Vascular intervention surgical robot

Abstract

The invention provides a vascular interventional surgical robot. The vascular interventional surgical robot comprises a mounting frame; the horizontal moving device is mounted at the upper part of the mounting frame; the mechanical arm is mounted at the output end of the horizontal moving device; the manipulator comprises a mounting arm, a circular arc disc, a rotating device, two pushing devices and two clamping assemblies, one end of the mounting arm is mounted at the output end of the mechanical arm, the circular arc disc is rotatably mounted at the other end of the mounting arm, the rotating device is used for driving the circular arc disc to rotate, and the two pushing devices are arranged on the mounting arm. The two pushing devices are symmetrically installed on the horizontal plane of the arc disc. According to the vascular interventional operation robot, the mechanical arm is matched with the dismounting and mounting equipment, so that the clamping blocks can be quickly replaced, the time for replacing the clamping blocks is shortened, and the equipment can quickly perform continuous operation work according to needs.

Description

Technical Field

[0001] The present invention relates to the field of vascular intervention surgery equipment, and in particular to a vascular intervention surgery robot. Background Art

[0002] Vascular interventional surgery is a technology that uses puncture needles, guide wires, catheters and other instruments to perform diagnosis and treatment through blood vessels under the guidance of medical imaging equipment. The vascular interventional surgery robot is an advanced medical device used in the field of vascular interventional surgery.

[0003] In the prior art, a vascular interventional surgical robot includes a mechanical operating arm, a sensor system, a control system, etc., wherein a clamping component is provided at the end of the mechanical operating arm for clamping the guide wire and catheter used in the operation, and cooperates with the mechanical arm to drive the guide wire and catheter to perform operations such as insertion, advancement, and rotation to make them reach the target position inside the blood vessel.

[0004] Among them, in order to maintain hygiene and avoid cross infection, the clamping part needs to be cleaned after each use. For example, when the clamping part moves the guide wire and the catheter out of the patient's blood vessel, blood on the guide wire and the catheter may remain on the clamping part. Currently, the cleaning of the clamping part usually requires the staff to disassemble the clamping part for cleaning. When the above equipment needs to be used continuously, the entire cleaning time is relatively long. When wiping and cleaning with disinfectant test paper, etc., it is difficult to ensure whether it is clean.

[0005] Therefore, it is necessary to provide a vascular interventional surgery robot to solve the above technical problems. Summary of the invention

[0006] The present invention provides a vascular interventional surgical robot, which solves the problem that the clamping parts of the current vascular interventional surgical robot usually need to be disassembled and cleaned by staff, and when the above equipment needs to be used continuously, the entire cleaning time is long.

[0007] In order to solve the above technical problems, the present invention provides a vascular intervention surgery robot, comprising: a mounting frame; A horizontal moving device, the horizontal moving device is installed on the upper part of the mounting frame; A mechanical arm, the mechanical arm being mounted at an output end of the horizontal moving device; An operator, the operator comprises a mounting arm, an arc disk, a rotating device, two pushing devices, and two clamping assemblies, one end of the mounting arm is mounted on the output end of the mechanical arm, the arc disk is rotatably mounted on the other end of the mounting arm, the rotating device is used to drive the arc disk to rotate, the two pushing devices are symmetrically mounted on the horizontal plane of the arc disk, the clamping assembly comprises a clamping block and an inserting block, the inserting block is mounted on the bottom of the clamping block, and each of the clamping blocks is mounted on the output end of the corresponding pushing device through a connecting piece; A carrying device, the carrying device is located below the mechanical arm, the carrying device comprises a carrying portion and a plurality of assembly seats, and the plurality of assembly seats are installed on the carrying portion at intervals; a disassembly and assembly device, the disassembly and assembly device being arranged adjacent to the carrying device; When the clamping block is replaced, the mechanical arm drives the operator to assemble the plug block at the bottom of the clamping block with the assembly seat, and the disassembly and assembly device unlocks the connecting piece; When the pushing device is assembled with the new clamping block placed on the assembly seat, the disassembly and assembly equipment is used to drive the connecting piece to connect the new clamping block with the output end of the pushing device.

[0008] Preferably, a horizontal driving device is installed on the final arm of the robot arm, a rotating device is installed at the output end of the horizontal driving device, and the mounting arm is installed at the output end of the rotating device.

[0009] Preferably, the number of the operating hands, the horizontal driving device and the rotating device are two each, and they are arranged in one-to-one correspondence.

[0010] Preferably, the vascular interventional surgical robot also includes a cleaning box and a lifting cylinder. A cleaning device is provided inside the cleaning box. The carrying device is slidably installed inside the cleaning box. The lifting cylinder is installed on the top of the cleaning box through a fixed plate. The output end of the lifting cylinder is connected to the carrying device, and the disassembly and assembly equipment is installed on the cleaning box.

[0011] Preferably, the pushing device includes a push cylinder and a mounting sleeve, the push cylinder is installed on the horizontal plane of the arc disk, the mounting sleeve is installed at the output end of the push cylinder, second threaded sleeves are embedded on both sides of the mounting sleeve, the clamping assembly also includes an assembly block and a first threaded sleeve, the assembly block is installed on the clamping block, the first threaded sleeve is installed through the clamping block, the connecting piece is a bolt, and an angular hole is opened at the end of the connecting piece.

[0012] Preferably, the disassembly and assembly device comprises a motor and a driving shaft, the motor is mounted on the cleaning box, the driving shaft comprises a rotating shaft, a prism shaft and a first elastic member, the rotating shaft is mounted on the output shaft of the motor, one end of the prism shaft is connected to the inside of the rotating shaft with a sliding key, and the first elastic member elastically connects the rotating shaft and the prism shaft; The bearing part includes a support frame, a support plate, a bearing plate, a transverse movement device and a second elastic member. The support frame is installed at the output end of the lifting cylinder, the support plate is installed on the support frame for transverse sliding, and the bearing plate is installed on the support plate for longitudinal sliding. The second elastic member elastically connects the bearing plate and the support plate, the assembly seat is installed on the bearing plate, and the transverse movement device is used to drive the support plate to move horizontally.

[0013] Preferably, the number of the driving shafts is multiple, and the number of the driving shafts corresponds to the number of the pushing devices. The disassembly and assembly equipment also includes a fixed frame and a transmission member. The fixed frame is installed on the inner wall of the cleaning box. The multiple rotating shafts pass through and are rotatably installed on the fixed frame. The multiple rotating shafts are connected to each other through a transmission member, and one of the rotating shafts is connected to the output end of the motor.

[0014] Preferably, the transverse shifting device is a toothed plate, which is mounted on the support plate. The disassembly and assembly equipment also includes a driving gear, which is mounted on the rotating shaft. When the second elastic member stretches naturally, the driving gear engages with the transverse shifting device.

[0015] Preferably, both sides of the cleaning box are provided with drying components, and the drying components include an air inlet pipe and an air outlet plate, the air inlet pipe is connected and installed on the side wall of the cleaning box, and the air outlet plate is connected and installed on the air inlet pipe and is located inside the cleaning box.

[0016] Preferably, a sliding arm is installed on the horizontal surface of the arc disk, and two U-shaped blocks are slidably installed on the sliding arm. The clamping assembly also includes a sliding block, and the sliding block is installed on the clamping block and plugged into the U-shaped block.

[0017] Compared with related technologies, the vascular interventional surgery robot provided by the present invention has the following beneficial effects: The present invention provides a vascular interventional surgical robot. When the vascular interventional surgical robot needs to replace a clamping assembly after completing an operation, a horizontal moving device drives a mechanical arm to move to the top of a carrying device, and the mechanical arm drives an operator to move until the clamping block is aligned with an assembly seat, and at this time the operator is in a vertical downward state as shown in the figure, and the mechanical arm drives the operator downward to insert an insert block at the bottom of the clamping block into the assembly seat, and then the disassembly and assembly equipment unlocks the connecting piece, and at this time the mechanical arm drives the operator to lift up and separate from the clamping block, and subsequently the mechanical arm drives the operator to assemble with another new (unused or cleaned) clamping block, and the disassembly and assembly equipment drives the connecting piece to quickly connect the clamping block with the output end of the pushing device, so that the mechanical arm cooperates with the disassembly and assembly equipment to quickly complete the replacement of the clamping block, shorten the time for replacing the clamping block, and the equipment can quickly perform continuous surgery as needed. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structure of the vascular interventional surgery robot provided by the present invention; Figure 2 A schematic diagram of the structure of the operator provided by the present invention; Figure 3 A cross-sectional view of the cleaning box provided by the present invention; Figure 4 A schematic diagram of the structure of the clamping assembly provided by the present invention; Figure 5 A schematic diagram of the structure of the carrying device provided by the present invention; Figure 6 A cross-sectional view of the mounting sleeve and the clamping assembly provided by the present invention; Figure 7 A schematic diagram of the structure of the disassembly and assembly equipment provided by the present invention; Figure 8 A schematic diagram of the structure of the assembly of the manipulator and the final arm provided by the present invention; Fig. 9 The schematic diagram of the working state of the disassembly and assembly equipment provided by the present invention, wherein: Fig. 9 (a) is a schematic diagram of the meshing of the gear and the transverse movement device in the disassembly and assembly equipment. Fig. 9 (b) is a schematic diagram of the assembly of the prism shaft and the prism hole of the connecting part in the disassembly and assembly equipment; Fig.10 This is a schematic diagram of the working status of the vascular interventional surgery robot provided by the present invention.

[0019] Numbers in the figure: 1. Mounting frame; 2. Mechanical arm; 21. Final arm; 211. Horizontal drive device; 212. Rotating device; 3. Operator; 31. Mounting arm; 32. Arc disk; 33. Pushing device; 34. Clamping assembly; 35. Rotating device; 36. Pressure sensor; 321, sliding arm; 322, U-shaped block; 323, tooth surface; 331, push cylinder; 332, mounting sleeve; 333, second threaded sleeve; 341, clamping block; 342, inserting block; 343, sliding block; 344, clamping groove; 345, assembly block; 346, first threaded sleeve; 4. Cleaning box; 5. Disassembly and assembly equipment; 51. Motor; 52. Driving shaft; 53. Fixed frame; 54. Driving gear; 55. Transmission member; 521. Rotating shaft; 522. Prismatic shaft; 523. First elastic member; 6. Carrying device; 61. Support frame; 62. Support plate; 63. Carrying plate; 64. Assembly seat; 65. Transverse movement device; 66. Second elastic member; 611, horizontal slide bar; 621, vertical slide bar; 7. Lifting cylinder; 8. Drying assembly; 81. Air inlet pipe; 82. Air outlet plate; 9. Horizontal moving device; 10. Operating table; 11. Connecting piece; 111. Edge hole. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The invention provides a vascular interventional surgery robot.

[0022] Please refer to Figures 1 to 3 , In one embodiment of the present invention, the vascular interventional surgery robot comprises: a mounting frame 1; A horizontal moving device 9, wherein the horizontal moving device 9 is installed on the upper part of the mounting frame 1; A mechanical arm 2, the mechanical arm 2 being mounted at the output end of the horizontal moving device 9; The manipulator 3 comprises a mounting arm 31, an arc disk 32, a rotating device 35, two pushing devices 33, and two clamping assemblies 34. One end of the mounting arm 31 is mounted on the output end of the mechanical arm 2. The arc disk 32 is rotatably mounted on the other end of the mounting arm 31. The rotating device 35 is used to drive the arc disk 32 to rotate. The two pushing devices 33 are symmetrically mounted on the horizontal plane of the arc disk 32. The clamping assembly 34 comprises a clamping block 341 and an insert block 342. The insert block 342 is mounted on the bottom of the clamping block 341. Each of the clamping blocks 341 is mounted on the output end of the corresponding pushing device 33 through a connecting piece 11. A carrying device 6, the carrying device 6 is located below the robot arm 2, the carrying device 6 comprises a carrying portion and a plurality of assembly seats 64, and the plurality of assembly seats 64 are installed on the carrying portion at intervals; A disassembly and assembly device 5, wherein the disassembly and assembly device 5 is arranged adjacent to the carrying device 6; When the clamping block 341 is replaced, the robot arm 2 drives the operator 3 to assemble the insert block 342 at the bottom of the clamping block 341 with the assembly seat 64, and the disassembly and assembly device 5 unlocks the connector 11; When the pushing device 33 is assembled with the new clamping block 341 placed on the assembly seat 64 , the disassembly and assembly device 5 is used to drive the connecting member 11 to connect the new clamping block 341 with the output end of the pushing device 33 .

[0023] When the vascular interventional surgery robot needs to replace the clamping assembly 34 after completing an operation, the horizontal moving device 9 drives the mechanical arm 2 to move above the carrying device 6, and the mechanical arm 2 drives the manipulator 3 to move until the clamping block 341 is aligned with the assembly seat 64, and at this time the manipulator 3 Figure 1 In the vertical downward state, the robot arm 2 drives the operator 3 downward, so that the insert block 342 at the bottom of the clamping block 341 is inserted into the assembly seat 64, and then the disassembly and assembly device 5 unlocks the connection piece 11. At this time, the robot arm 2 drives the operator 3 to lift up and separate from the clamping block 341. Subsequently, the robot arm 2 drives the operator 3 to assemble with another new (unused or cleaned) clamping block 341. The disassembly and assembly device 5 drives the connection piece 11 to quickly connect the clamping block 341 with the output end of the pushing device 33, so that the clamping block 341 can be quickly replaced by using the robot arm 2 in cooperation with the disassembly and assembly device 5, shortening the time for replacing the clamping block 341. The device can quickly perform continuous surgery as needed; The replaced clamping block 341 can now be cleaned, so that the vascular interventional surgery robot does not need to wait for cleaning time.

[0024] Among them, the new clamping block 341 is installed on the assembly seat 64 in advance, so that the output end of the pushing device 33 can be quickly assembled with the new clamping block 341, and the number of the assembly seats 64 on the bearing part is twice that of the pushing device 33.

[0025] In this embodiment, the horizontal moving device 9 is used to adjust the horizontal position of the robot arm 2, and can more flexibly adjust the position of the operator 3. The horizontal moving device 9 can be a screw conveying structure or a belt conveying structure, etc.; In this embodiment, a tooth surface 323 is provided on the arc-shaped side surface of the arc disk 32, and the rotating device 35 includes a rotating motor and a gear. The rotating motor is installed on the mounting arm 31, and the gear is installed at the output end of the rotating motor. The gears are meshed with each other, and the gears are driven to reciprocate by the motor. The gears act on the tooth surface 323 to drive the arc disk 32 to reciprocate, so that during the operation, the arc disk 32 drives the guide wire to reciprocate through the clamping assembly 34 to assist the guide wire to enter the blood vessel.

[0026] The tooth surface 323 is composed of a plurality of teeth.

[0027] The front and rear sides of the arc disk 32 are provided with arc-shaped slide grooves, and the front and rear sides of the mounting arm 31 are provided with a plurality of pulleys for rotation. The pulleys are located in the arc-shaped slide grooves and contact the upper wall of the arc-shaped slide grooves. The pulleys can be used to assist in supporting the arc disk 32. Among them, a clamping groove 344 is opened on the clamping side of the clamping block 341, and the clamping groove 344 is preferably an arc-shaped groove, so that the contact area with the guide wire can be increased during clamping, thereby improving the stability of clamping. When the two clamping blocks 341 are clamped, the center of the clamping groove 344 coincides with the center of the arc surface of the arc disk 32. When the arc disk 32 drives the guide wire to rotate, the guide wire will not be moved by force in the horizontal and vertical directions.

[0028] The robot arm 2 includes a rotating base, a main arm, a secondary arm and a final arm 21. The main arm, the secondary arm and the final arm 21 are connected in sequence through a driving motor. The output end of the rotating base is connected to the driving motor. The main arm is connected to the driving motor on the rotating base. The rotating base can drive the main arm to rotate horizontally. By setting a multi-stage arm, the position of the operator 3 can be flexibly adjusted.

[0029] Also, see Figure 1 In this embodiment, a horizontal driving device 211 is installed on the final arm 21 of the robot arm 2, a rotating device 212 is installed at the output end of the horizontal driving device 211, and the mounting arm 31 is installed at the output end of the rotating device 212.

[0030] The horizontal driving device 211 can drive the operating hand 3 to move back and forth. During the operation, the clamping assembly 34 of the operating hand 3 clamps the guide wire or catheter, and the horizontal driving device 211 drives the operating hand 3 to continuously move toward the patient's blood vessel. The operating hand 3 drives the guide wire or catheter to continuously move into the blood vessel through the clamping assembly 34. At the same time, the rotating device 35 can drive the arc disk 32 to rotate back and forth, thereby driving the guide wire or catheter to rotate, and assisting the guide wire or catheter to enter the designated position of the blood vessel; the rotating device 212 can flexibly adjust the angle of the operating hand 3.

[0031] The horizontal driving device 211 can be an electric push cylinder, a pneumatic cylinder or a hydraulic cylinder, etc. The main body of the horizontal driving device 211 is embedded in the final arm 21 .

[0032] See also Figure 1 and Figure 8 As a preferred embodiment of this embodiment, the number of the operating hand 3, the horizontal driving device 211 and the rotating device 212 are two each, and they are arranged in a one-to-one correspondence.

[0033] When pushing the guidewire and catheter into the blood vessel, four operating hands 3 are usually required to operate, some of which are used to support the guidewire or catheter, and the other operating hands 3 are used to push the guidewire or catheter. By setting two operating hands 3 on one end arm 21, two sets of vascular intervention surgery robots are set on both sides of the operating table 10 to work together, such as Fig.10 Each horizontal driving device 211 can independently control the forward and backward movement of the operating hand 3. When working, the two operating hands 3 are staggered. The rotating device 212 can adjust the angle of the operating hand 3 so that the centers of the clamping grooves 344 on the clamping blocks 341 in different operating hands 3 are on the same straight line, thereby collaboratively realizing the advancement and withdrawal of the guide wire and the catheter.

[0034] See also Figure 1 and Figure 3 As a preferred embodiment of this embodiment, the vascular interventional surgical robot also includes a cleaning box 4 and a lifting cylinder 7. A cleaning device is provided inside the cleaning box 4. The carrying device 6 is slidably installed inside the cleaning box 4. The lifting cylinder 7 is installed on the top of the cleaning box 4 through a fixed plate. The output end of the lifting cylinder 7 is connected to the carrying device 6. The disassembly and assembly equipment 5 is installed on the cleaning box 4.

[0035] After the vascular interventional surgical robot completes an operation, the robotic arm 2 drives the operator 3 to disassemble the clamping block 341 to the assembly seat 64, and at the same time reassemble the clamping block 341 on the pushing device 33; the lifting cylinder 7 pushes the supporting device 6 down into the cleaning liquid in the cleaning box 4, and uses the cleaning equipment to clean the clamping block 341 after use, thereby realizing fast and automatic cleaning.

[0036] As an optional method of this embodiment, the cleaning device adopts an ultrasonic cleaning device.

[0037] As another optional method of this embodiment, the cleaning device adopts a mechanical cleaning device, including a rotating motor, a cleaning brush, and a spray cleaning device. The spray cleaning device is used to rinse the clamping block 341, and the motor drives the cleaning brush to scrub the clamping block 341.

[0038] When the cleaning device adopts an ultrasonic cleaning device, a spray cleaning device can also be provided, which is provided above the liquid level inside the cleaning box 4. After ultrasonic cleaning, the spray cleaning device is used for spray cleaning.

[0039] A liquid inlet pipe and a liquid discharge pipe are arranged on both sides of the bottom of the cleaning box 4. The liquid inlet pipe is connected to the storage source of the cleaning liquid through a pipeline, and the liquid discharge pipe is connected to the subsequent processing equipment through a pipeline, so that the cleaning liquid can be replaced; valves are arranged on the liquid inlet pipe and the liquid discharge pipe accordingly.

[0040] The carrying device 6 and the disassembly and assembly equipment 5 are both located above the cleaning liquid.

[0041] See also Figure 2 and Figure 4 In this embodiment, the pushing device 33 includes a push cylinder 331 and a mounting sleeve 332. The push cylinder 331 is installed on the horizontal plane of the arc disk 32. The mounting sleeve 332 is installed at the output end of the push cylinder 331. Second threaded sleeves 333 are embedded on both sides of the mounting sleeve 332. The clamping assembly 34 also includes an assembly block 345 and a first threaded sleeve 346. The assembly block 345 is installed on the clamping block 341. The first threaded sleeve 346 is installed through the clamping block 341. The connecting member 11 is a bolt, and a ridge hole 111 is opened at the end of the connecting member 11.

[0042] When assembling the clamping assembly 34, the assembly block 345 is inserted into the installation sleeve 332, at which time the first threaded sleeve 346 and the second threaded sleeve 333 are aligned, and the output end of the disassembly and assembly device 5 is inserted into the prism hole 111, driving the connecting member 11 to rotate, and the connecting member 11 is threadedly connected with the first threaded sleeve 346 and the second threaded sleeve 333 to achieve assembly; During disassembly, the connector 11 is screwed again using the disassembly device 5 to screw out the first threaded sleeve 346. At this time, the clamping block 341 and the mounting sleeve 332 can be separated. Among them, by arranging the second threaded sleeve 333 on both sides of the mounting sleeve 332, when the connecting member 11 is separated from the first threaded sleeve 346, the connecting member 11 and the second threaded sleeve 333 on one side of the mounting sleeve 332 still maintain threaded connection, so that the connecting member 11 can be stably connected to the mounting sleeve 332, thereby facilitating the subsequent disassembly and assembly of the equipment 5 to subsequently drive the connecting member 11 to connect the clamping block 341 and the mounting sleeve 332.

[0043] The lifting cylinder 7 and the push cylinder 331 can be electric push cylinders or hydraulic cylinders or pneumatic cylinders.

[0044] In other embodiments, the connecting member 11 can be replaced with an elastic clamping member, which includes a spring, a positioning pin, a connecting frame and an L-shaped frame. The connecting frame is installed on one side of the mounting sleeve 332. The positioning pin passes through the connecting frame and the mounting sleeve 332 in sequence. A retaining ring is installed on the positioning pin. The spring sleeve is arranged on the positioning pin and is located between the connecting frame and the retaining ring. One end of the L-shaped frame is connected to the end cap of the positioning pin, and the other end extends from the top of the mounting sleeve 332 to the front side of the mounting sleeve 332. The corresponding assembly block 345 is provided with an assembly hole. During disassembly, the disassembly and assembly device 5 pushes the L-shaped frame to drive the positioning pin out of the assembly hole and compress the spring, thereby realizing the disassembly of the clamping block 341 and the installation sleeve 332. During subsequent assembly, the disassembly and assembly device 5 pushes the L-shaped frame to drive the positioning pin out of the installation sleeve 332 and compresses the spring. When the assembly block 345 and the installation sleeve 332 are assembled, the assembly hole is aligned with the positioning pin. At this time, the disassembly and assembly device 5 is separated from the L-shaped frame, and the positioning pin is pushed into the assembly hole through the action of the spring to realize assembly.

[0045] Among them, the positioning pin is preferably a square shaft, and the corresponding assembly hole is a square hole.

[0046] See also Figure 3 , Figure 5 and Figure 7 In this embodiment, the disassembly and assembly device 5 includes a motor 51 and a driving shaft 52. The motor 51 is installed on the cleaning box 4. The driving shaft 52 includes a rotating shaft 521, a prism shaft 522 and a first elastic member 523. The rotating shaft 521 is installed on the output shaft of the motor 51. One end of the prism shaft 522 is connected to the inside of the rotating shaft 521 with a sliding key. The first elastic member 523 elastically connects the rotating shaft 521 and the prism shaft. The bearing part includes a support frame 61, a support plate 62, a bearing plate 63, a transverse movement device 65 and a second elastic member 66. The support frame 61 is installed at the output end of the lifting cylinder 7, the support plate 62 is installed on the support frame 61 for transverse sliding, and the bearing plate 63 is installed on the support plate 62 for longitudinal sliding. The second elastic member 66 elastically connects the bearing plate 63 and the support plate 62. The assembly seat 64 is installed on the bearing plate 63. The transverse movement device 65 is used to drive the support plate 62 to move horizontally.

[0047] When replacing the clamping block 341, the robot arm 2 drives the operating hand 3 to align the clamping block 341 with the vacant assembly seat 64 on the bearing plate 63, and then the robot arm 2 lowers the operating hand 3 to insert the insert block 342 on the clamping block 341 into the assembly seat 64 accordingly, and at the same time, the assembly seat 64 supports the clamping block 341, and then the robot arm 2 drives the operating hand 3 to move toward the prism shaft 522, and the operating hand 3 drives the clamping block 341 to follow the movement, and the clamping block 341 drives the bearing plate 63 to move toward the prism shaft 522 through the assembly seat 64, so that the prism shaft 522 can be inserted into the prism hole 111 of the connecting member 11, and at the same time, the bearing plate 63 compresses the second elastic member 66; The motor 51 drives the rotating shaft 521 to rotate, thereby driving the prism shaft 522 to rotate. The prism shaft 522 drives the connecting member 11 to rotate through the prism hole 111. The connecting member 11 acts on the first threaded sleeve 346, gradually moves out of the first threaded sleeve 346, and moves toward the prism shaft 522. The connecting member 11 drives the prism shaft 522 to move toward the inside of the rotating shaft 521, compressing the first elastic member 523. When the connecting member 11 is completely moved out of the first threaded sleeve 346, the robot arm 2 drives the operating hand 3 to move away from the prism shaft 522. The second elastic member 66 pushes back the support plate 62 to separate the prism shaft 522 from the prism hole 111 of the connecting member 11. At the same time, the first elastic member 523 pushes the prism shaft 522 to move out of the rotating shaft 521, and then the robot arm 2 drives the operating hand 3 to move away from the prism shaft 522. The arm 2 drives the operating hand 3 to move upward, so that the installation sleeve 332 is separated from the assembly block 345. At this time, the transverse movement device 65 can drive the support plate 62 to move horizontally, so that the assembly seat 64 loaded with the new clamping block 341 moves to the bottom of the corresponding installation sleeve 332. The robot arm 2 drives the operating hand 3 to descend, so that the installation sleeve 332 is correspondingly mounted on the assembly block 345 of the corresponding clamping block 341. At this time, the first threaded sleeve 346 is aligned with the second threaded sleeve 333. Subsequently, the disassembly and assembly equipment 5 is used in the same way to make the connecting piece 11 threadedly connected with the first threaded sleeve 346 and the other second threaded sleeve 333, so as to realize the assembly of the new clamping component 34 and the installation sleeve 332, so that the clamping block 341 can be quickly and automatically replaced.

[0048] Subsequently, the lifting cylinder 7 can push the support frame 61 downward into the cleaning liquid in the cleaning box 4, and perform cleaning treatment through the cleaning equipment.

[0049] The prism hole 111 and the prism axis 522 are adapted to each other. In this embodiment, the prism axis 522 is a pentagonal axis, and the prism hole 111 is a pentagonal hole, that is, five edges. It can also be set to other numbers of edges.

[0050] See also Figure 5 , transverse sliding bars 611 are installed on both sides of the support frame 61, and both sides of the support plate 62 are correspondingly mounted on the two transverse sliding bars 611 to form a transverse sliding connection; both ends of the support plate 62 are installed with longitudinal sliding bars 621 through fixed ears, and both ends of the bearing plate 63 are correspondingly mounted on the two longitudinal sliding bars 621 to form a longitudinal sliding connection, and the second elastic member 66 is mounted on the longitudinal sliding bar 621 and is located between the bearing plate 63 and the fixed ears.

[0051] The first elastic member 523 and the second elastic member 66 are both springs, and may also be other elastic members such as reeds.

[0052] In this embodiment, Figure 5 Four groups of assembly seats 64 are provided on the carrying plate 63 corresponding to the two operating hands 3, and the number of each group of assembly seats 64 is two, corresponding to the two clamping blocks 341 on one operating hand 3, wherein two groups of assembly seats 64 are used to place new clamping blocks 341, and the other two groups of assembly seats 64 remain empty for placing used clamping blocks 341.

[0053] Each assembly seat 64 is provided with a rectangular groove, which is adapted to the plug block 342. When the clamping assembly 34 is assembled with the assembly seat 64, the plug block 342 is inserted into the rectangular groove, and the rectangular grooves of the plug block 342 and the assembly seat 64 can drive the bearing plate 63 to move along the longitudinal slide bar 621. At the same time, the assembly seat 64 is provided with a support frame, which can partially support the clamping block 341, and the top of the support frame is provided in a wavy shape to reduce the contact area with the clamping block 341, so as to facilitate the subsequent cleaning of the clamping block 341. Preferably, the inner arm of the rectangular groove is provided with a rubber block to improve the stability of the connection with the plug block 342.

[0054] In other embodiments, when the connecting member 11 is an elastic clip, the disassembly and assembly equipment 5 includes an electric push cylinder, a connecting plate and a plurality of push shafts. The electric push cylinder is installed on the cleaning box 4, the connecting plate is installed on the output end of the electric push cylinder, and a plurality of push shafts are installed on the connecting plate at intervals, and each push shaft corresponds to an L-shaped frame in the elastic clip.

[0055] See also Figure 3 and Fig. 9As a preferred mode of this embodiment, the number of the driving shafts 52 is set to be multiple, and the number of the driving shafts 52 corresponds to the number of the pushing devices 33. The disassembly and assembly equipment 5 also includes a fixed frame 53 and a transmission member 55. The fixed frame 53 is installed on the inner wall of the cleaning box 4. Multiple rotating shafts 521 penetrate and are rotatably installed on the fixed frame 53. The multiple rotating shafts 521 are connected to each other through the transmission member 55, and one of the rotating shafts 521 is connected to the output end of the motor 51.

[0056] In this embodiment, two operating hands 3, i.e., four clamping assemblies 34, are provided on a final-stage arm 21, and thus four driving shafts 52 are provided correspondingly, i.e., the clamping assemblies 34 on the two operating hands 3 can be replaced simultaneously. Since the two operating hands 3 are staggered front and back, the assembly seat 64 is staggered front and back correspondingly, and the length of the rotating shaft 521 is set accordingly.

[0057] The transmission member 55 can be connected by a transmission wheel and a transmission belt, wherein the transmission wheel and the transmission belt can be a gear and a toothed belt, a pulley and a belt, or a synchronous wheel and a synchronous belt, etc. A transmission wheel is correspondingly arranged between two adjacent rotating shafts 521, and the two adjacent transmission wheels are connected by a transmission belt.

[0058] See also Figure 3 , Figure 5 and Fig. 9 In this embodiment, the transverse moving device 65 is a gear plate, and the transverse moving device 65 is installed on the support plate 62. The disassembly and assembly equipment 5 also includes a driving gear 54, and the driving gear 54 is installed on the rotating shaft 521. When the second elastic member 66 is naturally stretched, the driving gear 54 is engaged with the transverse moving device 65.

[0059] As described above, when the prism shaft 522 is inserted into the prism hole 111 on the connecting member 11, the clamping block 341 drives the bearing plate 63 to move toward the prism shaft 522 through the assembly seat 64. During the movement, the traverse device 65 (tooth plate) is separated from the driving gear 54. Fig. 9 (b), when the subsequent motor 51 drives the rotating shaft 521 to rotate, the driving gear 54 will not interact with the transverse moving device 65 (tooth plate) to drive the bearing plate 63 to move; After disassembly, when the clamping block 341 drives the bearing plate 63 to move away from the prism shaft 522 through the assembly seat 64, so that the prism shaft 522 is separated from the prism hole 111, the driving gear 54 is engaged with the transverse moving device 65 (tooth plate), as shown in FIG. Fig. 9 (a) At this time, the motor 51 drives the rotating shaft 521 to rotate, driving the driving gear 54 to rotate, and interacting with the transverse movement device 65 (tooth plate), the support plate 62 can be moved along the transverse slide bar 611, so that the assembly seat 64 equipped with the new clamping assembly 34 moves to the bottom of the corresponding installation sleeve 332.

[0060] Thus, the disassembly and assembly device 5 can realize disassembly or assembly of the connecting part 11 and replacement of the clamping block 341 in one state, and in another state, the supporting plate 62 can be driven to move by the cooperating tooth plate, and the new clamping assembly 34 is adjusted to correspond to the installation sleeve 332, and the switching of the two states is realized in the process of the robot arm 2 driving the operating hand 3 to drive the installation sleeve 332 to assemble the prism with the prism hole 111 at the end of the connecting part 11.

[0061] In other embodiments, the transverse movement device 65 includes a fixed frame, an electric push cylinder and a U-shaped sleeve. The electric push cylinder is installed on the cleaning box 4 through the fixed frame, the U-shaped sleeve is installed on the output end of the electric push cylinder, and a mounting block is installed on the support plate 62. The U-shaped sleeve opens downward and is sleeved on the mounting block. When the lifting cylinder 7 lowers the supporting device 6 to the inside of the cleaning liquid, the mounting block is separated from the U-shaped sleeve. When the lifting cylinder 7 is subsequently lifted to the original height, the mounting block is inserted into the U-shaped sleeve to achieve assembly.

[0062] See also Fig. 9 As a preferred embodiment of the present invention, both sides of the cleaning box 4 are provided with drying components 8, and the drying components 8 include an air inlet pipe 81 and an air outlet plate 82. The air inlet pipe 81 is connected and installed on the side wall of the cleaning box 4, and the air outlet plate 82 is connected and installed on the air inlet pipe 81 and is located inside the cleaning box 4.

[0063] By providing the drying component 8, the clamping block 341 is air-dried after cleaning, so that the clamping block 341 can be used quickly.

[0064] After the clamping assembly 34 is cleaned, the staff can assemble the clamping assembly 34 onto the assembly seat 64 of the corresponding air outlet plate 82 , and blow air through the air outlet plate 82 to dry the clamping block 341 .

[0065] The drying component 8 is arranged on one side of the cleaning box 4, and a fixed plate is arranged above the air outlet plate 82 of the cleaning box 4. The fixed plate can guide the airflow blown out by the air outlet plate 82 so that it can better blow toward the clamping component 34 to be dried. The lifting cylinder 7 is installed on the top of the fixed plate.

[0066] Among them, the drying component 8 also includes a fan and a filtering and disinfecting device. The fan is connected to the input end of the filtering device through a pipeline, and the output end of the filtering device is connected to the air inlet pipe 81 through a pipeline. The filtering device filters and disinfects the incoming airflow to ensure the cleanliness of the drying airflow.

[0067] See also Figure 2 and Figure 4A sliding arm 321 is installed on the horizontal surface of the arc disk 32, and two U-shaped blocks 322 are slidably installed on the sliding arm 321. The clamping assembly 34 also includes a slider 343, and the slider 343 is installed on the clamping block 341 and plugged into the U-shaped block 322.

[0068] By setting a slider 343 on the clamping block 341 and assembling it with the U-shaped block 322, the clamping block 341 forms a sliding assembly with the horizontal surface of the arc disk 32 when in use, thereby improving the stability of the clamping block 341 when moving and clamping.

[0069] The slider 343 is plugged into the U-shaped block 322 , so that the slider 343 and the U-shaped block 322 can be easily separated.

[0070] See also Figure 2 A pressure sensor 36 is provided on the top of the mounting sleeve 332. The detection end of the pressure sensor 36 is in contact with the clamping block 341, so that the clamping force of the clamping block 341 can be detected, and the clamping force of the clamping block 341 on the guide wire or catheter can be better controlled. The pressure sensor 36 may also be installed on the clamping block 341. When the clamping block 341 clamps a guide wire or a catheter, the detection end of the pressure sensor 36 acts on the guide wire or the catheter.

[0071] The working principle of the vascular interventional surgery robot provided by the present invention is as follows: When the vascular interventional surgical robot needs to replace the clamping assembly 34 after completing an operation, the horizontal moving device 9 drives the robot arm 2 to move above the carrying device 6, and the robot arm 2 drives the operating hand 3 to align the clamping block 341 with the vacant assembly seat 64 on the carrying plate 63, and then the robot arm 2 lowers the operating hand 3, so that the insertion block 342 on the clamping block 341 is correspondingly inserted into the assembly seat 64, and the assembly seat 64 supports the clamping block 341, and then the robot arm 2 drives the operating hand 3 to move toward the prism shaft 522, and the operating hand 3 drives the clamping block 341 to follow the movement, and the clamping block 341 drives the carrying plate 63 to move toward the prism shaft 522 through the assembly seat 64, so that the prism shaft 522 can be inserted into the prism hole 111 of the connecting member 11, and the carrying plate 63 compresses the second elastic member 66, and during the movement at this time, the transverse moving device 65 (tooth plate) is separated from the driving gear 54, as shown in FIG. Fig. 9 (b); The motor 51 drives the rotating shaft 521 to rotate, thereby driving the prism shaft 522 to rotate. The prism shaft 522 drives the connecting member 11 to rotate through the prism hole 111. The connecting member 11 acts on the first threaded sleeve 346, gradually moves out of the first threaded sleeve 346, and moves toward the prism shaft 522. The connecting member 11 drives the prism shaft 522 to move toward the inside of the rotating shaft 521, compressing the first elastic member 523. When the connecting member 11 is completely moved out of the first threaded sleeve 346, the robot arm 2 drives the operating hand 3 to move away from the prism shaft 522. The second elastic member 66 pushes back the support plate 62 to separate the prism shaft 522 from the prism hole 111 of the connecting member 11. At the same time, the first elastic member 523 pushes the prism shaft 522 to move out of the rotating shaft 521. Then the robot arm 2 drives the operating hand 3 to move upward to separate the installation sleeve 332 from the assembly block 345. At this time, the driving gear 54 is meshed with the traverse device 65 (tooth plate), as shown in FIG. Fig. 9 (a) The motor 51 drives the rotating shaft 521 to rotate, which drives the driving gear 54 to rotate, and acts with the transverse movement device 65 (tooth plate) to move the support plate 62 along the transverse slide bar 611, so that the assembly seat 64 equipped with the new clamping component 34 moves to the bottom of the corresponding installation sleeve 332, so that the robot arm 2 drives the operating hand 3 to descend, so that the installation sleeve 332 is correspondingly mounted on the assembly block 345 of the corresponding clamping block 341. At this time, the first threaded sleeve 346 is aligned with the second threaded sleeve 333. Subsequently, the disassembly and assembly equipment 5 is used in the same way to make the connecting piece 11 threadedly connected with the first threaded sleeve 346 and the other second threaded sleeve 333, so as to realize the assembly of the new clamping component 34 and the installation sleeve 332, so that the clamping block 341 can be quickly and automatically replaced.

[0072] Subsequently, the lifting cylinder 7 can push the support frame 61 downward into the cleaning liquid in the cleaning box 4, and perform cleaning treatment through the cleaning equipment.

[0073] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vascular interventional surgery robot, characterized in that: include: Mounting frame; A horizontal moving device, the horizontal moving device is installed on the upper part of the mounting frame; A mechanical arm, the mechanical arm being mounted at an output end of the horizontal moving device; An operator, the operator comprises a mounting arm, an arc disk, a rotating device, two pushing devices, and two clamping assemblies, one end of the mounting arm is mounted on the output end of the mechanical arm, the arc disk is rotatably mounted on the other end of the mounting arm, the rotating device is used to drive the arc disk to rotate, the two pushing devices are symmetrically mounted on the horizontal plane of the arc disk, the clamping assembly comprises a clamping block and an inserting block, the inserting block is mounted on the bottom of the clamping block, and each of the clamping blocks is mounted on the output end of the corresponding pushing device through a connecting piece; A carrying device, the carrying device is located below the mechanical arm, the carrying device comprises a carrying portion and a plurality of assembly seats, and the plurality of assembly seats are installed on the carrying portion at intervals; a disassembly and assembly device, the disassembly and assembly device being arranged adjacent to the carrying device; When the clamping block is replaced, the mechanical arm drives the operator to assemble the plug block at the bottom of the clamping block with the assembly seat, and the disassembly and assembly device unlocks the connecting piece; When the pushing device is assembled with the new clamping block placed on the assembly seat, the disassembly and assembly equipment is used to drive the connecting piece to connect the new clamping block with the output end of the pushing device.

2. The vascular interventional surgery robot according to claim 1, characterized in that: A horizontal driving device is installed on the final arm of the mechanical arm, a rotating device is installed at the output end of the horizontal driving device, and the mounting arm is installed at the output end of the rotating device.

3. The vascular interventional surgery robot according to claim 2, characterized in that: The number of the operator, the horizontal driving device and the rotating device are all two, and they are arranged in one-to-one correspondence.

4. The vascular interventional surgery robot according to claim 1, characterized in that: The vascular interventional surgical robot also includes a cleaning box and a lifting cylinder. A cleaning device is provided inside the cleaning box. The carrying device is slidably installed inside the cleaning box. The lifting cylinder is installed on the top of the cleaning box through a fixed plate. The output end of the lifting cylinder is connected to the carrying device. The disassembly and assembly equipment is installed on the cleaning box.

5. The vascular interventional surgery robot according to claim 4, characterized in that: The pushing device includes a push cylinder and a mounting sleeve, the push cylinder is installed on the horizontal plane of the arc disk, the mounting sleeve is installed on the output end of the push cylinder, and second threaded sleeves are embedded on both sides of the mounting sleeve. The clamping assembly also includes an assembly block and a first threaded sleeve, the assembly block is installed on the clamping block, the first threaded sleeve is installed through the clamping block, and the connecting piece is a bolt, and an angular hole is opened at the end of the connecting piece.

6. The vascular interventional surgery robot according to claim 5, characterized in that: The disassembly and assembly device comprises a motor and a driving shaft, wherein the motor is mounted on the cleaning box, the driving shaft comprises a rotating shaft, a prism shaft and a first elastic member, the rotating shaft is mounted on the output shaft of the motor, one end of the prism shaft is connected to the inside of the rotating shaft with a sliding key, and the first elastic member elastically connects the rotating shaft and the prism shaft; The bearing part includes a support frame, a support plate, a bearing plate, a transverse movement device and a second elastic member. The support frame is installed at the output end of the lifting cylinder, the support plate is installed on the support frame for transverse sliding, and the bearing plate is installed on the support plate for longitudinal sliding. The second elastic member elastically connects the bearing plate and the support plate, the assembly seat is installed on the bearing plate, and the transverse movement device is used to drive the support plate to move horizontally.

7. The vascular interventional surgery robot according to claim 6, characterized in that: The number of the driving shafts is set to be multiple, and the number of the driving shafts corresponds to the number of the pushing devices. The disassembly and assembly equipment also includes a fixed frame and a transmission member. The fixed frame is installed on the inner wall of the cleaning box. The multiple rotating shafts penetrate and are rotatably installed on the fixed frame. The multiple rotating shafts are connected to each other through a transmission member, and one of the rotating shafts is connected to the output end of the motor.

8. The vascular interventional surgery robot according to claim 6, characterized in that: The transverse shifting device is a toothed plate, which is mounted on the support plate. The disassembly and assembly equipment also includes a driving gear, which is mounted on the rotating shaft. When the second elastic member stretches naturally, the driving gear meshes with the transverse shifting device.

9. The vascular interventional surgery robot according to claim 4, characterized in that: Both sides of the cleaning box are provided with drying components, and the drying components include an air inlet pipe and an air outlet plate. The air inlet pipe is connected and installed on the side wall of the cleaning box, and the air outlet plate is connected and installed on the air inlet pipe and is located inside the cleaning box.

10. The vascular interventional surgery robot according to claim 1, characterized in that: A sliding arm is installed on the horizontal surface of the arc disk, and two U-shaped blocks are slidably installed on the sliding arm. The clamping assembly also includes a sliding block, which is installed on the clamping block and plugged with the U-shaped block.

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