Consumable box of interventional surgical robot

Abstract

The invention provides a consumable box of an interventional surgical robot. The consumable box comprises a main module and a selection module. The main module comprises a base and a Y valve installed on the base. A first guide wire channel, a first guide wire driving assembly, a first instrument channel and a first instrument driving assembly are arranged on the base, the first guide wire channel is used for containing a guide wire and guiding the guide wire, the first guide wire driving assembly is used for driving the guide wire to advance, retreat and rotate, and the first instrument channel is used for containing an instrument and guiding the instrument; the first instrument driving assembly is used for driving instruments to advance and retreat. The selection module comprises a selection seat, a selection installation position is arranged on the base, and the selection seat is detachably installed on the selection installation position. The selection seat is provided with a second guide wire channel, a second guide wire driving assembly, a second instrument channel and a second instrument driving assembly which are similar to the first guide wire channel, the first guide wire driving assembly, the first instrument channel and the first instrument driving assembly in arrangement and function. The selection module can select whether to use or not according to actual conditions.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to a consumable box for an interventional surgical robot. Background Art

[0002] During interventional surgery, the consumable box is a disposable sterile instrument. With the cooperation of an interventional robot, it can be used to deliver guide wires and instruments (balloons and stents). The main problems of the consumable boxes of interventional surgical robots on the market at present are as follows: the delivery system is single, most can only achieve the delivery of a single guide wire, and cannot achieve the simultaneous delivery of two guide wires, so complex surgeries such as bifurcation lesions cannot be performed. Summary of the Invention

[0003] In view of the above problems, the present invention provides a consumable box for an interventional surgical robot, which includes a main module and a selection module;

[0004] The main module includes a base and a Y-valve;

[0005] A first guide wire channel and a first guide wire driving assembly are provided on the base. The first guide wire channel is used to accommodate a guide wire and guide the traveling direction of the guide wire. The first guide wire driving assembly is arranged on the first guide wire channel and is used to drive the guide wire to advance and retreat and rotate; the output end of the first guide wire channel is communicated with the input end of the main path of the Y-valve;

[0006] A first instrument channel and a first instrument driving assembly are also provided on the base. The first instrument channel is used to accommodate an instrument and guide the traveling direction of the instrument. The first instrument driving assembly is arranged on the first instrument channel and is used to drive the instrument to advance and retreat; the output end of the first instrument channel is communicated with the input end of the main path of the Y-valve;

[0007] The selection module includes a selection seat. A selection installation position is provided on the base, and the selection seat is detachably installed on the selection installation position; a second guide wire channel and a second guide wire driving assembly are provided on the selection seat. The second guide wire channel is used to accommodate a guide wire and guide the traveling direction of the guide wire. The second guide wire driving assembly is arranged on the second guide wire channel and is used to drive the guide wire to advance and retreat and rotate; the output end of the second guide wire channel is communicated with the channels on the base and then connected to the input end of the main path of the Y-valve;

[0008] A second instrument channel and a second instrument driving assembly are also provided on the selection seat. The second instrument channel is used to accommodate an instrument and guide the traveling direction of the instrument. The second instrument driving assembly is arranged on the second instrument channel and is used to drive the instrument to advance and retreat; the output end of the second instrument channel is communicated with the channels on the base and then connected to the input end of the main path of the Y-valve.

[0009] The consumable box of the interventional surgical robot in a certain embodiment, the base has a first working surface, the selection seat is provided with a second working surface, and the first working surface and the second working surface are located in the same plane and cooperate to form a working surface; a cover plate is movably connected or detachably connected to the base, and the cover plate can cover the working surface or open relative to the working surface;

[0010] At least one of the first guide wire channel, the first instrument channel, the second guide wire channel and the second instrument channel is a groove channel provided on the working surface; a plurality of mating grooves are spaced along the extending direction of the groove channel, the mating grooves communicate with the groove channel and the groove width of the mating groove is greater than the groove width of the groove channel; a plurality of limiting members are provided on the cover plate, and when the cover plate covers the working surface, the limiting members extend into the mating grooves to limit the position of the guide wire or the instrument in the depth direction of the groove channel of the groove channel.

[0011] The consumable box of the interventional surgical robot in a certain embodiment, the limiting member is provided with a limiting groove, and when the cover plate covers the working surface, the limiting groove is buckled on the groove bottom surface of the mating groove and cooperates with it to form a limiting interval, and the limiting interval is used to accommodate the guide wire or the instrument and limit the position of the guide wire or the instrument.

[0012] The consumable box of the interventional surgical robot in a certain embodiment, a magnetic attraction structure is provided between the cover plate and the base, and when the cover plate covers the working surface, the relative position of the cover plate and the base is fixed by the magnetic attraction of the magnetic attraction structure.

[0013] The consumable box of the interventional surgical robot in a certain embodiment, the base has a first driving surface opposite to the first working surface; the selection installation position is a through hole provided on the base, and the two ends of the through hole are respectively opened on the first working surface and the second working surface; the inner wall shape of the through hole is adapted to the shape of the selection seat, and the selection seat is accommodated and installed in the through hole.

[0014] The consumable box of the interventional surgical robot in a certain embodiment, an anti-falling structure is provided between the base and the selection seat to prevent the selection seat from falling from the opening on the side of the first driving surface in the through hole.

[0015] The consumable box of the interventional surgical robot in a certain embodiment, the anti-falling structure includes a protruding step provided on the inner wall of the through hole and a step groove provided on the selection seat, and the protruding step is accommodated in the step groove.

[0016] The consumable box of the interventional surgical robot in a certain embodiment, wherein a lifting structure is provided on the selection seat for a user or an external device to drive the selection seat away from the through hole through the opening on one side of the first working surface by acting on the lifting structure.

[0017] The consumable box of the interventional surgical robot in a certain embodiment, wherein the second working surface is arranged at one axial end of the selection seat; the lifting structure is: a step is formed by partial inward depression at the connection between the upper side wall of the selection seat and the second working surface, a lifting part is convexly provided on the surface of the step facing the circumferential outside of the selection seat, the surface of the lifting part facing the second driving surface is used for a user or an external device to apply a force, and there is a gap between the end surface of the lifting part facing the circumferential outside of the selection seat and the inner wall of the through hole.

[0018] The consumable box of the interventional surgical robot in a certain embodiment, wherein a plurality of the lifting structures are provided on the selection seat, and the plurality of the lifting structures are circumferentially distributed around the selection seat.

[0019] The consumable box of the interventional surgical robot in a certain embodiment, wherein the Y-valve is installed on the base, the front end of the Y-valve is a free connecting head, the free connecting head is used for connecting with a catheter, and the free connecting head can rotate relative to the Y-valve body to realize the self-rotation of the catheter.

[0020] The consumable box of the interventional surgical robot in a certain embodiment, wherein at least one of the first guide wire driving assembly and the second guide wire driving assembly includes:

[0021] A guide wire clamping assembly for clamping a guide wire, the guide wire clamping assembly includes a fixed frame, at least a pair of guide wire driving wheels and guide wire driven wheels, the guide wire driving wheels and the guide wire driven wheels are respectively rotatably installed on the fixed frame and symmetrically arranged on both sides of the guide wire;

[0022] A guide wire advancing and retreating unit, whose output end is connected to the guide wire driving wheel for driving the guide wire driving wheel to rotate, when the guide wire driving wheel rotates, it cooperates with the guide wire driven wheel to drive the guide wire clamped between the guide wire driving wheel and the guide wire driven wheel to advance or retreat;

[0023] A guide wire rotating unit is installed on the base / the selection seat, the guide wire rotating unit is connected to the fixed frame and is used for driving the fixed frame to rotate around the axis of the guide wire to drive the guide wire to rotate.

[0024] The consumable box of the interventional surgical robot in a certain embodiment, the fixed frame is rotatably connected to the base / the selection seat along the axis of the guide wire; the guide wire rotating unit includes:

[0025] The first rotating gear is connected to the fixing bracket, and the axis of the first rotating shaft is collinear with the axis of the guide wire;

[0026] The rotating transmission shaft is rotatably connected to the base / the selected seat. The output end of the rotating transmission shaft is coaxially connected to the second rotating gear, and the second rotating gear is meshed with and drives the first rotating gear.

[0027] In a consumable box of an interventional surgical robot in a certain embodiment, the guide wire advancing and retreating unit includes a rotating shaft, a first advancing and retreating gear, a second advancing and retreating gear, and an advancing and retreating transmission shaft;

[0028] The rotating shaft is rotatably connected to the fixing bracket, and the second advancing and retreating gear is coaxially fixed on the rotating shaft; the first advancing and retreating gear is coaxially connected to the guide wire driving wheel, and the first advancing and retreating gear is meshed with and drives the second advancing and retreating gear;

[0029] The advancing and retreating transmission shaft is rotatably connected to the base / the selected seat, and torque transmission is realized between the advancing and retreating transmission shaft and the rotating shaft through an intermediate transmission assembly.

[0030] In a consumable box of an interventional surgical robot in a certain embodiment, the intermediate transmission assembly includes:

[0031] A third advancing and retreating gear and a fourth advancing and retreating gear. The third advancing and retreating gear is coaxially fixed on the rotating shaft, and the fourth advancing and retreating gear is rotatably connected to the base / the selected seat, and the axis of the fourth advancing and retreating gear is collinear with the axis of the guide wire; the third advancing and retreating gear is meshed with and drives the fourth advancing and retreating gear;

[0032] A fifth advancing and retreating gear is rotatably connected to the base / the selected seat, and the fifth advancing and retreating transmission gear is meshed with and drives the fourth advancing and retreating transmission gear;

[0033] A sixth advancing and retreating gear and a seventh advancing and retreating gear. The output end of the advancing and retreating transmission shaft is coaxially connected to the seventh advancing and retreating gear, the sixth advancing and retreating gear is coaxially connected to the fifth advancing and retreating gear, and the sixth advancing and retreating gear is meshed with and drives the seventh advancing and retreating gear.

[0034] In a consumable box of an interventional surgical robot in a certain embodiment, the instrument driving assembly includes:

[0035] An instrument clamping assembly for clamping an instrument; the guide wire instrument clamping assembly includes at least a pair of instrument driving wheels and instrument driven wheels, and the instrument driving wheels and the instrument driven wheels are respectively rotatably installed on the base / the selected seat and symmetrically arranged on both sides of the instrument;

[0036] The instrument drive shaft is rotatably connected to the base / the selected seat, and the output end of the instrument drive shaft is coaxially connected to the instrument drive wheel.

[0037] Due to the adoption of the above technical solutions, the present invention has the following advantages and positive effects compared with the prior art:

[0038] The consumable cartridge of the interventional surgical robot provided by the present invention includes a main module and a selected module. The main module is provided with a first guide wire channel and a first guide wire driving component, which can transport the guide wire. The selected module is provided with a second guide wire channel and a second guide wire driving component, which can transport the second guide wire, enabling the present invention to achieve the simultaneous transportation of two guide wires; the main module is also provided with a first instrument channel and a first instrument driving component, which can transport the instrument. The selected module is also provided with a second instrument channel and a second instrument driving component, which can transport the second instrument, achieving the transportation of two instruments. Therefore, the present invention is applicable to complex surgeries such as fork lesions.

[0039] At the same time, for the consumable cartridge of the interventional surgical robot provided by the present invention, the selected module can be separated from the main module. During actual use, it can be determined whether to use only the main module or to use both the main module and the selected module according to the needs. For example, only the main module is used during angiography. If mild lesions are found during angiography and no further surgery is required, the surgery is terminated. If single-path lesions are found during angiography and further surgery is required, the main module is continued to be used for the surgery. If multi-path lesions are found during angiography and further surgery is required, the selected module is installed on the main module and then the surgery is performed. In this way, when mild lesions and single-path lesions are found during angiography, only the main module can be used without the selected module, effectively saving consumables (the selected module), thereby reducing the surgical cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention.

[0041] Figure 1 It is a schematic structural diagram of a consumable cartridge of an interventional surgical robot of the present invention;

[0042] Figure 2 It is a schematic diagram of the consumable cartridge of the interventional surgical robot of the present invention without the selected module installed;

[0043] Figure 3 It is a schematic structural diagram of a selected module of the present invention;

[0044] Figure 4Schematic cross-sectional view of a partial structure of a consumable box of an interventional surgical robot of the present invention when the cover plate is closed (the first guide wire drive assembly, the first instrument drive assembly, etc. are not shown);

[0045] Figure 5 Schematic structural view of a consumable box of an interventional surgical robot of the present invention at the mating groove and the limiting member;

[0046] Figure 6 Schematic cross-sectional view of a consumable box of an interventional surgical robot of the present invention;

[0047] Figure 7 Schematic structural view of a first guide wire drive assembly of the present invention;

[0048] Figure 8 Schematic structural view of a first guide wire drive assembly of the present invention from another perspective;

[0049] Figure 9 Schematic structural view of a first instrument drive assembly of the present invention;

[0050] Figure 10 Schematic structural view of a consumable box of an interventional surgical robot of the present invention at the Y-valve;

[0051] Figure 11 Schematic view of a structure for driving a catheter to rotate self.

[0052] Explanation of reference numerals:

[0053] 1: Base; 2: Selection seat; 3: Y-valve cover plate; 4: Instrument cover plate; 5: Guide wire cover plate; 6: Catheter; 7: Y-valve; 8: First guide wire channel; 9: First guide wire drive assembly; 10: Second guide wire channel; 11: Second guide wire drive assembly; 12: First instrument channel; 13: First instrument drive assembly; 14: Second instrument channel; 15: Second instrument drive assembly; 16: Mating groove; 17: Limiting member; 18: Guide wire; 19: Instrument; 20: Limiting groove; 21: Magnet; 22: Opposite-pole magnet; 23: Through hole; 24: Protruding step; 25: Step; 26: Lifting portion; 27: Advancing and retracting transmission shaft; 28: First advancing and retracting gear; 29: Second advancing and retracting gear; 30: Third advancing and retracting gear; 31: Fourth advancing and retracting gear; 32: Fifth advancing and retracting gear; 33: Sixth advancing and retracting gear; 34: Seventh advancing and retracting gear; 35: Guide wire driving wheel; 36: Guide wire driven wheel; 37: Rotating transmission shaft; 38: First rotating gear; 39: Second rotating gear; 40: Fixed frame; 41: Instrument transmission shaft; 42: Instrument driving wheel; 43: Instrument driven wheel; 44: Catheter transmission shaft; 45: First catheter gear; 46: Second catheter gear; 47: Third catheter gear; 48: Fourth catheter gear. Detailed implementation manners

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will describe the specific implementation manners of the present invention with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings, and other implementation manners can also be obtained.

[0055] To make the drawings concise, only the parts related to the present invention are schematically shown in each drawing, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, in some drawings, components with the same structure or function are only schematically shown for one of them, or only one of them is marked. In this article, "one" not only means "only this one", but also means "more than one" situation.

[0056] Refer to Figures 1 to 11 , this embodiment provides a consumable box for an interventional surgical robot, including a main module and a selection module. The main module includes a base 1 and a Y-valve 7, and the Y-valve 7 is installed on the base 1.

[0057] A first guide wire channel 8 and a first guide wire driving assembly 9 are provided on the base 1. The first guide wire channel 8 is used to accommodate the guide wire 18 and guide the traveling direction of the guide wire 18. The first guide wire driving assembly 9 is arranged on the first guide wire channel 8 and is used to drive the guide wire 18 to advance and retreat and rotate. The output end of the first guide wire channel 8 is communicated with the input end of the main path of the Y-valve 7. A first instrument channel 12 and a first instrument driving assembly 13 are also provided on the base 1. The first instrument channel 12 is used to accommodate the instrument 19 and guide the traveling direction of the instrument 19. The first instrument driving assembly 13 is arranged on the first instrument channel 12 and is used to drive the instrument 19 to advance and retreat. The output end of the first instrument channel 12 is communicated with the input end of the main path of the Y-valve 7.

[0058] The selection module includes a selection base 2. A selection installation position is provided on the base 1, and the selection base 2 is detachably installed at the selection installation position. The selection base 2 is provided with a second guide wire channel 10 and a second guide wire driving assembly 11. The second guide wire channel 10 is used to accommodate the guide wire 18 and guide the traveling direction of the guide wire 18. The second guide wire driving assembly 11 is arranged on the second guide wire channel 10 and is used to drive the guide wire 18 to advance and retreat and rotate. The output end of the second guide wire channel 10 converges with the channel on the base 1 and then communicates with the input end of the main path of the Y-valve 7. The selection base 2 is further provided with a second instrument channel 14 and a second instrument driving assembly 15. The second instrument channel 14 is used to accommodate the instrument 19 and guide the traveling direction of the instrument 19. The second instrument driving assembly 15 is arranged on the second instrument channel 14 and is used to drive the instrument 19 to advance and retreat. The output end of the second instrument channel 14 converges with the channel on the base 1 and then communicates with the input end of the main path of the Y-valve 7.

[0059] The consumable box of the interventional surgical robot in this embodiment will be further described below.

[0060] During use, place the consumable box of this embodiment on the power platform of the interventional surgical robot. A power source is provided on the power platform and is used to provide power to the first guide wire driving assembly 9, the first instrument driving assembly 13, the second guide wire driving assembly 11, and the second instrument driving assembly 15 in the consumable box of this embodiment. The first guide wire driving assembly 9, the first instrument driving assembly 13, the second guide wire driving assembly 11, and the second instrument driving assembly 15 work under the drive of the power source to drive the corresponding guide wire 18 to advance and retreat and rotate or drive the corresponding instrument 19 to advance and retreat.

[0061] The base 1 has a first working surface and a first driving surface arranged opposite to each other. When the consumable box is placed on the power platform, the first driving surface of the base 1 presses on the power platform; the base 1 is provided with a plurality of positioning holes on the first driving surface, corresponding to the positioning pins on the power platform, to realize the positioning of the base 1 on the power platform. The selection base 2 has a second working surface and a second driving surface arranged opposite to each other. The second working surface and the first working surface are located in the same plane and cooperate to form a working surface.

[0062] At least one of the first guide wire channel 8, the first instrument channel 12, the second guide wire channel 10, and the second instrument channel 14 is a groove channel provided on the working surface. In this embodiment, the first guide wire channel 8, the first instrument channel 12, the second guide wire channel 10, and the second instrument channel 14 are all groove channels provided on the working surface. A plurality of mating grooves 16 are spaced along the extending direction of the groove channel. The mating grooves 16 communicate with the groove channel and the groove width of the mating grooves 16 is greater than the groove width of the groove channel. A cover plate is movably connected or detachably connected to the base 1, and the cover plate can cover the working surface or be opened relative to the working surface. A plurality of limiting members 17 are provided on the cover plate. When the cover plate covers the working surface, the limiting members 17 extend into the mating grooves 16 to limit the position of the guide wire 18 or the instrument 19 in the depth direction of the groove channel.

[0063] Among them, there are many ways to connect the cover plate and the base 1, which are not limited herein. In this embodiment, the cover plate is connected to the base 1 by a hinge. By rotating the cover plate, the cover plate can be covered on the working surface of the base 1 or opened relative to the working surface of the base 1. Such a setting can effectively prevent the loss of the cover plate. At the same time, since the cover plate has only one degree of freedom of rotation relative to the base 1 along the rotation axis, when the cover plate is rotated to cover the base 1, the positioning accuracy of the cover plate and the working surface of the base 1 can be easily ensured. Further, in this embodiment, the cover plate includes three parts, namely the Y-valve cover plate 3, the instrument cover plate 4, and the guide wire cover plate 5. These three parts are respectively rotationally connected to the base 1 by hinges. When the Y-valve cover plate 3 is covered, it mainly covers the Y-valve 7 and the surrounding area. When the instrument cover plate 4 is covered, it mainly covers the first instrument drive assembly 13, the second drive assembly, and the surrounding area. When the guide wire cover plate 5 is covered, it mainly covers the first guide wire drive assembly 9 and the second guide wire drive assembly 11 and the surrounding area.

[0064] A magnetic attraction structure is provided between the cover plate and the base 1. When the cover plate covers the working surface, the relative position of the cover plate and the base 1 is fixed by the magnetic attraction of the magnetic attraction structure. Specifically, a plurality of magnets 21 are respectively provided on the Y-valve cover plate 3, the instrument cover plate 4, and the guide wire cover plate 5, and opposite-pole magnets 22 are provided at the corresponding positions on the base 1. The Y-valve cover plate 3, the instrument cover plate 4, and the guide wire cover plate 5 can be fixedly connected to the base 1 after being covered by the attraction between the magnets 21 and the opposite-pole magnets 22. At the same time, when opening the Y-valve cover plate 3, the instrument cover plate 4, and the guide wire cover plate 5, only a force that can overcome the magnetic attraction needs to be applied to each of them, which is convenient to operate.

[0065] Since the main function of the groove channel is to guide the traveling direction of the guide wire 18 or the instrument 19 therein, the groove width of the groove channel is adapted to the size of the guide wire 18 or the instrument 19, generally slightly larger than the diameter of the guide wire 18 or the instrument 19. The groove channel cannot limit the position of the guide wire 18 or the instrument 19 therein in the groove depth direction. For this reason, the limiting member 17 is provided. If the mating groove 16 is not provided and the limiting member 17 is directly designed to enter the groove channel to limit the position of the guide wire 18 or the instrument 19 in the groove depth direction, since the cover plate and the bottom plate are rotatably connected, when the limiting member 17 rotates with the cover plate and needs to smoothly enter the groove channel, the dimension in its groove width direction (referring to the direction of the groove width of the groove channel when the cover plate is closed) needs to be smaller than the groove width of the groove channel, and at the same time, there is a limit on the limiting member 17 in the groove depth direction (referring to the direction of the groove depth of the groove channel when the cover plate is closed). Also, because the groove width of the groove channel is small, the dimension of the limiting member 17 in this case is difficult to play a role in limiting the position of the guide wire 18 or the instrument 19 in the groove channel in the groove depth direction. Therefore, in this embodiment, the mating groove 16 is provided on the groove channel, as Figure 4 shown, to widen the groove width corresponding to the limiting member 17, that is, the mating groove 16 is equivalent to the groove width of the groove channel suddenly becoming larger at some positions, so that the dimensional limitation requirements for the limiting member 17 are relaxed, and the limiting member 17 has sufficient length in the groove depth direction when the cover plate is closed, and can effectively limit the guide wire 18 or the instrument 19 in the groove depth direction. The specific shape of the limiting member 17 is not specifically limited, and in this embodiment, it is preferably a plate-shaped member. When closing, there can be zero, one or more limiting members 17 in each mating groove 16, which can be specifically designed according to the actual situation.

[0066] Furthermore, a limiting groove 20 can be provided on the limiting member 17. When the cover plate is closed on the working surface, the limiting groove 20 is buckled on the groove bottom surface of the mating groove 16 and cooperates with it to form a limiting interval, and the limiting interval is used to accommodate the guide wire 18 or the instrument 19 and limit the position of the guide wire 18 or the instrument 19. Under normal circumstances, the position of the guide wire 18 or the instrument 19 in the mating groove 16 is relatively determined by the guiding action of the groove channels at both ends of the mating groove 16. Therefore, when the cover plate is closed, the guide wire 18 or the instrument 19 in the mating groove 16 will smoothly and exactly be in the limiting groove 20. However, when the front end of the guide wire 18 or the instrument 19 is blocked, if there is no limiting groove 16, the guide wire 18 or the instrument 19 will bend unexpectedly in the groove width direction of the mating groove 16 (unexpected bending means the bending that is not desired and needs to be avoided as much as possible), and the setting of the limiting groove 20 can effectively avoid the occurrence of this situation.

[0067] Specifically in this embodiment, as Figure 1 and Figure 4As shown, the lengths of the first instrument channel 12 and the second instrument channel 14 are relatively short, and a longer mating groove 16 is provided. Or it can be said that most of the first instrument channel 12 and the second instrument channel 14 are replaced by the mating groove 16. At both ends of the first instrument driving assembly 13 and the second instrument driving assembly 15, longer mating grooves 16 are respectively provided. When the cover plate is closed, there are two limit members 17 in the mating groove 16 at the front end (that is, the end relatively close to the Y-valve 7), and one limit member 17 in the mating groove 16 at the rear end. The limiting intervals formed by the limiting grooves 20 on these three limit members 17 and the mating groove 16, in cooperation with the first instrument channel 12 / second instrument channel 14, can enable the instrument 19 to only perform forward and backward movements (here, very high precision is not required, and slight bending is allowed in actual surgery).

[0068] The selected installation position is the through hole 23 provided on the base 1, and the two openings at both ends of the through hole 23 are respectively provided on the first working surface and the second working surface. The inner wall shape of the through hole 23 is adapted to the shape of the selected seat 2, and the selected seat 2 is accommodated and installed in the through hole 23; the inner wall shape of the through hole 23 being adapted to the shape of the selected seat 2 has an auxiliary effect on the positioning of the selected seat 2. The selected seat 2 is also provided with a plurality of positioning holes on the second driving surface, corresponding to the positioning pins on the power platform, for precise positioning of the selected seat 2.

[0069] A anti-falling structure is provided between the base 1 and the selected seat 2, which is used to prevent the selected seat 2 from falling from the opening on the first driving surface side in the through hole 23. Thus, when the base 1 is picked up on the power platform, the selected seat 2 can be lifted together. Specifically, the anti-falling structure includes a protruding step 24 provided on the inner wall of the through hole 23 and a step groove provided on the selected seat 2, and the protruding step 24 is accommodated in the step groove. In this embodiment, as Figure 2 shown, the protruding step 24 is arranged adjacent to the second driving surface on the inner wall of the through hole 23, and the protruding step 24 is arranged in a circle along the periphery of the inner wall of the through hole 23.

[0070] The selected seat 2 is provided with a lifting structure, which is used for the user or an external device to drive the selected seat 2 to leave the through hole 23 from the opening on the first working surface side of the through hole 23 by acting on the lifting structure, that is, to pick up the selected seat 2 separately from the base 1. For the convenience of description, it is set that the selected seat 2 has an axis, and the second working surface and the second driving surface are respectively arranged at both axial ends of the selected seat 2; the lifting structure in this embodiment is as Figure 2 and Figure 6As shown in the figure, specifically: A stepped portion 25 is formed by partial inward depression at the connection between the upper sidewall of the selection seat 2 and the second working surface. A lifting portion 26 protrudes upward on the surface of the stepped portion 25 facing the circumferential outer side of the selection seat 2. The surface of the lifting portion 26 facing the second driving surface is for applying a force by the user or an external device, and there is a gap between the end surface of the lifting portion 26 facing the circumferential outer side of the selection seat 2 and the inner wall of the through hole 23. Taking the example of the user picking up the selection seat 2 through the extraction structure, the user's palm is on the side of the first working surface of the selection seat 2, the palm is facing the first working surface, and the fingertips of the fingers extend into the lower part of the lifting portion 26 (specifically, the side of the lifting portion 26 facing the second driving surface) through the gap between the end surface of the lifting portion 26 facing the circumferential outer side of the selection seat 2 and the inner wall of the through hole 23. The pulp of the fingertips is aligned with the surface of the lifting portion 26 facing the second driving surface and applies a force in the direction of the palm, thereby lifting the selection seat 2.

[0071] There is no limitation on the specific structure of the lifting portion 26. In this embodiment, it is a plate-like structure, and the surface of the lifting portion 26 close to the second working surface in the axial direction of the selection seat 2 is in the same plane as the second working surface. A plurality of lifting structures can be further provided on the selection seat 2, and the plurality of lifting structures are circumferentially distributed around the selection seat 2, so as to facilitate the lifting of the selection seat 2.

[0072] There are various specific structures of the first wire driving assembly 9 and the second wire driving assembly 11, as long as they can meet the function of driving the corresponding wire 18 to advance and retreat and rotate, and the structures of the two can be the same or different, and these are not limited. In this embodiment, the structures of the first wire driving assembly 9 and the second wire driving assembly 11 are the same. Now refer to Figure 7 and Figure 8 , and take the first wire driving assembly 9 as an example to briefly describe its structure: The first wire driving assembly 9 includes a wire clamping assembly, a wire advancing and retreating unit, and a wire rotating unit. The wire clamping assembly is used for clamping the wire 18; the wire clamping assembly includes a fixing frame 40, two pairs of wire driving wheels 35 and wire driven wheels 36 (the number of wire driving wheels 35 and wire driven wheels in other embodiments is not limited). In each pair, the wire driving wheel 35 and the wire driven wheel 36 are respectively rotatably installed on the fixing frame 40 and symmetrically arranged on both sides of the wire 18; the output end of the wire advancing and retreating unit is connected to the wire driving wheel 35 and is used for driving the wire driving wheel 35 to rotate. When the wire driving wheel 35 rotates, it cooperates with the wire driven wheel 36 to drive the wire 18 clamped between the wire driving wheel 35 and the wire driven wheel to advance or retreat; the wire rotating unit is installed on the base 1, and the wire rotating unit is connected to the fixing frame 40 and is used for driving the fixing frame 40 to rotate around the axis of the wire 18, thereby driving the wire 18 to rotate.

[0073] Specifically, the fixing bracket 40 is rotatably connected to the base 1 along the axis of the guide wire 18. The guide wire rotating unit includes a first rotating gear 38, a second rotating gear 39, and a rotating transmission shaft 37. The first rotating gear 38 is connected to the fixing bracket 40, and the axis of the first rotating gear 38 is collinear with the axis of the guide wire 18. The rotating transmission shaft 37 is rotatably connected to the base 1, the output end of the rotating transmission shaft 37 is coaxially connected to the second rotating gear 39, and the second rotating gear 39 meshes with the first rotating gear 38 for transmission.

[0074] The guide wire advancing and retracting unit includes a rotating shaft, a first advancing and retracting gear 28, a second advancing and retracting gear 29, and an advancing and retracting transmission shaft 27. The rotating shaft is rotatably connected to the fixing bracket 40, and the second advancing and retracting gear 29 is coaxially fixed on the rotating shaft. The first advancing and retracting gear 28 is coaxially connected to the guide wire driving wheel 35, and the first advancing and retracting gear 28 meshes with the second advancing and retracting gear 29 for transmission. The advancing and retracting transmission shaft 27 is rotatably connected to the base 1, and torque transmission is achieved between the advancing and retracting transmission shaft 27 and the rotating shaft through an intermediate transmission assembly. Among them, the intermediate transmission assembly includes a third advancing and retracting gear 30, a fourth advancing and retracting gear 31, a fifth rotating gear, a sixth advancing and retracting gear 33, and a seventh advancing and retracting gear 34. The third advancing and retracting gear 30 is coaxially fixed to the rotating shaft, the fourth advancing and retracting gear 31 is rotatably connected to the base 1, and the axis of the fourth advancing and retracting gear 31 is collinear with the axis of the guide wire 18; the third advancing and retracting gear 30 meshes with the fourth advancing and retracting gear 31 for transmission. The fifth advancing and retracting gear 32 is rotatably connected to the base 1, and the fifth advancing and retracting transmission gear meshes with the fourth advancing and retracting transmission gear for transmission. The output end of the advancing and retracting transmission shaft 27 is coaxially connected to the seventh advancing and retracting gear 34, the sixth advancing and retracting gear 33 is coaxially connected to the fifth advancing and retracting gear 32, and the sixth advancing and retracting gear 33 meshes with the seventh advancing and retracting gear 34 for transmission.

[0075] Among them, the first rotating gear 38 and the fourth advancing and retracting gear 31 are coaxial, and through holes for the guide wire 18 to pass through are provided on their axes. When the first rotating gear 38 drives the fixing bracket 40 to rotate, the rotation axis coincides with the center line of the guide wire 18 at this position.

[0076] The advancing and retracting transmission shaft 27 and the rotating transmission shaft 37 are respectively driven by power sources on the power platform. Specifically, the power sources on the power platform transmit torque to the advancing and retracting transmission shaft 27 and the rotating transmission shaft 37 respectively through non-contact couplings (such as magnetic couplings). One part of the non-contact coupling is connected to the output end of the power source, and the other part is connected to the advancing and retracting transmission shaft 27 / rotating transmission shaft 37. A sterile film can be provided between the two parts of the non-contact coupling.

[0077] There are various specific structures for the first instrument drive assembly 13 and the second instrument drive assembly 15, as long as they can meet the function of driving the corresponding instrument 19 to advance and retreat. Moreover, the structures of the two can be the same or different, and these are not restricted. In this embodiment, the structures of the first instrument drive assembly 13 and the second instrument drive assembly 15 are the same. Now refer to Figure 9 , and take the first instrument drive assembly 13 as an example to briefly describe its structure: The first instrument drive assembly 13 includes an instrument clamping assembly and an instrument transmission shaft 41; the instrument clamping assembly is used to clamp the instrument 19 and includes at least a pair of instrument driving wheels 42 and instrument driven wheels 43. The instrument driving wheels 42 and the instrument driven wheels 43 are respectively rotatably installed on the base 1 and symmetrically arranged on both sides of the instrument 19; the instrument transmission shaft 41 is rotatably connected to the base 1, and the output end of the instrument transmission shaft 41 is coaxially connected to the instrument driving wheel 42 and is used to drive the instrument driving wheel 42 to rotate, so as to cooperate with the instrument passive wheel to drive the instrument 19 to advance or retreat together.

[0078] The instrument transmission shaft 41 is driven by a power source on the power platform. Specifically, the power source on the power platform and the instrument transmission shaft 41 transmit torque through a non-contact coupling (such as a magnetic coupling). One part of the non-contact coupling is connected to the output end of the power source, and the other part is connected to the instrument transmission shaft 41. A sterile film can be provided between the two parts of the non-contact coupling.

[0079] The front end of the Y valve 7 is a free connection head. The free connection head is used to connect with the catheter 6, and the free connection head can rotate relative to the Y valve 7 body to realize the self-rotation of the catheter 6. The free connection head is connected to the input end of the catheter 6 through a Luer connector, so that the internal channel of the Y valve 7 is hermetically connected to the catheter 6. The free connection head can rotate relative to the Y valve 7 body. When the catheter 6 rotates, the free connection head rotates together, while the Y valve 7 body does not rotate. The driving method of the self-rotation of the catheter 6 is not restricted. Its structure can be set on the consumable box in this embodiment, or on the interventional surgical robot, or part of the structure is set on the consumable box and part is set on the interventional surgical robot. In this embodiment, as Figure 11 shown, a power source is provided on the power platform of the interventional surgical robot, and a catheter transmission shaft 44 is provided on the base 1 of the consumable box. Torque is transmitted between the power source and the catheter transmission shaft 44 through a non-contact coupling (such as a magnetic coupling) (one part of the non-contact coupling is connected to the output end of the power source, and the other part is connected to the catheter transmission shaft 44. A sterile film can be provided between the two parts of the non-contact coupling). The catheter transmission shaft 44 is fixedly connected and rotates synchronously with the first catheter gear 45. The first catheter gear 45 meshes with the second catheter gear 46 for transmission. The second catheter gear 46 is fixedly connected and rotates synchronously with the third catheter gear 47. The third catheter gear 47 meshes with the fourth catheter gear 48 for transmission. The fourth catheter gear 48 is fixedly connected and rotates synchronously with the free connection head.

[0080] A first Y-valve installation groove is provided on the base 1, and a second Y-valve installation groove is provided on the Y-valve cover plate 3. When the Y-valve cover plate 3 is closed, the first Y-valve installation groove and the second Y-valve installation groove cooperate to form a Y-valve accommodation interval, and the shape of the Y-valve accommodation interval is adapted to the Y-valve 7, so that except for the free connection head of the Y-valve 7 that can rotate, the rest of the parts are restricted and cannot move.

[0081] The consumable box of the interventional surgical robot provided in this embodiment is provided with a main module and a selection module, which can realize double guide wire delivery, is suitable for surgeries of multi-channel lesions such as bifurcated lesions, and the selection module can be separated from the main module, and can choose whether to use the selection module according to the actual situation, so as not to cause waste of consumables and reduce the surgical cost for patients who only need single guide wire delivery; at the same time, the setting of structures such as the mating groove 16 and the limiting member 17 in this embodiment can effectively prevent the guide wire 18 or the instrument 19 from bending in the depth direction of the mating groove 16 when force is applied at the front end (that is, the end entering the human body).

[0082] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalent technologies, they still fall within the protection scope of the present invention.

Claims

1. A consumable cartridge for an interventional surgical robot, characterized in that, It includes a main module and a selection module; The main module includes a base and a Y-valve, and the Y-valve is installed on the base; The base is provided with a first guide wire channel and a first guide wire driving assembly. The first guide wire channel is used for accommodating a guide wire and guiding the traveling direction of the guide wire. The first guide wire driving assembly is arranged on the first guide wire channel and is used for driving the guide wire to advance and retreat and rotate. The output end of the first guide wire channel is communicated with the input end of the main path of the Y-valve; The base is also provided with a first instrument channel and a first instrument driving assembly. The first instrument channel is used for accommodating an instrument and guiding the traveling direction of the instrument. The first instrument driving assembly is arranged on the first instrument channel and is used for driving the instrument to advance and retreat. The output end of the first instrument channel is communicated with the input end of the main path of the Y-valve; The selection module includes a selection seat. The base is provided with a selection installation position, and the selection seat is detachably installed at the selection installation position. The selection seat is provided with a second guide wire channel and a second guide wire driving assembly. The second guide wire channel is used for accommodating a guide wire and guiding the traveling direction of the guide wire. The second guide wire driving assembly is arranged on the second guide wire channel and is used for driving the guide wire to advance and retreat and rotate. The output end of the second guide wire channel is communicated with the input end of the Y-valve main path after converging with the channel on the base; The selection seat is also provided with a second instrument channel and a second instrument driving assembly. The second instrument channel is used for accommodating an instrument and guiding the traveling direction of the instrument. The second instrument driving assembly is arranged on the second instrument channel and is used for driving the instrument to advance and retreat. The output end of the second instrument channel is communicated with the input end of the Y-valve main path after converging with the channel on the base.

2. The consumable cartridge for an interventional surgical robot according to claim 1, characterized in that, The base has a first working surface, and the selection seat is provided with a second working surface. The first working surface and the second working surface are located in the same plane and cooperate to form a working surface. A cover plate is movably connected or detachably connected to the base, and the cover plate can cover the working surface or open relative to the working surface; At least one of the first guide wire channel, the first instrument channel, the second guide wire channel, and the second instrument channel is a groove channel provided on the working surface. A plurality of mating grooves are spaced along the extending direction of the groove channel. The mating grooves are communicated with the groove channel and the groove width of the mating grooves is greater than the groove width of the groove channel. The cover plate is provided with a plurality of limiting members, and the limiting members extend into the mating grooves when the cover plate covers the working surface to limit the position of the guide wire or the instrument in the depth direction of the groove channel of the groove channel.

3. The consumable cartridge for an interventional surgical robot according to claim 2, characterized in that, The limiting member is provided with a limiting groove. The limiting groove is buckled on the bottom surface of the mating groove and cooperates with it to form a limiting interval when the cover plate covers the working surface. The limiting interval is used for accommodating the guide wire or the instrument and limiting the position of the guide wire or the instrument.

4. The consumable cartridge for an interventional surgical robot according to claim 2, characterized in that, A magnetic attraction structure is provided between the cover plate and the base, and the cover plate realizes relative position fixation with the base through the magnetic attraction force of the magnetic attraction structure when covering the working surface.

5. The consumable cartridge for an interventional surgical robot according to claim 2, characterized in that, The base has a first driving surface opposite to the first working surface; the selected mounting position is a through hole provided on the base, and the two ends of the through hole are respectively opened on the first working surface and the second working surface; the inner wall shape of the through hole is adapted to the shape of the selected seat, and the selected seat is accommodated and installed in the through hole.

6. The consumable cartridge for an interventional surgical robot according to claim 5, characterized in that, A falling prevention structure is provided between the base and the selected seat for preventing the selected seat from falling from the opening on the side of the first driving surface in the through hole.

7. The consumable cartridge for an interventional surgical robot according to claim 6, characterized in that, The falling prevention structure includes a protruding step provided on the inner wall of the through hole and a step groove provided on the selected seat, and the protruding step is accommodated in the step groove.

8. The consumable cartridge for an interventional surgical robot according to any one of claims 5 to 7, characterized in that, The selected seat is provided with a lifting structure for driving the selected seat to leave the through hole from the opening on the side of the first working surface of the through hole by a user or an external device acting on the lifting structure.

9. The consumable cartridge for an interventional surgical robot according to claim 8, characterized in that, The second working surface is provided at one axial end of the selected seat; the lifting structure is: a part of the connection between the upper side wall of the selected seat and the second working surface is recessed inward to form a step, a lifting part protrudes on the surface of the step facing the circumferential outside of the selected seat, the surface of the lifting part facing the second driving surface is for a user or an external device to apply a force, and there is a gap between the end surface of the lifting part facing the circumferential outside of the selected seat and the inner wall of the through hole.

10. The consumable cartridge for an interventional surgical robot according to claim 9, characterized in that, A plurality of the lifting structures are provided on the selected seat, and the plurality of the lifting structures are distributed around the circumference of the selected seat.

11. The consumable cartridge for an interventional surgical robot according to claim 1, characterized in that, The front end of the Y-valve is a free connecting head, the free connecting head is used for connecting with a catheter, and the free connecting head can rotate relative to the Y-valve body to realize the self-rotation of the catheter.

12. The consumable cartridge for an interventional surgical robot according to claim 1, characterized in that, At least one of the first guide wire driving assembly and the second guide wire driving assembly includes: A guide wire clamping assembly for clamping a guide wire, the guide wire clamping assembly includes a fixing frame, at least a pair of guide wire driving wheels and guide wire driven wheels, the guide wire driving wheels and the guide wire driven wheels are respectively rotatably installed on the fixing frame and symmetrically arranged on both sides of the guide wire; A guide wire advancing and retreating unit, the output end of which is connected to the guide wire driving wheel for driving the guide wire driving wheel to rotate, and when the guide wire driving wheel rotates, it cooperates with the guide wire driven wheel to drive the guide wire clamped between the guide wire driving wheel and the guide wire driven wheel to advance or retreat; A guide wire rotating unit is installed on the base / the selected seat, the guide wire rotating unit is connected to the fixing frame and is used to drive the fixing frame to rotate around the axis of the guide wire to drive the guide wire to rotate.

13. The consumable cartridge for an interventional surgical robot according to claim 12, characterized in that, The fixing frame is rotatably connected to the base / the selected seat along the axis of the guide wire; the guide wire rotating unit includes: A first rotating gear, which is connected to the fixing frame, and the axis of the first rotating shaft is on the same straight line as the axis of the guide wire; A rotating transmission shaft, which is rotatably connected to the base / the selected seat, the output end of the rotating transmission shaft is coaxially connected to a second rotating gear, and the second rotating gear is meshed with the first rotating gear for transmission.

14. The consumable cartridge of the interventional surgical robot according to claim 13, wherein, The guide wire advancing and retreating unit includes a rotating shaft, a first advancing and retreating gear, a second advancing and retreating gear and an advancing and retreating transmission shaft; The rotating shaft is rotatably connected to the fixed frame, and the second advancing and retreating gear is coaxially fixed to the rotating shaft; the first advancing and retreating gear is coaxially connected to the wire guiding driving wheel, and the first advancing and retreating gear and the second advancing and retreating gear are in meshing transmission; The advancing and retreating transmission shaft is rotatably connected to the base / the selected seat, and torque transmission is realized between the advancing and retreating transmission shaft and the rotating shaft through an intermediate transmission assembly.

15. The consumable cartridge of the interventional surgical robot according to claim 14, wherein, The intermediate transmission assembly includes: A third advancing and retreating gear and a fourth advancing and retreating gear. The third advancing and retreating gear is coaxially fixed to the rotating shaft, and the fourth advancing and retreating gear is rotatably connected to the base / the selected seat, and the axis of the fourth advancing and retreating gear is on the same straight line as the axis of the wire; the third advancing and retreating gear and the fourth advancing and retreating gear are in meshing transmission; A fifth advancing and retreating gear, rotatably connected to the base / the selected seat, and the fifth advancing and retreating transmission gear is in meshing transmission with the fourth advancing and retreating transmission gear; A sixth advancing and retreating gear and a seventh advancing and retreating gear. The output end of the advancing and retreating transmission shaft is coaxially connected to the seventh advancing and retreating gear, the sixth advancing and retreating gear is coaxially connected to the fifth advancing and retreating gear, and the sixth advancing and retreating gear and the seventh advancing and retreating gear are in meshing transmission.

16. The consumable cartridge of the interventional surgical robot according to claim 1, wherein, The instrument driving assembly includes: An instrument clamping assembly for clamping an instrument; the wire guiding instrument clamping assembly includes at least a pair of instrument driving wheels and instrument driven wheels, and the instrument driving wheels and the instrument driven wheels are respectively rotatably installed on the base / the selected seat and symmetrically arranged on both sides of the instrument; An instrument transmission shaft, rotatably connected to the base / the selected seat, and the output end of the instrument transmission shaft is coaxially connected to the instrument driving wheel.

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