Surgical robot

Abstract

The embodiment of the invention provides a surgical robot. The surgical robot comprises an outer catheter driving device which is used for installing an outer catheter and driving the outer catheter to rotate and move forwards and backwards, and the outer catheter is used for containing an inner catheter; the inner catheter driving device is used for installing the inner catheter and driving the inner catheter to rotate and move forwards and backwards, and the inner catheter is used for containing instruments in the catheter; and the intra-tube instrument driving device is used for mounting the intra-tube instrument and driving the rotational motion and the forward and backward motion of the intra-tube instrument.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent medical technology, and in particular to a surgical robot. Background Art

[0002] Vascular interventional surgery robots are the successful application of robotic technology in vascular interventional treatment, which has brought about a qualitative leap in the technical level of interventional surgery. Compared with traditional vascular interventional surgery, vascular interventional surgery robots have high accuracy, high reliability, high precision, and good maneuverability. The most important thing is that its remote operation system allows doctors to perform surgeries away from the operating room, which can reduce the impact of radiation on doctors. Existing surgical robots can only drive two types of medical consumables, such as micro-guidewires and micro-catheters, so there are still inconveniences in use. Summary of the invention

[0003] In order to solve the problems in the related art, the embodiment of the present disclosure provides a surgical robot, including an outer catheter driving device, an inner catheter driving device and an intra-tube instrument driving device. The outer catheter driving device is used to install the outer catheter and provide drive for the rotational movement and forward and backward movement of the outer catheter, and the outer catheter is used to accommodate the inner catheter. The inner catheter driving device is used to install the inner catheter and provide drive for the rotational movement and forward and backward movement of the inner catheter, and the inner catheter is used to accommodate the intra-tube instrument. The intra-tube instrument driving device is used to install the intra-tube instrument and provide drive for the rotational movement and forward and backward movement of the intra-tube instrument.

[0004] According to an embodiment of the present disclosure, at least some components of the inner catheter drive device and the intratubular instrument drive device are arranged along a first direction, and the inner catheter drive device and the intratubular instrument drive device as a whole are arranged along a second direction with the outer catheter drive device.

[0005] According to an embodiment of the present disclosure, the surgical robot further includes a multi-layer bearing structure for bearing an inner catheter driving device and an intra-tube instrument driving device, and the outer catheter driving device is fixedly connected to the multi-layer bearing structure.

[0006] According to an embodiment of the present disclosure, the surgical robot also includes a power supply unit for providing power to the inner catheter drive device and the intratubular instrument drive device. The inner catheter drive device includes a first rotation drive unit for driving the inner catheter to rotate and a first linear drive unit for driving the inner catheter to move forward and backward. Wherein, the multi-layer bearing structure includes a first layer, a second layer and a third layer, the power supply unit is arranged on the first layer, the intratubular instrument drive device and the first rotation drive unit are arranged on the second layer, and the first linear drive unit is arranged on the third layer. When installing the intratubular instrument, the intratubular instrument passes through the intratubular instrument drive device of the second layer, the first rotation drive unit, the first linear drive unit of the third layer, and the outer catheter drive device in sequence.

[0007] According to an embodiment of the present disclosure, the surgical robot also includes a bearing structure for bearing an inner catheter driving device and an in-tube instrument driving device, the bearing structure includes a connecting base, the connecting base is provided with an instrument outlet and a connecting portion, the outer catheter driving device is provided with a docking portion cooperating with the connecting portion, and the outer catheter driving device and the connecting base are docked via the docking portion and the connecting portion.

[0008] According to an embodiment of the present disclosure, the docking portion includes a support seat and a docking protrusion, and a docking groove is formed between the support seat and the docking protrusion for accommodating the connecting portion to achieve docking between the connecting base and the external catheter driving device.

[0009] According to an embodiment of the present disclosure, the connecting portion further includes relatively arranged limit blocks, which are accommodated in the docking grooves and are located on both sides of the docking protrusions.

[0010] According to an embodiment of the present disclosure, the surgical robot also includes a bearing structure for bearing an inner catheter driving device and an intra-tube instrument driving device, the bearing structure includes a connecting base, the outer catheter driving device includes a supporting base, the supporting base extends to the bottom of the connecting base and contacts with the connecting base.

[0011] According to an embodiment of the present disclosure, the surgical robot also includes a bearing structure for bearing an inner catheter driving device and an inner tube instrument driving device. The surgical robot also includes a supporting arm for fixing the surgical robot, and the supporting arm is fixedly connected to the bearing structure.

[0012] According to an embodiment of the present disclosure, the intratubular instrument driving device includes a second rotation driving unit for driving the intratubular instrument to rotate, and the second rotation driving unit includes a clamping assembly and a clutch assembly. A first channel for the intratubular instrument to pass through is provided inside the clamping assembly. The clutch assembly has a first state and a second state. When the clutch assembly is in the first state, the inner diameter of the first channel enables the intratubular instrument to move along the first channel. When the clutch assembly is in the second state, the inner diameter of the first channel is reduced for clamping the intratubular instrument, so as to drive the intratubular instrument to rotate when the clamping assembly rotates.

[0013] According to an embodiment of the present disclosure, the clamping assembly includes a driving seat and an elastic slider, the contact surface between the elastic slider and the driving seat is an inclined surface, and the clutch assembly includes a driving shaft. During the process of switching from the first state to the second state, the driving shaft drives the elastic slider to move toward the driving seat, so that the elastic slider is squeezed by the inclined surface to clamp the intratubular instrument.

[0014] According to the embodiment of the present disclosure, a slide groove is provided inside the driving seat, and a ridge is provided outside the elastic slider. The ridge and the slide groove cooperate to keep the driving seat and the elastic slider relatively fixed in the rotation direction. The driving shaft is connected to the elastic slider by a thread. When the driving shaft rotates, it drives the elastic slider to move axially for switching between the first state and the second state.

[0015] According to an embodiment of the present disclosure, the intratubular instrument driving device includes a second rotary driving unit for driving the intratubular instrument to rotate and a second linear driving unit for driving the intratubular instrument to move forward and backward. The second linear driving unit is arranged between the second rotary driving unit and the inner catheter driving device.

[0016] According to an embodiment of the present disclosure, the intratubular instrument driving device includes a second rotation driving unit for driving the intratubular instrument to rotate, the second rotation driving unit includes a rotating seat, the interior of the rotating seat is provided with a second channel for the intratubular instrument to pass through, the second channel is a curved channel, and the intratubular instrument is driven to rotate when the rotating seat rotates.

[0017] According to an embodiment of the present disclosure, the second channel is a spiral channel.

[0018] According to the disclosed embodiment, the outer catheter is a support catheter or a guide catheter. The inner catheter is a microcatheter or an angiographic catheter. The device in the catheter is a microguidewire, a thrombectomy stent, an occluder, a spring coil, a blood flow guide device, a carotid artery stent, a vertebral artery stent or an intracranial expansion stent.

[0019] According to the technical solution of the embodiment of the present disclosure, the movements of at least three medical devices can be controlled through the external catheter driving device, the internal catheter driving device and the intra-tube instrument driving device, thereby enriching the functions of the surgical robot and reducing the workload of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Other features, objectives and advantages of the present disclosure will become more apparent through the following detailed description of non-limiting embodiments in conjunction with the accompanying drawings. In the accompanying drawings:

[0021] Figure 1 A schematic diagram schematically illustrates an application scenario of a surgical robot according to an embodiment of the present disclosure;

[0022] Figure 2 A schematic diagram schematically illustrates a surgical robot according to an embodiment of the present disclosure;

[0023] Figure 3 A schematic diagram schematically illustrates an outer catheter, an inner catheter, and an intraductal device according to an embodiment of the present disclosure;

[0024] Figure 4 A schematic diagram schematically illustrates a bearing structure of an embodiment of the present disclosure;

[0025] Figure 5 An exploded schematic diagram schematically showing a bearing structure of an embodiment of the present disclosure;

[0026] Figure 6 A schematic diagram schematically showing a second layer of a bearing structure according to an embodiment of the present disclosure;

[0027] Figure 7A partial enlarged schematic diagram schematically showing a connection portion of an embodiment of the present disclosure;

[0028] Figure 8 A schematic diagram schematically showing an intra-canalicular instrument driving device according to an embodiment of the present disclosure;

[0029] Fig. 9 and Fig.10 A partial enlarged schematic diagram schematically showing a connecting portion and a docking portion of an embodiment of the present disclosure;

[0030] Fig.11 A cross-sectional schematic diagram schematically illustrates a second rotation drive unit according to an embodiment of the present disclosure;

[0031] Fig.12 A schematic diagram schematically shows a driving seat, an elastic slider and a driving shaft of an embodiment of the present disclosure;

[0032] Fig.13 A schematic diagram schematically illustrates a second layer of a bearing structure according to another embodiment of the present disclosure;

[0033] Fig.14 A schematic diagram schematically illustrates a rotating seat according to an embodiment of the present disclosure;

[0034] Fig.15 A schematic diagram schematically illustrates an interventional instrument according to an embodiment of the present disclosure.

[0035] Reference numerals:

[0036] 10-Surgical Robot 315-Chute

[0037] 11-outer conduit 316-convex ridge

[0038] 12-Inner catheter 321-Swivel seat

[0039] 13-Intraductal Instrument 322-Second Channel

[0040] 20-operating table 330-second linear drive unit

[0041] 100-External catheter drive device 400-Bearing structure

[0042] 110- docking part 410- first layer

[0043] 111-Support seat 420-Second layer

[0044] 112- docking protrusion 430- third layer

[0045] 113- docking slot 440- connection base

[0046] 210-first rotary drive unit 441-device outlet

[0047] 310, 320- second rotation drive unit 442- connection part

[0048] 311-Drive seat 443-Limiting block

[0049] 312-Elastic slider 500-Power supply unit

[0050] 313-drive shaft 600-support arm

[0051] 314-First Channel DETAILED DESCRIPTION

[0052] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can more easily implement them. In addition, for the sake of clarity, parts not related to the description of the exemplary embodiments are omitted in the accompanying drawings.

[0053] In the present disclosure, it should be understood that terms such as "include" or "have" are intended to indicate the presence of features, numbers, steps, behaviors, components, parts, or a combination thereof disclosed in the present specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, behaviors, components, parts, or a combination thereof exist or are added.

[0054] In this field, "proximal and distal" and "front and back" are usually relative to the surgical operator, and the end extending into the patient's body is the distal end or the front end, and the other end is the proximal end or the rear end.

[0055] It should also be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0056] The disclosed embodiment provides a surgical robot 10, comprising an outer catheter driving device 100, an inner catheter driving device and an intra-tube instrument driving device. The outer catheter driving device 100 is used to install an outer catheter 11, and provide drive for the rotational movement and forward and backward movement of the outer catheter 11, and the outer catheter 11 is used to accommodate an inner catheter 12. The inner catheter driving device is used to install the inner catheter 12, and provide drive for the rotational movement and forward and backward movement of the inner catheter 12, and the inner catheter 12 is used to accommodate an intra-tube instrument 13. The intra-tube instrument driving device is used to install the intra-tube instrument 13, and provide drive for the rotational movement and forward and backward movement of the intra-tube instrument 13.

[0057] According to the technical solution of the embodiment of the present disclosure, the movements of at least three medical devices can be controlled through the external catheter driving device, the internal catheter driving device and the intra-tube instrument driving device, thereby enriching the functions of the surgical robot and reducing the workload of the operation.

[0058] like Figure 1 and Figure 2 As shown, the surgical robot 10 can be installed on the operating table 20 to assist the doctor in completing the surgical work. According to the embodiment of the present disclosure, the surgical robot 10 can also include a bearing structure 400 and a support arm 600. The bearing structure 400 is used to bear the inner catheter drive device and the inner tube instrument drive device, and the support arm 600 is fixedly connected to the bearing structure 400 and is used to fix the surgical robot 10. For example, the support arm 600 can fix the surgical robot 10 on the operating table 20.

[0059] like Figure 3 As shown, in the use state, the intratubular instrument 13 is inserted into the inner catheter 12, and the inner catheter 12 is inserted into the outer catheter 11, and all three are slender structures. The intratubular instrument driving device, the inner catheter driving device and the outer catheter driving device 100 are arranged in sequence from near to far. The intratubular instrument 13 extends far from the nearest intratubular instrument driving device, and penetrates the inner catheter 12 when reaching the inner catheter driving device. The inner catheter 12 and the intratubular instrument 13 continue to extend far, and penetrate the outer catheter 11 together when reaching the outer catheter driving device 100. Thereafter, the outer catheter 11, the inner catheter 12 and the intratubular instrument 13 can continue to extend far, and enter the patient's body under the drive of the surgical robot.

[0060] According to the disclosed embodiment, the outer catheter may include a support catheter or a guide catheter, etc., the inner catheter may include a microcatheter or an angiographic catheter, etc., and the intra-catheter device may include but is not limited to a micro-guidewire, a thrombectomy stent, an occluder, a spring coil, a blood flow guide device, a carotid artery stent, a conical artery stent or an intracranial expansion stent, etc. For example, a thrombectomy stent is a mesh frame for thrombectomy connected to the distal end of a slender guide wire, and the blood flow guide device is a dense mesh stent detachably arranged at the distal end of a guide wire.

[0061] According to the embodiment of the present disclosure, at least some components of the inner catheter drive device and the inner tube instrument drive device are arranged along the first direction, and the inner catheter drive device and the inner tube instrument drive device as a whole are arranged along the second direction with the outer catheter drive device. For example, the inner catheter drive device and the inner tube instrument drive device can be arranged longitudinally, and the inner catheter drive device and the inner tube instrument drive device as a whole and the outer catheter drive device 100 can be arranged transversely. In this way, space can be saved and the volume of the surgical robot can be reduced.

[0062] For example, the inner catheter driving device and the intratubular instrument driving device can be accommodated in the supporting structure 400, and the supporting structure 400 can have multiple layers, that is, the surgical robot 10 also includes a multi-layer supporting structure 400 for supporting the inner catheter driving device and the intratubular instrument driving device, and the outer catheter driving device 100 is fixedly connected to the multi-layer supporting structure 400.

[0063] According to the embodiment of the present disclosure, Figure 5As shown, the surgical robot 10 also includes a power supply unit 500 for providing power to the inner catheter drive device and the inner tube instrument drive device. The inner catheter drive device includes a first rotation drive unit 210 for driving the inner catheter to rotate and a first linear drive unit for driving the inner catheter to move forward and backward. Among them, the multi-layer bearing structure 400 includes a first layer 410, a second layer 420 and a third layer 430, the power supply unit 500 is arranged on the first layer 410, the inner tube instrument drive device and the first rotation drive unit 210 are arranged on the second layer 420, and the first linear drive unit is arranged on the third layer 430. When the inner tube instrument 13 is installed, the inner tube instrument 13 passes through the inner tube instrument drive device of the second layer 420, the first rotation drive unit 210, the first linear drive unit of the third layer 430 and the outer tube drive device 100 in sequence.

[0064] like Figure 4-Figure 6 As shown, the first layer 410, the second layer 420 and the third layer 430 can be distributed in the longitudinal direction to form an upper layer, a middle layer and a lower layer. The inner catheter driving device may include a first linear driving unit and a first rotation driving unit 210. The intraductal instrument driving device may include a second linear driving unit 330 and a second rotation driving unit 310. The first rotation driving unit 210, the second linear driving unit 330 and the second rotation driving unit 310 may be arranged in the second layer. The inner catheter 12 and the intraductal instrument 13 may enter the third layer 430 from the opening of the second layer 420. The third layer 430 may be a turntable, which serves as the first linear driving unit. The turntable may be provided with a spirally extending groove, and the inner catheter 12 enters the groove from the starting point of the groove, reaches the end point of the groove, and extends from the instrument outlet 441 of the bearing structure 400. During the rotation of the turntable, the inner catheter 12 received in the groove gradually moves out of the groove and continuously changes from a curve to a straight line, and the distal end continuously moves forward to achieve the forward movement of the inner catheter 12. When the turntable rotates in the reverse direction, the inner guide tube 12 is received in the groove of the turntable, driving the front end of the inner guide tube 12 to move backward.

[0065] In addition, the power supply unit 500 disposed on the first layer 410 can provide power to the turntable, the first rotation drive unit 210, the second linear drive unit 330 and the second rotation drive unit 310 of the third layer 430 respectively, so as to drive the linear movement and rotational movement of the inner catheter 12 and the intraductal instrument 13. Among them, the first layer 410, the second layer 420 and the third layer 430 can be fixedly connected and rotate synchronously, so that the power supply unit 500 drives the first layer 410 to rotate and drives the third layer 430 to rotate.

[0066] like Figure 2 As shown, the outer catheter driving device 100 is a slender structure, suspended and protruding from the bearing structure 400. In order to improve stability, the outer catheter driving device 100 needs to be firmly connected to the bearing structure 400.

[0067] like Figure 7-10 As shown, the bearing structure 400 may include a connection base 440, the connection base 440 is provided with an instrument outlet 441 and a connection portion 442, the outer catheter driving device 100 is provided with a docking portion 110 matched with the connection portion 442, and the outer catheter driving device 100 and the connection base 440 are docked through the docking portion 110 and the connection portion 442. The inner catheter 12 and the intra-tube instrument 13 pass through the instrument outlet 441 into the outer catheter driving device 100 and pass into the outer catheter 11.

[0068] According to the embodiment of the present disclosure, the portion of the outer catheter driving device 100 used for docking with the connection base 440 is called the docking portion 110 . Figure 7-10 The connecting portion 442 shown in the figure protrudes outward from the connecting base 440, and the docking portion 110 has a docking groove 113. However, in other embodiments, the connecting portion 442 can be a docking groove, and the docking portion 110 protrudes outward.

[0069] According to the embodiment of the present disclosure, the docking portion 110 includes a support seat 111 and a docking protrusion 112, and a docking groove 113 is formed between the support seat 111 and the docking protrusion 112 for accommodating the connecting portion 442 to achieve docking of the connecting base 440 with the outer catheter driving device 100. The structure is simple and the production cost is low.

[0070] According to the embodiment of the present disclosure, the docking protrusion 112 is cantilevered, and the docking groove 113 formed between the docking protrusion 112 and the support seat 111 is used to match the connecting part 442, that is, the connecting part 442 is inserted into the docking groove 113, the docking protrusion 112 is pressed on the upper surface of the connecting part 442, and the support seat 111 is supported on the lower surface of the connecting part 442.

[0071] According to the embodiment of the present disclosure, the connection portion 442 also includes relatively arranged limit blocks 443, which are accommodated in the docking groove 113 and are located on both sides of the docking protrusion 112, so as to further limit the lateral movement between the external catheter driving device 100 and the supporting structure 400, such as movement or rotation, so as to make the connection more stable.

[0072] According to the embodiment of the present disclosure, Fig. 9 As shown, the support seat 111 can extend to the bottom of the connection base 440 and contact the connection base 440, so that the firmness of the connection can be further improved by leveraging the gravity of the outer catheter driving device 100.

[0073] According to the embodiment of the present disclosure, Fig.11 and Fig.12 As shown, the intra-canal instrument driving device includes a second rotation driving unit 310 (see Figure 6), the second rotation drive unit 310 includes a clamping assembly and a clutch assembly. The clamping assembly is used to clamp or release the intratubular instrument 13, and the clutch assembly is used to switch the state of the clamping assembly to switch between the clamping state and the releasing state.

[0074] like Fig.11 As shown, the interior of the clamping assembly is provided with a first channel 314 for the intraductal instrument 13 to pass through. The clutch assembly has a first state and a second state. When the clutch assembly is in the first state, the intraductal instrument 13 can move along the first channel 314. When the clutch assembly is in the second state, the inner diameter of the first channel 314 is reduced to clamp the intraductal instrument 13, so as to drive the intraductal instrument 13 to rotate when the clamping assembly rotates.

[0075] According to the embodiment of the present disclosure, Fig.12 As shown, the clamping assembly includes a driving seat 311 and an elastic slider 312. The driving seat 311 is provided with a hole connected to the first channel 314, and the hole is used to accommodate the elastic slider 312, so that the elastic slider 312 can slide along the axial direction of the hole. A partial channel as one section of the first channel 314 is provided at the central axis of the elastic slider 312, and the intraductal instrument 13 can pass through the channel on the elastic slider 312. The contact surface between the elastic slider 312 and the driving seat 311 is an inclined surface, so that when the elastic slider 312 slides relative to the driving seat 311 along the axial direction of the hole, the driving seat 311 resists the elastic slider 312 through the inclined surface, and the resisting force is decomposed into a first reaction force along the axial direction of the hole and a second reaction force along the radial direction of the elastic slider 312. The second reaction force can squeeze the elastic slider 312 with elasticity, so that the elastic slider 312 clamps the intraductal instrument 13 passing through the channel under the squeezing of the second reaction force. Furthermore, the sliding movement of the elastic slider 312 along the axial direction of the hole relative to the drive seat 311 is driven by the clutch assembly. Specifically, the clutch assembly includes a drive shaft 313. When the clutch assembly switches from the first state to the second state, the drive shaft 313 drives the elastic slider 312 to move toward the drive seat 311, so that the elastic slider 312 is squeezed by the inclined surface to clamp the intratubular instrument 13.

[0076] Further, according to the embodiment of the present disclosure, if Fig.12As shown, the drive seat 311 is provided with a hole connected to the first channel 314, the side wall of the hole is provided with a slide groove 315, and the elastic slider 312 is provided with a ridge 316 on the outside, and the ridge 316 and the slide groove 315 cooperate to keep the drive seat 311 and the elastic slider 312 relatively fixed in the rotation direction, and the drive shaft 313 is connected to the elastic slider 312 by threads, and the drive shaft 313 drives the elastic slider 312 to move axially when the drive shaft 313 rotates, so as to switch between the first state and the second state. That is to say, while keeping the drive shaft 313 rotating in place, the drive shaft 313 and the elastic slider 312 are connected by threads and the ridge 316 and the slide groove 315 are slidably matched, so that the in-situ rotation of the drive shaft 313 is transmitted to the elastic slider 312, and then becomes the linear movement of the elastic slider 312 along the drive seat 311.

[0077] According to an embodiment of the present disclosure, the intraductal instrument driving device may include a first motor and a second motor, which may be installed in Figure 5 The first layer 410 is shown, and then the transmission structure is downwardly transmitted to the clamping assembly and clutch assembly of the second rotation drive unit 310 of the second layer 420. Specifically, the first motor can be used to control the rotation of the drive seat 311 of the clamping assembly, and the second motor can be used to control the rotation of the drive shaft 313 of the clutch assembly. When the first motor keeps the drive seat 311 immobile by means of its own self-locking or the resistance inside the transmission structure, the elastic slider 312 can only move forward and backward in the axial direction but cannot rotate through the cooperation of the convex ridge 316 and the slide groove 315. At this time, the drive shaft 313 can be controlled to rotate by the second motor, and the drive shaft 313 and the elastic slider 312 are connected by threads to make the elastic slider 312 move in the axial direction. When the elastic slider 312 moves toward the drive seat 311, its front end is squeezed by the inclined surface of the drive seat 311, thereby squeezing the intra-tube instrument 13 to achieve clamping, that is, switching from the first state to the second state. At this time, when the first motor can control the rotation of the drive seat 311, the intra-tube instrument 13 can be driven to rotate.

[0078] As can be seen from the above embodiment, since the intratubular instrument 13 has been clamped by the elastic slider 312, the intratubular instrument 13 cannot move linearly during the process of driving the intratubular instrument 13 to rotate. The present application also provides another embodiment, in which the intratubular instrument 13 can move linearly while rotating.

[0079] Specifically, in addition to the second rotation drive unit 310 composed of the clamping assembly and the clutch assembly, Figure 13-Figure 15As shown, the embodiment of the present disclosure also provides another second rotation drive unit 320. The second rotation drive unit 320 includes a rotating seat 321, and the rotating seat 321 can be driven by the power supply unit 500 arranged on the first layer 410 to rotate around the rotation axis. The interior of the rotating seat 321 is provided with a second channel 322 for the intraductal instrument 13 to pass through. The second channel 322 is a curved channel. Therefore, at least part of the second channel 322 is not on the rotation axis of the rotating seat 321. That is to say, when the rotating seat 321 rotates along the rotation axis, at least part of the second channel 322 rotates around the rotation axis. When the intraductal instrument 13 passes through the second channel, the channel wall of this part of the second channel 322 can apply a circumferential force to the corresponding part of the intraductal instrument 13, pushing this part of the intraductal instrument 13 to rotate around the rotation axis, thereby driving the intraductal instrument 13 to rotate together as a whole. In this way, there is no need to clamp the intraductal instrument 13, so that rotation and forward and backward movement can be achieved at the same time.

[0080] According to the embodiment of the present disclosure, Fig.14 and Fig.15 As shown, the second channel 322 may be a spiral channel, and the number of turns may be 1 turn, 2 turns, 3 turns or even more. 1 The connection line between the inlet and outlet of the second channel can be 2 In this way, the second channel 322 has a more effective effect on the intraductal device 13, further reducing the possibility of relative sliding in the circumferential direction between the intraductal device 13 and the channel wall of the second channel 322, which may result in failure to effectively drive the intraductal device 13 to rotate, thereby improving the driving efficiency of the rotational motion.

[0081] According to the embodiment of the present disclosure, Fig.13 As shown, the intraductal instrument driving device includes a second rotation driving unit 320 for driving the intraductal instrument to rotate and a second linear driving unit 330 for driving the intraductal instrument 13 to move forward and backward, and the second linear driving unit 330 is arranged between the second rotation driving unit 320 and the inner catheter driving device (such as the first rotation driving unit 210 shown in the figure). In this way, along the direction of the intraductal instrument advancing, the second linear driving unit 330 is located before the second rotation driving unit 320, so that the intraductal instrument 13 can be pulled out of the second rotation driving unit 320 when necessary, and if the second rotation driving unit 320 is located before the second linear driving unit 330, if it is necessary to remove the intraductal instrument from the second rotation driving unit 320, it will encounter greater resistance.

[0082] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present disclosure is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other.

Claims

1. A surgical robot, characterized in that: include: An outer catheter driving device, used to install the outer catheter and drive the rotational movement and forward and backward movement of the outer catheter, wherein the outer catheter is used to accommodate the inner catheter; An inner catheter driving device, used to install the inner catheter and drive the inner catheter to rotate and move forward and backward, and the inner catheter is used to accommodate an intraductal instrument; as well as The in-tube instrument driving device is used to install the in-tube instrument and provide drive for the rotational movement and forward and backward movement of the in-tube instrument.

2. The surgical robot according to claim 1, characterized in that: At least some components of the inner catheter driving device and the intra-tube instrument driving device are arranged along a first direction, and the inner catheter driving device and the intra-tube instrument driving device as a whole are arranged along a second direction with the outer catheter driving device.

3. The surgical robot according to claim 1, characterized in that: The surgical robot further comprises a multi-layer bearing structure for bearing the inner catheter driving device and the in-tube instrument driving device, and the outer catheter driving device is fixedly connected to the multi-layer bearing structure.

4. The surgical robot according to claim 3, characterized in that: The surgical robot further comprises a power supply unit for providing power to the inner catheter driving device and the intracanalicular instrument driving device; The inner catheter driving device comprises a first rotation driving unit for driving the inner catheter to rotate and a first linear driving unit for driving the inner catheter to move forward and backward; The multi-layer bearing structure includes a first layer, a second layer and a third layer, the power supply unit is arranged on the first layer, the intra-tube instrument driving device and the first rotation driving unit are arranged on the second layer, and the first linear driving unit is arranged on the third layer; When the intratubular instrument is installed, the intratubular instrument passes through the intratubular instrument driving device of the second layer, the first rotary driving unit, the first linear driving unit of the third layer, and the outer catheter driving device in sequence.

5. The surgical robot according to claim 1, characterized in that: The surgical robot also includes a bearing structure for bearing the inner catheter driving device and the in-tube instrument driving device, the bearing structure includes a connecting base, the connecting base is provided with an instrument outlet and a connecting portion, the outer catheter driving device is provided with a docking portion cooperating with the connecting portion, and the outer catheter driving device and the connecting base are docked via the docking portion and the connecting portion.

6. The surgical robot according to claim 5, characterized in that: The docking portion includes a support seat and a docking protrusion. A docking groove is formed between the support seat and the docking protrusion for accommodating the connecting portion to achieve docking between the connecting base and the outer catheter driving device.

7. The surgical robot according to claim 6, characterized in that: The connecting portion further comprises limiting blocks which are arranged opposite to each other and are received in the docking grooves and are located at two sides of the docking protrusions.

8. The surgical robot according to claim 1, characterized in that: The surgical robot also includes a bearing structure for bearing the inner catheter drive device and the in-tube instrument drive device, the bearing structure includes a connecting base, the outer catheter drive device includes a supporting base, the supporting base extends to the bottom of the connecting base and contacts the connecting base.

9. The surgical robot according to claim 1, characterized in that: The surgical robot further includes a bearing structure for bearing the inner catheter driving device and the intra-tube instrument driving device. The surgical robot further includes a supporting arm for fixing the surgical robot, and the supporting arm is fixedly connected to the bearing structure.

10. The surgical robot according to any one of claims 1 to 9, characterized in that: The intra-tube instrument driving device comprises a second rotation driving unit for driving the intra-tube instrument to rotate, and the second rotation driving unit comprises: A clamping assembly, wherein a first passage is provided inside the clamping assembly for the passage of the intra-tube instrument; The clutch assembly has a first state and a second state. When the clutch assembly is in the first state, the inner diameter of the first channel enables the intratubular instrument to move along the first channel. When the clutch assembly is in the second state, the inner diameter of the first channel is reduced to clamp the intratubular instrument, so as to drive the intratubular instrument to rotate when the clamping assembly rotates.

11. The surgical robot according to claim 10, characterized in that: The clamping assembly includes a driving seat and an elastic slider, the contact surface between the elastic slider and the driving seat is an inclined surface, and the clutch assembly includes a driving shaft. During the process of switching from the first state to the second state, the driving shaft drives the elastic slider to move toward the driving seat, so that the elastic slider is squeezed by the inclined surface to clamp the intratubular instrument.

12. The surgical robot according to claim 11, characterized in that: A slide groove is provided inside the driving seat, and a ridge is provided outside the elastic slider. The ridge and the slide groove cooperate to keep the driving seat and the elastic slider relatively fixed in the rotation direction. The driving shaft is connected to the elastic slider by a thread. When the driving shaft rotates, it drives the elastic slider to move axially for switching between the first state and the second state.

13. The surgical robot according to any one of claims 1 to 9, characterized in that: The intratubular instrument driving device comprises a second rotation driving unit for driving the intratubular instrument to rotate and a second linear driving unit for driving the intratubular instrument to move forward and backward, and the second linear driving unit is arranged between the second rotation driving unit and the inner catheter driving device.

14. The surgical robot according to any one of claims 1 to 9, characterized in that: The intratubular instrument driving device includes a second rotation driving unit for driving the intratubular instrument to rotate, the second rotation driving unit includes a rotating seat, the interior of the rotating seat is provided with a second channel for the intratubular instrument to pass through, the second channel is a curved channel, and the intratubular instrument is driven to rotate when the rotating seat rotates.

15. The surgical robot according to claim 14, characterized in that: The second channel is a spiral channel.

16. The surgical robot according to any one of claims 1 to 9, characterized in that: The outer catheter is a support catheter or a guide catheter; the inner catheter is a microcatheter or an angiography catheter; the intra-catheter device is a microguidewire, a thrombectomy stent, an occluder, a spring coil, a blood flow guiding device, a carotid artery stent, a conical artery stent or an intracranial expansion stent.

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