Consumable box of interventional surgical robot

Abstract

The invention provides a consumable box of an interventional surgical robot. The consumable box comprises a stretchable sterile consumable box body and a detachable power device. The stretchable sterile consumable box comprises a shell, a stretchable supporting frame, a transmission part and a plurality of connectors, the stretchable supporting frame is arranged in the shell, the stretchable supporting frame and the shell move relatively through the transmission part, and the connectors are arranged at one end of the shell; the detachable power device comprises a plurality of motors and a plurality of motor connectors, the motors are used for providing driving force, and the detachable power device is connected with the stretchable sterile consumable box through the motor connectors and the connectors. Through the application, the stretchable sterile consumable box is arranged, the application stroke is improved, the integration level is high, the device is widely applied to various instruments such as common catheters and super-long catheters, and the detachable power device is adopted to be quickly connected with a power source and provide power.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular, to a consumables box for an interventional surgical robot. Background Art

[0002] With the rapid advancement of vascular interventional surgery technology, an increasing number of robotic systems have been developed to assist physicians in performing more delicate and complex surgical procedures. These systems are already capable of delivering key surgical instruments such as guidewires, balloon catheters, stents, and guide catheters during simple vascular interventional procedures, particularly cardiovascular procedures. However, when dealing with more complex vascular lesions, these basic instruments often prove insufficient, necessitating the use of additional auxiliary instruments, such as standard and extra-long catheters, to facilitate the procedure.

[0003] The consumable boxes and instruments of existing interventional surgical robots are limited by space and design complexity, have limited instrument integration, and face challenges in sterile processing. The manufacturing and maintenance costs are high, and the equipment operation is relatively complex. Therefore, the consumable boxes of interventional surgical robots still need further optimization and improvement in terms of instrument integration, sterile processing, cost control, and simplified operation. Summary of the Invention

[0004] In response to the defects in the prior art, the purpose of this application is to provide a consumables box for an interventional surgical robot.

[0005] To achieve the above objectives, according to one aspect of the present application, a consumables box for an interventional surgical robot is provided, comprising:

[0006] Stretchable sterile consumables box and detachable power unit;

[0007] The stretchable sterile consumables box includes a shell, a stretchable support frame, a transmission component, and a plurality of connectors. The stretchable support frame is arranged inside the shell, the stretchable support frame and the shell move relative to each other through the transmission component, and the plurality of connectors are arranged at one end of the shell.

[0008] The detachable power device includes multiple motors and multiple motor connectors, and the motors are used to provide driving force. The detachable power device is connected to the stretchable sterile consumables box through the multiple motor connectors and the multiple connectors.

[0009] Optionally, the transmission component adopts any one of a gear rack transmission structure and a screw transmission structure.

[0010] Optionally, the stretchable sterile consumables box also includes multiple clamping modules, which include a fixed clamping module, a first transmission clamping module and a second transmission clamping module. The fixed clamping module is arranged at the other end of the shell, and the first transmission clamping module and the second transmission clamping module are arranged inside the shell.

[0011] Optionally, when the stretchable support frame and the shell move relative to each other through the transmission component, the fixed clamping module is separated from the shell, and the distance between the fixed clamping module and the first transmission clamping module and / or the second transmission clamping module is lengthened or shortened.

[0012] Optionally, the fixed clamping module includes a first gear and a second gear, the second gear is arranged above the first gear, and the second gear is meshed with the first gear, the second gear is sleeved on the sleeve of the Y valve, and the sleeve of the Y valve is used to connect with the catheter.

[0013] Optionally, the stretchable sterile consumable box includes a stretching rod, which includes an inner sleeve and an outer sleeve. The outer sleeve is sleeved on the outside of the inner sleeve, and the inner sleeve and the outer sleeve can slide back and forth relative to each other. One end of the inner sleeve is connected to the first gear, the other end of the inner sleeve is connected to one end of the outer sleeve, and the other end of the outer sleeve is connected to the motor of the detachable power device.

[0014] Optionally, the inner sleeve adopts any one of a polygonal, D-shaped, and rod-shaped structure with concave or convex keys, and the outer sleeve adopts a tubular structure that fits the inner sleeve.

[0015] Optionally, the first transmission clamping module and the second transmission clamping module respectively include a rotating slide rod, a first screw rod, a gear plate and a screw plate, and the gear plate and the screw plate are respectively provided with a magnetic device inside, and the gear plate and the screw plate are magnetically connected through the magnetic device;

[0016] The rotating slide bar adopts any one of polygonal, D-shaped, and rod-shaped structures with concave or convex keys;

[0017] The first screw rod is provided with a screw rod slider;

[0018] The gear plate is provided with an opening A and an opening B, the opening B is used to pass the rotating slide rod, the screw plate is provided with an opening C, the opening C is used to pass the first screw rod, the screw slider on the first screw rod is fixed on the screw plate, and the first screw rod, the screw slider and the screw plate are used to drive the gear plate to move forward and backward.

[0019] Optionally, the gear plates of the first transmission clamping module and the second transmission clamping module include a gear plate A and a gear plate B, respectively, the gear plate A and the gear plate B are meshed with each other, and the gear plate A and the gear plate B are both provided with the opening A and the opening B;

[0020] The first transmission clamping module and the second transmission clamping module further include a third gear and a fourth gear, respectively. The third gear is disposed between the gear plate A and the gear plate B and fixed on the opening A. The gear plate A and the gear plate B are used to limit the third gear. The fourth gear is disposed between the gear plate A and the gear plate B and fixed on the opening B. The gear plate A and the gear plate B are also used to limit the fourth gear.

[0021] The gear center opening of the fourth gear is meshed and connected with the rotating slide rod, and the rotating slide rod passes through the gear center opening of the fourth gear.

[0022] Optionally, the first transmission clamping module further includes a clamp, which is fixed on the third gear of the first transmission clamping module, and is used to clamp a guide wire or a catheter.

[0023] Optionally, the second transmission clamping module further includes a clamping platform, which is a concave structure clamping platform or a card structure clamping platform, and is arranged on the third gear of the second transmission clamping module. The clamping platform is used to clamp a guide wire or a catheter.

[0024] Optionally, the motor connector includes a conical structure and a first hollow cylindrical structure, the outer surface of the conical structure is provided with a plurality of first ridges, the side wall of the first hollow cylindrical structure is provided with a plurality of grooves, and the circular bottom of the conical structure is connected to one end of the first hollow cylindrical structure;

[0025] The motor connector further comprises a connector base, wherein a plurality of keys are provided on an outer wall of the connector base, one end of the connector base is inserted into the interior of the first hollow cylindrical structure, and each of the keys on the outer wall of the connector base is engaged with each of the slots on the side wall of the first hollow cylindrical structure, and the other end of the connector base is connected to the motor shaft of the motor of the detachable power device;

[0026] The motor connector also includes an elastic component, which is arranged inside the connector base. When the first hollow cylindrical structure is connected to the connector base, the elastic component is compressed between the first hollow cylindrical structure and the connector base. The elastic component is used to connect the connector and the connector base.

[0027] Optionally, the detachable power device includes multiple fifth gears and one sixth gear, each of the fifth gears is arranged on each of the motor connectors, the sixth gear is sleeved on the outer ring of the multiple fifth gears, and each of the fifth gears is meshed with the sixth gear.

[0028] Compared with the prior art, the embodiments of the present application have at least one of the following beneficial effects:

[0029] Through the above technical solution, a stretchable sterile consumables box is provided, and a stretchable support frame and a shell are used to perform relative movement through a transmission component to realize shell stretching, thereby increasing the application stroke and being suitable for clamping catheters of various strokes. It has a high degree of integration and is widely applicable to a variety of medical devices. It also has a simple structure, reduces costs, and reduces the difficulty of operation. A detachable power device is used to provide a power source, and multiple motor connectors are used to cooperate with the connector of the stretchable sterile consumables box to quickly connect to the power source, provide driving force, and improve the utilization efficiency of the consumables box of the interventional surgical robot, thereby improving work efficiency.

[0030] In an embodiment of the present application, the stretchable sterile consumables box is also provided with a stretching rod including an inner sleeve and an outer sleeve, which can be applied to ultra-long blood vessels, further improving the integration of the stretchable sterile consumables box, and is widely applicable to a variety of medical devices.

[0031] In an embodiment of the present application, an elastic component is provided in the motor connector in the detachable power device to improve the connection tightness between the motor connector and the stretchable sterile consumables box. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0033] Figure 1 The figure is a schematic diagram of the overall structure of a consumables box for an interventional surgery robot according to an exemplary embodiment.

[0034] Figure 2 It is a schematic structural diagram of a stretchable sterile consumables box according to an exemplary embodiment.

[0035] Figure 3 The figure is a top cross-sectional view of a stretchable sterile consumables box according to an exemplary embodiment.

[0036] Figure 4 The figure is a side view of a stretchable sterile consumables box according to an exemplary embodiment.

[0037] Figure 5 The figure is a top view of a stretchable sterile consumables box according to an exemplary embodiment.

[0038] Figure 6 The figure is a schematic diagram of the overall structure of a motor connector according to an exemplary embodiment.

[0039] Figure 7 is a front cross-sectional view of a fixed clamping module according to an exemplary embodiment.

[0040] Figure 8 The figure is a schematic structural diagram of a gear disc and a screw disc according to an exemplary embodiment.

[0041] Figure 9 is a cross-sectional view of a gear disc and a screw disc according to an exemplary embodiment.

[0042] Figure 10 is a side view of a connector according to an exemplary embodiment.

[0043] Figure 11 is a front view of a connector according to an exemplary embodiment.

[0044] Figure 12 is a side view of a connector base according to an exemplary embodiment.

[0045] Figure 13 The figure is a front view of a connector base according to an exemplary embodiment.

[0046] Figure 14 The figure is a cross-sectional view showing the connection between a motor connector and a motor according to an exemplary embodiment.

[0047] Figure 15 is a cross-sectional view of a detachable power device according to an exemplary embodiment.

[0048] Description of Reference Numerals

[0049] 1000 Interventional Surgery Robot Consumables Box

[0050] 100 Stretchable Sterile Consumables Box

[0051] 110 housing

[0052] 120 Stretchable Support Frame

[0053] 130 connector

[0054] 140 Fixed clamping module

[0055] 141 First Gear

[0056] 142 Second Gear

[0057] 150 First transmission clamping module

[0058] 151 Clamp

[0059] 160 Second transmission clamping module

[0060] 161 Clamping Platform

[0061] 101 stretch rod

[0062] 1011 inner casing

[0063] 1012 outer casing

[0064] 102 Rotate the slider

[0065] 103 gear plate

[0066] 1031 Opening A

[0067] 1032 opening B

[0068] 104 screw disc

[0069] 1041 Opening C

[0070] 105 Magnetic device

[0071] 106 Third Gear

[0072] 107 Fourth Gear

[0073] 108 Y valve

[0074] 200 Detachable Power Unit

[0075] 210 motor

[0076] 220 motor connector

[0077] 221 connector

[0078] 2211 Conical Structure

[0079] 2212 First Hollow Cylindrical Structure

[0080] 2213 First Ridge

[0081] 2214 slotting

[0082] 222 connector base

[0083] 2221 key

[0084] 223 elastic components

[0085] 230 Fifth Gear

[0086] 240 Sixth Gear DETAILED DESCRIPTION

[0087] The present application is described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but are not intended to limit the present application in any form. It should be noted that those skilled in the art may make several variations and improvements without departing from the scope of the present application. These all fall within the scope of protection of the present application.

[0088] In the description of the embodiments of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0089] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features.

[0090] In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly specified and specifically defined. In the present application, unless otherwise clearly specified and defined, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the internal parts of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0091] In the embodiments of the present application, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to the process, method, product, or apparatus.

[0092] Figure 1 The figure is a schematic diagram of the overall structure of a consumables box for an interventional surgery robot according to an exemplary embodiment. Figure 2It is a schematic structural diagram of a stretchable sterile consumables box according to an exemplary embodiment. Figure 3 The figure is a top cross-sectional view of a stretchable sterile consumables box according to an exemplary embodiment. Figure 4 The figure is a side view of a stretchable sterile consumables box according to an exemplary embodiment. Figure 5 The figure is a top view of a stretchable sterile consumables box according to an exemplary embodiment. Figure 6 The figure is a schematic diagram of the overall structure of a motor connector according to an exemplary embodiment.

[0093] like Figure 1 As shown, the present application provides a consumables box 1000 for an interventional surgical robot, comprising: a stretchable sterile consumables box 100 and a detachable power device 200 .

[0094] The stretchable sterile consumables box 100 is used to insert a guide wire, a balloon catheter, a stent, and a guide catheter during interventional surgery. The detachable power device 200 is used to provide power for the stretchable sterile consumables box 100.

[0095] like Figures 2 to 4 As shown, the stretchable sterile consumables box 100 includes a shell 110, a stretchable support frame 120, a transmission component, and multiple connectors 130. The stretchable support frame 120 is arranged inside the shell 110, and the stretchable support frame 120 and the shell 110 move relative to each other through the transmission component. Multiple connectors 130 are arranged at one end of the shell 110.

[0096] Specifically, the stretchable support frame 120 is arranged on two opposite sides along the length of the bottom surface of the shell 110. The stretchable support frame 120 can be arranged inside the side of the shell 110, or on the inner side of the side of the shell 110, that is, at a position inside the shell 110 close to the side.

[0097] Among them, the stretchable sterile consumables box 100 can adopt an integrated shell 110 structure, which has a compact structure and can be stretched to adapt to surgical instruments of different models and specifications.

[0098] like Figure 2 As shown, the connector 130 is connected to the housing 110 and is disposed at one end of the housing 110 . The connector 130 is used to connect the stretchable sterile consumables box 100 and the detachable power device 200 .

[0099] like Figure 1 、 Figure 6 As shown, the detachable power device 200 includes multiple motors 210 and multiple motor connectors 220. The motors 210 are used to provide driving force. The detachable power device 200 is connected to the stretchable sterile consumables box 100 through multiple motor connectors 220 and multiple connectors 130.

[0100] Among them, the motor 210 includes a motor shaft, and one end of each motor connector 220 is connected to the connector 130 of the stretchable sterile consumable box 100, and the other end is connected to the motor shaft of the motor 210, thereby realizing a quick and accurate connection between the detachable power device 200 and the stretchable sterile consumable box 100.

[0101] Through the above technical solution, a stretchable sterile consumables box 100 is set up, and a stretchable support frame 120 and a shell 110 are used to perform relative movement through a transmission component to realize the stretching of the shell 110, thereby increasing the application stroke. It can be used to clamp a variety of catheters with longer strokes, has a high degree of integration, is widely applicable to a variety of medical devices, and has a simple structure, reduces costs, and reduces the difficulty of operation; a detachable power device 200 is used to provide a power source, and a plurality of motor connectors 220 are used to cooperate with the connector 130 of the stretchable sterile consumables box 100 to quickly connect to the power source, provide driving force, and improve the use efficiency of the consumables box 1000 of the interventional surgical robot, thereby improving work efficiency.

[0102] In a possible embodiment, the transmission component adopts any one of a gear rack transmission structure and a screw transmission structure.

[0103] The transmission components can be driven manually or electrically.

[0104] As an example, the transmission component can adopt a gear rack transmission structure, wherein the gear rack transmission structure includes a gear and a rack, the gear can be set on the shell 110, and the rack can be set on the stretchable support frame 120, the gear and the rack are meshed and connected, the gear rotates, driving the rack to move back and forth, and the stretchable support frame 120 and the shell 110 move relative to each other, thereby achieving stretching of the shell 110 and achieving stretching of the stretchable sterile consumables box 100.

[0105] As another example, the transmission component can adopt a screw transmission structure, wherein the screw transmission structure includes a second screw and a slider, the slider is arranged on the second screw, the slider is connected to the stretchable support frame 120, one end of the second screw is fixed on the shell 110, and the other end of the second screw is connected to the motor 210 of the detachable device 200. When the motor 210 drives the second screw to rotate, it drives the slider to move back and forth, and the stretchable support frame 120 and the shell 110 move relative to each other, thereby realizing the stretching of the shell 110 and the stretching of the stretchable sterile consumables box 100.

[0106] like Figure 2As shown, in a possible embodiment, the stretchable sterile consumables box 100 also includes a plurality of clamping modules, and the plurality of clamping modules include a fixed clamping module 140, a first transmission clamping module 150 and a second transmission clamping module 160. The fixed clamping module 140 is arranged at the other end of the shell 110, and the first transmission clamping module 150 and the second transmission clamping module 160 are arranged inside the shell 110.

[0107] Specifically, the fixed clamping module 140 is disposed on the support frame extension platform at the other end of the shell 110 of the stretchable sterile consumables box 100 .

[0108] The fixed clamping module 140 can be used to clamp a guide catheter, the first transmission clamping module 150 can be used to clamp a guide wire, and the second transmission clamping module 160 can be used to clamp a catheter or a stent.

[0109] The fixed clamping module 140 plays a fixed clamping role, the first transmission clamping module 150 plays a transmission clamping role, and the second transmission clamping module 160 plays a transmission clamping role. When the shell 110 of the stretchable sterile consumables box 100 is stretched, the fixed clamping module 140 is separated from the shell 110, and the first transmission clamping module 150 and the second transmission clamping module 160 can perform linear motion in the shell.

[0110] The fixed clamping module 140 , the first transmission clamping module 150 and the second transmission clamping module 160 can be used alone to implement the clamping function, or can be combined in pairs or in groups of three to implement the clamping function, and are not limited to clamping specific instruments.

[0111] In standard surgical situations, each clamping module can move independently. When an extra-long catheter is used, the first transmission clamping module 150 and the second transmission clamping module 160 are combined to move together.

[0112] like Figure 4 As shown, when the stretchable support frame 120 and the shell 110 move relative to each other through the transmission component, the fixed clamping module 140 is separated from the shell 110, and the distance between the fixed clamping module 140 and the first transmission clamping module 150 and / or the second transmission clamping module 160 is extended or shortened.

[0113] When the shell 110 of the stretchable sterile consumable box 100 is stretched, the length of the application stroke is increased, and the application stroke of the extra-long catheter is longer. By stretching the shell 110 of the stretchable sterile consumable box 100, the extra-long catheter is clamped on the first transmission clamping module 150 and the second transmission clamping module 160 on the stretched consumable box for application.

[0114] Figure 7is a front cross-sectional view of a fixed clamping module according to an exemplary embodiment.

[0115] like Figure 7 As shown, the fixed clamping module 140 includes a first gear 141 and a second gear 142. The second gear 142 is arranged above the first gear 141, and the second gear 142 is meshed and connected with the first gear 141. The second gear 142 is sleeved on the sleeve of the Y valve 108, and the sleeve of the Y valve 108 is used to connect with the catheter.

[0116] like Figure 3 As shown, in a possible embodiment, the stretchable sterile consumable box 100 also includes a stretching rod 101, and the stretching rod 101 includes an inner sleeve 1011 and an outer sleeve 1012. The outer sleeve 1012 is sleeved on the outside of the inner sleeve 1011, and the inner sleeve 1011 and the outer sleeve 1012 can slide back and forth relative to each other. One end of the inner sleeve 1011 is connected to the first gear 141, and the other end of the inner sleeve 1011 is connected to one end of the outer sleeve 1012, and the other end of the outer sleeve 1012 is connected to the motor 210 of the detachable power device 200.

[0117] The inner sleeve 1011 may be in any of the following shapes: polygonal, D-shaped, or rod-shaped structures with concave and convex keys on the surface; and the outer sleeve 1012 may be in a tubular structure that matches the inner sleeve 1011 .

[0118] When the stretchable sterile consumables box 100 is stretched or contracted, the stretchable support frame 120 and the shell 110 move relative to each other through the transmission component, and the inner sleeve 1011 and the outer sleeve 1012 of the stretch rod 101 slide back and forth relative to each other, thereby achieving the extension or shortening of the stretch rod 101.

[0119] The outer sleeve 1012 slides and stretches relative to the inner sleeve 1011 , and the stretching rod 101 stretches accordingly.

[0120] Specifically, when the stretchable sterile consumables box 100 is stretched or contracted, the motor 210 of the detachable power device 200 drives the outer sleeve 1012 to rotate, and the outer sleeve 1012 drives the inner sleeve 1011 to rotate, thereby driving the rotation of the first gear 141. Then the first gear 141 drives the second gear 142 to rotate, and finally drives the sleeve of the Y valve 108 and the guide catheter connected to the sleeve of the Y valve 108 to rotate.

[0121] By providing the stretchable sterile consumable box 100 with a stretching rod 101 including an inner sleeve 1011 and an outer sleeve 1012, it can be applied to ultra-long blood vessels, further improving the integration of the stretchable sterile consumable box 100 and being widely applicable to various medical devices.

[0122] Figure 8 The figure is a schematic structural diagram of a gear disc and a screw disc according to an exemplary embodiment. Figure 9 is a cross-sectional view of a gear disc and a screw disc according to an exemplary embodiment.

[0123] like Figure 3 、 Figure 8 、 Figure 9 As shown, in a possible embodiment, the first transmission clamping module 150 and the second transmission clamping module 160 respectively include a rotating slide rod 102, a first screw rod, a gear plate 103 and a screw plate 104, and a magnetic device 105 is respectively provided inside the gear plate 103 and the screw plate 104, and the gear plate 103 and the screw plate 104 are magnetically connected through the magnetic device 105.

[0124] The first transmission clamping module 150 includes a gear plate 103 , a screw plate 104 , a first screw and a rotating slide 102 ; the second transmission clamping module 160 also includes a gear plate 103 , a screw plate 104 , a first screw and a rotating slide 102 .

[0125] The gear plate 103 and the screw plate 104 are detachable structures, and can be connected or separated by magnetic devices 105 respectively provided in the gear plate 103 and the screw plate 104 .

[0126] When the gear plate 103 of the first transmission clamping module 150 is magnetically connected to the screw plate 104 , the screw plate 104 drives the gear plate 103 to perform linear motion together.

[0127] When the gear plate 103 of the first transmission clamping module 150 is separated from the screw plate 104, the gear plate 103 of the first transmission clamping module 150 can also be magnetically connected to the screw plate 104 of the second transmission clamping module 160, and the screw plate 104 of the second transmission clamping module 160 drives the gear plate 103 of the first transmission clamping module 150 to perform linear motion together.

[0128] The rotating slide bar 102 is a polygonal shape, a D-shaped shape, or a rotating slide bar with concave and convex keys on the surface. The rotating slide bar 102 has a rotating function.

[0129] One end of the rotating slide bar 102 is fixed to the housing 110 , and the other end of the rotating slide bar 102 is connected to the motor 210 of the detachable power device 200 .

[0130] The first screw rod is provided with a screw rod slider.

[0131] The gear plate 103 is provided with an opening A1031 and an opening B1032. The opening B1032 is used to pass the rotating slide 102. The screw plate 104 is provided with an opening C1041. The opening C1041 is used to pass the first screw. The screw slider on the first screw is fixed on the screw plate 104. The first screw, the screw slider and the screw plate 104 are used to drive the gear plate 103 to move forward and backward.

[0132] One end of the first screw rod is fixed to the housing 110 , and the other end of the first screw rod is connected to the motor 210 of the detachable power device 200 ;

[0133] As an example, when the first screw rotates, the screw slider provided on the first screw drives the screw disk 104 to perform linear motion on the first screw, that is, forward or backward.

[0134] In a possible embodiment, the gear plates 103 of the first transmission clamping module 150 and the second transmission clamping module 160 include gear plates A and gear plates B, respectively. Gear plates A and gear plates B are meshed with each other, and both gear plates A and gear plates B are provided with openings A1031 and B1032.

[0135] Among them, the gear plate A and the gear plate B are symmetrical to each other, and the opening A1031 and the opening B1032 are both provided with limiting ridges.

[0136] The first transmission clamping module 150 and the second transmission clamping module 160 also include a third gear 106 and a fourth gear 107, respectively. The third gear 106 is arranged between the gear plate A and the gear plate B and is fixed on the opening A1031. The gear plate A and the gear plate B are used to limit the third gear 106. The fourth gear 107 is arranged between the gear plate A and the gear plate B and is fixed on the opening B1032. The gear plate A and the gear plate B are also used to limit the fourth gear 107. The third gear 106 and the fourth gear 107 are meshed and connected.

[0137] The central opening of the fourth gear 107 is meshed with the rotating slide bar 102 , and the rotating slide bar 102 passes through the central opening of the fourth gear 107 .

[0138] When the rotating slide bar 102 rotates, the fourth gear 107 is driven to rotate, thereby driving the third gear 106 to rotate.

[0139] The gear plate A and the gear plate B are put together, and the limiting ridges provided on the opening A 1031 and the opening B 1032 of the gear plate A and the gear plate B limit the third gear 106 and the fourth gear 107 .

[0140] like Figure 2As shown, in a possible embodiment, the first transmission clamping module 150 further includes a clamp 151 , which is fixed on the third gear 106 of the first transmission clamping module 150 , and is used to clamp a guide wire or a catheter.

[0141] During the application of the first transmission clamping module 150 , the guide wire is inserted into the clamp 151 and then embedded into the slot 2214 of the third gear 106 .

[0142] like Figure 2 As shown, in a possible embodiment, the second transmission clamping module 160 also includes a clamping platform 161. The clamping platform 161 adopts a concave structure clamping platform or a card structure. The clamping platform 161 is arranged on the third gear 106 of the second transmission clamping module 160. The clamping platform 161 is used to clamp the catheter or the bracket.

[0143] As an example, when the clamping platform 161 adopts a concave structure clamping platform, a groove is provided in the middle part of the concave structure clamping platform, and a fixing nut is provided on one side of the concave structure clamping platform. The catheter or bracket is placed in the groove, and the fixing nut is rotated to fix the catheter or bracket.

[0144] As another example, when the clamping platform 161 adopts a card-type structure clamping platform, the card-type structure clamping platform includes a first clamping platform and a second clamping platform, the first clamping platform is arranged above the second clamping platform, the first clamping platform and the second clamping platform can be separated and opened, and a catheter or a stent is placed between the first clamping platform and the second clamping platform, and the first clamping platform and the second clamping platform are fitted together to clamp the catheter or the stent.

[0145] The first clamping platform and the second clamping platform can be fixed together by parallel pressing, or a hinge is provided on the same side of the first clamping platform and the second clamping platform, and the first clamping platform and the second clamping platform are fixed together by hinge connection.

[0146] During application, if the card-type structure clamping platform is fixed by parallel compression, you can take the first clamping platform, and place the catheter or stent on the second clamping platform, and press the first clamping platform cover on the second clamping platform to fit and fix the first clamping platform and the second clamping platform, and clamp the catheter or stent.

[0147] During application, if the card-type structure clamping platform is fixed by a hinge connection, the first clamping platform is rotated in the first direction to open, the catheter or stent is placed on the second clamping platform, and then the first clamping platform is rotated in the second direction to close, and the first clamping platform is covered on the second clamping platform. The first clamping platform and the second clamping platform are fixed and clamped.

[0148] In the clamping platform of the card-type structure, a buckle can be further provided between the first clamping platform and the second clamping platform to lock the first clamping platform and the second clamping platform, thereby improving the stability of the clamping platform of the card-type clamping structure.

[0149] In a possible embodiment, when the fixed clamping module 140, the first transmission clamping module 150, and the second transmission clamping module 160 of the stretchable sterile consumable box 100 are used to perform a clamping operation, the specific clamping process is as follows:

[0150] Y-valve 108 is placed on fixed clamping module 140. The cannula of Y-valve 108 is connected to a guide catheter and inserted into the patient's body. Surgical instruments are clamped using first transmission clamping module 150 or second transmission clamping module 160. The instruments are then inserted through the hole in Y-valve 108 into the guide catheter and then into the patient's surgical site, such as the coronary arteries. If first transmission clamping module 150 is used, clamp 151 clamps and compresses the guidewire. If second transmission clamping module 160 is used, the clamping platform clamps and compresses the guidewire or catheter stent.

[0151] During actual operation, the consumables box 1000 of an interventional surgical robot is placed in such a direction that the stretchable sterile consumables box 100 is closer to the patient and the detachable power device 200 is closer to the doctor, that is, the fixed clamping module 140 is close to the patient's wound and the second transmission clamping module 160 is close to the doctor.

[0152] like Figure 6 As shown, in a possible embodiment, the motor connector 220 of the detachable power device 200 includes a connector 221 , a connector base 222 and an elastic component 223 .

[0153] The motor connector 220 may be a magnetic connector or a mechanical connector.

[0154] As an example, if the motor connector 220 of the detachable power device 200 adopts a magnetic connector, the connector 130 set at one end of the shell 110 of the stretchable sterile consumable box 100 also adopts a magnetic connector, then the magnetic connector on the detachable power device 200 and the magnetic connector on the stretchable sterile consumable box 100 are connected, thereby realizing the connection between the detachable power device 200 and the stretchable sterile consumable box 100.

[0155] As another example, if the motor connector 220 of the detachable power device 200 adopts a mechanical connector, the connector 130 set at one end of the shell 110 of the stretchable sterile consumable box 100 also adopts a mechanical connector, and the mechanical connector on the detachable power device 200 and the mechanical connector on the stretchable sterile consumable box 100 are connected, thereby realizing the connection between the detachable power device 200 and the stretchable sterile consumable box 100.

[0156] This application takes the motor connector 220 as an example of a mechanical connector.

[0157] Figure 10 is a side view of a connector according to an exemplary embodiment. Figure 11 is a front view of a connector according to an exemplary embodiment.

[0158] like Figure 10 、 Figure 11 As shown, the connector 221 includes a conical structure 2211 and a first hollow cylindrical structure 2212. A plurality of first ridges 2213 are provided on the outer surface of the conical structure 2211, a plurality of grooves 2214 are provided on the side wall of the first hollow cylindrical structure 2212, and the circular bottom of the conical structure 2211 is connected to one end of the first hollow cylindrical structure 2212.

[0159] One end of the first ridge 2213 is located at the vertex of the conical structure 2211, and the other end of the first ridge 2213 is located at the edge of the circular bottom surface of the conical structure 2211. The number of first ridges 2213 can include three or more pairs. The first hollow cylindrical structure 2212 can have four slots 2214, and the four slots 2214 are symmetrically arranged.

[0160] Figure 12 is a side view of a connector base according to an exemplary embodiment. Figure 13 The figure is a front view of a connector base according to an exemplary embodiment. Figure 14 The figure is a cross-sectional view showing the connection between a motor connector and a motor according to an exemplary embodiment.

[0161] like Figures 12 to 14 As shown, a plurality of keys 2221 are provided on the outer wall of the connector base 222, one end of the connector base 222 is inserted into the first hollow cylindrical structure 2212, each key 2221 on the outer wall of the connector base 222 is embedded in each slot 2214 on the side wall of the first hollow cylindrical structure 2212, and the other end of the connector base 222 is connected to the motor shaft of the motor 210 of the detachable power device 200.

[0162] The connector base 222 adopts a second hollow cylindrical structure, and the second hollow cylindrical structure is sleeved on the motor shaft of the motor 210 .

[0163] The number of the keys 2221 can be set to four. The connector 221 is sleeved on the connector base 222 , and the connector 221 and the connector base 222 are fixed radially.

[0164] The motor connector 220 also includes an elastic component 223, which is arranged inside the connector base 222. When the first hollow cylindrical structure 2212 is connected to the connector base 222, the elastic component 223 is compressed between the first hollow cylindrical structure 2212 and the connector base 222. The elastic component 223 is used to connect the connector 221 and the connector base 222.

[0165] The elastic force generated by the elastic component 223 can make the connection between the connector 130 and the motor connector 220 tighter.

[0166] Figure 15 is a cross-sectional view of a detachable power device according to an exemplary embodiment.

[0167] like Figure 15 As shown, in a possible embodiment, the detachable power device 200 includes a plurality of fifth gears 230 and a sixth gear 240, each fifth gear 230 is arranged on each motor connector 220, and the sixth gear 240 is sleeved on the outer ring of the plurality of fifth gears 230, and each fifth gear 230 is meshed and connected with the sixth gear 240.

[0168] The fifth gear 230 and the sixth gear 240 cooperate to assemble the motor connector 220 and the connector 130 .

[0169] As an example, when the fifth gear 230 rotates, it can drive all the sixth gears 240 to rotate, and then drive all the motor connectors 220 to rotate, thereby accelerating the connection between the motor connectors 220 and the connector 130.

[0170] Specifically, when the detachable power device 200 is connected to the stretchable sterile consumable box 100, that is, when the motor connector 220 and the connector 130 are assembled, the sixth gear 240 is rotated, and each fifth gear 230 rotates accordingly, thereby realizing a quick connection between the detachable power device 200 and the stretchable sterile consumable box 100. After the connection between the motor connector 220 and the connector 130 is completed, the sixth gear 240 is slid in the direction of the detachable power device 200 relative to the stretchable sterile consumable box 100 to remove the sixth gear 240, thereby completing the assembly of the detachable power device 200 and the stretchable sterile consumable box 100.

[0171] In a possible embodiment, a consumable box 1000 of an interventional surgical robot provided in the present application is used to assist in the application of an extra-long catheter, and two clamping modules simultaneously perform linear motion inside the shell 110, and the outer tube structure of the extra-long catheter moves back and forth relative to the inner tube structure.

[0172] The above describes the specific embodiments of the present application. It should be understood that the present application is not limited to the specific embodiments described above, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the substantive content of the present application. The above preferred features may be used in any combination as long as they do not conflict with each other.

Claims

1. A consumables box for an interventional surgical robot, characterized in that: include: Stretchable sterile consumables box and detachable power unit; The stretchable sterile consumables box includes a shell, a stretchable support frame, a transmission component, and a plurality of connectors. The stretchable support frame is arranged inside the shell, the stretchable support frame and the shell move relative to each other through the transmission component, and the plurality of connectors are arranged at one end of the shell. The detachable power device includes multiple motors and multiple motor connectors, and the motors are used to provide driving force. The detachable power device is connected to the stretchable sterile consumables box through the multiple motor connectors and the multiple connectors.

2. The consumables box for the interventional surgery robot according to claim 1, characterized in that: The transmission component adopts any one of a gear rack transmission structure and a screw transmission structure.

3. The consumables box for the interventional surgery robot according to claim 1, characterized in that: The stretchable sterile consumables box also includes multiple clamping modules, which include a fixed clamping module, a first transmission clamping module and a second transmission clamping module. The fixed clamping module is arranged at the other end of the shell, and the first transmission clamping module and the second transmission clamping module are arranged inside the shell.

4. The consumables box for the interventional surgery robot according to claim 3, characterized in that: When the stretchable support frame and the shell move relative to each other through the transmission component, the fixed clamping module is separated from the shell, and the distance between the fixed clamping module and the first transmission clamping module and / or the second transmission clamping module is extended or shortened.

5. The consumables box for the interventional surgery robot according to claim 3, characterized in that: The fixed clamping module includes a first gear and a second gear. The second gear is arranged above the first gear and is meshed with the first gear. The second gear is sleeved on the sleeve of the Y valve, and the sleeve of the Y valve is used to connect with the catheter.

6. The consumables box for the interventional surgery robot according to claim 5, characterized in that: The stretchable sterile consumables box includes a stretching rod, which includes an inner sleeve and an outer sleeve. The outer sleeve is sleeved on the outside of the inner sleeve. The inner sleeve and the outer sleeve can slide back and forth relative to each other. One end of the inner sleeve is connected to the first gear, the other end of the inner sleeve is connected to one end of the outer sleeve, and the other end of the outer sleeve is connected to the motor of the detachable power device.

7. The consumables box for the interventional surgery robot according to claim 6, characterized in that: The inner sleeve adopts any one of polygonal, D-shaped, and rod-shaped structures with concave or convex keys, and the outer sleeve adopts a tubular structure that fits the inner sleeve.

8. The consumables box for the interventional surgery robot according to claim 3, characterized in that: The first transmission clamping module and the second transmission clamping module respectively include a rotating slide rod, a first screw rod, a gear plate and a screw plate, and the gear plate and the screw plate are respectively provided with a magnetic device inside, and the gear plate and the screw plate are magnetically connected through the magnetic device; The rotating slide bar adopts any one of polygonal, D-shaped, and rod-shaped structures with concave or convex keys; The first screw rod is provided with a screw rod slider; The gear plate is provided with an opening A and an opening B, the opening B is used to pass the rotating slide rod, the screw plate is provided with an opening C, the opening C is used to pass the first screw rod, the screw slider on the first screw rod is fixed on the screw plate, and the first screw rod, the screw slider and the screw plate are used to drive the gear plate to move forward and backward.

9. The consumables box for the interventional surgery robot according to claim 8, characterized in that: The gear plates of the first transmission clamping module and the second transmission clamping module respectively include a gear plate A and a gear plate B, the gear plate A and the gear plate B are meshed with each other, and the gear plate A and the gear plate B are both provided with the opening A and the opening B; The first transmission clamping module and the second transmission clamping module further include a third gear and a fourth gear, respectively. The third gear is disposed between the gear plate A and the gear plate B and fixed on the opening A. The gear plate A and the gear plate B are used to limit the third gear. The fourth gear is disposed between the gear plate A and the gear plate B and fixed on the opening B. The gear plate A and the gear plate B are also used to limit the fourth gear. The gear center opening of the fourth gear is meshed and connected with the rotating slide rod, and the rotating slide rod passes through the gear center opening of the fourth gear.

10. The consumables box for the interventional surgery robot according to claim 9, characterized in that: The first transmission clamping module further includes a clamper, which is fixed on the third gear of the first transmission clamping module and is used to clamp a guide wire or a catheter.

11. The consumables box for the interventional surgery robot according to claim 9, characterized in that: The second transmission clamping module further includes a clamping platform, which is a concave structure clamping platform or a card structure clamping platform. The clamping platform is arranged on the third gear of the second transmission clamping module and is used to clamp a guide wire or a catheter.

12. The consumables box for the interventional surgery robot according to claim 1, characterized in that: The motor connector includes a conical structure and a first hollow cylindrical structure, wherein a plurality of first ridges are provided on the outer surface of the conical structure, a plurality of grooves are provided on the sidewall of the first hollow cylindrical structure, and a circular bottom of the conical structure is connected to one end of the first hollow cylindrical structure; The motor connector further comprises a connector base, wherein a plurality of keys are provided on an outer wall of the connector base, one end of the connector base is inserted into the interior of the first hollow cylindrical structure, and each of the keys on the outer wall of the connector base is engaged with each of the slots on the side wall of the first hollow cylindrical structure, and the other end of the connector base is connected to the motor shaft of the motor of the detachable power device; The motor connector also includes an elastic component, which is arranged inside the connector base. When the first hollow cylindrical structure is connected to the connector base, the elastic component is compressed between the first hollow cylindrical structure and the connector base. The elastic component is used to connect the connector and the connector base.

13. The consumables box for the interventional surgery robot according to claim 11, characterized in that: The detachable power device includes multiple fifth gears and one sixth gear, each of the fifth gears is arranged on each of the motor connecting heads, and the sixth gear is sleeved on the outer ring of the multiple fifth gears, and each of the fifth gears is meshed and connected with the sixth gear.

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