Sliding table device and medical robot

Abstract

The embodiment of the invention provides a medical catheter sliding table device and a medical robot, and the medical catheter sliding table device comprises a base plate which is provided with a connecting assembly; the sliding rail is arranged on the base plate; the sliding seat is connected to the sliding rail in a sliding mode, the driving device is arranged on the base plate, and the driving device is in transmission connection with the sliding seat; the switching device is connected to the sliding seat and used for controlling connection or disconnection of the sliding seat and the driving device; the flexible conduit assembly is connected to the sliding seat; wherein the medical catheter sliding table device has multiple working modes, and in the automatic working mode, the driving device is connected with the sliding seat; after the switching device is operated, the manual working mode is switched, and the sliding seat is disconnected from the driving device. According to the technical scheme, the working mode can be rapidly and flexibly switched through the switching device, after the working mode is switched into the manual working mode, the sliding seat can be directly driven to slide on the sliding rail, so that the flexible catheter assembly can be rapidly operated, operation is easy and convenient, and the learning curve is short.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to a slide device and a medical robot. Background Art

[0002] With the continuous development of medical technology, medical equipment is also constantly innovating. For biopsy and treatment of natural cavities (such as bronchi, esophagus, etc.), it is usually completed through a natural cavity medical robot in conjunction with a flexible catheter (medical endoscope). Although the natural cavity medical robot can complete most operations, in some cases, such as the rapid withdrawal of the catheter, or the failure of the control handle, it is more convenient for the doctor to manually operate the flexible catheter directly. Therefore, the natural cavity medical robot also needs to be able to switch to manual operation mode. However, the switching process between the automatic mode and the manual mode of ordinary natural cavity medical robots is complicated, and the learning cost of medical staff is high.

[0003] Therefore, it is an urgent problem to improve the flexibility of switching between automatic mode and manual mode of natural cavity medical robots, facilitate the operation of medical staff after switching to manual mode, and shorten the learning curve of medical staff. Summary of the invention

[0004] In view of the above objectives, the present application provides the following embodiments.

[0005] In one embodiment of the present application, a medical catheter slide device is provided, comprising:

[0006] A base plate, on which a connecting assembly is provided for connecting to the end of the multi-degree-of-freedom robotic arm;

[0007] A slide rail, arranged on the base plate;

[0008] A sliding seat is slidably connected to the slide rail.

[0009] A driving device, disposed on the base plate, the driving device being drivingly connected to the sliding seat;

[0010] A switching device, connected to the sliding seat, for controlling the connection or disconnection between the sliding seat and the driving device;

[0011] A flexible conduit assembly connected to the sliding seat;

[0012] Among them, the medical catheter slide device has multiple working modes. In the automatic working mode, the driving device is connected to the sliding seat; after operating the switching device, the medical catheter slide device is switched to the manual working mode, and the sliding seat is disconnected from the driving device.

[0013] Optionally, the flexible catheter assembly comprises: a flexible catheter device and a catheter controller, wherein the flexible catheter device is connected to the catheter controller;

[0014] The medical catheter slide device also includes a mounting frame, which is cooperatively connected to the sliding seat, and the catheter controller is detachably connected to the mounting frame.

[0015] Optionally, the substrate has a first wall surface and a second wall surface disposed opposite to each other; the connecting component is disposed on the first wall surface;

[0016] The slide rail is arranged on the second wall surface along the length direction of the substrate.

[0017] Optionally, the flexible conduit assembly and the switching device are respectively connected to two sides of the sliding seat;

[0018] The switching device is located above the slide rail.

[0019] Optionally, at least two parallel and spaced slide rails are provided on the second wall surface, and the slide seats are respectively connected to the slide rails;

[0020] The first slide rail is located at the edge of the first wall surface, and the second slide rail is located on the middle area of ​​the first wall surface;

[0021] The width of the first slide rail is smaller than the width of the second slide rail.

[0022] Optionally, the switching device includes a housing, a trigger device and a transmission member;

[0023] The housing is buckled on the sliding seat, the trigger device is partially arranged in the housing, the transmission member is connected to the trigger device, and the trigger device can drive the transmission member to connect or disconnect with the driving device.

[0024] Optionally, the driving device includes a lead screw and a motor, and the lead screw is arranged parallel to the slide rail;

[0025] The transmission member is provided with threads, and the transmission member can be connected with the lead screw in cooperation.

[0026] Optionally, the trigger device includes a wrench and a reset assembly, the wrench is connected to the reset assembly, the reset assembly is arranged in the housing, and the wrench is located outside the housing;

[0027] The transmission member is connected to the reset assembly, and when the wrench rotates, the reset assembly can drive the transmission to rise or fall, and the transmission member will be connected or disconnected from the lead screw.

[0028] Optionally, a first sensor is provided on the sliding seat, and when the transmission member is connected to the driving device, the transmission member triggers the first sensor; when the transmission member is disconnected from the driving device, the transmission member does not trigger the first sensor.

[0029] Optionally, the substrate is provided with a second sensor and a third sensor, and the second sensor and the third sensor are respectively located at the ends of the slide rail;

[0030] The sliding seat is provided with a displacement sensor, the second wall surface of the substrate is provided with a position mark, and the displacement sensor can move synchronously with the sliding seat.

[0031] In another embodiment of the present application, a medical robot is provided, comprising:

[0032] Multi-degree-of-freedom robotic arm;

[0033] As the medical catheter slide device mentioned above, the medical catheter slide device is connected to the end of the multi-degree-of-freedom robotic arm.

[0034] In the technical solution provided by the embodiment of the present application, the working mode of the medical catheter slide device can be quickly and flexibly switched by operating the switching device. After the medical catheter slide device is switched to the manual working mode, the medical staff can directly drive the sliding seat to slide on the slide rail to achieve the rapid operation of the flexible catheter assembly. After releasing the switching device, the medical catheter slide device can be quickly switched to the automatic working mode. The working mode switching process of the medical catheter slide device is flexible and simple, and the operation is simple and convenient. For medical staff, this medical catheter slide device has a short learning curve and is easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 A schematic diagram of the structure of a medical robot provided in one embodiment of the present application;

[0037] Figure 2 A schematic diagram of the partial structure of a medical catheter slide device provided in one embodiment of the present application;

[0038] Figure 3 A schematic diagram of a partial structure of a medical catheter slide device provided in one embodiment of the present application.

[0039] Description of labels:

[0040] Base plate 1, slide rail 2, first slide rail 21, second slide rail 22, slide seat 3;

[0041] Switching device 4, housing 41, trigger device 42, wrench 421, reset assembly 422, connecting pin 423, transmission member 43;

[0042] Driving device 5, screw 51, motor 52,

[0043] Flexible catheter assembly 6, flexible catheter device 61, flexible catheter 611, catheter controller 62;

[0044] Mounting frame 7,

[0045] A first sensor 8 , a second sensor 9 , a third sensor 10 , a displacement sensor 11 , and a connecting component 12 . DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0047] In some processes described in the specification, claims and the above-mentioned figures of this application, multiple operations appearing in a specific order are included, and these operations may not be executed in the order in which they appear in this article or executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit "first" and "second" to different types. The following embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0048] A multi-degree-of-freedom medical robot (multi-degree-of-freedom robotic arm) can assist medical staff in completing a series of operations such as biopsy and surgical treatment. Since this medical robot has high repeatability, stability and reliability, it is now used more and more frequently. However, for some complex human cavities, such as lung bronchi and esophagus, the operating accuracy of the medical robot is still not as good as the manual operation accuracy of medical staff. Therefore, in a complex surgical process, the medical robot only assists medical staff in completing some simple operations, and some refined operations still require medical staff to do it themselves. It can be considered that this multi-degree-of-freedom medical robot has at least two working modes, one is the automatic working mode, that is, the medical robot automatically completes the corresponding action according to the set program, or the medical staff controls the action of the medical robot through the control device, so that the medical device (medical endoscope, etc.) on the medical robot completes the corresponding operation. The second is the manual working mode, that is, the medical device on the medical robot is disconnected from the original drive device, and the medical staff can directly manually drive the medical device to complete the corresponding operation. Simple operations can be completed through the automatic working mode of the medical robot. For some complex operations, the medical robot can be switched to the manual working mode, and the medical staff can directly operate the medical equipment to complete it. During the operation, the medical robot needs to frequently switch between the automatic working mode and the manual working mode. After the switch is completed, it also needs to be able to facilitate the medical staff to simply and quickly operate the medical equipment on the medical robot.

[0049] Nowadays, how to improve the flexibility of switching between automatic and manual modes of natural cavity medical robots, facilitate operation by medical staff after switching to manual mode, and shorten the learning curve of medical staff is an issue that needs to be solved urgently.

[0050] See also Figure 1 and Figure 2 In one embodiment of the present application, a medical catheter slide device is provided, which includes: a base plate 1, a slide rail 2, a slide seat 3, a drive device 5, a switching device 4 and a flexible catheter assembly 6. A connecting assembly 12 is provided on the base plate 1 for detachably connecting to the end of a multi-degree-of-freedom robotic arm. The connecting assembly 12 can be matched and connected to different multi-degree-of-freedom robotic arms, for example, a six-degree-of-freedom robotic arm, a seven-degree-of-freedom robotic arm, a multi-functional surgical robot, etc. The connection between the connecting assembly 12 and the multi-degree-of-freedom robotic arm can be connected by a fastener, or by a snap mechanism, a latch mechanism, etc.

[0051] The slide rail 2 is arranged on the base plate 1, and a mounting position is arranged on the base plate 1. The slide rail 2 is connected to the mounting position by fasteners. Of course, the slide rail 2 can also be an integral structure with the base plate 1. The sliding seat 3 can be slidably connected to the slide rail 2, and the sliding seat 3 can slide on the slide rail 2 under the action of external force. The driving device 5 is arranged on the base plate 1, and the driving device 5 is transmission-connected with the sliding seat 3, and the driving device 5 is used to drive the sliding seat 3 to slide on the slide rail 2.

[0052] The switching device 4 is connected to the sliding seat 3 and is used to control the connection or disconnection between the sliding seat 3 and the driving device 5. When the switching device 4 is not operated, the sliding seat 3 is in transmission connection with the driving device 5, and the movement of the sliding seat 3 can only be driven by the driving device 5; when the switching device 4 is operated, the transmission path between the sliding seat 3 and the driving device 5 is disconnected, and the medical staff can directly push the sliding seat 3 to move quickly on the slide rail 2.

[0053] Of course, the sliding seat 3 moves on the slide rail 2 mainly to realize the movement of the flexible conduit assembly 6. By moving the flexible conduit 611, the corresponding operation can be completed. Specifically, the flexible conduit assembly 6 is connected to the sliding seat 3. When the sliding seat 3 moves on the slide rail 2, the flexible conduit assembly 6 will be displaced synchronously.

[0054] The medical catheter slide device has multiple working modes. In the automatic working mode, the driving device 5 is connected to the sliding seat 3, and the flexible catheter assembly 6 on the sliding seat 3 can only be driven and moved by the driving device 5. After the medical staff operates the switching device 4, the medical catheter slide device switches to the manual working mode, and the sliding seat 3 is disconnected from the driving device 5. At this time, the medical staff can directly drive the sliding seat 3 to quickly move on the slide rail 2, so as to facilitate the flexible catheter assembly 6 to quickly withdraw, perform fine manual operations, and the like.

[0055] In the technical solution provided in the present application, medical staff can quickly and flexibly switch the working mode of the medical catheter slide device by operating the switching device 4. After switching to the manual working mode, the medical staff can directly drive the sliding seat 3 to slide on the slide rail 2 to achieve rapid operation of the flexible catheter assembly 6. The operation is simple and convenient, and the learning curve is short. The operation of this medical catheter slide device is also more flexible. In some scenarios, for example, it is necessary to quickly evacuate the flexible catheter 611 from the human body cavity, and the action of the medical staff directly driving the flexible catheter assembly 6 will be faster and safer. In addition, when the control handle of the multi-degree-of-freedom robotic arm fails, it is also necessary to switch to the manual working mode, so as to facilitate the medical staff to continue the surgical operation or quickly evacuate the flexible catheter 611 from the human body cavity.

[0056] Before introducing the detailed structure of the medical catheter slide device, the structure of the flexible catheter assembly 6 is briefly introduced first.

[0057] In one embodiment provided in the present application, the flexible catheter assembly 6 includes: a flexible catheter device 61 and a catheter controller 62, the flexible catheter device 61 is connected to the catheter controller 62, the flexible catheter device 61 also includes a main body and a flexible catheter 611, the main body is connected to the catheter controller 62, and the flexible catheter 611 is arranged on the main body. The flexible catheter device 61 includes but is not limited to: a medical endoscope, a sampling catheter, a surgical catheter, etc. Taking the flexible catheter device 61 as an example of a medical endoscope, after the medical endoscope enters the human body cavity, the driving device 5 drives the sliding seat 3 to move forward to realize the medical endoscope further extending into the human body cavity, and the catheter control device can control the medical endoscope to turn.

[0058] Furthermore, the medical catheter slide device also includes a mounting frame 7, which is connected to the sliding seat 3, and the catheter controller 62 is detachably connected to the mounting frame 7. The mounting frame 7 allows different types of flexible catheter assemblies 6 to be connected to the sliding seat 3, thereby increasing the versatility and functional diversity of the flexible catheter assembly 6. In addition, multiple flexible catheter assemblies 6 can be installed and connected to the mounting frame 7. For example, when a surgery requires the simultaneous use of multiple flexible catheter assemblies 6 with different functions, multiple flexible catheter assemblies 6 can be installed on the same mounting frame 7 at the same time, thereby facilitating the simultaneous operation of multiple flexible catheter assemblies 6.

[0059] See also Figure 2 In one embodiment provided in the present application, the substrate 1 is a rectangular plate-like structure, the substrate 1 has a first wall and a second wall arranged opposite to each other, the connecting component 12 is arranged on the first wall, and the connecting component 12 is located in the middle position of the substrate 1, so that the force on the substrate 1 is more stable, and the sliding seat 3 is not allowed to shake when sliding on the slide rail 2.

[0060] further, Figure 2 The direction indicated by the middle arrow X is the length direction of the substrate 1, and the slide rail 2 is arranged on the second wall surface along the length direction of the substrate 1. When the sliding seat 3 slides on the slide rail 2, it will not be interfered by the connecting component 12, and it is also convenient for the installation and removal of the sliding seat 3.

[0061] See also Figure 1 and Figure 2 In one embodiment provided in the present application, the sliding seat 3 extends above the base plate 1, the flexible catheter assembly 6 and the switching device 4 are respectively connected to the two sides of the sliding seat 3, and the switching device 4 is located above the slide rail 2. The switching device 4 is arranged above the slide rail 2, which can facilitate medical staff to operate the switching device 4. The flexible catheter assembly 6 is located on the side away from the end of the multi-degree-of-freedom robot arm to facilitate the installation and removal of the flexible catheter assembly 6. In addition, flexible catheter assemblies 6 of different shapes can also be easily installed on the mounting frame 7.

[0062] Because medical equipment needs to have sufficient safety, the stability of the flexible catheter assembly 6 when moving is more important. In order to ensure the stability of the sliding seat 3 when sliding, in an embodiment provided in the present application, at least two parallel and spaced slide rails 2 are provided on the second wall, and the sliding seat 3 is connected to the slide rails 2 respectively. Taking the two slide rails 2 provided on the second wall as an example, the first slide rail 21 and the second slide rail 22 are arranged in parallel and spaced apart, the first slide rail 21 is located at the edge of the first wall, and the second slide rail 22 is located in the middle area of ​​the first wall. Alternatively, the first slide rail 21 is located at the upper edge of the first wall, and the second slide rail 22 is located at the lower edge of the first wall. In addition, the first slide rail 21 and the second slide rail 22 can be the same slide rail 2, or different slide rails 2. In a specific implementation, the width of the first slide rail 21 is less than the width of the second slide rail 22.

[0063] See also Figures 1 to 3 In one embodiment provided in the present application, the switching device 4 includes a housing 41, a trigger device 42 and a transmission member 43. When the housing 41 is snapped onto the sliding seat 3, the housing 41 is located above the substrate 1. The trigger device 42 is partially disposed in the housing 41, and the transmission member 43 is connected to the trigger device 42. The trigger device 42 can drive the transmission member 43 to connect or disconnect with the drive device 5. Specifically, the medical staff can operate the trigger device 42, and then the trigger device 42 drives the transmission member 43 to move, thereby realizing the connection or disconnection of the transmission assembly with the drive device 5. Normally, when the trigger device 42 is not operated, the transmission path between the transmission member 43 and the drive device 5 is in a connected state. When the medical staff operates the trigger device 42, the transmission path between the transmission member 43 and the drive device 5 will be disconnected, and then the medical catheter slide device changes to a manual working mode.

[0064] In one embodiment provided in the present application, the driving device 5 includes but is not limited to: a linear motor, a gear rack device, a screw mechanism, etc. In a specific implementation, the driving device 5 includes a screw 51 and a motor 52, the motor 52 is connected to one end of the screw 51, and the motor 52 can drive the screw 51 to rotate. Further, the screw 51 is arranged parallel to the slide rail 2, and a thread is provided on the transmission member 43, when the transmission member 43 can be connected with the screw 51. When the thread on the transmission member 43 is connected with the screw 51, as the screw 51 rotates, the transmission member 43 will move along the length direction of the screw 51. The switching device 4 can drive the transmission member 43 to move, and then the connection between the transmission member 43 and the screw 51 can be separated.

[0065] Furthermore, the trigger device 42 includes a wrench 421 and a reset assembly 422. The wrench 421 is connected to the reset assembly 422. The reset assembly 422 is arranged inside the housing 41, and the wrench 421 is located outside the housing 41. When the medical staff pulls the wrench 421, the wrench 421 will drive the reset assembly 422 to rotate together; after being separated from the wrench 421, the reset assembly 422 is reset while also driving the wrench 421 to reset together. The transmission member 43 is connected to the reset assembly 422, the wrench 421 rotates, and the reset assembly 422 can drive the transmission member 43 to rise or fall, and the transmission member 43 will be connected or disconnected with the lead screw 51. Specifically, a square hole is provided on the transmission member 43, and one end of the reset assembly 422 is a straight-line connecting pin 423, which is matched and connected in the square hole. When the reset assembly 422 rotates, one side of the connecting pin 423 can abut against the top of the square hole, thereby driving the transmission member 43 to rise, and the rising transmission member 43 will be separated from the lead screw 51. After the rotational force on the wrench 421 is cancelled, the reset assembly 422 is reset, the connecting pin 423 is reset to a horizontal state, and the transmission member 43 drops to the lowest point. At this time, the transmission member 43 will be connected to the lead screw 51.

[0066] Normally, when the medical catheter slide device is switched to the manual working mode, the multi-degree-of-freedom robotic arm is in a fixed state, so that medical staff can safely and stably operate the medical catheter slide device. Therefore, when the medical catheter slide device is switched to the manual working mode, the controller also needs to receive the working mode switching signal in time. The controller can be the controller of the flexible catheter assembly 6 or the controller of the multi-degree-of-freedom robotic arm. In one embodiment provided in the present application, see Figure 1 and Figure 2 A first sensor 8 is provided on the sliding seat 3, and the first sensor 8 is connected to the above-mentioned controller. When the transmission member 43 is connected to the driving device 5, the transmission member 43 triggers the first sensor 8. After receiving the trigger signal, the controller can determine that it is in the automatic working mode at this time; when the transmission member 43 is disconnected from the driving device 5, the transmission member 43 does not trigger the first sensor 8. At this time, the controller can determine that the medical catheter slide device is switched to the manual working mode.

[0067] Furthermore, in order to prevent the sliding seat 3 from sliding beyond the travel on the slide rail 2, the substrate 1 is provided with a second sensor 9 and a third sensor 10, and the second sensor 9 and the third sensor 10 are respectively located at the ends of the slide rail 2; when the sliding seat 3 moves to the end of the slide rail 2, the sliding seat 3 will trigger the second sensor 9 or the third sensor 10, thereby judging that the sliding seat 3 has moved to the limit position. The first sensor 8, the second sensor 9 and the third sensor 10 include but are not limited to: contact switches, pressure switches, micro switches, etc. In addition, the second sensor 9 and the third sensor 10 can be linked with the drive device 5, which can be understood as being connected to the above-mentioned controller. When the second sensor 9 or the third sensor 10 is triggered, the drive device 5 stops driving and can only move in the direction opposite to the triggering direction. In addition, the second sensor 9 and the third sensor 10 are arranged at the end of the slide rail 2, which can also play a limiting role. That is, when the medical catheter slide device is in the manual working mode, when the sliding seat 3 slides to the end of the slide rail 2, the second sensor 9 and the third sensor 10 will directly limit the sliding seat 3, thereby preventing the sliding seat 3 from leaving the slide rail 2.

[0068] In addition, when the flexible conduit assembly 6 is sliding, the sliding distance of the flexible conduit assembly 6 needs to be measured in time, so as to facilitate the controller to read the corresponding data. Figure 2 A displacement sensor 11 is provided on the sliding seat 3, and a position mark is provided on the second wall surface of the substrate 1. The displacement sensor 11 can move synchronously with the sliding seat 3. The displacement sensor 11 can measure the displacement distance of the flexible catheter assembly 6 based on the position mark, and the controller connected to the displacement sensor 11 can accurately read the corresponding displacement data.

[0069] See also Figure 1 In one embodiment of the present application, a medical robot is also provided, which includes: a multi-degree-of-freedom robotic arm (a multi-joint robotic arm) and the above-mentioned medical catheter slide device. The medical catheter slide device is connected to the end of the multi-degree-of-freedom robotic arm. Specifically, the medical catheter slide device is connected to the end of the multi-degree-of-freedom robotic arm through a connecting component 12 on the substrate 1. In addition to connecting the medical catheter slide device to the multi-degree-of-freedom robotic arm structure, the connecting component 12 can also connect the various electronic components (driving device 5, flexible catheter component 6, sensor, etc.) on the medical catheter slide device to the controller circuit of the multi-degree-of-freedom robotic arm.

[0070] For the specific structure of the medical catheter slide device, please refer to the detailed description above and will not be described in detail here.

[0071] See also Figure 1 ,The following is a detailed description of the working mode switching method of the medical catheter slide device through a specific ,usage scenario.

[0072] like Figure 1 The flexible catheter assembly 6 is an endoscope assembly for pulmonary bronchial examination. When the lead screw 51 drives the sliding seat 3 along the Figure 1 When the flexible catheter 611 slides forward in the direction indicated by the middle arrow Y, it will also move forward. With the help of the catheter controller 62, the flexible catheter 611 can be inserted into the bronchus according to the specific structure of the bronchus, so as to realize the intuitive and detailed inspection of the bronchus. In the automatic working mode, the transmission member 43 on the switching device 4 contacts the lead screw 51, and the speed and distance of the flexible catheter 611 moving forward are controlled by the lead screw 51. When an unexpected situation occurs, such as the flexible catheter 611 is inserted too deep, affecting the patient's breathing, the flexible catheter 611 must be withdrawn quickly. The driving speed of the lead screw 51 is limited, which cannot be compared with the speed of the direct action drive of the medical staff. At this time, the medical staff only needs to pull the wrench 421 on the switching device 4, and the switching device 4 can be separated from the lead screw 51 in time. At this time, the medical staff can directly push the sliding seat 3 to slide, thereby realizing the rapid operation of the flexible catheter 611 withdrawal. After withdrawing from the corresponding position, the medical staff only needs to directly release the wrench 421, and the transmission member 43 on the switching device 4 can be directly connected to the screw 51 for transmission, and the medical catheter slide device will quickly switch to the automatic working mode, and then the medical robot can automatically perform the corresponding medical operations.

[0073] To sum up, in the technical solution of the present application, the working mode of the medical catheter slide device can be quickly and flexibly switched through a switching device. After switching to the manual working mode, the sliding seat can be directly driven to slide on the slide rail to realize rapid operation of the flexible catheter assembly. The operation is simple and convenient, and the learning curve is short.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A medical catheter slide device, characterized in that: include: A base plate, on which a connecting assembly is provided for connecting to the end of the multi-degree-of-freedom robotic arm; A slide rail, arranged on the base plate; A sliding seat is slidably connected to the slide rail. A driving device, disposed on the base plate, the driving device being drivingly connected to the sliding seat; A switching device, connected to the sliding seat, for controlling the connection or disconnection between the sliding seat and the driving device; A flexible conduit assembly connected to the sliding seat; Among them, the medical catheter slide device has multiple working modes. In the automatic working mode, the driving device is connected to the sliding seat; after operating the switching device, the medical catheter slide device is switched to the manual working mode, and the sliding seat is disconnected from the driving device.

2. The medical catheter slide device according to claim 1, characterized in that: The flexible catheter assembly comprises: a flexible catheter device and a catheter controller, wherein the flexible catheter device is connected to the catheter controller; The medical catheter slide device also includes a mounting frame, which is cooperatively connected to the sliding seat, and the catheter controller is detachably connected to the mounting frame.

3. The medical catheter slide device according to claim 2, characterized in that: The substrate has a first wall surface and a second wall surface disposed opposite to each other; the connecting component is disposed on the first wall surface; The slide rail is arranged on the second wall surface along the length direction of the substrate.

4. The medical catheter slide device according to claim 3, characterized in that: The flexible conduit assembly and the switching device are respectively connected to two sides of the sliding seat; The switching device is located above the slide rail.

5. The medical catheter slide device according to claim 3, characterized in that: At least two parallel and spaced slide rails are provided on the second wall surface, and the slide seats are respectively connected to the slide rails; The first slide rail is located at the edge of the first wall surface, and the second slide rail is located on the middle area of ​​the first wall surface; The width of the first slide rail is smaller than the width of the second slide rail.

6. The medical catheter slide device according to claim 1, characterized in that: The switching device includes a housing, a trigger device and a transmission member; The housing is buckled on the sliding seat, the trigger device is partially arranged in the housing, the transmission member is connected to the trigger device, and the trigger device can drive the transmission member to connect or disconnect with the driving device.

7. The medical catheter slide device according to claim 6, characterized in that: The driving device comprises a lead screw and a motor, and the lead screw is arranged parallel to the slide rail; The transmission member is provided with threads, and the transmission member can be connected with the lead screw in cooperation.

8. The medical catheter slide device according to claim 7, characterized in that: The trigger device includes a wrench and a reset assembly, the wrench is connected to the reset assembly, the reset assembly is arranged in the housing, and the wrench is located outside the housing; The transmission member is connected to the reset assembly, and when the wrench rotates, the reset assembly can drive the transmission to rise or fall, and the transmission member will be connected or disconnected from the lead screw.

9. The medical catheter slide device according to claim 6, characterized in that: The sliding seat is provided with a first sensor. When the transmission member is connected to the driving device, the transmission member triggers the first sensor; when the transmission member is disconnected from the driving device, the transmission member does not trigger the first sensor.

10. The medical catheter slide device according to claim 1, characterized in that: The substrate is provided with a second sensor and a third sensor, and the second sensor and the third sensor are respectively located at the ends of the slide rail; The sliding seat is provided with a displacement sensor, the second wall surface of the substrate is provided with a position mark, and the displacement sensor can move synchronously with the sliding seat.

11. A medical robot, characterized in that: include: Multi-degree-of-freedom robotic arm; The medical catheter slide device as described in any one of claims 1 to 10 above, wherein the medical catheter slide device is connected to the end of the multi-degree-of-freedom robotic arm.

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