Interventional consumable execution device for vascular interventional surgical robot

Abstract

The utility model provides an interventional consumable execution device for a vascular interventional surgical robot, and belongs to the technical field of medical instruments, and the interventional consumable execution device comprises an interventional consumable conveying mechanism for realizing delivery of a first interventional consumable; the Y valve fixing mechanism is arranged on one side, in the delivery direction, of the intervention consumable conveying mechanism, the Y valve fixing mechanism is used for fixing a Y valve, the Y valve comprises a Y valve main pipe and a Y valve branch pipe communicated with the Y valve main pipe, and the Y valve main pipe is used for arranging the first intervention consumable in a penetrating mode; wherein the extending direction of the Y valve main pipe is not parallel to the delivery direction of the intervention consumable conveying mechanism. The interventional consumable execution device provided by the utility model is beneficial to enabling the interventional consumable to enter the human body smoothly.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical devices, and in particular to an interventional consumables execution device for a vascular interventional surgery robot. Background Art

[0002] Vascular interventional surgery is a minimally invasive surgery performed using modern high-tech means. Under the guidance of medical imaging equipment, special catheters, guide wires, stents and other precision instruments are introduced into the human body, such as cerebral blood vessels, to diagnose and locally treat pathological conditions in the body. The incision (puncture point) of interventional surgery is only the size of a grain of rice, and there is no need to cut human tissue. It has the characteristics of small trauma, fast recovery and good effect, and is widely used in medical treatment.

[0003] In vascular interventional surgery, an interventional consumable actuator is usually used to drive the movement of the interventional consumable to deliver the interventional consumable into the patient's body. The patient is usually in a supine position, and the interventional consumable actuator is located above the human body. When the interventional consumable enters the human body, it will present a certain angle with the human body. In the prior art, the interventional consumable may bend when entering the puncture point, affecting the progress of the operation. Utility Model Content

[0004] In order to overcome the problems existing in the related art, the present disclosure provides an interventional consumables execution device for a vascular interventional surgery robot, so that the interventional consumables can smoothly enter the human body.

[0005] According to a first aspect of the present disclosure, there is provided an intervention consumables execution device for a vascular intervention surgery robot, comprising:

[0006] An interventional consumables delivery mechanism, used to deliver a first interventional consumable;

[0007] A Y-valve fixing mechanism, provided at one side of the interventional consumables conveying mechanism in the delivery direction, used for a Y-valve, wherein the Y-valve comprises a Y-valve main pipe and a Y-valve branch pipe connected to the Y-valve main pipe, and the Y-valve main pipe is used to pass the first interventional consumables;

[0008] Wherein, the extension direction of the Y-valve main pipe is not parallel to the delivery direction of the interventional consumables conveying mechanism.

[0009] In some exemplary embodiments of the present disclosure, the Y-valve fixing mechanism includes:

[0010] The Y-valve support portion is arranged on one side of the interventional consumables conveying mechanism in the delivery direction, and the Y-valve support portion is provided with a limiting groove for accommodating the Y-valve.

[0011] In some exemplary embodiments of the present disclosure, the bottom of the limiting groove is not parallel to the delivery direction of the interventional consumables conveying mechanism, so that the extension direction of the Y-valve main pipe is not parallel to the delivery direction of the interventional consumables conveying mechanism.

[0012] In some exemplary embodiments of the present disclosure, the limiting groove includes:

[0013] A first sub-groove, used to accommodate the Y-valve main pipe;

[0014] The second sub-groove is located on a side of the first sub-groove away from the groove bottom. The second sub-groove is used to accommodate the Y-valve branch pipe. The groove width of the second sub-groove is smaller than the groove width of the first sub-groove.

[0015] In some exemplary embodiments of the present disclosure, the Y-valve main pipe has an inlet end close to the interventional consumables conveying mechanism and an outlet end away from the interventional consumables conveying mechanism, the inlet end of the Y-valve main pipe is used for the first interventional consumable to be inserted, and the outlet end of the Y-valve main pipe is used for connecting a second interventional consumable, and the second interventional consumable is provided with a lumen for the first interventional consumable to pass through;

[0016] The Y-valve fixing mechanism also includes:

[0017] The first gear is connected to the outlet end of the Y-valve main pipe and is used to drive the second interventional consumable at the outlet end of the Y-valve main pipe to rotate. The axis of the first gear is parallel to the extension direction of the Y-valve main pipe.

[0018] In some exemplary embodiments of the present disclosure, the interventional consumables execution device further includes:

[0019] A Y-valve driving mechanism, wherein a power output end of the Y-valve driving mechanism is transmission-connected to the first gear, and is used to drive the first gear to rotate axially.

[0020] In some exemplary embodiments of the present disclosure, the interventional consumables execution device further includes:

[0021] A partition plate, wherein the Y-valve fixing mechanism and the Y-valve driving mechanism are respectively located on different sides of the partition plate;

[0022] Wherein, the Y-valve driving mechanism comprises a first motor and a second gear connected to an output shaft of the first motor;

[0023] The partition plate is provided with a first transmission hole, and the second gear is meshed with the first gear through the first transmission hole.

[0024] In some exemplary embodiments of the present disclosure, an extension direction of the Y-valve main pipe and a delivery direction of the interventional consumables conveying mechanism have a first angle, and the first angle is 135°-175°.

[0025] In some exemplary embodiments of the present disclosure, the interventional consumable execution device further includes a force detection mechanism, and the force detection mechanism includes:

[0026] a clamping portion, disposed between the Y-valve main pipe and the interventional consumable conveying mechanism, the clamping portion being provided with a through hole, the through hole being used for allowing the first interventional consumable to pass through;

[0027] The sensor is connected to the clamping part and is used to sense the force applied to the clamping part.

[0028] In some exemplary embodiments of the present disclosure, the clamping portion includes a first clamping portion and a second clamping portion, and the second clamping portion is located on a side of the first clamping portion away from the Y-valve;

[0029] The through hole comprises a first through hole and a second through hole, the first clamping portion is provided with the first through hole, the second clamping portion is provided with the second through hole, and the first through hole is connected to the second through hole;

[0030] The extension direction of the first through hole is parallel to the extension direction of the Y-valve main pipe;

[0031] An extending direction of the second through hole is parallel to a delivery direction of the interventional consumables conveying mechanism.

[0032] The technical solution provided by the present disclosure may have the following beneficial effects:

[0033] The interventional consumables execution device provided by the present disclosure includes an interventional consumables conveying mechanism for delivering a first interventional consumable. The extension direction of the Y-valve main pipe is not parallel to the delivery direction of the interventional consumables conveying mechanism.

[0034] In an interventional surgery, when the delivery direction of the first interventional consumable to the human body and the interventional consumable delivery mechanism is roughly parallel, the Y-valve main pipe is not parallel to the delivery direction, so the first interventional consumable delivered through the Y-valve main pipe can form an angle with the human body, and the angle can be set according to the angle between the vascular sheath and the human body. In this case, the interventional consumable can maintain a streamlined shape before entering the vascular sheath without bending, so as to smoothly enter the human body.

[0035] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and, together with the description, serve to explain the principles of the specification.

[0037] Figure 1 is a schematic diagram of the position relationship between the interventional consumables execution device and the human body in an exemplary embodiment of the present disclosure;

[0038] Figure 2 is a schematic structural diagram of an interventional consumables execution device in an exemplary embodiment of the present disclosure;

[0039] Figure 3 is a schematic diagram of the connection structure of the Y-valve fixing mechanism and the interventional consumables conveying mechanism in an exemplary embodiment of the present disclosure;

[0040] Figure 4 is a schematic diagram of a support frame structure in an exemplary embodiment of the present disclosure;

[0041] Figure 5 is a schematic diagram of the structure of a Y-valve driving mechanism in an exemplary embodiment of the present disclosure;

[0042] Figure 6 is a schematic diagram of the structure of the arrangement position of the force detection mechanism in the exemplary embodiment of the present disclosure;

[0043] Figure 7 is a schematic structural diagram of a force detection mechanism in an exemplary embodiment of the present disclosure;

[0044] Figure 8 is a schematic diagram of the structure of the clamping portion in an exemplary embodiment of the present disclosure;

[0045] Fig. 9 It is a schematic diagram of the structure of a force detection mechanism in another exemplary embodiment of the present disclosure.

[0046] Description of Reference Numerals

[0047] 100-delivery mechanism; 110-third gear; 120-first bevel gear; 130-second bevel gear; 140-fifth gear; 200-rotation mechanism; 210-fourth gear; 300-clamping mechanism; 310-first clamping wheel; 311-first connecting portion; 312-second connecting portion; 320-second clamping wheel; 330-elastic member; 340-sixth gear; 350-seventh gear; 400-rotation bracket; 410-bottom plate; 421-first side plate; 422-second side plate; 423-third side plate; 430-top plate; 500-Y valve fixing mechanism; 510-Y valve; 5 11-Y valve main pipe; 512-Y valve branch pipe; 520-first gear; 600-support frame; 610-Y valve support part; 611-limiting groove; 6111-first sub-groove; 6112-second sub-groove; 620-fixing part; 700-Y valve drive mechanism; 710-first motor; 720-second gear; 800-partition plate; 810-first transmission hole; 900-force detection mechanism; 910-clamping part; 911-first clamping part; 912-second clamping part; 913-through hole; 920-sensor; 930-connecting rod; 10-interventional consumables; 20-catheter; 30-vascular sheath. DETAILED DESCRIPTION

[0048] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present disclosure will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted. In addition, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale.

[0049] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the illustration to another component, these terms are used in this specification only for convenience, such as according to the orientation of the examples described in the drawings. It is understood that if the device of the illustration is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0050] The terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusive meaning and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first", "second" and "third" etc. are used merely as labels and are not intended to limit the quantity of their objects.

[0051] In the present disclosure, the words "perpendicular" and "equal" refer to perpendicularity and equality within the process error range, not perpendicularity and equality in an absolute sense. The process error may be within ±10% or ±5%. For example, if the first direction is perpendicular to the second direction, it can be understood that the angle between the first direction and the second direction may be 90°±5°.

[0052] Vascular interventional surgery robots are robot-assisted systems used to assist or perform vascular interventional surgery. Vascular interventional surgery is a minimally invasive surgery performed in human blood vessels using interventional consumables such as guidewires, catheters, and stents. It can be used to treat neurovascular diseases and other vascular-related diseases.

[0053] A vascular interventional surgical robot generally includes a master end located outside the operating room and a slave end located inside the operating room. The master end used for control includes a master end control device, and the slave end used for execution includes a connected robot body and a robotic arm. The robot body is connected to the operating table through the robotic arm and can adjust its own posture through the robotic arm.

[0054] The robot body is provided with a long groove, and the interventional consumables actuator can slide in the long groove. The interventional consumables actuator generally includes a rotary delivery mechanism and a Y-valve fixing mechanism. Among them, the rotary delivery mechanism is used to complete the rotation and delivery of the interventional consumables. The Y-valve fixing mechanism is used to fix the Y-valve, and the Y-valve can be used to connect the catheter, guide wire and liquid inlet equipment. The Y-valve includes a Y-valve main pipe and a Y-valve branch pipe. One end of the Y-valve main pipe can be used to connect the catheter, and the catheter can be used to connect to the vascular sheath at the puncture point of the human body.

[0055] In the related art, when performing vascular intervention surgery, the human body is usually in a lying position, and the vascular sheath is located at the puncture point and forms an angle with the human body. The interventional consumables execution device is located above the human body, and its delivery direction of the interventional consumables and the extension direction of the Y-valve main pipe are both roughly parallel to the human body. Therefore, when the catheter connected to the Y-valve main pipe enters the vascular sheath, the catheter may bend, causing the interventional consumables to not smoothly enter the human body.

[0056] Based on this, Figures 1 to 3As shown, an embodiment of the present disclosure provides an interventional consumables execution device for a vascular interventional surgical robot, including an interventional consumables delivery mechanism and a Y-valve fixing mechanism 500. The interventional consumables delivery mechanism is used to deliver a first interventional consumable 10. The Y-valve fixing mechanism 500 is arranged on one side of the interventional consumables delivery mechanism in the delivery direction, and the Y-valve fixing mechanism 500 is used to fix a Y-valve 510, and the Y-valve 510 includes a Y-valve main pipe 511 and a Y-valve branch pipe 512 connected to the Y-valve main pipe 511. The extension direction of the Y-valve main pipe 511 is not parallel to the delivery direction of the interventional consumables delivery mechanism.

[0057] In the interventional consumables execution device provided by the present disclosure, since the Y-valve main pipe 511 is not parallel to the delivery direction of the interventional consumables delivery mechanism, in the vascular intervention surgery, when the delivery direction of the first interventional consumable 10 of the human body and the interventional consumables delivery mechanism is roughly parallel, the first interventional consumable 10 delivered through the Y-valve main pipe 511 can form an angle with the human body, and the angle can be set according to the angle between the fixed vascular sheath 30 and the human body. In this case, the interventional consumable 10 can maintain a streamlined shape before entering the vascular sheath 30, without bending, and thus smoothly enters the human body.

[0058] The following will describe in detail the various parts of the interventional consumables execution device provided by the embodiment of the present disclosure in conjunction with the accompanying drawings:

[0059] like Figures 1 to 3 As shown, the interventional consumables actuator provided by the present disclosure can be used in a vascular interventional surgical robot to drive the movement of interventional consumables such as guidewires, catheters, and stents to deliver the interventional consumables into the patient's body. The interventional consumables actuator includes an interventional consumables delivery mechanism and a Y-valve fixing mechanism 500.

[0060] In some embodiments of the present disclosure, the interventional consumables conveying mechanism can be used to deliver the first interventional consumable 10 and also to rotate the first interventional consumable 10. The interventional consumables conveying mechanism may include a rotating bracket 400, a delivery mechanism 100, and a rotating mechanism 200. Furthermore, a clamping mechanism 300 may also be included.

[0061] like Figure 2 and Figure 3As shown, in some embodiments of the present disclosure, the rotating bracket 400 includes a bottom plate 410 and a first side plate 421 and a second side plate 422 connected to the bottom plate 410, and the first side plate 421 and the second side plate 422 are arranged opposite to each other. The rotating bracket 400 also includes a top plate 430, which is connected to the second side plate 422. The length of the top plate 430 in the delivery direction X is less than the length of the bottom plate 410. Optionally, the rotating bracket 400 also includes a third side plate 423, which is connected to the second side plate 422. The length of the third side plate 423 in the delivery direction X of the interventional consumable 10 is less than the length of the bottom plate 410. The rotating bracket 400 can be a split structure or an integrally formed structure. Preferably, the rotating bracket 400 is an integrally formed structure, which can be formed by bending an aluminum alloy to reduce the volume of the entire device and reduce the weight of the entire device. It should be noted here that the rotating bracket 400 can also be made of other metal or alloy plates bent or cast, or other materials such as hard plastic, etc., which is not specifically limited in the present disclosure.

[0062] It should be noted here that the delivery direction X mentioned in the present disclosure refers to the direction in which the interventional consumable conveying mechanism drives the first interventional consumable to move forward or backward in the human blood vessel.

[0063] The clamping mechanism 300, the delivery mechanism 100 and the rotating mechanism 200 are all arranged on the rotating bracket 400. The clamping mechanism 300 is fixed on the rotating bracket 400, and is used to clamp the first interventional consumable 10. The delivery mechanism 100 is used to realize the delivery of the first interventional consumable 10. The rotating mechanism 200 is used to realize the rotation of the first interventional consumable 10. The power output end of the delivery mechanism 100 is connected to the power input end of the clamping mechanism 300. Under the drive of the delivery mechanism 100, the first interventional consumable 10 clamped by the clamping mechanism 300 can move forward or backward in the blood vessel. The power output end of the rotating mechanism 200 is fixedly connected to the rotating bracket 400. Under the drive of the rotating mechanism 200, the rotating bracket 400 can be driven to rotate, thereby driving the first interventional consumable 10 clamped by the clamping mechanism 300 to rotate.

[0064] In some embodiments of the present disclosure, the clamping mechanism 300 includes a first clamping wheel 310 and a second clamping wheel 320, which are disposed on the rotating bracket 400, and the first clamping wheel 310 and the second clamping wheel 320 are respectively located on both sides of the first interventional consumable 10. Optionally, the first clamping wheel 310 and the second clamping wheel 320 are connected between the bottom plate 410 and the top plate 430 of the rotating bracket 400.

[0065] In some embodiments of the present disclosure, the first clamping wheel 310 further includes two connection parts, which are arranged on both sides of the first clamping wheel 310 in the wheel axis direction. Specifically, the two connection parts are a first connection part 311 and a second connection part 312, the first connection part 311 is connected to a side of the first clamping wheel 310 away from the bottom plate 410, and the second connection part 312 is connected to a side of the first clamping wheel 310 close to the bottom plate 410. Doctors and other operators can adjust the distance between the first clamping wheel 310 and the second clamping wheel 320 through the first connection part 311.

[0066] Further, the clamping mechanism 300 also includes an elastic member 330, which is connected between the connection part of the rotating bracket 400 and the first clamping wheel 310, and the elastic member 330 is in a contracted state. Specifically, the elastic member 330 is connected between the third side plate 423 of the rotating bracket 400 and the connection part of the first clamping wheel 310. The number of the elastic member 330 can be one, which is connected between the third side plate 423 and the second connection part 312 of the rotating bracket 400. Of course, the number of the elastic member 330 can also be two, one of which is connected between the third side plate 423 of the rotating bracket 400 and the first connection part 311, and the other is connected between the third side plate 423 and the second connection part 312 of the rotating bracket 400. The elastic member 330 is in a contracted state, and its elastic force can make the first clamping wheel 310 and the second clamping wheel 320 close to each other to achieve compression, and closely contact with the first interventional consumable 10.

[0067] During use, when the first interventional consumable 10 needs to be placed, the position of the first clamping wheel 310 can be manually adjusted by toggling the first connection portion 311, so that the distance between the first clamping wheel 310 and the second clamping wheel 320 is increased, so as to place the first interventional consumable 10 therebetween. After the first interventional consumable 10 is placed in place, the first connection portion 311 is released, so that the first clamping wheel 310 is pressed against the second clamping wheel 320 under the elastic force of the elastic member 330, ensuring that both are in close contact with the first interventional consumable 10. Optionally, the elastic member 330 is a spring.

[0068] In some embodiments of the present disclosure, the clamping mechanism 300 further includes a sixth gear 340 and a seventh gear 350. The sixth gear 340 is coaxially arranged and fixedly connected with the first clamping wheel 310, and the seventh gear 350 is coaxially arranged and fixedly connected with the second clamping wheel 320, and the sixth gear 340 is meshed with the seventh gear 350. The sixth gear 340 and the seventh gear 350 are arranged on the bottom plate 410 of the rotating bracket 400. When the sixth gear 340 and the seventh gear 350 are meshed and transmitted, the first clamping wheel 310 and the second clamping wheel 320 can be driven to rotate, thereby making the first interventional consumable 10 move forward or backward under the action of friction.

[0069] The delivery mechanism 100 includes a third gear 110 , which is disposed on one side of the rotating bracket 400 in the delivery direction X. The third gear 110 is rotationally connected to the rotating bracket 400 , and the third gear 110 is transmission-connected to the clamping mechanism 300 .

[0070] Optionally, the third gear 110 is connected to a side of the first side plate 421 away from the second side plate 422. The third gear 110 may be a spur gear.

[0071] In some embodiments of the present disclosure, the delivery mechanism 100 further includes a first bevel gear 120, which is coaxially arranged and fixedly connected with the third gear 110, and the first bevel gear 120 is rotatably connected with the rotating bracket 400. Optionally, the first bevel gear 120 is arranged on a side of the first side plate 421 of the rotating bracket 400 close to the second side plate 422, and the third gear 110 and the first bevel gear 120 are fixedly connected via a transmission shaft, and the transmission shaft is rotatably connected to the first side plate 421 of the rotating bracket 400.

[0072] Furthermore, the delivery mechanism 100 also includes a second bevel gear 130 and at least one fifth gear 140, wherein the second bevel gear 130 is meshed with the first bevel gear 120; the second bevel gear 130 is coaxially arranged and fixedly connected with one of the fifth gears 140, and when there are multiple fifth gears 140, different fifth gears 140 are meshed with each other to achieve transmission connection; at least one fifth gear 140 is transmission connected to the power input end of the clamping mechanism 300.

[0073] Specifically, the second bevel gear 130 and one of the fifth gears 140 can be fixedly connected via a transmission shaft, and the transmission shaft is rotatably connected to the bottom plate 410 of the rotating bracket 400. There are multiple fifth gears 140, and multiple fifth gears 140 are arranged on the bottom plate 410 of the rotating bracket 400. The fifth gear 140 can be a spur gear. At least one fifth gear 140 can be meshed with the sixth gear 340 or the seventh gear 350.

[0074] When the third gear 110 rotates, since the third gear 110 is fixedly connected to the first bevel gear 120, it will further drive the first bevel gear 120 to rotate. The rotation of the first bevel gear 120 can drive the second bevel gear 130 to rotate, and the rotation of the second bevel gear 130 can drive the fifth gear 140 connected thereto to rotate. Due to the transmission connection between different fifth gears 140, the remaining fifth gears 140 can also rotate, thereby driving the sixth gear 340 and the seventh gear 350 to rotate. Finally, the first clamping wheel 310 and the second clamping wheel 320 rotate, and the first interventional consumable 10 clamped by the two clamping wheels completes the forward or backward movement under the twisting of the two clamping wheels.

[0075] The rotating mechanism 200 includes a fourth gear 210, which is disposed on the other side of the rotating bracket 400 in the delivery direction X, that is, the fourth gear 210 is disposed opposite to the third gear 110. The fourth gear 210 is coaxially disposed with the third gear 110, and the fourth gear 210 is fixedly connected to the rotating bracket 400. Specifically, the fourth gear 210 is fixedly connected to the second side plate 422 of the rotating bracket 400. Optionally, the fourth gear 210 is a spur gear. The axis of the third gear 110 and the fourth gear 210 is used for the first interventional consumable 10 to penetrate. The axial direction of the third gear 110 and the fourth gear 210 is the delivery direction of the interventional consumable conveying mechanism.

[0076] When the fourth gear 210 rotates, it drives the rotating bracket 400 to rotate. When the rotating bracket 400 rotates, it drives the first interventional consumable 10 clamped by the first clamping wheel 310 and the second clamping wheel 320 to rotate, thereby completing the rotation movement of the first interventional consumable 10 .

[0077] In some embodiments of the present disclosure, the interventional consumables execution device further includes a rotation drive mechanism and a delivery drive mechanism, wherein the rotation drive mechanism is used to provide a power source for the rotation mechanism, and the delivery drive mechanism is used to provide a power source for the interventional consumables conveying mechanism.

[0078] The rotary drive mechanism and the delivery drive mechanism may have various structural forms, which are not specifically limited in the present disclosure. For example, the rotary drive mechanism may include a motor and a first drive gear connected to the motor, and the first drive gear may be transmission-connected to the fourth gear 210. The delivery drive mechanism may include a motor and a second drive gear connected to the motor, and the second drive gear may be transmission-connected to the third gear 110.

[0079] The Y-valve fixing mechanism 500 is used to fix the Y-valve 510, and the Y-valve 510 includes a Y-valve main pipe 511 and a Y-valve branch pipe 512 connected to the Y-valve main pipe 511. The Y-valve 510 is used to connect the guide wire, the catheter and the liquid inlet device. The Y-valve main pipe 511 is used to pass the first interventional consumable 10.

[0080] Among them, the Y-valve main pipe 511 has an inlet end close to the interventional consumable conveying mechanism and an outlet end away from the interventional consumable conveying mechanism. The inlet end of the Y-valve main pipe 511 is used for inserting the first interventional consumable 10, and the outlet end of the Y-valve main pipe 511 is used to connect the second interventional consumable 20. The second interventional consumable 20 is provided with a lumen for the first interventional consumable 10 to pass through.

[0081] The second interventional consumable 20 may be a catheter, that is, the outlet end of the Y-valve main pipe 511 may be used to connect to the catheter, and the first interventional consumable 10 clamped by the clamping mechanism 300 may enter the Y-valve main pipe 511 through the inlet end of the Y-valve main pipe 511 and further enter the catheter connected to its outlet end. The Y-valve branch pipe 512 may be used to connect to a liquid inlet device, responsible for conveying physiological saline, contrast agent, etc.

[0082] The extension direction of the Y-valve main pipe 511 is not parallel to the delivery direction of the interventional consumables conveying mechanism, that is, it is not parallel to the axis of the third gear 110 or the fourth gear 210. Further, the extension direction of the Y-valve main pipe 511 forms a first angle α with the delivery direction of the interventional consumables conveying mechanism, and the first angle α can be 135°-175°. For example, the first angle α can be 135°, 140°, 145°, 150°, 155°, 160°, 165°, 170° or 175°, but is not limited thereto.

[0083] In actual applications, the first angle α can be set according to the inclination angle of the vascular sheath 30 and the human body at the puncture point, so that the second interventional consumable 20 connected to the outlet end of the Y-valve main pipe 511 or the first interventional consumable 10 delivered by the interventional consumable execution device can enter the human body more smoothly along the pipeline of the vascular sheath 30, avoiding bending before entering the vascular sheath 30.

[0084] like Figures 2 to 4 As shown, in some embodiments of the present disclosure, the Y-valve fixing mechanism 500 includes a Y-valve supporting portion 610, which is disposed on one side of the interventional consumables conveying mechanism in the delivery direction X, and the Y-valve supporting portion 610 is provided with a limiting groove 611 for accommodating the Y-valve 510. The shape of the limiting groove 611 can be set according to the shape of the Y-valve 510 and the installation requirements, and based on this setting, the Y-valve 510 can be fixed in the limiting groove 611 in a predetermined posture.

[0085] Preferably, the bottom of the limiting groove 611 is not parallel to the delivery direction of the interventional consumables conveying mechanism, that is, not parallel to the axis of the third gear 110. When the Y-valve 510 is placed in the limiting groove 611, the extension direction of the Y-valve main pipe 511 is not parallel to the delivery direction of the interventional consumables conveying mechanism. The bottom of the limiting groove 611 has a second angle with the delivery direction of the interventional consumables conveying mechanism, and the second angle may be equal to the first angle.

[0086] The limiting groove 611 includes a first sub-groove 6111 and a second sub-groove 6112. The first sub-groove 6111 is used to accommodate the Y-valve main pipe 511, and the second sub-groove 6112 is located on the side of the first sub-groove 6111 away from the bottom of the groove, and the second sub-groove 6112 is used to accommodate the Y-valve branch pipe 512. Generally, the diameter of the Y-valve branch pipe 512 is smaller than the diameter of the Y-valve main pipe 511. In the present disclosure, the groove width of the second sub-groove 6112 is smaller than the groove width of the first sub-groove 6111. Through the difference in groove width between the two sub-grooves, the Y-valve main pipe 511 can be limited in the first sub-groove 6111 to prevent the Y-valve main pipe 511 from shaking and affecting the delivery of the first interventional consumable 10.

[0087] In some embodiments of the present disclosure, the Y-valve fixing mechanism 500 further includes a support frame 600, a Y-valve supporting portion 610 is formed on the support frame 600, and the support frame 600 may further include a support plate and a fixing portion 620. The Y-valve supporting portion 610 and the fixing portion 620 are disposed on one side of the support plate, and the rotating bracket 400 is rotatably connected to the fixing portion 620.

[0088] In the present disclosure, the Y-valve fixing mechanism 500 is used not only to fix the Y-valve 510 , but also to realize the rotation of the second interventional consumable connected to the outlet end of the Y-valve 510 .

[0089] Specifically, the Y-valve fixing mechanism 500 also includes a first gear 520, which is connected to the outlet end of the Y-valve main pipe 511 and is used to drive the second interventional consumable 20 at the outlet end of the Y-valve main pipe 511 to rotate. The axis of the first gear 520 is parallel to the extension direction of the Y-valve main pipe 511. The outlet end of the Y-valve main pipe 511 can be arranged at the axis of the first gear 520. The outlet end of the Y-valve main pipe 511 is rotatably connected to the main body of the Y-valve main pipe 511, and the second interventional consumable 20 is fixedly connected to the outlet end of the Y-valve main pipe 511. When the first gear 520 rotates, the outlet end of the Y-valve main pipe 511 at the axis can be driven to rotate, thereby driving the second interventional consumable 20 at the outlet end to rotate.

[0090] The interventional consumables execution device also includes a Y-valve drive mechanism 700 and a partition plate 800, and the Y-valve fixing mechanism 500 and the Y-valve driving mechanism 700 are respectively located on different sides of the partition plate 800. Specifically, the Y-valve fixing mechanism 500, the rotating bracket 400, the delivery mechanism 100, the clamping mechanism 300 and the rotating mechanism 200 are arranged on the same side. The Y-valve driving mechanism 700, the rotating driving mechanism and the delivery driving mechanism can be arranged on the same side. When the interventional consumables execution device is installed on the robot body, the Y-valve driving mechanism 700, the rotating driving mechanism and the delivery driving mechanism can be installed in the robot body, so that these driving mechanisms and the robot body can be sheathed together inside through a sterile film to achieve isolation from the external environment and the consumable box, and the Y-valve fixing mechanism 500, the rotating bracket 400, the delivery mechanism 100, the clamping mechanism 300 and the rotating mechanism 200 can be arranged in the consumable box. In this way, the Y-valve driving mechanism 700, the rotating driving mechanism and the delivery driving mechanism can be reused, which helps to reduce costs and improve economic benefits.

[0091] like Figure 2 and Figure 5 As shown, the power output end of the Y-valve driving mechanism 700 is transmission-connected with the first gear 520, and is used to drive the first gear 520 to rotate axially. Specifically, the Y-valve driving mechanism 700 includes a first motor 710 and a second gear 720 connected to the output shaft of the first motor 710. A first transmission hole 810 is provided on the partition plate 800, and the second gear 720 is meshed with the first gear 520 through the first transmission hole 810.

[0092] like Figures 6 to 9 As shown, in the present disclosure, the interventional consumables execution device further includes a force detection mechanism 900, which includes a clamping portion 910 and a sensor 920. The clamping portion 910 is disposed between the Y-valve main pipe 511 and the interventional consumables conveying mechanism, and the clamping portion 910 is provided with a through hole 913, which is used for the first interventional consumable 10 to pass through. The sensor 920 is connected to the clamping portion 910, and is used to sense the force applied to the clamping portion 910.

[0093] In the interventional consumables execution device provided by the present disclosure, since the extension direction of the Y-valve main pipe 511 is not parallel to the delivery direction of the interventional consumables conveying mechanism, when the first interventional consumable 10 clamped by the clamping mechanism 300 enters the Y-valve main pipe 511 from the fourth gear 210 of the interventional consumables conveying mechanism, a certain degree of bending will be generated in the gap between the Y-valve main pipe 511 and the fourth gear 210. When the first interventional consumable 10 enters the human body and encounters resistance in the blood vessel, the first interventional consumable 10 located at the gap between the Y-valve main pipe 511 and the fourth gear 210 will be subjected to a backward resistance D and a forward thrust T, and the action of the two forces will drive the first interventional consumable 10 at this position to bend in a certain direction. The bending direction can be determined by the extension direction of the Y-valve main pipe 511 and the axis of the fourth gear 210. The bent first interventional consumable 10 can give a certain force to the clamping part 910, and the force can be sensed by the sensor 920, so as to complete the measurement of the resistance encountered by the first interventional consumable 10 in the blood vessel.

[0094] The shape of the clamping portion 910 can also be set according to the positional relationship between the Y-valve main pipe 511 and the fourth gear 210. Figure 8 As shown, for example, the clamping portion 910 includes a first clamping portion 911 and a second clamping portion 912, and the second clamping portion 912 is located on the side of the first clamping portion 911 away from the Y valve 510. The through hole 913 includes a first through hole and a second through hole, the first clamping portion 911 is provided with a first through hole, and the second clamping portion 912 is provided with a second through hole, and the first through hole and the second through hole are connected. The extension direction of the first through hole is parallel to the extension direction of the Y valve main pipe 511; the extension direction of the second through hole is parallel to the delivery direction of the interventional consumables conveying mechanism. The first clamping portion 911 and the second clamping portion 912 form a third angle β, and the third angle β is equal to the first angle α.

[0095] The sensor 920 may be directly connected to the clamping portion 910 , or may be indirectly connected to the clamping portion 910 via other structures.

[0096] like Fig. 9 As shown, in one embodiment, the sensor 920 is directly connected to the clamping portion 910 , and the specific connection position is set according to the bending direction of the first interventional consumable 10 , so that the force exerted on the clamping portion 910 when the first interventional consumable 10 is bent can be sensed by the sensor 920 .

[0097] like Figure 7As shown, in another embodiment, the sensor 920 can be connected to the clamping part 910 through a connecting rod 930. The connecting rod 930 can transmit the force exerted on the clamping part 910 to the sensor 920. In this embodiment, the sensor 920 can also be arranged in the robot body for repeated use. The connecting rod 930 can be passed through the partition plate 800, one end of which is connected to the clamping part 910, and the other end is connected to the sensor 920.

[0098] The present disclosure also provides a vascular interventional surgical robot, comprising a robot body and an interventional consumables actuator in any of the above-mentioned embodiments. The robot body comprises a driving device, which is used to drive the interventional consumables actuator to move. Specifically, the robot body may also include a shell, on which a long groove is provided, and the driving device is arranged in the shell, and the driving device can drive the interventional consumables actuator to slide along the long groove. The surgical robot also includes a robotic arm, through which the robot body is fixed to the operating table, and the robotic arm can drive the robot body to achieve multi-axis displacement and rotation within a certain range to adjust the position and posture of the robot body.

[0099] Furthermore, the vascular interventional surgery robot also includes a main end control device, which is communicatively connected with the driving part of the interventional consumables actuator and the sensor 920. The signal of the sensor 920 can be transmitted to the main control device through a signal transmission tool such as a signal line, so that the doctor can sense the force of the interventional consumables in the blood vessel, which is convenient for the doctor to make timely adjustments to prevent puncturing of the blood vessel and improve the safety of the operation.

[0100] The main end control device may include structures such as a control member and a display screen. The doctor may control the movement of the interventional consumable through the control member. The display screen may be used to display an image of the interventional consumable in a human blood vessel. The doctor may adjust hand movements according to the image and other information displayed on the display screen to change the movement of the interventional consumable in the blood vessel.

[0101] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. An interventional consumables execution device for a vascular interventional surgery robot, characterized in that: include: An interventional consumables delivery mechanism, used to deliver a first interventional consumable; A Y-valve fixing mechanism, disposed on one side of the interventional consumables conveying mechanism in the delivery direction, for fixing the Y-valve, the Y-valve comprising a Y-valve main pipe and a Y-valve branch pipe connected to the Y-valve main pipe, the Y-valve main pipe being used to pass the first interventional consumables; Wherein, the extension direction of the Y-valve main pipe is not parallel to the delivery direction of the interventional consumables conveying mechanism.

2. The interventional consumables execution device according to claim 1, characterized in that: The Y-valve fixing mechanism comprises: The Y-valve support portion is arranged on one side of the interventional consumables conveying mechanism in the delivery direction, and the Y-valve support portion is provided with a limiting groove for accommodating the Y-valve.

3. The interventional consumables execution device according to claim 2, characterized in that: The bottom of the limiting groove is not parallel to the delivery direction of the interventional consumables conveying mechanism, so that the extension direction of the Y-valve main pipe is not parallel to the delivery direction of the interventional consumables conveying mechanism.

4. The interventional consumables execution device according to claim 2, characterized in that: The limiting groove comprises: A first sub-groove, used to accommodate the Y-valve main pipe; The second sub-groove is located on a side of the first sub-groove away from the bottom of the groove. The second sub-groove is used to accommodate the Y-valve branch pipe. The groove width of the second sub-groove is smaller than the groove width of the first sub-groove.

5. The interventional consumables execution device according to claim 1, characterized in that: The Y-valve main pipe has an inlet end close to the interventional consumables conveying mechanism and an outlet end away from the interventional consumables conveying mechanism, the inlet end of the Y-valve main pipe is used for the first interventional consumable to be inserted, and the outlet end of the Y-valve main pipe is used for connecting the second interventional consumable, and the second interventional consumable is provided with a lumen for the first interventional consumable to pass through; The Y-valve fixing mechanism also includes: The first gear is connected to the outlet end of the Y-valve main pipe and is used to drive the second interventional consumable disposed at the outlet end of the Y-valve main pipe to rotate. The axis of the first gear is parallel to the extension direction of the Y-valve main pipe.

6. The interventional consumables execution device according to claim 5, characterized in that: The intervention consumables execution device further includes: A Y-valve driving mechanism, wherein a power output end of the Y-valve driving mechanism is transmission-connected to the first gear, and is used to drive the first gear to rotate axially.

7. The interventional consumables execution device according to claim 6, characterized in that: The intervention consumables execution device further includes: A partition plate, wherein the Y-valve fixing mechanism and the Y-valve driving mechanism are respectively located on different sides of the partition plate; Wherein, the Y-valve driving mechanism comprises a first motor and a second gear connected to an output shaft of the first motor; The partition plate is provided with a first transmission hole, and the second gear is meshed with the first gear through the first transmission hole.

8. The interventional consumables execution device according to any one of claims 1 to 7, characterized in that: An extension direction of the Y-valve main pipe and a delivery direction of the interventional consumables conveying mechanism have a first angle, and the first angle is 135°-175°.

9. The interventional consumables execution device according to any one of claims 1 to 7, characterized in that: The interventional consumables execution device further includes a force detection mechanism, and the force detection mechanism includes: a clamping portion, disposed between the Y-valve main pipe and the interventional consumable conveying mechanism, the clamping portion being provided with a through hole, the through hole being used for allowing the first interventional consumable to pass through; The sensor is connected to the clamping part and is used to sense the force applied to the clamping part.

10. The interventional consumables execution device according to claim 9, characterized in that: The clamping portion comprises a first clamping portion and a second clamping portion, wherein the second clamping portion is located at a side of the first clamping portion away from the Y-valve; The through hole comprises a first through hole and a second through hole, the first clamping portion is provided with the first through hole, the second clamping portion is provided with the second through hole, and the first through hole is connected to the second through hole; The extension direction of the first through hole is parallel to the extension direction of the Y-valve main pipe; An extending direction of the second through hole is parallel to a delivery direction of the interventional consumables conveying mechanism.

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