Multi-track interventional consumable delivery device and vascular interventional surgical robot

Abstract

The invention provides a multi-track interventional consumable delivery device and a vascular interventional surgical robot, and belongs to the technical field of medical instruments, the multi-track interventional consumable delivery device at least comprises: a first delivery track on which a first consumable box and a second consumable box are slidably arranged; the second delivery track and the first delivery track are arranged in parallel, and a third consumable box and a fourth consumable box are arranged on the second delivery track in a sliding mode; the first consumable box is connected with the operation end of the first intervention consumable and can drive the second intervention consumable to act, the second consumable box is connected with the operation end of the second intervention consumable, and the third consumable box can drive the third intervention consumable to act; the fourth consumable box is connected with the operation end of the third intervention consumable; and the second intervention consumable and the third intervention consumable can penetrate into the first intervention consumable. According to the invention, the consumable replacement requirement and the multi-instrument cooperative treatment requirement in the interventional operation process can be met at the same time, so that more types of operations can be supported, and the diversity of operation types is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a multi-track interventional consumables delivery device and a vascular interventional surgical robot. Background Art

[0002] Since the situation during vascular interventional treatment is relatively complicated, there may be situations where multiple or multiple interventional consumables need to be used for treatment at the same time. However, the existing interventional devices used for interventional treatment are usually single-channel devices, that is, a coaxial slender device is delivered into a catheter. This will result in the operator entering the operating room to manually replace and install the consumables when the consumables need to be replaced during the interventional treatment. This is disadvantageous to both the operator and the patient, and it prevents the operator from operating continuously, thus affecting the smooth progress of the operation. Summary of the invention

[0003] The purpose of the present invention is to overcome at least one of the shortcomings of the above-mentioned prior art and to provide a multi-track interventional consumables delivery device and a vascular interventional surgical robot that can simultaneously meet the needs of consumables replacement and multi-instrument collaborative treatment during interventional surgery, thereby supporting more types of surgeries and enhancing the diversity of surgical procedures.

[0004] Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

[0005] According to one aspect of the present invention, a multi-track interventional consumables delivery device is provided, the multi-track interventional consumables delivery device at least comprising:

[0006] a first delivery track on which a first consumable box and a second consumable box are slidably arranged;

[0007] A second delivery track is arranged in parallel with the first delivery track, and a third consumable box and a fourth consumable box are slidably arranged on the second delivery track;

[0008] Among them, the first consumable box is connected to the operating end of the first interventional consumable and can drive the second interventional consumable to move, the second consumable box is connected to the operating end of the second interventional consumable, and the third consumable box can drive the third interventional consumable to move; the fourth consumable box is connected to the operating end of the third interventional consumable; and the second interventional consumable and the third interventional consumable can be inserted into the first interventional consumable.

[0009] In an exemplary embodiment of the present invention, the multi-track interventional consumables delivery device further comprises:

[0010] A limiting passage has one end disposed close to the first consumable box and the other end disposed close to the third consumable box, so as to allow the third interventional consumable to penetrate into the first interventional consumable.

[0011] In an exemplary embodiment of the present invention, a first multi-channel connecting valve is provided on the first consumable box, and the first multi-channel connecting valve at least includes:

[0012] a first channel, one end of which is connected to the operating end of the first interventional consumable and the other end of which is for the second interventional consumable to pass through;

[0013] A second channel, one end of which is connected to the first channel, and the other end of which is connected to the limiting passage. The third interventional consumable passes through the limiting passage and the second channel in sequence and enters the first interventional consumable together with the second interventional consumable to perform interactive or synchronous operations.

[0014] In an exemplary embodiment of the present invention, the first consumable box includes a first actuator, and the first actuator is capable of driving the second interventional consumable to move;

[0015] The third consumable box includes a third actuator, and the third actuator can drive the third interventional consumable to move.

[0016] In an exemplary embodiment of the present invention, the second consumable box includes a second actuator and a second multi-channel connecting valve is provided on the second consumable box, one end of a main channel of the second multi-channel connecting valve is connected to an operating end of the second interventional consumable, the second actuator is used to drive a fourth interventional consumable to move, and the fourth interventional consumable can penetrate and enter the second interventional consumable through the other end of the main channel of the second multi-channel connecting valve; and / or

[0017] The fourth consumable box includes a fourth actuator and a third multi-channel connecting valve is provided on the fourth consumable box, one end of the main channel of the third multi-channel connecting valve is connected to the operating end of the third interventional consumable, the fourth actuator is used to drive the fifth interventional consumable to move, and the fifth interventional consumable can penetrate and enter the third interventional consumable through the other end of the main channel of the third multi-channel connecting valve; and / or

[0018] The second consumable box further includes a first rotation driving member, which is configured to drive the operating end of the second interventional consumable to rotate, so as to cooperate with the first actuator to drive the second interventional consumable to rotate; and / or

[0019] The fourth consumable box also has a second rotation driving component, and the second rotation driving component is configured to drive the operating end of the third interventional consumable to rotate, so as to cooperate with the third actuator to drive the third interventional consumable to rotate.

[0020] In an exemplary embodiment of the present invention, the limiting passage includes a first sub-passage and a second sub-passage;

[0021] One end of the first sub-pathway and the second sub-pathway are connected to form a coaxial end, and the coaxial end is arranged close to the first consumable box, and one end of the first sub-pathway away from the coaxial end is arranged close to the second consumable box, and one end of the second sub-pathway away from the coaxial end is arranged close to the third consumable box, so that a part of the third interventional consumable can be put on the second interventional consumable and enter the first interventional consumable together for interactive or synchronous operation.

[0022] In an exemplary embodiment of the present invention, a first multi-channel connecting valve is provided on the first consumable box, one end of a main channel of the first multi-channel connecting valve is connected to an operating end of the first interventional consumable, and the second interventional consumable and the third interventional consumable can penetrate and enter the first interventional consumable through the other end of the main channel of the first multi-channel connecting valve;

[0023] The third consumable box includes a third actuator, which can drive the third interventional consumable to move, and the operating end of the third interventional consumable is connected to the fourth consumable box.

[0024] In an exemplary embodiment of the present invention, the first consumable box includes a first clamping assembly, which is disposed between the first multi-channel connection valve and the coaxial end and is used to clamp and fix the second interventional consumable;

[0025] The second consumable box comprises:

[0026] A second clamping assembly, the clamping assembly being disposed between the second actuator and the first sub-passage and being used for clamping and fixing the second interventional consumable;

[0027] The second execution component is used to drive the second interventional consumable to move.

[0028] In an exemplary embodiment of the present invention, the first delivery track is further provided with:

[0029] The front consumable box is arranged near the intervention end, and is used for driving the first intervention consumable to move in coordination with the first consumable box.

[0030] According to another embodiment of the present invention, a vascular interventional surgery robot is provided, and the vascular interventional surgery robot includes a robot body; the above-mentioned multi-track interventional consumables delivery device is arranged on the robot body.

[0031] It can be seen from the above technical solution that the present invention has at least one of the following advantages and positive effects:

[0032] 1. The present invention provides two parallel delivery tracks, so that a variety of different interventional consumables can be used simultaneously in the same operation process, which not only improves the versatility and flexibility of the delivery device, but also can load a variety of interventional consumables at the same time according to surgical requirements, thereby reducing the time for replacing consumables during surgery and improving surgical efficiency;

[0033] 2. Since the first consumable box, the second consumable box, the third consumable box and the fourth consumable box of the present invention can respectively drive different interventional consumables, the operator can quickly replace and combine different types of interventional consumables or replace consumable boxes according to specific surgical needs, thereby enhancing flexibility and adaptability during the surgical process;

[0034] 3. Since the second interventional consumable and the third interventional consumable can be inserted into the first interventional consumable, multiple treatment methods can be combined in one operation process through this insertion relationship between different consumables. For example, stent implantation, drug release and other operations can be performed simultaneously in one operation, effectively reducing the number of times consumables are replaced during the operation, thereby helping to simplify the surgical process and reduce operation time and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

[0036] Figure 1 It is a structural schematic diagram of an embodiment of a multi-track interventional consumables delivery device of the present invention;

[0037] Figure 2 It is a structural schematic diagram of another embodiment of the multi-track interventional consumables delivery device of the present invention;

[0038] Figure 3 It is a schematic structural diagram of an embodiment of the first multi-channel connecting valve of the present invention.

[0039] The main components in the figure are described as follows:

[0040] 10. First delivery track; 11. First consumable box; 111. First multi-channel connecting valve; 1111. First channel; 1112. Second channel; 112. First execution component; 113. First clamping component; 12. Second consumable box; 121. Second execution component; 122. Second multi-channel connecting valve; 124. Second clamping component; 13. Front consumable box; 14. Fifth consumable box; 20. Second delivery track; 21. Third consumable box; 211. Third execution component; 22. Fourth consumable box; 221. Fourth execution component; 222. Third multi-channel connecting valve; 30. First interventional consumable; 40. Second interventional consumable; 50. Third interventional consumable; 60. Position limiting passage; 601. First sub-passage; 602. Second sub-passage; 603. Coaxial end; 70. Fourth interventional consumable; 80. Fifth interventional consumable; 90. Slide table. DETAILED DESCRIPTION

[0041] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present invention will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0042] Features, structures or characteristics described in the present invention may be combined in one or more embodiments in any suitable manner, and if possible, the features discussed in each embodiment are interchangeable. In the description of the present invention, many specific details are provided to provide a full understanding of the embodiments of the present invention. However, those skilled in the art will appreciate that the technical solution of the present invention can be practiced without one or more of the specific details, or other methods, components, materials, etc. may be adopted. In other cases, known structures, materials or operations are not shown or described in detail to avoid blurring the various aspects of the present invention.

[0043] Although relative terms such as "upper" and "lower" are used in the present invention to describe the relative relationship of one component of the illustration to another component, these terms are used in the present invention only for convenience, such as the orientation of the examples described in the drawings. It is understood that if the device of the illustration is turned over and turned upside down, the component described as being "upper" will become the component "lower". Other relative terms such as "high", "low", "top", "bottom", "front", "back", "left", "right", etc. are also used to have similar meanings. When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0044] In the present invention, the terms "a", "an", "the", "said" and "at least one" are used to indicate the existence of one or more elements / components / etc.; the terms "comprising", "including" and "having" are used to express an open-ended inclusion and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first", "second" and "third" etc. are used only as labels and are not intended to limit the quantity of their objects.

[0045] Vascular interventional surgery robots generally include a master end (control end) located outside the operating room and a slave end (execution end) located inside the operating room. The master end is equipped with a master end control device for remote control, and the slave end includes a connected robot body and a robotic arm. The robot body is fixed to the operating table through the robotic arm, and can adjust its own posture through the robotic arm. The robot body is built-in with a multi-track interventional consumables delivery device for clamping or driving the movement of interventional consumables.

[0046] Based on this, the present invention provides a multi-track interventional consumables delivery device, referring to Figure 1 and Figure 2 As shown, the multi-track interventional consumables delivery device at least includes:

[0047] A first delivery track 10, on which a first consumable box 11 and a second consumable box 12 are slidably arranged;

[0048] A second delivery track 20, which is arranged in parallel with the first delivery track 10, and on which a third consumable box 21 and a fourth consumable box 22 are slidably arranged;

[0049] Among them, the first consumable box 11 is connected to the operating end of the first interventional consumable 30 and can drive the second interventional consumable 40 to operate, the second consumable box 12 is connected to the operating end of the second interventional consumable 40, and the third consumable box 21 can drive the third interventional consumable 50 to operate; the fourth consumable box 22 is connected to the operating end of the third interventional consumable 50; and the second interventional consumable 40 and the third interventional consumable 50 can be inserted into the first interventional consumable 30.

[0050] On the one hand, the present invention can use a variety of different interventional consumables in the same operation process by setting two parallel delivery tracks, which not only improves the versatility and flexibility of the delivery device, but also can load a variety of interventional consumables at the same time according to surgical requirements, reduce the time for replacing consumables during the operation, and improve surgical efficiency; on the other hand, since the first consumable box 11, the second consumable box 12, the third consumable box 21 and the fourth consumable box 22 of the present invention can respectively drive different interventional consumable actions, the operator can quickly replace and combine different types of interventional consumables or replace consumable boxes according to specific surgical needs, thereby enhancing the flexibility and adaptability of the operation process; furthermore, since the second interventional consumable 40 and the third interventional consumable 50 can be inserted into the first interventional consumable 30, through this insertion relationship between different consumables, multiple treatment methods can be combined in one operation process at the same time. For example, stent implantation, drug release and other operations can be performed simultaneously in one operation, effectively reducing the number of times consumables are replaced during the operation, thereby helping to simplify the surgical process and reduce surgical time and cost.

[0051] It should be noted that the present invention does not impose specific restrictions on the specific types of the first interventional consumable 30, the second interventional consumable 40, the third interventional consumable 50 and the fourth interventional consumable 70. For example, in some embodiments, the first interventional consumable 30 may be a guide catheter, an angiography catheter, an intermediate catheter or a main stent (when the interventional surgery is a cardiovascular surgery, the first interventional consumable 30 may be a main stent; when the interventional surgery is a neurointerventional surgery, the first interventional consumable 30 may be a guide catheter). Similarly, the second interventional consumable 40 and the third interventional consumable 50 may also be selected from different types according to the surgical requirements, but it is necessary to ensure that the second interventional consumable 40 and the third interventional consumable 50 can be inserted into the first interventional consumable 30 at the same time. For example, in some embodiments, the second interventional consumable 40 and the third interventional consumable 50 may be the same type of interventional consumables, such as microcatheters.

[0052] In other embodiments, the second interventional consumable 40 and the third interventional consumable 50 may be interventional consumables of different structures, for example, the second interventional consumable 40 is a micro-guidewire, a protective umbrella wire, etc., and the third interventional consumable 50 is a quick-release consumable. Here, quick-release consumables in the medical field refer to interventional consumables or components that can be quickly replaced or exchanged during the medical process and are easy to install and disassemble, such as disposable micro-guidewires, protective umbrella wires, etc.

[0053] However, regardless of whether the second interventional consumable 40 and the third interventional consumable 50 are of the same type, when both are inserted into the first interventional consumable 30 at the same time, the surgical efficiency may be affected to varying degrees. In order to solve these problems, the multi-track interventional consumable delivery device of the present invention further includes a limiting passage 60. The present invention does not limit the specific structure and connection method of the limiting passage 60. For example, in some embodiments, reference Figure 1 and Figure 2 As shown, one end thereof is disposed close to the first consumable box 11 , and the other end thereof is disposed close to the third consumable box 21 , so that the third interventional consumable 50 can penetrate into the first interventional consumable 30 .

[0054] When the second interventional consumable 40 and the third interventional consumable 50 have the same structure, the presence of the second interventional consumable 40 and the third interventional consumable 50 enables the multi-track interventional consumable delivery device provided by the present invention to operate the double microcatheter structure, and the double microcatheters can be used to accurately guide different interventional consumables to the corresponding target positions, and perform multiple treatment steps in one operation, such as stent implantation, drug release, etc., to ensure high precision and flexibility of the operation. At this time, since the penetration of the third interventional consumable 50 is greatly affected by the first interventional consumable 30, in order to make the penetration of the third interventional consumable 50 proceed smoothly, the present invention designs the limiting passage 60 to be a curved tube structure, referring to Figure 1 As shown, one end of the bent tube structure is fixed on the first consumable box 11, and the other end is fixed on the second consumable box 12, so as to form a passage between the first consumable box 11 and the second consumable box 12 for the third interventional consumable 50 to pass through, so that the third interventional consumable 50 can smoothly enter the first interventional consumable 30.

[0055] Thus, due to the existence of the position limiting passage 60, a precise path can be provided for the third interventional consumable 50 to penetrate the first interventional consumable 30, ensuring the accuracy of the relative position between the two, thereby helping to reduce the risk of complications caused by improper position of the consumables, such as vascular damage or other adverse events, and improving the safety and accuracy of the operation. In addition, the design of the position limiting passage 60 can provide support for more complex interventional surgical techniques, such as multi-stage stent implantation or other techniques requiring precise positioning in one operation.

[0056] Alternatively, in some embodiments, the first consumable box 11 may be designed so that the second interventional consumable 40 and the third interventional consumable 50 can be smoothly inserted into the first interventional consumable 30. Figures 1 to 3As shown, for example, a first multi-channel connecting valve 111 can be set on the first consumable box 11, and the first multi-channel connecting valve 111 at least includes: a first channel 1111, one end of which is connected to the operating end of the first interventional consumable 30, and the other end is for the second interventional consumable 40 to penetrate; a second channel 1112, one end of which is connected to the first channel 1111, and the other end is connected to the limiting passage 60. The third interventional consumable 50 passes through the limiting passage 60 and the second channel 1112 in turn and enters the first interventional consumable 30 together with the second interventional consumable 40 to perform interactive or synchronous operations.

[0057] Therefore, the existence of the first multi-channel connecting valve 111 not only provides a path for the second interventional consumable 40 to directly penetrate the first interventional consumable 30, but also ensures that the third interventional consumable 50 can accurately penetrate into the first interventional consumable 30 through the limiting passage 60, so as to ensure the precise coordination between the interventional consumables and improve the accuracy and safety of the operation.

[0058] In addition, the second consumable box 12 and the fourth consumable box 22 can also be designed so that the second consumable box 12 and the fourth consumable box 22 can fix the operating ends of the second interventional consumable 40 and the third interventional consumable 50. For example, in some embodiments, a clamping device can be provided in the second consumable box 12 and the fourth consumable box 22. In other embodiments, considering the use of different consumables in the same surgical process, the second consumable box 12 designed by the present invention is provided with a second multi-channel connection valve 122, and the second multi-channel connection valve 122 at least includes a main channel, one end of the main channel is connected to the operating end of the second interventional consumable 40, and the other end of the main channel can penetrate the fifth interventional consumable 80, so that the fifth interventional consumable 80 can enter the second interventional consumable 40. Correspondingly, the fourth consumable box 22 is designed to be provided with a third multi-channel connecting valve 222, one end of the main channel of the third multi-channel connecting valve 222 is connected to the operating end of the third interventional consumable 50, and the fourth interventional consumable 70 can penetrate through the other end of the main channel of the third multi-channel connecting valve 222 and enter the fourth interventional consumable 70.

[0059] Here, since the fourth interventional consumable 70 and the fifth interventional consumable 80 need to extend into the second interventional consumable 4 and the third interventional consumable 50, the fourth interventional consumable 70 and the fifth interventional consumable 80 should be smaller than the second interventional consumable 40 and the third interventional consumable 50. When the second interventional consumable 40 and the third interventional consumable 50 are both microcatheters, the fourth interventional consumable 70 and the fifth interventional consumable 80 can be interventional consumables such as microguidewires, stents, and spring coils. In this way, during the operation, the operator can also choose to set injection ports for drugs and surgical fluids on the branch channels of the second multi-channel connecting valve 122 or the third multi-channel connecting valve 222 to provide more possibilities for complex surgical operations.

[0060] In addition, in order to drive the second interventional consumable 40 to move, as an embodiment, the first consumable box 11 provided by the present invention further includes a first actuator 112, and the first actuator 112 can drive the second interventional consumable 40 to move. Correspondingly, in order to drive the third interventional consumable 50 to move, the third consumable box 21 includes a third actuator 211, and the third actuator 211 can drive the third interventional consumable 50 to move.

[0061] The content of the action of the first consumable box 11 driving the second interventional consumable 40 can be a combination of one or more of clamping, delivery and rotation. Based on this, in order to achieve the clamping of the second interventional consumable 40, the first actuator 112 can be a clamping mechanism; in order to achieve the delivery of the second interventional consumable 40, the first actuator 112 can be a driving mechanism; in order to achieve the rotation of the second interventional consumable 40, the first actuator 112 can be a rotating mechanism. These three mechanisms can be freely combined or set separately, and the present invention does not impose specific restrictions. Through the individual or coordinated work of these mechanisms, the first consumable box 11 can accurately control the operation of the second interventional consumable 40, thereby improving the flexibility and accuracy of the operation and ensuring that the consumables can be operated in the expected manner.

[0062] Correspondingly, the action of the third consumable box 21 driving the third interventional consumable 50 is similar to the principle of the first consumable box 11 driving the second interventional consumable 40 , which is not elaborated in the present invention.

[0063] In another possible embodiment, in order to accurately control the rotation angle of the second interventional consumable 40 and ensure that the second interventional consumable 40 can enter the first interventional consumable 30 along the correct path, the second consumable box 12 can also be designed to also include a first rotational drive component, which is configured to drive the operating end of the second interventional consumable 40 to rotate, so as to cooperate with the first execution component 112 to drive the second interventional consumable 40 to rotate, thereby achieving precise control and positioning of the second interventional consumable 40.

[0064] In some embodiments, the first rotation driving member can be configured as a gear transmission member, for example, a driven wheel is provided at one end of the second multi-channel connection valve 122 connected to the operating end of the second interventional consumable, a driving wheel and a motor are provided on the second consumable box, and the motor drives the driving wheel to rotate, thereby driving the driven wheel provided on the second multi-channel connection valve 122 to rotate, thereby driving the rotation of the second interventional consumable 40. At this time, the second interventional consumable 40 is driven to rotate by the first rotation driving member and the first execution member 112 at the same time. When the first execution member 112 also has a delivery function, since the second consumable box 12 is slidably provided on the first delivery track 10, the second consumable box 12 and the first execution member 112 cooperate to deliver the second interventional consumable 40.

[0065] In order to accurately control the rotation angle of the third interventional consumable 50 and ensure that the third interventional consumable 50 can enter the first interventional consumable 30 along the correct path, in this embodiment, the fourth consumable box 22 also includes a second rotation drive member, which is configured to drive the operating end of the third interventional consumable 50 to rotate, so as to cooperate with the third actuator 211 to drive the third interventional consumable 50 to rotate, thereby achieving accurate control and positioning of the third interventional consumable 50. Of course, the first rotation drive member and the second rotation drive member can be configured to have the same structure, so that the driving method of the second rotation drive member for the third interventional consumable 50 is the same as the driving method of the second rotation drive member for the second interventional consumable 40, which will not be described in detail in the present invention.

[0066] In addition, on the basis that the second consumable box 12 and the fourth consumable box 22 are respectively provided with the second multi-channel connecting valve 122 and the third multi-channel connecting valve 222, in order to drive the fifth interventional consumable 80 and the fourth interventional consumable 70 to operate, a second actuator 121 may be provided on the second consumable box 12, and a fourth actuator 221 may be provided on the fourth consumable box 22. The second actuator 121 is used to drive the fifth interventional consumable 80 to operate, and the fourth actuator 221 is used to drive the fourth interventional consumable 70 to operate.

[0067] On this basis, considering the versatility, the first execution component 112, the second execution component 121, the third execution component 211 and the fourth execution component 221 can be set to have the same structure for easy replacement or repair. Further, the second consumable box 12 and the fourth consumable box 22 can also be designed to have the same structure to facilitate the versatility of the consumable box as a whole.

[0068] When the second interventional consumable 40 and the third interventional consumable 50 have different structures and the third interventional consumable 50 is a quick delivery consumable, considering the existence of the quick delivery consumable, refer to Figure 2 As shown, the limiting passage 60 can be designed to include a first sub-passage 601 and a second sub-passage 602; wherein, one end of the first sub-passage 601 and the second sub-passage 602 are connected to form a coaxial end 603, the coaxial end 603 is arranged close to the first consumable box 11, the end of the first sub-passage 601 away from the coaxial end 603 is arranged close to the second consumable box 12, and the end of the second sub-passage 602 away from the coaxial end 603 is arranged close to the third consumable box 21, so that a part of the third interventional consumable 50 can be sleeved on the second interventional consumable 40 and enter the first interventional consumable 30 together for interactive or synchronous operation.

[0069] On this basis, due to the different consumables, the actions produced during delivery are different. Therefore, the first consumable box 11 can be designed: for example, a first multi-channel connecting valve 111 is set on the first consumable box 11, and one end of the main channel of the first multi-channel connecting valve 111 is connected to the operating end of the first interventional consumable 30, and the second interventional consumable 40 and the third interventional consumable 50 can penetrate and enter the first interventional consumable 30 through the other end of the main channel of the first multi-channel connecting valve 111.

[0070] In this way, the second interventional consumable 40 and the third interventional consumable 50 can both penetrate into the first interventional consumable 30 through the main channel of the first multi-channel connecting valve 111, thereby smoothly transitioning the correlation between the second interventional consumable 40 and the third interventional consumable 50, ensuring that the second interventional consumable 40 and the third interventional consumable 50 can accurately penetrate into the first interventional consumable 30 according to a predetermined path, thereby effectively improving the accuracy and safety of the operation and ensuring that the interventional consumables can be operated in the expected manner.

[0071] Of course, in the current embodiment, in order to ensure that the third interventional consumable 50 can operate normally, a third actuator 211 is required in the third consumable box 21. The third actuator 211 here can have the same structure as the third actuator 211 when the second interventional consumable 40 and the third interventional consumable 50 have the same structure, so as to be able to drive the third interventional consumable 50 to operate.

[0072] In addition, the first consumable box 11 can also be designed to include a first clamping component 113, which is arranged between the first multi-channel connecting valve 111 and the coaxial end 603, and is used to clamp and fix the second interventional consumable 40; the second consumable box 12 includes a second actuator component 121, which is used to drive the second interventional consumable 40 to move; and a second clamping component 124, which is arranged between the second actuator component 121 and the first sub-channel 601, and is used to clamp and fix the second interventional consumable 40.

[0073] In this way, during the delivery of the second interventional consumable 40, the first clamping component 113 and the second clamping component 124 are respectively similar to two fingers, which can clamp and release the second interventional consumable 40, and drive the second interventional consumable 40 forward or backward through the second actuator 121, thereby ensuring the stability of the second interventional consumable 40 during the delivery process, thereby improving the accuracy and safety of the operation.

[0074] In this embodiment, the fourth consumable box 22 can be designed according to the specific needs of quick delivery consumables. It can be simply used to place consumables, or it can be equipped with a clamping mechanism to ensure the stability of the consumables during operation. The present invention does not make specific limitations.

[0075] Regardless of whether the second interventional consumable 40 and the third interventional consumable 50 are of the same type or of a different type, a fifth consumable box 14 can be added to the side of the second consumable box 12 away from the interventional end. The fifth consumable box 14 can have the same structure as the second consumable box 12. For example, when the third interventional consumable 50 is a quick-delivery consumable, the fifth consumable box 14 can cooperate with the second consumable box 12 to control the action of the second interventional consumable 40 to further ensure that the second interventional consumable 40 can operate in the expected manner.

[0076] In addition, the first delivery track 10 provided by the present invention is also provided with a front consumable box 13, which is arranged near the intervention end and is used to cooperate with the first consumable box 11 to drive the first intervention consumable 30 to move. Due to the presence of the front consumable box 13, the operation of the first intervention consumable 30 can be better controlled to ensure that the first intervention consumable 30 can accurately reach the target position, thereby improving the accuracy of the operation.

[0077] In some embodiments, the driving mode of the first interventional consumable 30 can be set similar to the driving mode of the second interventional consumable 40. For example, an actuator is set on the front consumable box 13, and a rotation drive member is set on the first consumable box 11. In this way, the actuator, the rotation drive member and the sliding mode of the first consumable box 11 itself work together to drive the first interventional consumable 30 to move forward or backward. Accordingly, the actuator can also be set to have the same structure as the first actuator 112, the second actuator 121, the third actuator 211 and the fourth actuator 221; the rotation drive member has the same structure as the first rotation drive member and the second rotation drive member.

[0078] The present invention does not impose any specific limitation on the manner in which the first consumable box 11, the second consumable box 12, the third consumable box 21, and the fourth consumable box 22 can slide. For example, in some embodiments, the first consumable box 11, the second consumable box 12, the third consumable box 21, or the fourth consumable box 22 can be set on the slide 90 to make linear motion with the slide 90. The present invention does not impose any limitation on the specific implementation form of the slide 90, which can be a combination of gear racks, a chain drive, or a crankshaft connecting rod, so as to achieve linear motion of the first consumable box 11, the second consumable box 12, the third consumable box 21, or the fourth consumable box 22 while driving the interventional consumables forward or backward.

[0079] As a possible embodiment, a motor and a gear rack can be installed on the slide 90, and the motor drives the gear to rotate. Under the constraint of the guide rail, the gear rolls along the rack to drive the slide 90 to move. It is understandable that the present invention does not limit its application to the detailed structure and arrangement of the components proposed in the present invention. The present invention can have other embodiments and can be implemented and executed in various ways. The aforementioned deformation forms and modified forms fall within the scope of the present invention. It should be understood that the present invention disclosed and defined by the present invention extends to all alternative combinations of two or more individual features mentioned or evident in the text and / or the drawings. All these different combinations constitute multiple alternative aspects of the present invention. The embodiments described in the present invention illustrate the best known methods for implementing the present invention and will enable those skilled in the art to utilize the present invention.

Claims

1. A multi-track interventional consumables delivery device, characterized in that: The multi-track interventional consumables delivery device at least comprises: a first delivery track on which a first consumable box and a second consumable box are slidably arranged; A second delivery track is arranged in parallel with the first delivery track, and a third consumable box and a fourth consumable box are slidably arranged on the second delivery track; Among them, the first consumable box is connected to the operating end of the first interventional consumable and can drive the second interventional consumable to move, the second consumable box is connected to the operating end of the second interventional consumable, and the third consumable box can drive the third interventional consumable to move; the fourth consumable box is connected to the operating end of the third interventional consumable; and the second interventional consumable and the third interventional consumable can be inserted into the first interventional consumable.

2. The multi-track interventional consumables delivery device according to claim 1, characterized in that: The multi-track interventional consumables delivery device further comprises: A limiting passage has one end disposed close to the first consumable box and the other end disposed close to the third consumable box, so as to allow the third interventional consumable to penetrate into the first interventional consumable.

3. The multi-track interventional consumables delivery device according to claim 2, characterized in that: The first consumable box is provided with a first multi-channel connecting valve, and the first multi-channel connecting valve at least includes: a first channel, one end of which is connected to the operating end of the first interventional consumable and the other end of which is for the second interventional consumable to pass through; A second channel, one end of which is connected to the first channel, and the other end of which is connected to the limiting passage. The third interventional consumable passes through the limiting passage and the second channel in sequence and enters the first interventional consumable together with the second interventional consumable to perform interactive or synchronous operations.

4. The multi-track interventional consumables delivery device according to claim 3, characterized in that: The first consumable box includes a first actuator, and the first actuator can drive the second interventional consumable to move; The third consumable box includes a third actuator, and the third actuator can drive the third interventional consumable to move.

5. The multi-track interventional consumables delivery device according to claim 4, characterized in that: The second consumable box includes a second actuator and a second multi-channel connecting valve is provided on the second consumable box, one end of a main channel of the second multi-channel connecting valve is connected to an operating end of the second interventional consumable, the second actuator is used to drive a fourth interventional consumable to move, and the fourth interventional consumable can penetrate and enter the second interventional consumable through the other end of the main channel of the second multi-channel connecting valve; and / or The fourth consumable box includes a fourth actuator and a third multi-channel connecting valve is provided on the fourth consumable box, one end of a main channel of the third multi-channel connecting valve is connected to an operating end of the third interventional consumable, the fourth actuator is used to drive a fifth interventional consumable to move, and the fifth interventional consumable can penetrate and enter the third interventional consumable through the other end of the main channel of the third multi-channel connecting valve; and / or The second consumable box further includes a first rotation driving member, which is configured to drive the operating end of the second interventional consumable to rotate, so as to cooperate with the first actuator to drive the second interventional consumable to rotate; and / or The fourth consumable box further includes a second rotation driving member, which is capable of driving the operating end of the third interventional consumable to rotate, so as to cooperate with the third actuator to drive the third interventional consumable to rotate.

6. The multi-track interventional consumables delivery device according to claim 2, characterized in that: The limiting passage includes a first sub-passage and a second sub-passage; One end of the first sub-pathway and the second sub-pathway are connected to form a coaxial end, and the coaxial end is arranged close to the first consumable box, and one end of the first sub-pathway away from the coaxial end is arranged close to the second consumable box, and one end of the second sub-pathway away from the coaxial end is arranged close to the third consumable box, so that a part of the third interventional consumable can be put on the second interventional consumable and enter the first interventional consumable together for interactive or synchronous operation.

7. The multi-track interventional consumables delivery device according to claim 6, characterized in that: The first consumable box is provided with a first multi-channel connecting valve, one end of a main channel of the first multi-channel connecting valve is connected to an operating end of the first interventional consumable, and the second interventional consumable and the third interventional consumable can penetrate and enter the first interventional consumable through the other end of the main channel of the first multi-channel connecting valve; The third consumable box includes a third actuator, which can drive the third interventional consumable to move, and the operating end of the third interventional consumable is connected to the fourth consumable box.

8. The multi-track interventional consumables delivery device according to claim 7, characterized in that: The first consumable box comprises a first clamping assembly, which is disposed between the first multi-channel connection valve and the coaxial end and is used to clamp and fix the second interventional consumable; The second consumable box comprises: A second execution component, used for driving the second interventional consumable to move; A second clamping assembly is disposed between the second actuator assembly and the first sub-passage, and is used for clamping and fixing the second interventional consumable.

9. The multi-track interventional consumables delivery device according to any one of claims 1 to 8, characterized in that: The first delivery track is also provided with: The front consumable box is arranged near the intervention end, and is used for driving the first intervention consumable to move in coordination with the first consumable box.

10. A vascular interventional surgery robot, characterized in that: The vascular interventional surgery robot comprises: Robot body; The multi-track interventional consumables delivery device according to any one of claims 1 to 9 is arranged on the robot body.

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