Surgical robot

Abstract

The invention relates to a surgical robot which comprises a mechanical arm, a power output device, a bend adjusting catheter adapter and an ablation catheter adapter. The power output device is connected to the mechanical arm; the bend-adjusting catheter adapter and the ablation catheter adapter are both connected to the power output device, and the bend-adjusting catheter adapter can drive a bend-adjusting hand wheel of the bend-adjusting catheter to rotate and can drive the bend-adjusting catheter to rotate around the axis of the bend-adjusting catheter; the ablation catheter adapter can drive the ablation bending adjusting wheel of the ablation catheter to rotate and can drive the ablation catheter to rotate around the axis of the ablation catheter adapter. Power is transmitted to the bend-adjusting catheter adapter and the ablation catheter adapter through the power output device, so that bend-adjusting operation and rotating operation of the bend-adjusting catheter and the ablation catheter are achieved, and the bend-adjusting catheter and the ablation catheter can be controlled through the bend-adjusting catheter adapter and the ablation catheter adapter respectively. Therefore, remote ablation treatment of atrial fibrillation of a patient is achieved, operation efficiency is improved, and operation time is shortened.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to surgical robots. Background Art

[0002] Atrial fibrillation is a common heart disease with irregular heart rhythm, which has a great impact on the patient's quality of life, causing palpitations and shortness of breath. In severe cases, blood clots may form in the heart, causing stroke. The more popular one now is pulse field ablation (PFA), which is based on mapping the cardiac electrophysiology to find the lesion, and then uses a pulse ablation catheter to perform high-frequency discharge at the lesion, and then causes irreversible perforation of the lesion cells, so that the lesion cells die, and the patient's ECG characteristics return to normal.

[0003] The current cardiac PFA ablation is usually performed manually by doctors in the operating room. During the delivery process, doctors need to step on the ray to confirm whether the catheter has been delivered to the target lesion. In addition, the effect of ablation treatment will vary greatly depending on the operator's hand strength or experience. Improper operation can also cause adverse events such as cardiac perforation, phrenic nerve or vagus nerve damage, and recurrence of atrial fibrillation. Ultimately, this is caused by inaccurate operation. Moreover, this inaccurate operation will lead to repeated positioning and ablation of the ablation area during the operation, which greatly affects the efficiency of the operation and prolongs the operation time. Summary of the invention

[0004] Based on this, it is necessary to provide a surgical robot to address the problem of low surgical efficiency in existing manual ablation methods.

[0005] A surgical robot, comprising:

[0006] Robotic arm;

[0007] A power output device connected to the mechanical arm; the power output device includes a power cabin and a transmission cabin located on one side of the power cabin;

[0008] A bending conduit adapter is connected to one side of the transmission cabin along the first direction, and the bending conduit adapter can drive the bending hand wheel of the bending conduit to rotate, and can drive the bending conduit to rotate around its own axis;

[0009] The ablation catheter adapter is connected to one side of the transmission cabin along the first direction. The ablation catheter adapter can drive the ablation bending wheel of the ablation catheter to rotate, and can drive the ablation catheter to rotate around its own axis.

[0010] The above-mentioned surgical robot transmits power to the bending catheter adapter and the ablation catheter adapter through the power output device, so that the bending catheter and the ablation catheter can be respectively controlled through the bending catheter adapter and the ablation catheter adapter, thereby realizing the bending operation and rotation operation of the bending catheter and the ablation catheter respectively, thereby realizing remote ablation treatment of the patient's atrial fibrillation, improving surgical efficiency and shortening operation time; at the same time, it can also avoid the operator from operating in the operating room, reduce the probability of the operator being exposed to radiation, and avoid affecting the operator's health. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 A schematic diagram of a surgical robot provided according to an embodiment of the present application.

[0012] Figure 2 for Figure 1 Schematic diagram of the bending catheter adapter shown.

[0013] Figure 3 for Figure 2 A partial schematic diagram of a bending catheter adapter is shown.

[0014] Figure 4 for Figure 3 A top view of a bending catheter adapter is shown.

[0015] Figure 5 for Figure 4 A schematic diagram of the bending catheter adapter shown in another perspective.

[0016] Figure 6 for Figure 5 A partial schematic diagram of the bending catheter adapter shown in another perspective.

[0017] Figure 7 for Figure 3 Rear view of the bending catheter adapter shown.

[0018] Figure 8 for Figure 3 A schematic diagram of an exploded view of the third bending output component and the bending catheter in the bending catheter adapter is shown.

[0019] Fig. 9 for Figure 3 Schematic diagram of the exploded view of the fixing sleeve and the fixing lock in the bending catheter adapter shown.

[0020] Fig.10 for Figure 3 A partial schematic diagram of the adapter seat in the bending catheter adapter is shown.

[0021] Fig.11 for Figure 3 Schematic diagram of the exploded view of the delivery guide and delivery protection cover in the bending catheter adapter shown.

[0022] Fig.12 for Figure 1 Schematic diagram of an ablation catheter adapter is shown.

[0023] Fig.13 This is a schematic structural diagram of an ablation catheter adapter from another perspective according to some embodiments of the present application.

[0024] Fig.14 This is a schematic diagram of the structure of an ablation catheter support provided according to some embodiments of the present application.

[0025] Fig.15 This is a schematic diagram of the enlarged structure of the end of an ablation catheter support provided according to some embodiments of the present application.

[0026] Fig.16 This is a schematic diagram of the structure of an ablation handle provided according to some embodiments of the present application.

[0027] Fig.17 This is a schematic diagram of the structure of a catheter guide provided according to some embodiments of the present application.

[0028] Fig.18 This is a schematic diagram of the overall structure of a rotation drive device provided according to some embodiments of the present application.

[0029] Fig.19 This is a schematic diagram of the top view of the structure of a rotary drive device provided according to some embodiments of the present application.

[0030] Fig. 20 This is an enlarged structural schematic diagram of a rotation drive device provided according to some embodiments of the present application.

[0031] Fig.21 This is a schematic diagram of the structure of a docking assembly provided according to some embodiments of the present application.

[0032] Fig. 22 This is a schematic diagram of the structure of the connection between the transfer component and the docking component provided according to some embodiments of the present application.

[0033] Fig.23 This is a schematic structural diagram of a rotation drive device at the second end plate provided according to some embodiments of the present application.

[0034] Fig.24 This is a schematic structural diagram of a first end plate or a second end plate provided according to some embodiments of the present application.

[0035] Fig.25 This is a schematic diagram of the structure of a support bump provided according to some embodiments of the present application.

[0036] Fig.26This is a schematic diagram of the top view of the push button drive device provided according to some embodiments of the present application.

[0037] Fig. 27 This is a schematic diagram of the three-dimensional structure of a push button driving device provided according to some embodiments of the present application.

[0038] Fig.28 It is a schematic side view of the structure of a support shell provided according to some embodiments of the present application.

[0039] Fig.29 This is a schematic diagram of the structure of a guide member provided according to some embodiments of the present application.

[0040] Fig.30 It is a schematic structural diagram of a first coupling member provided according to some embodiments of the present application.

[0041] Fig.31 This is a schematic diagram of the structure of the connecting components provided according to some embodiments of the present application.

[0042] Fig.32 This is a schematic diagram of the top view of the structure of a catheter bending drive device (including an ablation handle) provided according to some embodiments of the present application.

[0043] Fig.33 This is a schematic diagram of the top view of the structure of a catheter bending drive device (excluding the ablation handle) provided according to some embodiments of the present application.

[0044] Fig.34 This is a schematic diagram of the overall structure of a catheter bending drive device (including an ablation handle) provided according to some embodiments of the present application.

[0045] Fig.35 This is a schematic diagram of the overall structure of a catheter bending drive device (excluding the ablation handle) from a perspective provided according to some embodiments of the present application.

[0046] Fig.36 This is a schematic diagram of the overall structure of a catheter bending drive device from another perspective provided according to some embodiments of the present application.

[0047] Fig.37 This is a schematic diagram of the overall structure of a catheter bending drive device from another perspective provided according to some embodiments of the present application.

[0048] Fig.38 This is a schematic diagram of the connection structure between the second coupling component and the ablation bending wheel provided according to some embodiments of the present application.

[0049] Fig.39 It is a schematic diagram of the structure of a second coupling component provided according to some embodiments of the present application.

[0050] Fig.40 This is a schematic diagram of the structure of a docking plate provided according to some embodiments of the present application.

[0051] Fig.41 It is a schematic diagram of the overall structure of a guidewire driving device (including an ablation catheter support) provided according to some embodiments of the present application.

[0052] Fig.42 This is a schematic diagram of the overall structure of a guide wire driving device provided according to some embodiments of the present application.

[0053] Fig.43 This is a schematic diagram of the structure of a clamping assembly provided according to some embodiments of the present application.

[0054] Fig.44 It is a schematic diagram of the structure of a clamping assembly (including a fixing plate) provided according to some embodiments of the present application.

[0055] Fig.45 This is a schematic diagram of the structure of a spring plunger provided according to some embodiments of the present application.

[0056] Fig.46 It is a schematic cross-sectional structural diagram of a clamping assembly provided according to some embodiments of the present application.

[0057] Fig.47 This is a schematic diagram of the structure of a docking plate provided according to some embodiments of the present application.

[0058] Fig.48 This is a schematic diagram of the structure of a power output device provided according to some embodiments of the present application.

[0059] Fig.49 This is a schematic structural diagram of a power output device from another perspective according to some embodiments of the present application.

[0060] Fig.50 This is a schematic diagram of the structure of a power compartment provided according to some embodiments of the present application.

[0061] Fig.51 This is a schematic diagram of the structure of a driving mechanism provided according to some embodiments of the present application.

[0062] Fig.52 This is a schematic diagram of a partially enlarged structure of a power compartment provided according to some embodiments of the present application.

[0063] Fig.53 This is a schematic diagram of the overall structure of a transmission compartment provided according to some embodiments of the present application.

[0064] Fig.54 This is a schematic structural diagram of a transmission compartment without an upper cover provided in some embodiments of the present application.

[0065] Fig.55 This is a schematic structural diagram of a transmission cabin from another perspective provided according to some embodiments of the present application.

[0066] Fig.56 This is a schematic diagram of a partially enlarged structure of a transmission compartment provided according to some embodiments of the present application.

[0067] Fig.57 This is a schematic diagram of the front structural view of the transmission compartment provided according to some embodiments of the present application.

[0068] Fig.58 This is a schematic diagram of the side structural view of a transmission compartment provided according to some embodiments of the present application.

[0069] Fig.59 This is a schematic diagram of the overall structure of the first power transmission mechanism and the third power transmission mechanism provided according to some embodiments of the present application.

[0070] Fig.60 It is an overall enlarged structural schematic diagram of the first power transmission mechanism and the third power transmission mechanism provided according to some embodiments of the present application.

[0071] Fig.61 It is a schematic diagram of the top structure of the first power transmission mechanism and the third power transmission mechanism provided according to some embodiments of the present application.

[0072] Fig.62 It is a schematic diagram of an enlarged top view of the first power transmission mechanism and the third power transmission mechanism provided according to some embodiments of the present application.

[0073] Fig.63 This is a schematic diagram of the structure of a mounting base provided according to some embodiments of the present application.

[0074] Fig.64 It is a schematic diagram of the structure of a switching assembly provided according to some embodiments of the present application.

[0075] Fig.65 This is a schematic diagram of the structure of the connecting components provided according to some embodiments of the present application.

[0076] Fig.66 This is a schematic diagram of the structure of a ball spline connecting shaft provided according to some embodiments of the present application.

[0077] Fig.67 This is a schematic diagram of the structure of a ball spline provided according to some embodiments of the present application.

[0078] Fig.68 This is a schematic diagram of the structure of a driving gear and a connecting sleeve provided according to some embodiments of the present application.

[0079] Fig.69This is a schematic diagram of the structure of a locking ring provided according to some embodiments of the present application.

[0080] Fig.70 This is a schematic diagram of the structure of a transmission component provided according to some embodiments of the present application.

[0081] Fig.71 This is a schematic structural diagram of a second mounting plate provided according to some embodiments of the present application.

[0082] Fig.72 This is a schematic structural diagram of a fourth power transmission mechanism provided according to some embodiments of the present application.

[0083] Fig.73 This is a surgical flowchart of a surgical robot provided according to one embodiment of the present application.

[0084] Figure numbers: 10, ablation handle; 11, ablation bending wheel; 12, push button; 13, guide wire; 20, ablation catheter support; 20, ablation catheter support; 21, accommodating slot; 23, catheter delivery slot; 24, guide wire delivery slot; 22, loading slot; 25, drive shaft; 25-1, first mounting platform; 25-2, second mounting platform; 30, support seat; 31, power coupling plate; 36, docking hole; 32, first end plate; 33, second end plate; 35, opening; 34, avoidance gap; 37, support protrusion; 50, catheter guide; 51, delivery guide slot; 60, ablation catheter adapter; 100, catheter bending drive device; 110, third power shaft; 111, mounting shell; 120, active transmission mechanism structure; 121, rotating assembly; 122, sliding assembly; 123, first guide member; 124, first guide block; 125, first docking plate; 126, guide wheel; 130, driven transmission mechanism; 131, moving assembly; 132, rotating assembly; 133, first coupling assembly; 1331, first coupling member; 1332, clamping part; 134, stopper; 135, first elastic member; 136, supporting shell; 140, connecting assembly; 141, first connecting plate; 142, first rotating support plate; 143, second connecting plate; 144, fastener; 145, missing part; 200, push button drive device; 210, first power shaft; 220, second transmission assembly; 221, rotating member; 222, moving 230, pulling assembly; 231, connecting member; 2311, third connecting plate; 2312, second rotating support plate; 2313, missing part; 232, pulling rod; 240, second coupling assembly; 241, second guide member; 2411, limiting part; 2412, avoidance groove; 242, second coupling member; 2421, coupling groove; 243, second elastic member; 250, supporting shell; 251, guiding part; 252, positioning channel; 260, positioning pin; 300, rotating drive device; 310, second power shaft; 320, transmission assembly; 321, driving gear; 322, primary transmission gear; 323, secondary transmission gear; 330, docking assembly; 332, positioning part; 331, docking wheel ; 3311, coupling gear; 3312, mounting arc plate; 3313, mounting hole; 340, reversing assembly; 341, bevel gear set; 342, transmission shaft; 400, guide wire drive device; 410, fourth power shaft; 420, third transmission assembly; 422, driving gear; 423, driven rack; 426, second docking plate; 424, guide shaft; 425, second guide block; 430, clamping assembly; 431, clamping shell; 4311, clamping block; 43111, perforation; 43112, mounting hole; 4312, L-shaped mounting shaft; 432, clamping component; 4321, spring plunger; 43211, body; 43212, preload spring; 43213, top tightening ball; 433, fixing plate;440, connecting assembly; 441, fourth connecting plate; 442, fourth rotating support plate; 500, power compartment; 510, electrical interface; 530, driving mechanism; 531, servo motor; 532, servo controller; 533, terminal block; 520, power output coupling; 600, transmission compartment; 610, first power transmission mechanism; 613, mounting seat; 6131, mounting box; 614, transmission member; 615, reversing assembly; 6151, transmission member; 6151a, connecting member; 6151a1, ball spline connecting shaft; 6151a5, first mounting hole; 6151a2, ball spline; 6151a3, retaining ring; 6151a4, rolling bearing; 6151a21, second mounting hole ;6151a6, stop slot;6151a7, locking thread;6151b, driving gear;6151b1, connecting sleeve;6151b11, stop hole;6151c, locking ring;6152, torsion piece;6152a, connecting shaft;6152b, driven gear;611, power output shaft;616, moving slider;620, second power transmission mechanism;623, power shaft;624, rotating shaft;621, bending power shaft;630, third power transmission mechanism;631, rotating assembly;632, moving assembly;640, fourth power transmission mechanism;643, first mounting plate;641, linear slide;644, lead screw transmission assembly;642, second mounting plate;6421, quick-connect groove ;660, support plate;661, slide rail;700, bending catheter adapter;710, adapter seat;711, connecting plate;7111, bending connection part;7112, bending connection hole;7113, bending coupling;7114, rotating connection part;7115, rotating connection hole;7116, rotating coupling;7117, power connection end;712, support plate;7121, rotating support groove;713, conveying guide rail;7131, guide groove;714, conveying protection cover;721, fixing sleeve;7211, clamping groove;7212, first connecting part;7213, first rotating hole;722, fixing lock;7222, first matching part;730, bending transmission unit;731, first bending input member; 732, first bending output member; 733, second bending input member; 734, second bending output member; 735, third bending input member; 736, third bending output member; 7361, engagement groove; 740, rotation transmission unit; 741, first rotation input member; 742, first rotation output member; 743, second rotation input member; 744, second rotation output member; 745, third rotation input member; 746, third rotation output member; 910, mechanical arm; 911, connecting joint; 920, control console; 921, bending control handle; 922, ablation control handle; 923, touch screen display; 1000, bending catheter; 1100, bending hand wheel; 1110, engagement protrusion; 1200, bending handle;2000, ablation catheter; 3000, operating table. ; DETAILED DESCRIPTION

[0085] As mentioned in the background technology, the currently implemented cardiac PFA ablation is usually performed manually by doctors in the operating room. During the delivery process, it is necessary to step on the ray to confirm whether the catheter has been delivered to the target lesion. In addition, the effect of ablation treatment will vary greatly depending on the operator's hand strength or experience during the ablation. Improper operation may also cause adverse events such as cardiac perforation, phrenic nerve or vagus nerve damage, and recurrence of atrial fibrillation. Ultimately, it is caused by inaccurate operation. Moreover, this inaccurate operation will lead to repeated positioning and ablation of the ablation area during the operation, which greatly affects the efficiency of the operation and prolongs the operation time.

[0086] Based on this, an embodiment of the present application provides a surgical robot, which can transmit power to the bending catheter adapter and the ablation catheter adapter through a power output device, so as to realize the bending operation and rotation operation of the bending catheter and the ablation catheter, so that the bending catheter and the ablation catheter can be respectively controlled through the bending catheter adapter and the ablation catheter adapter, thereby realizing remote ablation treatment of the patient's atrial fibrillation, improving the surgical efficiency and shortening the operation time; at the same time, it can also avoid the operator from operating in the operating room, reduce the probability of the operator being exposed to radiation, and avoid affecting the operator's health.

[0087] See also Figure 1 , Figure 2 as well as Fig.12 As shown, the surgical robot provided by one embodiment of the present application includes a robotic arm 910, a power output device, a bending catheter adapter 700 and an ablation catheter adapter 60; the power output device is connected to the robotic arm 910; the bending catheter adapter 700 is connected to the power output device, and the bending catheter adapter 700 can drive the bending hand wheel 1100 of the bending catheter 1000 to rotate, and can drive the bending catheter 1000 to rotate around its own axis; the ablation catheter adapter is connected to the power output device, and the ablation catheter adapter can drive the ablation bending wheel of the ablation catheter to rotate, and can drive the ablation catheter to rotate around its own axis.

[0088] The above-mentioned surgical robot transmits power to the bending catheter adapter 700 and the ablation catheter adapter 60 through the power output device, so that the bending catheter 1000 and the ablation catheter 2000 can be respectively controlled by the bending catheter adapter 700 and the ablation catheter adapter, so as to realize the bending operation and rotation operation of the bending catheter 1000 and the ablation catheter 2000, thereby realizing remote ablation treatment of atrial fibrillation of the patient, improving the surgical efficiency and shortening the surgical time. At the same time, the operator can adjust the angle and rotate the bending catheter 1000 around the axis in real time according to the DSA image by remotely controlling the bending catheter 1000, so as to facilitate the ablation catheter 2000 located in the bending catheter 1000 to be quickly and smoothly delivered to the target lesion position. The operator can sit outside the operating room and rotate and bend the bending catheter 1000 in real time according to the image, reducing the operator's operating fatigue, and avoiding the operator's long-term exposure to the radiation environment, improving the accuracy of the surgical operation, shortening the surgical operation time, and improving the surgical efficiency.

[0089] See also Figure 1 As shown, in one embodiment, the robot arm 910 includes a plurality of connection joints 911. When the robot arm 910 is in an unlocked state, one of the two adjacent connection joints 911 can rotate relative to the other connection joint 911; when the robot arm 910 is in a locked state, the rotation of the connection joint 911 is restricted. The robot arm 910 is used to realize the support connection carrier connected with the operating table and the robot. The bottom of the robot arm 910 is fixed to the operating table 3000 by a fixing device, and then the other end of the robot arm 910 is connected to the power output device. The robot arm 910 is a multi-section coupling mechanism with manually adjustable position and angle. The relative position between the instrument and the patient can be adjusted by dragging the robot arm 910, which is convenient for surgical operation. The robot arm 910 can also be used in two or more ways to facilitate surgical operation. This solution uses a single robot arm 910 for surgical operation. When the robot arm 910 is adjusted to a suitable relative position between the surgical robot and the patient, the robot arm 910 has a self-locking function, and readjustment needs to be re-unlocked before it can be implemented.

[0090] See also Figure 1As shown, in one embodiment, the surgical robot includes a console 920, and the console 920 is connected to the power output device in communication. In one embodiment, the console 920 includes a bending control handle 921, and the bending control handle 921 is connected to the bending catheter adapter 700 in communication; the console 920 includes an ablation control handle 922, and the ablation control handle 922 is connected to the ablation catheter adapter 60 in communication. For example, the bending control handle 921 and the ablation control handle 922 are respectively provided with a bending button and a rotation button. By operating the bending control handle 921 and the ablation control handle 922 outdoors, the bending instruction and the rotation instruction are fed back to the power output device, and the power is transmitted to the bending catheter adapter 700 and the ablation catheter adapter 60 through the power output device, thereby realizing the bending operation and rotation operation of the bending catheter 1000 and the ablation catheter 2000 respectively. At the same time, the ablation control handle 922 can also issue an electrode ring diameter adjustment instruction. For example, the ablation control handle 922 is provided with an electrode ring diameter adjustment button, so that the diameter of the electrode ring can be adjusted by the push button in the ablation catheter adapter to adapt to the annular lung diameter of different patients. Furthermore, the ablation control handle 922 is also provided with a guide wire control button. By operating the guide wire control button, the power of the power output device can be transmitted to the guide wire drive device in the ablation catheter adapter, thereby realizing the delivery and withdrawal of the guide wire.

[0091] In some embodiments, the console 920 includes a touch screen display 923. The touch screen display 923 allows the doctor to directly control the movement and operation of the robot by touching the screen, such as adjusting the catheter position, setting energy parameters, etc. This intuitive operation method simplifies the use of complex equipment and reduces the learning curve.

[0092] See also Figures 2 to 7 As shown, a bending catheter adapter 700 provided in one embodiment of the present application is used to manipulate a bending catheter 1000. The bending catheter adapter 700 includes an adapter seat 710, a fixing sleeve 721, a bending transmission unit 730, and a rotation transmission unit 740; the adapter seat 710 is configured with a bending connection portion 7111 and a rotation connection portion 7114 spaced apart at one end along a first direction, and the first direction intersects with the direction of gravity; the fixing sleeve 721 is rotatably connected to the adapter seat 710, and is connected to the bending connection portion 7111 along the first direction. The fixing sleeve 721 is used to fix the bending tube 1000; the bending transmission unit 730 is connected to the bending connection part 7111 and arranged along the first direction with the bending connection part 7111; the power output end of the bending transmission unit 730 is used to connect with the bending hand wheel 1100 of the bending tube 1000; the rotation transmission unit 740 is connected to the rotation connection part 7114 and arranged along the first direction with the rotation connection part 7114; the power output end of the rotation transmission unit 740 is connected to the fixing sleeve 721. Figure 2As shown, the first direction is indicated by an arrow. It can be understood that the bending connection part 7111 and the rotating connection part 7114 are both connected to the power output device, so that the power of the power output device is transmitted to the power input end of the bending transmission unit 730 and the power input end of the rotating transmission unit 740 through the bending connection part 7111 and the rotating connection part 7114, so that the bending catheter 1000 completes the corresponding bending operation and rotation operation.

[0093] The power output end of the bending transmission unit 730 of the bending catheter adapter 700 is connected to the bending hand wheel 1100 of the bending catheter 1000, so that the bending angle of the bending catheter 1000 can be adjusted; the power output end of the rotation transmission unit 740 is connected to the fixed sleeve 721, so that the fixed sleeve 721 and the bending catheter 1000 can be driven to rotate synchronously around the axial direction. By arranging the bending transmission unit 730 and the rotation transmission unit 740 with the corresponding connecting parts along the first direction, the bending catheter adapter 700 can be arranged along the first direction with the power output device, that is, the bending catheter adapter 700 can be connected to the side of the power output device along the first direction, and the bending catheter adapter 700 and the power output device are not arranged up and down. In this way, the overall thickness of the surgical robot can be reduced, the vertical distance between the catheter and the lesion position can be effectively shortened, and the instrument can be more easily close to the patient's blood vessel entrance, reducing the difficulty of the operation and improving the convenience of the surgical robot. In addition, the risk of liquid infiltration into the power output device caused by the bending catheter adapter 700 being installed above the power output device can be reduced, and the risk of structural parts or electrical short circuits inside the power output device can be reduced. In some embodiments, the ablation catheter adapter 60 is also arranged along the first direction with the power output device, that is, arranged in the horizontal direction. In this way, the requirement for the length of the instrument catheter can be shortened, making the surgical robot more applicable and compatible with instruments with a wider range of catheter lengths.

[0094] like Figure 8 As shown, in some embodiments, the bending catheter 1000 is installed on the bending handle 1200. It can be understood that the bending hand wheel 1100 is set on the bending handle 1200, and the bending handle 1200 is connected to the fixed sleeve 721. The bending operation of the bending catheter 1000 is achieved by manipulating the bending hand wheel 1100.

[0095] See also Figures 4 to 7As shown, in one embodiment, the bending connection part 7111 includes a bending connection hole 7112, and the bending transmission unit 730 is connected to the bending connection hole 7112. In some embodiments, the rotation connection part 7114 includes a rotation connection hole 7115, and the rotation transmission unit 740 is connected to the rotation connection hole 7115. By providing the bending connection hole 7112 and the rotation connection hole 7115, the power output device and the bending transmission unit 730 can be quickly connected, and the power output device and the rotation transmission box can be quickly connected, so as to effectively transmit the rotational motion and torque; at the same time, it can ensure that there is a large contact area between the power output device and the transmission unit, which is helpful to disperse the stress and enhance the strength and rigidity of the connection point.

[0096] See also Figures 4 to 7 As shown, in one embodiment, the bending connection part 7111 further includes a bending coupling 7113 connected to the bending connection hole 7112, and the bending transmission unit 730 is connected to the bending coupling 7113. In some embodiments, the rotating connection part 7114 further includes a rotating coupling 7116 connected to the rotating connection hole 7115, and the rotating transmission unit 740 is connected to the rotating coupling 7116. By providing the bending coupling 7113 and the rotating coupling 7116, the meshing transmission between the bending transmission unit 730 and the power output device, and the meshing transmission between the rotating transmission unit 740 and the power output device can be achieved, and the relative position between the output shaft of the power output device and the input shaft of the transmission unit can be adjusted within a certain range, and the manufacturing error or installation deviation can be compensated to ensure good coaxiality; and the load can be evenly distributed on the contact surface, reducing local stress concentration, and improving the strength and life of the overall structure.

[0097] See also Figures 4 to 7 As shown, in one embodiment, at least one of the bending coupling 7113 and the rotating coupling 7116 is configured with a plurality of power connection ends 7117. Through the power connection ends 7117, the power of the power output device is transmitted to the corresponding transmission unit. The power connection ends 7117 can ensure that the relative position between the output shaft of the power output device and the input shaft of the transmission unit is accurate. This design helps to maintain the coaxiality of the system and reduce vibration and noise. The number of power connection ends 7117 can be set according to actual needs, for example, Figure 5 In the illustrated embodiment, there are two power connection ends 7117. In other embodiments, there may be three power connection ends 7117 or other numbers, which are not limited here.

[0098] In some embodiments, the adapter seat 710 includes a quick connection plate 711, and the rotation connection portion 7114 and the bending connection portion 7111 are arranged on the quick connection plate 711. By designing a plug-and-play installation connection interface on the adapter seat 710, the bending catheter 1000 can be quickly installed and removed, and the device can be quickly installed and removed on a surgical robot, which shortens the time of the surgical preparation process, thereby shortening the patient's surgical time.

[0099] See also Figures 3 to 6 As shown, in one embodiment, the bending transmission unit 730 includes a first bending input member 731 and a first bending output member 732 of meshing transmission, and the axial directions of the first bending input member 731 and the first bending output member 732 intersect; the first bending input member 731 is connected to the bending connection portion 7111, and the first bending output member 732 is used to connect with the bending hand wheel 1100. Through the cooperation of the first bending input member 731 and the first bending output member 732, the power of the power output device is transmitted to the bending hand wheel 1100, so that the bending angle of the bending catheter 1000 is adjusted by the bending hand wheel 1100.

[0100] See also Figures 3 to 6 As shown, in some embodiments, the first bending input member 731 and the first bending output member 732 are both bevel gears. The bevel gears can effectively change the direction of force transmission without the need for an additional intermediate transmission device, so as to adapt to different spatial layout requirements and save space. At the same time, the working tooth surface of the bevel gear is an involute shape, which ensures good rolling contact characteristics, reduces sliding friction, improves transmission efficiency, and can maintain low vibration and noise levels during operation, providing a smoother operating experience. Furthermore, the tooth surface of the bevel gear is conically unfolded, so that the load can be more evenly distributed on multiple teeth, reducing local stress concentration and enhancing the overall load-bearing capacity. In other embodiments, the first bending input member 731 and the first bending output member 732 can also be a worm gear structure.

[0101] See also Figures 3 to 6 As shown, in one embodiment, the bending transmission unit 730 includes a second bending input member 733 and a second bending output member 734, the second bending input member 733 is coaxially connected to the first bending output member 732, and the second bending output member 734 is used to connect with the bending hand wheel 1100. Through the cooperation of the first bending input member 731, the first bending output member 732, the second bending input member 733 and the second bending output member 734, the power of the power output device is transmitted to the bending hand wheel 1100. In some embodiments, the second bending input member 733 and the second bending output member 734 are meshing transmission spur gears, and a very precise transmission ratio can be achieved through gear transmission, so as to accurately control the output speed and torque, and achieve efficient power transmission in a small space.

[0102] See also Figures 3 to 6 As shown, in one embodiment, the bending transmission unit 730 includes a third bending input member 735 and a third bending output member 736, and the third bending input member 735 is coaxially connected with the second bending output member 734; the third bending output member 736 is used to connect with the bending hand wheel 1100. Through the cooperation of the first bending input member 731, the first bending output member 732, the second bending input member 733, the second bending output member 734, the third bending input member 735 and the third bending output member 736, the power of the power output device is transmitted to the bending hand wheel 1100. In some embodiments, the third bending input member 735 and the third bending output member 736 are spur gears of meshing transmission, and the number of teeth of the third bending input member 735 is greater than the number of teeth of the second bending output member 734, so that the rotation speed of the third bending output member 736 can be gradually reduced by multi-stage gear transmission while maintaining a high output torque.

[0103] See also Figure 5 and Figure 8 As shown, in one embodiment, one of the third bending output member 736 and the bending hand wheel 1100 is configured with an engagement protrusion 1110, and the other is configured with an engagement groove 7361 for engaging with the engagement protrusion 1110 for transmission. Figure 8 In the illustrated embodiment, the third bending output member 736 is configured with an engagement groove 7361, and the bending hand wheel 1100 is configured with an engagement protrusion 1110. In other embodiments, the arrangement positions of the engagement protrusion 1110 and the engagement groove 7361 can also be interchanged, that is, the bending hand wheel 1100 is configured with an engagement groove 7361, and the third bending output member 736 is configured with an engagement protrusion 1110. In some embodiments, the third bending output member 736 is made of an expandable and deformable plastic material, and can be directly installed on the bending hand wheel 1100 of the bending catheter 1000 through the elastic deformation of the material itself, thereby realizing the function of meshing transmission between the bending hand wheel 1100 and the third bending output member 736, and realizing the remote operation of the bending catheter 1000 by the surgical robot to complete the bending operation.

[0104] The above-mentioned bending transmission unit 730 adopts a gear transmission system with higher resolution, and the transmission accuracy can reach within the millimeter level. The power comb device can be driven by a servo motor, which can realize precise control of the bending catheter 1000, improve the accuracy of surgical operations, and shorten the time of surgical operations.

[0105] See also Figures 3 to 6As shown, in one embodiment, the rotation transmission unit includes a first rotation input member 741 and a first rotation output member 742 of meshing transmission, and the axial directions of the first rotation input member 741 and the first rotation output member 742 intersect; the first rotation input member 741 is connected to the rotation connection part 7114, and the first rotation output member 742 is connected to the fixed sleeve 721. Through the cooperation of the first rotation input member 741 and the first rotation output member 742, the power of the power output device is transmitted to the fixed sleeve 721 and the bending guide tube 1000 fixed on the fixed sleeve 721, so as to drive the bending guide tube 1000 to rotate around the axial direction.

[0106] In some embodiments, the first rotating input member 741 and the first rotating output member 742 are both bevel gears. Bevel gears can effectively change the direction of force transmission without the need for additional intermediate transmission devices to adapt to different spatial layout requirements and save space. At the same time, the working tooth surface of the bevel gear is involute, which ensures good rolling contact characteristics, reduces sliding friction, improves transmission efficiency, and can maintain low vibration and noise levels during operation, providing a smoother operating experience. Furthermore, the tooth surface of the bevel gear is conically unfolded, so that the load can be more evenly distributed on multiple teeth, reducing local stress concentration and enhancing the overall load-bearing capacity. In other embodiments, the first rotating input member 741 and the first rotating output member 742 can also be a worm gear structure.

[0107] See also Figures 3 to 6 As shown, in one embodiment, the rotation transmission unit 740 includes a second rotation input member 743 and a second rotation output member 744, the second rotation input member 743 is coaxially connected to the first rotation output member 742, and the second rotation output member 744 is connected to the fixing sleeve 721. Through the cooperation of the first rotation input member 741, the first rotation output member 742, the second rotation input member 743 and the second rotation output member 744, the power of the power output device is transmitted to the bending catheter 1000. In some embodiments, the second rotation input member 743 and the second rotation output member 744 are meshing transmission spur gears, and a very precise transmission ratio can be achieved through gear transmission, so as to accurately control the output speed and torque, and achieve efficient power transmission in a small space.

[0108] See also Figures 3 to 6As shown, in one embodiment, the rotation transmission unit 740 includes a third rotation input member 745 and a third rotation output member 746, the third rotation input member 745 is coaxially connected to the second rotation output member 744; the third rotation output member 746 is connected to the fixing sleeve 721. Through the cooperation of the first rotation input member 741, the first rotation output member 742, the second rotation input member 743, the second rotation output member 744, the third rotation input member 745 and the third rotation output member 746, the power of the power output device is transmitted to the bending catheter 1000. In some embodiments, the third rotation input member 745 and the third rotation output member 746 are meshing transmission spur gears, and the number of teeth of the third rotation input member 745 is greater than the number of teeth of the second rotation output member 744, so that the rotation speed of the third rotation output member 746 can be gradually reduced by multi-stage gear transmission while maintaining a high output torque.

[0109] like Figure 6 As shown, in some embodiments, the third rotation input member 745 is provided with an even number, for example Figure 6 In the embodiment shown, the number of the third rotation input members 745 is two, so that the third rotation input member 745 and the third rotation output member 746 can be kept rotating in the same direction. Multiple third rotation input members 745 can share the total load transmitted to the third rotation output member 746, reduce the pressure on a single gear, reduce the risk of microcrack extension, and thus improve the reliability and life of the system. At the same time, the tooth surface of each gear wears more evenly, reducing the possibility of local excessive wear and extending the service life of the entire system.

[0110] See also Figure 5 and Fig. 9 As shown, in one embodiment, the bending catheter adapter 700 further includes a fixing lock 722 rotatably connected to the fixing sleeve 721. When the fixing lock 722 is in the locked position, the fixing lock 722 cooperates with the fixing sleeve 721 to enclose a clamping groove 7211 for clamping the bending catheter 1000. The fixing lock 722 is rotatably connected to the fixing sleeve 721, so by unlocking the fixing sleeve 721 to make it in the open position, the opening of the clamping groove 7211 formed by the fixing sleeve 721 can be exposed, so as to facilitate the insertion of the bending catheter 1000; by locking the fixing sleeve 721, that is, the fixing lock 722 is clamped on the fixing sleeve 721, so that the fixing lock 722 is in the locked position, the bending catheter 1000 can be fixed, thereby ensuring the position reliability of the bending catheter 1000, reducing the possibility of displacement of the bending catheter 1000 relative to the fixing sleeve 721 during the rotation of the bending catheter 1000, and improving the accuracy of control of the bending catheter 1000.

[0111] See also Figure 5 and Fig. 9As shown, in one embodiment, the fixing sleeve 721 and the fixing lock 722 are respectively configured with a first connecting portion 7212 and a first matching portion 7222. When the fixing lock 722 is in the locked position, the fixing sleeve 721 and the fixing lock 722 are connected to the first matching portion 7222 via the first connecting portion 7212. Fig. 9 In the embodiment shown, both the first connection portion 7212 and the first matching portion 7222 can be bayonet holes, and the first locking member, such as an elastic bayonet, can be passed through the bayonet hole on the fixing sleeve 721 and the bayonet hole on the fixing lock 722, so that the fixing lock 722 is clamped on the fixing sleeve 721, thereby realizing the locking operation of the fixing lock 722; when the first locking member is removed, the fixing lock 722 can be in the open position, that is, the bending guide tube 1000 is no longer limited. In other embodiments, the first connection portion 7212 can be an elastic bayonet, and the first matching portion 7222 can be a bayonet hole, and the fixing lock 722 is clamped on the fixing sleeve 721 through the cooperation of the elastic bayonet and the bayonet hole; the fixing lock 722 can be in the open position by releasing the connection between the elastic bayonet and the bayonet hole.

[0112] See also Figure 5 and Fig. 9 As shown, in one embodiment, at least one of the fixing sleeve 721 and the fixing lock 722 is configured with a first rotation hole 7213, and the other is connected with a first rotation part (not shown), and the first rotation part is rotationally connected to the hole wall of the first rotation hole 7213. In some embodiments, both the fixing sleeve 721 and the fixing lock 722 are provided with a first rotation hole 7213, and the first rotation part, such as a connecting pin, can pass through the first rotation hole 7213 of the fixing sleeve 721 and the first rotation hole 7213 in the fixing lock 722, thereby realizing the rotation connection between the fixing sleeve 721 and the fixing lock 722. In other embodiments, the fixing sleeve 721 can also be provided with the first rotation hole 7213, and the fixing lock 722 can be provided with a protruding first rotation part, such as a connecting pin, and the connecting pin is passed through the first rotation hole 7213 to realize the rotation connection between the fixing lock 722 and the fixing sleeve 721. Of course, the fixing lock 722 may be provided with the first rotating hole 7213 , and the fixing sleeve 721 may be provided with a protruding first rotating portion such as a connecting pin, so as to realize the rotating connection between the fixing lock 722 and the fixing sleeve 721 .

[0113] See also Figure 3 and Fig.10 As shown, in one embodiment, the adapter seat 710 includes a support plate 712, the support plate 712 is configured with a rotation support groove 7121, and the fixing sleeve 721 is rotatably connected to the groove wall of the rotation support groove 7121. Figure 3As shown, in some embodiments, the support plate 712 includes two, and the two support plates 712 are respectively connected to the two ends of the connecting plate 711, that is, the adapter seat 710 presents a U-shaped structure, and the bending transmission unit 730 and the rotation transmission unit 740 are both accommodated in the space surrounded by the connecting plate 711 and the support plate 712, so that the layout of the bending catheter adapter 700 is more compact. The two ends of the fixing sleeve 721 are supported and fixed by the two support plates 712, ensuring that the bending catheter 1000 maintains a stable central position during operation, preventing deviation or shaking, and improving the rotation reliability of the bending catheter 1000.

[0114] See also Figure 3 and Fig.11 As shown, in one embodiment, the bending catheter adapter 700 further includes a conveying guide rail 713, and the conveying guide rail 713 is configured with a guide groove 7131. The conveying guide rail 713 can guide the axial movement of the bending catheter 1000 to improve the accuracy of the catheter reaching a predetermined position. The groove wall of the guide groove 7131 is relatively smooth, which can reduce the friction between the catheter and the conveying guide rail 713, making the operation more flexible and stable.

[0115] See also Figure 3 and Fig.11 As shown, in one embodiment, the bending catheter adapter 700 further includes a delivery rail 713 and a delivery protection cover 714. The delivery protection cover 714 is disposed on the delivery rail 713, and the two cooperate to enclose a delivery cavity. The delivery protection cover 714 cooperates with the delivery rail 713 to effectively isolate microorganisms and particles in the external environment, reducing the risk of infection. In particular, when operating under sterile conditions, the role of the delivery protection cover 714 is particularly important.

[0116] See also Fig.12 and Fig.13The ablation catheter adapter 60 provided in one embodiment of the present application is used to manipulate the ablation catheter 2000. The ablation catheter adapter may include a support seat 30, an ablation catheter supporter 20, a push button drive device 200, a rotation drive device 300, a catheter bending drive device 100 and a guidewire drive device 400. A power coupling plate 31 is provided on one side of the support seat 30. The power coupling plate 31 is configured with a docking hole 36. The docking hole 36 is used to expose the first power shaft, the second power shaft 310, the third power shaft and the fourth power shaft on the outside; the ablation catheter supporter 20 is arranged on the support seat 30. The ablation catheter supporter 20 is used to accommodate the ablation handle 10. The ablation handle 10 is connected to the ablation catheter 2000. The ablation handle 10 includes a push button 12 and an ablation bending wheel 11; the push button drive device 200 is arranged on the support seat 30, and the first power shaft 310 is connected to the ablation catheter 2000. The ablation handle 10 includes a push button 12 and an ablation bending wheel 11; the push button drive device 200 is arranged on the support seat 30, and the first power shaft 310 is connected to the ablation catheter 2000. The ablation handle 10 includes a push button 12 and an ablation bending wheel 11. The guide wire driving device is arranged on the support seat 30, connected to the fourth power shaft, and connected to the guide wire to drive the guide wire to move.

[0117] More specifically, the ablation catheter adapter can be arranged on a transmission cabin supported by a mechanical arm, and a power cabin can be arranged at one end of the transmission cabin, and the power cabin mainly provides power for driving the ablation catheter, so as to complete the bending of the distal end of the ablation catheter, the rotation of the distal end of the ablation catheter, the adjustment of the diameter of the electrode ring, or the delivery / withdrawal of the guidewire in the ablation catheter. Among them, the first power shaft, the second power shaft 310, the third power shaft and the fourth power shaft for outputting torque can be arranged on the transmission cabin. For example, the first power shaft, the second power shaft 310, the third power shaft and the fourth power shaft can be used as power input couplings. The power input coupling can receive the power provided by the power cabin through the transmission structure in the transmission cabin (such as gear structure, synchronous belt, screw nut and slide rail, gear rack, etc.), so as to provide driving power for the push button drive device 200, the rotation drive device 300, the catheter bending drive device 100 and the guidewire drive device 400 respectively. For example, the first power shaft, the second power shaft 310, the third power shaft and the fourth power shaft can be meshing transmission couplings, which can be respectively meshed and connected with the push button drive device 200, the rotation drive device, the catheter bending drive device and the guide wire drive device. On the one hand, it is conducive to the power transmission for driving the ablation catheter, and on the other hand, it can also realize the functions of plug-and-play, quick installation and disassembly, that is, it can increase the speed of installing the entire ablation catheter adapter in the transmission cabin, thereby shortening the operation preparation process time, and then shortening the patient's operation time.

[0118] The power coupling plate 31 in this example is arranged on one side of the support seat 30, and the docking hole 36 opened thereon is mainly used to make the first power shaft, the second power shaft 310, the third power shaft and the fourth power shaft on the transmission cabin exposed from the transmission cabin to the side of the ablation catheter support 20, so as to be meshed and connected with the push button drive device 200, the rotation drive device, the catheter bending drive device and the guide wire drive device on this side. In order to reduce the probability of position conflict between various components in the ablation catheter adapter, and to reduce the size of the entire ablation catheter adapter and miniaturize the structure, in one example, along the direction from the distal end (the end away from the operator) to the proximal end (the end close to the operator) of the ablation catheter, the first power shaft, the second power shaft 310, the third power shaft and the fourth power shaft are arranged in sequence, and while independently driving the push button drive device 200, the rotation drive device, the catheter bending drive device and the guide wire drive device, it is also conducive to the staggered distribution of the above-mentioned multiple drive devices, so as to reasonably utilize the space around the ablation catheter support 20, so that the structure of the entire ablation catheter adapter is more compact and more miniaturized.

[0119] More specifically, the ablation catheter support 20 is movably arranged on the support seat 30, and is mainly used to realize the loading and stabilization of the ablation catheter. It is constructed with an ablation handle 10 accommodating slot 21, an ablation bending wheel 11 loading slot 22, a catheter delivery slot 23 and a guide wire delivery slot 24. Moreover, in order to ensure the stability of the ablation handle 10 placed on the ablation catheter support 20, a fixed lock is also provided on the ablation catheter support 20. The fixed lock can be set on one side of the accommodating slot 21. When the operator fits the ablation handle 10 into the accommodating slot 21, the ablation handle 10 can be locked by buckling the fixed lock, thereby ensuring the stability of the ablation catheter after loading and avoiding the position displacement of the ablation catheter during the surgical operation.

[0120] The rotation drive device can be connected to the ablation catheter support 20 through a transmission structure to realize the rotation operation of the ablation catheter by driving the ablation catheter support 20. For example, one end of the ablation catheter support 20 can be driven, and the other end can be supported by a rotating bearing, or both ends of the ablation catheter support 20 can be driven simultaneously. For example, the transmission structure can be a synchronous belt drive, or a gear train drive, such as an umbrella gear system rotating a cylindrical gear system, or a staggered axis helical gear system rotating a cylindrical gear system. The cylindrical gear system can be an internal meshing gear system, or an external meshing gear system, or a magnetic wheel or a ball screw, a ball spline, a roller screw transmission structure, a wire winding wheel transmission mechanism, or a gear rack transmission mechanism.

[0121] The catheter bending drive device may include a transmission structure and a coupling block, wherein the coupling block is used to be nested on the ablation bending wheel 11 and supported by the ablation catheter support 20, so as to achieve the purpose of driving the ablation bending wheel 11 to rotate, thereby realizing the remote bending operation of the ablation catheter. For example, the transmission structure may be a gear rack transmission mechanism, an umbrella gear transmission mechanism, a cylindrical gear transmission mechanism, a winding wheel wire transmission mechanism, or other rotary motion transmission mechanisms.

[0122] The push button driving device 200 may include a transmission structure for driving the push button 12 to move linearly, and a coupling block coupled to the push button 12, so as to convert the power of the first power shaft into the power for the push button 12 to move and operate, thereby adjusting the diameter of the ablation catheter electrode ring. For example, the transmission mechanism may be a bevel gear train rotating winding wheel pulling wire transmission mechanism, a gear rack rotating slider transmission structure, a ball screw transmission structure, a roller screw transmission structure, or other linear transmission mechanisms.

[0123] The guide wire drive device may include a guide wire clamp and a transmission structure. The guide wire clamp can realize the rapid clamping and loosening of the guide wire, and may be a spring top wire, a clamping device with a silicone inner layer protection, or a three-claw locking device. For example, the transmission structure may be a gear rack transmission mechanism, or a bevel gear system winding wheel wire pulling transmission mechanism, or a roller screw or ball screw transmission mechanism, or other linear motion transmission mechanisms.

[0124] In the present application, a support seat 30 is used as a basic support, and a power coupling plate 31 is arranged on one side thereof to expose the external first power shaft, the second power shaft 310, the third power shaft and the fourth power shaft, providing an interface for power input for each driving device; each driving device is arranged on the support seat 30 and connected to the ablation catheter support 20 and the functional parts thereon, so as to realize the bending of the distal end of the ablation catheter, the rotation of the distal end of the ablation catheter, the adjustment of the diameter of the electrode ring, or the delivery / withdrawal of the guide wire in the ablation catheter and the like.

[0125] like Fig.18 and Fig.19 As shown, in some embodiments, the rotational drive device includes a transmission component 320 and a docking component 330, the transmission component 320 is connected to the second power shaft 310, the docking component 330 is connected to the transmission component 320, and rotates under the drive of the transmission component 320 so that the ablation catheter support 20 follows the rotation; wherein the ablation catheter support 20 is fixedly connected to the docking component 330, and the ablation catheter support 20 contains an ablation catheter that passes through the docking component 330.

[0126] Specifically, the docking assembly 330 can be fixed to the proximal end or the distal end or both ends of the ablation catheter support 20, so as to drive the ablation catheter support 20 to rotate through the drive of the transmission assembly 320, and then drive the ablation catheter built into the ablation catheter support 20 to rotate together. In the actual operation, when it is necessary to rotate the ablation catheter to adjust its spatial positioning in the body, the operator can operate remotely, and then the external power is transmitted to the transmission assembly 320 through the second power shaft 310, and then the transmission assembly 320 drives the docking assembly 330 to rotate, thereby realizing the synchronous rotation of the ablation catheter support 20 and the ablation catheter. This setting realizes the remote rotation drive of the ablation catheter, meets the operation requirements for the axial rotation of the instrument during the operation, enables the ablation catheter to accurately adjust its position in the human body, helps to more accurately deliver the instrument in the catheter or the catheter itself to the target lesion, and improves the success rate and effectiveness of the operation.

[0127] like Fig. 20 and Fig.21 As shown, in some embodiments, the ablation catheter support 20 is configured with a delivery groove for accommodating the ablation catheter; a positioning portion 332 for the ablation catheter to pass through is provided on the docking assembly 330, and the docking assembly 330 is used to drive the ablation catheter support 20 and the ablation catheter to rotate synchronously.

[0128] It can be understood that when the operator completes the preliminary surgical operation and places the ablation handle 10 on the ablation catheter support 20, in order to improve the operational convenience of the process, improve the placement efficiency, and the placement firmness and stability, the ablation catheter support 20 in this example is constructed with a delivery groove, a special catheter delivery groove 23, which is opened on the side wall of the ablation catheter support 20, so that the operator can directly place the ablation catheter in the ablation catheter support 20.

[0129] In this example, the docking assembly 330 is fixedly connected to the ablation catheter support 20. To avoid interference with the placement of the ablation catheter in the delivery slot, a positioning portion 332 is provided at the position of the docking assembly 330 corresponding to the delivery slot. The positioning portion 332 may be a gap connected to the delivery slot. This arrangement ensures that the ablation catheter can be quickly installed on the rotary drive device, shortening the operation time. On the other hand, it can ensure the stability and accuracy of the ablation catheter during the rotation process, improving the accuracy of the surgical operation.

[0130] like Fig.21 As shown, in some embodiments, the docking assembly 330 includes a docking wheel 331, which is configured with a hollow cavity, and the hollow cavity is used to install the ablation catheter support 20; the positioning portion 332 includes an open gap configured on the side wall of the docking wheel 331, and the open gap is connected to the hollow cavity, and the open gap is used to expose the delivery groove.

[0131] Specifically, during installation, the ablation catheter support 20 is installed in the hollow cavity of the docking wheel 331, and the ablation catheter enters the delivery slot through the open gap. When the docking wheel 331 rotates, it can drive the ablation catheter support 20 and the ablation catheter to rotate synchronously. The design of the hollow cavity and the open gap of the docking wheel 331 not only facilitates the installation and disassembly of the ablation catheter support 20 and the ablation catheter, but also makes the structure more compact. At the same time, the design of the open gap can also observe the position of the ablation catheter in the delivery slot in real time, ensuring the safety of the surgical operation.

[0132] like Fig.21 As shown, in some embodiments, along the rotation axis of the docking wheel 331, the docking wheel 331 includes a coupling gear 3311 and a mounting arc plate 3312; along the circumference of the docking wheel 331, at least one mounting hole 3313 is provided on the mounting arc plate 3312, and the mounting hole 3313 is used for fasteners to pass through to fix the docking wheel 331 and the ablation catheter support 20.

[0133] Specifically, the coupling gear 3311 and the mounting arc plate 3312 can be fixedly connected by bolts, welding, etc. Of course, in order to enhance the structural strength of the docking wheel 331, the coupling gear 3311 and the mounting arc plate 3312 can be formed in one piece. The mounting arc plate 3312 is mainly used to connect with the ablation catheter support 20. One or more mounting holes 3313 can be set on the side wall of the mounting arc plate 3312. Of course, the corresponding position of the ablation catheter support 20 is also provided with a connection hole. When the ablation catheter support 20 is placed in the hollow cavity of the docking wheel 331, it is fixedly connected to the ablation catheter support 20 by fastening screws through the mounting holes 3313 to ensure that the two will not be relatively displaced during the rotation process, ensuring the synchronization and stability of the two during the rotation process, and further improving the accuracy of the surgical operation. The design of the coupling gear 3311 in this example enables the docking wheel 331 to better cooperate with the transmission component 320 to achieve efficient power transmission.

[0134] like Figure 22-Figure 24 As shown, in some embodiments, the support seat 30 further includes a first end plate 32 and a second end plate 33 disposed at both ends of the power coupling plate 31, and the first end plate 32 and the second end plate 33 are configured with an opening 35 for penetrating the ablation catheter supporter 20. Specifically, the first end plate 32 and the second end plate 33 are disposed opposite to each other, and the opening 35 constructed thereon is mainly used to penetrate and support the two ends of the ablation catheter supporter 20. In order to improve the rotation smoothness of the ablation catheter supporter 20 at the first end plate 32 and the second end plate 33, a rotating bearing can be provided at the opening 35 of the first end plate 32 and the second end plate 33, but no specific limitation is made.

[0135] like Fig.24As shown, in some embodiments, the end of the ablation catheter support 20 is adapted to be inserted into the opening 35; a docking assembly 330 is provided at the first end plate 32 and / or the second end plate 33; the side walls of the first end plate 32 and the second end plate 33 are constructed with an avoidance gap 34 connected to the opening 35, and the avoidance gap 34 is used to expose the delivery groove.

[0136] Specifically, the docking assembly 330 can be set only at the first end plate 32, or only at the second end plate 33, so that the docking assembly 330 only drives one end of the ablation catheter support 20, and the other end can be set at the end plate through a rotating bearing, which can also realize the effective rotation of the ablation catheter support 20. Of course, the docking assembly 330 can be set at the first end plate 32 and the second end plate 33 at the same time, that is, the synchronous rotation of the proximal and distal ends of the ablation catheter support 20 is realized through two groups of docking assemblies 330, thereby improving its rotational stability. Among them, the avoidance gap 34 opened at the first end plate 32 and the second end plate 33 facilitates the rapid loading of the ablation catheter to reduce the operation time.

[0137] like Fig.25 As shown, in some embodiments, a plurality of support protrusions 37 are constructed on the first end plate 32 and / or the second end plate 33 where the opening 35 is located. The plurality of support protrusions 37 are distributed at circumferential intervals around the opening 35 for abutting against the ablation catheter support 20 .

[0138] Specifically, in addition to the above-mentioned method of setting a rotating bearing at the opening 35 of the first end plate 32 and the second end plate 33, a plurality of supporting protrusions can also be set at the opening 35, and the supporting protrusions are sequentially spaced along the circumference of the opening 35. The number of supporting protrusions can be 3, 5, 6, 8 or even more, which is not limited here. In this example, the material of the supporting protrusion, or the material of the first end plate 32 and the second end plate 33 can be POM (polyoxymethylene) and PEEK (polyetheretherketone) with self-lubricating properties to reduce the rotational friction between the catheter support seat 30 and the first end plate 32 and the second end plate 33, and there is no need to set an additional rotating bearing, thereby reducing the weight of the entire ablation catheter adapter.

[0139] like Fig. 20 As shown, in some embodiments, the transmission assembly 320 includes at least one transmission gear 322, which is connected to the second power shaft 310 and meshes with the docking wheel 331 to drive the docking wheel 331 to rotate. Specifically, when the second power shaft 310 rotates, it can drive the transmission gear connected thereto to rotate, and the transmission gear then meshes with the docking wheel 331 to transmit power to the docking wheel 331, thereby realizing the rotation of the docking wheel 331.

[0140] In this example, the power transmission between the second power shaft 310 and the docking wheel 331 is realized through the design of the transmission gear, and the rotation speed and angle of the docking wheel 331 can be accurately controlled, thereby realizing the precise rotation control of the ablation catheter. At the same time, the design of the multi-stage transmission gear can also adjust the transmission ratio according to the actual surgical needs to meet different surgical operation requirements.

[0141] like Fig. 20 As shown, in some embodiments, the transmission assembly 320 includes a driving gear 321, a primary transmission gear 322 and a secondary transmission gear 323 that are meshed with each other, the driving gear 321 is connected to the second power shaft 310, the primary transmission gear 322 and the secondary transmission gear 323 are rotatably disposed on the support seat 30, wherein the secondary transmission gear 323 includes at least two driven gears.

[0142] Specifically, the secondary transmission gear 323 is meshed with the primary transmission gear 322 and the coupling gear 3311 respectively. Since the coupling gear 3311 has an open gap, that is, a part of the coefficient of the coupling gear 3311 is missing. As an incomplete gear, in order to ensure that the coupling gear 3311 can rotate completely and continuously, it needs to be driven by at least two secondary transmission gears 323. In other words, the two driven gears in the secondary transmission gear 323 are meshed with different positions of the coupling gear 3311. When one of the driven gears reaches the open gap of the coupling gear 3311, the other driven gear is still meshed with the coupling gear 3311 to continuously drive the coupling gear 3311 to rotate, thereby completing the complete and continuous rotation of the coupling gear 3311.

[0143] In addition, this example can improve the stability and reliability of power transmission through the design of multi-stage transmission gears, and can achieve more precise control of the docking wheel 331, thereby improving the accuracy of the ablation catheter rotation operation. At the same time, by reasonably designing the number of teeth and transmission ratio of each stage of transmission gears, the requirements for the rotation speed and torque of the ablation catheter in different surgical scenarios can be met.

[0144] In some embodiments, the rotary drive device further includes a reversing assembly 340 , which is disposed between the second power shaft 310 and the transmission assembly 320 , and is used to reverse the torque of the second power shaft 310 and transmit it to the transmission assembly 320 .

[0145] Specifically, in this example, the transmission assembly 320 and the docking assembly 330 are arranged at the positions of the first end plate 32 and the second end plate 33. In order to transmit the power of the second power shaft 310 arranged at the power coupling plate 31 to the position of the end plate, a reversing assembly 340 needs to be arranged between the second power shaft 310 and the transmission assembly 320. The reversing assembly 340 can reverse the torque of the second power shaft 310 and transmit it to the transmission assembly 320. For example, the second power shaft 310 rotates around the first direction, and the reversing assembly 340 can convert it into torque rotating around the second direction.

[0146] like Fig. 20 As shown, in some embodiments, the reversing assembly 340 includes a bevel gear set 341 and a transmission shaft 342 , one of the bevel gear sets 341 is connected to the second power shaft 310 , and the other is fixedly connected to the transmission shaft 342 , and the transmission shaft 342 is used to connect to the transmission assembly 320 .

[0147] Specifically, the second power shaft 310 rotates around the first direction, and one of the bevel gear sets 341 connected to the second power shaft 310 also rotates around the first direction. The bevel gear set 341 can convert the rotation around the first direction into the rotation around the second direction, and transmit it to the transmission shaft 342, that is, the transmission shaft 342 rotates around the second direction. The second direction is perpendicular to the first direction. In this example, the design of the bevel gear set 341 and the transmission shaft 342 provides a reliable way for torque reversal, which is conducive to improving transmission efficiency, realizing precise control of the rotation direction of the ablation catheter, and improving the flexibility and accuracy of surgical operations.

[0148] like Fig.14 and Fig.15 As shown, in some embodiments, the end of the ablation catheter support 20 includes a driving shaft 25, which is passed through the support seat 30. Along the extension direction of the driving shaft 25, the side wall of the driving shaft 25 is constructed with a conveying groove; the width of the conveying groove is adapted to the diameter of the ablation catheter.

[0149] Specifically, the ablation catheter is placed in the delivery groove of the drive shaft 25, and the drive shaft 25 is connected to the support seat 30, and the ablation catheter is driven to rotate by the rotation of the drive shaft 25. The delivery groove in this example has a certain depth, so that the ablation catheter is restricted by the groove wall of the delivery groove to prevent the ablation catheter from falling out of the delivery groove during the operation, thereby improving the accuracy of the surgical operation and reducing the possible deviation and shaking of the ablation catheter during the delivery and rotation process.

[0150] like Figure 4As shown, in some embodiments, the drive shaft 25 includes a first mounting platform 25 - 1 and a second mounting platform 25 - 2 , the first mounting platform 25 - 1 is used to abut against the support seat 30 , and the second mounting platform 25 - 2 is used to be fixedly connected to the docking assembly 330 .

[0151] Specifically, the first mounting platform 25-1 and the second mounting platform 25-2 are steps formed on the outer side wall of the drive shaft 25. During the assembly process, the drive shaft 25 is abutted against the support seat 30 through the first mounting platform 25-1, and the second mounting platform 25-2 is fixedly connected to the docking assembly 330 to achieve a stable connection between the drive shaft 25, the support seat 30 and the docking assembly 330. The design of the first mounting platform 25-1 and the second mounting platform 25-2 in this example provides a stable mounting structure for the drive shaft 25, ensuring the stability of the drive shaft 25 during power transmission.

[0152] like Fig.16 As shown, Fig.16 The structure diagram of the ablation handle provided according to some embodiments of the present application is shown in FIG. In one example, the ablation catheter support 20 includes a receiving slot 21, which is used to receive the ablation handle 10 and is connected to the delivery slot; the receiving slot 21 also includes a loading slot 22, which is adapted in shape to the ablation bending wheel 11 and is used to receive the ablation bending wheel 11.

[0153] Specifically, the shapes of the accommodating groove 21, the loading groove 22 and the conveying groove in the ablation catheter support 20 are adapted to the shapes of the ablation handle 10 and the ablation catheter. On the one hand, it is convenient for the above-mentioned push button drive device 200 and the catheter bending drive device to adapt and couple with the push button 12 and the ablation bending wheel 11 on the ablation handle 10. On the other hand, it can prevent the ablation handle 10 and the ablation catheter from shaking or shifting in the ablation catheter support 20, resulting in reduced surgical accuracy.

[0154] like Fig.17 As shown, Fig.17 Schematic diagram of the structure of the catheter guide provided according to some embodiments of the present application. In some embodiments, the ablation catheter adapter further includes a catheter guide 50, which is arranged outside the support seat 30 and is fixedly connected to the support seat 30; the catheter guide 50 is configured with a delivery guide groove 51, which is used to support the ablation catheter extending from the ablation catheter support 20.

[0155] Specifically, the catheter guide 50 is arranged on the support seat 30 at the distal end of the ablation catheter support 20. When the ablation catheter extends from the ablation catheter support 20, it can be placed in the delivery guide groove 51 of the catheter guide 50. The catheter guide 50 can provide additional support for the ablation catheter to avoid proximal bending during delivery, thereby ensuring that the ablation catheter can accurately reach the target position.

[0156] See also Fig.26 and Fig. 27 , Fig.26 Schematic diagram of a top view of a push button driving device 200 provided according to some embodiments of the present application. Fig. 27 The push button driving device 200 provided in accordance with some embodiments of the present application is a three-dimensional structural schematic diagram. The push button driving device 200 provided in one embodiment of the present application is used to couple with the push button of the ablation handle to drive the push button to move, so as to realize the functions of the distal end of the instrument, such as stent size adjustment, stent release and recovery, catheter delivery and withdrawal, ablation catheter electrode ring diameter size adjustment, balloon catheter delivery and withdrawal, catheter head end bending adjustment, and other instrument functions that need to be met. The push button driving device 200 may include a first power shaft 210, a second transmission assembly 220, a pulling assembly 230, and a second coupling assembly 240.

[0157] The first power shaft 210 is used to output torque; the second transmission assembly 220 includes a rotating member 221 and a moving member 222, the rotating member 221 is connected to the output end of the first power shaft 210, and the moving member 222 is connected to the rotating member 221 to convert the rotational motion of the rotating member 221 into linear motion; the pulling assembly 230 is connected to the moving member 222 and performs linear motion with the moving member 222; the second coupling assembly 240 is connected to the pulling assembly 230, and the second coupling assembly 240 is used to engage with the push button 12.

[0158] It is understandable that in order to clearly describe the structure of the push button drive device 200 in this example, the use scenario of the push button drive device 200 is first introduced. Before using the push button drive device 200, the doctor needs to hold the ablation handle 10 to deliver instruments such as guide wires and catheters to the vicinity of the lesion of the human body, and then place the ablation handle 10 on an operating table near the human body (which may be the support shell 250 described below), and ensure that the components (push button 12, ablation adjustment wheel, etc.) on the ablation handle 10 are coupled with the external drive device. Finally, the push button drive device 200 is remotely controlled by the surgical robot, thereby realizing remote control of the push button 12.

[0159] More specifically, the push button drive device 200 can be arranged on a transmission cabin supported by a mechanical arm, and a power cabin can be arranged at one end of the transmission cabin, and the power cabin mainly provides power for the push button drive device 200 to indirectly drive the push button 12 coupled thereto to move. Among them, the second transmission assembly 220 for outputting torque can be arranged on the transmission cabin, for example, the second transmission assembly 220 can be used as a power input coupling, and the power input coupling can receive the power provided by the power cabin through the second transmission assembly 220 (such as a gear structure, a synchronous belt, a screw nut and a slide rail, a gear rack, etc.) in the transmission cabin, thereby providing rotational power for the rotating member 221 in the second transmission assembly 220.

[0160] Since the setting of the entire push button drive device 200 needs to consider the setting position of the transmission cabin (power output port) and the setting position of the ablation handle 10 (including the orientation of the push button 12, ablation adjustment wheel and other components thereon), in order to reduce the difficulty of adjusting the positions of various components such as the transmission cabin and the ablation handle 10, and reduce the probability of position conflicts between various components. This example provides a second transmission component 220, a pulling component 230 and a second coupling component 240, which can realize the effective transmission of power to the push button 12 while making the layout of the entire push button drive device 200 more reasonable to save space.

[0161] The above-mentioned second transmission assembly 220 can be arranged on one side of the support shell 250, and its main function is to convert the torque transmitted from the power cabin to the second transmission assembly 220 into linear motion, and then drive the push button 12 to move. The specific process of driving the push button 12 to move can be that the second transmission assembly 220 drives the rotating member 221 in the second transmission assembly 220 to rotate, the rotating assembly drives the moving member 222 to move linearly, and the moving member 222 drives the pulling assembly 230 connected thereto to move linearly. At the same time, the second coupling assembly 240 connected to the pulling assembly 230 is engaged with the push button 12 of the ablation handle 10, and will drive the push button 12 to move under the drive of the pulling assembly 230, so as to achieve the purpose of remotely controlling the push button 12 to complete the function operation of the instrument.

[0162] The specific structure of the above-mentioned rotating member 221 and the moving member 222 can be, that is, the structure that can convert torque into linear motion can be, roller screw mechanism, common screw mechanism, gear rack mechanism, synchronous belt mechanism, crank slider mechanism, etc. Take the ball screw mechanism as an example to illustrate, the ball screw mainly includes a screw (screw), a nut and a ball, when the screw rotates, the ball rolls in the raceway between the screw and the nut, driving the nut to do linear motion along the axis direction of the screw. In this example, the output torque of the second transmission assembly 220 can be transmitted to the screw shaft of the ball screw, and the screw shaft rotates so that the nut produces a linear displacement, thereby accurately controlling the linear reciprocating movement of the moving member 222. Of course, in order to make the nut move linearly, a guide rod can be set on one side of the nut, and the nut is inserted on the guide rod to limit the degree of freedom of the nut so that it can only move in a linear direction.

[0163] It should be noted that the second transmission assembly 220 can also be used directly as a power source, for example, a high-precision brushless DC motor with stable speed and precise torque output can be selected, and the motor can quickly and accurately adjust the output speed according to external instructions, thereby accurately controlling the torque size to meet the functional operation requirements of different equipment. Of course, appropriate motor parameters can be selected according to the load size and movement speed requirements of the handle push button 12 that is actually driven to ensure that the push button 12 can be stably driven to move.

[0164] In addition, the pulling component 230 provided in this example can be a wire rope, a transmission belt or a push rod, etc. Of course, in order to ensure that the push button 12 can move back and forth, a push rod can be selected. One end of the push rod can be fixedly connected to the movable member 222, and the other end is connected to the second coupling component 240. When the movable member 222 moves in a straight line, the pulling force or pushing force can be accurately transmitted to the second coupling component 240.

[0165] In addition, the second coupling component 240 can be designed as a claw structure with elasticity, and the shape and size of the claw can match the push button 12 of the ablation handle 10 so as to be tightly clamped on the push button 12. Specifically, the claw can be made of materials such as stainless steel or engineering plastics to have certain elasticity and wear resistance; a rubber pad or anti-skid pattern can be provided on the inner side of the claw to enhance the friction between it and the push button 12 to prevent slipping during the driving process. Of course, the structure of the second coupling component 240 is not limited, and can be understood by referring to the following examples.

[0166] The overall workflow of the push button drive device 200 provided in this example can be that the doctor places the handheld ablation handle 10 on the support shell 250, and makes the second coupling component 240 in the push button drive device 200 located outside the support shell 250 clamped on the push button 12 of the ablation handle 10, and locks the support shell 250 to prevent the ablation handle 10 from falling out of the support shell 250. Then, the doctor issues a command on the remote control console, the power cabin starts and transmits power to the second transmission component 220 through the transmission cabin, the second transmission component 220 drives the rotating member 221 of the second transmission component 220 to rotate, the rotational motion of the rotating member 221 is converted into linear motion by the moving member 222, the moving member 222 drives the pulling component 230 to move, the pulling component 230 then pulls or pushes the second coupling component 240, and the second coupling component 240 drives the push button 12 of the ablation handle 10 to move, thereby realizing various functional operations of the device, such as stent size adjustment, stent release and recovery, catheter delivery and withdrawal, etc. Of course, during the whole process, the position and movement state of the push button 12 can be monitored in real time by sensors set in the second coupling component 240, and the information can be fed back to the remote control console. The doctor can adjust the operation instructions in time according to the feedback information to ensure the accurate operation of the operation.

[0167] In this example, the first power shaft 210 drives the rotating member 221 to rotate, and the moving member 222 converts the rotational motion of the rotating member 221 connected thereto into a linear motion. Subsequently, the pulling assembly 230 moves linearly under the drive of the moving member 222, thereby driving the second coupling assembly 240 engaged with the push button 12 to move linearly, driving the push button 12 to move, and realizing various functional operations of the instrument. The present application relies on the coordinated operation of the first power shaft 210, the second transmission assembly 220, the pulling assembly 230, and the second coupling assembly 240, so that the doctor can accurately drive the ablation handle 10 push button 12 on the remote control console, getting rid of the limitation of close operation in the operating room in traditional surgery, greatly reducing the time the operator is exposed to radiation, and effectively protecting the operator's health. In addition, each component in the present application can respond to instructions quickly, accurately complete the action of the push button 12, reduce the instrument adjustment time, and significantly shorten the overall duration of the operation.

[0168] Moreover, this application allows doctors to operate remotely and comfortably without the need for long-term high-intensity manual pushing and pulling of instruments, which greatly reduces the operator's physical exertion and reduces the risk of operating errors caused by fatigue. This solution simplifies the instrument operation process through standardized and automated drive devices. Novice doctors only need to be familiar with the remote control console instructions to quickly get started with complex instrument function operations, such as adjusting the diameter of the ablation catheter electrode ring. Compared with traditional methods, the learning time is greatly shortened, accelerating the training of professional talents.

[0169] like Fig.26As shown, in some embodiments, the rotating member 221 rotates around a first direction under the drive of the first power shaft 210 to drive the moving member 222 to move linearly along a second direction intersecting the first direction; the moving member 222 drives the pulling component 230 to move linearly along the second direction, and the second coupling component 240 is movably connected to the pulling component 230. Driven by the pulling component 230, the second coupling component 240 drives the push button 12 to move along a predetermined trajectory.

[0170] It can be understood that, in order to facilitate the description of the relative positional relationship between the second transmission assembly 220, the power cabin, and the push button 12 of the ablation handle 10, it is defined that the rotating member 221 rotates around the first direction under the drive of the first power shaft 210, that is, the first power shaft 210 (power output coupling) rotates around the first direction, and the moving member 222 is used to convert the rotational motion of the rotating member 221 into a linear motion along the second direction, and the second direction is also the direction in which the push button 12 of the ablation handle 10 moves. The moving member 222 will drive the pulling assembly 230 connected thereto to move linearly along the second direction until the second coupling assembly 240 is driven to drive the push button 12 to move along a predetermined trajectory.

[0171] Among them, the movement of the push button 12 along the predetermined trajectory can be understood as, in order to facilitate the doctor to hold the ablation handle 10 for operation, the handle body of the ablation handle 10 is usually designed to be arc-shaped, that is, a style that gradually tapers from the proximal end to the distal end of the handle body, and the sliding direction of the push button 12 embedded in the handle body needs to be consistent with the extension direction of the handle body. In other words, the general direction of movement of the push button 12 is the second direction, but it has a trajectory that deviates from the direction perpendicular to the second direction. In order to be tightly engaged with the push button 12, the second coupling component 240 also has a moving direction that coincides with the moving trajectory of the push button 12. Then, the second coupling component 240 needs to be movably connected to the pulling component 230 to adaptively adjust the deviation.

[0172] This example ensures the accuracy of power transmission by precisely designing the conversion mechanism of rotation and movement direction, making the movement trajectory of the push button 12 highly controllable and improving the standardization of surgical operations.

[0173] like Fig. 27 As shown, in some embodiments, the push button drive device 200 also includes a supporting shell 250, which is used to accommodate the ablation handle 10, and the push button 12 is exposed from the supporting shell 250; the second coupling component 240 includes a second guide member 241 and a second coupling member 242 that are interconnected, the second guide member 241 is slidably connected to the supporting shell 250, and the second coupling member 242 is used to engage with the push button 12.

[0174] Specifically, the support shell 250 can be understood as an ablation catheter adapter, and a receiving cavity adapted to the ablation handle 10 can be constructed inside the support shell 250 to accommodate the ablation handle 10 and drive the ablation handle 10 to rotate and perform other operations. The support shell 250 in this example can be a rectangular structure, and one side of the rectangular structure has an opening, which is used for the ablation handle 10 to enter or take out of the support shell 250.

[0175] The push button 12 is located at a side of the support shell 250 having an opening, so as to be exposed to the outside and thus be engaged with the second coupling component 240 outside the support shell 250 .

[0176] In order to make the second coupling component 240 have a moving track consistent with the sliding track of the push button 12, this example uses the sliding cooperation between the support shell 250 and the second guide member 241 to achieve the restriction of the sliding track of the second guide member 241. Specifically, the second guide member 241 can be set on one side of the support shell 250 (for example, the side adjacent to the opening), and the second coupling member 242 is located at the opening of the support shell 250 for engaging with the push button 12. A guide groove adapted to the sliding track of the push button 12 can be provided on the side wall of the support shell 250, and the track of the second coupling member 242 connected to the second guide member 241 can be controlled by the adaptation and plugging of the second guide member 241 with the guide groove, so as to make it highly overlap with the sliding track of the push button 12, thereby improving the stability of the engagement between the second coupling member 242 and the push button 12 and the stability of movement.

[0177] In this example, the sliding cooperation between the second guide member 241 and the support shell 250 can further preset the movement of the second coupling member 242, ensuring that the push button 12 is evenly stressed and avoids skewing. For example, when adjusting the diameter of the electrode ring of the ablation catheter, the electrode ring size can be stably and accurately changed to improve the operating accuracy.

[0178] like Fig. 27 , Fig.28 and Fig.29 As shown, in some embodiments, matching guide portions 251 and limiting portions 2411 are respectively provided on the mating surfaces of the support shell 250 and the second guide member 241, and the limiting portion 2411 is used to move in the guide portion 251 so that the second coupling member 242 drives the push button 12 to move along a predetermined trajectory.

[0179] Specifically, a guide portion 251 and a limit portion 2411 that can be plugged into each other are respectively provided on the side walls where the support shell 250 and the second guide member 241 are in contact, wherein the direction of the guide portion 251 can be designed according to the actual movement trajectory of the push button 12 on the ablation handle 10, and the purpose of moving the second guide member 241 along the predetermined trajectory can be achieved by the tight fit between the guide portion 251 and the limit portion 2411.

[0180] It should be noted that the smoothness between the guide portion 251 and the limit portion 2411 can be improved through process design and material selection, thereby reducing friction resistance. In this example, the cooperation between the guide portion 251 and the limit portion 2411 provides precise guidance for the second coupling member 242 to drive the push button 12 to move.

[0181] In some embodiments, the limiting portion 2411 includes a limiting block disposed on one side of the second guide member 241 , and the guiding portion 251 includes a guiding groove formed on a side wall of the supporting shell 250 .

[0182] Specifically, two limit blocks can be provided on the side of the second guide member 241 facing the support shell 250, and the two limit blocks are arranged at intervals along the second direction to ensure the stability of the limit block sliding in the guide groove. The limit block can be a cylindrical structure, and the material is not limited here, and it can be based on the fact that it is not easy to deform and has good self-lubricating properties. The guide groove of the side wall of the support shell 250 can be formed by wire cutting on the corresponding side wall, and the groove width can be slightly larger than the diameter of the limit block to ensure smooth sliding. In addition to the above-mentioned setting method, it can also be that, in one example, the limit portion 2411 includes a limit groove formed on one side of the second guide member 241, and the guide portion 251 includes a guide block provided on the side wall of the support shell 250. Specifically, the guide block provided on the side wall of the support shell 250 is in the shape of a long strip, and its direction is the same as the sliding trajectory of the push button 12, while the limit groove is opened on one side of the second guide member 241, and can be adapted and engaged with the guide block, and slide along the direction of the guide block.

[0183] The above two limiting structures can effectively restrict the freedom of movement of the second guide member 241, and the cooperation between the limiting block and the guide groove is simpler and more flexible, which can ensure that the push button 12 moves without deviation.

[0184] like Fig.28 As shown, in some embodiments, an arc-shaped slide groove is constructed on one side of the ablation handle 10, and the push button 12 is movably arranged in the arc-shaped slide groove; when the guide portion 251 is a guide groove, the guide trajectory of the guide groove is the same as the guide trajectory of the arc-shaped slide groove; the predetermined trajectory is the guide trajectory of the arc-shaped slide groove. Specifically, according to the above description of the shape of the handle body of the ablation handle 10, the arc-shaped slide groove constructed thereon extends approximately along the second direction, that is, the active trajectory of the push button 12 is approximately along the second direction, but has an offset toward a direction perpendicular to the second direction. For example, the guide trajectory of the push button 12 is an arc-shaped trajectory.

[0185] According to the above-mentioned setting position of the ablation handle 10 in the support shell 250, the setting position of the second guide member 241 outside the support shell 250, and the setting position of the guide portion 251 on the support shell 250, it can be concluded that the projection of the arc-shaped slide groove in the first direction is the same size and shape as the projection of the guide groove in the first direction, and is arranged in parallel. Therefore, the moving trajectory of the guide plate is limited by the guide groove, which limits the moving trajectory of the second coupling member 242, so that the moving trajectory of the second coupling member 242 is consistent with the moving trajectory of the push button 12, thereby ensuring that the second coupling member 242 drives the push button 12 to move smoothly, thereby improving the accuracy of the push movement.

[0186] like Fig. 27 and Fig.28 As shown, in some embodiments, the side wall of the support shell 250 is also constructed with a positioning channel 252 extending along the second direction, and a positioning pin 260 is embedded in the positioning channel 252; the second guide member 241 is constructed with an avoidance groove 2412, and the avoidance groove 2412 has an avoidance space extending along the third direction, and a portion of the positioning pin 260 is passed through the avoidance groove 2412; the pulling assembly 230 is connected to the positioning pin 260 to drive the second guide member 241 to move along a predetermined trajectory when the positioning pin 260 moves along the second direction; the third direction intersects with the second direction.

[0187] It can be understood that due to the existence of the arc-shaped slide groove, the movement of the second guide member 241 is not completely along the second direction, but also has an offset in the direction perpendicular to the second direction, and the movement direction of the pulling component 230 that drives the second coupling component 240 to move is the second direction. In order to ensure the smooth sliding of the second guide member 241 in the arc-shaped guide groove, this example is constructed with an avoidance groove 2412 on the second guide member 241, and the avoidance groove 2412 has an avoidance space for the positioning pin 260 to offset.

[0188] The specific movement process of the second guide member 241 can be that the pulling assembly 230 drives the positioning pin 260 to move along the second direction in the positioning channel 252, and the positioning pin 260 drives the second guide member 241 to move along the guide groove. Since the second guide member 241 will offset to the third direction, the avoidance groove 2412 of the second guide member 241 can move along the third direction relative to the positioning pin 260 during this process, and will not affect the positioning pin 260 to continuously drive the second guide member 241 to move.

[0189] In this example, the ingenious design of the positioning pin 260 and the avoidance groove 2412 converts the linear motion of the pulling component 230 into the precise trajectory motion of the second guide member 241, thereby enhancing the stability of the motion coupling between the various components and improving the reliability of the operation.

[0190] like Fig.29As shown, in some embodiments, the second guide member 241 includes a guide plate, which is located at the side wall of the support shell 250 and is arranged adjacent to the side wall of the support shell 250 where the push button 12 is located; the avoidance groove 2412 is a notch constructed at the end of the guide plate away from the second coupling member 242; the third direction is perpendicular to the second direction.

[0191] Specifically, the guide plate is placed adjacent to the side wall of the support housing 250 where the push button 12 is located, and the avoidance groove 2412 can be a strip-shaped notch configured at the end of the guide plate away from the second coupling member 242, and the strip-shaped notch extends along the third direction, thereby providing an avoidance space for the positioning pin 260. The guide plate has a simple and compact structure, is easy to install and debug, and is arranged close to the side wall of the support housing 250 where the push button 12 is located, which can reduce motion transmission loss, thereby quickly responding to the action of the pulling assembly 230, accurately adjusting the position of the push button 12, and improving the flexibility of surgical operations.

[0192] It should be noted that the guide groove may not be set through the side wall of the support shell 250, but because the positioning pin 260 is set in the positioning channel 252, and the end of the positioning pin 260 away from the guide plate is connected to the pulling assembly 230, that is, the end of the positioning pin 260 located in the support shell 250 is connected to the pulling assembly 230, therefore, the positioning channel 252 is set through the shell side wall. The positional relationship between the positioning pin 260 and the pulling assembly 230 can enhance the stability of the pulling assembly 230 driving the positioning pin 260 to move, and the pulling assembly 230 is set inside the support shell 250 to avoid interference with other external components.

[0193] like Fig. 27 As shown, in some embodiments, the second coupling assembly 240 further includes a second elastic member 243, and the second elastic member 243 connects the second guide member 241 and the second coupling member 242, so that the second coupling member 242 is continuously engaged with the push button 12. Specifically, the second coupling member 242 can be rotatably disposed at one end of the second guide member 241 through a rotating shaft, but in order to make the second coupling member 242 continuously engaged with the push button 12, a second elastic member 243 is disposed at the rotation connection between the second coupling member 242 and the second guide member 241, and the second elastic member 243 can be a torsion spring sleeved on the rotating shaft, one end of the torsion spring abuts against the second guide member 241, and the other end abuts against the second coupling member 242. The torsion spring is pre-compressed to a certain extent during installation, so that the installed second coupling member 242 always maintains an elastic force in the direction of the push button 12, ensuring a tight engagement, and will not be separated from the push button 12 even if it is slightly vibrated or disturbed by external forces during surgery.

[0194] like Fig.30As shown, in some embodiments, the second coupling member 242 includes a coupling block, and a side of the coupling block for coupling with the push button 12 is configured with a coupling groove 2421 , and the coupling groove 2421 is provided with coupling teeth meshing with the outer end surface of the push button 12 .

[0195] Specifically, the coupling block can be milled with a coupling groove 2421, and the bottom surface of the coupling groove 2421 is designed to be a V-shape that matches the outer end surface of the push button 12. Fine coupling teeth can be made on the bottom surface of the coupling groove 2421, and the tooth shape can be precisely engaged with the tooth grooves on the outer end surface of the push button 12, thereby ensuring that the power transmission between the coupling block and the push button 12 is slip-free.

[0196] It should be noted that lifting grooves can also be set at both ends of the outside of the coupling block, which facilitate manual pulling of the coupling block to place the ablation handle 10 in the support shell 250, and release the coupling block after it is placed in place to couple the coupling block with the push button 12.

[0197] like Fig. 27 As shown, in some embodiments, the pulling assembly 230 includes a connecting component 231 and a pulling rod 232, the connecting component 231 is fixedly connected to the moving member 222, one end of the pulling rod 232 is connected to the connecting component 231, and the other end is connected to the positioning pin 260, and the pulling rod 232 is used to drive the positioning pin 260 to move along the second direction.

[0198] Specifically, the design of the connecting component 231 can, on the one hand, avoid the ablation handle 10 so that the setting positions of the movable part 222 and the pulling rod 232 are more reasonable. On the other hand, the connecting component 231 can provide support for the rotation of the ablation handle 10, that is, the pulling rod 232, the second coupling component 240, etc. are separated from the second transmission component 220, the first power shaft 210, etc. at the other end of the connecting component 231.

[0199] like Fig.31 As shown, in some embodiments, the connecting component 231 is provided with a missing portion 2313 for avoiding the ablation handle 10 .

[0200] Specifically, the structure of the connecting component 231 can be U-shaped or C-shaped, and the missing portion 2313, i.e., the gap, provided therein facilitates the placement of the ablation handle 10 in the support shell 250 (inside the ablation catheter adapter). The provision of the connecting component 231 in this example can ensure the synchronization and continuity of the second transmission assembly 220 and the second coupling assembly 240 during movement. The provision of the missing portion 2313 can effectively avoid the ablation handle 10 to ensure that there is no interference with the ablation handle 10 during installation and use.

[0201] In order to clearly understand the specific structure of the connecting component 231 and other auxiliary functions of the connecting component 231, the function of the ablation catheter adapter is first introduced. The ablation catheter adapter can carry the ablation handle 10 and the catheter, instruments, etc. therein, and the ablation catheter adapter can rotate driven by other devices, thereby achieving the purpose of driving the ablation handle 10 to rotate. In the push button drive device 200 provided in this example, the first power shaft 210 and the second transmission assembly 220 are stationary relative to the transmission cabin (specifically, they will not rotate), and the pulling rod 232 and the second coupling assembly 240 need to rotate synchronously with the ablation handle 10. Therefore, the connecting component 231 connecting the moving member 222 and the pulling rod 232 needs to ensure that the pulling rod 232 and the second coupling assembly 240 can rotate together with the ablation catheter adapter on the basis of providing the movement synchronization of the moving member 222 and the pulling rod 232.

[0202] Based on this, Fig.31 As shown, in some embodiments, the connecting component 231 includes a third connecting plate 2311 and a second rotating support plate 2312, one end of the third connecting plate 2311 is fixed to the moving member 222, and the other end is engaged with the second rotating support plate 2312, and the second rotating support plate 2312 can rotate around the second direction relative to the third connecting plate 2311.

[0203] Specifically, one end of the third connecting plate 2311 is fixed on the above-mentioned moving member 222, and the end of the third connecting plate 2311 away from the moving member 222 can be set to a C shape, and the second rotating support plate 2312 can be a C-shaped plate that is buckled with the C-shaped part of the third connecting plate 2311. The third connecting plate 2311 and the second rotating support plate 2312 are both constructed with grooves that can be buckled, and the buckling stability of the third connecting plate 2311 and the second rotating support plate 2312 can also be achieved by a cover plate with a shape adaptation. The inner arc surface of the second rotating support plate 2312 is also provided with a protrusion for abutting against the outer side surface of the ablation catheter adapter, so as to drive the second rotating support plate 2312 to rotate around the second direction when the ablation guide adapter rotates, so as to achieve the purpose of driving the pulling rod 232 and the second coupling assembly 240 to rotate through the second rotating support plate 2312.

[0204] In some embodiments, the rotating member 221 includes a driving gear, which is fixedly connected to the output end of the first power shaft 210; the moving member 222 includes a driven rack, which is meshed with the driving gear. Specifically, the driving gear and the output end of the first power shaft 210 can be fixedly connected by a key connection or a set screw. Of course, the driving gear and the output end of the first power shaft 210 can be connected by a tightening sleeve, thereby enhancing the connection stability between the driving gear and the output end of the first power shaft 210 to ensure that the two are closely matched. The driven rack can convert the rotational motion of the driving gear into linear motion. The driven rack can be supported by engineering plastics or steel with good wear resistance. Its surface is finely processed and heat-treated, which can improve the accuracy and wear resistance of the driven rack, thereby improving the meshing accuracy and strength with the driving gear, and improving the transmission efficiency and reliability between the two.

[0205] It should be noted that the second transmission assembly 220 may further include a guide shaft, and the driven rack may be passed through the guide shaft through a guide block, thereby limiting the driven rack in the second direction.

[0206] See also Fig.32 and Fig.33 As shown, the catheter bending drive device 100 provided in one embodiment of the present application is mainly used to connect with the ablation bending wheel of the ablation handle to drive the ablation bending wheel to rotate, so as to achieve the bending of the distal end of the catheter, the stent size adjustment, the implantation device release, the device gear adjustment, the catheter delivery or withdrawal, and other device functions that need to be met. The catheter bending drive device 100 may include a third power shaft 110, an active transmission mechanism 120 and a driven transmission mechanism 130.

[0207] The third power shaft 110 is used to output torque; the active transmission mechanism 120 includes a rotating component 121 and a sliding component 122, the rotating component 121 is connected to the output end of the third power shaft 110, and the moving component 131 is movably connected to the rotating component 121 to convert the rotational motion of the rotating component 121 into linear motion; the driven transmission mechanism 130 includes a moving component 131, a rotating component 132 and a first coupling component 133, the moving component 131 is connected to the sliding component 122, and the rotating component 132 is movably connected to the moving component 131 to convert the linear motion of the moving component 131 into rotational motion; the first coupling component 133 is arranged on the rotating component 132, and is used to engage with the ablation bending wheel 11.

[0208] It can be understood that the catheter bending drive device 100 in this example can be connected to the ablation handle 10 through the ablation catheter support 20, so as to achieve the movement of the repair device by indirectly controlling the ablation handle 10 (the ablation bending wheel 11 thereon), especially adjusting the degree of freedom of the distal end of the ablation catheter through the ablation handle 10. The catheter bending drive device 100 can be arranged on a transmission cabin supported by a mechanical arm, and a power cabin can be arranged at one end of the transmission cabin to provide power for the catheter bending drive device 100 to drive the ablation bending wheel 11 coupled thereto to rotate.

[0209] Among them, the third power shaft 110 for outputting torque is arranged on the transmission cabin. For example, the third power shaft 110 can be used as a power input coupling. The power input coupling can receive the power provided by the power cabin through the transmission structure in the transmission cabin (such as gear structure, synchronous belt, screw nut and slide rail, gear rack, etc.), thereby providing rotational power for the active transmission mechanism 120.

[0210] Since the setting of the entire catheter bending drive device 100 needs to consider the setting position of the transmission cabin (power output port) and the setting position of the ablation catheter support 20 (mainly the direction of the ablation bending wheel 11), the difficulty of adjusting the position of various components such as the transmission cabin, the ablation catheter support 20, the ablation handle 10, and the probability of position conflicts between various components is reduced. This example provides an active transmission mechanism 120 and a driven transmission mechanism 130. The active transmission mechanism 120 is mainly used to convert the torque output from the third power shaft 110 into linear motion, and the driven transmission mechanism 130 is used to connect with the active transmission mechanism 120, mainly used to convert the linear motion output from the active transmission mechanism 120 into rotational motion, so that the first coupling component 133 engaged with the ablation bending wheel 11 can timely and accurately drive the ablation bending wheel 11 to rotate.

[0211] The active transmission mechanism 120 and the driven transmission mechanism 130 can be separately arranged or integrated. Specifically, they can be flexibly adjusted according to the transmission cabin, the ablation catheter support 20 and the orientation of the ablation bending wheel 11 in the ablation handle 10. For example, the active transmission mechanism 120 and the driven transmission mechanism 130 can be arranged across the ablation catheter support 20. Specifically, the active transmission mechanism 120 is connected to the transmission cabin and is arranged on the first side of the ablation catheter support 20, while the driven transmission mechanism 130 can be arranged corresponding to the ablation bending wheel 11 and is arranged on the second side of the ablation catheter support 20. The first side and the second side can be defined as the positions on both sides of the extension direction of the bend in the ablation handle 10. Of course, the active transmission mechanism 120 and the driven transmission mechanism 130 can also be arranged on the same side of the ablation catheter support 20 but at different positions, which is not specifically limited here.

[0212] The specific process of driving the ablation bending wheel 11 to rotate may be that the third power shaft 110 drives the rotating component 121 in the active transmission mechanism 120 to rotate, the rotating component 121 drives the sliding component 122 to move linearly, the sliding component 122 drives the moving component 131 to move linearly through the connecting component 140, the moving component 131 drives the rotating component 132 to rotate, and the first coupling component 133 on the rotating component 132 is engaged with the ablation bending wheel 11 of the ablation handle 10, thereby driving the ablation bending wheel 11 to rotate, thereby realizing the bending operation of the catheter.

[0213] The specific structure of the above-mentioned rotating assembly 121 and sliding assembly 122 can be, that is, the structure that can convert torque into linear motion can be a roller screw mechanism, a common screw mechanism, a gear rack mechanism, a synchronous belt mechanism, a crank slider mechanism, etc. Take the ball screw mechanism as an example for explanation. The ball screw mainly includes a screw (screw), a nut and a ball. When the screw rotates, the ball rolls in the raceway between the screw and the nut, driving the nut to move linearly along the axis direction of the screw. In this example, the output torque of the third power shaft 110 can be transmitted to the screw shaft of the ball screw, and the screw shaft rotates, so that the nut produces a linear displacement, so that the linear reciprocating movement of the driven transmission mechanism 130 can be accurately controlled. Of course, in order to make the nut move linearly, a guide rod can be set on one side of the nut, and the nut is inserted on the guide rod.

[0214] The specific structure of the moving assembly 131 and the rotating assembly 132 can also be one of the roller screw mechanism, the ordinary screw mechanism, the gear rack mechanism, the synchronous belt mechanism, and the crank slider mechanism, and its operating principle is opposite to the action process of the rotating assembly 121 and the sliding assembly 122. The first coupling assembly 133 can be fixed on the rotating assembly 132 to rotate synchronously with the rotating assembly 132 to achieve precise control of the rotation angle of the ablation bending wheel 11.

[0215] It should be noted that the third power shaft 110 can also be used directly as a power source. For example, a high-precision brushless DC motor with stable speed and precise torque output can be selected. The motor can quickly and accurately adjust the output speed according to external instructions, and then accurately control the torque to meet different catheter bending requirements. For example, when performing delicate vascular intervention surgery, slow and precise bending is required. The motor can output a large torque at an extremely low speed to ensure a smooth bending process; and when the catheter posture needs to be quickly adjusted in an emergency, the speed can be quickly increased.

[0216] In this example, the active transmission mechanism 120 is driven by the third power shaft 110 to transmit force to the driven transmission mechanism 130, and the ablation bending wheel 11 is driven to rotate by the first coupling component 133 in the driven transmission mechanism 130. Specifically, the third power shaft 110 drives the rotating component 121 to rotate, and the moving component 131 converts the rotational motion of the rotating component 121 connected thereto into a linear motion. Subsequently, the moving component 131 connected to the sliding component 122 can move linearly under the drive of the sliding component 122, and the rotating component 132 converts the linear motion of the moving component 131 connected thereto into a rotational motion, and further transmits the rotation to the first coupling component 133. The first coupling component 133 can be engaged with the ablation bending wheel 11 of the ablation handle 10, thereby driving the ablation bending wheel 11 to rotate, thereby realizing the bending operation of the catheter. In the present application, the force transmission by each component in the active transmission mechanism 120 and the driven transmission mechanism 130 is, on the one hand, convenient for adjusting the magnitude of the force acting on the ablation bending wheel 11 to achieve precise control of the ablation bending wheel 11; on the other hand, it is convenient for achieving force balance and coordinated control, so that the ablation bending wheel 11 of the ablation handle 10 can work more stably and reliably, thereby providing more precise and reliable catheter control support for related operations.

[0217] In addition, the catheter bending drive device 100 proposed in the present application can reduce the requirements for medical staff's experience in operating surgical instruments, reduce the physical exertion of medical staff, and reduce the impact of radiation from on-site operations on medical staff, which helps to achieve intelligent operation of minimally invasive surgical diagnosis and treatment. Medical staff use the above-mentioned catheter bending drive device 100 to complete the operation, which can also ensure the stability and accuracy of the operation, improve the efficiency of the operation, and shorten the duration of the operation.

[0218] like Fig.32 and Fig.33 As shown, in some embodiments, the rotating component 121 rotates around the first direction under the drive of the third power shaft 110 to drive the sliding component 122 to move linearly along the second direction intersecting the first direction; the sliding component 122 drives the moving component 131 to move linearly along the second direction, and the moving component 131 drives the rotating component 132 to rotate along the first direction, so that the first coupling component 133 drives the ablation bending wheel 11 to rotate.

[0219] It is understandable that, in order to facilitate the description of the relative positional relationship between the active transmission mechanism 120 and the driven transmission mechanism 130, as well as the setting position of the ablation bending wheel 11 of the power cabin and the ablation handle 10, it is defined that the rotating component 121 rotates around the first direction under the drive of the third power shaft 110, that is, the third power shaft 110 (power output coupling) rotates around the first direction, and the sliding component 122 is used to convert the rotation of the rotating component 121 into a linear motion along the second direction. Subsequently, the moving component 131 also moves linearly along the second direction driven by the sliding component 122, and the rotating component 132 is used to convert the linear movement of the moving component 131 into a rotation around the first direction, so that the first coupling component 133 connected thereto rotates to drive the ablation bending wheel 11 to rotate.

[0220] Since the sliding assembly 122 and the moving assembly 131 need to occupy more space for linear movement in the second direction, the second direction may be the extension direction of the catheter in the ablation handle 10. Moreover, the rotation direction of the rotating assembly 132 in this example is consistent with the rotation direction of the rotating assembly 121, that is, consistent with the rotation direction of the third power shaft 110. This setting can be consistent with the remote control direction, thereby improving the convenience of operation for doctors.

[0221] In addition, through the transmission of force by each component in the active transmission mechanism 120 and the driven transmission mechanism 130, it is convenient to adjust the magnitude of the force acting on the ablation bending wheel 11, so as to achieve precise control of the ablation bending wheel 11. It is also convenient to achieve force balance and coordinated control, so that the ablation bending wheel 11 of the ablation handle 10 can work more stably and reliably, thereby providing more precise and reliable catheter control support for related operations.

[0222] In addition to the structure of the ball screw mechanism, the rotating assembly 121 and the sliding assembly 122 can also be, for example, Fig.34 and Fig.35 As shown, in some embodiments, the rotating assembly 121 includes a driving gear, which is fixedly connected to the output end of the third power shaft 110; the sliding assembly 122 includes a driven rack, which is meshed with the driving gear.

[0223] Specifically, the driving gear and the output end of the third power shaft 110 can be fixedly connected by a key connection or a set screw. Of course, the driving gear and the output end of the third power shaft 110 can be connected by a tightening sleeve, thereby enhancing the connection stability between the driving gear and the output end of the third power shaft 110 to ensure a close fit between the two.

[0224] The driven rack can convert the rotational motion of the driving gear into linear motion. The driven rack can be supported by engineering plastics or steel with good wear resistance. Its surface has been finely processed and heat treated to improve the accuracy and wear resistance of the driven rack, thereby improving the meshing accuracy and strength between it and the driving gear, and improving the transmission efficiency and reliability between the two. To ensure the accuracy of the running direction of the driven rack, such as Fig.16 and Fig.17 As shown, in one example, the active transmission mechanism 120 further includes a first guide member 123 , and the driven rack is slidably disposed on the first guide member 123 , and the first guide member 123 is used to limit the driven rack in the second direction.

[0225] Specifically, the driven rack can be slidably disposed on the first guide member 123, and the first guide member 123 can be in the form of a linear guide rail or a guide shaft, etc., and the driven rack is limited in the second direction by cooperating with the driven rack. In this example, the first guide member 123 can be fixed at the transmission cabin, which not only limits the driven rack, but also supports the driven rack.

[0226] like Fig.36 As shown, in some embodiments, the moving assembly 131 includes an active rack connected to the sliding assembly 122; the rotating assembly 132 includes a driven gear meshing with the active rack.

[0227] It can be understood that the structural type of the rotating component 121 and the sliding component 122 in this example can be the same as or different from the structural type of the moving component 131 and the rotating component 132. For example, the rotating component 121 and the sliding component 122 use a ball screw mechanism, and the moving component 131 and the rotating component 132 can use a rack and pinion mechanism; or, both use a rack and pinion mechanism.

[0228] If both the active transmission mechanism 120 and the driven transmission mechanism 130 are configured as a gear rack structure, the high transmission accuracy of the gear rack can be utilized to enable the doctor to remotely and accurately control the operation of the ablation bending wheel 11, thereby ensuring the accuracy and stability of the surgical operation.

[0229] It should be noted that, in order to observe the rotation state of the driven gear, a high-precision optical encoder can be installed on the side of the gear. The encoder can provide real-time feedback of the rotation angle, speed and other information of the driven gear, which can be transmitted back to the control system to accurately control the third power shaft 110 (power cabin), realize closed-loop control, and further improve the accuracy and reliability of the catheter bending.

[0230] like Fig.38 and Fig.39As shown, in some embodiments, the first coupling assembly 133 includes at least one first coupling member 1331 , the first coupling member 1331 is fixed to the end surface of the driven gear, and the first coupling member 1331 is provided with a clamping portion 1332 for cooperating with the ablation bending wheel 11 .

[0231] Specifically, the rotation direction of the driven gear is consistent with the rotation direction of the ablation bending wheel 11, so the coupling will be fixed on the end face of the driven gear facing the ablation bending wheel 11, which not only enables the first coupling member 1331 to rotate around the first direction following the driven gear, but also facilitates it to be engaged with the outside of the ablation bending wheel 11 to engage with the ablation bending wheel 11 and achieve the purpose of driving the ablation bending wheel 11 to rotate.

[0232] In this example, the clamping part 1332 provided on the first coupling member 1331 can be a block extending into the ablation bending wheel 11, or a groove adapted to the boss on the outer peripheral surface of the ablation bending wheel 11. Of course, in this example, the clamping part 1332 is based on being able to adapt and clamp with the ablation bending wheel 11, and the specific method is not limited here. In addition, the first coupling member 1331 can be fixedly connected to the driven gear by bonding, welding or fastening structure, or, in order to enhance the connection stability between the two, the first coupling member 1331 can be formed integrally with the driven gear.

[0233] like Fig.38 As shown, in some embodiments, the first coupling member 1331 includes a coupling block, one end of which is fixed to the outer end face of the driven gear, and the other end is formed with a clamping portion 1332; the clamping portion 1332 includes coupling teeth formed on the coupling block, and the coupling teeth are used to fit and mesh with the outer peripheral surface of the ablation bending wheel 11. Specifically, the coupling block can be designed to be L-shaped, one end of the L-shape is fixed to the outer end face of the driven gear, and the other end has a surface facing the axis of the driven gear, which is a surface for fitting and clamping with the outer peripheral surface of the ablation bending wheel 11, and coupling teeth can be provided on this surface. Of course, the outer peripheral surface of the ablation bending wheel 11 is also provided with grooves that fit with the coupling teeth.

[0234] Among them, multiple coupling blocks can be arranged along the circumference of the driven gear. One side of the multiple coupling blocks provided with coupling teeth can form a covering on the outer circumferential surface of the ablation bending wheel 11, so as to achieve seamless engagement with the ablation bending wheel 11, which is conducive to realizing remote control of the ablation bending wheel 11 through the catheter bending drive device 100.

[0235] like Fig.39As shown, in some embodiments, the first coupling component 133 includes two coupling blocks, and the two coupling blocks are symmetrically distributed about the axis of the driven gear. Specifically, two opposite coupling blocks can be set on one end face of the driven gear facing the ablation bending wheel 11, and effective meshing with the outer peripheral surface of the ablation bending wheel 11 can be achieved through the two coupling blocks. The specific meshing process of the coupling block and the ablation bending wheel 11 can be that the space area enclosed by the two coupling blocks is adapted to the size of the ablation bending wheel 11, and the ablation bending wheel 11 can be embedded into the above-mentioned space area from one end of the two coupling blocks away from the driven gear, thereby achieving seamless meshing with the coupling block.

[0236] It should be noted that the coupling block can be made of high-strength engineering plastic or metal material, and the coupling teeth are precisely processed and heat-treated to ensure the meshing accuracy and strength with the ablation bending wheel 11 .

[0237] Fig.38 As shown, in some embodiments, the driven transmission mechanism 130 further includes a support seat 30 and a stopper 134, wherein the support seat 30 is located on the side of the driven gear away from the first coupling assembly 133; the stopper 134 extends along the first direction, one end of the stopper 134 is fixedly connected to the driven gear, and the other end is rotatably disposed on the support seat 30. Specifically, the support seat 30 can be fixed on the above-mentioned ablation catheter support 20 to ensure that it can rotate with the rotation of the ablation handle 10. The stopper 134 can be made of a high-precision shaft part, such as a stopper rod, and its surface can be polished to improve its surface finish and reduce friction with the support seat 30. The setting of the stopper 134 can limit the approximate position of the driven gear to ensure that it can continuously mesh with the active rack, thereby ensuring the position stability of the driven gear during rotation.

[0238] like Fig.38 As shown, in some embodiments, the driven transmission mechanism 130 also includes a first elastic member 135, the first elastic member 135 is sleeved on the limit member 134, one end of the first elastic member 135 is limited to the support seat 30, and the other end is limited to the driven gear, and the first elastic member 135 is used to make the first coupling component 133 abut against the ablation bending wheel 11. Specifically, the setting of the first elastic member 135 can make the transmission connection between the first coupling component 133 and the ablation bending wheel 11 tight and reliable, avoiding looseness or slipping during the transmission process. The first elastic member 135 can be selected from a spring or an elastic rubber ring, etc., and the appropriate elastic coefficient and size can be selected according to actual needs.

[0239] like Fig.35 and Fig.40As shown, in some embodiments, the active transmission mechanism 120 further includes a first docking plate 125, which is disposed on the side of the driven rack facing the moving assembly 131, and the first docking plate 125 is fastened to the driven rack; the first docking plate 125 is provided with a first guide block 124 on the side away from the driven rack, and the first guide block 124 is adapted to be arranged on the first guide member 123. Specifically, the first docking plate 125 can be fastened to the driven rack by bolts or welding, and the first docking plate 125 is further provided with a first guide block 124, which is configured with a through hole adapted to the above-mentioned guide shaft, so as to improve the stability of the operation of the driven rack by being adapted to the guide shaft. In this example, a plurality of first guide blocks 124 can be arranged on the side of the first docking plate 125, which is not limited here.

[0240] Of course, the first docking plate 125 is not only used to set the first guide block 124, but also used to fix the following connection component 140. The specific connection method can be understood by referring to the following example.

[0241] like Fig.37 As shown, in some embodiments, the third power shaft 110 includes a mounting housing 111; the active transmission mechanism 120 further includes a guide wheel 126, which is mounted on the mounting housing 111, and is used to abut against the side of the driven rack that faces away from the active gear. Specifically, the guide wheel 126 can assist in guiding and supporting the movement of the driven rack, reduce the shaking and deviation of the driven rack during operation, and ensure the accuracy and stability of the transmission.

[0242] like Fig.33 and Fig.35 As shown, in some embodiments, the catheter bending drive device 100 further includes a connecting component 140 , which is connected between the sliding component 122 and the moving component 131 ; the connecting component 140 is provided with a missing portion 145 for avoiding the ablation handle 10 .

[0243] Specifically, in order to adapt to the orientation of the ablation bending wheel 11 in the transmission cabin, the ablation catheter support 20 and the ablation handle 10, the ablation bending wheel 11 is usually on the side of the ablation handle 10 away from the transmission cabin, and the third power shaft 110 is arranged at the transmission cabin, and the first coupling assembly 133 in the driven transmission assembly needs to be adapted and engaged with the ablation bending wheel 11. Based on this, in this example, a connecting assembly 140 is arranged between the active transmission mechanism 120 and the driven transmission mechanism 130. The connecting assembly 140 needs to be arranged across the ablation catheter support 20. Therefore, the connecting assembly 140 needs to be constructed to avoid the missing portion 145 of the ablation catheter support 20 (ablation handle 10). For example, the structure of the connecting assembly 140 can be U-shaped or C-shaped, and the opening provided therein facilitates the placement of the ablation handle 10 in the ablation catheter support 20.

[0244] In this example, the connection assembly 140 can ensure the synchronization and continuity of the sliding assembly 122 and the moving assembly 131 during movement. The missing portion 145 can effectively avoid the ablation handle 10 to ensure that there is no interference with the ablation handle 10 during installation and use.

[0245] In order to clearly understand the specific structure of the connecting component 140 and other auxiliary functions of the connecting component 140, the function of the ablation catheter support 20 is first introduced. The ablation catheter support 20 can carry the ablation handle 10 and the catheter, instruments, etc. therein, and the ablation catheter can rotate under the drive of other devices, thereby achieving the purpose of driving the ablation handle 10 (catheter) to rotate. In the catheter bending drive device 100 provided in this example, the third power shaft 110 and the active transmission mechanism 120 are stationary relative to the transmission cabin (specifically, they will not rotate), and the driven transmission mechanism 130, especially the first coupling component 133 thereon, needs to rotate synchronously with the ablation handle 10. Therefore, the connecting component 140 connecting the active transmission mechanism 120 and the driven transmission mechanism 130, on the basis of providing the movement synchronization of the sliding component 122 and the moving component 131, also needs to ensure that the driven transmission mechanism 130 can rotate together with the ablation catheter support 20.

[0246] Based on this, in some embodiments, the connecting assembly 140 includes a first connecting plate 141 and a first rotating support plate 142, one end of the first connecting plate 141 is fixed to the sliding assembly 122, and the other end is buckled with the first rotating support plate 142, and the first rotating support plate 142 can rotate around the second direction relative to the first connecting plate 141.

[0247] Specifically, one end of the first connecting plate 141 is fixed to the first docking plate 125. Of course, the first connecting plate 141 may have a through hole at the first guide member 123 so that it can be inserted into the guide shaft to achieve the purpose of synchronous operation with the driven rack. The end of the first connecting plate 141 away from the driven rack may be set to a C shape, and the first rotating support plate 142 may be a C-shaped plate that is engaged with the C-shaped portion of the first connecting plate 141. The first connecting plate 141 and the first rotating support plate 142 are both configured with grooves that can be engaged, and the engagement stability of the first connecting plate 141 and the first rotating support plate 142 may also be achieved by a cover plate with a matching shape. The inner arc surface of the first rotating support plate 142 is also provided with a protrusion for abutting against the outer side surface of the ablation catheter support 20. The protrusion can increase the friction between the first rotating support plate 142 and the ablation catheter support 20, so as to drive the first rotating support plate 142 to rotate around the second direction when the ablation guide adapter rotates, so as to achieve the purpose of driving the driven transmission mechanism 130 to rotate through the first rotating support plate 142.

[0248] The moving assembly 131 and the first rotating support plate 142 may be directly connected via the fastener 144 , so that the driven transmission mechanism 130 can rotate along with the ablation handle 10 (ablation bending wheel 11 ).

[0249] In some embodiments, the connecting assembly 140 further includes a second connecting plate 143 , which is spaced apart from the first connecting plate 141 along the second direction, and is fixedly connected to the first rotating support plate 142 via a fastener 144 ; the second connecting plate 143 is fixedly connected to the moving assembly 131 .

[0250] Specifically, in order to reduce the difficulty of assembly between various components, a second connecting plate 143 that is adapted to the shape of the first connecting plate 141 can be provided. The second connecting plate 143 is mainly used to connect the movable component 131 and the first rotating support plate 142. For example, the second connecting plate 143 can be set to a C shape. The second connecting plate 143 and the first rotating support plate 142 can be connected by multiple screws around the circumference of the second connecting plate 143, thereby improving the connection strength between the two.

[0251] In some embodiments, the active transmission mechanism 120 and the driven transmission mechanism 130 are respectively located on both sides of the ablation catheter support 20 , and the first coupling component 133 is located in the accommodating groove 21 to be engaged with the ablation bending wheel 11 of the ablation handle 10 .

[0252] It can be understood that the ablation catheter support 20 is constructed with a receiving groove 21 for accommodating the ablation handle 10. The shape and size of the receiving groove 21 match the ablation handle 10 so that the ablation handle 10 can be firmly fixed therein while ensuring that the position of the ablation handle 10 is stable and reliable during the operation.

[0253] The active transmission mechanism 120 and the driven transmission mechanism 130 of the catheter bending drive device 100 are respectively installed on both sides of the ablation catheter support 20, mainly corresponding to the output port of the transmission cabin and the installation position of the ablation bending wheel 11 in the ablation catheter support 20, and then the first coupling component 133 is placed in the receiving groove 21 to correspond to the position of the ablation bending wheel 11. During the installation process, that is, in the process of placing the ablation handle 10 in the receiving groove 21 of the ablation catheter support 20, it is necessary to adaptively move the ablation handle 10 or the first elastic member 135 connected to the first coupling component 133 so that the first coupling component 133 can be smoothly engaged with the ablation bending wheel 11. It should be noted that in the process of docking the first coupling component 133 and the ablation bending wheel 11, it is necessary to mainly adjust the meshing clearance between the first coupling component 133 and the ablation bending wheel 11 to ensure the accuracy and efficiency of the transmission.

[0254] During the operation, the remote control console of the surgical robot sends control instructions to the power cabin through wired or wireless communication, and transmits the power delivered by the power cabin to the third power shaft 110 (power input coupling) through the transmission cabin, so that the entire catheter bending drive device 100 starts working. It mainly includes driving the rotating component 121 in the active transmission mechanism 120 to rotate, the rotating component 121 drives the sliding component 122 to move linearly, the sliding component 122 drives the moving component 131 to move linearly through the connecting component 140, the moving component 131 drives the rotating component 132 to rotate, and the first coupling component 133 on the rotating component 132 is engaged with the ablation bending wheel 11 of the ablation handle 10, thereby driving the ablation bending wheel 11 to rotate, and realizing the catheter bending operation.

[0255] See also Fig.41 and Fig.42 As shown, the guide wire driving device provided in one embodiment of the present application is used to clamp the guide wire 13 to drive the guide wire 13 to move, including driving the guide wire 13 to perform a pushing action, a retracting action or a rotating action. The guide wire driving device provided in this example may include a fourth power shaft 410, a third transmission assembly 420 and a clamping assembly 430. The fourth power shaft 410 is used to output torque; the third transmission assembly 420 is connected to the output end of the fourth power shaft 410, and is used to convert the rotational motion of the fourth power shaft 410 into linear motion; the clamping assembly 430 is connected to the third transmission assembly 420, and the clamping assembly 430 includes a clamping shell 431 and a clamping component 432, and the clamping shell 431 is configured with a through hole 43111, and the through hole 43111 is used to pass the guide wire 13; the clamping component 432 is arranged in the clamping shell 431 and extends into the through hole 43111, and the clamping component 432 is configured to continuously provide a pre-tightening force into the through hole 43111 to fix the guide wire 13 on the clamping shell 431.

[0256] It is understandable that in order to clearly describe the structure of the guidewire drive device 400 in this example, the use scenario of the guidewire drive device 400 is first introduced. Before using the guidewire drive device 400, the doctor needs to hold the ablation handle 10 to deliver the guidewire 13, catheter and other instruments to the vicinity of the lesion (e.g., the heart and pulmonary veins) of the human body, and then place the ablation handle 10 on an operating table near the human body (which may be the ablation catheter support 20 described below), and clamp the guidewire 13 located at the proximal side of the ablation handle 10 on the guidewire drive device 400. Finally, the guidewire drive device 400 is remotely controlled by the surgical robot, thereby realizing remote control of the guidewire 13.

[0257] More specifically, the guide wire drive device 400 can be arranged on a transmission cabin supported by a mechanical arm, and a power cabin can be arranged at one end of the transmission cabin, and the power cabin mainly provides power for the guide wire drive device 400 to indirectly drive the guide wire 13 connected thereto to move (push, withdraw or rotate). Among them, the fourth power shaft 410 for outputting torque can be arranged on the transmission cabin, for example, the fourth power shaft 410 can be used as a power input coupling, and the power input coupling can receive the power provided by the power cabin through the transmission mechanism (such as gear structure, synchronous belt, lead screw nut and slide rail, gear rack, etc.) in the transmission cabin, thereby providing rotational power for the fourth power shaft 410.

[0258] Since the setting of the entire guidewire drive device 400 needs to consider the setting position of the transmission cabin (power output port) and the setting position of the catheter support seat (for accommodating the ablation handle 10), in order to reduce the difficulty of adjusting the position of various components such as the transmission cabin and the ablation handle 10, and reduce the probability of position conflicts between various components. This example provides a third transmission assembly 420 and a clamping assembly 430, which can not only realize the effective transmission of power to the guidewire 13, but also make the layout of the entire guidewire drive device 400 more reasonable to save space.

[0259] The third transmission assembly 420 can be arranged on one side of the catheter support seat, and its main function is to convert the torque transmitted from the power cabin to the third transmission assembly 420 into linear motion, and then the clamping assembly 430 moves. The specific process of driving the guide wire 13 to move can be to insert the guide wire 13 into the through hole 43111 of the clamping shell 431, and provide a pre-tightening force to the guide wire 13 through the clamping component 432, so that the conductor is relatively fixed on the clamping shell 431. Then, the third transmission assembly 420 converts the torque of the fourth power shaft 410 into linear motion, and drives the clamping assembly 430 to perform linear motion, thereby achieving the purpose of driving the guide wire 13 to move through the clamping assembly 430, and achieving the purpose of remotely controlling the guide wire 13.

[0260] The specific structure of the third transmission assembly 420 can be, that is, the structure that can convert torque into linear motion can be a roller screw mechanism, a common screw mechanism, a gear rack mechanism, a synchronous belt mechanism, a crank slider mechanism, etc. Take the ball screw mechanism as an example for illustration, the ball screw mainly includes a screw (screw), a nut and a ball. When the screw rotates, the ball rolls in the raceway between the screw and the nut, driving the nut to move linearly along the axis direction of the screw. In this example, the output torque of the fourth power shaft 410 can be transmitted to the screw shaft of the ball screw, and the screw shaft rotates, so that the nut produces a linear displacement, so that the linear reciprocating movement of the third transmission assembly 420 can be accurately controlled. Of course, in order to make the nut move linearly, a guide rod can be set on one side of the nut, and the nut is inserted on the guide rod to limit the freedom of the nut so that it can only move in a linear direction.

[0261] It should be noted that the fourth power shaft 410 can also be used directly as a power source. For example, a high-precision brushless DC motor with stable speed and precise torque output can be selected. The motor can quickly and accurately adjust the output speed according to external instructions, and then accurately control the torque size to adapt to the operation requirements of the guide wire 13 at different speeds.

[0262] The clamping shell 431 in the clamping assembly 430 is connected to the above-mentioned third transmission assembly 420 so as to drive the clamping shell 431 to perform linear motion through the third transmission assembly 420. In this example, the through hole 43111 of the clamping shell 431 can be precisely processed according to the diameter of the guide wire 13, while ensuring that the guide wire 13 passes through smoothly, it also has a certain gap to prevent the guide wire 13 from being subjected to excessive friction resistance during the insertion process.

[0263] The clamping component 432 is arranged on the clamping shell 431, and can be a pneumatic clamping structure, an electromagnetic clamping structure, a hydraulic clamping mechanism or the spring plunger 4321 described below. Taking the clamping component 432 as a pneumatic clamping structure as an example, the pneumatic clamping structure can include components such as a cylinder, a piston, and a clamping arm. Compressed air enters the cylinder through the air pipe to push the piston to move. The piston drives the clamping arm, and the end of the clamping arm can be designed to be compatible with the perforation 43111, such as a semicircular or V-shaped shape. When the piston moves, the clamping arm contracts inward to clamp the guide wire 13 in the perforation 43111. Of course, the size of the clamping force can be controlled by adjusting the intake pressure and flow rate.

[0264] The clamping component 432 provided in this example can provide a stable pre-tightening force for the guide wire 13 inserted into the through hole 43111, so that the guide wire 13 and the clamping shell 431 are relatively fixed, so that the guide wire 13 can maintain a stable position when being pushed or retracted, and will not slip or deviate, thereby ensuring the positioning accuracy of the guide wire 13 in the vascular intervention operation.

[0265] In this example, the fourth power shaft 410 outputs torque, the third transmission assembly 420 converts the rotational motion into linear motion, and the clamping assembly 430 fixes the guide wire 13 and drives its movement. This series of structural designs enables the operator to remotely control the guide wire 13 without direct manual operation in the operating room. This setting greatly reduces the surgical operation steps and shortens the operation time. In addition, the clamping component 432 of the clamping assembly 430 continuously provides a pre-tightening force to the perforation 43111 to fix the guide wire 13 on the clamping shell 431. This setting allows the guide wire 13 to remain stable during the pushing and retraction process, avoiding the loosening or displacement of the guide wire 13, ensuring the accuracy of the surgical operation, and effectively reducing the surgical errors caused by the instability of the guide wire 13 compared with the traditional manual operation. In this example, by remotely controlling the guide wire 13, the operator does not need to perform repeated and cumbersome guide wire 13 operations in front of the operating table for a long time, which greatly reduces the operator's surgical fatigue and is conducive to improving the quality and safety of the operation.

[0266] In addition, in vascular interventional surgery, the guidewire 13 needs to be delivered to different pulmonary veins for operation. The guidewire drive device 400 in this example can flexibly control the movement of the guidewire 13 to adapt to the needs of different vascular positions and directions. Whether it is necessary to accurately push the guidewire 13 to a specific pulmonary vein or to operate in different pulmonary vein vestibules, the device can achieve precise control of the guidewire 13 through the coordinated work of its fourth power shaft 410, the third transmission assembly 420 and the clamping assembly 430, providing reliable support for complex vascular interventional surgery.

[0267] like Fig.43 and Fig.44 As shown, Fig.43 This is a schematic diagram of the structure of a clamping assembly provided according to some embodiments of the present application. Fig.44 The schematic diagram of the structure of the clamping assembly (including the fixing plate) provided according to some embodiments of the present application. In some embodiments, the clamping component 432 includes at least one spring plunger 4321, which is movably arranged in the clamping housing 431; the spring plunger 4321 is used to switch between a release position and a pre-tightening position. In the release position, the spring plunger 4321 moves away from the through hole 43111 to release the guide wire 13 in the through hole 43111; in the pre-tightening position, the spring plunger 4321 moves toward the through hole 43111 to make the guide wire 13 abut against the inner wall of the clamping housing 431.

[0268] Specifically, in this example, the spring plunger 4321 can be threadedly connected to the clamping shell 431. When the spring plunger 4321 switches from the pre-tightening position to the loosening position, the spring plunger 4321 can be rotated outward relative to the clamping shell 431 by applying force from the outside (screwdriver, etc.), that is, moved in a direction away from the perforation 43111, so that the guide wire 13 can slide freely in the perforation 43111, which is convenient for the initial installation and adjustment of the guide wire 13. When the spring plunger 4321 switches from the loosening position to the pre-tightening position, the spring plunger 4321 can be rotated outward relative to the clamping shell 431 by applying force from the outside, that is, moved in a direction close to the perforation 43111 to tighten the guide wire 13. Of course, in this example, the spring plunger 4321 can also be installed on the clamping shell 431 by a structure such as a snap-on connection, which is not limited here.

[0269] like Fig.43 As shown, in some embodiments, the clamping shell 431 includes a clamping block 4311, which is penetrated by a through hole 43111, and the side wall of the clamping block 4311 is configured with at least one mounting hole 43112, which is connected to the through hole 43111; the mounting hole 43112 is used to install a spring plunger 4321.

[0270] Specifically, the clamping block 4311 in this example can be designed as a cylindrical structure, and the through hole 43111 passes through two opposite planes of the cylindrical clamping block 4311. The mounting hole 43112 is formed on the arc-shaped side wall of the cylindrical clamping block 4311 and passes through the arc surface and the through hole 43111. The axis of the mounting hole 43112 can be perpendicular to the axis of the through hole 43111, thereby ensuring that the preload force applied by the spring plunger 4321 acts evenly on the guide wire 13.

[0271] The above-mentioned reasonable design of the mounting hole 43112 and the through hole 43111 can ensure the correct installation of the spring plunger 4321 and the force transmission path, so that the spring plunger 4321 can effectively transmit the preload force to the guide wire 13, thereby improving the stability and reliability of the clamping of the guide wire 13, thereby ensuring the accuracy of the operation of the guide wire 13.

[0272] like Fig.43 As shown, in some embodiments, along the axial direction of the perforation 43111, the side wall of the clamping block 4311 is provided with two mounting holes 43112 at intervals. Specifically, the positions of the two mounting holes 43112 on the clamping block 4311 can be set according to the length of the clamping block 4311, etc., and are usually evenly arranged on the clamping block 4311 to achieve the best clamping effect. In this example, a double spring plunger 4321 is used to apply a pre-tightening force to the guide wire 13, which can clamp the guide wire 13 more evenly, improve the stability of the guide wire 13 during the clamping and operation process, and make the pushing or withdrawing action of the guide wire 13 in the blood vessel more stable.

[0273] like Fig.45 and Fig.46 As shown, Fig.45 It is a schematic cross-sectional structural diagram of a clamping assembly provided according to some embodiments of the present application. Fig.46 Schematic diagram of the structure of the spring plunger provided according to some embodiments of the present application. In some embodiments, the spring plunger 4321 may include a body 43211, a preload spring 43212 and a tightening ball 43213. The body 43211 is configured with a receiving groove, and the body 43211 is detachably arranged in the mounting hole 43112; the preload spring 43212 is arranged in the receiving groove, and one end of the preload spring 43212 is connected to the body 43211; the tightening ball 43213 is arranged at the other end of the preload spring 43212, and the tightening ball 43213 is used to extend into the through hole 43111 and contact the guide wire 13.

[0274] It is understandable that the main body 43211 can be in the shape of a cylinder, and a receiving groove can be machined into the center thereof. The size of the receiving groove can be designed according to the size of the preload spring 43212 to ensure that the preload spring 43212 has a suitable expansion space in the receiving groove. In addition, an external thread is also provided on the outside of the main body 43211 to cooperate with the internal thread of the mounting hole 43112 to achieve a tight connection between the two. Of course, a rotary handle or a clamping groove can be provided at the end of the main body 43211 that is away from the preload spring 43212, that is, at the end of the main body 43211 that is exposed to the clamping shell 431, so that medical staff can adjust the spring plunger 4321 through external tools.

[0275] The preload spring 43212 in this example is selected according to the required clamping force and the elastic deformation range of the guide wire 13. For example, for a thinner guide wire 13, a spring with a smaller elastic coefficient can be selected to avoid deformation of the guide wire 13 caused by excessive clamping; and for a thicker guide wire 13 or one that requires a larger clamping force, a spring with a larger elastic coefficient is selected. The preload spring 43212 is installed in the receiving groove, and one end is fixed to the bottom of the body 43211. The spring can be prevented from popping out by welding or setting a limiting protrusion. The other end of the preload spring 43212 is fixedly connected to the top tightening ball 43213 to ensure that the elastic force of the preload spring 43212 can be stably transmitted to the top tightening ball 43213. The diameter of the top tightening ball 43213 can be the same as the inner diameter of the receiving groove, or slightly smaller than the diameter of the receiving groove. In addition, it is also required to be able to be in close contact with the guide wire 13. The specific diameter of the top tightening ball 43213 is not specifically limited here.

[0276] like Fig.41 and Fig.42As shown, in some embodiments, the third transmission assembly 420 includes a driving gear 422 and a driven rack 423, the driving gear 422 is fixedly connected to the output end of the fourth power shaft 410, and the driven rack 423 is meshed with the driving gear 422. Specifically, the driving gear 422 can ensure its firmness on the output shaft of the fourth power shaft 410 by key connection, interference fit or shaft end retaining ring, but no specific limitation is made. This example has high transmission efficiency and accuracy through the transmission method of gear rack, and can stably convert the rotational power of the fourth power shaft 410 into linear motion, driving the guide wire 13 to accurately push or withdraw operations.

[0277] like Fig.41 , Fig.42 and Fig.47 As shown, in some embodiments, the third transmission assembly 420 also includes a second docking plate 426, a guide shaft 424 and a second guide block 425, the second docking plate 426 is arranged on one side of the driven rack 423; the guide shaft 424 extends along the moving direction of the guide wire 13, the second guide block 425 is fixedly connected to the second docking plate 426, and the second guide block 425 is adapted to be mounted on the guide shaft 424; the clamping assembly 430 is connected to the second docking plate 426.

[0278] Specifically, the second docking plate 426 can be fixed to one side of the driven rack 423 by bolt connection or welding, thereby providing a stable installation foundation for the connection of subsequent components. The second docking plate 426 can be a metal plate or a plastic plate, and its shape and size can be designed according to the layout of the installation components, for example, it can be L-shaped, but there is no specific limitation.

[0279] The guide shaft 424 can be fixed on a mounting seat whose relative position remains unchanged, for example, it can be a mounting seat for setting the fourth power shaft 410, so as to ensure its straightness along the moving direction of the guide wire 13. The second guide block 425 is a sliding block with a low friction coefficient, and forms a sliding fit with the guide shaft 424. The second guide block 425 is fixed to the second docking plate 426 by bolts, welding, etc., so that the second docking plate 426 can slide smoothly on the guide shaft 424.

[0280] In this example, the setting of the guide shaft 424 and the second guide block 425 ensures the accuracy and stability of the linear motion of the driven rack 423 during the movement, avoids the deviation caused by lateral force, thereby ensuring the accuracy of the linear motion of the guide wire 13 driven by the entire third transmission assembly 420, and improving the stability and accuracy of the guide wire 13 operation.

[0281] like Fig.41As shown, in some embodiments, the guidewire driving device 400 further includes a connecting assembly 440, which is connected between the third transmission assembly 420 and the clamping assembly 430; the connecting assembly 440 is provided with a missing portion for avoiding the functional parts. Specifically, the structure of the connecting assembly 440 can be U-shaped or C-shaped, and the missing portion, i.e., the gap, provided therein is convenient for accommodating the ablation catheter support 20 described below. In this example, the connecting assembly 440 can ensure the synchronization and continuity of the clamping assembly 430 and the third transmission assembly 420 during the movement process.

[0282] In order to clearly understand the specific structure of the connection component 440 and other auxiliary functions of the connection component 440, the function of the ablation catheter support 20 is first introduced. The ablation catheter support 20 can carry the ablation handle 10 and the catheter, instruments, etc. therein, and the ablation catheter support 20 can rotate under the drive of other devices, thereby achieving the purpose of driving the ablation handle 10 to rotate. In the guidewire drive device 400 provided in this example, the fourth power shaft 410 and the third transmission component 420 are stationary relative to the transmission cabin (specifically, they will not rotate), and the clamping component 430 can rotate synchronously with the ablation handle 10. Therefore, the connection component 440 connecting the clamping component 430 and the third transmission component 420 can ensure that the clamping component 430 can rotate together with the ablation catheter support 20 on the basis of providing the synchronization of the movement of the two.

[0283] Based on this, in some embodiments, the connecting assembly 440 includes a fourth connecting plate 441 and a fourth rotation support plate 442, one end of the fourth connecting plate 441 is fixed to the second docking plate 426, and the other end is engaged with the fourth rotation support plate 442, and the fourth rotation support plate 442 can rotate relative to the fourth connecting plate 441.

[0284] Specifically, one end of the fourth connecting plate 441 is fixed to the second docking plate 426, and a through hole can be provided at the end of the fourth connecting plate 441 connected to the second docking plate 426, so as to facilitate the fourth connecting plate 441 to be inserted into the guide shaft 424. The end of the fourth connecting plate 441 away from the third transmission assembly 420 can be set to a C shape, and the fourth rotation support plate 442 can be a C-shaped plate that is buckled with the C-shaped portion of the fourth connecting plate 441. The fourth connecting plate 441 and the fourth rotation support plate 442 are both configured with a groove that can be buckled. Of course, the buckling stability of the fourth connecting plate 441 and the fourth rotation support plate 442 can also be achieved by a cover plate with a shape adaptation. The inner arc surface of the fourth rotation support plate 442 is also provided with a protrusion for abutting against the outer side surface of the ablation catheter support 20, so as to drive the fourth rotation support plate 442 to rotate when the ablation catheter support 20 rotates, so as to achieve the purpose of driving the clamping assembly 430 to rotate through the fourth rotation support plate 442.

[0285] like Fig.44 As shown, in some embodiments, the clamping assembly 430 also includes a fixing plate 433, which is fixedly connected to the clamping housing 431 and the fourth rotating support plate 442 respectively. Specifically, the fixing plate 433 can be connected to the clamping housing 431 and the fourth rotating support plate 442 respectively by means of screws, for example, the fixing plate 433 in this example can be configured with a positioning groove, so that part of the above-mentioned clamping block 4311 is inserted into the positioning groove. Of course, the positioning groove can be rectangular, and the clamping block 4311 can be designed as a clamping block 4311 with an L-shaped mounting shaft 4312, specifically, one end of the L-shaped mounting shaft 4312 is inserted into the positioning groove to be fixedly connected to the fixing plate 433. The above arrangement can strengthen the connection between the clamping housing 431 and the fourth rotating support plate 442, improve the structural stability of the entire clamping assembly 430, avoid loosening or deformation between components due to force during the operation of the guide wire 13, and ensure the accuracy and safety of the operation of the guide wire 13.

[0286] In some embodiments, the power device includes a first power shaft 210 , a second power shaft 310 , a third power shaft 110 , and a fourth power shaft 410 .

[0287] It is understandable that the power device can be on a transmission cabin supported by a mechanical arm, and a power cabin can be set at one end of the transmission cabin, and the power cabin mainly provides power for driving the ablation catheter, so as to complete the distal angle adjustment of the ablation catheter, the distal rotation of the ablation catheter, the diameter adjustment of the electrode ring, or the delivery / withdrawal of the guidewire in the ablation catheter. Among them, the first power shaft, the second power shaft 310, the third power shaft and the fourth power shaft for outputting torque can be set on the transmission cabin. For example, the first power shaft, the second power shaft 310, the third power shaft and the fourth power shaft can be used as power input couplings. The power input coupling can receive the power provided by the power cabin through the transmission structure in the transmission cabin (such as gear structure, synchronous belt, screw nut and slide rail, gear rack, etc.), thereby providing driving power for the push button drive device 200, the rotation drive device, the catheter bending drive device and the guidewire drive device respectively.

[0288] For example, the first power shaft, the second power shaft 310, the third power shaft and the fourth power shaft can be meshing transmission couplings, which can be respectively meshed and connected with the push button drive device 200, the rotation drive device, the catheter bending drive device and the guide wire drive device. On the one hand, it is conducive to the power transmission for driving the ablation catheter, and on the other hand, it can also realize the functions of plug-and-play, quick installation and disassembly, that is, it can increase the speed of installing the entire ablation catheter adapter in the transmission cabin, thereby shortening the operation preparation process time, and then shortening the patient's operation time.

[0289] In some embodiments, the surgical robot may include an ablation catheter support 20 and the guidewire drive device in the above embodiment. The ablation catheter support 20 has a receiving slot and a delivery slot that are interconnected, the receiving slot is used to receive the ablation handle 10, and the delivery slot is used to receive the guidewire 13 connected to the ablation handle 10; the guidewire drive device 400 is used to be movably connected to the ablation catheter support 20 to drive the clamping assembly 430 to move relative to the ablation catheter support 20, so as to realize the movement of the guidewire 13 in the delivery slot.

[0290] It is understandable that the surgical robot is also provided with a support shell on the outside of the transmission cabin, and the ablation catheter support 20 is movably provided on the support shell. Of course, some components of the guidewire drive device 400 can also be provided on the support shell. The ablation catheter support 20 is an elongated structure, and the receiving groove is usually provided in the middle of the elongated ablation catheter support 20. Conveying grooves are provided on both opposite sides of the receiving groove, wherein the conveying groove at the distal end of the receiving groove (close to the patient side) is used as a catheter conveying groove, and the conveying groove at the proximal end of the receiving groove (away from the patient side) is used as a guidewire 13 conveying groove.

[0291] The guidewire drive device 400 can move along the length direction of the ablation catheter support 20, specifically, the fourth rotating support plate 442 in the connection assembly 440 can contact the outer wall of the ablation catheter support 20, thereby achieving the purpose of driving the clamping assembly 430 to move along the length direction of the ablation catheter support 20 through the third transmission assembly 420. In this example, the ablation catheter support 20 and the guidewire drive device 400 ensure the integration and reliability of the surgical robot, and provide a good operating platform for vascular intervention surgery.

[0292] In some embodiments, the surgical robot further includes a guide support 40, which is disposed at one end of the conveying slot near the receiving slot, and the guide support 40 is used for the guide wire 13 to pass through. Specifically, the guide support 40 in this example can be understood as a guide sleeve, which can be installed at a position of the conveying slot near the receiving slot by bolts, bonding or welding, etc., and the guide sleeve is penetrated with a through hole to ensure that the guide wire 13 can smoothly enter the ablation handle 10 in the receiving slot from the conveying slot. Of course, the through hole of the guide sleeve can be processed to reduce the friction between the guide wire 13 and the guide sleeve. The setting of the guide support 40 in this example can provide better guidance and transition for the pushing or withdrawal of the guide wire 13, reduce the bending and jamming of the guide wire 13 at the place where the guide wire 13 enters the ablation handle 10, ensure the good operation of the subsequent guide wire 13, and improve the success rate and safety of the operation.

[0293] See also Figure 1 and Fig.49As shown, a power output device provided in an embodiment of the present application is used to provide power for the bending catheter adapter 700 and the ablation catheter adapter 60. The power output device may include a power cabin 500 and a transmission cabin 600. The power cabin 500 includes a plurality of drive mechanisms 530 and a plurality of power output couplings 520 connected one-to-one with the plurality of drive mechanisms 530; the transmission cabin 600 is located on one side of the power cabin 500, and the transmission cabin 600 includes a first power transmission mechanism 610 and a second power transmission mechanism 620, and the input ends of the first power transmission mechanism 610 and the second power transmission mechanism 620 are respectively connected to a plurality of the plurality of power output couplings 520, and the output ends of the first power transmission mechanism 610 and the second power transmission mechanism 620 are both located at one end of the transmission cabin 600 along the first direction; wherein, the output end of the first power transmission mechanism 610 is used to detachably connect the ablation catheter adapter 60, and the output end of the second power transmission mechanism 620 is used to detachably connect the bending catheter adapter 700.

[0294] It is understandable that the drive mechanism 530 can be a unit that integrates a servo motor 531 and a servo controller 532, wherein the servo motor 531 is the power source of the entire power output device, thereby providing the required power for different operations. For example, for the operation of the ablation catheter adapter 60, one or more drive mechanisms 530 may be required to realize the rotation, bending, electrode ring diameter adjustment and guide wire delivery of the ablation catheter and the bending catheter, and each drive mechanism 530 can be independently controlled according to specific operation requirements. Of course, in actual design, servo motors 531 of different specifications can be selected according to parameters such as torque, speed and accuracy required for different surgical operations. For example, for the electrode ring diameter adjustment operation that requires high precision, a high-precision, low-torque servo motor 531 can be selected, and for the catheter rotation or bending operation that requires a large torque, a servo motor 531 with a large torque can be selected. No specific restrictions are made here.

[0295] Among them, multiple power output couplings 520 serve as connecting parts 6151a between the drive mechanism 530 and the transmission cabin 600, and can play the role of a bridge for power transmission and connection. The shape and size of each power output coupling 520 can be set according to the adapter at the end to ensure that the power is stably and efficiently transmitted from the drive mechanism 530 to the subsequent transmission mechanism. The model, size, etc. of the specific power output coupling 520 are not limited here. The power output coupling 520 provided in this example also has certain buffering and protection functions to prevent damage caused by load changes or impacts during power transmission. During assembly, each power output coupling 520 will be firmly connected to the corresponding drive mechanism 530 to ensure the reliability of power transmission.

[0296] Specifically, Fig.50 , Fig.51 and Fig.52 As shown, the power compartment 500 also includes a connection terminal 533 connecting the servo motor 531 and the servo controller 532. The servo controller 532 integrates the communication module between the lower computer and the upper computer and the drive control module of the servo motor 531, which can complete the communication with the upper computer and drive the servo motor 531, thereby realizing the transmission of motion control instructions and the drive of the motion mechanism. The power compartment 500 is also provided with an electrical interface 510, which is used to connect the power transmission line to provide power transmission for the power compartment 500.

[0297] In addition, the first power transmission mechanism 610 and the second power transmission mechanism 620 are key components in the transmission cabin 600, and are mainly responsible for further processing and transmitting the power from the power cabin 500 to the corresponding catheter adapter. Fig.53 and Fig.54 As shown, the input ends of the first power transmission mechanism 610 and the second power transmission mechanism 620 are respectively connected to several of the multiple power output couplings 520, which means that reasonable power distribution and connection will be performed according to different operation requirements. For example, part of the input ends of the first power transmission mechanism 610 can be connected to multiple drive mechanisms 530 from the power cabin 500 to obtain the power required for various operations of the ablation catheter adapter 60, such as connecting the power output coupling 520 of the drive mechanism 530 responsible for the rotation of the ablation catheter to one input end of the first power transmission mechanism 610, and connecting the power output coupling 520 responsible for adjusting the diameter of the ablation catheter electrode ring to another input end. The second power transmission mechanism 620 transmits the power obtained from the power cabin 500 to the bending catheter adapter 700. This setting can work independently according to different stages of the operation and operation requirements, thereby providing appropriate power for various operations, avoiding power interference between different operations, and improving the flexibility and operability of the power output device.

[0298] In addition, the output ends of the first power transmission mechanism 610 and the second power transmission mechanism 620 are both located at one end of the transmission cabin 600 along the first direction. In order to ensure the consistency of power output and facilitate the connection with the catheter adapter, the output ends are arranged at the same end to ensure that when the entire power output device is installed on the robotic arm 910, the ablation catheter adapter 60 and the bending catheter adapter 700 can be on the same side to facilitate subsequent operations.

[0299] It should be noted that the first direction in this example refers to the horizontal direction, or a direction close to the horizontal direction. More specifically, from the patient's perspective, the output ends of the first power transmission mechanism 610 and the second power transmission mechanism 620 are located on the left or right side of the power cabin 500, that is, the ablation catheter adapter 60 and the bending catheter adapter 700 are installed on the left or right side of the power cabin 500. This setting can shorten the requirement for catheter length and can make the bending catheter adapter 700 closer to the patient, or it can be said that it is on the same horizontal plane as the patient's vascular entrance. This setting can make the robot with this power output device have a wider range of applications and be compatible with instruments with a wider range of catheter lengths.

[0300] During the installation process, the output ends of the first power transmission mechanism 610 and the second power transmission mechanism 620 can be precisely aligned with the corresponding adapter according to the specific position and operation requirements of the catheter adapter, and a reasonable connection interface can be designed, which may adopt a detachable connection method such as plug-in, bayonet or bolt connection to ensure that the connection between the two is firm and easy to replace and maintain. For example, for the ablation catheter adapter 60, its connection interface can be a quick-release connector with a specific shape and size, which can achieve a quick and stable connection through shape matching and locking mechanism with the output end of the first power transmission mechanism 610.

[0301] The structures of the first power transmission mechanism 610 and the second power transmission mechanism 620 may include gear structures, synchronous belts, screw nuts and slide rails 661, gear racks and the like. Of course, more specific structures can be understood by referring to the following examples, which are not limited here.

[0302] More specifically, in order to achieve rapid docking between the transmission cabin 600 and the power cabin 500, that is, to achieve plug-and-play between the two, a quick docking panel can be set on the side of the power cabin 500 facing the transmission cabin 600. The quick docking panel is arranged with multiple output interfaces, and each output interface corresponds to a power output coupling 520 to achieve rapid connection with the transmission cabin 600.

[0303] Among them, the first power transmission mechanism 610 includes an ablation catheter electrode ring diameter adjustment power transmission module, an ablation catheter rotation power transmission module, an ablation catheter bending power transmission module, and a guidewire delivery power transmission module. The second power transmission mechanism 620 includes a bending adjustment catheter bending power transmission module and a bending adjustment catheter rotation power transmission module. The transmission cabin 600 can transmit the drive and control output by the power cabin 500 to the first power transmission mechanism 610 and the second power transmission mechanism 620 to drive the above-mentioned modules to work, so as to output the power and motion transmitted by each module to the corresponding adapter (ablation catheter adapter 60, bending adjustment catheter adapter 700) to realize the operation of the adapter on the instrument.

[0304] In order to clearly understand the transmission process between the adapter and the transmission cabin 600, this example takes the ablation catheter adapter 60 as an example for explanation. Fig.12 and Fig.14 As shown, the ablation catheter adapter 60 includes a support seat 30, an ablation catheter support 20, a push button drive device 200, a rotation drive device 300, a catheter bending drive device 100 and a guide wire drive device 400. The ablation catheter support 20 is movably arranged on the support seat 30, and is mainly used to realize the loading and stability of the ablation catheter. It is constructed with a control handle 10 accommodating groove 21, a bending wheel loading groove 22, a catheter delivery groove 23 and a guide wire delivery groove 24. In addition, in order to ensure the stability of the control handle 10 placed on the ablation catheter support 20, a fixed lock is also provided on the ablation catheter support 20. The fixed lock can be set on one side of the accommodating groove 21. When the operator fits the control handle 10 into the accommodating groove 21, the control handle 10 is locked by buckling the fixed lock, thereby ensuring the stability of the ablation catheter after loading and avoiding the displacement of the ablation catheter during the operation.

[0305] The rotation driving device 300 can be connected to the ablation catheter support 20 through a transmission structure to realize the rotation operation of the ablation catheter by driving the ablation catheter support 20. For example, one end of the ablation catheter support 20 can be driven, and the other end is supported by a rotating bearing, or both ends of the ablation catheter support 20 can be driven at the same time.

[0306] The catheter bending drive device 100 may include a transmission structure and a coupling block. The coupling block is used to be nested on the bending wheel and supported by the ablation catheter support 20. The transmission of the transmission structure and the coupling block can achieve the purpose of driving the bending wheel to rotate, thereby realizing the remote bending operation of the ablation catheter.

[0307] The push button driving device 200 may include a transmission structure for driving the push button to move linearly, and a coupling block coupled to the push button, thereby converting the power of the power shaft 623 into the power of the push button movement operation to achieve the adjustment of the diameter of the ablation catheter electrode ring.

[0308] The guide wire drive device 400 may include a guide wire clamp and a transmission structure. The guide wire clamp can realize the rapid clamping and loosening of the guide wire, and may be a spring top wire, a clamping device with a silicone inner layer protection, or a three-claw locking device. For example, the transmission structure may be a gear rack transmission mechanism, or a bevel gear system winding wheel wire pulling transmission mechanism, or a roller screw or ball screw transmission mechanism, or other linear motion transmission mechanisms, which are not limited here.

[0309] In the present application, by integrating the power cabin 500 and the transmission cabin 600, and detachably connecting with different catheter adapters, a power source is provided for the bending catheter adapter 700 and the ablation catheter adapter 60. This design makes the entire device modular and convenient for maintenance and replacement of parts. In addition, through the design of multiple drive mechanisms 530 and multiple power output couplings 520, accurate distribution of power for different operations is achieved, so that different drive mechanisms 530 can work independently according to different stages of the operation and operation requirements, provide appropriate power for various operations, avoid power interference between different operations, and improve the flexibility and operability of the power system. In addition, different catheter adapters obtain power through their own power transmission mechanisms, avoiding mutual interference between different operations, so that each operation can be performed under independent and precise power control to improve the accuracy of the operation, thereby improving the success rate of the operation. At the same time, due to the independence of power transmission, different operations can be carried out efficiently at the same time or in sequence, shortening the operation time and improving the overall efficiency of the surgical operation.

[0310] The above structural design also has high scalability, and different adapters can be replaced according to different surgical requirements to expand to more surgical applications. The improvement of the power output device reduces the requirements for medical staff's experience in operating surgical instruments, reduces the physical exertion of medical staff, and reduces the impact of the radiation of the power output device on medical staff, which helps to realize the intelligent operation of minimally invasive surgical diagnosis and treatment. Medical staff use the above power output device to complete the procedure, which can ensure the stability and accuracy of the operation, improve the efficiency of the operation, and shorten the duration of the operation. The application of the above power output device can also help improve the working environment of medical staff, reduce the labor intensity of doctors, and shorten the learning curve of doctors to master complex procedures.

[0311] like Figure 55-Figure 60 As shown, in some embodiments, the transmission cabin 600 also includes a third power transmission mechanism 630, and the third power transmission mechanism 630 includes a rotating component 631 and a moving component 632 that are movably connected; the rotating component 631 is connected to one of the multiple power output couplings 520, and the moving component 632 is connected to a portion of the first power transmission mechanism 610, and the moving component 632 is used to drive a portion of the first power transmission mechanism 610 to move, so that the output end of the first power transmission mechanism 610 moves along a second direction intersecting the first direction.

[0312] Specifically, when the rotating assembly 631 obtains power and starts to work, it drives the moving assembly 632 to move, and the moving assembly 632 drives part of the first power transmission mechanism 610 to move along a second direction intersecting with the first direction. In this example, the first direction can be a horizontal direction, and the second direction is a direction perpendicular to the first direction, for example, a direction toward or away from the human body.

[0313] During the operation, when the position of the first power transmission mechanism 610 in the second direction needs to be adjusted, the rotating assembly 631 drives the moving assembly 632, thereby causing part of the first power transmission mechanism 610 to move in the second direction, thereby adjusting the position of the ablation catheter adapter 60. In this example, the addition of the third power transmission mechanism 630 enables the first power transmission mechanism 610 to have the ability to move in the second direction, increases the operating dimension of the power output device, improves its spatial operability, helps to flexibly adjust the position of the ablation catheter adapter 60 as needed during the operation, improves the accuracy and adaptability of the surgical operation, and meets the requirements of different patient anatomical structures and surgical operation positions.

[0314] like Fig.61 and Fig.62 As shown, in some embodiments, the first power transmission mechanism 610 may include a mounting seat 613, a plurality of transmission members 614, and a plurality of reversing components 615. The mounting seat 613 is fixedly connected to the moving component 632; a plurality of transmission members 614 are arranged on the mounting seat 613, and the plurality of transmission members 614 are connected to the plurality of power output couplings 520 one by one, and the axial direction of each transmission member 614 is the second direction; a plurality of reversing components 615 are arranged on the mounting seat 613, and the reversing component 615 includes a transmission member 6151 and a torsion member 6152, and the transmission member 6151 is slidably sleeved on the transmission member 6151 and rotates under the drive of the transmission member 6151, and the torsion member 6152 is connected to the transmission member 6151 to rotate under the drive of the transmission member 6151.

[0315] Specifically, the mounting seat 613 is fixedly connected to the moving assembly 632 to ensure that it can move in the second direction following the moving assembly 632. A plurality of transmission members 614 are provided through the mounting seat 613, and each transmission member 614 is connected to a power output coupling 520 in a one-to-one correspondence. The axial direction of the transmission member 614 is the second direction, indicating that the power will be transmitted along the second direction.

[0316] In addition, the multiple reversing components 615 arranged on the mounting seat 613 include a transmission member 6151 and a torsion member 6152, and the torsion member 6152 is connected to the transmission member 6151 and rotates under the drive of the transmission member 6151. In specific operation, the power is transmitted from the power output coupling 520 to the transmission member 614, and then through the cooperation of the transmission member 6151 and the torsion member 6152, the power transmission and the conversion of the motion form are realized, which is to change the rotation direction in this example, and provide more power and motion forms for subsequent operations.

[0317] The design of the mounting seat 613 and the multiple transmission members 614 provides a stable structural foundation for power transmission and ensures the reliability of power transmission. The arrangement of multiple reversing components 615 can change the transmission direction and movement form of power and realize more complex operation actions, such as adjusting the rotation direction as needed, providing more diverse movement forms for surgical operations, so as to better control the movement of the ablation catheter adapter 60, so that the power output device can more accurately control the various movements of the ablation catheter adapter 60, improve the diversity and accuracy of surgical operations, and reduce the dependence on the operator's manual operation skills.

[0318] In some embodiments, the output end of the first power transmission mechanism 610 includes a plurality of power output shafts 611 ; the plurality of power output shafts 611 are disposed one by one correspondingly at one end of the plurality of torsion members 6152 away from the transmission member 6151 .

[0319] Specifically, when the power output device is working, after the aforementioned power transmission and motion form conversion, the torsion piece 6152 transmits power to the power output shaft 611 connected thereto. For example, for different ablation catheter operations, such as electrode ring diameter adjustment, catheter rotation, guidewire delivery, etc., different power output shafts 611 can transmit power and motion to the corresponding parts of the ablation catheter adapter 60 to meet various operation requirements. The power and motion converted by the torsion piece 6152 are transmitted through these power output shafts 611, and finally drive the ablation catheter adapter 60 connected thereto.

[0320] The design of multiple power output shafts 611 in this example improves the functional diversity of the output end of the first power transmission mechanism 610, so that power can be provided for multiple operations of the ablation catheter adapter 60 simultaneously or separately, realizing multi-task operation parallelism and improving the operating efficiency of the power output device. In addition, different operations can be independently controlled as needed to avoid mutual interference, improve the flexibility and accuracy of surgical operations, and help improve the success rate and efficiency of the surgery.

[0321] like Fig.60 As shown, in some embodiments, the transmission member 614 includes a ball spline shaft; the transmission member 6151 includes a connecting member 6151a and a driving gear 6151b, the connecting member 6151a is sleeved on the ball spline shaft, and the driving gear 6151b is installed on the connecting member 6151a; the torsion member 6152 includes a connecting shaft 6152a and a driven gear 6152b, the driven gear 6152b is fixed on the connecting shaft 6152a, and the connecting shaft 6152a is connected to the power output shaft 611.

[0322] Specifically, the ball spline shaft provided in this example can achieve axial movement and torque transmission at the same time. The transmission member 6151 is composed of a connecting member 6151a and a driving gear 6151b, the connecting member 6151a is sleeved on the ball spline shaft, and the driving gear 6151b is installed on the connecting member 6151a. The torsion member 6152 includes a connecting shaft 6152a and a driven gear 6152b, the driven gear 6152b is fixed on the connecting shaft 6152a, and the connecting shaft 6152a is connected to the power output shaft 611. During the power transmission process, when power is input from the ball spline shaft, the driving gear 6151b on the connecting member 6151a will be driven to rotate, and the driving gear 6151b will then mesh with the driven gear 6152b, so that the driven gear 6152b rotates, thereby driving the connecting shaft 6152a and the power output shaft 611 to rotate. This design ensures the relative motion relationship between components while achieving power transmission, and meets the dual needs of axial movement and rotational operation.

[0323] In this example, the combination of the ball spline shaft and the gear transmission realizes stable and accurate power transmission and motion control. The use of the ball spline shaft ensures the reliability of axial motion and torque transmission, and the meshing of the gears ensures the accurate transmission of rotational motion. The combination of the two makes the operation of the ablation catheter adapter 60 more accurate, improves the accuracy of surgical operations, and reduces operational errors caused by unstable or inaccurate power transmission.

[0324] like Fig.63 , Fig.64 and Fig.65 As shown, Fig.63 This is a schematic diagram of the structure of a mounting base provided according to some embodiments of the present application. Fig.64 It is a schematic diagram of the structure of a switching assembly provided according to some embodiments of the present application. Fig.65 Schematic diagram of the structure of the connection component provided according to some embodiments of the present application. In some embodiments, the connection component 6151a includes: a ball spline connecting shaft 6151a1, one end of the ball spline connecting shaft 6151a1 is configured with a first mounting hole 6151a5, and the outer peripheral surface of the other end of the ball spline connecting shaft 6151a1 is configured with a clamping portion; the ball spline 6151a2 is arranged in the first mounting hole 6151a5 and connected to the ball spline connecting shaft 6151a1 through a flat key; the ball spline 6151a2 is configured with a second mounting hole 6151a21, and the second mounting hole 6151a21 is used to install the ball spline shaft; wherein the driving gear 6151b is fixed to the clamping portion.

[0325] Specifically, the ball spline 6151a2 is connected to the roller spline connecting shaft 6152a through a flat key, and the flat key ensures the torque transmission between the two. During assembly, the ball spline shaft is installed in the second mounting hole 6151a21 of the ball spline 6151a2, and the flat key is used to ensure the torque transmission between the two, and the driving gear 6151b is fixed to the clamping part to ensure that the driving gear 6151b can rotate with the ball spline connecting shaft 6151a1.

[0326] The design of this example can ensure tight connection and reliable torque transmission between the various components. The use of the flat key ensures the power transmission efficiency and reliability between the ball spline 6151a2 and the ball spline connecting shaft 6151a1, and the clamping part facilitates the installation and positioning of the driving gear 6151b, which improves the stability and reliability of the transmission mechanism as a whole, reduces operational problems caused by loose connection of components or poor torque transmission, and provides a guarantee for precise surgical operations.

[0327] like Figure 66-Figure 69 As shown, Fig.66 This is a schematic diagram of the structure of a ball spline connecting shaft provided according to some embodiments of the present application. Fig.67 This is a schematic diagram of the structure of a ball spline provided according to some embodiments of the present application. Fig.68 This is a schematic diagram of the structure of a driving gear and a connecting sleeve provided according to some embodiments of the present application. Fig.69 Schematic diagram of the structure of the locking ring provided according to some embodiments of the present application. In some embodiments, the clamping portion includes a plurality of stopper grooves 6151a6 and locking threads 6151a7 formed on the outer peripheral surface of the ball spline connecting shaft 6151a1; the outer end surface of the driving gear 6151b is fixedly connected to a connecting sleeve 6151b1, and the connecting sleeve 6151b1 is configured with a plurality of stopper holes 6151b11 corresponding to the plurality of stopper grooves 6151a6, so as to pass through the fastener to fix the connecting sleeve 6151b1 and the ball spline connecting shaft 6151a1; the transmission member 6151 also includes a locking ring 6151c, which is arranged at the locking thread 6151a7 of the ball spline connecting shaft 6151a1 to lock the driving gear 6151b on the ball spline connecting shaft 6151a1.

[0328] Specifically, the connecting sleeve 6151b1 can be formed integrally with the driving gear 6151b, but this is not specifically limited. The connecting sleeve 6151b1 is adapted to be matched with the ball spline connecting shaft 6151a1, and the connecting sleeve 6151b1 and the ball spline connecting shaft 6151a1 are fixedly connected by fasteners such as bolts passing through the stop holes 6151b11. During the installation process, the driving gear 6151b is doubly fixed by the fasteners and the locking ring 6151c to prevent the driving gear 6151b from loosening or shifting during operation.

[0329] In this example, the use of the stop slot 6151a6, the locking thread 6151a7 and the locking ring 6151c enhances the installation stability of the driving gear 6151b, avoids the loosening of the driving gear 6151b due to torque changes, vibrations and other factors in power transmission during surgical operations, ensures the stability and reliability of the power transmission process, reduces power transmission interruptions or operational errors caused by loose components, and improves the safety of the surgery and the accuracy of the operation.

[0330] like Fig.65 As shown, in some embodiments, a retaining spring 6151a3 groove is constructed at the end of the first mounting hole 6151a5, and the retaining spring 6151a3 groove is used to accommodate the retaining spring 6151a3 to lock the ball spline in the first mounting hole 6151a5; a rolling bearing 6151a4 is also sleeved on the ball spline connecting shaft 6151a1, and the rolling bearing 6151a4 is used to install the ball spline connecting shaft 6151a1 on the mounting seat 613.

[0331] Specifically, during assembly, the retaining spring 6151a3 is installed in the retaining spring 6151a3 groove to fix the position of the ball spline, and the ball spline connecting shaft 6151a1 is installed on the mounting seat 613 through the rolling bearing 6151a4, so that the ball spline connecting shaft 6151a1 can rotate smoothly. In this example, the use of the retaining spring 6151a3 groove and the retaining spring 6151a3 ensures the stable installation of the ball spline, and the addition of the rolling bearing 6151a4 reduces the friction when the ball spline connecting shaft 6151a1 rotates, improves the transmission efficiency and the service life of the components, ensures the smooth operation of the entire power transmission system, reduces the power loss and precision reduction caused by component wear and friction, and helps to achieve precise surgical operations.

[0332] like Fig.61 and Fig.63 As shown, in some embodiments, the mounting seat 613 includes two mounting boxes 6131 spaced apart along the second direction; each mounting box 6131 is penetrated by four ball spline shafts, and each mounting box 6131 includes two sets of ball spline connecting shafts 6151a1, two sets of ball splines and two sets of reversing assemblies 615, so that the four power output shafts 611 are spaced apart along the second direction.

[0333] Specifically, the first power transmission mechanism 610 of this example includes four ball spline shafts, and the four ball spline shafts can be arranged in an array by setting the mounting box 6131. ​​During assembly, the corresponding components are installed in the mounting box 6131 according to the above layout to form a compact and orderly power output structure, realizing a reasonable portion of multiple power output shafts 611.

[0334] The layout of this example achieves a reasonable distribution of multiple power output shafts 611 within a limited space, improves the density and efficiency of power output, enables the power output device to perform multiple actions or operations simultaneously, improves the parallelism of operations and the efficiency of surgery, while also ensuring the compactness and stability of the overall structure.

[0335] like Fig.60 and Fig.61 As shown, in some embodiments, the rotating assembly 631 includes a first screw, and the moving assembly 632 includes a nut that cooperates with the first screw; the transmission cabin 600 includes a support plate 660, and the support plate 660 is provided with a slide rail 661 extending along the second direction, and the mounting seat 613 is clamped on the slide rail 661 through a movable slider 616, and the mounting seat 613 is connected to the nut so that the mounting seat 613 moves along the second direction under the drive of the nut.

[0336] Specifically, when the first lead screw rotates, the nut that cooperates with it will produce linear motion. When the first lead screw starts to rotate, the nut moves linearly along the thread of the first lead screw (in the second direction). Since the mounting seat 613 is connected to the nut, the mounting seat 613 moves with the nut. At the same time, the mounting seat 613 ensures that it can only move smoothly along the second direction by the clamping structure of the moving slider 616 on the slide rail 661. For example, during a vascular interventional surgery, when the position of the first power transmission mechanism 610 needs to be adjusted to better operate the ablation catheter, the first lead screw is started, and the nut drives the mounting seat 613 to move smoothly in the second direction, thereby driving the corresponding part of the first power transmission mechanism 610 to move along the second direction.

[0337] The specific working process may be that the power is transmitted from the driving mechanism 530 to the first power transmission mechanism 610 through the power output coupling 520, and the rotational motion is converted into the linear motion of the nut by the first lead screw in the rotating assembly 631, and the nut drives the movement of the mounting seat 613 on the slide rail 661, thereby driving the movement of some components of the first power transmission mechanism 610. The above movement can be precisely controlled according to the needs of the operation. For example, when inserting the ablation catheter into the blood vessel, according to the DSA image observation, the position of the ablation catheter needs to be fine-tuned, and the position of the mounting seat 613 is adjusted by rotating the first lead screw, thereby adjusting the position of the ablation catheter.

[0338] This example uses a screw nut transmission method to achieve the movement of the mounting seat 613, which has high precision and stability, and can accurately control the position of the mounting seat 613 in the second direction, so as to facilitate the adjustment of the position of the first power transmission mechanism 610 according to surgical needs. At the same time, this structure is simple and reliable, easy to operate and maintain, and helps to improve the accuracy and convenience of surgical operations.

[0339] like Fig.55As shown, in some embodiments, the second power transmission mechanism 620 includes two groups of power transmission components, each power transmission component includes a power shaft 623, a rotating shaft 624, and staggered axis gears meshingly connecting the power shaft 623 and the rotating shaft 624; the axial direction of the power shaft 623 is a first direction, the axial direction of the rotating shaft 624 is a second direction, and the second direction is perpendicular to the first direction; the output end of the second power transmission mechanism 620 includes two bending adjustment power shafts 621, and the two bending adjustment power shafts 621 are respectively connected to the ends of the corresponding rotating shafts 624.

[0340] Specifically, when operating the bending catheter adapter 700, power is transmitted from the power shaft 623, and through the meshing action of the staggered axis gears, the direction of the power is converted from the first direction to the second direction, so that the rotating shaft 624 rotates. In specific operations, the power shaft 623 can receive power from the power output coupling 520, and then transmit the power to the rotating shaft 624 through the staggered axis gears, and finally the two bending power shafts 621 connected to the ends of the rotating shaft 624 rotate, thereby realizing the bending operation of the bending catheter adapter 700.

[0341] This example utilizes staggered axis gears to achieve power transmission between the power shaft 623 and the rotating shaft 624. By utilizing its vertical axial design, power can be converted and transmitted in different directions, providing the bending catheter adapter 700 with the power required for bending. At the same time, power transmission and operation in different directions are achieved, thereby improving the operational capability of the bending catheter adapter 700, helping to better control the bending angle of the catheter, and improving the flexibility and accuracy of surgical operations.

[0342] like Fig.71 and Fig.72 As shown, in some embodiments, the transmission cabin 600 also includes a fourth power transmission mechanism 640, and the fourth power transmission mechanism 640 includes: a first mounting plate 643, the first mounting plate 643 is fixedly connected to the cabin body of the transmission cabin 600; a linear slide 641, slidably connected to the first mounting plate 643; a screw transmission assembly 644, arranged between the first mounting plate 643 and the linear slide 641, and used to make the first mounting plate 643 and the linear slide 641 slide relative to each other along the second direction.

[0343] Specifically, the first mounting plate 643 is fixedly connected to the cabin body of the transmission cabin 600, serving as the basic support structure of the entire fourth power transmission mechanism 640. The lead screw transmission assembly 644 converts the rotational motion into linear motion, so that the first mounting plate 643 and the linear slide 641 slide relative to each other in the second direction. For example, during surgery, when it is necessary to adjust the relative position of the transmission cabin 600 (power cabin 500) relative to the robotic arm 910, the lead screw transmission assembly 644 is started to move the linear slide 641 in the second direction relative to the first mounting plate 643, driving the transmission cabin 600 and the power cabin 500 to move together.

[0344] The fourth power transmission mechanism 640 provides an additional position adjustment capability for the power output device in the second direction, increasing the operational flexibility and spatial adaptability of the system. The positions of related components can be adjusted according to different stages and requirements of the surgical operation, providing more convenience for the surgical operation and improving the operability and adaptability of the entire power output device.

[0345] like Fig.72 As shown, in some embodiments, the power output device also includes a second mounting plate 642, which is arranged on the side of the first mounting plate 643 away from the linear slide 641; the second mounting plate 642 is configured with a quick-connect groove 6421, which is used to be clamped with the robotic arm 910.

[0346] Specifically, when the entire power output device is installed on the robotic arm 910, the quick-connect groove 6421 of the second mounting plate 642 is aligned with the connecting component 6151a of the robotic arm 910 and inserted, and the shape and structural characteristics of the quick-connect groove 6421 are used to achieve a quick and firm connection, so that the power output device can be installed on the robotic arm 910 as a whole. The second mounting plate 642 serves as the connecting part between the power output device and the robotic arm 910, and realizes the rapid assembly and disassembly of the two. This connection method enables the power output device to be stably installed on the robotic arm 910, providing a stable support and operating platform for subsequent surgical operations.

[0347] In this example, the design of the quick-connect slot 6421 enables rapid installation and disassembly of the power output device and the robotic arm 910, facilitates the installation of the entire system on the robotic arm 910, improves the assembly efficiency of the surgical robot, and facilitates the transportation, storage and use of the equipment, while ensuring the stability of the connection and providing a reliable foundation for surgical operations.

[0348] It is understandable that before the operation, the doctor has predicted the location of the lesion, for example, by mapping the location of the lesion through a mapping catheter. For example, the surgical robot is used to perform pulsed electric field ablation on the diseased tissue in the atrium and pulmonary veins. Fig.73As shown, the workflow of the surgical robot performing ablation surgery is described below:

[0349] First, the doctor needs to manually deliver the bending adjustment catheter 1000 and the guide wire 13 into the atrial blood vessels; after delivery, the bending adjustment handle 1200 is fixed by the fixing sleeve 721;

[0350] Next, the doctor issues at least one of a rotation command and a bending command through the bending control handle 921 of the console 920, so that the bending catheter 1000 is aligned with the pulmonary vein opening on one side; wherein, the doctor can issue a rotation command through the bending control handle 921 on the console 920, thereby transmitting power to the rotation transmission unit 740 in the bending catheter adapter 700 through the power output device, and driving the bending catheter 1000 to rotate as a whole through the rotation transmission unit 740, so that the bending catheter 1000 faces the pulmonary vein opening on one side, for example, the upper left pulmonary vein opening; and issue a bending command through the bending control handle 921, and transmit power to the bending transmission unit 730 in the bending catheter adapter 700 through the power output device, and drive the bending handwheel 1100 of the bending handle 1200 to rotate through the bending transmission unit 730, so as to adjust the bending angle of the bending catheter 1000, so that the bending catheter 1000 can be aligned with the upper left pulmonary vein opening;

[0351] After the bending-adjusting catheter 1000 is aligned with the upper left pulmonary vein opening, the ablation catheter 2000 is driven by the power output device to be transported along the bending-adjusting catheter 1000 to the lesion position of the pulmonary vein;

[0352] Next, the doctor issues a bending instruction through the ablation control handle 922 of the console 920, so that the power is transmitted to the catheter bending drive device 100 in the ablation catheter adapter 60 through the power output device, and the ablation bending wheel 11 is driven to rotate by the catheter bending drive device 100 to control the bending angle of the ablation catheter 2000, so that the electrode ring on the ablation catheter 2000 is aligned with the lesion position;

[0353] After aligning the lesion position, the doctor adjusts the diameter of the ablation electrode ring according to the patient's actual pulmonary vein physiological structure and the diameter of the lung ring; specifically, the doctor can issue a diameter adjustment command through the ablation control handle 922 on the console 920, and transmit power to the push button 12 driving device in the ablation catheter adapter 60 through the power output device to drive the push button 12 on the ablation handle 10 to move, thereby adjusting the diameter of the electrode ring;

[0354] After the electrode ring diameter is adjusted, ablation energy is output to start treating the diseased tissue;

[0355] After each ablation is completed, the doctor can issue a rotation command through the ablation control handle 922 on the console 920, so that the power is transmitted to the rotation drive device 300 in the ablation catheter adapter 60 through the power output device to control the ablation catheter 2000 to rotate, for example, rotate 180 degrees, and then perform another discharge ablation to ensure that the lesion is completely ablated;

[0356] When the lesion position needs to be adjusted, that is, when the ablation catheter 2000 is transported from one pulmonary vein to another pulmonary vein, for example, when the ablation catheter 2000 is transported from the upper left pulmonary vein to the lower left pulmonary vein, the ablation catheter 2000 is driven to withdraw from the upper left pulmonary vein channel by the power output device, and the guide wire 13 driving device controls the guide wire 13 to withdraw from the upper left pulmonary vein channel;

[0357] Next, the doctor issues a rotation instruction to the bending catheter adapter 700 through the bending control handle 921, so that the rotation transmission unit 740 in the bending catheter adapter 700 drives the bending catheter 1000 to rotate as a whole, so that the bending catheter 1000 faces the lower left pulmonary vein opening; the doctor issues a bending instruction to the bending catheter adapter 700 through the bending control handle 921, and drives the bending hand wheel 1100 to rotate through the bending transmission unit 730 in the bending catheter adapter 700, so as to adjust the bending angle of the bending catheter 1000 to align with the lower left pulmonary vein opening;

[0358] After the bending-adjusting catheter 1000 is aligned, the guide wire 13 is controlled by the guide wire 13 driving device to be delivered to the lower left pulmonary vein channel;

[0359] Next, the power output device controls the ablation catheter 2000 to push and pull forward, that is, the ablation catheter 2000 is delivered to the lower left pulmonary vein along the guide wire 13, and the catheter bending drive device 100 in the ablation catheter adapter 60 acts on the ablation bending wheel 11 to control the ablation catheter 2000 to bend, thereby adjusting the bending angle of the ablation catheter 2000, so that the electrode ring is accurately aligned with the lesion position in the lower left pulmonary vein;

[0360] The above-mentioned ablation operation is repeated until the lesion is completely ablated, and then the ablation catheter 2000, the guide wire 13 and other instruments are withdrawn through the power output device.

[0361] It can be seen that the above-mentioned surgical robot is only provided with two adapters, namely the bending catheter adapter 700 and the ablation catheter adapter 60, which can realize the respective control of the bending catheter 1000 and the ablation catheter 2000, and can realize functions such as the delivery of the guidewire 13 and the adjustment of the electrode ring diameter. The bending catheter adapter 700 realizes the remote control of the bending catheter 1000, for example, the rotation and bending of the bending catheter 1000 are realized; the rotation and bending of the bending catheter 1000 change the delivery path, and the ablation catheter 2000 can be delivered to different pulmonary veins; the ablation catheter adapter 60 realizes the remote operation of the ablation catheter 2000, the delivery adjustment of the guidewire 13 and the diameter adjustment of the electrode ring, for example, by controlling the bending angle of the ablation catheter 2000, the ablation catheter 2000 can be accurately placed in the human body. Adjust the ablation position to align with the lesion position; by delivering the guide wire 13, the guide wire 13 can support the ablation catheter 2000, etc., by withdrawing the guide wire 13, the guide wire 13 can be re-delivered to a different lesion position; adjust the diameter of the electrode ring through the ablation catheter adapter 60 to adapt to the annular lung diameter of different patients and improve the adaptability of use; control the rotation of the ablation catheter 2000 through the rotation drive device 300 in the ablation catheter adapter 60, so that the motor ring is aligned with other areas of the lesion position to achieve complete ablation.

[0362] The above-mentioned surgical robot forms a complete surgical robot system through the combination of the console 920, the robotic arm 910, the power output device, the bending catheter adapter 700 and the ablation catheter adapter 60, which improves the degree of automation of the operation, reduces the operator's radiation exposure time, shortens the learning curve, and improves the safety, effectiveness and success rate of the operation, meeting the needs of different surgical scenarios and patients.

[0363] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0364] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A surgical robot, characterized in that: The surgical robot comprises: Robotic arm (910); A power output device connected to the mechanical arm (910); the power output device comprises a power cabin (500) and a transmission cabin (600) located on one side of the power cabin (500); A bending-adjusting conduit adapter (700) is connected to one side of the transmission cabin (600) along the first direction, and the bending-adjusting conduit adapter (700) can drive the bending-adjusting hand wheel (1100) of the bending-adjusting conduit (1000) to rotate, and can drive the bending-adjusting conduit (1000) to rotate around its own axis; The ablation catheter adapter (60) is connected to one side of the transmission cabin (600) along the first direction. The ablation catheter adapter can drive the ablation bending wheel of the ablation catheter to rotate, and can drive the ablation catheter to rotate around its own axis.

2. The surgical robot according to claim 1, characterized in that: The bending-adjusting catheter adapter (700) comprises: The adapter seat (710) is configured with a bending connection portion (7111) and a rotation connection portion (7114) spaced apart at one end along a first direction, wherein the first direction intersects with the direction of gravity; A fixing sleeve (721) is rotatably connected to the adapter seat (710) and arranged along the first direction with the bending adjustment connection portion (7111); the fixing sleeve (721) is used to fix the bending adjustment catheter (1000); a bending adjustment transmission unit (730) connected to the bending adjustment connection portion (7111) and arranged along the first direction with the bending adjustment connection portion (7111); a power output end of the bending adjustment transmission unit (730) is used to be connected to a bending adjustment hand wheel (1100) of the bending adjustment catheter (1000); The rotation transmission unit (740) is connected to the rotation connection part (7114) and arranged along the first direction with the rotation connection part (7114); the power output end of the rotation transmission unit (740) is connected to the fixing sleeve (721).

3. The surgical robot according to claim 2, characterized in that: The bending adjustment connection portion (7111) comprises a bending adjustment connection hole (7112), and the bending adjustment transmission unit (730) is connected to the bending adjustment connection hole (7112); The rotating connection portion (7114) includes a rotating connection hole (7115), and the rotating transmission unit (740) is connected to the rotating connection hole (7115).

4. The surgical robot according to claim 3, characterized in that: The bending adjustment connection portion (7111) further comprises a bending adjustment coupling (7113) connected to the bending adjustment connection hole (7112), and the bending adjustment transmission unit (730) is connected to the bending adjustment coupling (7113); The rotary connection portion (7114) further includes a rotary coupling (7116) connected to the rotary connection hole (7115), and the rotary transmission unit (740) is connected to the rotary coupling (7116).

5. The surgical robot according to claim 2, characterized in that: The bending adjustment transmission unit (730) includes a first bending adjustment input member (731) and a first bending adjustment output member (732) of meshing transmission, wherein the axial directions of the first bending adjustment input member (731) and the first bending adjustment output member (732) intersect; the first bending adjustment input member (731) is connected to the bending adjustment connection part (7111), and the first bending adjustment output member (732) is used to be connected to the bending adjustment hand wheel (1100).

6. The surgical robot according to claim 2, characterized in that: The rotation transmission unit (740) comprises a first rotation input member (741) and a first rotation output member (742) of meshing transmission, wherein the axial directions of the first rotation input member (741) and the first rotation output member (742) intersect; the first rotation input member (741) is connected to the rotation connection portion (7114), and the first rotation output member (742) is connected to the fixed sleeve (721).

7. The surgical robot according to claim 6, characterized in that: The bending-adjusting catheter adapter (700) further comprises a fixing lock (722) rotatably connected to the fixing sleeve (721); when the fixing lock (722) is in a locked position, the fixing lock (722) cooperates with the fixing sleeve (721) to enclose a clamping groove (7211) for clamping the bending-adjusting catheter (1000).

8. The surgical robot according to claim 1, characterized in that: The ablation catheter adapter (60) comprises: A support seat (30), wherein a power coupling plate (31) is provided on one side of the support seat (30), wherein the power coupling plate (31) is configured with a docking hole (36), and wherein the docking hole (36) is used to expose an external first power shaft (210), a second power shaft (310), a third power shaft (110), and a fourth power shaft (410); An ablation catheter support (20) is arranged on the support seat (30), the ablation catheter support (20) is used to accommodate an ablation handle (10), the ablation handle (10) is connected to an ablation catheter, and the ablation handle (10) comprises a push button (12) and an ablation bending wheel (11); A push button driving device (200) is disposed on the support seat (30), connected to the first power shaft (210), and engaged with the push button (12) to drive the push button (12) to move; A rotation driving device (300) is arranged on the support seat (30), connected to the second power shaft (310) and connected to the ablation catheter support (20), and is used to drive the ablation catheter support (20) to rotate; A catheter bending drive device (100) is arranged on the support seat (30), connected to the third power shaft (110), and connected to the ablation bending wheel (11) to drive the ablation bending wheel (11) to rotate; The guide wire driving device (400) is arranged on the support seat (30), connected to the fourth power shaft (410), and is used to clamp the guide wire to drive the guide wire to move.

9. The surgical robot according to claim 8, characterized in that: The catheter bending drive device comprises: An active transmission mechanism (120) comprises a rotating assembly (121) and a sliding assembly (122), wherein the rotating assembly (121) is connected to the output end of the third power shaft (110), and the sliding assembly (122) is movably connected to the rotating assembly (121) to convert the rotating motion of the rotating assembly (121) into linear motion; The driven transmission mechanism (130) comprises a moving component (131), a rotating component (132) and a first coupling component (133); the moving component (131) is connected to the sliding component (122); the rotating component (132) is movably connected to the moving component (131) so as to convert the linear motion of the moving component (131) into rotational motion; the first coupling component (133) is arranged on the rotating component (132) for engaging with the ablation bending wheel (11).

10. The surgical robot according to claim 9, characterized in that: The rotating component (121) is driven by the third power shaft (110) to rotate around a first direction, so as to drive the sliding component (122) to move linearly along a second direction intersecting the first direction; The sliding component (122) drives the moving component (131) to move linearly along the second direction, and the moving component (131) drives the rotating component (132) to rotate along the first direction, so that the first coupling component (133) drives the ablation bending wheel (11) to rotate.

11. The surgical robot according to claim 10, characterized in that: The rotating assembly (121) comprises a driving gear, and the driving gear is fixedly connected to the output end of the third power shaft (110); The sliding assembly (122) comprises a driven rack which is meshed with the driving gear.

12. The surgical robot according to claim 11, characterized in that: The moving assembly (131) comprises an active rack, and the active rack is connected to the sliding assembly (122); The rotating assembly (132) comprises a driven gear, and the driven gear is meshed with the driving rack.

13. The surgical robot according to claim 12, characterized in that: The first coupling component (133) includes at least one first coupling member (1331), the first coupling member (1331) is fixed to the end face of the driven gear, and the first coupling member (1331) is provided with a clamping portion (1332) for cooperating with the ablation bending wheel (11).

14. The surgical robot according to claim 13, characterized in that: The first coupling member (1331) comprises a coupling block, one end of which is fixed to the outer end surface of the driven gear, and the other end of which is formed with the clamping portion (1332); The clamping portion (1332) comprises coupling teeth formed on the coupling block, and the coupling teeth are used to adaptably mesh with the outer peripheral surface of the ablation bending wheel (11).

15. The surgical robot according to claim 14, characterized in that: The first coupling assembly (133) comprises two coupling blocks, and the two coupling blocks are symmetrically distributed about the axis of the driven gear.

16. The surgical robot according to any one of claims 12 to 15, characterized in that: The driven transmission mechanism (130) further comprises a support housing (136) and a stopper (134); the support housing (136) is located on a side of the driven gear away from the first coupling assembly (133); The limiting member (134) extends along the first direction, one end of the limiting member (134) is fixedly connected to the driven gear, and the other end is rotatably disposed on the supporting shell (136).

17. The surgical robot according to claim 16, characterized in that: The driven transmission mechanism (130) also includes a first elastic member (135), which is sleeved on the limiting member (134), one end of the first elastic member (135) is limited to the supporting shell (136), and the other end is limited to the driven gear, and the first elastic member (135) is used to make the first coupling component (133) abut against the ablation bending wheel (11).

18. The surgical robot according to any one of claims 11 to 15, characterized in that: The active transmission mechanism (120) further comprises a first guide member (123), the driven rack being slidably disposed on the first guide member (123), and the first guide member (123) being used to limit the driven rack to the second direction.

19. The surgical robot according to claim 8, characterized in that: The rotation driving device comprises a transmission component (320) and a docking component (330), wherein the transmission component (320) is connected to the second power shaft (310), and the docking component (330) is connected to the transmission component (320) and rotates under the drive of the transmission component (320) so that the ablation catheter supporter (20) rotates accordingly; The ablation catheter support (20) is fixedly connected to the docking assembly (330), and the ablation catheter that passes through the docking assembly (330) is accommodated in the ablation catheter support (20).

20. The surgical robot according to claim 19, characterized in that: The ablation catheter support (20) is configured with a delivery groove, and the delivery groove is used to accommodate the ablation catheter; The docking assembly (330) is provided with a positioning portion (332) for the ablation catheter to pass through, and the docking assembly (330) is used to drive the ablation catheter support (20) and the ablation catheter to rotate synchronously.

21. The surgical robot according to claim 20, characterized in that: The docking assembly (330) comprises a docking wheel (331), wherein the docking wheel (331) is configured with a hollow cavity, and the hollow cavity is used to install the ablation catheter support (20); The positioning portion (332) comprises an open notch constructed on the side wall of the docking wheel (331), the open notch being in communication with the hollow cavity, and the open notch being used to expose the conveying groove.

22. The surgical robot according to claim 21, characterized in that: Along the rotation axis of the docking wheel (331), the docking wheel (331) includes a coupling gear (3311) and a mounting arc plate (3312); At least one mounting hole (3313) is provided on the mounting arc plate (3312) along the circumference of the docking wheel (331), and the mounting hole (3313) is used for fasteners to pass through so as to fix the docking wheel (331) and the ablation catheter support (20) in connection.

23. The surgical robot according to any one of claims 20 to 22, characterized in that: The support seat (30) also includes a first end plate (32) and a second end plate (33) arranged at both ends of the power coupling plate (31), and the first end plate (32) and the second end plate (33) are constructed with an opening (35) for passing the ablation catheter support (20).

24. The surgical robot according to claim 23, characterized in that: The end of the ablation catheter support (20) is adapted to be inserted into the opening (35); The first end plate (32) and / or the second end plate (33) is provided with the docking assembly (330); The side walls of the first end plate (32) and the second end plate (33) are configured with avoidance gaps (34) communicating with the opening (35), and the avoidance gaps (34) are used to expose the conveying trough.

25. The surgical robot according to claim 24, characterized in that: A plurality of support protrusions (37) are constructed on the first end plate (32) and / or the second end plate (33) where the opening (35) is located. The plurality of support protrusions (37) are distributed at intervals around the circumference of the opening (35) and are used to abut against the ablation catheter support (20).

26. The surgical robot according to claim 21 or 22, characterized in that: The transmission assembly (320) comprises at least one stage of transmission gear (322), the transmission gear being connected to the second power shaft (310), and the transmission gear being meshed with the docking wheel (331) to drive the docking wheel (331) to rotate.

27. The surgical robot according to claim 26, characterized in that: The transmission assembly (320) comprises a driving gear (321), a primary transmission gear (322) and a secondary transmission gear (323) that mesh with each other, the driving gear (321) is connected to the second power shaft (310), and the primary transmission gear (322) and the secondary transmission gear (323) are rotatably disposed on the support seat (30); Wherein, the secondary transmission gear (323) includes at least two driven gears.

28. The surgical robot according to claim 8, characterized in that: The push button driving device (200) comprises: A second transmission assembly (220) comprises a rotating member (221) and a moving member (222), wherein the rotating member (221) is connected to the output end of the first power shaft (210), and the moving member (222) is connected to the rotating member (221) to convert the rotational motion of the rotating member (221) into linear motion; A pulling assembly (230) connected to the moving member (222) and moving linearly with the moving member (222); The second coupling component (240) is connected to the pulling component (230), and the second coupling component (240) is used for engaging with the push button (12).

29. The surgical robot according to claim 28, characterized in that: The rotating member (221) is driven by the first power shaft (210) to rotate in a first direction to drive the moving member (222) to move linearly in a second direction intersecting the first direction; The moving member (222) drives the pulling component (230) to move linearly along the second direction. The second coupling component (240) is movably connected to the pulling component (230). The second coupling component (240) drives the push button (12) to move along a predetermined trajectory under the drive of the pulling component (230).

30. The surgical robot according to claim 29, characterized in that: The push button driving device further comprises a supporting shell (250), wherein the supporting shell (250) is used to accommodate the ablation handle (10), and the push button (12) is exposed outside the supporting shell (250); The second coupling component (240) comprises a second guide member (241) and a second coupling member (242) which are connected to each other, the second guide member (241) is slidably connected to the support shell (250), and the second coupling member (242) is used for snapping with the push button (12).

31. The surgical robot according to claim 30, characterized in that: The matching surfaces of the support shell (250) and the second guide member (241) are respectively provided with matching guide portions (251) and limit portions (2411), and the limit portions (2411) are used to move in the guide portions (251) so that the second coupling member (242) drives the push button (12) to move along the predetermined trajectory.

32. The surgical robot according to claim 31, characterized in that: The limiting portion (2411) comprises a limiting block arranged on one side of the second guide member (241), and the guiding portion (251) comprises a guiding groove formed on a side wall of the supporting shell (250); Alternatively, the limiting portion (2411) comprises a limiting groove formed on one side of the second guide member (241), and the guiding portion (251) comprises a guiding block arranged on a side wall of the supporting shell (250).

33. The surgical robot according to claim 32, characterized in that: An arc-shaped slide groove is configured on one side of the ablation handle (10), and the push button (12) is movably arranged in the arc-shaped slide groove; When the guide portion (251) is the guide groove, the guide track of the guide groove is the same as the guide track of the arc-shaped sliding groove; The predetermined trajectory is the guide trajectory of the arc-shaped slide groove.

34. The surgical robot according to claim 33, characterized in that: The side wall of the support shell (250) is also configured with a positioning channel (252) extending along the second direction, and a positioning pin (260) is embedded in the positioning channel (252); The second guide member (241) is configured with an avoidance groove (2412), the avoidance groove (2412) having an avoidance space extending along a third direction, and a portion of the positioning pin (260) is disposed through the avoidance groove (2412); The pulling assembly (230) is connected to the positioning pin (260) so as to drive the second guide member (241) to move along the predetermined track when the positioning pin (260) moves along the second direction; the third direction intersects with the second direction.

35. The surgical robot according to claim 34, characterized in that: The second guide member (241) comprises a guide plate, the guide plate is located at the side wall of the support shell (250), and is arranged adjacent to the side wall of the support shell (250) where the push button (12) is located; The avoidance groove (2412) is a notch constructed at the end of the guide plate away from the second coupling member (242); the third direction is perpendicular to the second direction.

36. The surgical robot according to any one of claims 30 to 35, characterized in that: The second coupling component (240) further comprises a second elastic member (243), wherein the second elastic member (243) connects the second guide member (241) and the second coupling member (242) so that the second coupling member (242) is continuously clamped on the push button (12).

37. The surgical robot according to claim 36, characterized in that: The second coupling member (242) comprises a coupling block, a side of the coupling block for coupling with the push button (12) being configured with a coupling groove (2421), wherein the coupling groove (2421) is provided with coupling teeth meshing with the outer end surface of the push button (12).

38. The surgical robot according to claim 8, characterized in that: The guide wire driving device comprises: a third transmission assembly (420), connected to the output end of the fourth power shaft (410), and used for converting the rotational motion of the fourth power shaft (410) into linear motion; A clamping assembly (430) is connected to the third transmission assembly (420), and the clamping assembly (430) includes a clamping shell (431) and a clamping component (432). The clamping shell (431) is configured with a through hole (43111), and the through hole (43111) is used to pass the guide wire (13); the clamping component (432) is arranged in the clamping shell (431) and extends into the through hole (43111), and the clamping component (432) is configured to continuously provide a pre-tightening force into the through hole (43111) to fix the guide wire (13) on the clamping shell (431).

39. The surgical robot according to claim 38, characterized in that: The clamping component (432) comprises at least one spring plunger (4321), and the spring plunger (4321) is movably disposed in the clamping shell (431); The spring plunger (4321) is used to switch between a release position and a pre-tightening position. In the release position, the spring plunger (4321) moves in a direction away from the through hole (43111) to release the guide wire (13) in the through hole (43111); in the pre-tightening position, the spring plunger (4321) moves in a direction close to the through hole (43111) to make the guide wire (13) abut against the inner wall of the clamping shell (431).

40. The surgical robot according to claim 39, characterized in that: The clamping shell (431) comprises a clamping block (4311), the clamping block (4311) is penetrated by the through hole (43111), the side wall of the clamping block (4311) is configured with at least one mounting hole (43112), and the mounting hole (43112) is communicated with the through hole (43111); The mounting hole (43112) is used to mount the spring plunger (4321).

41. The surgical robot according to claim 40, characterized in that: Along the axial direction of the through hole (43111), two mounting holes (43112) are arranged at intervals on the side wall of the clamping block (4311).

42. The surgical robot according to claim 40 or 41, characterized in that: The spring plunger (4321) comprises: A body (43211), wherein the body (43211) is configured with a receiving groove, and the body (43211) is detachably disposed in the mounting hole (43112); A preload spring (43212) is disposed in the receiving groove, and one end of the preload spring (43212) is connected to the body (43211); A tightening ball (43213) is arranged at the other end of the preload spring (43212), and the tightening ball (43213) is used to extend into the through hole (43111) and contact the guide wire (13).

43. The surgical robot according to any one of claims 38 to 41, characterized in that: The third transmission assembly (420) comprises a driving gear (422) and a driven rack (423); the driving gear (422) is fixedly connected to the output end of the fourth power shaft (410); and the driven rack (423) is meshed with the driving gear (422).

44. The surgical robot according to claim 43, characterized in that: The third transmission assembly (420) further comprises a second docking plate (426), a guide shaft (424) and a second guide block (425), wherein the second docking plate (426) is arranged on one side of the driven rack (423); The guide shaft (424) extends along the moving direction of the guide wire (13), the second guide block (425) is fixedly connected to the second docking plate (426), and the second guide block (425) is adaptively arranged on the guide shaft (424); The clamping assembly (430) is connected to the second docking plate (426).

45. The surgical robot according to claim 44, characterized in that: The guide wire driving device further comprises a connecting assembly (440), wherein the connecting assembly (440) is connected between the third transmission assembly (420) and the clamping assembly (430); The connection assembly (440) is provided with a missing portion for avoiding functional parts.

46. ​​The surgical robot according to claim 45, characterized in that: The connecting assembly (440) comprises a fourth connecting plate (441) and a fourth rotating support plate (442); one end of the fourth connecting plate (441) is fixed to the second docking plate (426), and the other end is buckled with the fourth rotating support plate (442); the fourth rotating support plate (442) can rotate relative to the fourth connecting plate (441).

47. The surgical robot according to claim 46, characterized in that: The clamping assembly (430) further comprises a fixing plate (433), wherein the fixing plate (433) is fixedly connected to the clamping shell (431) and the fourth rotating support plate (442) respectively.

48. The surgical robot according to claim 1, characterized in that: The power cabin (500) comprises a plurality of driving mechanisms (530) and a plurality of power output couplings (520) connected to the plurality of driving mechanisms (530) in a one-to-one correspondence; The transmission cabin (600) comprises a first power transmission mechanism (610) and a second power transmission mechanism (620), wherein input ends of the first power transmission mechanism (610) and the second power transmission mechanism (620) are respectively connected to corresponding ones of the plurality of power output couplings (520), and output ends of the first power transmission mechanism (610) and the second power transmission mechanism (620) are both located at one end of the transmission cabin (600) along the first direction; The output end of the first power transmission mechanism (610) is used for detachably connecting the ablation catheter adapter (60), and the output end of the second power transmission mechanism (620) is used for detachably connecting the bending adjustment catheter adapter (70).

49. The surgical robot according to claim 1, characterized in that: The surgical robot comprises a console (920), and the console (920) is communicatively connected to the power output device.

50. The surgical robot according to claim 49, characterized in that: The console (920) comprises a bending control handle (921), and the bending control handle (921) is communicatively connected with the bending catheter adapter (700); The console (920) includes an ablation control handle (922), and the ablation control handle (922) is communicatively connected to the ablation catheter adapter; The console (920) includes a touch screen display (923).

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