Interventional operation control system

Abstract

The invention discloses an interventional operation control system, and relates to the field of medical equipment. The interventional operation control system comprises a driving table, a quick-change box and a quick-change mechanism, wherein the quick-change box is detachably connected to the driving table through the quick-change mechanism; the quick-change mechanism comprises a locking piece and a pin, a movable groove is formed in the locking piece, and an insertion opening is formed in one side of the movable groove; the pin can be inserted into the movable groove from the inserting opening and can slide in the movable groove in the first direction. The movable groove comprises a locking section and a releasing section which are arranged in the first direction; when the pin slides to the locking section in the first direction, the pin is clamped at the locking section, so that the quick-change box is locked on the driving table; when the pin slides to the releasing section in the first direction, the pin can be pulled out of the inserting opening so that the driving table can release the quick-changing box. Wherein the pin is arranged on one of the driving table and the quick-change box, and the locking piece is arranged on the other one of the driving table and the quick-change box. According to the interventional operation control system, quick and accurate connection and separation of the quick change box and the driving table can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment, and in particular to an interventional surgery control system. Background Art

[0002] In the field of interventional surgery control systems, the drive platform and the quick-change box are the main parts of the equipment. At least one set of paired rollers is arranged inside the quick-change box. The guide wire, catheter, etc. are clamped between the paired rollers. The guide wire, catheter, etc. are driven forward or backward by the rotation of the rollers. A motor drive mechanism is arranged in the inner cavity of the drive platform. The quick-change box is installed on the drive platform, which can provide power to the rollers. At the same time, it can also drive the rollers to clamp the guide wire, catheter, etc. to rotate. Among them, the quick-change box may be disposable. Even if it is not disposable, it needs to be disassembled and disinfected each time it is used. In this way, the rapid replacement of the quick-change box is a key factor in improving surgical efficiency and safety. However, some traditional quick-change box replacement methods affect the surgical process because of their complicated operation and long time consumption. At the same time, some quick-change boxes also face challenges such as inconvenient operation, insufficient positioning accuracy, and insufficient fixation in actual applications. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes an interventional surgery control system, which realizes the rapid and accurate connection and separation of the quick-change box and the drive platform, thereby improving the work efficiency and safety during the operation.

[0004] An interventional surgery control system according to an embodiment of the present invention comprises a drive platform, a quick-change box and a quick-change mechanism, wherein the quick-change box is detachably connected to the drive platform through the quick-change mechanism; the quick-change mechanism comprises: a locking member, wherein a movable groove is provided on the locking member, and a socket is formed on one side of the movable groove; a pin, wherein the pin can be inserted into the movable groove from the socket and can slide in the movable groove along a first direction; the movable groove comprises a locking section and a releasing section arranged along the first direction: when the pin slides to the locking section along the first direction, the pin is stuck at the locking section to lock the quick-change box on the drive platform; when the pin slides to the releasing section along the first direction, the pin can be pulled out from the socket to allow the drive platform to release the quick-change box; wherein the pin is arranged on one of the drive platform and the quick-change box, and the locking member is arranged on the other.

[0005] According to the interventional surgery control system of an embodiment of the present invention, by providing a movable slot, a socket and a pin that can slide along the first direction, the operator can easily control the locking and unlocking of the quick-change box. The specific design of the pin and the movable slot ensures that the quick-change box is not easy to fall off in the locked state, and the unlocking operation is simple and quick without complicated steps. In addition, the design of the card plate and the guide slope in the movable slot further enhances the positioning accuracy and the convenience of operation, so that the quick-change box can be stably and reliably connected to the drive platform, solving the problems of the inconvenient operation, insufficient positioning accuracy and unstable fixation of the traditional quick-change box, and providing a more efficient and safe operation experience for interventional surgery.

[0006] According to some embodiments of the present invention, a pin groove is provided on the outer circumferential surface of the pin; a clamping plate is provided on the inner circumferential surface of the movable groove located at the locking section; when the pin slides to the locking section, at least part of the clamping plate is clamped in the pin groove; when the pin slides to the release section, the clamping plate leaves the pin groove.

[0007] Optionally, the clamping plate is in the shape of an arc strip, and both end portions of the clamping plate adjacent to the release section constitute edge portions; the thickness of the edge portions gradually decreases in a direction toward the release section.

[0008] According to some embodiments of the present invention, a surface of the edge portion facing the center of the movable groove is a guiding slope, and a distance between the guiding slope and an inner wall surface of the movable groove gradually decreases in a direction toward the release section.

[0009] In some optional embodiments, the quick-change mechanism also includes a guide box, a guide cavity extending along the first direction is provided in the guide box, and the locking member is slidably assembled in the guide cavity along the first direction; a first mating opening facing the socket is provided on the guide box, and the pin is inserted into the socket through the first mating opening.

[0010] According to some embodiments of the present invention, the quick-change mechanism further includes: an elastic element connected between the guide box and the locking member, the elastic element being used to push the locking member to a locking position, and when in the locking position, the locking section of the movable groove is opposite to the first mating port, so that the pin is retained on the locking section.

[0011] Specifically, a pin groove is provided on the outer circumferential surface of the pin, and a clamping plate is provided on the inner circumferential surface of the movable groove located in the locking section; the side of the clamping plate facing the release section is the first side, and the side of the first mating opening away from the release section is the second side; when the pin is located in the locking section, at least part of the clamping plate is stuck in the pin groove, and the elastic force of the elastic element pushes the locking piece to the locking position so that the pin is clamped between the first side and the second side.

[0012] Furthermore, the inner circumferential surface of the locking section away from the releasing section is a third side surface, the side of the clamping plate away from the socket is a fourth side surface, the third side surface, the fourth side surface and the first side surface are connected and constitute a step surface; when the pin is located in the locking section, the pin is in contact and connected with at least one of the step surfaces.

[0013] Optionally, the elastic element is located at one end of the guide cavity, and the other end of the guide cavity forms an opening, and the end of the locking member extends out of the guide box through the opening so that the locking member can be manually pushed.

[0014] In some optional embodiments, the locking member is further provided with a limiting portion for limiting the movement range of the locking member, and the limiting portion cooperates with the guide box.

[0015] Optionally, the guide box also includes a limit plate arranged in the guide cavity, and the limit plate is provided with a limit hole; the limit portion includes a limit column formed at the end of the locking member, and the limit column is engaged in the limit hole; the limit portion also includes a latching protrusion arranged at the end of the limit column.

[0016] According to some embodiments of the present invention, it also includes a motor drive mechanism arranged on the drive platform, and the motor drive mechanism also includes: a mounting box, wherein an assembly cavity is provided in the mounting box; a transmission assembly, wherein the transmission assembly is arranged in the assembly cavity, and the transmission assembly includes an input gear and an output gear connected with power, and a first matching hole is provided at the center of the output gear, and the first matching hole is a non-circular hole; a driving motor, wherein the driving motor is mounted on the mounting box, and the motor shaft of the driving motor is connected to the input gear to transmit power; an output shaft, wherein one end of the output shaft is assembled in the first matching hole, and the other end of the output shaft is located outside the mounting box, and the output shaft is movable along the axial direction of the output shaft; an elastic member, wherein the elastic member connects the output shaft and the output gear, and the elastic member is used to push a part of the output shaft out of the mounting box.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] Figure 1 A schematic diagram of alignment before assembly of a drive platform and a quick-change box in some embodiments of the present invention;

[0020] Figure 2 Schematic diagram of the positions of locking members and pins in some embodiments of the present invention;

[0021] Figure 3 It is a schematic diagram of the structure of the locking member of some embodiments of the present invention;

[0022] Figure 4 is a cross-sectional view of a locking member according to some embodiments of the present invention;

[0023] Figure 5 is a three-dimensional diagram of a locking member according to some embodiments of the present invention;

[0024] Figure 6 A bottom view of a quick-change box according to some embodiments of the present invention;

[0025] Figure 7 A three-dimensional diagram of a quick-change box according to some embodiments of the present invention;

[0026] Figure 8 It is a schematic diagram of the structure of the pins of some embodiments of the present invention;

[0027] Fig. 9 for Figure 5 A partial enlarged view of the middle A;

[0028] Fig.10 It is a matching diagram of the locking member and the pin (when the pin is located in the locking section) in some embodiments of the present invention;

[0029] Fig.11 It is a matching diagram of the locking member and the pin (when the pin is in the release section) in some embodiments of the present invention;

[0030] Fig.12 It is a schematic assembly diagram of the quick-change mechanism of some embodiments of the present invention;

[0031] Fig.13 A three-dimensional diagram of a motor drive mechanism according to some embodiments of the present invention;

[0032] Fig.14 A three-dimensional diagram of a motor drive mechanism of some embodiments of the present invention with some parts hidden;

[0033] Fig.15It is a partial cross-sectional schematic diagram of the assembly relationship of the motor drive mechanism of some embodiments of the present invention;

[0034] Fig.16 Schematic diagram of the cooperation between the output shaft and the elastic member in the motor drive mechanism of some embodiments of the present invention;

[0035] Fig.17 Schematic diagram of the assembly of the transmission assembly and the output shaft according to some embodiments of the present invention.

[0036] Reference numerals:

[0037] Interventional surgery control system 100, drive platform 10, quick change box 20,

[0038] Quick-change mechanism 30, locking member 1, limiting portion 11, limiting column 111, clamping protrusion 113, movable groove 2, socket 21, locking section 22, clamping plate 221, edge portion 2211, guide slope 2211a, release section 23, pin 3, pin groove 31, guide box 4, guide cavity 41, first matching port 42, opening 43, limiting plate 44, limiting hole 441, elastic element 5, first side surface f1, second side surface f2, third side surface f3, fourth side surface f4,

[0039] The motor drive mechanism 60 , the installation box 61 , the assembly cavity 611 , the transmission assembly 62 , the input gear 621 , the output gear 622 , the first matching hole 6221 , the drive motor 63 , the output shaft 64 , and the elastic member 65 . DETAILED DESCRIPTION

[0040] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0041] In the description of the present invention, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "inner", "outer", "axial" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation and be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] Reference below Figure 1-Figure 11 An interventional surgery control system 100 according to an embodiment of the present invention is described.

[0044] like Figure 1 As shown, an interventional surgery control system 100 according to an embodiment of the present invention includes a driving platform 10 , a quick-change box 20 and a quick-change mechanism 30 .

[0045] It should be noted that the drive platform 10 is responsible for providing a stable driving force. During interventional surgery, the drive platform 10 can analyze the motion parameters required by the doctor according to the doctor's operating instructions through algorithms. These motion parameters include but are not limited to: speed, acceleration, etc., and convert these parameters into actual driving force and transmit them to the subsequent operation of mechanical components.

[0046] The quick-change box 20 is the intermediate link between the drive platform 10 and surgical instruments (such as guide wires, catheters, stents, etc.). Through the detachable connection between the quick-change box 20 and the drive platform 10, the quick-change box 20 can be quickly replaced, thereby improving the flexibility of the instrument and the convenience of operation during interventional surgery.

[0047] The quick-change mechanism 30 is directly responsible for the quick connection and disconnection between the quick-change box 20 and the driving platform 10. Specifically, the quick-change box 20 is detachably connected to the driving platform 10 through the quick-change mechanism 30.

[0048] Among them, combined Figure 1-Figure 2 The quick-change mechanism 30 includes a locking member 1 and a pin 3. The locking member 1 is provided with a movable groove 2, and a socket 21 is formed on one side of the movable groove 2. The pin 3 can be inserted into the movable groove 2 from the socket 21 and can slide in the movable groove 2 along a first direction.

[0049] In the above technical solution, the locking member 1 is installed on one of the drive platform 10 or the quick-change box 20, and the locking member 1 is provided with a movable groove 2, and a socket 21 is formed on one side of the movable groove 2. The interior of the movable groove 2 is divided into two parts, a locking section 22 and a release section 23, along a first direction. Here, the first direction is the direction in which the quick-change box 20 is installed. Usually, the drive platform 10 is elongated, and here, the first direction is also the width direction of the drive platform 10. In some solutions, the first direction can also be the length direction of the drive platform 10, or there is a certain angle between the first direction and the length direction. The present invention does not limit the specific direction of the first direction. For the convenience of description, the first direction is taken as the width direction of the drive platform 10 in this application for description, and no further details are given below.

[0050] The pin 3 is installed on the other of the driving platform 10 and the quick-change box 20 . The pin 3 can be inserted into the movable slot 2 through the insertion opening 21 and move along the first direction in the movable slot 2 .

[0051] Here, in order to achieve rapid locking and releasing of the quick-change box 20 on the driving platform 10 , the sliding movement of the pin 3 can be controlled by external operation or internal mechanism.

[0052] The external operation may be that the doctor directly pushes the pin 3 or the movable slot 2 itself to achieve the relative movement of the pin 3 and the movable slot 2.

[0053] Alternatively, the relative movement between the pin 3 and the movable slot 2 is achieved by pushing the component connected to the pin 3 or pushing the component connected to the movable slot 2.

[0054] For example, a slider may be provided on the quick-change box 20 or the drive platform 10, and the slider is used to be connected to the locking member 1 or the pin 3. When the slider is pushed, the locking member 1 or the pin 3 slides along the first direction, thereby enabling the pin 3 to move to the locking section 22 or the release section 23 in the movable groove 2. It should be understood that the technical solution of the present application is not limited to the use of a slider, and in some solutions, a pull ring may also be provided on the quick-change box 20 or the drive platform 10. For example, a pull ring is provided on the drive platform 10, and the pull ring is connected to the locking member 1. When the pull ring is pulled, the locking member 1 slides along the first direction, thereby enabling the pin 3 to slide relative to each other.

[0055] The internal mechanism can be an electric push rod, an electromagnet, or other devices. When the internal mechanism is an electric push rod, the push rod can be driven by a motor to push the pin 3 to move in the movable slot 2; when the internal mechanism is an electromagnet, an electromagnet can be set on the drive platform 10 or the quick-change box 20, and the magnetic force of the electromagnet can be controlled by current to attract or repel the pin 3, so that it can slide in the movable slot 2.

[0056] See also Figure 3-Figure 5The movable slot 2 includes a locking section 22 and a release section 23 arranged along the first direction: when the pin 3 slides along the first direction to the locking section 22, the pin 3 is stuck at the locking section 22, so that the quick-change box 20 is locked on the driving platform 10. When the pin 3 slides along the first direction to the release section 23, the pin 3 can be pulled out from the socket 21, so that the driving platform 10 releases the quick-change box 20. The pin 3 is arranged on one of the driving platform 10 and the quick-change box 20, and the locking member 1 is arranged on the other.

[0057] In order to ensure that the pin 3 is firmly fixed in the locking section 22 and prevent it from sliding along the first direction, the locking section 22 can be fixed in a variety of ways, such as structural fixing, magnetic fixing or friction fixing.

[0058] In some optional embodiments, the locking segment 22 fixes the pin 3 through a structure. For example, a protrusion or a groove is constructed inside the locking segment 22, and a structure that matches the protrusion or the groove is constructed on the pin 3 to form a snap-on fixation. When the pin 3 slides to the locking segment 22, the protrusion or the groove clamps the pin 3, so that it cannot slide along the first direction. Alternatively, an elastic clamp arm is provided inside the locking segment 22, and when the pin 3 slides to the locking segment 22, the elastic clamp arm clamps the pin 3 to provide additional fixing force. Alternatively, a wedge-shaped structure is constructed inside the locking segment 22, and when the pin 3 slides to the locking segment 22, the wedge-shaped structure gradually increases the friction force, making it difficult for the pin 3 to slide out.

[0059] In some other optional embodiments, a magnet is provided inside the locking section 22 or on the pin 3, and the pin 3 is fixed in the locking section 22 by magnetic force. When the pin 3 slides to the locking section 22, the attraction generated by the magnet firmly fixes the pin 3. Alternatively, an electromagnet is provided inside the locking section 22, and the magnetic force of the electromagnet is controlled by current to achieve the fixing and release of the pin 3. When the pin 3 needs to be fixed, the electromagnet generates magnetic force by powering on; when the pin 3 needs to be released, the electromagnet loses its magnetic force by powering off.

[0060] In some other optional embodiments, a high friction material is provided inside the locking section 22. For example, a rubber piece or a Teflon piece. When the pin 3 slides to the locking section 22, the high friction material piece not only increases the friction force, but also forms an interference fit between the locking section 22 and the pin 3, thereby achieving a firm fixation of the pin 3.

[0061] The release section 23 is a part of the movable groove 2 and is located opposite to the locking section 22. The purpose of the release section 23 is to enable the pin 3 to slide easily along the first direction and finally be pulled out from the socket 21.

[0062] Optionally, the inner surface of the release section 23 is configured to be a relatively smooth shape, which can reduce the friction force when the pin 3 slides, and ensure that the pin 3 moves smoothly.

[0063] The pin 3 in the quick-change mechanism 30 is disposed on one of the drive platform 10 and the quick-change box 20 , and the locking member 1 is disposed on the other.

[0064] In some specific technical solutions, combined with Figure 1 , Figure 6-Figure 7 , the pin 3 is arranged on the driving platform 10, and the locking member 1 is arranged on the quick-change box 20. In this way, the pin 3 is fixed at a certain position of the driving platform 10, or is fixedly connected to the driving platform 10 through an intermediate member such as a supporting member, or the pin 3 and the driving platform 10 are an integrally formed member. The locking member 1 can be directly formed on the quick-change box 20 in an integrally formed manner, or the locking member 1 can be connected to the quick-change box 20 through an intermediate structure.

[0065] According to the above technical solution, a specific installation process of the quick-change box 20 is described:

[0066] First, align the quick-change box 20 with the drive platform 10 , and align the pin 3 with the socket 21 on the locking member 1 .

[0067] Then, the pin 3 is inserted into the movable slot 2 from the socket 21 .

[0068] Next, the pin 3 is pushed to slide along the first direction to the locking section 22. When the pin 3 reaches the locking section 22, the structure of the locking section 22 clamps the pin 3, so that it cannot slide along the first direction, thereby achieving the locking of the quick-change box 20.

[0069] The disassembly process is just the opposite of the installation process: the pin 3 is pushed to slide along the first direction to the release section 23. When the pin 3 reaches the release section 23, the smooth structure of the release section 23 allows the pin 3 to slide freely.

[0070] Next, the quick-change box 20 is pulled out, so that the pin 3 is completely pulled out from the socket 21 of the locking member 1 , thereby achieving the release of the quick-change box 20 by the driving platform 10 .

[0071] In some other specific technical solutions, the pin 3 is arranged on the quick-change box 20, and the locking member 1 is arranged on the driving platform 10. In this technical solution, the installation and removal process of the quick-change box 20 is similar to that of the previous technical solution, so it is not repeated here.

[0072] In order to improve the connection stability between the quick-change box 20 and the drive platform 10, there are at least two pins 3, and the number of locking members 1 is adapted to the pins 3. By providing multiple pins 3 and locking members 1, a firm connection between the quick-change box 20 and the drive platform 10 is ensured.

[0073] Combination Figure 1When there are three pins 3, the three pins 3 are configured not to be in the same straight line. Such a layout can further enhance the multi-directional stability and torsion resistance of the connection between the quick-change box 20 and the drive platform 10.

[0074] In some optional embodiments, in order to improve the stability of the connection and the flexibility of operation, two movable grooves 2 are provided on the locking member 1. Two pins 3 are also provided on the driving platform 10 at positions corresponding to the movable grooves 2. The two pins 3 match the movable grooves 2 on the locking member 1, and when the locking member 1 is docked with the driving platform 10, the pins 3 can be smoothly inserted into the corresponding movable grooves 2. Such a design not only ensures a stable connection between the locking member 1 and the driving platform 10, but also allows the locking member 1 to be fine-tuned within a certain range to adapt to different working requirements or compensate for minor errors during the installation process.

[0075] According to some embodiments of the present invention, Figure 8 As shown, a pin groove 31 is provided on the outer peripheral surface of the pin 3. Figure 3-Figure 5 A clamping plate 221 is provided on the inner circumference of the movable groove 2 located at the locking section 22. When the pin 3 slides to the locking section 22, at least part of the clamping plate 221 is clamped in the pin groove 31. When the pin 3 slides to the release section 23, the clamping plate 221 leaves the pin groove 31.

[0076] In the above technical solution, when the pin 3 slides to the locking section 22, the pin 3 is fixed to the locking member 1 through the cooperation between the clamping plate 221 and the pin groove 31, thereby achieving a fixed connection between the quick-change box 20 and the drive platform 10. The depth and width of the pin groove 31 are adapted to the clamping plate 221, which can ensure that the clamping plate 221 is firmly inserted without affecting the sliding performance of the pin 3.

[0077] Optionally, the pin groove 31 is an annular groove. The annular groove refers to a complete groove around the outer circumference of the pin 3. The structure of the annular groove makes the fixation of the pin 3 in the locking section 22 more uniform and stable. Alternatively, the pin groove 31 can also be a semi-annular groove. The semi-annular groove refers to a groove formed partially around the outer circumference of the pin 3. The structure of the semi-annular groove not only ensures the fixation of the pin 3 in the locking section 22, but also retains the structural strength of the pin 3, avoids deformation of the semi-annular groove, and improves the reliability of the fixation of the clamping plate 221 and the pin groove 31.

[0078] Optionally, the number of the pin slots 31 is at least one, and the number of the card plates 221 is adapted to the pin slots 31. When the number of the pin slots 31 and the card plates 221 increases to two or more, these pin slots 31 will be arranged at a certain interval along the axial direction of the pin 3. This design allows the pin 3 to be locked with the locking member 1 at multiple positions, thereby enhancing the stability of the connection. At the same time, multiple card plates 221 will also be arranged at corresponding intervals along the same direction as the pin slots 31. These card plates 221 can be tightly matched with the pins 3 in the pin slots 31, further consolidating the connection between the quick-change box 20 and the drive platform 10.

[0079] Contrary to the locking section 22 , when the pin 3 slides to the releasing section 23 , the clamping plate 221 gradually disengages from the pin slot 31 , so that the locking member 1 is disengaged from the pin 3 , thereby completing the separation of the quick-change box 20 and the driving platform 10 .

[0080] Optionally, see Figure 5 The clamping plate 221 is in an arc strip shape, and the two ends of the clamping plate 221 adjacent to the release section 23 constitute edge portions 2211. The thickness of the edge portions 2211 gradually decreases in the direction toward the release section 23.

[0081] In the above technical solution, the edge portion 2211 is the portion that the pin groove 31 directly contacts during the locking process and the releasing process.

[0082] During the locking process, when the pin 3 slides to the locking section 22, the edge portion 2211 will contact the pin groove 31. Since the thickness of the edge portion 2211 gradually decreases in the direction toward the release section 23, this structure enables the edge portion 2211 to gradually adapt to the shape of the pin groove 31 during the contact process, thereby playing a guiding role. This guiding role helps to ensure the precise alignment between the pin 3 and the pin groove 31, and improves the stability and reliability of the locking.

[0083] During the release process, when the pin 3 slides to the release section 23, the edge portion 2211 gradually leaves the pin slot 31. As the thickness of the edge portion 2211 gradually decreases, the resistance encountered by the clamping plate 221 when leaving the pin slot 31 gradually decreases, thereby achieving smooth separation. This smooth separation not only reduces friction and wear during the release process, but also improves the efficiency and service life of the quick-change mechanism 30.

[0084] According to some embodiments of the present invention, Figure 5 and Fig. 9 The surface of the edge portion 2211 facing the center of the movable groove 2 is a guiding slope 2211 a , and the distance between the guiding slope 2211 a and the inner wall surface of the movable groove 2 gradually decreases in the direction toward the release section 23 .

[0085] In the above technical solution, the surface of the edge portion 2211 of the clamping plate 221 facing the center of the movable groove 2 is configured as a guide slope 2211a. The guide slope 2211a is a gradually inclined surface, and the distance between it and the inner wall surface of the movable groove 2 gradually decreases in the direction toward the release section 23. In this way, the edge portion 2211 can transition more smoothly when contacting the pin groove 31, thereby reducing friction and wear, and helping to improve the smoothness of locking and releasing.

[0086] Specifically, during the locking process, when the pin 3 slides to the locking section 22, the guiding slope 2211a of the edge portion 2211 contacts the corresponding portion of the pin groove 31. Due to the design of the guiding slope 2211a, the edge portion 2211 can gradually adapt to the shape of the pin groove 31, thereby ensuring the precise alignment between the pin 3 and the pin groove 31. This precise alignment not only improves the stability of the locking, but also reduces the friction and wear caused by misalignment.

[0087] On the contrary, during the release process, when the pin 3 slides to the release section 23, the guide slope 2211a of the edge portion 2211 will gradually leave the pin slot 31. Since the distance between the guide slope 2211a and the inner wall of the movable slot 2 gradually decreases, this design makes the resistance encountered by the clamping plate 221 when leaving the pin slot 31 gradually decrease, thereby achieving smoother separation. This smooth separation not only improves the efficiency of the quick-change mechanism 30, but also reduces the heat and wear generated by friction, thereby extending the service life of the quick-change mechanism 30.

[0088] In some optional embodiments, combined with Figure 10-11 The quick-change mechanism 30 further includes a guide box 4, in which a guide cavity 41 extending along a first direction is provided, and the locking member 1 is slidably assembled in the guide cavity 41 along the first direction. A first matching opening 42 facing the socket 21 is provided on the guide box 4, and the pin 3 is inserted into the socket 21 through the first matching opening 42.

[0089] By assembling the locking member 1 in the guide cavity 41 , the stability and accuracy of the locking member 1 during movement can be ensured, and the physical limitation of the guide cavity 41 can effectively prevent the locking member 1 from accidentally deviating or falling off.

[0090] In order to ensure that the pin 3 can accurately dock with the socket 21 on the locking member 1, a first matching port 42 facing the socket 21 is provided on the guide box 4. It is known that the position and size of the first matching port 42 are adapted to the position and size of the socket 21. Specifically, the position and size of the first matching port 42 can be exactly the same as the position and size of the socket 21, so that when the pin 3 passes through the first matching port 42, it can enter the socket 21 with the best posture and angle, thereby achieving a firm locking connection. Alternatively, the size of the first matching port 42 can be slightly larger than the size of the socket 21. Such a design can provide a certain tolerance for the insertion process of the pin 3. In actual operation, due to the influence of various factors (such as manufacturing tolerance, installation error, etc.), the alignment between the pin 3 and the socket 21 may not always be perfect. Then. The size of the first matching port 42 is designed to be slightly larger than the size of the socket 21. Even if there is a slight alignment error between the pin 3 and the socket 21, the pin 3 can still smoothly enter the socket 21 through the first matching port 42.

[0091] Optionally, chamfers may be provided at the corners of the first mating opening 42 to guide the insertion of the pin 3 to a certain extent, thereby reducing errors in the installation operation and improving the installation efficiency of the quick-change box 20 .

[0092] In some optional embodiments, the guide box 4 is arranged on the quick-change box 20, or the guide box 4 and the quick-change box 20 are integrally formed. Among them, the guide box 4 and the quick-change box 20 can be processed and formed at one time, and optionally, the guide box 4 and the quick-change box 20 can be integrally cast. Of course, the present invention is not limited to this, and the guide box 4 can also be processed on the basis of the quick-change box 20. At this time, the guide box 4 and the quick-change box 20 can be formed after two processing steps. It can be understood that no matter what the specific processing order of the guide box 4 and the quick-change box 20 is, as long as the guide box 4 and the quick-change box 20 are an integrated structure after the overall processing is completed.

[0093] Combination Figure 6-Figure 7 It can be known that when the guide box 4 and the quick-change box 20 are integrally formed, the first matching opening 42 is formed on the quick-change box 20 .

[0094] According to some embodiments of the present invention, the quick change mechanism 30 also includes: an elastic element 5 connected between the guide box 4 and the locking member 1, the elastic element 5 is used to push the locking member 1 to a locking position, and when in the locking position, the locking section 22 of the movable groove 2 is opposite to the first mating port 42, so that the pin 3 is retained on the locking section 22.

[0095] In the above technical solution, the elastic force characteristics of the elastic element 5 are utilized to provide a continuous and stable thrust to the locking member 1 so that it can automatically reset to the locking position.

[0096] That is to say, when the quick-change box 20 is installed on the driving platform 10, the locking member 1 can be pushed manually or in other ways to overcome the elastic force of the elastic element 5, slide the locking member 1 along the guide cavity 41 of the guide box 4, and push the locking member 1 until the release section 23 of the movable groove 2 is opposite to the first matching opening 42. At this time, the pin 3 can be inserted into the release section 23 of the movable groove 2 through the first matching opening 42. Then the locking member 1 is released, and the elastic element 5 releases the elastic force to push the locking member 1, and the locking member 1 is pushed until the locking section 22 of the movable groove 2 is opposite to the first matching opening 42. At this time, the pin 3 is stuck at the locking section 22, so that the quick-change box 20 is locked on the driving platform 10. Even if the driving platform 10 shakes during use, due to the elastic force of the elastic element 5, the locking member 1 can be kept in the locked position of the clamping pin 3, that is, the quick-change box 20 can be kept in the position locked on the driving platform 10.

[0097] Combination Figure 10-11 The elastic element 5 can be a spring, or the elastic element 5 can also be an elastic sheet or other elastic materials. The elastic element 5 is connected between the guide box 4 and the locking member 1 to provide a thrust to keep the locking member 1 in the locked position.

[0098] Optionally, the elastic element 5 is located at one end of the guide cavity 41 , and the other end of the guide cavity 41 forms an opening 43 , and the end of the locking member 1 extends out of the guide box 4 through the opening 43 for manual pushing of the locking member 1 .

[0099] This design makes the movement of the locking member 1 more intuitive, and at the same time facilitates the user to lock and release the quick-change box 20 through manual operation.

[0100] Specifically, combined Fig.10 In the initial state, the elastic element 5 is in a naturally stretched state, and the locking member 1 is in a locked position. When the locking member 1 is in the locked position, the locking section 22 of the movable groove 2 faces the first matching opening 42, so that the pin 3 is retained on the locking section 22.

[0101] The user manually pushes the locking member 1 outside the opening 43 of the guide cavity 41 to move the locking member 1 along the first direction in the guide cavity 41 until the release section 23 on the movable groove 2 is aligned with the first matching opening 42 .

[0102] Next, combine Fig.11 , insert the pin 3 into the movable slot 2 from the first matching opening 42 and into the release section 23 .

[0103] Then, re-combine Fig.10 After the user releases his hand, the locking member 1 automatically resets under the action of the elastic element 5, so that the locking section 22 on the movable groove 2 is aligned with the first matching opening 42, and the pin 3 then enters the locking section 22 to complete the locking of the quick-change box 20.

[0104] Under the thrust of the elastic element 5 , the locking member 1 is continuously maintained on the locking section 22 , ensuring the firm fixation of the pin 3 , thereby achieving stable locking of the quick-change box 20 , and preventing accidental loosening or falling off during surgery.

[0105] When the quick-change box 20 needs to be removed, the user manually pushes the locking member 1 outside the opening 43 of the guide cavity 41 to move the locking member 1 in the guide cavity 41 until the release section 23 on the movable groove 2 is aligned with the first matching opening 42, at which time, the pin 3 slides from the locking section 22 to the release section 23.

[0106] When the pin 3 is released, the user can completely pull the pin 3 out of the socket 21, thereby releasing the quick-change box 20 from the drive platform 10. After removing the quick-change box 20, the user releases his hand, and the locking member 1 automatically resets under the action of the elastic element 5, returns to the initial state, and is ready for the next installation.

[0107] In some specific embodiments, Fig.12 As shown, a pin groove 31 is provided on the outer circumference of the pin 3 , and a clamping plate 221 is provided on the inner circumference of the movable groove 2 located at the locking section 22 .

[0108] The side of the clamping plate 221 facing the release section 23 is the first side f1, and the side of the first matching opening 42 facing away from the release section 23 is the second side f2. When the pin 3 is located in the locking section 22, at least part of the clamping plate 221 is stuck in the pin groove 31, and the elastic force F of the elastic element 5 pushes the locking member 1 to the locking position, so that the pin 3 is clamped between the first side f1 and the second side f2.

[0109] Specifically, the width of the first matching opening 42 in the first direction is smaller than the width of the socket 21 in the first direction. When the locking member 1 slides to the release position along the first direction, the first matching opening 42 can face the release section 23 of the socket 21. When the locking member 1 slides to the locking position along the first direction, the first matching opening 42 can face the locking section 22 of the socket 21. After the pin 3 is inserted into the release section 23 through the first matching opening 42, the locking member 1 automatically slides to the locking position relative to the pin 3 under the push of the elastic force F of the elastic element 5. And under the push of the elastic force F of the elastic element 5, the first side surface f1 of the clamping plate 221 is pushed toward the second side surface f2 of the first matching opening 42, so that the pin 3 is clamped between the first side surface f1 and the second side surface f2, and the pin 3 is limited relative to the locking member 1 in the first direction.

[0110] When the pin 3 is clamped between the first side surface f1 and the second side surface f2 , the elastic force F of the elastic element 5 is balanced, so that the locking member 1 remains stationary relative to the guide box 1 .

[0111] Further, the inner peripheral surface of the locking section 22 away from the release section 23 is the third side surface f3, and the side surface of the clamping plate 221 away from the socket 21 is the fourth side surface f4. The third side surface f3, the fourth side surface f4 and the first side surface f1 are connected and form a step surface. When the pin 3 is located in the locking section 22, the pin 3 is in contact with and connected to at least one of the third side surface f3 and the first side surface f1 of the step surface. The diameter of the first matching port 42 can be slightly larger than the diameter of the pin 3, so that it is convenient for the pin 3 to pass through the first matching port 42. During the installation process, not only under the push of the elastic force F of the elastic element 5, the locking member 1 automatically slides to the locking position relative to the pin 3, but also the operator can slightly push the quick-change box 20 in the opposite direction of the elastic force F of the elastic element 5, so that the pin 3 can be in contact with and connected to at least one of the third side surface f3 and the first side surface f1 of the step surface, so that the pin 3 can be clamped in the first direction. The first direction is the direction that is often tilted downward in the use scenario of the interventional surgical instrument control system, so that the stability of the use of the medical device can be ensured.

[0112] At this time, refer to Fig.12 The first side surface f1 and the third side surface f3 form three continuous step surfaces extending in the axial direction of the pin 3. Even more continuous step surfaces can be formed by matching the inner side surface of the first matching opening 42. The friction force in the direction formed between the step surface and the pin 3 can ensure the clamping effect on the pin 3.

[0113] In some optional embodiments, the locking member 1 is further provided with a limiting portion 11 for limiting the movement range of the locking member 1 , and the limiting portion 11 cooperates with the guide box 4 .

[0114] The function of the limiting portion 11 is to limit the movement range of the locking member 1 in the guide box 4, ensuring that the locking member 1 always remains in the correct position during the locking and releasing process, thereby achieving reliable locking and unlocking functions.

[0115] Therefore, the size and shape of the limit portion 11 need to accurately match the corresponding portion on the guide box 4. In this way, when the locking member 1 moves, the limit portion 11 can fit closely on the corresponding position of the guide box 4 to prevent the locking member 1 from exceeding the predetermined movement range.

[0116] For example, the limiting portion 11 can be a protrusion, a groove or a structure of other shapes on the locking member 1, and these structures can be closely matched with corresponding parts (such as inner walls, flanges or notches) on the guide box 4. When the locking member 1 moves in the guide box 4, the limiting portion 11 will contact these parts of the guide box 4, thereby limiting the further movement of the locking member 1.

[0117] Optionally, combined Figure 10-11The guide box 4 further includes a limit plate 44 disposed in the guide cavity 41, and a limit hole 441 is provided on the limit plate 44. The limit portion 11 includes a limit column 111 formed at the end of the locking member 1, and the limit column 111 is fitted in the limit hole 441; the limit portion 11 further includes a clamping protrusion 113 disposed at the end of the limit column 111.

[0118] In the above technical solution, the limiting plate 44 is a flat plate structure fixed in the guide cavity 41, and is provided with limiting holes 441. The positions and sizes of these limiting holes 441 can be precisely matched with the limiting portions 11 on the locking member 1.

[0119] The limiting column 111 is a cylindrical or similar structure formed at the end of the locking member 1. Its size and shape match the limiting hole 441 on the limiting plate 44 in the guide box 4, so that the limiting column 111 can be smoothly inserted into the limiting hole 441. When the locking member 1 moves in the guide cavity 41, the limiting column 111 will slide in the limiting hole 441, thereby limiting the movement range of the locking member 1.

[0120] The locking protrusion 113 is a protruding structure provided at the end of the limiting column 111. Its main function is to enhance the tightness of the fit between the limiting column 111 and the limiting hole 441, and prevent the locking member 1 from accidentally falling off or shaking during the movement.

[0121] When the locking member 1 moves in the guide cavity 41, the limiting column 111 is located in the limiting hole 441 and slides therein. At the same time, the locking protrusion 113 will fit tightly at the corresponding position of the limiting hole 441 to ensure that the locking member 1 does not exceed the predetermined movement range. This matching mechanism not only improves the stability and accuracy of the locking member 1, but also enhances the reliability and durability of the quick-change mechanism 30.

[0122] In some specific embodiments, there are two limiting posts 111 spaced apart, and the two limiting posts 111 are located on the same side of the locking member 1. A clamping protrusion 113 is provided on the side away from each other of each limiting post 111. The clamping protrusion 113 structure can ensure that the locking member 1 fits on the edge of the limiting hole 441 of the limiting plate 44 in the guide box 4.

[0123] It is worth noting that when the locking member 1 is first installed, a slight external force is applied to the two limiting posts 111 of the locking member 1 toward each other to cause slight elastic deformation. In this way, the distance between the two limiting posts 111 and the protrusions 113 thereon is reduced, which is enough to allow them to smoothly pass through the limiting holes 441 on the limiting plate 44 in the guide box 4.

[0124] While maintaining a slight deformation, the locking member 1 is pushed into the guide cavity 41 until the two limiting columns 111 completely pass through the limiting holes 441 .

[0125] Once the limiting column 111 passes through the limiting hole 441, the external force previously applied can be released. At this time, due to the elastic restoring force of the limiting column 111, they will quickly return to their original shape. In this way, when the locking member 1 moves to the locking section 22, the locking protrusion 113 will fit tightly on the corresponding position of the limiting hole 441 to achieve abutment with the limiting plate 44. In this way, the locking member 1 is firmly fixed in the guide box 4 and cannot be easily removed.

[0126] In order to facilitate the initial installation of the protrusion 113, the edge of the protrusion 113 is chamfered, so that the protrusion 113 can slide into the limiting hole 441 more smoothly, reducing friction and resistance during the installation process, thereby improving the installation efficiency, and also protecting the limiting hole 441 and the protrusion 113 from damage.

[0127] According to some embodiments of the present invention, alignment marks are provided on the driving platform 10 and the quick-change box 20 .

[0128] Optionally, clearly visible alignment marks are provided at the set position of the drive platform 10. These marks include but are not limited to lines, arrows, dots or other easily recognizable graphics, thereby helping the operator to quickly and accurately find the insertion position of the pin 3.

[0129] Likewise, alignment marks matching the alignment marks on the drive platform 10 are also provided at corresponding positions of the quick-change box 20. Likewise, these marks include but are not limited to lines, arrows, dots or other easily identifiable graphics.

[0130] Therefore, by setting the alignment marks, users can complete assembly work quickly and accurately without spending a lot of time on debugging and correction.

[0131] Moreover, the alignment marks make the assembly process more intuitive and easy to understand, and even users who are new to the quick-change mechanism 30 can easily get started.

[0132] According to some embodiments of the present invention, Figure 13-Figure 17As shown, the interventional surgery control system 100 also includes a motor drive mechanism 60 arranged on the drive platform 10, and the motor drive mechanism 60 also includes: a mounting box 61, a transmission assembly 62, a drive motor 63, an output shaft 64 and an elastic member 65. An assembly chamber 611 is provided in the mounting box 61. The transmission assembly 62 is arranged in the assembly chamber 611, and the transmission assembly 62 includes an input gear 621 and an output gear 622 connected to power, and a first matching hole 6221 is provided at the center of the output gear 622, and the first matching hole 6221 is a non-circular hole. The drive motor 63 is installed on the mounting box 61 and is located outside the mounting box 10, and the motor shaft 631 of the drive motor 63 is connected to the input gear 621 to transmit power. One end of the output shaft 64 is assembled in the first matching hole 6221, and the other end of the output shaft 64 is located outside the mounting box 61, and the output shaft 64 is movable along the axial direction of the output shaft 64. The elastic member 65 connects the output shaft 64 and the output gear 622, and the elastic member 65 is used to push a part of the output shaft 64 out of the mounting box 61.

[0133] In the above technical solution, the installation box 61 is the main body of the whole mechanism. Optionally, the installation box 61 is made of high-strength and high-durability material. An assembly chamber 611 is provided inside the installation box 61. The assembly chamber 611 provides a stable working environment for the transmission assembly 62 and the drive motor 63, and protects the internal parts from interference from the external environment.

[0134] The installation box 61 not only serves as a supporting structure, but can also be provided with installation grooves, positioning holes, etc. to ensure accurate installation and positioning of multiple components inside it.

[0135] The transmission assembly 62 includes an input gear 621 and an output gear 622 connected by power. The input gear 621 is directly connected to the motor shaft 31 of the drive motor 63, and can seamlessly receive the driving force from the drive motor 63. The output gear 622 is connected to the output shaft 64 through the first matching hole 6221 at its center, and transmits power to the output shaft 64, thereby achieving direct and efficient transmission of power to the output shaft 64. This arrangement can effectively reduce the need for additional connecting elements such as couplings, not only simplifying the structure of the transmission system, but also reducing the overall weight. The motor drive mechanism 60 occupies a smaller volume during surgery, thereby providing doctors with more surgical visual range, which helps to improve the accuracy and safety of the surgery.

[0136] The first matching hole 6221 is designed as a non-circular hole. In this way, the alignment between the output shaft 64 and the output gear 622 can be ensured by the design of the non-circular hole, so as to prevent the two from rotating relative to each other.

[0137] Optionally, the first matching hole 6221 may be designed as a triangle, or as a polygon such as a quadrilateral.

[0138] In some optional embodiments, when the first matching hole 6221 is a non-circular hole, a chamfer is set at the corner. By setting a chamfer to form a slope or a rounded corner, on the one hand, the sharp part at the corner can be eliminated, thereby dispersing stress and reducing damage to the workpiece that may be caused by stress concentration. On the other hand, the corner after the chamfer is set is smoother, which is conducive to the smooth insertion and positioning of the output shaft 64, reducing the difficulty and time of assembly, and improving assembly efficiency.

[0139] The drive motor 63 is mounted on the mounting box 61. Optionally, the drive motor 63 can be fixed by a motor mounting plate or by directly mounting on the mounting box 61. The motor shaft 31 of the drive motor 63 is connected to the input gear 621 by power. Optionally, the motor shaft 31 and the input gear 621 are connected by a keyway, a pin, etc.

[0140] Combination Figure 13-Figure 14 The driving motor 63 is installed on the side of the installation box 61, and the other components are mainly installed in the assembly cavity 611 of the installation box 61. The motor driving mechanism 60 is arranged as a whole based on the installation box 61. When the interventional surgery control system requires 2, 3 or more motor driving mechanisms, it is convenient to install the motor driving mechanism in the interventional surgery control system, and at the same time, it is beneficial to ensure the consistency of the corresponding multiple roller assemblies in the installation box 61 and the driving shaft, so as to achieve fast and stable installation.

[0141] One end of the output shaft 64 is assembled in the first matching hole 6221 of the output gear 622, and the other end extends out of the installation box 61 for flexible connection with an external device. Optionally, the access end of the external device can be a connection hole or the like.

[0142] The cross section of the output shaft 64 is designed to be a structure that matches the size and shape of the first matching hole 6221 .

[0143] The elastic member 65 connects the output shaft 64 and the output gear 622 , and the elastic member 65 is used to push a portion of the output shaft 64 out of the mounting box 61 .

[0144] The elastic member 65 is connected between the output shaft 64 and the output gear 622, or directly acts on the output shaft 64. The elastic member 65 applies a continuous outward thrust to the output shaft 64. Thus, when the output shaft 64 is in an unconnected state, it is subjected to this outward force and tends to extend out of the mounting box 61. Once the output shaft 64 encounters a matching situation with the access end of the external device, the output shaft 64 can smoothly and automatically extend outward along its axial direction and enter the access end of the external device, thereby completing the connection and forming an effective power transmission.

[0145] Specifically, the output shaft 64 is movable along its axial direction. When the shape and size of the end of the output shaft 64 match the access end of the external device, it will automatically extend outward along the axial direction and smoothly insert into the external device, thereby achieving power transmission. On the contrary, if the cross-sectional shape or size of the output shaft 64 does not match the access end, it will remain in place and avoid unnecessary mechanical interference.

[0146] More specifically, when the motor drive mechanism 60 is installed on the drive platform 10, but the output shaft 64 does not match the angle of the drive shaft, the output shaft 64 cannot be connected to the drive shaft, and the output shaft 64 is squeezed into the installation box 61, thereby squeezing the elastic member 65. After the drive motor 63 is started, the output gear 622 is driven to rotate through the input gear 621, thereby driving the output shaft 64 to rotate. When the output shaft 64 rotates to an angle that matches the angle of the drive shaft, the output shaft 64 is pushed toward the drive shaft by the elastic force of the elastic member 65, so that the output shaft 64 is combined with the drive shaft to realize the power transmission of the output shaft 64 to the drive shaft. Moreover, during the transmission process, the output shaft 64 is squeezed by the elastic force of the elastic member 65, and the combination of the output shaft 64 and the drive shaft is reliable. This design allows the operator to manually adjust the angle of the output shaft 64 or the drive shaft when the motor drive mechanism 60 is connected to the drive shaft, thereby making the equipment replacement process faster.

[0147] Thus, the motor drive mechanism 60 and the output shaft 64 can automatically extend and dock when encountering a matching external device access terminal, without manual adjustment or additional auxiliary devices, thereby improving the accuracy and efficiency of docking, and correspondingly reducing the operation steps and complexity of the user when performing device replacement or docking, and reducing the requirements for operator skills. At the same time, this automated docking process can improve work efficiency, especially in scenarios where external devices need to be frequently replaced.

[0148] Reference below Figure 1 - Fig.11 The interventional surgery control system 100 according to the embodiment of the present invention is described in detail with a specific embodiment. It is worth noting that the following description is only an exemplary description and is not a specific limitation of the present invention.

[0149] Reference Figure 1 The interventional surgery control system 100 includes: a driving platform 10, a quick-change box 20 and a quick-change mechanism 30, wherein the quick-change box 20 is detachably connected to the driving platform 10 through the quick-change mechanism 30.

[0150] Reference Figure 1 , Fig.10 The quick-change mechanism 30 includes: a locking member 1, a pin 3, a guide box 4 and an elastic element 5.

[0151] Reference Figure 10-11The guide box 4 is arranged on the quick-change box 20, and a guide cavity 41 extending along a first direction is arranged in the guide box 4, and the locking member 1 is slidably assembled in the guide cavity 41 along the first direction.

[0152] Reference Figure 2-Figure 4 A movable groove 2 is provided on the locking member 1 , and a socket 21 is formed on one side of the movable groove 2 .

[0153] Reference Figure 6-Figure 7 The quick-change box 20 is provided with a first matching opening 42 facing the socket 21, and the pin 3 is inserted into the socket 21 through the first matching opening 42. Subsequently, the pin 3 further extends from the socket 21 to the movable groove 2 and can slide in the movable groove 2 along the first direction.

[0154] The elastic element 5 is connected between the guide box 4 and the locking member 1 and is located at one end of the guide cavity 41. The elastic element 5 is used to push the locking member 1 to the locking position, and in the locking position, the locking section 22 of the movable groove 2 is opposite to the first matching opening 42, so that the pin 3 is retained on the locking section 22.

[0155] Reference Figure 10-11 The other end of the guide cavity 41 forms an opening 43, and the end of the locking member 1 extends out of the guide box 4 through the opening 43 so that the locking member 1 can be manually pushed.

[0156] Reference Figure 10-11 The locking member 1 is also provided with a limiting portion 11. The limiting portion 11 is used to limit the moving range of the locking member 1, and the limiting portion 11 cooperates with the guide box 4.

[0157] The guide box 4 further includes a limiting plate 44 disposed in the guide cavity 41 , and a limiting hole 441 is provided on the limiting plate 44 .

[0158] The limiting portion 11 includes a limiting column 111 formed at the end of the locking member 1 and a locking protrusion 113 provided at the end of the limiting column 111 . The limiting column 111 is fitted in the limiting hole 441 .

[0159] Reference Figure 2-Figure 5 The movable slot 2 includes a locking section 22 and a releasing section 23 arranged along a first direction.

[0160] When the pin 3 slides to the locking section 22 along the first direction, the pin 3 is stuck at the locking section 22 so that the quick-change box 20 is locked on the driving platform 10 .

[0161] When the pin 3 slides along the first direction to the release section 23 , the pin 3 can be pulled out from the socket 21 , so that the driving platform 10 releases the quick-change box 20 .

[0162] The pin 3 is arranged on the driving platform 10 , and the locking member 1 is arranged on the quick-change box 20 .

[0163] Reference Figure 8 A pin groove 31 is provided on the outer peripheral surface of the pin 3.

[0164] A clamping plate 221 is provided on the inner circumference of the movable slot 2 located at the locking section 22. When the pin 3 slides to the locking section 22, at least part of the clamping plate 221 is clamped in the pin slot 31. When the pin 3 slides to the release section 23, the clamping plate 221 leaves the pin slot 31.

[0165] Reference Figure 5 , Fig. 9 The clamping plate 221 is in the shape of an arc strip, and the two end portions of the clamping plate 221 adjacent to the release section 23 constitute edge portions 2211. The thickness of the edge portion 2211 gradually decreases in the direction toward the release section 23. The surface of the edge portion 2211 facing the center of the movable groove 2 is a guide slope 2211a, and the distance between the guide slope 2211a and the inner wall surface of the movable groove 2 gradually decreases in the direction toward the release section 23.

[0166] Other structures and operations of the interventional surgery control system 100 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0167] A retractable support member may be provided between the interventional surgery control system 100 and the surgical incision to provide support during the delivery of instruments such as guidewires and catheters, and to retract and extend as the length of the extracorporeal guidewire and catheter and other medical instruments changes, which is not shown in the drawings.

[0168] In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0169] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An interventional surgery control system, characterized in that: It includes a driving platform, a quick-change box and a quick-change mechanism, wherein the quick-change box is detachably connected to the driving platform through the quick-change mechanism; The quick-change mechanism comprises: A locking member, wherein a movable groove is provided on the locking member, and a socket is formed on one side of the movable groove; A pin, which can be inserted into the movable groove from the socket and can slide in the movable groove along a first direction; The movable groove includes a locking section and a releasing section arranged along the first direction: When the pin slides to the locking section along the first direction, the pin is stuck at the locking section, so that the quick-change box is locked on the driving platform; When the pin slides along the first direction to the release section, the pin can be pulled out from the socket, so that the drive platform releases the quick-change box; Wherein, the pin is arranged on one of the driving platform and the quick-change box, and the locking member is arranged on the other one.

2. The interventional surgery control system according to claim 1, characterized in that: A pin groove is provided on the outer peripheral surface of the pin; A clamping plate is provided on the inner circumferential surface of the movable groove located at the locking section; When the pin slides to the locking section, at least a portion of the clamping plate is clamped in the pin groove; When the pin slides to the release section, the clamping plate leaves the pin slot.

3. The interventional surgery control system according to claim 2, characterized in that: The clamping plate is in the shape of an arc strip, and the two end portions of the clamping plate adjacent to the release section constitute edge portions; The thickness of the edge portion gradually decreases in a direction toward the release section.

4. The interventional surgery control system according to claim 3, characterized in that: The surface of the edge portion facing the center of the movable groove is a guiding slope, and the distance between the guiding slope and the inner wall surface of the movable groove gradually decreases in the direction toward the release section.

5. The interventional surgery control system according to claim 1, characterized in that: The quick-change mechanism further comprises a guide box, wherein a guide cavity extending along the first direction is provided in the guide box, and the locking member is slidably assembled in the guide cavity along the first direction; The guide box is provided with a first matching opening facing the socket, and the pin is inserted into the socket through the first matching opening.

6. The interventional surgery control system according to claim 5, characterized in that: The quick-change mechanism also includes: an elastic element connected between the guide box and the locking member, the elastic element is used to push the locking member to a locking position, and when in the locking position, the locking section of the movable groove is opposite to the first mating port, so that the pin is retained on the locking section.

7. The interventional surgery control system according to claim 6, characterized in that: A pin groove is provided on the outer circumferential surface of the pin, and a clamping plate is provided on the inner circumferential surface of the movable groove located at the locking section; The side of the clamping plate facing the release section is the first side, and the side of the first matching opening facing away from the release section is the second side. When the pin is located in the locking section, at least a portion of the clamping plate is clamped in the pin groove, and the elastic force of the elastic element pushes the locking member toward the locking position so that the pin is clamped between the first side surface and the second side surface.

8. The interventional surgery control system according to claim 7, characterized in that: The inner peripheral surface of the locking section away from the releasing section is a third side surface, the side of the clamping plate away from the socket is a fourth side surface, and the third side surface, the fourth side surface and the first side surface are connected to form a step surface; When the pin is located in the locking section, the pin is in contact with and connected to at least one of the step surfaces.

9. The interventional surgery control system according to claim 6, characterized in that: The elastic element is located at one end of the guide cavity, and the other end of the guide cavity forms an opening. The end of the locking member extends out of the guide box through the opening so that the locking member can be manually pushed.

10. The interventional surgery control system according to claim 6, characterized in that: The locking member is also provided with a limiting portion for limiting the moving range of the locking member, and the limiting portion cooperates with the guide box.

11. The interventional surgery control system according to claim 10, characterized in that: The guide box further comprises a limit plate arranged in the guide cavity, and the limit plate is provided with a limit hole; The limiting portion includes a limiting column formed at the end of the locking member, and the limiting column is fitted in the limiting hole; The limiting portion further includes a locking protrusion arranged at the end of the limiting column.

12. The interventional surgery control system according to any one of claims 1 to 11, characterized in that: It also includes a motor drive mechanism disposed in the inner cavity of the drive platform, and the motor drive mechanism also includes: An installation box, wherein an assembly cavity is provided in the installation box; A transmission assembly, the transmission assembly is arranged in the assembly cavity, the transmission assembly comprises an input gear and an output gear connected by power, a first matching hole is arranged at the center of the output gear, and the first matching hole is a non-circular hole; A driving motor, the driving motor is mounted on the mounting box and is located outside the mounting box, and a motor shaft of the driving motor is connected to the input gear to transmit power; An output shaft, one end of which is assembled in the first matching hole, the other end of which is located outside the mounting box, and the output shaft is movable along the axial direction of the output shaft; An elastic member is provided, wherein the elastic member connects the output shaft and the output gear, and the elastic member is used to push a part of the output shaft out of the installation box.

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