Bending-adjusting catheter adapter and surgical robot

Abstract

The invention relates to a bend-adjusting catheter adapter and a surgical robot. The power output end of a bending adjustment transmission unit in the bending adjustment catheter adapter is connected with a bending adjustment hand wheel of the bending adjustment catheter, and the bending angle of the bending adjustment catheter can be adjusted; the power output end of the rotary transmission unit is connected with the fixing sleeve and can drive the fixing sleeve and the bending adjusting guide pipe to synchronously rotate around the axial direction. The bending adjusting transmission unit and the rotating transmission unit are arranged with the corresponding connecting parts in the first direction, so that the bending adjusting guide pipe adapter and the power output device can be arranged in the first direction, namely, the bending adjusting guide pipe adapter can be connected to the side face of the power output device in the first direction; the bend adjusting guide pipe adapter and the power output device are not arranged up and down. The overall thickness of the surgical robot is reduced, the vertical distance between the catheter and the focus position is effectively shortened, an instrument can be attached to a blood vessel inlet of a patient more easily, the surgical difficulty is reduced, and the use convenience of the surgical robot is improved.

Description

Technical Field

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

[0002] In cardiovascular intervention or peripheral vascular intervention, since the target blood vessel or target lesion is often located in a relatively tortuous position of the blood vessel, or in an area that cannot be reached by guidewire support alone, an adjustable curved catheter is usually required as a guiding catheter to assist the device to reach the target blood vessel or lesion. During the delivery of the device in the adjustable curved catheter, in order to reach the target blood vessel or lesion, it is necessary to frequently adjust the bending angle of the adjustable curved catheter tip and rotate the adjustable curved catheter axially, thereby adjusting the position of the adjustable curved catheter tip in three-dimensional space.

[0003] In the related art, the instrument operating box used for the vascular interventional surgery robot is installed above the power unit, which causes the thickness of the driven end of the robot to be large, resulting in the inability of the instrument to completely approach the patient's blood vessel entrance, increasing the difficulty of the operation. Summary of the invention

[0004] Based on this, it is necessary to provide a bending catheter adapter to address the problem that surgical robots increase the difficulty of surgery.

[0005] A bending catheter adapter is used for manipulating a bending catheter, and the bending catheter adapter comprises:

[0006] The adapter seat has a bending connection portion and a rotating connection portion spaced apart at one end along a first direction, wherein the first direction intersects with the direction of gravity;

[0007] A fixing sleeve, rotatably connected to the adapter seat and arranged along the first direction with the bending adjustment connection portion; the fixing sleeve is used to fix the bending adjustment catheter;

[0008] a bending transmission unit connected to the bending connection portion and arranged along the first direction with the bending connection portion; a power output end of the bending transmission unit is used to connect with a bending hand wheel of the bending catheter;

[0009] A rotation transmission unit is connected to the rotation connection part and arranged with the rotation connection part along the first direction; a power output end of the rotation transmission unit is connected to the fixing sleeve.

[0010] In one embodiment, the bending adjustment connection portion includes a bending adjustment connection hole, and the bending adjustment transmission unit is connected to the bending adjustment connection hole;

[0011] The rotary connection portion includes a rotary connection hole, and the rotary transmission unit is connected to the rotary connection hole.

[0012] In one embodiment, the bending adjustment connection portion further includes a bending adjustment coupling connected to the bending adjustment connection hole, and the bending adjustment transmission unit is connected to the bending adjustment coupling;

[0013] The rotary connection portion further includes a rotary coupling connected to the rotary connection hole, and the rotary transmission unit is connected to the rotary coupling.

[0014] In one of the embodiments, at least one of the bending coupling and the rotating coupling is configured with a plurality of power connection ends.

[0015] In one embodiment, the bending adjustment transmission unit includes a first bending adjustment input member and a first bending adjustment output member of meshing transmission, and the axial directions of the first bending adjustment input member and the first bending adjustment output member intersect; the first bending adjustment input member is connected to the bending adjustment connection part, and the first bending adjustment output member is used to connect to the bending adjustment handwheel.

[0016] In one embodiment, the bending adjustment transmission unit includes a second bending adjustment input component and a second bending adjustment output component, the second bending adjustment input component is coaxially connected to the first bending adjustment output component, and the second bending adjustment output component is used to connect to the bending adjustment handwheel.

[0017] In one of the embodiments, the bending adjustment transmission unit includes a third bending adjustment input component and a third bending adjustment output component, and the third bending adjustment input component is coaxially connected to the second bending adjustment output component; the third bending adjustment output component is used to connect to the bending adjustment handwheel.

[0018] In one embodiment, one of the third bending output member and the bending hand wheel is configured with an engagement protrusion, and the other is configured with an engagement groove for engaging with the engagement protrusion for transmission.

[0019] In one embodiment, the rotation transmission unit includes a first rotation input member and a first rotation output member of meshing transmission, wherein the axial directions of the first rotation input member and the first rotation output member intersect; the first rotation input member is connected to the rotation connection portion, and the first rotation output member is connected to the fixed sleeve.

[0020] In one embodiment, the rotation transmission unit includes a second rotation input member and a second rotation output member, the second rotation input member is coaxially connected to the first rotation output member, and the second rotation output member is connected to the fixing sleeve.

[0021] In one embodiment, the rotation transmission unit includes a third rotation input member and a third rotation output member, the third rotation input member is coaxially connected to the second rotation output member; and the third rotation output member is connected to the fixed sleeve.

[0022] In one of the embodiments, the bending-adjusting catheter adapter further comprises a fixing lock rotatably connected to the fixing sleeve, and when the fixing lock is in a locked position, the fixing lock cooperates with the fixing sleeve to enclose a clamping groove for clamping the bending-adjusting catheter.

[0023] In one embodiment, the fixing sleeve and the fixing lock are respectively configured with a first connecting portion and a first matching portion. When the fixing lock is in the locking position, the fixing sleeve and the fixing lock are connected to the first matching portion via the first connecting portion.

[0024] In one embodiment, at least one of the fixing sleeve and the fixing lock is configured with a first rotating hole, and the other is connected with a first rotating portion, and the first rotating portion is rotatably connected to a hole wall of the first rotating hole.

[0025] In one embodiment, the adapter seat is configured with a rotation support groove, and the fixing sleeve is rotatably connected to the groove wall of the rotation support groove; and / or,

[0026] The bending catheter adapter further comprises a conveying guide rail, wherein the conveying guide rail is configured with a guide groove; and / or,

[0027] The bending-adjusting catheter adapter also includes a conveying guide rail and a conveying protection cover. The conveying protection cover is arranged on the conveying guide rail, and the two cooperate to enclose a conveying cavity.

[0028] A surgical robot comprises a power output device and the bending catheter adapter as described above.

[0029] In the above-mentioned bending catheter adapter, the power output end of the bending transmission unit is connected to the bending handwheel of the bending catheter, so that the bending angle of the bending catheter can be adjusted; the power output end of the rotation transmission unit is connected to the fixed sleeve, so that the fixed sleeve and the bending catheter can be driven to rotate synchronously around the axial direction. By arranging the bending transmission unit and the rotation transmission unit along the first direction with the corresponding connecting parts respectively, the bending catheter adapter can be arranged along the first direction with the power output device, that is, the bending catheter adapter can be connected to the side of the power output device along the first direction, and the bending catheter adapter and the power output device are not arranged up and down. In this way, the overall thickness of the surgical robot can be reduced, and the vertical distance between the catheter and the lesion position can be effectively shortened, so that the instrument can be more easily close to the patient's blood vessel entrance, reducing the difficulty of the operation and improving the convenience of using the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of a bending catheter adapter provided in one embodiment of the present application.

[0031] Figure 2 for Figure 1 A partial schematic diagram of a bending catheter adapter is shown.

[0032] Figure 3 for Figure 2 A top view of a bending catheter adapter is shown.

[0033] Figure 4 for Figure 3 A schematic diagram of the bending catheter adapter shown in another perspective.

[0034] Figure 5 for Figure 4 A partial schematic diagram of the bending catheter adapter shown in another perspective.

[0035] Figure 6 for Figure 2 Rear view of the bending catheter adapter shown.

[0036] Figure 7 for Figure 2 A schematic diagram of an exploded view of the third bending output component and the bending catheter in the bending catheter adapter is shown.

[0037] Figure 8 for Figure 2 Schematic diagram of the exploded view of the fixing sleeve and the fixing lock in the bending catheter adapter shown.

[0038] Fig. 9 for Figure 2 A partial schematic diagram of the adapter seat in the bending catheter adapter is shown.

[0039] Fig.10 for Figure 2 Schematic diagram of the exploded view of the delivery guide and delivery protection cover in the bending catheter adapter shown.

[0040] Reference numerals: 700, bending catheter adapter; 710, adapter seat; 711, connecting plate; 7111, bending connection portion; 7112, bending connection hole; 7113, bending coupling; 7114, rotating connection portion; 7115, rotating connection hole; 7116, rotating coupling; 7117, power connection end; 712, support plate; 7121, rotating support groove; 713, conveying guide rail; 7131, guide groove; 714, conveying protection cover;

[0041] 721, fixing sleeve; 7211, clamping groove; 7212, first connecting portion; 7213, first rotating hole; 722, fixing lock; 7222, first matching portion;

[0042] 730, bending transmission unit; 731, first bending input member; 732, first bending output member; 733, second bending input member; 734, second bending output member; 735, third bending input member; 736, third bending output member; 7361, meshing groove;

[0043] 740, a rotation transmission unit; 741, a first rotation input member; 742, a first rotation output member; 743, a second rotation input member; 744, a second rotation output member; 745, a third rotation input member; 746, a third rotation output member;

[0044] 1000, bending adjustment catheter; 1100, bending adjustment hand wheel; 1110, engaging protrusion; 1200, bending adjustment handle. DETAILED DESCRIPTION

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] See also Figures 1 to 6As shown, a bending catheter adapter 700 provided in one embodiment of the present application is used to manipulate a bending catheter 1000. The bending catheter adapter 700 includes an adapter seat 710, a fixing sleeve 721, a bending transmission unit 730, and a rotation transmission unit 740; the adapter seat 710 is configured with a bending connection portion 7111 and a rotation connection portion 7114 spaced apart at one end along a first direction, and the first direction intersects with the direction of gravity; the fixing sleeve 721 is rotatably connected to the adapter seat 710, and is connected to the bending connection portion 7111 along the first direction. The fixing sleeve 721 is used to fix the bending tube 1000; the bending transmission unit 730 is connected to the bending connection part 7111 and arranged along the first direction with the bending connection part 7111; the power output end of the bending transmission unit 730 is used to connect with the bending hand wheel 1100 of the bending tube 1000; the rotation transmission unit 740 is connected to the rotation connection part 7114 and arranged along the first direction with the rotation connection part 7114; the power output end of the rotation transmission unit 740 is connected to the fixing sleeve 721. Figure 1 As shown, the first direction is indicated by an arrow. It can be understood that the bending connection part 7111 and the rotating connection part 7114 are both connected to the power output device, so that the power of the power output device is transmitted to the power input end of the bending transmission unit 730 and the power input end of the rotating transmission unit 740 through the bending connection part 7111 and the rotating connection part 7114, so that the bending catheter 1000 completes the corresponding bending operation and rotation operation.

[0052] The power output end of the bending transmission unit 730 of the bending catheter adapter 700 is connected to the bending hand wheel 1100 of the bending catheter 1000, so that the bending angle of the bending catheter 1000 can be adjusted; the power output end of the rotation transmission unit 740 is connected to the fixed sleeve 721, so that the fixed sleeve 721 and the bending catheter 1000 can be driven to rotate synchronously around the axial direction. By arranging the bending transmission unit 730 and the rotation transmission unit 740 with the corresponding connecting parts along the first direction, the bending catheter adapter 700 can be arranged along the first direction with the power output device, that is, the bending catheter adapter 700 can be connected to the side of the power output device along the first direction, and the bending catheter adapter 700 and the power output device are not arranged up and down. In this way, the overall thickness of the surgical robot can be reduced, the vertical distance between the catheter and the lesion position can be effectively shortened, and the instrument can be more easily close to the patient's blood vessel entrance, reducing the difficulty of the operation and improving the convenience of the surgical robot. In addition, the risk of liquid penetrating into the power output device due to the bending tube adapter 700 being installed above the power output device can be reduced, and the risk of structural parts or electrical short circuits inside the power output device can be reduced.

[0053] like Figure 7As shown, in some embodiments, the bending adjustment catheter 1000 includes a catheter and a bending adjustment handle 1200 connected to the catheter for controlling the movement of the catheter. It can be understood that the bending adjustment handwheel 1100 is set on the bending adjustment handle 1200, and the bending adjustment handle 1200 is connected to the fixing sleeve 721.

[0054] See also Figures 3 to 6 As shown, in one embodiment, the bending connection part 7111 includes a bending connection hole 7112, and the bending transmission unit 730 is connected to the bending connection hole 7112. In some embodiments, the rotation connection part 7114 includes a rotation connection hole 7115, and the rotation transmission unit 740 is connected to the rotation connection hole 7115. By providing the bending connection hole 7112 and the rotation connection hole 7115, the power output device and the bending transmission unit 730 can be quickly connected, and the power output device and the rotation transmission box can be quickly connected, so as to effectively transmit the rotational motion and torque; at the same time, it can ensure that there is a large contact area between the power output device and the transmission unit, which is helpful to disperse the stress and enhance the strength and rigidity of the connection point.

[0055] See also Figures 3 to 6 As shown, in one embodiment, the bending connection part 7111 further includes a bending coupling 7113 connected to the bending connection hole 7112, and the bending transmission unit 730 is connected to the bending coupling 7113. In some embodiments, the rotating connection part 7114 further includes a rotating coupling 7116 connected to the rotating connection hole 7115, and the rotating transmission unit 740 is connected to the rotating coupling 7116. By providing the bending coupling 7113 and the rotating coupling 7116, the meshing transmission between the bending transmission unit 730 and the power output device, and the meshing transmission between the rotating transmission unit 740 and the power output device can be achieved, and the relative position between the output shaft of the power output device and the input shaft of the transmission unit can be adjusted within a certain range, and the manufacturing error or installation deviation can be compensated to ensure good coaxiality; and the load can be evenly distributed on the contact surface, reducing local stress concentration, and improving the strength and life of the overall structure.

[0056] See also Figures 3 to 6 As shown, in one embodiment, at least one of the bending coupling 7113 and the rotating coupling 7116 is configured with a plurality of power connection ends 7117. Through the power connection ends 7117, the power of the power output device is transmitted to the corresponding transmission unit. The power connection ends 7117 can ensure that the relative position between the output shaft of the power output device and the input shaft of the transmission unit is accurate. This design helps to maintain the coaxiality of the system and reduce vibration and noise. The number of power connection ends 7117 can be set according to actual needs, for example, Figure 4In the illustrated embodiment, there are two power connection ends 7117. In other embodiments, there may be three power connection ends 7117 or other numbers, which are not limited here.

[0057] In some embodiments, the adapter seat 710 includes a quick connection plate 711, and the rotation connection portion 7114 and the bending connection portion 7111 are arranged on the quick connection plate 711. By designing a plug-and-play installation connection interface on the adapter seat 710, the bending catheter 1000 can be quickly installed and removed, and the device can be quickly installed and removed on a surgical robot, which shortens the time of the surgical preparation process, thereby shortening the patient's surgical time.

[0058] See also Figures 2 to 5 As shown, in one embodiment, the bending transmission unit 730 includes a first bending input member 731 and a first bending output member 732 of meshing transmission, and the axial directions of the first bending input member 731 and the first bending output member 732 intersect; the first bending input member 731 is connected to the bending connection portion 7111, and the first bending output member 732 is used to connect with the bending hand wheel 1100. Through the cooperation of the first bending input member 731 and the first bending output member 732, the power of the power output device is transmitted to the bending hand wheel 1100, so that the bending angle of the bending catheter 1000 is adjusted by the bending hand wheel 1100.

[0059] See also Figures 2 to 5 As shown, in some embodiments, the first bending input member 731 and the first bending output member 732 are both bevel gears. The bevel gears can effectively change the direction of force transmission without the need for an additional intermediate transmission device, so as to adapt to different spatial layout requirements and save space. At the same time, the working tooth surface of the bevel gear is an involute shape, which ensures good rolling contact characteristics, reduces sliding friction, improves transmission efficiency, and can maintain low vibration and noise levels during operation, providing a smoother operating experience. Furthermore, the tooth surface of the bevel gear is conically unfolded, so that the load can be more evenly distributed on multiple teeth, reducing local stress concentration and enhancing the overall load-bearing capacity. In other embodiments, the first bending input member 731 and the first bending output member 732 can also be a worm gear structure.

[0060] See also Figures 2 to 5As shown, in one embodiment, the bending transmission unit 730 includes a second bending input member 733 and a second bending output member 734, the second bending input member 733 is coaxially connected to the first bending output member 732, and the second bending output member 734 is used to connect with the bending hand wheel 1100. Through the cooperation of the first bending input member 731, the first bending output member 732, the second bending input member 733 and the second bending output member 734, the power of the power output device is transmitted to the bending hand wheel 1100. In some embodiments, the second bending input member 733 and the second bending output member 734 are meshing transmission spur gears, and a very precise transmission ratio can be achieved through gear transmission, so as to accurately control the output speed and torque, and achieve efficient power transmission in a small space.

[0061] See also Figures 2 to 5 As shown, in one embodiment, the bending transmission unit 730 includes a third bending input member 735 and a third bending output member 736, and the third bending input member 735 is coaxially connected with the second bending output member 734; the third bending output member 736 is used to connect with the bending hand wheel 1100. Through the cooperation of the first bending input member 731, the first bending output member 732, the second bending input member 733, the second bending output member 734, the third bending input member 735 and the third bending output member 736, the power of the power output device is transmitted to the bending hand wheel 1100. In some embodiments, the third bending input member 735 and the third bending output member 736 are spur gears of meshing transmission, and the number of teeth of the third bending input member 735 is greater than the number of teeth of the second bending output member 734, so that the rotation speed of the third bending output member 736 can be gradually reduced by multi-stage gear transmission while maintaining a high output torque.

[0062] See also Figure 4 and Figure 7 As shown, in one embodiment, one of the third bending output member 736 and the bending hand wheel 1100 is configured with an engagement protrusion 1110, and the other is configured with an engagement groove 7361 for engaging with the engagement protrusion 1110 for transmission. Figure 7In the illustrated embodiment, the third bending output member 736 is configured with an engagement groove 7361, and the bending hand wheel 1100 is configured with an engagement protrusion 1110. In other embodiments, the arrangement positions of the engagement protrusion 1110 and the engagement groove 7361 can also be interchanged, that is, the bending hand wheel 1100 is configured with an engagement groove 7361, and the third bending output member 736 is configured with an engagement protrusion 1110. In some embodiments, the third bending output member 736 is made of an expandable and deformable plastic material, and can be directly installed on the bending hand wheel 1100 of the bending catheter 1000 through the elastic deformation of the material itself, thereby realizing the function of meshing transmission between the bending hand wheel 1100 and the third bending output member 736, and realizing the remote operation of the bending catheter 1000 by the surgical robot to complete the bending operation.

[0063] The above-mentioned bending transmission unit 730 adopts a gear transmission system with higher resolution, and the transmission accuracy can reach within the millimeter level. The power comb device can be driven by a servo motor, which can realize precise control of the bending catheter 1000, improve the accuracy of surgical operations, and shorten the time of surgical operations.

[0064] See also Figures 2 to 5 As shown, in one embodiment, the rotation transmission unit includes a first rotation input member 741 and a first rotation output member 742 of meshing transmission, and the axial directions of the first rotation input member 741 and the first rotation output member 742 intersect; the first rotation input member 741 is connected to the rotation connection part 7114, and the first rotation output member 742 is connected to the fixed sleeve 721. Through the cooperation of the first rotation input member 741 and the first rotation output member 742, the power of the power output device is transmitted to the fixed sleeve 721 and the bending guide tube 1000 fixed on the fixed sleeve 721, so as to drive the bending guide tube 1000 to rotate around the axial direction.

[0065] In some embodiments, the first rotating input member 741 and the first rotating output member 742 are both bevel gears. Bevel gears can effectively change the direction of force transmission without the need for additional intermediate transmission devices to adapt to different spatial layout requirements and save space. At the same time, the working tooth surface of the bevel gear is involute, which ensures good rolling contact characteristics, reduces sliding friction, improves transmission efficiency, and can maintain low vibration and noise levels during operation, providing a smoother operating experience. Furthermore, the tooth surface of the bevel gear is conically unfolded, so that the load can be more evenly distributed on multiple teeth, reducing local stress concentration and enhancing the overall load-bearing capacity. In other embodiments, the first rotating input member 741 and the first rotating output member 742 can also be a worm gear structure.

[0066] See also Figures 2 to 5As shown, in one embodiment, the rotation transmission unit 740 includes a second rotation input member 743 and a second rotation output member 744, the second rotation input member 743 is coaxially connected to the first rotation output member 742, and the second rotation output member 744 is connected to the fixing sleeve 721. Through the cooperation of the first rotation input member 741, the first rotation output member 742, the second rotation input member 743 and the second rotation output member 744, the power of the power output device is transmitted to the bending catheter 1000. In some embodiments, the second rotation input member 743 and the second rotation output member 744 are meshing transmission spur gears, and a very precise transmission ratio can be achieved through gear transmission, so as to accurately control the output speed and torque, and achieve efficient power transmission in a small space.

[0067] See also Figures 2 to 5 As shown, in one embodiment, the rotation transmission unit 740 includes a third rotation input member 745 and a third rotation output member 746, the third rotation input member 745 is coaxially connected to the second rotation output member 744; the third rotation output member 746 is connected to the fixing sleeve 721. Through the cooperation of the first rotation input member 741, the first rotation output member 742, the second rotation input member 743, the second rotation output member 744, the third rotation input member 745 and the third rotation output member 746, the power of the power output device is transmitted to the bending catheter 1000. In some embodiments, the third rotation input member 745 and the third rotation output member 746 are meshing transmission spur gears, and the number of teeth of the third rotation input member 745 is greater than the number of teeth of the second rotation output member 744, so that the rotation speed of the third rotation output member 746 can be gradually reduced by multi-stage gear transmission while maintaining a high output torque.

[0068] like Figure 5 As shown, in some embodiments, the third rotation input member 745 is provided with an even number, for example Figure 5 In the embodiment shown, the number of the third rotation input members 745 is two, so that the third rotation input member 745 and the third rotation output member 746 can be kept rotating in the same direction. Multiple third rotation input members 745 can share the total load transmitted to the third rotation output member 746, reduce the pressure on a single gear, reduce the risk of microcrack extension, and thus improve the reliability and life of the system. At the same time, the tooth surface of each gear wears more evenly, reducing the possibility of local excessive wear and extending the service life of the entire system.

[0069] See also Figure 4 and Figure 8As shown, in one embodiment, the bending catheter adapter 700 further includes a fixing lock 722 rotatably connected to the fixing sleeve 721. When the fixing lock 722 is in the locked position, the fixing lock 722 cooperates with the fixing sleeve 721 to enclose a clamping groove 7211 for clamping the bending catheter 1000. The fixing lock 722 is rotatably connected to the fixing sleeve 721, so by unlocking the fixing sleeve 721 to make it in the open position, the opening of the clamping groove 7211 formed by the fixing sleeve 721 can be exposed, so as to facilitate the insertion of the bending catheter 1000; by locking the fixing sleeve 721, that is, the fixing lock 722 is clamped on the fixing sleeve 721, so that the fixing lock 722 is in the locked position, the bending catheter 1000 can be fixed, thereby ensuring the position reliability of the bending catheter 1000, reducing the possibility of displacement of the bending catheter 1000 relative to the fixing sleeve 721 during the rotation of the bending catheter 1000, and improving the accuracy of control of the bending catheter 1000.

[0070] See also Figure 4 and Figure 8 As shown, in one embodiment, the fixing sleeve 721 and the fixing lock 722 are respectively configured with a first connecting portion 7212 and a first matching portion 7222. When the fixing lock 722 is in the locked position, the fixing sleeve 721 and the fixing lock 722 are connected to the first matching portion 7222 via the first connecting portion 7212. Figure 8 In the embodiment shown, both the first connection portion 7212 and the first matching portion 7222 can be bayonet holes, and the first locking member, such as an elastic bayonet, can be passed through the bayonet hole on the fixing sleeve 721 and the bayonet hole on the fixing lock 722, so that the fixing lock 722 is clamped on the fixing sleeve 721, thereby realizing the locking operation of the fixing lock 722; when the first locking member is removed, the fixing lock 722 can be in the open position, that is, the bending guide tube 1000 is no longer limited. In other embodiments, the first connection portion 7212 can be an elastic bayonet, and the first matching portion 7222 can be a bayonet hole, and the fixing lock 722 is clamped on the fixing sleeve 721 through the cooperation of the elastic bayonet and the bayonet hole; the fixing lock 722 can be in the open position by releasing the connection between the elastic bayonet and the bayonet hole.

[0071] See also Figure 4 and Figure 8As shown, in one embodiment, at least one of the fixing sleeve 721 and the fixing lock 722 is configured with a first rotation hole 7213, and the other is connected with a first rotation part (not shown), and the first rotation part is rotationally connected to the hole wall of the first rotation hole 7213. In some embodiments, both the fixing sleeve 721 and the fixing lock 722 are provided with a first rotation hole 7213, and the first rotation part, such as a connecting pin, can pass through the first rotation hole 7213 of the fixing sleeve 721 and the first rotation hole 7213 of the fixing lock 722, thereby realizing the rotation connection between the fixing sleeve 721 and the fixing lock 722. In other embodiments, the fixing sleeve 721 can also be provided with the first rotation hole 7213, and the fixing lock 722 can be provided with a protruding first rotation part, such as a connecting pin, and the connecting pin is passed through the first rotation hole 7213 to realize the rotation connection between the fixing lock 722 and the fixing sleeve 721. Of course, the fixing lock 722 may be provided with the first rotating hole 7213 , and the fixing sleeve 721 may be provided with a protruding first rotating portion such as a connecting pin, so as to realize the rotating connection between the fixing lock 722 and the fixing sleeve 721 .

[0072] See also Figure 2 and Fig. 9 As shown, in one embodiment, the adapter seat 710 includes a support plate 712, the support plate 712 is configured with a rotation support groove 7121, and the fixing sleeve 721 is rotatably connected to the groove wall of the rotation support groove 7121. Figure 2 As shown, in some embodiments, the support plate 712 includes two, and the two support plates 712 are respectively connected to the two ends of the connecting plate 711, that is, the adapter seat 710 presents a U-shaped structure, and the bending transmission unit 730 and the rotation transmission unit 740 are both accommodated in the space surrounded by the connecting plate 711 and the support plate 712, so that the layout of the bending catheter adapter 700 is more compact. The two ends of the fixing sleeve 721 are supported and fixed by the two support plates 712, ensuring that the bending catheter 1000 maintains a stable central position during operation, preventing deviation or shaking, and improving the rotation reliability of the bending catheter 1000.

[0073] See also Figure 2 and Fig.10 As shown, in one embodiment, the bending catheter adapter 700 also includes a conveying guide rail 713, and the conveying guide rail 713 is configured with a guide groove 7131. The conveying guide rail 713 can guide the axial movement of the catheter to improve the accuracy of the catheter reaching the predetermined position. The groove wall of the guide groove 7131 is relatively smooth, which can reduce the friction between the catheter and the conveying guide rail 713, making the operation more flexible and stable.

[0074] See also Figure 2 and Fig.10As shown, in one embodiment, the bending catheter adapter 700 further includes a delivery rail 713 and a delivery protection cover 714. The delivery protection cover 714 is disposed on the delivery rail 713, and the two cooperate to enclose a delivery cavity. The delivery protection cover 714 cooperates with the delivery rail 713 to effectively isolate microorganisms and particles in the external environment, reducing the risk of infection. In particular, when operating under sterile conditions, the role of the delivery protection cover 714 is particularly important.

[0075] Furthermore, an embodiment of the present application also provides a surgical robot, including a power output device and a bending catheter adapter 700 as described above. The power output device transmits power to the bending catheter adapter, thereby realizing the bending operation and rotation operation of the bending catheter. Among them, the bending catheter adapter can be arranged along the first direction with the power output device, that is, the bending catheter adapter can be connected to the side of the power output device along the first direction, and the bending catheter adapter and the power output device are not arranged up and down. In this way, the overall thickness of the surgical robot can be reduced, and the vertical distance between the catheter and the lesion position can be effectively shortened, so that the instrument can be more easily close to the patient's blood vessel entrance, reducing the difficulty of the operation and improving the convenience of the surgical robot. In addition, it can also reduce the risk of liquid infiltration into the power output device caused by the bending catheter adapter being installed above the power output device, and reduce the risk of structural parts or electrical short circuits inside the power output device. In some embodiments, the power output device may include a servo motor.

[0076] The operator can remotely control the bending catheter and adjust the angle of the bending catheter and rotate the tip of the bending catheter around the axis in real time according to the DSA (digital Subtraction Angiography) image, so that the ablation catheter in the bending catheter can be quickly and smoothly delivered to the target lesion. The operator can sit outside the operating room and rotate and bend the adjustable bending catheter in real time according to the image, which reduces the operator's operating fatigue and can avoid the operator's long-term exposure to the radiation environment. Since the transmission unit adopts a high-resolution gear transmission system, the transmission accuracy can reach within the millimeter level, which can achieve precise control of the adjustable bending catheter, improve the accuracy of the surgical operation, and shorten the time of the surgical operation. At the same time, a plug-and-play installation connection interface is set on the adapter seat, which can realize the rapid installation and removal of the adjustable bending catheter, shorten the time of the surgical preparation process, and thus shorten the patient's operation time.

[0077] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0078] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

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

2. The bending catheter adapter according to claim 1, characterized in that: The bending adjustment connection portion (7111) comprises a bending adjustment connection hole (7112), and the bending adjustment transmission unit (730) is connected to the bending adjustment connection hole (7112); The rotary connection portion (7114) comprises a rotary connection hole (7115), and the rotary transmission unit (740) is connected to the rotary connection hole (7115).

3. The bending catheter adapter according to claim 2, characterized in that: The bending adjustment connection portion (7111) further comprises a bending adjustment coupling (7113) connected to the bending adjustment connection hole (7112), and the bending adjustment transmission unit (730) is connected to the bending adjustment coupling (7113); The rotary connection portion (7114) further includes a rotary coupling (7116) connected to the rotary connection hole (7115), and the rotary transmission unit (740) is connected to the rotary coupling (7116).

4. The bending catheter adapter according to claim 3, characterized in that: At least one of the bending coupling (7113) and the rotating coupling (7116) is configured with a plurality of power connection ends (7117).

5. The bending catheter adapter according to any one of claims 1 to 4, characterized in that: The bending adjustment transmission unit (730) comprises a first bending adjustment input member (731) and a first bending adjustment output member (732) of meshing transmission, wherein the axial directions of the first bending adjustment input member (731) and the first bending adjustment output member (732) intersect; the first bending adjustment input member (731) is connected to the bending adjustment connection portion (7111), and the first bending adjustment output member (732) is used to connect to the bending adjustment hand wheel (1100).

6. The bending catheter adapter according to claim 5, characterized in that: The bending adjustment transmission unit (730) comprises a second bending adjustment input member (733) and a second bending adjustment output member (734); the second bending adjustment input member (733) is coaxially connected to the first bending adjustment output member (732); and the second bending adjustment output member (734) is used to be connected to the bending adjustment hand wheel (1100).

7. The bending catheter adapter according to claim 6, characterized in that: The bending adjustment transmission unit (730) comprises a third bending adjustment input member (735) and a third bending adjustment output member (736); the third bending adjustment input member (735) is coaxially connected to the second bending adjustment output member (734); and the third bending adjustment output member (736) is used to be connected to the bending adjustment hand wheel (1100).

8. The bending catheter adapter according to claim 7, characterized in that: One of the third bending adjustment output member (736) and the bending adjustment hand wheel (1100) is configured with an engagement protrusion (1110), and the other is configured with an engagement groove (7361) for engaging with the engagement protrusion (1110) for transmission.

9. The bending catheter adapter according to any one of claims 1 to 4, characterized in that: The rotation transmission unit (740) comprises a first rotation input member (741) and a first rotation output member (742) of meshing transmission, wherein the axial directions of the first rotation input member (741) and the first rotation output member (742) intersect; the first rotation input member (741) is connected to the rotation connection portion (7114), and the first rotation output member (742) is connected to the fixed sleeve (721).

10. The bending catheter adapter according to claim 9, characterized in that: The rotation transmission unit (740) comprises a second rotation input member (743) and a second rotation output member (744); the second rotation input member (743) is coaxially connected to the first rotation output member (742); and the second rotation output member (744) is connected to the fixing sleeve (721).

11. The bending catheter adapter according to claim 10, characterized in that: The rotation transmission unit (740) comprises a third rotation input member (745) and a third rotation output member (746); the third rotation input member (745) is coaxially connected to the second rotation output member (744); and the third rotation output member (746) is connected to the fixing sleeve (721).

12. The bending catheter adapter according to any one of claims 1 to 4, characterized in that: The bending-adjusting catheter adapter also includes a fixing lock (722) rotatably connected to the fixing sleeve (721); when the fixing lock (722) is in a locked position, the fixing lock (722) cooperates with the fixing sleeve (721) to enclose a clamping groove (7211) for clamping the bending-adjusting catheter (1000).

13. The bending catheter adapter according to claim 12, characterized in that: The fixing sleeve (721) and the fixing lock (722) are respectively constructed with a first connecting portion (7212) and a first matching portion (7222); when the fixing lock (722) is in the locking position, the fixing sleeve (721) and the fixing lock (722) are connected to the first matching portion (7222) via the first connecting portion (7212).

14. The bending catheter adapter according to claim 12, characterized in that: At least one of the fixing sleeve (721) and the fixing lock (722) is configured with a first rotating hole (7213), and the other is connected to a first rotating portion, wherein the first rotating portion is rotatably connected to a hole wall of the first rotating hole (7213).

15. The bending catheter adapter according to any one of claims 1 to 4, characterized in that: The adapter seat (710) is configured with a rotation support groove (7121), and the fixing sleeve (721) is rotationally connected to a groove wall of the rotation support groove (7121); and / or, The bending-adjusting catheter adapter further comprises a conveying guide rail (713), wherein the conveying guide rail (713) is configured with a guide groove (7131); and / or, The bending-adjusting catheter adapter also includes a conveying guide rail (713) and a conveying protection cover (714). The conveying protection cover (714) is disposed on the conveying guide rail (713), and the two cooperate to enclose a conveying cavity.

16. A surgical robot, characterized in that: It comprises a power output device and a bending catheter adapter as described in any one of claims 1 to 15.

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