Catheter driving device and surgical robot

Abstract

The invention relates to a catheter driving device and a surgical robot, and the catheter driving device comprises a power mechanism which is used for outputting torque; the driving transmission mechanism comprises a rotating assembly and a sliding assembly, the rotating assembly is connected with the output end of the power mechanism, and the moving assembly is movably connected with the rotating assembly so as to convert rotation of the rotating assembly into linear motion; the driven transmission mechanism comprises a moving assembly, a rotating assembly and a coupling assembly, the moving assembly is connected with the sliding assembly, and the rotating assembly is movably connected with the moving assembly so as to convert linear motion of the moving assembly into rotation; the coupling assembly is arranged on the rotating assembly and used for being connected with the bending adjusting wheel in a clamped mode. The stability and accuracy of the operation can be guaranteed, the efficiency of the operation is improved, and the duration of the operation is shortened.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a catheter drive device and a surgical robot. Background Art

[0002] Traditional vascular interventional surgery requires the surgeon to operate instruments in the operating room for a long time to complete the interventional surgical treatment of the patient. Therefore, the surgeon will be exposed to radiation for a long time, causing harm to the surgeon's body. In addition, vascular interventional surgery relies heavily on the surgeon's experience, and usually has a long learning curve. It requires frequent and repeated delivery and adjustment of the instruments to achieve better treatment effects. However, this frequent and repeated instrument delivery and adjustment operation makes the surgeon very tired, and the accuracy of the surgical operation often fluctuates greatly. In addition, the operation is usually very long, which is not very beneficial to both the surgeon and the patient. In severe cases, it will cause many adverse events caused by instrument operation. Therefore, there is an urgent need for a vascular interventional robot based on remote control or even combined with AI (artificial intelligence) assistance to solve the above problems.

[0003] The vascular intervention robot usually includes a remote control console, a robotic arm, an active power transmission cabin, and several passive adapters that cooperate with the instrument to drive the remote operation of the instrument. Conventional vascular intervention surgery often involves turning the handle wheel to achieve certain functions of the instrument, such as turning the handle wheel to achieve catheter bending, stent size adjustment, implanted instrument release, instrument gear adjustment, catheter delivery or withdrawal, and other instrument functions that need to be met. Therefore, a vascular intervention robot drive device and method for instrument handle wheel operation needs to be solved, so that the vascular intervention robot can remotely control the instrument wheel to complete certain surgical operations of the instrument. Summary of the invention

[0004] Based on this, the embodiments of the present application provide a catheter drive device and a surgical robot, which reduce the requirements for medical personnel's experience in operating surgical instruments, ensure the stability and accuracy of the operation, improve the efficiency of the operation, and shorten the duration of the operation.

[0005] The embodiment of the present application first provides a catheter driving device, which is used to connect with the bending wheel of the control handle to drive the bending wheel to rotate; the catheter driving device includes:

[0006] A power mechanism for outputting torque;

[0007] An active transmission mechanism, comprising a rotating assembly and a sliding assembly, wherein the rotating assembly is connected to the output end of the power mechanism, and the sliding assembly is movably connected to the rotating assembly to convert the rotating motion of the rotating assembly into a linear motion;

[0008] The driven transmission mechanism includes a moving component, a rotating component and a coupling component. The moving component is connected to the sliding component, and the rotating component is movably connected to the moving component to convert the linear motion of the moving component into rotational motion; the coupling component is arranged on the rotating component for engaging with the bending adjustment wheel.

[0009] In one embodiment, the rotating assembly is driven by the power mechanism to rotate about a first direction to drive the sliding assembly to move linearly along a second direction intersecting the first direction;

[0010] The sliding component drives the moving component to move linearly along the second direction, and the moving component drives the rotating component to rotate along the first direction, so that the coupling component drives the bending adjustment wheel to rotate.

[0011] In one embodiment, the rotating assembly includes a driving gear, and the driving gear is fixedly connected to the output end of the power mechanism;

[0012] The sliding assembly includes a driven rack meshing with the driving gear.

[0013] In one embodiment, the moving assembly includes an active rack, and the active rack is connected to the sliding assembly;

[0014] The rotating assembly includes a driven gear, and the driven gear is meshed with the driving rack.

[0015] In one of the embodiments, the coupling assembly includes at least one coupling member, the coupling member is fixed to the end surface of the driven gear, and the coupling member is provided with a clamping portion for cooperating with the bending adjustment wheel.

[0016] In one embodiment, the coupling member comprises a coupling block, one end of the coupling block is fixed to the outer end surface of the driven gear, and the other end is formed with the clamping portion;

[0017] The clamping portion includes coupling teeth formed on the coupling block, and the coupling teeth are used for adaptively engaging with the outer peripheral surface of the bending adjustment wheel.

[0018] In one embodiment, the coupling assembly includes two coupling blocks, and the two coupling blocks are symmetrically distributed about the axis of the driven gear.

[0019] In one embodiment, the driven transmission mechanism further comprises a support housing and a stopper, wherein the support housing is located on a side of the driven gear away from the coupling assembly;

[0020] The limiting member extends along the first direction, one end of the limiting member is fixedly connected to the driven gear, and the other end is rotatably disposed on the supporting shell.

[0021] In one embodiment, the driven transmission mechanism also includes an elastic member, which is sleeved on the limiting member, one end of the elastic member is limited to the supporting shell, and the other end is limited to the driven gear, and the elastic member is used to make the coupling assembly abut against the bending adjustment wheel.

[0022] In one of the embodiments, the active transmission mechanism further includes a guide member, the driven rack is slidably disposed on the guide member, and the guide member is used to limit the driven rack to the second direction.

[0023] In one embodiment, the active transmission mechanism further includes a docking plate, which is disposed on a side of the driven rack facing the moving assembly, and the docking plate is tightly connected to the driven rack;

[0024] The butt joint plate is provided with a guide block on a side away from the driven rack, and the guide block is adapted to be mounted on the guide member.

[0025] In one embodiment, the power mechanism includes a mounting housing;

[0026] The active transmission mechanism further comprises a guide wheel, which is mounted on the mounting housing and is used for abutting against the side surface of the driven rack facing away from the driving gear.

[0027] In one embodiment, the catheter driving device further comprises a connecting component, wherein the connecting component is connected between the sliding component and the moving component;

[0028] The connecting assembly is provided with a missing portion for avoiding the control handle.

[0029] In one embodiment, the connecting assembly includes a first connecting plate and a rotating support plate, one end of the first connecting plate is fixed to the sliding assembly, and the other end is engaged with the rotating support plate, and the rotating support plate can rotate around the second direction relative to the first connecting plate.

[0030] In one embodiment, the connection assembly further includes a second connection plate, the second connection plate and the first connection plate are spaced apart along the second direction, and the second connection plate is fixedly connected to the rotating support plate via a fastener;

[0031] The second connecting plate is fixedly connected to the moving component.

[0032] The present application also provides a surgical robot, including:

[0033] A catheter supporter, configured with a receiving cavity for receiving the control handle;

[0034] In the catheter driving device in the above embodiment, the active transmission mechanism and the driven transmission mechanism are respectively located on both sides of the catheter supporter, and the coupling assembly is located in the accommodating cavity to be engaged with the bending adjustment wheel of the control handle.

[0035] The above-mentioned catheter driving device and surgical robot drive the active transmission mechanism through the power mechanism to transmit force to the driven transmission mechanism, and drive the rotation of the bending wheel through the coupling component in the driven transmission mechanism, which specifically includes the power mechanism driving the rotating component to rotate, the moving component converting the rotational motion of the rotating component connected to it into linear motion, and then the moving component connected to the sliding component can move linearly under the drive of the sliding component, the rotating component converts the linear motion of the moving component connected to it into rotational motion, and further transmits the rotation to the coupling component, and the coupling component can engage with the bending wheel of the control handle, thereby driving the bending wheel to rotate and realizing the bending operation of the catheter. In the present application, the transmission of force by each component in the active transmission mechanism and the driven transmission mechanism, on the one hand, is convenient for adjusting the magnitude of the force acting on the bending wheel to achieve precise control of the bending wheel; on the other hand, it is convenient to achieve force balance and coordinated control, so that the bending wheel of the control handle can work more stably and reliably, thereby providing more precise and reliable catheter control support for related operations. In addition, the catheter drive device proposed in this 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 drive device 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the partial structure of a surgical robot provided according to some embodiments of the present application.

[0037] Figure 2 This is a schematic diagram of the structure of a control handle for adjusting a bending wheel according to some embodiments of the present application.

[0038] Figure 3 This is a schematic diagram of a top view of the structure of a catheter driving device (including a control handle) provided according to some embodiments of the present application.

[0039] Figure 4 This is a schematic diagram of the top view of the structure of a catheter driving device (excluding the control handle) provided according to some embodiments of the present application.

[0040] Figure 5 This is a schematic diagram of the overall structure of a catheter driving device (including a control handle) provided according to some embodiments of the present application.

[0041] Figure 6 This is a schematic diagram of the overall structure of a catheter driving device (excluding a control handle) from a perspective provided according to some embodiments of the present application.

[0042] Figure 7 This is a schematic diagram of the overall structure of a catheter driving device from another perspective according to some embodiments of the present application.

[0043] Figure 8 This is a schematic diagram of the overall structure of a catheter driving device from another perspective according to some embodiments of the present application.

[0044] Fig. 9 This is a schematic diagram of the connection structure between the coupling assembly and the bending adjustment wheel provided according to some embodiments of the present application.

[0045] Fig.10 It is a schematic diagram of the structure of a coupling component provided according to some embodiments of the present application.

[0046] Fig.11 This is a schematic diagram of the structure of a docking plate provided according to some embodiments of the present application.

[0047] Figure Number:

[0048] 10. Control handle; 11. Bending wheel;

[0049] 20. catheter support; 21. accommodating cavity;

[0050] 110. Power mechanism; 111. Mounting housing;

[0051] 120, active transmission mechanism; 121, rotating assembly; 122, sliding assembly; 123, guide member; 125, docking plate; 124, guide block; 126, guide wheel;

[0052] 130, driven transmission mechanism; 131, moving assembly; 132, rotating assembly; 133, coupling assembly; 1331, coupling member; 1332, clamping portion; 134, limiting member; 135, elastic member; 136, supporting shell;

[0053] 140. Connecting assembly; 141. First connecting plate; 142. Rotating support plate; 143. Second connecting plate; 144. Fastener; 145. Missing portion. DETAILED DESCRIPTION

[0054] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0055] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0056] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0057] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0058] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0059] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0060] As described in the background technology section, traditional vascular interventional surgery includes pulsed field ablation (PFA), which is a surgery based on mapping the cardiac electrophysiology to find the lesion, then using a pulse ablation catheter to perform high-frequency discharge at the lesion, and then causing irreversible perforation of the lesion cells, thereby causing the lesion cells to die, and thus restoring the patient's ECG characteristics to normal. Conventional vascular interventional surgery often involves turning the handle wheel to achieve certain functions of the instrument, such as turning the handle wheel to achieve catheter bending, stent size adjustment, implant device release, instrument gear adjustment, catheter delivery or withdrawal, and other instrument functions that need to be met. Therefore, a vascular interventional robot drive device and method for instrument handle wheel operation needs to be solved, so that the vascular interventional robot can remotely control the instrument wheel to complete certain surgical operations of the instrument.

[0061] Based on the above technical problems, the inventors have discovered that by rationally designing the structure of the catheter drive device to couple it with the adjustment wheel of the control handle, and by cooperating with the vascular intervention robot, the adjustment wheel of the control handle can be remotely driven to rotate, thereby realizing the remote and precise control of the bending adjustment wheel operation of the vascular intervention robot to ensure the accuracy and stability of the surgical operation.

[0062] The above technical solution 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 realize the intelligent operation of minimally invasive surgical diagnosis and treatment. Medical staff can use the above catheter drive device 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.

[0063] The above is the core idea of ​​this application. The technical solutions in the embodiments of this application will be described clearly and completely below in conjunction with the drawings in the embodiments of this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0064] See also Figures 1 to 4 As shown, Figure 1 This is a schematic diagram of the partial structure of a surgical robot provided according to some embodiments of the present application. Figure 2 This is a schematic diagram of the structure of a control handle for adjusting a bending wheel according to some embodiments of the present application. Figure 3 This is a schematic diagram of a top view of the structure of a catheter driving device (including a control handle) provided according to some embodiments of the present application. Figure 4 The schematic diagram of the top view of the structure of the catheter drive device (excluding the control handle) provided according to some embodiments of the present application. The catheter drive device provided in one embodiment of the present application is mainly used to connect with the bending wheel of the control handle to drive the bending wheel to rotate, realize the bending of the distal end of the catheter, the size adjustment of the stent, the release of the implanted device, the adjustment of the device gear position, the delivery or withdrawal of the catheter, and other device functions that need to be met. The catheter drive device may include a power mechanism 110, an active transmission mechanism 120 and a driven transmission mechanism 130.

[0065] The power mechanism 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 power mechanism 110, and the sliding component 122 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 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 coupling component 133 is arranged on the rotating component 132, and is used to be engaged with the bending adjustment wheel 11.

[0066] It is understandable that the catheter drive device in this example can be connected to the control handle 10 through the ablation catheter support 20, so as to achieve the movement of the repair device by indirectly controlling the control handle 10 (the bending wheel 11 thereon), especially adjusting the degree of freedom of the distal end of the ablation catheter through the control handle 10. The catheter drive device 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 drive device to drive the bending wheel 11 coupled thereto to rotate.

[0067] Among them, the power mechanism 110 for outputting torque is arranged on the transmission cabin. For example, the power mechanism 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.

[0068] Since the setting of the entire device of the catheter driving device 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 bending wheel 11), in order to reduce the difficulty of adjusting the position of various components such as the transmission cabin, the ablation catheter support 20, the control handle 10, and reduce the probability of position conflicts between various components. 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 power mechanism 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 coupling component 133 engaged with the bending wheel 11 can timely and accurately drive the bending wheel 11 to rotate.

[0069] The active transmission mechanism 120 and the driven transmission mechanism 130 can be separately arranged or integrated, and can be flexibly adjusted according to the transmission cabin, the ablation catheter support 20, and the orientation of the bending wheel 11 in the control 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 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 positions on both sides of the extension direction of the bend in the control 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 limited here.

[0070] The specific process of driving the bending wheel 11 to rotate may be that the power mechanism 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 coupling component 133 on the rotating component 132 is engaged with the bending wheel 11 of the control handle 10, thereby driving the bending wheel 11 to rotate, thereby realizing the bending operation of the catheter.

[0071] 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 power mechanism 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.

[0072] The specific structure of the moving assembly 131 and the rotating assembly 132 can also be one of the above-mentioned roller screw mechanism, ordinary screw mechanism, gear rack mechanism, synchronous belt mechanism, crank slider mechanism, and its operating principle is opposite to the action process of the rotating assembly 121 and the sliding assembly 122. The 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 bending wheel 11.

[0073] It should be noted that the power mechanism 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.

[0074] In the present application, the active transmission mechanism 120 is driven by the power mechanism 110 to transmit force to the driven transmission mechanism 130, and the coupling component 133 in the driven transmission mechanism 130 is used to drive the rotation of the bending wheel 11. Specifically, the power mechanism 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 coupling component 133. The coupling component 133 can be engaged with the bending wheel 11 of the control handle 10, thereby driving the 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 bending adjustment wheel 11 to achieve precise control of the bending adjustment wheel 11; on the other hand, it is convenient for achieving force balance and coordinated control, so that the bending adjustment wheel 11 of the control handle 10 can work more stably and reliably, thereby providing more precise and reliable catheter control support for related operations.

[0075] In addition, the catheter drive device proposed in this 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 drive device 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.

[0076] Next, we will combine the attached Figure 1 -Attached Fig.11 The specific structure of the catheter driving device provided in the embodiment of the present application is introduced.

[0077] like Figure 3 and Figure 4 As shown, in some embodiments, the rotating component 121 rotates around a first direction under the drive of the power mechanism 110 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 coupling component 133 drives the bending adjustment wheel 11 to rotate.

[0078] 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 power cabin and the bending wheel 11 of the control handle 10, it is defined that the rotating component 121 rotates around the first direction under the drive of the power mechanism 110, that is, the power mechanism 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 coupling component 133 connected thereto rotates to drive the bending wheel 11 to rotate.

[0079] Since the sliding assembly 122 and the moving assembly 131 need to occupy more space when linearly moving in the second direction, the second direction may be the extension direction of the catheter in the control 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 power mechanism 110. This setting can be consistent with the remote control direction, thereby improving the convenience of operation for doctors.

[0080] 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 bending wheel 11, so as to achieve precise control of the bending wheel 11. It is also convenient to achieve force balance and coordinated control, so that the bending wheel 11 of the control handle 10 can work more stably and reliably, thereby providing more precise and reliable catheter control support for related surgeries.

[0081] In addition to the structure of the ball screw mechanism, the rotating assembly 121 and the sliding assembly 122 can also be, for example, Figure 5 and Figure 6 As shown, Figure 5 This is a schematic diagram of the overall structure of a catheter driving device (including a control handle) provided according to some embodiments of the present application. Figure 6 The overall structure diagram of the catheter driving device (excluding the control handle) from a perspective provided according to some embodiments of the present application. In some embodiments, the rotating assembly 121 includes a driving gear, which is fixedly connected to the output end of the power mechanism 110; the sliding assembly 122 includes a driven rack, which is meshed with the driving gear.

[0082] Specifically, the driving gear and the output end of the power mechanism 110 can be fixedly connected by a key connection or a set screw. Of course, the driving gear and the output end of the power mechanism 110 can be connected by a tightening sleeve, thereby enhancing the connection stability between the driving gear and the output end of the power mechanism 110 to ensure a close fit between the two.

[0083] 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 Figure 5 and Figure 6 As shown, in one example, the active transmission mechanism 120 further includes a guide member 123, and the driven rack is slidably disposed on the guide member 123, and the guide member 123 is used to limit the driven rack to the second direction.

[0084] Specifically, the driven rack can be slidably disposed on the guide member 123, and the 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 guide member 123 can be fixed at the transmission cabin, which not only limits the driven rack, but also supports the driven rack.

[0085] like Figure 7 As shown, Figure 7 The overall structure diagram of the catheter driving device from another perspective according to some embodiments of the present application is shown in FIG. 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.

[0086] 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.

[0087] If both the active transmission mechanism 120 and the driven transmission mechanism 130 are set as a gear rack structure, the high accuracy of the gear rack transmission can be utilized to enable the doctor to remotely and accurately control the operation of the bending adjustment wheel 11, thereby ensuring the accuracy and stability of the surgical operation.

[0088] 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, rotation speed and other information of the driven gear, and these data can be transmitted back to the control system to precisely control the power mechanism 110 (power cabin), realize closed-loop control, and further improve the accuracy and reliability of the catheter bending.

[0089] like Fig. 9 and Fig.10As shown, Fig. 9 This is a schematic diagram of the connection structure between the coupling assembly and the bending adjustment wheel provided according to some embodiments of the present application. Fig.10 Schematic diagram of the structure of the coupling assembly provided according to some embodiments of the present application. In some embodiments, the coupling assembly 133 includes at least one coupling member 1331, the coupling member 1331 is fixed to the end face of the driven gear, and the coupling member 1331 is provided with a clamping portion 1332 for cooperating with the bending adjustment wheel 11.

[0090] Specifically, the rotation direction of the driven gear is consistent with the rotation direction of the bending adjustment wheel 11, so the coupling will be fixed on the end face of the driven gear facing the bending adjustment wheel 11, which not only enables the coupling member 1331 to rotate in the first direction following the driven gear, but also facilitates it to be snapped onto the outside of the bending adjustment wheel 11 to engage with the bending adjustment wheel 11 and achieve the purpose of driving the bending adjustment wheel 11 to rotate.

[0091] In this example, the clamping portion 1332 provided on the coupling member 1331 can be a stopper extending into the bending adjustment wheel 11, or a groove adapted to the boss on the outer peripheral surface of the bending adjustment wheel 11. Of course, in this example, the clamping portion 1332 is based on being able to adapt and clamp to the bending adjustment wheel 11, and the specific method is not limited here.

[0092] In addition, the coupling member 1331 can be fixedly connected to the driven gear by bonding, welding or a fastening structure, or, in order to enhance the connection stability between the two, the coupling member 1331 can be formed integrally with the driven gear.

[0093] like Fig. 9 As shown, in some embodiments, the coupling member 1331 includes a coupling block, one end of which is fixed to the outer end surface 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 adapt and mesh with the outer peripheral surface of the bending adjustment wheel 11.

[0094] Specifically, the coupling block can be designed to be L-shaped, with one end of the L-shape fixed to the outer end face of the driven gear and the other end having a surface facing the axis of the driven gear, which surface is the surface used to adapt and engage with the outer peripheral surface of the bending wheel 11, and coupling teeth can be provided on this surface. Of course, the outer peripheral surface of the bending wheel 11 is also provided with grooves that adapt to the coupling teeth.

[0095] 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 bending wheel 11, so as to achieve seamless engagement with the bending wheel 11, which is conducive to realizing remote control of the bending wheel 11 through the catheter driving device.

[0096] like Fig.10As shown, in some embodiments, the coupling assembly 133 includes two coupling blocks, and the two coupling blocks are symmetrically distributed about the axis of the driven gear.

[0097] Specifically, two opposite coupling blocks can be arranged on one end face of the driven gear facing the bending adjustment wheel 11, and the two coupling blocks can achieve effective meshing with the outer peripheral surface of the bending adjustment wheel 11. The specific meshing process of the coupling blocks and the bending adjustment wheel 11 can be that the space area enclosed by the two coupling blocks is adapted to the size of the bending adjustment wheel 11, and the bending adjustment wheel 11 can be embedded into the above space area from one end of the two coupling blocks away from the driven gear, thereby achieving seamless meshing with the coupling blocks.

[0098] 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 bending adjustment wheel 11.

[0099] like Figure 1 and Fig. 9 As shown, in some embodiments, the driven transmission mechanism 130 also includes a support shell 136 and a limit member 134, the support shell 136 is located on the side of the driven gear away from the coupling assembly 133; the limit member 134 extends along the first direction, one end of the limit member 134 is fixedly connected to the driven gear, and the other end is rotatably set on the support shell 136.

[0100] Specifically, the support housing 136 can be fixed on the catheter support 20 to ensure that it can rotate with the rotation of the control handle 10. The stopper 134 can be 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 housing 136. 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 the rotation process.

[0101] like Fig. 9 As shown, in some embodiments, the driven transmission mechanism 130 also includes an elastic member 135, which is sleeved on the limiting member 134, one end of the elastic member 135 is limited to the supporting shell 136, and the other end is limited to the driven gear, and the elastic member 135 is used to make the coupling assembly 133 abut against the bending adjustment wheel 11.

[0102] Specifically, the setting of the elastic member 135 can make the transmission connection between the coupling assembly 133 and the bending wheel 11 tight and reliable, avoiding looseness or slipping during the transmission process. The elastic member 135 can be a spring or an elastic rubber ring, etc., and the appropriate elastic coefficient and size can be selected according to actual needs.

[0103] like Figure 6 and Fig.11As shown, Fig.11 Schematic diagram of the structure of the docking plate provided according to some embodiments of the present application. In some embodiments, the active transmission mechanism 120 further includes a docking plate 125, which is arranged on the side of the driven rack facing the moving component 131, and the docking plate 125 is fastened to the driven rack; the docking plate 125 is provided with a guide block 124 on the side away from the driven rack, and the guide block 124 is adapted to be arranged on the guide member 123.

[0104] Specifically, the docking plate 125 can be fastened to the driven rack by bolts or welding, and a guide block 124 is also provided on the docking plate 125. The guide block 124 is configured with a perforation adapted to the guide shaft, so as to improve the stability of the operation of the driven rack by adapting to the guide shaft. In this example, multiple guide blocks 124 can be provided on the side of the docking plate 125, which is not limited here.

[0105] Of course, the docking plate 125 is not only used to set the 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.

[0106] like Figure 8 As shown, Figure 8 The overall structure diagram of the catheter drive device from another perspective according to some embodiments of the present application is shown in FIG. In some embodiments, the power mechanism 110 includes a mounting housing 111; the active transmission mechanism 120 also includes a guide wheel 126, which is mounted on the mounting housing 111, and the guide wheel 126 is used to abut against the side of the driven rack facing away from the active gear.

[0107] 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.

[0108] like Figure 4 and Figure 6 As shown, in some embodiments, the catheter driving device 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 control handle 10 .

[0109] Specifically, in order to adapt to the orientation of the bending wheel 11 in the transmission cabin, the ablation catheter support 20 and the control handle 10, the bending wheel 11 is usually on the side of the control handle 10 away from the transmission cabin, and the power mechanism 110 is arranged at the transmission cabin, and the coupling component 133 in the driven transmission component needs to be adapted and engaged with the bending wheel 11. Based on this, in this example, a connecting component 140 is arranged between the active transmission mechanism 120 and the driven transmission mechanism 130. The connecting component 140 needs to be arranged across the ablation catheter support 20. Therefore, the connecting component 140 needs to be constructed to avoid the missing portion 145 of the ablation catheter support 20 (control handle 10). For example, the structure of the connecting component 140 can be U-shaped or C-shaped, and the opening provided therein facilitates the control handle 10 to be placed in the ablation catheter support 20.

[0110] 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 control handle 10 to ensure that there is no interference with the control handle 10 during installation and use.

[0111] 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 control 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 control handle 10 (catheter) to rotate. In the catheter drive device provided in this example, the power mechanism 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 coupling component 133 thereon, needs to rotate synchronously with the control 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.

[0112] Based on this, in some embodiments, the connecting assembly 140 includes a first connecting plate 141 and a rotating support plate 142. One end of the first connecting plate 141 is fixed to the sliding assembly 122, and the other end is engaged with the rotating support plate 142. The rotating support plate 142 can rotate around the second direction relative to the first connecting plate 141.

[0113] Specifically, one end of the first connecting plate 141 is fixed to the docking plate 125. Of course, the first connecting plate 141 may have a through hole at the 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 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 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 rotating support plate 142 may also be achieved by a cover plate with a matching shape. The inner arc surface of the 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 rotating support plate 142 and the ablation catheter support 20, so as to drive the 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 rotating support plate 142.

[0114] The moving assembly 131 and the rotating support plate 142 may be directly connected via the fastener 144 , so that the driven transmission mechanism 130 can follow the rotation of the control handle 10 (bending wheel 11 ).

[0115] 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 rotating support plate 142 via a fastener 144 ; the second connecting plate 143 is fixedly connected to the moving assembly 131 .

[0116] 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 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 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.

[0117] Based on the same inventive concept, the embodiment of the present application also provides a surgical robot, which can include a catheter supporter 20 and the catheter drive device in the above embodiment. The catheter supporter 20 is configured with a receiving cavity 21 for receiving the control handle 10; the active transmission mechanism 120 and the driven transmission mechanism 130 are respectively located on both sides of the catheter supporter 20, and the coupling assembly 133 is located in the receiving cavity 21 to be clamped with the bending wheel 11 of the control handle 10.

[0118] It can be understood that the catheter support 20 is configured with a receiving cavity 21 for receiving the control handle 10, and the shape and size of the receiving cavity 21 match the control handle 10 so that the control handle 10 can be firmly fixed therein while ensuring that the position of the control handle 10 is stable and reliable during the operation.

[0119] The active transmission mechanism 120 and the driven transmission mechanism 130 of the catheter drive device are respectively installed on both sides of the catheter support 20, mainly corresponding to the installation positions of the transmission cabin output port and the bending wheel 11 in the catheter support 20, and then the coupling assembly 133 is placed in the accommodating cavity 21 to correspond to the position of the bending wheel 11. During the installation process, that is, in the process of placing the control handle 10 in the accommodating cavity 21 of the catheter support 20, it is necessary to adaptively move the control handle 10 or the elastic member 135 connected to the coupling assembly 133 so that the coupling assembly 133 can be smoothly engaged with the bending wheel 11. It should be noted that in the process of docking the coupling assembly 133 and the bending wheel 11, it is necessary to mainly adjust the meshing clearance between the coupling assembly 133 and the bending wheel 11 to ensure the accuracy and efficiency of the transmission.

[0120] 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 power mechanism 110 (power input coupling) through the transmission cabin, so that the entire catheter drive device 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 coupling component 133 on the rotating component 132 is engaged with the bending wheel 11 of the control handle 10, thereby driving the bending wheel 11 to rotate, and realizing the bending operation of the catheter.

[0121] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0122] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed 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 catheter driving device, characterized in that: Used to be connected with the bending wheel of the control handle to drive the bending wheel to rotate; the catheter driving device includes: A power mechanism for outputting torque; An active transmission mechanism, comprising a rotating assembly and a sliding assembly, wherein the rotating assembly is connected to the output end of the power mechanism, and the sliding assembly is movably connected to the rotating assembly to convert the rotating motion of the rotating assembly into a linear motion; The driven transmission mechanism includes a moving component, a rotating component and a coupling component. The moving component is connected to the sliding component, and the rotating component is movably connected to the moving component to convert the linear motion of the moving component into rotational motion; the coupling component is arranged on the rotating component for engaging with the bending adjustment wheel.

2. The catheter driving device according to claim 1, characterized in that: The rotating assembly rotates around a first direction under the drive of the power mechanism to drive the sliding assembly to move linearly along a second direction intersecting the first direction; The sliding component drives the moving component to move linearly along the second direction, and the moving component drives the rotating component to rotate along the first direction, so that the coupling component drives the bending adjustment wheel to rotate.

3. The catheter driving device according to claim 2, characterized in that: The rotating assembly includes a driving gear, and the driving gear is fixedly connected to the output end of the power mechanism; The sliding assembly includes a driven rack meshing with the driving gear.

4. The catheter driving device according to claim 2, characterized in that: The moving assembly includes an active rack, and the active rack is connected to the sliding assembly; The rotating assembly includes a driven gear, and the driven gear is meshed with the driving rack.

5. The catheter driving device according to claim 4, characterized in that: The coupling assembly includes at least one coupling member, which is fixed to the end surface of the driven gear and is provided with a clamping portion for cooperating with the bending adjustment wheel.

6. The catheter driving device according to claim 5, characterized in that: The coupling member 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; The clamping portion includes coupling teeth formed on the coupling block, and the coupling teeth are used for adaptively engaging with the outer peripheral surface of the bending adjustment wheel.

7. The catheter driving device according to claim 6, characterized in that: The coupling assembly includes two coupling blocks, and the two coupling blocks are symmetrically distributed about the axis of the driven gear.

8. The catheter driving device according to any one of claims 4 to 7, characterized in that: The driven transmission mechanism further comprises a support housing and a stopper, wherein the support housing is located on a side of the driven gear away from the coupling assembly; The limiting member extends along the first direction, one end of the limiting member is fixedly connected to the driven gear, and the other end is rotatably disposed on the supporting shell.

9. The catheter driving device according to claim 8, characterized in that: The driven transmission mechanism also includes an elastic member, which is sleeved on the limiting member. One end of the elastic member is limited to the supporting shell, and the other end is limited to the driven gear. The elastic member is used to make the coupling assembly abut against the bending adjustment wheel.

10. The catheter driving device according to any one of claims 3 to 7, characterized in that: The active transmission mechanism further includes a guide member, the driven rack is slidably disposed on the guide member, and the guide member is used to limit the driven rack to the second direction.

11. The catheter driving device according to claim 10, characterized in that: The active transmission mechanism further comprises a docking plate, which is arranged on a side of the driven rack facing the moving assembly, and the docking plate is tightly connected to the driven rack; The butt joint plate is provided with a guide block on a side away from the driven rack, and the guide block is adapted to be mounted on the guide member.

12. The catheter driving device according to any one of claims 3 to 7, characterized in that: The power mechanism includes a mounting housing; The active transmission mechanism further comprises a guide wheel, which is mounted on the mounting housing and is used for abutting against the side surface of the driven rack facing away from the driving gear.

13. The catheter driving device according to any one of claims 2 to 7, characterized in that: The catheter driving device further comprises a connecting component, wherein the connecting component is connected between the sliding component and the moving component; The connecting assembly is provided with a missing portion for avoiding the control handle.

14. The catheter driving device according to claim 13, characterized in that: The connecting assembly includes a first connecting plate and a rotating support plate. One end of the first connecting plate is fixed to the sliding assembly, and the other end is buckled with the rotating support plate. The rotating support plate can rotate around the second direction relative to the first connecting plate.

15. The catheter driving device according to claim 14, characterized in that: The connecting assembly further includes a second connecting plate, the second connecting plate and the first connecting plate are spaced apart along the second direction, and the second connecting plate is fixedly connected to the rotating support plate via a fastener; The second connecting plate is fixedly connected to the moving component.

16. A surgical robot, characterized in that: include: A catheter supporter, configured with a receiving cavity for receiving the control handle; In the catheter driving device described in any one of claims 1 to 15, the active transmission mechanism and the driven transmission mechanism are respectively located on both sides of the catheter support, and the coupling assembly is located in the accommodating cavity to be engaged with the bending adjustment wheel of the control handle.

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