drive device for interventional surgical robots according to claim 1, characterized in that, The guide member (21) is fixed to the robot body by a mounting assembly (24). The mounting assembly (24) includes a first mounting base (241) and a second elastic member (242) and a second limiting member (243) disposed on the first mounting base (241). The first mounting base (241) can be fixed to the robot body. The second limiting member (243) is connected to the guide member (21). The second limiting member (243) can be slidably disposed on the first mounting base (241) in a direction close to or away from the guide member (21). The second elastic member (242) is configured to apply a force to the second limiting member (243) in a direction away from the guide member (21).

9. The consumable drive device for interventional surgical robots according to claim 1, characterized in that, The conduit is connected to the end of the Y valve assembly (3) via a rotating component (31), and the consumable drive device further includes a conduit drive device (4) for driving the rotating component (31) to rotate.

10. The consumable drive device for interventional surgical robots according to claim 1, characterized in that, The Y valve assembly (3) is mounted on the guide wire drive device (1) via the Y valve base (5). The Y valve base (5) is provided with a mounting position, which can accommodate Y valve assemblies (3) of different sizes. The Y valve assemblies (3) of different sizes can be limited in the mounting position by the Y valve limiting assembly (54).

11. The consumable drive device for an interventional surgical robot according to claim 10, characterized in that, The Y valve base (5) is provided with at least two mounting parts (51) for mounting the Y valve base (5) on the guide wire drive device (1), and configured as follows: The Y valve base (5) can be mounted on the guide wire drive device (1) by different mounting parts (51) so that the orientation of the Y valve assembly (3) is different.

12. The consumable drive device for interventional surgical robots according to claim 10, characterized in that, The Y valve base (5) is provided with a detection hole (52) for inserting a bubble detection device (53), and the detection end of the bubble detection device (53) inserted into the detection hole (52) is opposite to the detection position of the Y valve assembly (3).

13. The consumable drive device for interventional surgical robots according to claim 1, characterized in that, It also includes a locking device (6), the wire guide drive device (1) is mounted on the robot body via the locking device (6), the locking device (6) includes a first locking member (61) connected to the robot body, a second locking member (62) connected to the wire guide drive device (1) and an unlocking mechanism (63), the first locking member (61) and the second locking member (62) are engaged to achieve locking, and the second locking member (62) is configured to release the restriction between itself and the first locking member (61) under the action of the unlocking mechanism (63).

14. The consumable drive device for interventional surgical robots according to claim 13, characterized in that, The unlocking mechanism (63) includes an operating plate (631) extending along the circumferential direction of the guide wire drive device (1). The operating plate (631) has a force-applying end and a trigger end. The trigger end is connected to the second locking member (62) and extends to the side of the guide wire drive device (1) away from the trigger end.

15. The consumable drive device for interventional surgical robots according to claim 1, characterized in that, The guide wire drive device (1) is provided with a liquid removal device (7) at one end corresponding to the Y valve assembly (3) for removing liquid from the guide wire.

16. An interventional surgical robot, characterized in that, Includes the consumable drive device for use in interventional surgical robots as described in any one of claims 1 to 15.

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