A compact multi-drive interventional surgical robot slave

Abstract

The application is suitable for the field of medical robots, and provides a compact multi-drive interventional surgery robot slave end, which comprises a first passage power mechanism and a second passage power mechanism arranged in a height direction on a slave end body; a plurality of first driving mechanisms connected to the first passage power mechanism, and a plurality of second driving mechanisms connected to the second passage power mechanism; the plurality of first driving mechanisms and the plurality of second driving mechanisms are located on the same side of the slave end body and are in the same horizontal plane; in a working state, the plurality of first driving mechanisms and the plurality of second driving mechanisms respectively drive a plurality of elongated medical instruments to move, so that more elongated medical instruments are delivered through double channels, simple surgery and complex surgery can be compatible, the overall structure is compact, the machine space and the surgery space are saved, and the instruments are convenient for manual installation and adjustment.

Description

Technical Field

[0001] This invention belongs to the field of medical robots and is applied to master-slave interventional surgical robots, particularly relating to a compact multi-drive interventional surgical robot slave end. Background Technology

[0002] Interventional surgical robots, as a novel interventional surgical device, can significantly reduce surgical radiation exposure for doctors, lower their surgical stress, and improve the precision and safety of surgeries. Typically, commercially available interventional robots can perform simple procedures such as single-catheter angiography and single-pass surgery. However, current interventional surgical robots cannot simultaneously control multiple surgical instruments, making them incompatible with complex procedures involving numerous instruments. These complex procedures often require doctors to perform them in the operating room themselves. Summary of the Invention

[0003] The purpose of this invention is to provide a solution to the problem that current interventional surgical robots cannot simultaneously control multiple surgical instruments and are incompatible with complex surgical procedures involving numerous surgical instruments.

[0004] This invention is implemented as follows: a compact multi-drive interventional surgical robot slave end, comprising:

[0005] A first-path power mechanism and a second-path power mechanism are installed along the height direction on the main body at the slave end;

[0006] A plurality of first drive mechanisms are connected to the first path power mechanism, and a plurality of second drive mechanisms are connected to the second path power mechanism; the plurality of first drive mechanisms and second drive mechanisms are located on the same side of the slave end body and are on the same horizontal plane;

[0007] In operation, several first driving mechanisms and several second driving mechanisms drive several slender medical devices on them to move. Several first driving mechanisms together form a first device passage, and several second driving mechanisms together form a second device passage. The first device passage and the second device passage are independent of each other.

[0008] Preferably, the first drive mechanism is connected to the first path power mechanism through a first connecting component, and the second drive mechanism is connected to the second path power mechanism through a second connecting component. An active space is formed between the second connecting component and the slave body for the first connecting component and the first drive mechanism to move.

[0009] Preferably, the second connecting assembly comprises a plate body arranged in the height direction, a first plate extending from one end of the plate body towards the slave end body, and a second plate extending from the other end of the plate body away from the slave end body; the slave end body, the first plate and the plate body form the active space.

[0010] Preferably, the first passage power mechanism comprises a first support assembly and a plurality of first motors mounted on the first support assembly, and the first motors are connected to the first driving mechanisms one by one.

[0011] The second passage power mechanism comprises a second support assembly and a plurality of second motors mounted on the second support assembly, and the second motors are connected to the second driving mechanisms one by one.

[0012] Preferably, the first passage power mechanism is mounted on the first layer plate of the slave end body; the second passage power mechanism is mounted on the second layer plate of the slave end body, and the first layer plate and the second layer plate are arranged in the height direction.

[0013] A plurality of first drag chains corresponding to the first motors are mounted on the first layer plate, and the distance between the first drag chains and the distal end of the slave end body is inversely proportional to the distance between the first drag chains and the first driving mechanisms.

[0014] A plurality of second drag chains corresponding to the second motors are mounted on the second layer plate, and the distance between the second drag chains and the distal end of the slave end body is inversely proportional to the distance between the second drag chains and the second driving mechanisms.

[0015] Preferably, the first driving mechanism close to the slave end body is provided with a valve body mounting assembly for mounting any one of a first T valve and a double-channel valve; the first T valve comprises a first valve body and a first contrast branch pipe in communication with the first valve body; the double-channel valve comprises a second valve body, a second contrast branch pipe in communication with the second valve body, a first valve body and a second valve body, the included angle between the second valve body and the first valve body is an acute angle; the included angle between the first valve body and the first contrast branch pipe is equal to the included angle between the second valve body and the second contrast branch pipe, and the first T valve and the double-channel valve can be detachably mounted on the valve body mounting assembly.

[0016] Preferably, the elongated medical instrument comprises a support catheter, a first guide wire and a second guide wire; the first driving mechanism is a double-channel driving mechanism and a first guide wire delivery rotating mechanism in sequence; one of the second driving mechanisms is a second guide wire delivery rotating mechanism; the double-channel valve is installed on the double-channel driving mechanism, the support catheter is installed on the second valve body, and the double-channel driving mechanism is used for controlling the rotation and delivery of the support catheter; the first guide wire enters the support catheter through the first valve body, and the first guide wire delivery rotating mechanism is used for rotating and delivering the first guide wire; the second guide wire enters the support catheter through the second valve body, and the second guide wire delivery rotating mechanism is used for rotating and delivering the second guide wire.

[0017] Preferably, the elongated medical instrument further comprises a first quick exchange and a second quick exchange, a first quick exchange delivery mechanism for delivering the first quick exchange is further installed at the distal end of the first guide wire delivery rotating mechanism, the first guide wire penetrates into the first quick exchange from the distal end side wall of the first quick exchange, and the first guide wire and the first quick exchange enter the support catheter through the first valve body; a second quick exchange delivery mechanism for delivering the second quick exchange is further installed at the distal end of the second guide wire delivery rotating mechanism, the second guide wire penetrates into the second quick exchange from the distal end side wall of the second quick exchange, and the second guide wire and the second quick exchange enter the support catheter through the second valve body.

[0018] Preferably, the elongated medical instrument further comprises a first catheter and a second catheter; the first driving mechanism is a first catheter delivery rotating mechanism for delivering and rotating the first catheter, and the first catheter delivery rotating mechanism is installed between the first guide wire delivery rotating mechanism and the double-channel driving mechanism; the first guide wire penetrates into the first catheter from the first catheter delivery rotating mechanism, and the first guide wire and the first catheter enter the support catheter through the first valve body; the second driving mechanism is a second catheter delivery rotating mechanism for delivering and rotating the second catheter, and the second catheter delivery rotating mechanism is located at the distal end of the second guide wire delivery rotating mechanism; the second guide wire penetrates into the second catheter from the second catheter delivery rotating mechanism, and the second guide wire and the second catheter enter the support catheter through the second valve body.

[0019] Preferably, a detachable second T valve is arranged at the distal end of the double-channel driving mechanism, which is used for clamping a third catheter.

[0020] The application has the beneficial effects that: the application can be compatible with more driving mechanisms, deliver more elongated medical instruments in the double channels formed by the first instrument channel and the second instrument channel, be compatible with simple surgery and complex surgery, and improve the practicability of the intervention surgery robot slave end. The first driving mechanism and the second driving mechanism are located on the same side of the slave end body, are in the same horizontal plane, and the first channel power mechanism and the second channel power mechanism are arranged on the slave end body in the height direction, so that the intervention robot slave end structure is compact, saves the whole machine space and the operation space, and is convenient for manual installation and adjustment of instruments. BRIEF DESCRIPTION OF DRAWINGS

[0021] Fig. 1 is a schematic view of the front view direction of the first channel power mechanism and the second channel power mechanism installed in the slave end body provided by the application;

[0022] Fig. 2 is a schematic view of the side view direction of the compact multi-drive intervention surgery robot slave end provided by the application;

[0023] Fig. 3 is a schematic view of the double-channel multi-instrument delivery in the compact multi-drive intervention surgery robot slave end provided by the application;

[0024] Fig. 4 is Fig. 3 a schematic view of the double-channel valve;

[0025] Fig. 5 is another schematic view of the double-channel multi-instrument delivery in the compact multi-drive intervention surgery robot slave end provided by the application;

[0026] Fig. 6 is a schematic view of the single-channel delivery of the compact multi-drive intervention surgery robot slave end provided by the application.

[0027] Among them, 10, slave end body; 11, fixed assembly;

[0028] 20, first channel power mechanism; 200, first support assembly; 201, first motor; 21, first drive mechanism; 22, first connection assembly; 23, first drag chain; 24, first T valve; 240, first valve body 240; 241, first contrast branch pipe; 242, second T valve; 25, double channel valve; 250, second valve body; 251, second contrast branch pipe; 252, first valve body; 253, second valve body; 26, double channel drive mechanism; 260, double channel power connecting piece; 261, support catheter roller pair; 262, support catheter detection device; 27, first guide wire delivery rotation mechanism; 270, first guide wire roller pair; 28, first quick exchange delivery mechanism; 280, first quick exchange roller pair; 281, first quick exchange guide wire auxiliary roller pair; 282, first quick exchange guide wire detection device; 29, first catheter delivery rotation mechanism; 290, first catheter roller pair; 291, first catheter detection device; 292, first catheter T valve; 293, first catheter power connecting piece;

[0029] 30, second channel power mechanism; 300, second support assembly; 301, second motor; 31, second drive mechanism; 32, second connection assembly; 320, plate body; 321, first plate; 322, second plate; 33, second drag chain; 34, second guide wire delivery rotation mechanism; 340, second guide wire roller pair; 35, second quick exchange delivery mechanism; 350, second quick exchange roller pair; 351, second quick exchange guide wire auxiliary roller pair; 352, second quick exchange guide wire detection device; 36, second catheter delivery rotation mechanism; 360, second catheter roller pair; 361, second catheter detection device; 362, second catheter T valve; 363, second catheter power connecting piece; 37, activity space;

[0030] 40, elongated medical device; 41, first catheter; 42, second catheter; 43, third catheter; 44, support catheter; 45, first guide wire; 46, second guide wire; 47, first quick exchange; 48, second quick exchange. DETAILED DESCRIPTION

[0031] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects more clearly, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0032] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integral part, or even a connection that allows relative movement; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] In the description of this invention, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0034] In this invention, the direction "far" refers to the direction towards the patient, and the direction "near" refers to the direction away from the patient. The terms "upper" and "upper part" refer to the general direction away from gravity, while the terms "bottom," "lower," and "lower part" refer to the general direction of gravity. The term "forward" refers to the side of the interventional surgical robot facing the user from the end device; "advancing" refers to the direction in which the guidewire or catheter is displaced into the patient's body. The term "rear" refers to the side of the interventional surgical robot facing away from the user from the end device; "retreating" refers to the direction in which the guidewire or catheter is displaced out of the patient's body. The term "inward" refers to the internal portion of the feature. The term "outward" refers to the external portion of the feature. The term "rotation" includes "forward rotation" and "reverse rotation," where "forward rotation" refers to the direction in which the guidewire or catheter is rotated into the patient's body, and "reverse rotation" refers to the direction in which the guidewire or catheter is rotated out of the patient's body.

[0035] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, "many" or "a plurality of" means two or more.

[0036] Finally, it needs to be explained that the embodiments of the present application and each feature in the embodiments can be combined with each other if there is no conflict, and all within the protection scope of the present application. In addition, all or part of the steps in the above method can be executed in a computer system such as a group of computer executable instructions, and although the steps are listed in the order of 1, 2, 3…, in some cases, the steps shown or described can be executed in an order different from here.

[0037] The elongated medical instrument 40 herein includes but is not limited to guiding, supporting and other interventional medical instruments such as guide wire, micro guide wire and stent, guide catheter, micro catheter, contrast catheter, multifunctional tube (also known as outer catheter), thrombolytic catheter, balloon dilatation catheter and balloon stent catheter, fast cross and other therapeutic interventional medical instruments.

[0038] Here, the distal end refers to the end close to the patient on the DSA bed, and the proximal end refers to the end away from the patient on the DSA bed.

[0039] As shown in the accompanying drawings Figs. 1 to 3 The present application provides a compact multi-drive interventional surgery robot slave end, which comprises a first passage power mechanism 20 and a second passage power mechanism 30 arranged along the height direction of the slave end body 10; a plurality of first drive mechanisms 21 connected to the first passage power mechanism 20, and a plurality of second drive mechanisms 31 connected to the second passage power mechanism 30; a plurality of first drive mechanisms 21 and second drive mechanisms 31 are located on the same side of the slave end body 10 and are in the same horizontal plane; in the working state, the first drive mechanism 21 and the second drive mechanism 31 drive a plurality of elongated medical instruments 40 on them to move.

[0040] The interventional surgery robot slave end of the present application, the first passage power mechanism 20 provides power for a plurality of first drive mechanisms 21, and the second passage power mechanism 30 provides power for a plurality of second drive mechanisms 31, so that the first drive mechanism 21 and the second drive mechanism 31 drive the elongated medical instrument 40 on them to move, specifically, the first passage power mechanism 20 drives the first drive mechanism 21 to move linearly, so that the driven elongated medical instrument 40 on it is delivered or withdrawn, and similarly, the second passage power mechanism 30 drives the second drive mechanism 31 to move linearly, so that the driven elongated medical instrument 40 on it is delivered or withdrawn.

[0041] The first driving mechanisms 21 and the second driving mechanisms 31 are located on the same side of the distal end body 10 and in the same horizontal plane, so that the first driving mechanisms 21 form first instrument channels and the second driving mechanisms 31 form second instrument channels, the first driving mechanisms 21 drive the elongated medical instruments 40 installed in the first instrument channels to move, and the second driving mechanisms 31 drive the elongated medical instruments 40 installed in the second instrument channels to move, that is, part of the elongated medical instruments 40 are delivered in the first instrument channels and the other part of the elongated medical instruments 40 are delivered in the first instrument channels. Therefore, compared with the conventional distal end of the interventional robot, more driving mechanisms can be compatible in the same volume, more elongated medical instruments 40 can be delivered in the double channels formed by the first instrument channels and the second instrument channels, simple surgery and complex surgery can be compatible, and the practicability of the distal end of the interventional surgery robot is improved. The first driving mechanisms 21 and the second driving mechanisms 31 are located on the same side of the distal end body 10 and in the same horizontal plane, and the first channel power mechanism 20 and the second channel power mechanism 30 are installed on the distal end body 10 along the height direction, so that the structure of the distal end of the interventional robot is compact, the space of the whole machine and the operation space are saved, and the instruments are convenient for manual installation and adjustment.

[0042] Further, the distal end of the interventional surgery robot is obliquely installed on a mechanical arm (not shown), the mechanical arm is installed on a DSA bed, and the first driving mechanisms 21 and the second driving mechanisms 31 are obliquely arranged on the DSA bed (not shown) so that the elongated medical instruments 40 thereon are as close as possible to the patient on the DSA bed, thereby improving the effective use length of the elongated medical instruments 40.

[0043] It should be noted that the structures of the first driving mechanisms 21 can be the same or different, which are not limited herein. The structures of the second driving mechanisms 31 can be the same or different, which are not limited herein.

[0044] As shown in FIG. 1, the distal end of the interventional surgery robot comprises a distal end body 10, a first channel power mechanism 20, a second channel power mechanism 30, a plurality of first driving mechanisms 21 and a plurality of second driving mechanisms 31. Figs. 1 to 3As shown, the first drive mechanism 21 is connected to the first path power mechanism 20 via a first connecting component 22, and the second drive mechanism 31 is connected to the second path power mechanism 30 via a second connecting component 32. A movable space 37 for movement of the first connecting component 22 and the first drive mechanism 21 is formed between the second connecting component 32 and the slave body 10. Specifically, the second connecting component 32 includes a plate body 320 arranged along the height direction, a first plate 321 extending from one end of the plate body 320 towards the slave body 10, and a second plate 322 extending from the other end of the plate body 320 away from the slave body 10; the movable space 37 is formed between the slave body 10, the first plate 321, and the plate body 320. In this application, a movable space 37 is formed between the second connecting component 32 and the slave body 10, allowing the first connecting component 22 and the first driving mechanism 21 to move. This allows several first driving mechanisms 21 and several second driving mechanisms 31 to be installed on the same side of the slave body 10, making the slave structure of the interventional robot compact, saving overall space and surgical space. At the same time, the movable space 37 ensures that the movements of several first driving mechanisms 21 and second driving mechanisms 31 do not interfere with each other, and can flexibly control the slender medical devices 40 on the first instrument passage and the second instrument passage respectively, meeting the control requirements of different slender medical devices 40 for different surgical procedures.

[0045] As attached Figs. 1 to 3 As shown, the first path power mechanism 20 includes a first support component 200 and a plurality of first motors 201 mounted on the first support component 200. Each first motor 201 is connected to a first drive mechanism 21 in a one-to-one correspondence. The second path power mechanism 30 includes a second support component 300 and a plurality of second motors 301 mounted on the second support component 300. Each second motor 301 is connected to a second drive mechanism 31 in a one-to-one correspondence. In this application, the first support component 200 and the second support component 300 are respectively a first lead screw and a second lead screw mounted on the slave end body 10. A plurality of first motors 201 are mounted on the first lead screw, and each first motor 201 is connected to a first drive mechanism 21 in a one-to-one correspondence, i.e., one first drive mechanism 21 is connected to one first motor 201. Similarly, one second drive mechanism 31 is connected to one second motor 301, so as to achieve individual and flexible control of each first drive mechanism 21 and second drive mechanism 31, thereby flexibly controlling the slender medical device 40 on it to be compatible with various surgical procedures. In this application, one or more first drive mechanisms 21 cooperate to control an elongated medical device 40.

[0046] As attached Figs. 1 to 3As shown, the first passage power mechanism 20 is installed on the first layer plate (not shown) of the slave end body 10; the second passage power mechanism is installed on the second layer plate (not shown) of the slave end body 10, the first layer plate and the second layer plate are arranged along the height direction; the first layer plate is provided with a plurality of first tow chains 23 corresponding to the first motor 201 one by one, the distance between the first tow chain 23 and the distal end of the slave end body 10 is inversely proportional to the distance between the first tow chain 23 and the first driving mechanism 21; the second layer plate is provided with a plurality of second tow chains 33 corresponding to the second motor 301 one by one, the distance between the second tow chain 33 and the distal end of the slave end body 10 is inversely proportional to the distance between the second tow chain 33 and the second driving mechanism 31. In this application, the first passage power mechanism 20 and the second passage power mechanism 30 are respectively installed on different layer plates to realize compact overall structure and save space. In this application, one first driving mechanism 21 corresponds to one first motor 201, one first motor 201 corresponds to one first tow chain 23, that is, one first driving mechanism 21 is connected with one first tow chain 23 in a corresponding manner; the closer the transverse distance between the first tow chain 23 and the first driving mechanism 21, the farther the first tow chain 23 is from the distal end of the slave end body 10, and similarly, the second tow chain 33 and the second driving mechanism 31 are arranged in the same way to ensure that all second driving mechanisms can be controlled independently and without interference. The design of the tow chain in this embodiment can ensure that the slave end of the interventional surgery robot is compatible with multiple first driving mechanisms 21 and second driving mechanisms 31, and all first driving mechanisms 21 and second driving mechanisms 31 can be controlled independently and without interference.

[0047] As shown in the accompanying drawings Figs. 3 to 6As shown, the first driving mechanism 21 near the slave end body 10 is provided with a valve body mounting assembly (not shown) for mounting any one of the first T valve 24 and the double-channel valve 25; the first T valve 24 comprises a first valve body 240 and a first contrast branch pipe 241 in communication with the first valve body 240; the double-channel valve 25 comprises a second valve body 250, a second contrast branch pipe 251 in communication with the second valve body 250, a first valve body 252 and a second valve body 253, the included angle between the second valve body 253 and the first valve body 252 is an acute angle; the included angle between the first valve body 240 and the first contrast branch pipe 241 is equal to the included angle between the second valve body 250 and the second contrast branch pipe 251, and the first T valve 24 and the double-channel valve 25 are detachably mounted on the valve body mounting assembly. The included angle between the first valve body 240 and the first contrast branch pipe 241 is equal to the included angle between the second valve body 250 and the second contrast branch pipe 251 to make the fixed valve body mounting assembly compatible with the first T valve 24 and the double-channel valve 25, and quickly replace the first T valve 24 or the double-channel valve 25, so as to quickly replace single-channel surgery and double-channel surgery according to the requirements of the surgical procedure. Specifically, the first T valve 24 and the second valve body 250 of the double-channel valve 25 are both used to mount the support catheter 44 in the elongated medical instrument 40; in single-channel surgery, the elongated medical instrument 40 mounted in the first instrument channel enters the support catheter 44 through the first valve body 240; in double-channel surgery, the elongated medical instrument 40 mounted in the first instrument channel enters the support catheter 44 through the first valve body 252, and the elongated medical instrument 40 mounted in the second instrument channel enters the support catheter 44 through the second valve body 253.

[0048] Further, the first valve body 252 and the second valve body 253 are mounted at one end of the second valve body 250, the first valve body 252 is arranged on the same axis as the second valve body 250, and the second valve body 253 is connected with the first valve body 252 to form an acute angle; or, the first valve body 252 and the second valve body 253 are mounted at one end of the second valve body 250 and symmetrically arranged along the axis of the second valve body 250.

[0049] As shown in the accompanying drawings Figs. 2 to 5As shown, the elongated medical instrument 40 includes a support catheter 44, a first guide wire 45 and a second guide wire 46; the first driving mechanism 21 includes a double-channel driving mechanism 26 and a first guide wire delivery rotating mechanism 27 in sequence; one of the second driving mechanisms 31 is a second guide wire delivery rotating mechanism 34; the double-channel valve 25 is installed on the double-channel driving mechanism 26, the support catheter is installed on the second valve body 250, and the double-channel driving mechanism 26 is used to control the rotation and delivery of the support catheter; the first guide wire 45 enters the support catheter 44 through the first valve body 252, and the first guide wire delivery rotating mechanism 27 is used to rotate and deliver the first guide wire 45; the second guide wire 46 enters the support catheter 44 through the second valve body 253, and the second guide wire delivery rotating mechanism 34 is used to rotate and deliver the second guide wire 46. In this embodiment, the double-channel driving mechanism 26 includes a double-channel power connecting piece 260 installed on the first connecting assembly 22, a support catheter rotating mechanism (not shown) installed on the double-channel power connecting piece 260 for driving the double-channel valve to rotate, and a support catheter roller pair 261 installed on the fixed assembly 11, which is arranged at the distal end of the from-end body 10. The proximal end of the support catheter 44 is installed on the second valve body 250, and the middle part is clamped and delivered by the support catheter roller pair 261. The first guide wire delivery rotating mechanism 27 is provided with a first guide wire roller pair 270 and a first guide wire rotating mechanism (not shown) to deliver and rotate the first guide wire 45. The second guide wire delivery rotating mechanism 34 is provided with a second guide wire roller pair 340 and a second guide wire rotating mechanism (not shown) to deliver and rotate the second guide wire 46. In this embodiment, one catheter and two guide wires are delivered through a double channel, which can meet the needs of complex operations.

[0050] As shown in the accompanying drawings Figs. 2 to 4As shown, the elongated medical instrument 40 further comprises a first quick exchange 47 and a second quick exchange 48, a first quick exchange delivery mechanism 28 for delivering the first quick exchange 47 is further installed at the distal end of the first guide wire delivery rotating mechanism 27, the first guide wire 45 penetrates into the first quick exchange 47 from the distal side wall of the first quick exchange 47, the first guide wire 45 and the first quick exchange 47 enter the support catheter 44 through the first valve body 252; a second quick exchange delivery mechanism 35 for delivering the second quick exchange 48 is further installed at the distal end of the second guide wire delivery rotating mechanism 34, the second guide wire 46 penetrates into the second quick exchange 48 from the distal side wall of the second quick exchange 48, the second guide wire 46 and the second quick exchange 48 enter the support catheter 44 through the second valve body 253. In this embodiment, the first quick exchange delivery mechanism 28 is provided with a first quick exchange roller pair 280 for delivering the first quick exchange 47, further, a first quick exchange guide wire auxiliary roller pair 281 is further provided at the proximal end of the double-channel power connection 260 of the double-channel driving mechanism 26, the first quick exchange guide wire auxiliary roller pair 281 is on the same axis as the first valve body 252, the first quick exchange guide wire auxiliary roller pair 281 is used to assist the delivery of the first quick exchange 47 and the first guide wire 45, to realize long-distance delivery of the first quick exchange 47 and the first guide wire 45, and improve the compatibility of surgical robot procedures. The second quick exchange delivery mechanism 35 is provided with a second quick exchange roller pair 350 for delivering the second quick exchange 48, further, a second quick exchange guide wire auxiliary roller pair 351 is further provided at the proximal end of the double-channel power connection 260 of the double-channel driving mechanism 26, the second quick exchange guide wire auxiliary roller pair 351 is on the same axis as the second valve body 253, the second quick exchange guide wire auxiliary roller pair 351 is used to assist the delivery of the second quick exchange 48 and the second guide wire 46, to realize long-distance delivery of the second quick exchange 48 and the second guide wire 46, and improve the compatibility of surgical robot procedures.Further, the fixed assembly 11 is provided with a support catheter detection device 262 located at the distal end of the support catheter roller pair 261; a first fast cross guide wire detection device 282 is provided at the proximal end of the double-channel power connection 260, located between the double-channel driving mechanism 26 and the first fast cross guide wire auxiliary roller pair 281; a second fast cross guide wire detection device 352 is provided on the double-channel power connection 260, located between the double-channel driving mechanism 26 and the second fast cross guide wire auxiliary roller pair 351; the support catheter detection device 262 is used to detect whether the support catheter 44 is withdrawn to the designated position, if yes, the support catheter roller pair 261 stops withdrawing the support catheter 44, realizing automatic withdrawal of the instrument and improving the automatic performance of the interventional surgery robot; the first fast cross guide wire detection device 282 is used to detect whether the first fast cross 47 and the first guide wire 45 are withdrawn to the designated position, if yes, the first fast cross guide wire auxiliary roller pair 281 stops withdrawing the first fast cross 47 and the first guide wire 45, realizing automatic withdrawal of the instrument and improving the automatic performance of the interventional surgery robot; the second fast cross guide wire detection device 352 is used to detect whether the second fast cross 48 and the second guide wire 46 are withdrawn to the designated position, if yes, the second fast cross guide wire auxiliary roller pair 351 stops withdrawing the second fast cross 48 and the second guide wire 46, realizing automatic withdrawal of the instrument and improving the automatic performance of the interventional surgery robot.

[0051] As shown in FIG. 1, the interventional surgery robot 1 comprises a robot base 10, a robot arm 20, a robot hand 30, a double-channel driving mechanism 26, a double-channel power connection 260, a first fast cross guide wire auxiliary roller pair 281, a second fast cross guide wire auxiliary roller pair 351, a support catheter roller pair 261, a first fast cross 47, a second fast cross 48, a first guide wire 45, a second guide wire 46, a first fast cross guide wire detection device 282, a second fast cross guide wire detection device 352, and a support catheter detection device 262. Fig. 2 、 4, 5, the elongated medical instrument 40 further comprises a first catheter 41 and a second catheter 42; the first driving mechanism 21 is further a first catheter delivery and rotation mechanism 29 for delivering and rotating the first catheter 41, the first catheter delivery and rotation mechanism 29 is installed between the first guide wire delivery and rotation mechanism 27 and the double channel driving mechanism 26; the first guide wire 45 is inserted into the first catheter 41 from the first catheter delivery and rotation mechanism 29, the first guide wire 45 and the first catheter 41 enter the support catheter through the first valve body 252; the second driving mechanism 31 is further a second catheter delivery and rotation mechanism 36 for delivering and rotating the second catheter 42, the second catheter delivery and rotation mechanism 36 is located at the distal end of the second guide wire delivery and rotation mechanism 34; the second guide wire 46 is inserted into the second catheter 42 from the second catheter delivery and rotation mechanism 36, the second guide wire 46 and the second catheter 42 enter the support catheter 44 through the second valve body 253. A detachable second T valve 242 is arranged at the distal end of the double channel driving mechanism 26 for clamping the third catheter 43, in this embodiment, the third catheter 43 is first delivered to the designated position by the double channel driving mechanism 26, then the second T valve 242 installed on the double channel driving mechanism 26 is removed as a channel. Specifically, the first catheter delivery and rotation mechanism 29 comprises a first catheter power connection 293 connected with a first motor 201, a first catheter T valve 292 installed on the first catheter power connection 293, a first catheter roller pair 290 arranged at the proximal end of the double channel power connection 260, the first catheter roller pair 290 is on the same axis as the first valve body 252, the first catheter 41 is installed at the proximal end of the first catheter T valve 292 and at the middle of the first catheter roller pair 290, the first catheter roller pair 290 is used for delivering the first catheter 41 and improving the compatibility of surgical robot procedures. The second catheter delivery and rotation mechanism 36 comprises a second catheter power connection 363 connected with a second motor 301, a second catheter T valve 362 installed on the second catheter power connection 363, a second catheter roller pair 360 arranged at the proximal end of the double channel power connection 260, the second catheter roller pair 360 is on the same axis as the second valve body 253, the second catheter is installed at the proximal end of the second catheter T valve 362 and at the middle of the second catheter roller pair 360, the second catheter roller pair 360 is used for delivering the second catheter 42.Furthermore, a support conduit detection device 262 is provided at the distal end of the support conduit roller pair 261, and a first conduit detection device 291 is provided on the dual-channel power connector 260. The first conduit detection device 291 is located between the dual-channel drive mechanism 26 and the first conduit roller pair 290. A second conduit detection device 361 is provided on the dual-channel power connector 260, located between the dual-channel drive mechanism 26 and the second conduit roller pair 360. The support conduit detection device 262 is used to detect whether the support conduit 44 has been retracted to the designated position. If so, the support conduit roller... The first catheter 44 is stopped at position 261 to achieve automated retraction of the instrument and improve the automation performance of the interventional surgery robot. The first catheter detection device 291 is used to detect whether the first catheter 41 has been retracted to the designated position. If so, the first catheter roller at position 290 stops the retraction of the first catheter 41, achieving automated retraction of the instrument and improving the automation performance of the interventional surgery robot. The second catheter detection device 361 is used to detect whether the second catheter 42 has been retracted to the designated position. If so, the second catheter roller at position 360 stops the retraction of the second catheter 42, achieving automated retraction of the instrument and improving the automation performance of the interventional surgery robot.

[0052] The first access power mechanism 20, in cooperation with the support catheter roller pair 261, the first guidewire roller pair 270, the first quick-crossing roller pair 280, and the first catheter roller pair 290, drives the elongated medical device 40 to deliver and retract. Specifically, in the initial state, the support catheter 44 between the support catheter roller pair 261 and the second valve body 250, the first catheter 41 between the first catheter roller pair 290 and the first catheter T valve 292 are in a bent state, the first quick-crossing roller pair 47 between the first quick-crossing roller pair 280 and the first quick-crossing guidewire auxiliary roller pair 281 is in a bent state, and the first guidewire 45 inserted into the first catheter 41 or the first quick-crossing roller pair 47 is in a bent state. The support catheter roller pair 261, the first guidewire roller pair 270, the first quick-crossing roller pair 280, and the first catheter roller pair 290 are used to drive the elongated medical device 40 to deliver and retract. 290 delivers the corresponding slender medical device 40. When the slender medical device 40 is straightened, the first drive mechanism 21 is driven by the first channel power mechanism 20 to move linearly and deliver the corresponding slender medical device 40. Using the interventional robot of this application, the slender medical device 40 can be delivered by bending, which is conducive to the miniaturization of the interventional robot from the end, adapting to the small operating room space and improving practicality. The second channel power mechanism 30 adopts the same working principle as the second guidewire roller pair 340, the second fast-crossing roller pair 350, and the second catheter roller pair 360.

[0053] Those skilled in the art can understand that all or part of the steps in the foregoing method can be instructed by programs to the related hardware, and the programs can be stored in a computer readable storage medium, such as a read-only memory, a magnetic disk or an optical disk. Alternatively, all or part of the steps of the foregoing embodiments can also be implemented using one or more integrated circuits. Accordingly, each module / unit in the foregoing embodiments can be implemented in the form of hardware or in the form of a software functional module. The present application is not limited to any particular form of combination of hardware and software.

[0054] Of course, the present application can have other various embodiments, and those skilled in the art can make various corresponding changes and modifications according to the present application without departing from the spirit and essence of the present application, but these corresponding changes and modifications shall all belong to the protection scope of the claims of the present application.

[0055] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A compact multi-drive interventional surgical robot slave end characterized by, The utility model relates to a medical instrument drive device, including: A plurality of first driving mechanisms connected to the first passage power mechanism and a plurality of second driving mechanisms connected to the second passage power mechanism are arranged along the height direction of the slave end body; A plurality of first driving mechanisms and a plurality of second driving mechanisms are located on the same side of the slave end body and on the same horizontal plane; in the working state, a plurality of first driving mechanisms and a plurality of second driving mechanisms drive a plurality of elongated medical instruments respectively; a plurality of first driving mechanisms form a first instrument passage, and a plurality of second driving mechanisms form a second instrument passage; the first instrument passage and the second instrument passage are independent of each other.

2. The compact multi-drive interventional procedure robot slave end of claim 1, wherein: The first driving mechanism is connected to the first passage power mechanism through a first connecting assembly, the second driving mechanism is connected to the second passage power mechanism through a second connecting assembly, and the second connecting assembly and the slave end body form a moving space for the first connecting assembly and the first driving mechanism.

3. The compact multi-drive interventional procedure robot slave end of claim 2, wherein: The second connecting assembly includes a plate body arranged along the height direction, a first plate extending from one end of the plate body towards the slave end body, and a second plate extending from the other end of the plate body away from the slave end body; the slave end body, the first plate and the plate body form the moving space.

4. The compact multi-drive interventional procedure robot slave end of claim 1, wherein: The first passage power mechanism includes a first support assembly and a plurality of first motors mounted on the first support assembly, and the first motors are connected to the first driving mechanisms one by one; the second passage power mechanism includes a second support assembly and a plurality of second motors mounted on the second support assembly, and the second motors are connected to the second driving mechanisms one by one.

5. The compact multi-drive interventional procedure robot slave end of claim 4, wherein: The first passage power mechanism is mounted on the first layer plate of the slave end body; the second passage power mechanism is mounted on the second layer plate of the slave end body, and the first layer plate and the second layer plate are arranged along the height direction; the first layer plate is provided with a plurality of first drag chains corresponding to the first motors one by one, and the distance between the first drag chains and the distal end of the slave end body is inversely proportional to the distance between the first drag chains and the first driving mechanisms; the second layer plate is provided with a plurality of second drag chains corresponding to the second motors one by one, and the distance between the second drag chains and the distal end of the slave end body is inversely proportional to the distance between the second drag chains and the second driving mechanisms.

6. The compact multi-drive interventional procedure robot slave end of any of claims 1 to 5, characterized by: The first driving mechanism close to the slave end body is provided with a valve body mounting assembly for mounting any one of a first T valve and a double-channel valve; the first T valve includes a first valve body and a first contrast branch pipe connected to the first valve body; the double-channel valve includes a second valve body, a second contrast branch pipe connected to the second valve body, a first valve body and a second valve body, and the included angle between the second valve body and the first valve body is an acute angle; the included angle between the first valve body and the first contrast branch pipe is equal to the included angle between the second valve body and the second contrast branch pipe, and the first T valve and the double-channel valve can be detachably mounted on the valve body mounting assembly.

7. The compact multi-drive interventional procedure robot slave end of claim 6, wherein: The elongated medical instrument comprises a support catheter, a first guide wire and a second guide wire; the first driving mechanism is a double-channel driving mechanism and a first guide wire delivery and rotation mechanism; one of the second driving mechanisms is a second guide wire delivery and rotation mechanism; the double-channel valve is installed on the double-channel driving mechanism, and the support catheter is installed on the second valve body; the double-channel driving mechanism is used for controlling the rotation and delivery of the support catheter; the first guide wire enters the support catheter through the first valve body, and the first guide wire delivery and rotation mechanism is used for rotating and delivering the first guide wire; the second guide wire enters the support catheter through the second valve body, and the second guide wire delivery and rotation mechanism is used for rotating and delivering the second guide wire.

8. The compact multi-drive interventional procedure robot slave end of claim 7, wherein: The elongated medical instrument further comprises a first quick exchange and a second quick exchange; a first quick exchange delivery mechanism for delivering the first quick exchange is further installed at the distal end of the first guide wire delivery and rotation mechanism; the first guide wire enters the first quick exchange from the distal end side wall of the first quick exchange; the first guide wire and the first quick exchange enter the support catheter through the first valve body; a second quick exchange delivery mechanism for delivering the second quick exchange is further installed at the distal end of the second guide wire delivery and rotation mechanism; the second guide wire enters the second quick exchange from the distal end side wall of the second quick exchange; the second guide wire and the second quick exchange enter the support catheter through the second valve body.

9. The compact multi-drive interventional procedure robot slave end of claim 7, wherein: The elongated medical instrument further comprises a first catheter and a second catheter; the first driving mechanism is a first catheter delivery and rotation mechanism for delivering and rotating the first catheter; the first catheter delivery and rotation mechanism is installed between the first guide wire delivery and rotation mechanism and the double-channel driving mechanism; the first guide wire enters the first catheter from the first catheter delivery and rotation mechanism; the first guide wire and the first catheter enter the support catheter through the first valve body; the second driving mechanism is a second catheter delivery and rotation mechanism for delivering and rotating the second catheter; the second catheter delivery and rotation mechanism is located at the distal end of the second guide wire delivery and rotation mechanism; the second guide wire enters the second catheter from the second catheter delivery and rotation mechanism; the second guide wire and the second catheter enter the support catheter through the second valve body.

10. The compact multi-drive interventional procedure robot slave end of claim 9, wherein: A detachable second T valve is arranged at the distal end of the double-channel driving mechanism for clamping a third catheter.

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