Long and straight interventional consumable adaptive to vascular interventional surgical robot and surgical robot

Abstract

The long and straight intervention consumable comprises a consumable body, the consumable body is of a long and thin structure, and the surface of the consumable body is provided with a delivery tooth structure extending in the length direction of the consumable body; the delivery tooth structure is used for being meshed and matched with a first driving gear arranged on the vascular surgery robot, so that driving force applied to the consumable body by the first driving gear is thrust in the length direction, and therefore when the long and straight intervention consumable is delivered to the far-end position in a blood vessel, the far-end resistance of the blood vessel can be overcome, and slipping is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a long and straight interventional consumable adapted to a vascular interventional surgery robot and a surgical robot. BACKGROUND

[0002] At present, the vascular interventional surgery is mostly manually operated by doctors. During the surgery, the doctor needs to manually deliver the long and straight interventional consumable (such as a guide wire, a catheter, a stent push rod, etc.) to the required position in the blood vessel bit by bit. However, the manual operation is low in efficiency, highly dependent on the experience of the doctor, and prone to the problem of not being delivered to the right position.

[0003] Therefore, the related art has a vascular interventional surgery robot that replaces the doctor to perform the vascular interventional surgery. The vascular interventional surgery robot includes a driving device for controlling the linear movement and / or rotation of the long and straight interventional consumable. The driving device is at least provided. During the surgery, the doctor controls the at least one driving device to realize the linear movement and / or rotation of the long and straight interventional consumable, until the long and straight interventional consumable is displaced to the target position in the blood vessel. Compared with the manual operation of the doctor, the vascular interventional surgery robot can reduce the dependence on the experience of the doctor, and can improve the control accuracy of the consumable, thereby improving the efficiency of the surgery.

[0004] However, the related art still has defects in actual use. In the related art, the driving device of the vascular interventional surgery robot is mostly a flat type or a roller type clamping device. When in use, the flat type or the roller type clamping device clamps the consumable and applies a positive pressure to the consumable to drive the consumable to move forward or backward by using the friction force generated by the positive pressure. However, since the surface of the consumable is smooth all over, when the positive pressure applied by the clamping device to the consumable is too large, the driving loss will increase and the transmission efficiency will decrease. When the positive pressure applied by the clamping device to the consumable is too small, the consumable will slip because of the large resistance at the distal end of the blood vessel, the reliability will be poor, and the control accuracy will be reduced. Especially when the consumable is delivered to the vicinity of the required position (such as the lesion position) at the distal end of the blood vessel, the resistance on the consumable body is usually the largest. The consumable clamped by the flat type or the roller type clamping device is prone to slip, which makes it difficult for the consumable to quickly and accurately reach the required position in the blood vessel. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a long and straight interventional consumable adapted to a vascular interventional surgery robot to solve the problem of low transmission efficiency or easy slippage of the flat type or the roller type driving device when driving the long and straight interventional consumable to move in the related art.

[0006] To achieve the above purpose, the first aspect of the present application provides a long and straight interventional consumable adapted to a vascular interventional surgery robot, comprising:

[0007] The consumable body is of an elongated structure, and a surface of the consumable body is provided with a delivery tooth structure extending along a length direction thereof, the delivery tooth structure being configured to engage with a first driving gear provided on a vascular surgery robot, so that a driving force applied to the consumable body by the first driving gear is a pushing force along the length direction.

[0008] Optionally, the consumable body includes a head section, a middle section and a tail section along the length direction thereof, the head section and the middle section being allowed to enter a blood vessel in a vascular intervention surgery, and the tail section being configured to engage with the first driving gear but not to enter the blood vessel in the vascular intervention surgery, and the delivery tooth structure is provided on a surface of the tail section.

[0009] Optionally, a surface of the middle section is also provided with the delivery tooth structure; the delivery tooth structure of the middle section covers the surface of the middle section entirely or partially along the length direction; and / or, the delivery tooth structure of the middle section is connected integrally or discontinuously with the delivery tooth structure of the tail section.

[0010] Optionally, an outer diameter of the tail section is greater than an outer diameter of the middle section, or the outer diameters of the middle section and the tail section are both greater than an outer diameter of the head section, and the outer diameters gradually increase from a starting end of the middle section to an ending end of the tail section along a direction from the head section to the tail section; and / or,

[0011] The hardness of the tail section is greater than the hardness of the middle section, or the hardness of the middle section and the tail section is consistent and both greater than the hardness of the head section, or the hardness of the head section, the middle section and the tail section increases in turn.

[0012] Optionally, the delivery tooth structure extends along a circumferential direction of the surface of the consumable body.

[0013] Optionally, the surface of the consumable body is shaped to form the delivery tooth structure; or, an outer side of the surface of the consumable body is provided with a first fixing member, and the delivery tooth structure is shaped on a surface of the first fixing member.

[0014] Optionally, the surface of the consumable body is further provided with a rotation tooth structure arranged along a circumferential direction thereof, the rotation tooth structure being configured to engage with a second driving gear provided on the vascular surgery robot, so that the consumable body can rotate under a pushing force of the second driving gear.

[0015] Optionally, the surface of the consumable body is shaped to form the rotation tooth structure; or, an outer side of the surface of the consumable body is provided with a second fixing member, and the rotation tooth structure is shaped on a surface of the second fixing member, the second fixing member being an integral structure with the consumable body or being detachably connected with the consumable body.

[0016] Optionally, the length ratio of the head soft section, the middle section and the tail section along the length direction is 4:6-5:5-6; and / or, the length of the consumable body along the length direction is 136-150 cm.

[0017] Optionally, the long straight interventional consumable is a consumable stent or a guidewire or a balloon or a protection umbrella.

[0018] The second aspect of the present application provides a vascular interventional surgery robot, which comprises a robot body and a first driving device arranged on the robot body, wherein the first driving device comprises a first driving gear, and the first driving gear is used to form meshing cooperation with the delivery tooth structure of the long straight interventional consumable provided by the first aspect of the present application, so that the driving force applied by the first driving gear to the consumable body is a pushing force along the length direction of the consumable body.

[0019] The long straight interventional consumable suitable for the vascular interventional surgery robot provided by the present application is improved by adding the non-smooth surface structure of the delivery tooth structure to the smooth consumable body, and the delivery tooth structure forms meshing cooperation with the first driving gear of the vascular surgery robot, so that the cooperation between the consumable body and the driving device is improved from friction cooperation to pushing force cooperation along the length direction. This makes the driving force applied by the driving device act on the consumable body entirely or mostly, reduces the driving force loss of the driving device, and improves the transmission efficiency of the driving device.

[0020] The second aspect, because the driving force loss of the driving device is reduced, under the same power, the driving device can apply a greater driving force to the consumable body, so that when the consumable body is subjected to a greater resistance at the distal end of the blood vessel, the driving device can also apply sufficient driving force to resist the resistance to avoid the consumable body from slipping, thereby facilitating accurate control of the linear movement of the consumable, especially when the consumable body is displaced to the vicinity of the required position (such as the lesion position) at the farthest end of the blood vessel (at this time, the internal resistance of the blood vessel to the consumable body is usually the largest), the effect of accurate control of the linear movement of the consumable is remarkable, and the consumable can quickly and accurately reach the required position.

[0021] The third aspect, because the driving force applied by the driving device can act on the consumable body entirely or mostly, it is beneficial to accurately and timely collect the resistance data of the consumable body in the blood vessel, and provide effective support for the force feedback function of the vascular interventional surgery robot.

[0022] The fourth aspect, the consumable body is provided with the delivery tooth structure on the surface, which can also enhance the strength of the consumable body, so that the consumable body is not easy to deform when cooperating with the driving device, and the directivity (the accuracy in direction control) of the consumable during linear displacement is improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the specific embodiments or the prior art of the present application, the drawings required to be used in the description of the specific embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0024] Figure 1 A structural schematic diagram of a long straight interventional consumable in the related art is shown;

[0025] Figure 2 An assembly schematic diagram of a long straight interventional consumable and a driving device of a vascular interventional surgery robot in the related art is shown;

[0026] Figure 3 A structural schematic diagram of a long straight interventional consumable provided by an embodiment of the present application is shown;

[0027] Figure 4 A structural schematic diagram of another long straight interventional consumable provided by an embodiment of the present application is shown;

[0028] Figure 5 An enlarged view of the meshing cooperation between the delivery tooth structure and the first driving gear is shown;

[0029] Figure 6 A structural schematic diagram of a long straight interventional consumable provided by an embodiment of the present application is shown;

[0030] Figure 7 A structural schematic diagram of a long straight interventional consumable provided by an embodiment of the present application is shown;

[0031] Figure 8 A structural schematic diagram of a long straight interventional consumable provided by an embodiment of the present application is shown;

[0032] Figure 9 A front view and a sectional view along the A-A direction of a long straight interventional consumable with a rotating tooth structure provided by an embodiment of the present application are shown;

[0033] Figure 10 A structural schematic diagram of a long straight interventional consumable with a rotating tooth structure provided by an embodiment of the present application is shown; Figure 9 An exploded view of a long straight interventional consumable with a rotating tooth structure is shown;

[0034] Figure 11 A front view of a robot body of a vascular interventional surgery robot provided by an embodiment of the present application, which is assembled with a long straight interventional consumable, is shown;

[0035] Figure 12 A top view of a robot body of a vascular interventional surgery robot provided by an embodiment of the present application, which is assembled with a long straight interventional consumable, is shown.

[0036] BRIEF DESCRIPTION OF DRAWINGS

[0037] 1. long straight interventional consumable; 11. consumable body; 12. delivery tooth structure; 13. rotating tooth structure; 131. rotating sleeve; 132. key; 133. first key groove; 132. second key groove; 14. head section; 15. middle section; 16. tail section;

[0038] 2. robot body; 21. first driving device; 211. first driving gear; 23. roller type clamping device; 231. driving roller. DETAILED DESCRIPTION

[0039] The technical solutions of the present application will be described clearly and completely below in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0040] In the description of the present application, it should be noted that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0041] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0042] In addition, the technical features involved in different embodiments of the present application described below can be combined with each other as long as there is no conflict between them.

[0043] The long straight interventional consumable 1 is a consumable suitable for vascular interventional surgery. Vascular interventional surgery is a minimally invasive treatment using modern high-tech means, which is a minimally invasive surgery under the guidance of medical imaging equipment, and a specially designed catheter, guide wire and other precise long straight interventional consumables 1 are introduced into the human body blood vessels to diagnose and locally treat the lesions in the blood vessels.

[0044] At present, vascular interventional surgery is mostly manually operated by doctors. During the operation, the doctor needs to manually deliver the long straight interventional consumable 1 (which can be a guide wire, a catheter, a stent push rod, etc. according to actual needs) to the required position (such as the lesion position) in the blood vessel little by little. However, manual operation is low in efficiency, highly dependent on the experience of doctors, and prone to problems of not being delivered to the right position.

[0045] To this end, the related art has emerged a vascular interventional surgery robot for replacing a doctor to perform a vascular interventional surgery, the vascular interventional surgery robot comprising a driving device for controlling linear movement and / or rotation of a long straight interventional consumable 1, the driving device being provided at least one, during surgery, linear delivery and / or rotation of the long straight interventional consumable 1 is realized through the at least one driving device, until the long straight interventional consumable 1 is displaced to a target position in the blood vessel. The vascular interventional surgery robot improves the surgical efficiency of the vascular interventional surgery and reduces the degree of dependence on the experience of the doctor.

[0046] Figure 1 is a structural schematic view of a long straight interventional consumable 1 in the related art; Figure 2 is a schematic view of a driving device of a vascular interventional surgery robot in the related art and Figure 1 is a schematic view of cooperation of the long straight interventional consumable 1 shown in the figure.

[0047] However, the related art still has defects in actual use. In the related art, the driving device of the vascular interventional surgery robot is mostly a flat type or roller type clamping device 23, when in use, the flat type or roller type clamping device clamps the consumable and applies a positive pressure to the consumable, and drives the consumable to advance or retreat by using the friction force generated by the positive pressure. Taking the roller type clamping device 23 as an example, as shown in Figure 2 , the roller type clamping device 23 comprises at least one pair of driving rollers 231, the long straight interventional consumable 1 is clamped between the driving rollers 231, and the driving rollers 231 apply a positive pressure to the consumable body 11. However, since the surface of the consumable is smooth, when the positive pressure applied by the clamping device to the consumable body is too large, the driving loss will increase and the transmission efficiency will decrease; and when the positive pressure applied by the clamping device to the consumable body is too small, the consumable will slip because of a large resistance at the distal end in the blood vessel, the reliability will be poor, the control accuracy will be reduced, and especially when the consumable is delivered to the vicinity of the required position (for example, the lesion position) at the distal end in the blood vessel, at this time, the resistance on the consumable is usually the largest, and the consumable clamped by the driving roller is prone to slip, which causes the consumable body 11 to be difficult to quickly and accurately reach the required position (for example, the lesion position) in the blood vessel.

[0048] The flat type clamping device also has the above problems.

[0049] Therefore, the present application provides a long straight interventional consumable 1 and a vascular interventional surgery robot adapted to the vascular interventional surgery robot to solve or reduce the above defects.

[0050] In the following, the embodiments of the present application will be introduced in combination with the drawings.

[0051] Embodiment 1

[0052] Figure 3 shows a structural schematic view of a long straight interventional consumable 1 provided by the present embodiment; Figure 4Another structure diagram of the long straight interventional consumable 1 provided by the embodiment is shown. As shown in Figure 3 and Figure 4 A long straight interventional consumable 1, including a consumable body 11 in an elongated structure, the surface of the consumable body 11 is provided with a delivery tooth structure 12 extending along the length direction thereof, the delivery tooth structure 12 is used for meshing with a first driving gear 211 of a vascular surgery robot, so that the driving force applied to the consumable body 11 by the first driving gear 211 is a pushing force along the length direction.

[0053] As shown in Figure 5 An enlarged view of the meshing of the delivery tooth structure 12 and the first driving gear 211 is shown.

[0054] Compared with the prior art, the long straight interventional consumable 1 of the embodiment, in the first aspect, the consumable body 11 with a smooth surface is improved to a non-smooth surface structure with the delivery tooth structure 12 added, and the delivery tooth structure 12 is meshed with the first driving gear 211 of the vascular surgery robot, so that the cooperation between the consumable body 11 and the driving device is improved from friction fit to pushing fit along the length direction, which makes the driving force applied by the driving device be able to act on the consumable body 11 entirely or mostly, reduces the driving force loss of the driving device, and improves the driving efficiency of the driving device; in the second aspect, due to the reduction of the driving force loss of the driving device, under the same power, the driving device can apply a greater driving force to the consumable body 11, so that when the consumable body 11 is subjected to a greater resistance at the distal end of the blood vessel, the driving device can also apply sufficient driving force to resist the resistance to avoid the consumable body 11 from slipping, thereby facilitating the accurate control of the linear movement of the consumable, especially when the consumable body 11 is displaced to the vicinity of the required position (such as the lesion position) at the farthest end in the blood vessel (at this time, the internal resistance of the consumable body 11 in the blood vessel is usually the largest), the accurate control effect of the linear movement of the consumable is remarkable, and the consumable can quickly and accurately reach the required position; in the third aspect, since the driving force applied by the driving device can act on the consumable body 11 entirely or mostly, it is beneficial to accurately and timely collect the resistance data of the consumable body 11 in the blood vessel, and provides effective support for the force feedback function of the vascular interventional surgery robot; in the fourth aspect, the surface of the consumable body 11 is additionally provided with the delivery tooth structure 12, which can also enhance the strength of the consumable body 11, so that the consumable body 11 is not easy to deform when cooperating with the driving device, and the directivity (directivity refers to the accuracy in direction control) of the consumable in linear displacement is improved.

[0055] Further, the consumable body 11 includes a head section 14, a middle section 15 and a tail section 16 along the length direction thereof.

[0056] In this article, “head segment 14” and “middle segment 15” refer to the parts that are allowed to enter the blood vessel during vascular interventional surgery; “tail segment 16” refers to the parts that need to cooperate with the vascular interventional surgery robot (i.e., are driven by the drive device of the vascular interventional surgery robot) but are not allowed to enter the blood vessel during vascular interventional surgery.

[0057] When the vascular surgery robot performs vascular interventional surgery, the drive device first drives the middle section 15 of the consumable body 11 to make the consumable body 11 linearly displace and / or rotate along a preset path. When the consumable body 11 is displaced to the vicinity of the required position in the blood vessel (e.g., the lesion location), the part that cooperates with the drive device is the tail section 16. At this time, the intravascular resistance experienced by the consumable body 11 is usually the greatest. Therefore, in some embodiments, the surface of the tail section 16 is provided with a delivery tooth structure 12, so that the first drive gear 211 of the drive device can apply sufficient thrust to the tail section 16 to resist the intravascular resistance, thereby enabling the consumable body 11 to quickly and accurately reach the required position (e.g., the lesion location).

[0058] It should be noted that this embodiment does not limit the length of the delivery tooth structure 12 along the length direction on the tail section 16, and the delivery tooth structure 12 can be as follows: Figure 3 The example can be distributed along the entire length of the tail segment 16, or it can only cover a part of the tail segment 16, as long as the first drive gear 211 can mesh with the tail segment 16 near the required position in the blood vessel.

[0059] Furthermore, considering the risk of slippage during the "intermediate phase" of vascular interventional surgery, i.e., when the drive device engages with the middle section 15 of the consumable body 11, in some embodiments, a delivery tooth structure 12 is also provided on the surface of the middle section 15. This delivery tooth structure 12 is the same as the delivery tooth structure 12 of the tail section 16 described above. In this way, during the "intermediate phase" before the consumable body 11 enters the required position in vascular interventional surgery, the drive device can also engage with the delivery tooth structure 12, thereby preventing slippage of the consumable body 11 during this period.

[0060] The delivery tooth structure 12 in the middle section 15 includes, but is not limited to, the following methods:

[0061] like Figure 6 For example, the delivery tooth structure 12 is distributed along the length of the entire surface of the middle section 15;

[0062] Alternatively, the delivery tooth structure 12 may cover only a portion of the middle section 15 along its length.

[0063] Alternatively, the delivery tooth structure 12 of the middle section 15 and the delivery tooth structure 12 of the tail section 16 can be connected as one unit.

[0064] Alternatively, the delivery tooth structure 12 of the middle section 15 is spaced apart from the delivery tooth structure 12 of the tail section 16, i.e. discontinuously arranged.

[0065] It should be noted that when the first driving gear 211 cooperates with the part of the surface of the consumable body 11 where no delivery tooth structure is arranged, the consumable body 11 can still be driven to advance or retreat by frictional cooperation as in the related art.

[0066] In the present embodiment, each protruding part of the delivery tooth structure 12 for engagement is a tooth, the space between adjacent teeth is a tooth groove, the top of the tooth is a tooth top, and the bottom of the tooth groove is a tooth root. With the smooth surface of the consumable body 11 as a reference surface, the arrangement of the delivery tooth structure 12 relative to the reference surface includes but is not limited to the following:

[0067] As an example shown in FIG. 1, the tooth root of the delivery tooth structure 12 is below the reference surface, and the tooth top is flush with the reference surface; Figure 3

[0068] Alternatively, as an example shown in FIG. 2, the tooth root of the delivery tooth structure 12 is flush with the reference surface, and the tooth top is above the reference surface; Figure 4

[0069] Alternatively, the tooth root of the delivery tooth structure 12 is below the reference surface, and the tooth top is above the reference surface (not shown in the figure).

[0070] In addition, the forming manner of the delivery tooth structure 12 on the surface of the consumable body 11 includes but is not limited to the following:

[0071] As an example shown in FIG. 3 and FIG. 4, the delivery tooth structure 12 is formed on the consumable body 11. Figure 3 Figure 4 Alternatively, the delivery tooth structure 12 can not be formed on the consumable body 11, but a first fixing member is arranged outside the surface of the consumable body 11, and the delivery tooth structure 12 is formed on the surface of the first fixing member. The first fixing member can be a fixing sleeve sleeved outside the consumable body 11, and the surface of the fixing sleeve is processed to form the delivery tooth structure 12. The connection manner of the fixing sleeve and the consumable body 11 is not limited, which can be bonding, welding, etc.

[0072] The processing manner of the delivery tooth structure 12 is not particularly limited in the present embodiment, which can be processed by shaping, such as tooth milling by using a disc-shaped module milling cutter or a finger-shaped milling cutter, or tooth forming by grinding, etc.; or can be processed by developing, such as gear shaping or tooth forming by grinding, etc.

[0073] The processing manner of the delivery tooth structure 12 is not particularly limited in the present embodiment, which can be processed by shaping, such as tooth milling by using a disc-shaped module milling cutter or a finger-shaped milling cutter, or tooth forming by grinding, etc.; or can be processed by developing, such as gear shaping or tooth forming by grinding, etc.

[0074] ​​​Furthermore, considering that the engagement portion of the consumable body 11 with the first drive gear 211 in the circumferential direction may shift when the drive device displaces the consumable body 11 along its length, in some embodiments, the delivery tooth structure 12 extends circumferentially along the surface of the consumable body 11. This ensures that the first drive gear 211 can still mesh with the delivery tooth structure even when the engagement portion of the consumable body 11 and the first drive gear 211 shifts circumferentially. A preferred embodiment is that the delivery tooth structure 12 covers the entire circumference of the consumable body 11. This ensures that the first drive gear 211 can mesh with the delivery tooth structure 12 regardless of the angle of displacement of the consumable body 11, and also facilitates manufacturing. Of course, this embodiment does not limit the delivery tooth structure 12 to be spaced apart circumferentially along the surface of the consumable body 11, as long as it does not affect the meshing of the first drive gear 211 and the delivery tooth structure 12.

[0075] The first drive gears 211 are usually arranged in pairs, and a threading gap is formed between the two first drive gears 211 for the long straight insert consumable 1 to pass through. In order to improve the clamping stability of the two first drive gears 211 on the consumable body 11, the consumable body 11 can be configured as follows in this embodiment:

[0076] like Figure 7 For example, the outer diameter of the tail section 16 is larger than the outer diameter of the middle section 15. In some implementations, the middle section 15 retains the outer diameter of the middle section 15 of the conventional long straight interventional consumable 1 currently on the market, while the tail section 16 is thickened, making the outer diameter of the tail section 16 larger than that of the middle section 15. By setting the outer diameter of the tail section 16 to be larger than that of the middle section 15, the contact area between the first drive gear 211 and the tail section 16 is larger than the contact area between the first drive gear 211 and the middle section 15, thereby improving the clamping stability of the first drive gear 211 on the tail section 16.

[0077] Or, such as Figure 8 For example, the outer diameters of the middle section 15 and the tail section 16 are both larger than the outer diameter of the head section 14. Along the direction from the head section 14 to the tail section 16, the outer diameter of the consumable body 11 gradually increases from the beginning of the middle section 15 to the end of the tail section 16, that is, the consumable body 11 gradually becomes thicker from the beginning of the middle section 15 to the end of the tail section 16. With this setting, on the one hand, the clamping stability of the first drive gear 211 on the middle section 15 and the tail section 16 can be improved. On the other hand, setting the diameter change to a gradual change (gradual thickening) can avoid the consumable body 11 bending due to stress during delivery because the head end is thin and the tail end is thick, resulting in low delivery efficiency or even delivery failure.

[0078] Alternatively, the outer diameter of the middle section 15 and the tail section 16 is consistent and greater than the outer diameter of the head section 14.

[0079] In view of the fact that the long straight interventional consumables 1 currently used on the market are relatively soft, and the problem of poor directivity (i.e., poor accuracy of the driving device in controlling the direction of the long straight interventional consumables 1) exists in actual use, in the embodiment, the hardness of the tail section 16 is greater than the hardness of the middle section 15. In some embodiments, the hardness of the middle section 15 remains the hardness of the long straight interventional consumables 1 currently used on the market, and the tail section 16 is hardened so that the hardness of the tail section 16 is greater than the hardness of the middle section 15. Through this arrangement, the directivity of the consumable body 11 when the first driving gear 211 cooperates with the tail section 16 can be improved. Since the directivity of the consumable body 11 is required to be higher when approaching the desired position (e.g., the lesion position), the hardening of the tail section 16 is beneficial to meet the directivity requirement of the consumable body 11 when approaching the desired position.

[0080] Further, the hardness of the middle section 15 and the tail section 16 is consistent and greater than the hardness of the head section 14. Through this arrangement, the directivity of the consumable body 11 in the “intermediate period” of the vascular interventional surgery can be improved.

[0081] Of course, the embodiment does not exclude that the hardness of the head section 14, the middle section 15 and the tail section 16 is arranged to increase in turn.

[0082] As for the hardening method, it includes but is not limited to the method of coating a hardening material on the surface of the consumable body 11 or using a material with higher hardness.

[0083] In the related art, the driving device can independently control the linear displacement or rotation of the long straight interventional consumables 1 along the length direction, or control the linear displacement while rotating or control the rotation while linearly displacing, wherein the control of the rotation of the long straight interventional consumables 1 is realized by a multi-stage gear, and the multi-stage gear has low transmission efficiency due to the large number of transmission times; in addition, under the driving of the multi-stage gear, the driving roller clamps the consumable to drive the consumable to rotate by using friction force, which is prone to slipping due to unstable clamping, and has low reliability.

[0084] Therefore, in the embodiment, the surface of the consumable body 11 is further provided with a rotation tooth structure 13 arranged along the circumferential direction thereof, the rotation tooth structure 13 is used for meshing and cooperating with a second driving gear provided on the vascular surgery robot, so that the consumable body 11 can rotate under the thrust of the second driving gear.

[0085] On one hand, compared with a multi-stage gear transmission, the second driving gear and the rotating tooth structure of the embodiment are only one-stage transmission, and transmission loss is small, so transmission efficiency is high; on the other hand, the second driving gear and the rotating tooth structure of the embodiment are in meshing cooperation and belong to a mechanical cooperation structure, and compared with the related art in which rotation is achieved by relying on friction, the transmission structure of the embodiment has higher reliability.

[0086] In some embodiments, an outer side of the surface of the consumable body 11 is provided with a second fixing member, the rotating tooth structure 13 is formed on the surface of the second fixing member, and the second fixing member is in an integrated structure or detachable connection with the consumable body 11. Preferably, as shown in Figure 9 and Figure 10 the second fixing member is a rotating sleeve 131, the rotating sleeve 131 is provided with a first key 132 groove, a corresponding part of the consumable body 11 is formed with a second key groove 132, the connection between the rotating sleeve 131 and the consumable body 11 is achieved by inserting the key 132 into the first key 132 groove and the second key groove 132, and the surface of the rotating sleeve 131 is formed with the rotating tooth structure 13. In use, when precise rotation control of the consumable body 11 is needed, the key 132 is inserted into the first key 132 groove and the second key groove 132 to make the rotating sleeve 131 connected with the consumable body 11 by the key 132, and then the rotating tooth structure 13 on the rotating sleeve 131 is driven by the second driving gear, so as to achieve precise control of the consumable body 11.

[0087] It should be noted that the embodiment does not limit the way of setting the rotating tooth structure 13 by the second fixing member, and in some other embodiments, the rotating tooth structure 13 can be formed on the surface of the consumable body 11.

[0088] In addition, as a preferred embodiment, the rotating tooth structure 13 is arranged at the tail end position of the tail section 16 of the consumable body 11. On the basis of the driving device in the related art, a delivery module specially used for driving the rotating tooth structure 13 of the tail section 16 is additionally arranged, and the delivery module is provided with the second driving gear.

[0089] In addition, it should be noted that in the embodiment, the teeth of the delivery tooth structure 12 and the rotating tooth structure 13 are preferably non-standard module teeth. Since the outer diameter size of the long and straight interventional consumable 1 is particularly small, usually below 1 mm, the module of the teeth arranged on the surface of the consumable body 11 is also particularly small, much smaller than the current standard module.

[0090] In addition, the embodiment does not particularly limit the shape of the teeth, which can be trapezoidal teeth, involute tooth shape, circular arc tooth shape or square teeth.

[0091] In addition, in the embodiment, the overall length of the long straight interventional consumable 1 in the length direction is preferably 136 cm to 150 cm. In the length direction, the length ratio of the head section 14, the middle section 15, and the tail section 16 is preferably 4:6 to 5:5 to 6.

[0092] In addition, according to actual surgical needs, the long straight interventional consumable 1 is a consumable support or a guide wire or a balloon or a protection umbrella. The long straight interventional consumable 1 can also be a stent push rod (a self-expanding stent push rod and a balloon expanding stent push rod), a catheter (including but not limited to a contrast catheter for contrast, a guide catheter for building a passage, a distal passage catheter, a suction catheter for ischemic diseases, a balloon catheter, a stent microcatheter for releasing a stent, a detachable microcatheter for adapting liquid embolic material, and a floating microcatheter), a guide wire (including but not limited to a 0.035 loach guide wire for carrying a contrast catheter, a guide catheter, and an intermediate catheter, a 0.018 guide wire, and a 0.014 / 0.010 / 0.008 guide wire for carrying a microcatheter), a crossing guide wire for opening an occlusive lesion, a detachable coil for embolizing a blood vessel and an aneurysm, a detachable balloon, a self-expanding aneurysm endovascular embolization system, and a distal anti-embolism protection device for protecting a distal blood vessel from emboli.

[0093] Embodiment 2

[0094] Figure 11 A front view of a robot body of a vascular interventional surgery robot provided by the embodiment is shown; Figure 12 A top view of a robot body of a vascular interventional surgery robot provided by the embodiment is shown.

[0095] The present application provides a vascular interventional surgery robot, which comprises a mechanical arm, a robot body 2, and at least one first driving device 21. The robot body is arranged on the mechanical arm, and the at least one first driving device 21 is movably arranged on a track of the robot body. The first driving device 21 comprises a first driving gear 211, which is used to form meshing cooperation with the delivery tooth structure 12 of the long straight interventional consumable 1 of Embodiment 1, so that the driving force exerted by the first driving gear 211 on the consumable body 11 is a pushing force in the length direction of the consumable body 11.

[0096] Specifically, as Figure 11 and Figure 12As shown, three first driving devices 21 (in other examples, the first driving devices 21 can also be provided as one, two, four, etc.) are arranged on the track of the robot body 2. The first driving devices 21 can be driven to reciprocate along the track of the robot body, thereby completing the delivery of the long straight interventional consumable 1 mounted on the delivery device. Each driving device includes a consumable box and a consumable box driving mechanism. The consumable box is internally provided with at least one pair of first driving gears 211, and a wire insertion gap for the long straight interventional consumable 1 to pass through is formed between each pair of first driving gears 211. The at least one pair of first driving gears 211 are mounted on a gear frame. The consumable box is also internally provided with a multi-stage gear structure for driving the rotation of the gear frame on which the at least one pair of first driving gears are mounted as a whole. Through the control of the multi-stage gear structure and the at least one pair of driving gears, the control of the linear displacement, rotation, simultaneous rotation and linear displacement, or simultaneous linear displacement and rotation of the long straight interventional consumable 1 can be realized.

[0097] In some embodiments, the first driving device 21 can use the structure of the driving device in the related art, and only the driving roller 231 in the driving device in the related art is replaced by the first driving gear 211.

[0098] The vascular interventional surgery robot of the present embodiment also includes a second driving device arranged on the robot body 2. The second driving device includes a second driving gear for engaging with the rotating tooth structure 13 on the surface of the consumable body 11.

[0099] In some embodiments, the rotating tooth structure 13 is arranged at the tail end position of the tail section 16 of the consumable body 11. Correspondingly, the second driving device is arranged in the tail direction of the plurality of first driving devices 21 on the robot body. The second driving device includes at least one pair of second driving gears. When precise rotation control of the long straight interventional consumable 1 is needed, the plurality of first driving devices 21 are first released from the long straight interventional consumable 1, and then the key 132 is inserted into the first key groove 133 and the second key groove 132 on the surface of the rotating sleeve 131 and the consumable body 11 to connect the rotating sleeve 131 and the consumable body 11 by the key 132. After that, the at least one pair of second driving gears of the second driving device are engaged with the rotating tooth structure 13 of the consumable body 11, thereby realizing the precise rotation control of the consumable.

[0100] Obviously, the above embodiments are only examples for the purpose of clear illustration, and are not intended to limit the embodiments. Based on the above description, other different forms of changes or variations can also be made by those of ordinary skill in the art. Here, it is not necessary and impossible to exhaust all the embodiments. The changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A long straight interventional consumable adapted to a vascular interventional surgery robot, characterized in that, The consumable body is an elongated structure, and a surface of the consumable body is provided with a delivery tooth structure extending along a length direction of the consumable body, the delivery tooth structure is used for meshing with a first driving gear provided on a vascular surgery robot, so that a driving force applied to the consumable body by the first driving gear is a pushing force along the length direction. The consumable body includes a head section, a middle section and a tail section along the length direction, the head section and the middle section are allowed to enter a blood vessel in a vascular intervention surgery, the tail section is used for cooperating with the first driving gear but not entering the blood vessel in the vascular intervention surgery, and the delivery tooth structure is arranged on a surface of the tail section.

2. The long straight interventional consumable adapted to a vascular interventional surgical robot according to claim 1, characterized in that, A surface of the middle section is also provided with the delivery tooth structure; the delivery tooth structure of the middle section covers the surface of the middle section along the length direction entirely or partially; and / or, the delivery tooth structure of the middle section is integrated with or discontinuously arranged with the delivery tooth structure of the tail section.

3. The long straight interventional consumable adapted to a vascular interventional surgical robot according to claim 2, wherein, 4. The long straight interventional consumable adapted to the vascular intervention surgery robot according to claim 2 or 3, wherein An outer diameter of the tail section is greater than an outer diameter of the middle section, or the outer diameters of the middle section and the tail section are both greater than an outer diameter of the head section, and the outer diameter gradually increases from a starting end of the middle section to an ending end of the tail section along a direction from the head section to the tail section; and / or, A hardness of the tail section is greater than a hardness of the middle section, or the hardnesses of the middle section and the tail section are consistent and both are greater than a hardness of the head section, or the hardnesses of the head section, the middle section and the tail section gradually increase in sequence. The delivery tooth structure extends along a circumferential direction of the surface of the consumable body.

5. The long and straight interventional consumable adapted to a vascular interventional operating robot according to claim 2 or 3, characterized in that, The surface of the consumable body is shaped to form the delivery tooth structure; or an outer side of the surface of the consumable body is provided with a first fixing member, and the delivery tooth structure is shaped on a surface of the first fixing member.

6. The long straight interventional consumable adapted to a vascular interventional surgical robot of any one of claims 1-3, wherein, The surface of the consumable body is also provided with a rotation tooth structure arranged along a circumferential direction of the surface, the rotation tooth structure is used for meshing with a second driving gear provided on the vascular surgery robot, so that the consumable body can rotate under a pushing force of the second driving gear.

7. The long straight interventional consumable adapted to a vascular interventional surgical robot of any one of claims 1-3, wherein, The surface of the consumable body is shaped to form the rotation tooth structure; or an outer side of the surface of the consumable body is provided with a second fixing member, and the rotation tooth structure is shaped on a surface of the second fixing member, the second fixing member is an integral structure with the consumable body or is detachably connected with the consumable body.

8. The long straight interventional consumable adapted to a vascular interventional surgical robot of claim 7, wherein, A length ratio of the head soft section, the middle section and the tail section along the length direction is 4:6-5:5-6; and / or, a length of the consumable body along the length direction is 136 cm-150 cm.

9. The long and straight interventional consumable adapted to a vascular interventional operating robot according to claim 2 or 3, characterized in that, The long straight interventional consumable is a consumable stent or a guidewire or a balloon or a protection umbrella.

10. The long straight interventional consumable adapted to a vascular interventional surgical robot of any one of claims 1-3, wherein, The robot body and the first driving device provided on the robot body, the first driving device includes a first driving gear, the first driving gear is used for meshing with the delivery tooth structure of the long straight interventional consumable according to any one of claims 1-10, so that a driving force applied to the consumable body by the first driving gear is a pushing force along a length direction of the consumable body.

11. A vascular interventional procedure robot, characterized by, ​

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