Primary and secondary channel locking module and interventional robot slave end device

Abstract

The invention provides a primary and secondary channel locking module and an interventional robot slave end device, at least one main channel and at least one secondary channel are arranged on a module seat, and one end of the main channel and one end of the secondary channel respectively extend towards the same direction; or the secondary channels are sequentially converged into the main channel; a pressing plate structure is movably arranged on the module base, when the pressing plate structure is opened, the main channel and / or the secondary channel of the module base are / is opened, and the intervention consumables or one end of the orbital transfer part can be taken out of or loaded into the corresponding main channel or the corresponding secondary channel, and when the pressing plate structure is closed, the intervention consumables or one end of the orbital transfer part can be taken out of or loaded into the module base. One end of the intervention consumables or one end of the orbital transfer part can be limited in the corresponding main channel or secondary channel, different intervention consumables can penetrate into the bifurcated valve at the same time through the main channel and secondary channel locking module, simultaneous delivery of multiple intervention consumables can be achieved, or independent delivery of each intervention consumable is achieved, and the intervention consumables can be conveniently and rapidly delivered. And the intervention consumables which do not need to be delivered and / or rotated are clamped and fixed by the pressing plate structures on the corresponding secondary channels.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a primary and secondary channel locking module and a slave device of an interventional robot. Background Art

[0002] During a vascular interventional surgery, it mainly includes steps such as puncturing the femoral artery / radial artery, the coordinated advancement of a guide wire and a contrast catheter, digital subtraction angiography (DSA), the coordinated advancement of a treatment wire and a balloon catheter, and the placement of a vascular stent. In such a surgery, the coordinated advancement of the guide wire, catheter, and balloon catheter is a time-consuming link and also a link that needs to be carried out under the assistance of X-ray imaging navigation. Currently, vascular interventional surgeries are usually performed manually by doctors. During the surgery, since DSA emits X-rays, doctors need to wear heavy lead aprons to complete the surgery. The physical strength of doctors drops rapidly, and their attention and stability also decline, which will lead to a decrease in operation accuracy and is prone to accidents such as vascular intimal injury and vascular perforation and rupture caused by improper pushing force, resulting in life-threatening situations for patients. Moreover, long-term wearing of lead aprons will cause damage to the doctor's spine. Secondly, the cumulative damage caused by long-term ionizing radiation will greatly increase the probability of doctors suffering from leukemia, cancer, and acute cataracts. Therefore, for the physical health of doctors and the quality of surgeries, the research and development efforts on interventional surgical robots are increasing, and more and more robots can be clinically applied.

[0003] Existing interventional surgical robots mainly adopt a master-slave operation structure to isolate doctors from the radioactive environment. The existing slave device of an interventional robot needs to clamp slender medical devices such as catheters and guide wires and move them from its proximal end to the distal end, and drive the advancement of the catheter and guide wire through the coordinated movement of the device and deliver them to the lesion site in the patient's body (such as in a blood vessel) to facilitate subsequent relevant treatments by doctors, such as angiography, embolizing malformed blood vessels, dissolving blood clots, and dilating stenotic blood vessels.

[0004] The following patents are applied by Shenzhen Aibo Medical Robotics Co., Ltd.: An end effector of an interventional surgical robot with the application number 2022116787026; An end effector of an interventional surgical robot with the application number 202211686818.4; A control device for the guide wire catheter of the end effector of an interventional surgical robot with the application number 202210923132.6; An end effector device of an interventional surgical robot with the application number 202210326352.0, etc. It splits the power for controlling the catheter / wire, controls the delivery of the corresponding catheter through the catheter delivery mechanism, controls the rotation of the corresponding catheter through the catheter rotation mechanism, controls the delivery of the wire through the wire delivery mechanism, and controls the rotation of the wire through the wire rotation mechanism. Its disadvantages are as follows: (1) The structures of the catheter rotation mechanism and the wire rotation mechanism are relatively complex; (2) The balloon delivery mechanism rotates synchronously through the driving roller and the driven roller to apply frictional power to the balloon catheter. Under the action of the frictional power, the balloon is delivered forward. There is no force perception during the delivery process, so force feedback cannot be achieved, and the surgical safety cannot be guaranteed; (3) The coordinated delivery of multiple catheters and wires cannot be achieved.

[0005] During the delivery process of multiple catheters and wires, the catheter and / or the wire need to converge into the guiding catheter or the upper-level catheter. Moreover, according to different surgical requirements, some require the simultaneous delivery of the catheter and the wire, or the separate delivery of the catheter and the wire, or the simultaneous delivery of multiple wires, etc. Different surgical scenarios involve the catheter and / or the wire converging into the guiding catheter or the upper-level catheter first. The prior art cannot flexibly achieve this converging function. Summary of the Invention

[0006] The purpose of the present invention is to provide a primary and secondary channel locking module and an end effector device of an interventional robot to solve the existing technical defects and unachievable technical requirements.

[0007] To achieve the above purpose, the present invention provides the following technical solutions:

[0008] A primary and secondary channel locking module includes a module seat. There is at least one primary channel and at least one secondary channel on the module seat. One end of the primary channel and the secondary channel extends in the same direction respectively, or the secondary channels converge into the primary channel in sequence. A pressing plate structure is movably arranged on the module seat. When the pressing plate structure is opened, the primary channel and / or the secondary channel of the module seat is opened, and one end of the interventional consumable or the rail-changing part can be taken out or inserted into the corresponding primary channel or secondary channel. When the pressing plate structure is closed, one end of the interventional consumable or the rail-changing part will be restricted in the corresponding primary channel or secondary channel.

[0009] Preferably, a main channel and two secondary channels are provided on the module base. The pressing plate structure includes two first pressing plates, each of which is hinged to the side of the corresponding secondary channel, and each first pressing plate can press the interventional consumables or the rail-changing part in the secondary channel. Two L-shaped first pressing members are rotatably installed on the side of the module base through hinge shafts. After the first pressing plates are buckled, when the operator drives the L-shaped first pressing members to rotate around the hinge shafts towards the direction close to the first pressing plates, the first pressing members rotate and press on the corresponding first pressing plates, thereby locking the first pressing plates. On the contrary, when the operator drives the L-shaped first pressing members to rotate around the hinge shafts away from the first pressing plates, the first pressing members rotate and disengage from the corresponding first pressing plates, thereby loosening the first pressing plates. An elastic body is provided on the inner side of at least one of the first pressing plates or the secondary channels. When the first pressing plate structure is closed, the interventional consumables or the rail-changing part will be pressed by the elastic body in the corresponding secondary channel.

[0010] Preferably, a main channel and three secondary channels are provided on the module base. The pressing plate structure includes a first consumable pressing plate structure provided on the module base and located at the side of at least one secondary channel. The first consumable pressing plate structure can press the interventional consumables or the rail-changing part in the secondary channel. The first consumable pressing plate structure adopts a self-locking pressing spring lock or a threaded structure. The self-locking pressing spring lock includes a lock body and a second pressing plate installed on the lock body. The lock body is installed in the module base. Pressing the second pressing plate can lock or disengage the second pressing plate from the lock body, so that the second pressing plate presses the interventional consumables or the rail-changing part, or the second pressing plate disengages from the interventional consumables or the rail-changing part. The threaded structure includes a screw rod and a second pressing plate. The second pressing plate is in threaded transmission cooperation with the screw rod. By rotating the screw rod, the second pressing plate can be driven to move along the axis of the screw rod, so that the second pressing plate presses the interventional consumables or the rail-changing part, or the second pressing plate disengages from the interventional consumables or the rail-changing part. An elastic body is provided on the inner side of at least one of the second pressing plates or the secondary channels. When the second pressing plate structure is closed, the interventional consumables or the rail-changing part will be pressed by the elastic body in the corresponding secondary channel.

[0011] Preferably, the secondary channel is an open channel structure with an upward opening, and the pressing plate structure locks the interventional consumables or the rail-changing part in the secondary channel from the top or side of the channel structure.

[0012] Preferably, a first telescopic sleeve for supporting interventional consumables is connected to the main channel of the module base. The diameters of different sections of the first telescopic sleeve decrease in sequence. The body of the section with the largest diameter of the first telescopic sleeve extends into the main channel of the module base. A telescopic sleeve locking part is provided on the module base, and the body of the first telescopic sleeve is clamped and fixed by the telescopic sleeve locking part. The telescopic sleeve locking part is a clamp structure or a lock structure or a magnetic attraction structure or a pressing structure or a threaded structure.

[0013] Alternatively, the telescopic sleeve locking portion is fixedly connected to the body of the largest-diameter section of the first telescopic sleeve, and the telescopic sleeve locking portion is detachably arranged on the module base.

[0014] Preferably, the main channel is an open channel structure with an upward opening, and the telescopic sleeve locking portion locks the body of the largest-diameter section of the first telescopic sleeve from the top or side of the channel structure; the distance between the front end face of the body of the largest-diameter section of the first telescopic sleeve and the front end face of the module base is less than 20 mm.

[0015] Preferably, when the telescopic sleeve locking portion is a buckle structure, the buckle structure includes a first locking seat, and a fourth pressing plate is movably arranged on the first locking seat. The fourth pressing plate locks the body of the largest-diameter section of the first telescopic sleeve from the top or side of the channel structure through a snap structure or a threaded structure.

[0016] Preferably, one main channel and two secondary channels are provided on the module base. One of the secondary channels is connected to or aligned with the rail-changing portion, and the rail-changing portion is used to guide the intervention consumables on the second linear track group to the first linear track group; the rail-changing portion is a telescopic rail-changing tube, and the telescopic rail-changing tube includes a second telescopic sleeve with a rigid coaxial step-by-step socket. One end of a first hose and a second hose are respectively sleeved outside the last section and the frontmost section of the second telescopic sleeve. The second telescopic sleeve is axially limited through a first limiting structure arranged on the outer side of the tube body of the second telescopic sleeve to prevent the different sections in the second telescopic sleeve from completely separating. The first limiting structure is one or a combination of a pull rope structure, a limiting telescopic sleeve, a pull rod structure, a connecting rod structure, and a corrugated pipe structure; a first rail-changing portion locking portion is provided on the module base, and the first rail-changing portion locking portion can lock the front end of the telescopic rail-changing tube. The first rail-changing portion locking portion is a clamp structure, a buckle structure, a magnetic attraction structure, a pressing structure, or a threaded structure.

[0017] Alternatively, the first rail-changing portion locking portion is fixedly connected to the front end of the telescopic rail-changing tube, and the first rail-changing portion locking portion is detachably arranged on the module base.

[0018] An end device of an interventional robot, the slave hand device includes a linear track group, and at least one group of linear track groups is provided. When two groups of linear track groups are provided, the two groups of linear track groups are arranged in parallel. Along the length direction of one of the linear track groups, at least two module fixing seats are provided, and a surgical function module is installed on the module fixing seat. The surgical function module is a port support mechanism or a port control mechanism or a rotary delivery mechanism or a delivery mechanism. A port support mechanism or a port control mechanism located at the front end and a rotary delivery mechanism or a delivery mechanism located at the rear end form a set of delivery kits. The module fixing seat is fixed on the linear track group, or the module fixing seat can reciprocate on the linear track group. When the module fixing seat reciprocates, it can drive the corresponding port control mechanism and / or rotary delivery mechanism and / or delivery mechanism to reciprocate.

[0019] Preferably, the interventional consumables include one or a combination of a port control valve, a catheter, and a guide wire. The catheter is a sheath tube or a guiding catheter or a microcatheter or a balloon catheter or a radiofrequency ablation electrode catheter or an intravascular ultrasound catheter or an atrial septal puncture sheath tube. The port control valve is a bifurcated valve or a non-bifurcated control valve;

[0020] Support elements are respectively provided between the port support mechanism and the rotary delivery mechanism, or between the port control mechanism and the rotary delivery mechanism, or between the port control mechanism and the delivery mechanism. The support elements are sleeved outside the interventional consumables to play a supporting role, so that the axis of the interventional consumables is in a straight state. The support elements are supported by a first telescopic sleeve or a second telescopic sleeve with rigid coaxial progressive sleeving;

[0021] The linear track group includes a first linear track group and a second linear track group. When a first delivery kit and a second delivery kit are arranged one in front of the other on the first linear track group, the first delivery kit includes a first port control mechanism or a first port support mechanism placed at the front end and a first rotary delivery mechanism placed at the rear end. The first delivery kit is used for delivering a first interventional consumable. The second delivery kit includes a second port control mechanism placed at the front end and a second rotary delivery mechanism or a second delivery mechanism placed at the rear end. The second delivery kit is used for delivering a second interventional consumable. The first rotary delivery mechanism and the second port control mechanism are synchronously moved and arranged on the first linear guide rail group. The tail end of the first catheter is fixed on the first port support mechanism. A hemostatic valve is arranged at the rear end of the first catheter, or the rear end of the first catheter is connected to the front end of the first port control valve. The first port control valve is installed in the first port control mechanism. The first port support mechanism or the first port control mechanism is fixed at the front end of the first linear track group, or the first port support mechanism or the first port control mechanism is installed on a fixing frame outside the first linear track group; a first bifurcated valve is installed on the second port control mechanism. A first connecting part is arranged on the first rotary delivery mechanism. The first connecting part is locked with the first interventional consumable. The first rotary delivery mechanism can drive the first interventional consumable to perform a rotary delivery movement through the first connecting part. An internal connecting pipe is further included. The internal connecting pipe passes through the first connecting part and is connected to the front end of the first connecting part; or the first connecting part is a hollow pipe structure, and the front end of the internal connecting pipe is connected to the rear end of the first connecting part. The rear end of the internal connecting pipe is fixedly connected to the rotatable part at the front end of the first bifurcated valve. A flexible part is arranged on the internal connecting pipe. When the second port control mechanism controls the rotatable part at the front end of the first bifurcated valve to rotate synchronously with the rotation of the first rotary delivery mechanism, if the two rotary movements are not completely synchronous, at this time, the flexible part of the internal connecting pipe will undergo slight torsional deformation. However, since the flexible part is soft enough, it will not affect the force sensing of the torque force sensing element in the first rotary delivery mechanism for the torque received by the first interventional consumable;

[0022] A third delivery kit is provided on the second linear track group. The third delivery kit includes a third delivery mechanism or a third rotary delivery mechanism. The third delivery mechanism or the third rotary delivery mechanism can reciprocate along the second linear track group. A primary-secondary channel locking module is provided behind the second port control mechanism. The front end of the second intervention consumable penetrates into the first intervention consumable through the main channel of the primary-secondary channel locking module and the first bifurcation valve. One of the secondary channels of the primary-secondary channel locking module is connected to the third delivery mechanism or the third rotary delivery mechanism through a track-changing part. A third connection part is provided on the third delivery mechanism or the third rotary delivery mechanism. The third connection part can lock the fourth intervention consumable. The third delivery mechanism or the third rotary delivery mechanism can drive the fourth intervention consumable to perform axial delivery movement or rotary delivery movement. The front end of the fourth intervention consumable penetrates into the first intervention consumable through the track-changing part, the secondary channel of the primary-secondary channel locking module, and the first bifurcation valve. The track-changing part is a telescopic track-changing tube. Two surgical function modules not on the same delivery line move relative to each other. The telescopic track-changing tube guides the fourth intervention consumable from one surgical function module to the delivery line where another surgical function module is located. The telescopic track-changing tube adjusts its own length according to the relative position between the two surgical function modules, and the first hose and the second hose of the telescopic track-changing tube will adaptively change the angle.

[0023] The beneficial effects of the present invention are as follows:

[0024] 1. Through the primary-secondary channel locking module, the present invention can guide different intervention consumables to penetrate into the bifurcation valve simultaneously, can realize the simultaneous delivery of multiple intervention consumables, or realize the individual delivery of each intervention consumable. Moreover, the delivery and / or rotating intervention consumables that are not required are clamped and fixed on the corresponding secondary channel by the pressing plate structure, with high flexibility and being convenient for use in different surgical scenarios.

[0025] 2. The main channel is an open channel structure with an upward opening, so that the tube body of the largest-diameter section of the first telescopic sleeve can be inserted into the main channel. The tube body of the first telescopic sleeve can be clamped and fixed through the telescopic sleeve locking part. It is also convenient to take out the tube body of the first telescopic sleeve by opening the pressing plate structure.

[0026] 3. The secondary channel is an open channel structure with an upward opening, so that one end of the intervention consumable or the track-changing part can be inserted into the secondary channel. One end of the intervention consumable or the track-changing part can be clamped and fixed by closing the pressing plate structure. It is also convenient to take out one end of the intervention consumable or the track-changing part by opening the pressing plate structure. The pressing plate structure is provided with an elastic body to avoid damaging the intervention consumable or the track-changing part.

[0027] 4. When two surgical function modules not on the same delivery straight line move relative to each other, the telescopic orbit-changing tube guides the interventional consumables from one surgical function module to the delivery straight line where the other surgical function module is located. The telescopic orbit-changing tube adjusts its own length according to the relative position between the two surgical function modules, and the first hose and the second hose of the telescopic orbit-changing tube will adaptively change the angle. The telescopic orbit-changing tube plays a role in supporting the interventional consumables, and also ensures that the interventional consumables can achieve the orbit-changing function during the delivery process and can be smoothly delivered without jamming. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of the usage state of Embodiment 1;

[0029] Figure 2 Schematic diagram of the structures of the second port control mechanism, module seat and telescopic sleeve locking part of Embodiment 1;

[0030] Figure 3 Schematic diagram of the structure of the primary and secondary channel locking module of Embodiment 1;

[0031] Figure 4 One of the schematic diagrams of the usage state of Embodiment 2;

[0032] Figure 5 Another schematic diagram of the usage state of Embodiment 2;

[0033] Figure 6 Schematic diagram of the structure of the telescopic sleeve locking part of Embodiment 2;

[0034] Figure 7 Schematic diagram of the structure with an orbit-changing part locking mechanism and a second consumable locking mechanism of Embodiment 2;

[0035] Figure 8 Schematic diagram of the structure of the second consumable locking mechanism of Embodiment 2;

[0036] Figure 9 Internal schematic diagram of the second consumable locking mechanism of Embodiment 2;

[0037] Figure 10 Schematic diagram of the structure of Embodiment 3;

[0038] Figure 11 Exploded schematic diagram of the telescopic orbit-changing tube of Embodiment 3;

[0039] Figure 12 Schematic diagram of the structure of the hinge support structure of Embodiment 3;

[0040] Figure 13 Schematic diagram of the structure of the first orbit-changing part locking part of Embodiment 3;

[0041] Figure 14Schematic assembly structure diagram of the second orbit-changing part locking mechanism and the third rotating and delivering mechanism in Embodiment 3;

[0042] Figure 15 Schematic structure diagram of the distal device of an interventional robot in Embodiment 4. Detailed implementation manners

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0045] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more, unless otherwise specifically defined.

[0046] Embodiment 1

[0047] A primary and secondary channel locking module includes a module base, at least one primary channel and at least one secondary channel on the module base, wherein one ends of the primary channel and the secondary channel extend in the same direction respectively; or the secondary channels converge into the primary channel in sequence. A pressing plate structure is movably arranged on the module base. When the pressing plate structure is opened, the primary channel and / or the secondary channel of the module base is opened, and one end of the interventional consumable or the orbit-changing part can be taken out or loaded from the corresponding primary channel or secondary channel. When the pressing plate structure is closed, one end of the interventional consumable or the orbit-changing part will be restricted in the corresponding primary channel or secondary channel.

[0048] The module base is provided with a main channel and two secondary channels. The pressing plate structure includes two first pressing plates, each of which is hinged to the side of the corresponding secondary channel. Each first pressing plate can press the intervention consumables or the rail-changing part in the secondary channel. Two L-shaped first pressing members are rotatably installed on the side of the module base through hinge shafts. After the first pressing plates are buckled, when the operator drives the L-shaped first pressing members to rotate around the hinge shafts towards the direction close to the first pressing plates, the first pressing members rotate and press on the corresponding first pressing plates, thereby locking the first pressing plates. On the contrary, when the operator drives the L-shaped first pressing members to rotate around the hinge shafts away from the first pressing plates, the first pressing members rotate and disengage from the corresponding first pressing plates, thereby loosening the first pressing plates. An elastic body is provided on the inner side of at least one of the first pressing plates or the secondary channels. When the first pressing plate structure is closed, the intervention consumables or the rail-changing part will be pressed by the elastic body in the corresponding secondary channel.

[0049] The secondary channel is an open channel structure with an upward opening. The pressing plate structure locks the intervention consumables or the rail-changing part in the secondary channel from the top or side of the channel structure.

[0050] The main channel of the module base is connected with a first telescopic sleeve for supporting the intervention consumables. The diameters of different sections of the first telescopic sleeve decrease in sequence. The body of the section with the largest diameter of the first telescopic sleeve extends into the main channel of the module base. A telescopic sleeve locking part is provided on the module base, and the body of the first telescopic sleeve is clamped and fixed through the telescopic sleeve locking part. The telescopic sleeve locking part is a clamp structure or a buckle structure or a magnetic attraction structure or a pressing structure or a threaded structure;

[0051] Alternatively, the telescopic sleeve locking part is fixedly connected to the body of the section with the largest diameter of the first telescopic sleeve, and the telescopic sleeve locking part is detachably arranged on the module base.

[0052] The main channel is an open channel structure with an upward opening. The telescopic sleeve locking part locks the body of the section with the largest diameter of the first telescopic sleeve from the top or side of the channel structure; the distance between the front end face of the body of the section with the largest diameter of the first telescopic sleeve and the front end face of the module base is less than 20 mm.

[0053] When the telescopic sleeve locking part is a buckle structure, the buckle structure includes a first locking seat and a fourth pressing plate. A fourth pressing plate is movably arranged on the first locking seat, and the body of the section with the largest diameter of the first telescopic sleeve is locked from the top or side of the channel structure through a buckle structure or a threaded structure.

[0054] Specifically, as Figures 1 - 3As shown, the first rotary delivery mechanism 10272 and the second port control mechanism 10273 are synchronously moved and arranged on the module fixing base. The module fixing base is installed on the first linear track group. The first rotary delivery mechanism 10272 is provided with a first connecting portion, and the front end of the first connecting portion extends out of the first rotary delivery mechanism 10272. The first connecting portion on the first rotary delivery mechanism 10272 is locked with the second catheter, and the locking structure is arranged at the front end of the rotating shaft. A rotating sleeve is arranged in the rotating shaft of the first rotary delivery mechanism 10272, and the first connecting portion is rotatably and axially limitedly arranged in the rotating sleeve. A first bearing structure is arranged between the first connecting portion 1022501 and the rotating sleeve. The first connecting portion and the rotating sleeve are axially limited and circumferentially relatively rotatable, so that the rotating sleeve will only receive the axial force from the first connecting portion and will not receive the circumferential torque.

[0055] The luer connector at the rear end of the second catheter is threadedly connected to the threaded transition head 102202. The threaded transition head 102202 includes a threaded structure and a quick-connect structure. The threaded transition head 102202 is screwed and connected to the luer connector at the tail end of the interventional consumable through the threaded structure. The threaded structure is a luer threaded structure, and the quick-connect structure is an anti-rotation snap structure; or the threaded transition head 102202 is directly connected to the first connecting portion 1022501.

[0056] The anti-rotation snap structure includes a hook. The hook 1033020017 is openably arranged on the threaded transition head 102202. There are two hooks, and they are symmetrically arranged on both sides of the threaded transition head 102202. The head of the hook is a clamping portion, and the tail of the hook is a pressing portion. Pressing the pressing portion can make the clamping portion open outward. Releasing the pressing portion, the clamping portion closes inward under its own elastic action;

[0057] The anti-rotation snap structure further includes an anti-rotation structure. The anti-rotation structure is an anti-rotation protrusion or anti-rotation groove arranged on the threaded transition head 102202. The anti-rotation snap structure further includes a tubular guiding portion. The guiding portion extends towards the rear end of the threaded transition head. The anti-rotation protrusion or anti-rotation groove is arranged at the part where the guiding portion is connected to the main body of the threaded transition head 102202.

[0058] The first connecting portion is connected to the front part of an internal connecting pipe 1027301. The rear part of the internal connecting pipe 1027301 is connected to the rotatable part at the front end of a bifurcating valve 1027302. The pipeline connection between the second catheter and the bifurcating valve is realized through the internal connecting pipe 1027301. The bifurcating valve is installed on the second port control mechanism 10273.

[0059] The internal connecting tube is provided with a flexible tube portion, and the flexible tube portion has a certain bulge and bending amount, so that it has a certain floating amount in the axial direction, which can solve the interference problem of torque and axial force caused by the asynchronism of the first connecting part and the bifurcated valve during axial displacement and circumferential rotation; or the internal connecting tube is a hard tube, and the rear end of the hard tube is connected to the front rotatable part of the bifurcated valve, and the hard tube is driven to rotate through the first connecting part, and the rotatable part of the front end of the bifurcated valve is directly driven to rotate.

[0060] The module seat is the first module seat 1027303, which is installed on the module fixing seat, and the first module seat 1027303 is located behind the second port control mechanism 10273. A main channel and two secondary channels are provided on the first module seat 1027303, and a secondary channel is provided on both sides of the main channel. Multiple interventional consumables can enter the bifurcation valve together along the corresponding main channel and two secondary channels on the first module seat 1027303.

[0061] The two sides of the first module seat 1027303 are respectively hinged with first pressing plates 102730301, and the two first pressing plates 102730301 respectively press the interventional consumables or the track change part in the secondary channel on one side or fix one end of the track change part of the secondary channel on the other side. The side of the first module seat 1027303 is rotatably installed with two L-shaped pressing members 102730302 through the hinge shaft. After the first pressing plates 102730301 are buckled, the operator drives the L-shaped pressing member 102 When 730302 rotates around the hinge axis in a direction close to the first pressure plate 102730301, the clamping piece rotates and presses on the corresponding first pressure plate 102730301, thereby locking the first pressure plate 102730301. Conversely, when the operator drives the L-shaped clamping piece 102730302 to rotate around the hinge axis in a direction away from the first pressure plate 102730301, the clamping piece rotates and disengages from the corresponding first pressure plate 102730301, thereby loosening the first pressure plate 102730301. The first pressure plate 102730301 is fixedly connected to the outside with an inclined plate 1027303011. The operator presses the inclined plate 1027303011 to open the first pressure plate 102730301 conveniently. The end with a larger diameter of the first telescopic sleeve 103302 extends into the main channel of the first module seat 1027303, and a telescopic sleeve locking portion is provided at the rear of the first module seat 1027303.

[0062] The module fixing seat is provided with a telescopic sleeve locking portion capable of clamping the tube body of the first telescopic sleeve or locking the connecting block, and the telescopic sleeve locking portion is a clamp structure, a lock structure, a magnetic structure, a compression structure, or a threaded structure;

[0063] The rear end of the first telescopic sleeve is fixed on the telescopic sleeve locking part on the delivery mechanism or the rotary delivery mechanism; during the approaching process of adjacent module seats, the segments behind the first telescopic sleeve are all contracted and inserted into the foremost segment.

[0064] As Figure 3 shown, the telescopic sleeve locking part is a buckle structure, including a first locking seat 102730303 and a fourth pressure plate 102730304. The fourth pressure plate 102730304 is hinged or buckled to the first locking seat 102730303. Lock grooves are provided on the first locking seat 102730303 and / or the fourth pressure plate 102730304. When the fourth pressure plate 102730304 is buckled on the first locking seat 102730303, the tube body of the segment with the largest diameter of the first telescopic sleeve 103302 can be clamped and fixed in the lock groove.

[0065] Embodiment 2

[0066] The parts of this embodiment that are the same as those of Embodiment 1 will not be specifically described. The differences are as follows:

[0067] A main channel and three sub-channels are provided on the module seat. The pressing plate structure includes a first consumable pressing plate structure provided on the module seat and located at the side of at least one sub-channel. The first consumable pressing plate structure can press the intervention consumable or the track-changing part in the sub-channel. The first consumable pressing plate structure adopts a self-locking pressing type spring lock (similar to the pressing structure of a ballpoint pen) or a threaded structure. The self-locking pressing type spring lock includes a lock body and a second pressure plate installed on the lock body. The lock body is installed in the module seat. Pressing the second pressure plate can lock or disengage the second pressure plate from the lock body, so that the second pressure plate presses the intervention consumable or the track-changing part, or the second pressure plate disengages from the intervention consumable or the track-changing part; the threaded structure includes a screw rod and a second pressure plate. The second pressure plate is in threaded transmission cooperation with the screw rod. By rotating the screw rod, the second pressure plate can be driven to move along the axis of the screw rod, so that the second pressure plate presses the intervention consumable or the track-changing part, or the second pressure plate disengages from the intervention consumable or the track-changing part; an elastic body is provided on the inner side of at least one of the second pressure plates or the sub-channel. When the second pressing plate structure is closed, the intervention consumable or the track-changing part will be pressed by the elastic body in the corresponding sub-channel.

[0068] As Figure 4 and Figure 5As shown, the module base is the second module base 1027403. The second port control mechanism 10273 is provided with the second module base 1027403 behind the bifurcated valve 1027302. The second module base 1027403 is realized by using a first bifurcated base. The first bifurcated base is provided with a main channel and at least two secondary channels. Each secondary channel is independently arranged. One end of each secondary channel extends in the same direction and is simultaneously aligned with the port of the bifurcated valve, or each secondary channel converges into a main trunk channel, and the main trunk channel is aligned with the port of the bifurcated valve. At least one interventional consumable can enter the bifurcated valve 1027302 along the corresponding main channel and secondary channels on the second module base 1027403. In this embodiment, the first bifurcated base is provided with three secondary channels. The end of at least one interventional consumable (mainly a guide wire) is sleeved with a marking sleeve 1027304. The marking sleeve is provided with at least two colors, and each color corresponds to a different interventional consumable, which is convenient for distinguishing interventional consumables.

[0069] The first bifurcated base is provided with three secondary channels. A first consumable locking mechanism capable of pressing the interventional consumable or the rail-changing part is installed on the side of at least one secondary channel on the first bifurcated base. The first consumable locking mechanism adopts a self-locking press-type spring lock. The self-locking press-type spring lock includes a lock body and a second pressing plate a 102730307 installed on the lock body. The lock body is installed in the first bifurcated base. Pressing the second pressing plate a 102730307 can lock or disengage the second pressing plate a 102730307 from the lock body, so that the second pressing plate a 102730307 presses the interventional consumable or the rail-changing part, or the second pressing plate a 102730307 disengages from the interventional consumable or the rail-changing part. The structure of the self-locking press-type spring lock can also be replaced by a threaded structure.

[0070] The second pressing plate a 102730307 is of an inverted L-shaped structure. The second pressing plate a can slide up and down on the first bifurcated base. An elastic pressing block is installed at a position where the inner side of the cross beam of the inverted L-shaped structure or in the secondary channel can contact the interventional consumable or the rail-changing part. The elastic pressing block is one or a combination of a silica gel block and a rubber block. Elastic materials such as silica gel blocks and rubber blocks can improve the locking effect and also avoid damaging the interventional consumable or the rail-changing part. The opening directions of the inverted L-shaped structures of the second pressing plate a 102730307 all face the main channel of the first bifurcated base.

[0071] As an alternative, such as Figures 7 - 9As shown, a main channel and three sub-channels are provided on the first bifurcated seat. Two of the sub-channels are located on the side of the main channel closer to the operator, and the third sub-channel is located on the side of the main channel farther from the operator. A track-changing part locking mechanism is provided in the third sub-channel of the first bifurcated seat. The track-changing part locking mechanism is a hinge pressing plate. The track-changing part locking mechanism includes a first pressing plate 102730301 hinged to the first bifurcated seat. The first pressing plate 102730301 fixes one end of the track-changing part in the third sub-channel. A second consumable locking mechanism capable of pressing the interventional consumable in the sub-channel is installed on the side of the first bifurcated seat closer to the operator.

[0072] The track-changing part locking mechanism includes an L-shaped pressing member 102730302. After the first pressing plate 102730301 is buckled, when the operator drives the L-shaped pressing member 102730302 to rotate around the hinge axis towards the direction close to the first pressing plate 102730301, the pressing member rotates and presses on the corresponding first pressing plate 102730301, thereby locking the first pressing plate 102730301. On the contrary, when the operator drives the L-shaped pressing member 102730302 to rotate around the hinge axis away from the first pressing plate 102730301, the pressing member rotates and disengages from the corresponding first pressing plate 102730301, releasing the first pressing plate 102730301. The first pressing plate 102730301 is fixedly connected to an inclined plate 1027303011 outwardly. The operator presses the inclined plate 1027303011 to facilitate opening the first pressing plate 102730301. The larger-diameter end of the first telescopic sleeve 103302 extends into the main channel of the second module seat 1027403, and a telescopic sleeve locking part capable of clamping the body of the first telescopic sleeve is provided behind the second module seat 1027403.

[0073] A second consumable locking mechanism (equivalent to the first consumable pressing plate structure using a threaded structure) capable of pressing the interventional consumable in the sub-channel is installed on the side of the first bifurcated seat closer to the operator. The second consumable locking mechanism includes a locking screw 102730501 and a pressing block 102730502. The pressing block 102730502 is slidably arranged on one side of the sub-channel. The axial direction of the locking screw is arranged horizontally. The locking screw is circumferentially rotatable and axially limited on the first bifurcated seat. The pressing block is sleeved on the locking screw and the two are in threaded cooperation. Rotating the locking screw can make the pressing block approach or move away from the interventional consumable in the sub-channel, thereby pressing or releasing the interventional consumable in the sub-channel.

[0074] The first bifurcated seat is provided with an activity cavity for the lower end of the pressing block 102730502 to move. The locking screw is inserted into the activity cavity from the side of the first bifurcated seat. The head of the locking screw abuts against the side surface of the first bifurcated seat. The front end of the locking screw is connected to the lower end of the pressing block through a threaded sleeve 102730503. The locking screw 102730501 and the threaded sleeve 102730503 are in threaded cooperation. The lower end of the pressing block 102730502 is fixedly sleeved outside the threaded sleeve 102730503. An annular clamping groove is provided in the middle of the locking screw. A snap spring 102730504 is clamped at the annular clamping groove, and the snap spring and the pressing block are abutted through a spring 102730505, so that the snap spring can abut against the inner wall of the activity cavity to limit the axial position of the locking screw. Rotating the locking screw can make the threaded sleeve and the pressing block move relative to the locking screw together, so that the pressing block approaches or moves away from the interventional consumables in the secondary channel, so as to press or loosen the interventional consumables in the secondary channel; an elastic pressing block is installed at a position where the inner side of the pressing block 102730502 or the secondary channel can contact the interventional consumables. The elastic pressing block is one or a combination of a silica gel block and a rubber block.

[0075] A support element is provided between the second port control mechanism 10273 and the second rotary delivery mechanism. The support element is sleeved outside the interventional consumables to play a supporting role, so that the axis of the interventional consumables is in a straight state. The support element is supported by a first telescopic sleeve with rigid coaxial progressive sleeving; or is supported by a plurality of spaced closed or openable support ring assemblies sliding along the axis of the interventional consumables, and each adjacent two support ring assemblies are connected by an axial elastic element; or is supported by a corrugated pipe; or is supported by a slotted C-shaped pipe.

[0076] When the support element is supported by a first telescopic sleeve 103302 with rigid coaxial progressive sleeving, the first telescopic sleeve realizes axial limit through a first limit structure arranged on the outer side of the pipe body of the first telescopic sleeve, so as to prevent different sections in the first telescopic sleeve from completely separating. The first limit structure is one or a combination of a pull rope structure, a limit telescopic sleeve, a pull rod structure, a connecting rod structure, and a corrugated pipe structure.

[0077] A telescopic sleeve locking part 10330203 capable of clamping the pipe body of the first telescopic sleeve is installed at the rear part of the first bifurcated seat. The telescopic sleeve locking part is a clamp structure, a buckle structure, a magnetic attraction structure, a pressing structure, or a threaded structure;

[0078] The rear end of the first telescopic sleeve 103302 is fixed on the telescopic sleeve locking part on the second rotary delivery mechanism; when the second port control mechanism 10273 and the second rotary delivery mechanism approach each other, the subsequent sections behind the first telescopic sleeve are all contracted and inserted into the frontmost section.

[0079] The smallest-diameter section of the first telescopic sleeve 103302 between the second port control mechanism and the second rotary delivery mechanism is fixed to the telescopic sleeve locking part on the second rotary delivery mechanism. A second module base 1027403 is provided behind the second port control mechanism. The largest-diameter section of the first telescopic sleeve extends into the main channel of the second module base 1027403, and the tube body of the largest-diameter section of the first telescopic sleeve is clamped and fixed by the telescopic sleeve locking part; the distance between the front end face of the tube body of the largest-diameter section of the first telescopic sleeve and the front end face of the first bifurcated seat is less than 20 mm.

[0080] The connecting block at the head end of the smallest-diameter section of the first telescopic sleeve is the first connecting block. A telescopic sleeve locking part for fixing the first connecting block is provided on the second rotary delivery mechanism. The telescopic sleeve locking part includes an openable and closable clamping claw. An annular clamping groove is provided on the outer circumferential surface of the first connecting block. The two clamping claws are closed and clamped into the annular clamping groove to clamp the first connecting block for clamping. And a magnet or a buckle is provided in the clamping claw, and the two clamping claws are closed and sucked by the suction force of the magnet or the buckle.

[0081] Preferably, as Figure 6 shown, the telescopic sleeve locking part at the rear of the first bifurcated seat is a hinge clamp structure. The hinge clamp structure includes a hinge upper pressing plate 102730401, a hinge lower pressing plate 102730402 and a pressing plate pressing structure. The middle parts of the hinge upper pressing plate and the hinge lower pressing plate are connected by a hinge shaft 102730403. The hinge shaft 102730403 is located on one side of the first telescopic sleeve 103302, and the axis of the hinge shaft 102730403 is parallel to the axis of the first telescopic sleeve 103302. The hinge upper pressing plate and / or the hinge lower pressing plate can rotate relatively around an axis parallel to the axis of the first telescopic sleeve 103302. The hinge upper pressing plate and / or the hinge lower pressing plate are provided with a locking groove 102730404 adapted to the shape of the first telescopic sleeve. And a feeding port 102730405 is provided on the side of the hinge clamp structure facing the operator. The operator can laterally feed the interventional consumables into the feeding port 102730405, and then insert the first telescopic sleeve along the interventional consumables into the locking groove on the hinge upper pressing plate and / or the hinge lower pressing plate. The pressing plate pressing structure and the locking groove of the first telescopic sleeve are located on both sides of the hinge shaft. The pressing plate pressing structure can drive the hinge upper pressing plate and / or the hinge lower pressing plate to rotate and clamp the first telescopic sleeve in the locking groove.

[0082] Further, the pressing plate pressing structure includes a pressing screw 102730406. A threaded hole is provided on the hinge upper pressing plate 102730401. The pressing screw 102730406 is screwed into the threaded hole. Rotating the pressing screw 102730406 can make the pressing screw 102730406 move relatively in the threaded hole. When the end of the pressing screw 102730406 abuts against the upper plane of the hinge lower pressing plate 102730402, continuing to rotate the pressing screw 102730406 can make one side of the hinge upper pressing plate 102730401 move upward relative to the pressing screw 102730406. With the cooperation of the hinge shaft, the other side of the hinge upper pressing plate 102730401 can rotate downward to tightly press the first telescopic sleeve 103302.

[0083] Alternatively, the pressing plate pressing structure adopts a vise-like tensioning and pressing method. By tightly pulling one end of the hinge upper pressing plate and the hinge lower pressing plate towards each other, the first telescopic sleeve in the locking groove is clamped.

[0084] Embodiment 3

[0085] The parts of this embodiment that are the same as those of Embodiment 1 will not be specifically described. The differences are as follows:

[0086] A main channel and two secondary channels are provided on the module base. One of the secondary channels is connected to or aligned with the rail-changing part. The rail-changing tube is used to guide the intervention consumables on the second linear track group to the first linear track group. The rail-changing part is a telescopic rail-changing tube. The telescopic rail-changing tube includes a section of rigid coaxial telescopic second telescopic sleeves. One end of the first hose and the second hose are respectively sleeved outside the last section and the frontmost section of the second telescopic sleeve. The second telescopic sleeve is axially limited by a first limiting structure provided on the outer side of the tube body of the second telescopic sleeve to prevent the different sections in the second telescopic sleeve from completely separating. The first limiting structure is one or a combination of a pull rope structure, a limiting telescopic sleeve, a pull rod structure, a connecting rod structure, and a corrugated tube structure. A first rail-changing part locking part is provided on the module base. The first rail-changing part locking part can lock the front end of the telescopic rail-changing tube. The first rail-changing part locking part is a clamp structure, a buckle structure, a magnetic attraction structure, a pressing structure, or a threaded structure.

[0087] Alternatively, the first rail-changing part locking part is fixedly connected to the front end of the telescopic rail-changing tube, and the first rail-changing part locking part is detachably arranged on the module base.

[0088] Specifically, as Figures 10 - 14As shown, the module base is the third module base 10271001. A forked valve is provided on the second port control mechanism. The third module base 10271001 is provided behind the forked valve. A telescopic track-changing tube is provided between one of the sub-channels on the third module base 10271001 and the third rotary delivery mechanism 10276. The telescopic track-changing tube is used to support the interventional consumables. The telescopic track-changing tube includes a second telescopic sleeve 103303 with a rigid coaxial and gradually nested structure.

[0089] A connecting block 103302001 is fixedly connected to the head end of each section of the second telescopic sleeve 103303. A first limiting structure is provided on each section of the second telescopic sleeve 103303 to prevent different sections of the second telescopic sleeve 103303 from completely separating. One ends of the thickest section and the thinnest section of the second telescopic sleeve 103303 are respectively sleeved with one ends of a first hose 1033020021 and a second hose 1033020022. The other end of the first hose 1033020021 is clamped by the second track-changing part locking mechanism of the third rotary delivery mechanism 10276, and the other end of the second hose 1033020022 is clamped by the first track-changing part locking part of the third module base 10271001.

[0090] Furthermore, hinge support structures 1033020023 are provided on the first hose 1033020021 and the second hose 1033020022. The hinge support structure 1033020023 includes a first hinge plate 10330200231 and a second hinge plate 10330200232. One ends of the first hinge plate 10330200231 and the second hinge plate 10330200232 are hinged to each other. The other ends of the first hinge plate 10330200231 and the second hinge plate 10330200232 are respectively fixedly connected with limiting sleeves 10330200233. The limiting sleeves 10330200233 are sleeved outside the first hose 1033020021 or the second hose 1033020022, which can guide the bending direction of the first hose 1033020021 or the second hose 1033020022, avoid excessive bending, and prevent the first hose 1033020021 or the second hose 1033020022 from being damaged. When the material hardness of the first hose 1033020021 or the second hose 1033020022 is relatively hard, the hinge support structure 1033020023 may not be provided.

[0091] To prevent the interventional consumable from getting stuck on the end face between different sections of the second telescopic sleeve 103303 when inserted from the front end or the rear end of the second telescopic sleeve 103303, a guiding tube 1033020031 that facilitates the smooth passage of the interventional consumable through the second telescopic sleeve 103303 is sleeved inside the second telescopic sleeve 103303. One end of the guiding tube 1033020031 is connected to the thinnest section of the second telescopic sleeve 103303, and the other end of the guiding tube 1033020031 extends towards the thickest section of the second telescopic sleeve 103303. The guiding tube 1033020031 is a flexible guiding tube.

[0092] When the second telescopic sleeve 103303 is in a fully contracted state, the distance between the other end of the guiding tube 1033020031 and the rear end of the thickest section of the second telescopic sleeve 103303 does not exceed 10 mm. At this time, the operator can directly insert the interventional consumable from the other end of the guiding tube 1033020031. Under the guidance of the flexible guiding tube 1033020031, the interventional consumable can smoothly pass through the second telescopic sleeve 103303 without getting stuck between different sections of the second telescopic sleeve 103303.

[0093] Alternatively, the operator can directly insert the interventional consumable from the inlet end of the second hose 1033020022. Under the guidance of the flexible guiding tube 1033020031, the interventional consumable can smoothly pass through the second telescopic sleeve 103303 without getting stuck.

[0094] The outer diameters of different sections of the second telescopic sleeve 103303 gradually decrease from the rear to the front. The outer diameter difference between two adjacent sections in the second telescopic sleeve 103303 is less than 0.8 mm, and the wall thickness of each section is less than 0.4 mm.

[0095] The second telescopic sleeve 103303 realizes axial limit through a first limit structure arranged on the outer side of the tube body of the second telescopic sleeve 103303, preventing different sections in the second telescopic sleeve 103303 from completely separating. The first limit structure is one or a combination of a pull rope structure, a limit telescopic sleeve, a pull rod structure, a connecting rod structure, and a corrugated pipe structure.

[0096] Such as Figure 13 and 14As shown in the figure, the first orbit-changing part locking part is a hinge pressing plate, which includes a fifth pressing plate 1033020011 hingedly arranged on the third module seat 10271001. The fifth pressing plate 1033020011 fixes the front end of the second hose 1033020022 in the third secondary channel of the third module seat 10271001. The second orbit-changing part locking mechanism is also a hinge pressing plate, which includes a sixth pressing plate 1033020012 hingedly arranged on the moving plate 1033020013. The sixth pressing plate 1033020012 fixes the rear end of the first hose 1033020021. A boss 1033020014 is provided on the side of the third rotary delivery mechanism 10276, and a moving groove is provided on the boss 1033020014. The moving plate 1033020013 can slide in the moving groove on the boss 1033020014, so as to adjust the distance between the moving plate 1033020013 and the third rotary delivery mechanism 10276 to adapt to intervention consumables of different lengths. And a bolt 1033020015 is provided on the boss 1033020014. After adjusting the moving plate 1033020013 to a proper position, the bolt 1033020015 is tightened to fix the moving plate 1033020013. The bolt 1033020015 can be replaced by other forms of locking structures, such as a buckle.

[0097] Embodiment 4

[0098] An end device of an intervention robot, the slave device includes a linear track group. At least one group of linear track groups is provided. When two groups of linear track groups are provided, the two groups of linear track groups are arranged in parallel. Along the length direction of one of the linear track groups, at least two module fixing seats are provided. A surgical function module is installed on the module fixing seat. The surgical function module is a port support mechanism or a port control mechanism or a rotary delivery mechanism or a delivery mechanism. A port support mechanism or a port control mechanism at the front end and a rotary delivery mechanism or a delivery mechanism at the rear end form a set of delivery kits. The module fixing seat is fixed on the linear track group, or the module fixing seat can reciprocate on the linear track group. When the module fixing seat reciprocates, it can drive the corresponding port control mechanism and / or rotary delivery mechanism and / or delivery mechanism to reciprocate.

[0099] The intervention consumables include one or a combination of a port control valve, a catheter, and a guide wire. The catheter is a sheath tube or a guiding catheter or a microcatheter or a balloon catheter or a radiofrequency ablation electrode catheter or an intravascular ultrasound catheter or an atrial septal puncture sheath tube. The port control valve is a bifurcated valve or a non-bifurcated control valve;

[0100] A support element is respectively provided between the port support mechanism and the rotary delivery mechanism, or between the port control mechanism and the rotary delivery mechanism, or between the port control mechanism and the delivery mechanism. The support element is sleeved outside the interventional consumable to play a supporting role, so that the axis of the interventional consumable is in a straight state. The support element is supported by a first telescopic sleeve or a second telescopic sleeve with rigid coaxial progressive sockets;

[0101] As Figure 15 shown, the linear track group 102701 is the first linear track group 10270101 and the second linear track group 10270102. When the first delivery kit and the second delivery kit are arranged one after another on the first linear track group 10270101, the first delivery kit includes a first port control mechanism or a first port support mechanism 10271 placed at the front end and a first rotary delivery mechanism 10272 placed at the rear end. The first delivery kit is used to deliver the first interventional consumable. The second delivery kit includes a second port control mechanism 10273 placed at the front end and a second rotary delivery mechanism 10275 or a second delivery mechanism placed at the rear end. The second delivery kit is used to deliver the second interventional consumable. The first rotary delivery mechanism 10272 and the second port control mechanism 10273 are synchronously moved and arranged on the first linear guide rail group. The tail end of the first catheter is fixed on the first port support mechanism 10271. A hemostatic valve is arranged at the rear end of the first catheter, or the rear end of the first catheter is connected to the front end of the first port control valve. The first port control valve is installed in the first port control mechanism. The first port support mechanism 10271 or the first port control mechanism is fixed at the front end of the first linear track group 10270101, or the first port support mechanism 10271 or the first port control mechanism is installed on a fixing frame outside the first linear track group 10270101; A first bifurcated valve is installed on the second port control mechanism 10273. A first connecting part is arranged on the first rotary delivery mechanism 10272. The first connecting part is locked with the second catheter (equivalent to the first interventional consumable). The first rotary delivery mechanism 10272 can drive the second catheter to perform a rotary delivery movement through the first connecting part. An internal connecting pipe is also included. The internal connecting pipe passes through the first connecting part and is connected to the front end of the first connecting part; Or the first connecting part is a hollow pipe structure, and the front end of the internal connecting pipe is connected to the rear end of the first connecting part. The rear end of the internal connecting pipe is fixedly connected to the rotatable part at the front end of the first bifurcated valve. A flexible part is arranged on the internal connecting pipe. When the second port control mechanism 10273 controls the rotatable part at the front end of the first bifurcated valve to rotate synchronously with the rotation of the first rotary delivery mechanism 10272, if the two rotary movements are not completely synchronous, at this time, the flexible part of the internal connecting pipe will undergo slight torsional deformation. However, because the flexible part is soft enough, it will not affect the force perception of the torque force sensing element in the first rotary delivery mechanism 10272 for the torsion force received by the second catheter;

[0102] A third delivery kit is provided on the second linear track group 10270102. The third delivery kit includes a third delivery mechanism or a third rotary delivery mechanism 10276. The third delivery mechanism or the third rotary delivery mechanism 10276 can reciprocate along the second linear track group 10270102. A primary and secondary channel locking module is provided behind the second port control mechanism 10273. The front end of the second intervention consumable penetrates into the second catheter through the main channel of the primary and secondary channel locking module and the first bifurcation valve. One of the secondary channels of the primary and secondary channel locking module is connected to the third delivery mechanism or the third rotary delivery mechanism 10276 through a track-changing part. A third connection part is provided on the third delivery mechanism or the third rotary delivery mechanism 10276. The third connection part can lock the fourth intervention consumable. The third delivery mechanism or the third rotary delivery mechanism can drive the fourth intervention consumable to perform axial delivery movement or rotary delivery movement. The front end of the fourth intervention consumable penetrates into the second catheter through the track-changing part, the secondary channel of the primary and secondary channel locking module, and the first bifurcation valve. The track-changing part is a telescopic track-changing tube. When two surgical function modules not on the same delivery straight line perform relative movement, the telescopic track-changing tube guides the fourth intervention consumable from one surgical function module to the delivery straight line where another surgical function module is located. The telescopic track-changing tube adjusts its own length according to the relative position between the two surgical function modules, and the first hose and the second hose of the telescopic track-changing tube will adaptively change the angle.

[0103] The foregoing has shown and described the basic principles, main features and advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, it is intended to embrace all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed claims.

Claims

1. A primary and secondary channel locking module, characterized in that: The module seat comprises at least one main channel and at least one secondary channel, wherein one end of the main channel and the secondary channel are respectively extended in the same direction, or the secondary channels are sequentially converged into the main channel, and a pressure plate structure is movably arranged on the module seat. When the pressure plate structure is opened, the main channel and / or the secondary channel of the module seat is opened, and one end of the interventional consumable or the track change part can be taken out from or loaded into the corresponding main channel or secondary channel. When the pressure plate structure is closed, one end of the interventional consumable or the track change part will be confined in the corresponding main channel or secondary channel.

2. A primary and secondary channel locking module according to claim 1, characterized in that: The module seat is provided with a main channel and two secondary channels, and the pressure plate structure includes two first pressure plates, each of which is hinged on the side of the corresponding secondary channel, and each of the first pressure plates can respectively press the interventional consumables or the track change part in the secondary channel. Two L-shaped first pressure members are rotatably installed on the side of the module seat through the hinge axis. After the first pressure plate is buckled, when the operator drives the L-shaped first pressure member to rotate around the hinge axis in the direction close to the first pressure plate, the first pressure member rotates and presses on the corresponding first pressure plate, thereby locking the first pressure plate. Conversely, when the operator drives the L-shaped first pressure member to rotate around the hinge axis in the direction away from the first pressure plate, the first pressure member rotates and disengages from the corresponding first pressure plate, thereby loosening the first pressure plate, wherein at least one of the first pressure plates or secondary channels has an elastic body on the inner side, and when the first pressure plate structure is closed, the interventional consumables or the track change part will be pressed in the corresponding secondary channel by the elastic body.

3. A primary and secondary channel locking module according to claim 1, characterized in that: The module seat is provided with a main channel and three secondary channels, and the pressure plate structure includes a first consumable pressure plate structure arranged on the module seat and located on the side of at least one secondary channel, the first consumable pressure plate structure can press the interventional consumables or the track change part in the secondary channel, the first consumable pressure plate structure adopts a self-locking press-type spring lock buckle or a threaded structure, the self-locking press-type spring lock buckle includes a lock buckle body and a second pressure plate installed on the lock buckle body, the lock buckle body is installed in the module seat, and pressing the second pressure plate can lock or disengage the second pressure plate from the lock buckle body, thereby The second pressure plate is used to press the interventional consumable or the track-changing part, or the second pressure plate is separated from the interventional consumable or the track-changing part; the threaded structure includes a screw and a second pressure plate, and the second pressure plate and the screw are threadedly matched, and the second pressure plate can be driven to move along the axis of the screw by rotating the screw, so that the second pressure plate presses the interventional consumable or the track-changing part, or the second pressure plate is separated from the interventional consumable or the track-changing part; at least one of the second pressure plates or secondary channels is provided with an elastomer on the inner side, and when the second pressure plate structure is closed, the interventional consumable or the track-changing part will be pressed in the corresponding secondary channel by the elastomer.

4. A primary and secondary channel locking module according to claim 1, characterized in that: The secondary channel is an open channel structure with its opening facing upward, and the pressure plate structure locks the interventional consumables or the track change part in the secondary channel from the top or side of the channel structure.

5. A primary and secondary channel locking module according to claim 1, characterized in that: The main channel of the module seat is connected to a first telescopic sleeve for supporting the interventional consumables, the diameters of different sections of the first telescopic sleeve decrease in sequence, the tube body of the section with the largest diameter of the first telescopic sleeve extends into the main channel of the module seat, a telescopic sleeve locking portion is provided on the module seat, the tube body of the first telescopic sleeve is clamped and fixed by the telescopic sleeve locking portion, and the telescopic sleeve locking portion is a clamp structure, a lock structure, a magnetic structure, a compression structure, or a threaded structure; Alternatively, the telescopic sleeve locking portion is fixedly connected to a tube body section of the first telescopic sleeve with the largest diameter, and the telescopic sleeve locking portion is detachably arranged on the module seat.

6. A primary and secondary channel locking module according to claim 5, characterized in that: The main channel is an open channel structure with its opening facing upward, and the telescopic sleeve locking portion locks the tube body of the first telescopic sleeve with the largest diameter section from the top or side of the channel structure; the distance between the front end face of the tube body of the first telescopic sleeve with the largest diameter section and the front end face of the module seat is less than 20 mm.

7. A primary and secondary channel locking module according to claim 5, characterized in that: When the locking part of the telescopic sleeve is a locking structure, the locking structure includes a first locking seat, on which a fourth pressure plate is movably arranged. Through a snap-fit ​​structure or a threaded structure, the fourth pressure plate locks the tube body of the largest diameter section of the first telescopic sleeve from the top or side of the channel structure.

8. A primary and secondary channel locking module according to claim 1, characterized in that: The module seat is provided with a main channel and two secondary channels, one of which is connected to or aligned with a track-changing part, and the track-changing part is used to guide the interventional consumables on the second linear track group to the first linear track group; the track-changing part is a telescopic track-changing tube, and the telescopic track-changing tube includes a section of rigid coaxial second telescopic sleeve that is sleeved step by step, and the rearmost section and the frontmost section of the second telescopic sleeve are respectively covered with one end of the first hose and the second hose, and the second telescopic sleeve is axially limited by a first limiting structure arranged on the outside of the tube body of the second telescopic sleeve to prevent different sections in the second telescopic sleeve from being completely separated, and the first limiting structure is one or a combination of a pull rope structure, a limiting telescopic sleeve, a pull rod structure, a connecting rod structure, and a bellows structure; the module seat is provided with a first track-changing part locking part, and the first track-changing part locking part can lock the front end of the telescopic track-changing tube, and the first track-changing part locking part is a clamp structure or a lock structure or a magnetic structure or a compression structure or a threaded structure; Alternatively, the locking portion of the first track-changing portion is fixedly connected to the front end of the telescopic track-changing tube, and the locking portion of the first track-changing portion is detachably arranged on the module seat.

9. An interventional robot slave device, using the primary and secondary channel locking module according to any one of claims 1 to 8, characterized in that: The hand device includes a linear track group, and at least one linear track group is provided. When two linear track groups are provided, the two linear track groups are arranged in parallel, and at least two module fixing seats are provided on one of the linear track groups along its length direction, and a surgical function module is installed on the module fixing seat. The surgical function module is a port support mechanism or a port control mechanism or a rotation delivery mechanism or a delivery mechanism. A port support mechanism or a port control mechanism located at the front end and a rotation delivery mechanism or a delivery mechanism located at the rear end constitute a delivery kit. The module fixing seat is fixed on the linear track group, or the module fixing seat can reciprocate on the linear track group, and the module fixing seat can drive the corresponding port control mechanism and / or the rotation delivery mechanism and / or the delivery mechanism to reciprocate when reciprocating.

10. The interventional robot slave device according to claim 9, characterized in that: The interventional consumables include one or a combination of a port control valve, a catheter, and a guide wire, wherein the port control valve is a bifurcated valve or a non-bifurcated control valve; A support element is provided between the port support mechanism and the rotation delivery mechanism, or between the port control mechanism and the rotation delivery mechanism, or between the port control mechanism and the delivery mechanism. The support element is sleeved outside the interventional consumable so that the axis of the interventional consumable is in a straight line state. The support element is supported by a first telescopic sleeve or a second telescopic sleeve that is rigidly coaxially sleeved step by step. The linear rail group includes a first linear rail group and a second linear rail group. When a first delivery kit and a second delivery kit are arranged on the first linear rail group one after the other, the first delivery kit includes a first port control mechanism or a first port support mechanism placed at the front end and a first rotating delivery mechanism placed at the rear end. The first delivery kit is used to deliver a first interventional consumable. The second delivery kit includes a second port control mechanism placed at the front end and a second rotating delivery mechanism or a second delivery mechanism placed at the rear end. The second delivery kit is used to deliver a second interventional consumable. The first rotating delivery mechanism and the second port control mechanism are arranged to move synchronously on the first linear rail group. The tail end of the first catheter is fixed on the first port support mechanism. A hemostatic valve is arranged at the rear end of the first catheter, or the rear end of the first catheter is connected to the front end of the first port control valve, and the first port control valve is installed in the first port control mechanism. The first port support mechanism or the first port control mechanism is fixed to the front end of the first linear rail group, or the first port support mechanism or the first port control mechanism is installed on the first linear rail. The first connecting tube is arranged on a fixed frame outside the group; a first bifurcated valve is installed on the second port control mechanism, a first connecting part is arranged on the first rotation delivery mechanism, the first connecting part is locked with the first interventional consumable, and the first rotation delivery mechanism can drive the first interventional consumable to perform rotational delivery movement through the first connecting part, and also includes an internal connecting tube, the internal connecting tube is arranged through the first connecting part, and the front end of the internal connecting tube is connected to the front end of the first connecting part; or the first connecting part is a hollow pipe structure, the front end of the internal connecting tube is connected to the rear end of the first connecting part, the rear end of the internal connecting tube is fixedly connected to the front rotatable part of the first bifurcated valve, and a flexible part is arranged on the internal connecting tube. When the second port control mechanism controls the rotatable part at the front end of the first bifurcated valve to rotate synchronously with the rotation of the first rotation delivery mechanism, if the two rotational movements are not completely synchronized, the flexible part of the internal connecting tube will be slightly twisted and deformed, but because the flexible part is soft enough, it will not affect the torque sensing element in the first rotation delivery mechanism to sense the torque on the first interventional consumable; A third delivery kit is arranged on the second linear track group, and the third delivery kit includes a third delivery mechanism or a third rotating delivery mechanism, and the third delivery mechanism or the third rotating delivery mechanism can reciprocate along the second linear track group, and a primary-secondary channel locking module is arranged at the rear of the second port control mechanism, and the front end of the second interventional consumable passes through the main channel of the primary-secondary channel locking module and the first bifurcation valve into the first interventional consumable, and one of the secondary channels of the primary-secondary channel locking module is connected to the third delivery mechanism or the third rotating delivery mechanism through a track changing part, and a third connecting part is arranged on the third delivery mechanism or the third rotating delivery mechanism, and the third connecting part can lock the fourth interventional consumable, and the third The third delivery mechanism or the third rotational delivery mechanism can drive the fourth interventional consumable to perform axial delivery movement or rotational delivery movement. The front end of the fourth interventional consumable passes through the track changing part, the secondary channel of the primary and secondary channel locking module, and the first bifurcation valve into the first interventional consumable. The track changing part is a telescopic track changing tube. Two surgical function modules that are not on the same delivery line move relative to each other. The telescopic track changing tube guides the fourth interventional consumable from one of the surgical function modules to the delivery line where the other surgical function module is located. The telescopic track changing tube adjusts its own length according to the relative position between the two surgical function modules, and the first hose and the second hose of the telescopic track changing tube will adaptively change their angles.

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