Guide tube, intervention consumable execution device, sterile consumable box and vascular intervention surgical robot

Abstract

The utility model provides a guide tube, an intervention consumable execution device, a sterile consumable box and a vascular intervention surgical robot, and belongs to the technical field of medical instruments. The guide pipe is used for the interventional consumable execution device, and the interventional consumable execution device comprises a support, a first gear arranged on the support in the interventional direction and a clamping mechanism arranged on the support. A tube cavity of the guide tube is used for insertion of interventional consumables, and the guide tube comprises a first section, a second section, a third section and a fourth section which are sequentially connected. The guide pipe is further used for being arranged at the axis of the first gear in a penetrating mode and inserted into the clamping mechanism through the first subsection. The outer diameters of the first section, the second section and the third section are not greater than the outer diameter of the fourth section; and the outer diameter of the first section is gradually reduced from the fourth section to the first section. According to the guide pipe provided by the invention, an operator does not need to specially operate a clamping mechanism of an intervention consumable execution device, the intervention consumable can be guided to be inserted into the clamping mechanism, and the operation is simple and convenient.

Description

Technical Field

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

[0002] 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 interventional consumables are introduced into the human body 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] At present, an interventional consumables actuator is usually used to drive the movement of the interventional consumables to deliver the interventional consumables into the patient's body. The interventional consumables actuator usually includes an interventional consumables rotation and advancement mechanism and a clamping mechanism. The clamping mechanism is used to clamp the interventional consumables, and the interventional consumables rotation and advancement mechanism completes the rotation and delivery of the interventional consumables. However, in the prior art, the steps of placing the interventional consumables into the clamping mechanism and making the clamping mechanism clamp the interventional consumables are relatively cumbersome. The main reason is that the hardness of the interventional end of the interventional consumables is usually low, and it is difficult to open the clamping wheel of the clamping mechanism and pass it smoothly. Therefore, the operator is often required to manually adjust the gap width between the clamping wheels to achieve the installation of the interventional consumables, which is not conducive to improving work efficiency. Utility Model Content

[0004] In order to overcome the problems existing in the related technology, the present disclosure provides a guide tube, an interventional consumable execution device, a sterile consumable box and a vascular interventional surgical robot. The present disclosure does not require the operator to perform special operations on the clamping mechanism of the interventional consumable execution device from the end, and can guide the interventional consumable to be inserted into the clamping mechanism, which is easy to operate.

[0005] According to a first aspect of the present disclosure, there is provided a guide tube for an interventional consumables execution device, the interventional consumables execution device comprising a bracket, a first gear disposed on the bracket in an interventional direction, and a clamping mechanism disposed on the bracket, the lumen of the guide tube being used for inserting the interventional consumables, the guide tube comprising a first segment, a second segment, a third segment, and a fourth segment connected in sequence;

[0006] Wherein, the guide tube is also used to penetrate the axis of the first gear and be inserted into the clamping mechanism through the first segment;

[0007] The outer diameters of the first segment, the second segment, and the third segment are not greater than the outer diameter of the fourth segment;

[0008] The outer diameter of the first segment gradually decreases from the fourth segment to the first segment.

[0009] In some exemplary embodiments of the present disclosure, the outer diameter of the third segment is smaller than the maximum outer diameter of the first segment; and / or

[0010] The outer diameter of the second segment gradually decreases from the first segment to the fourth segment.

[0011] In some exemplary embodiments of the present disclosure, the outer diameter of the third segment is smaller than the outer diameter of the fourth segment;

[0012] The third segment is connected to the fourth segment to form a step shape.

[0013] In some exemplary embodiments of the present disclosure, the first segment and the second segment are an integrally formed structure, and the second segment is detachably connected to the third segment.

[0014] In some exemplary embodiments of the present disclosure, a ratio of the lengths of the first segment, the second segment, the third segment, and the fourth segment is 1:(0.1-1):(3-5.5):(0.1-1.5).

[0015] In some exemplary embodiments of the present disclosure, a through hole is provided at the axis of the first gear, and the guide tube is passed through the through hole;

[0016] The outer diameter of the third segment is smaller than the aperture of the through hole, and the outer diameter of the fourth segment is larger than the aperture of the through hole.

[0017] In some exemplary embodiments of the present disclosure, the outer diameter of one end of the second segment close to the fourth segment is smaller than the aperture of the through hole;

[0018] An outer diameter of an end of the second segment away from the fourth segment is larger than a diameter of the through hole.

[0019] In some exemplary embodiments of the present disclosure, the clamping mechanism comprises a first clamping wheel and a second clamping wheel, and the first clamping wheel and the second clamping wheel are arranged on the bracket;

[0020] The distance between the axis connecting the first clamping wheel and the second clamping wheel and the first gear is a;

[0021] The sum of the lengths of the first segment and the second segment is b,

[0022] 0.2mm≤ab≤2mm.

[0023] According to a second aspect of the present disclosure, an interventional consumables execution device is provided, comprising:

[0024] Bracket;

[0025] A first gear, disposed on one side of the bracket in the intervention direction;

[0026] A clamping mechanism, provided on the bracket, for clamping the interventional consumables;

[0027] The guide tube as described in the first aspect is used to establish a channel for the interventional consumable to pass through the clamping mechanism.

[0028] In some exemplary embodiments of the present disclosure, the interventional consumables execution device further includes:

[0029] A second gear, disposed at an end of the bracket away from the first gear, the second gear and the first gear being coaxially disposed;

[0030] A limiting tube is used for inserting the interventional consumable, and the limiting tube passes through the axis of the second gear and is located on a side of the clamping mechanism away from the first gear.

[0031] According to a third aspect of the present disclosure, there is provided a sterile consumables box, comprising:

[0032] Box body;

[0033] The interventional consumable execution device as described in the second aspect is arranged in the box body.

[0034] According to a fourth aspect of the present disclosure, a vascular interventional surgery robot is provided, comprising:

[0035] Robotic arm;

[0036] A robot body connected to the end of the robot arm;

[0037] As in the sterile consumables box described in the third aspect, a long groove is provided on the robot body, and the sterile consumables box is slidably connected to the long groove.

[0038] The technical solution provided by the present disclosure may have the following beneficial effects:

[0039] The guide tube provided by the present disclosure is used to guide the insertion of the interventional consumable into the clamping mechanism of the interventional consumable execution device. The guide tube includes a first segment, a second segment, a third segment and a fourth segment, wherein the outer diameter of the first segment gradually decreases from the fourth segment to the first segment. That is, the first segment is roughly a conical structure, which can be used as an insertion end, and the operator can manually insert the guide tube into the clamping mechanism through the insertion end, and the angle and shape of the conical head can make the insertion process smoother and less likely to get stuck or blocked.

[0040] In addition, the outer diameters of the first segment, the second segment, and the third segment are smaller than the outer diameter of the fourth segment. Therefore, the fourth segment can be used as an operating end. The operator can hold the operating end and insert the guide tube into the clamping mechanism 200, providing the operator with a better operating experience.

[0041] The guide tube provided by the present disclosure can guide the interventional consumable to be inserted into the clamping mechanism through the channel established by the guide tube without the operator having to perform special operations on the clamping mechanism of the slave interventional consumable execution device, and the operation is simple.

[0042] 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

[0043] 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.

[0044] Figure 1 is a schematic diagram of the overall assembly structure of the guide tube in an exemplary embodiment of the present disclosure;

[0045] Figure 2 is a schematic structural diagram of a guide tube in a disassembled state in an exemplary embodiment of the present disclosure;

[0046] Figure 3 is a schematic structural diagram of an interventional consumables execution device in an exemplary embodiment of the present disclosure;

[0047] Figure 4 is a schematic structural diagram of an exemplary embodiment of the present disclosure after an interventional consumable is inserted into a clamping mechanism through a guide tube and the guide tube is separated from the clamping mechanism;

[0048] Figure 5 is a top view of an interventional consumable inserted into a clamping mechanism through a guide tube in an exemplary embodiment of the present disclosure;

[0049] Figure 6 It is a schematic diagram of the structure in which the guide tube is inserted into the first gear in an exemplary embodiment of the present disclosure.

[0050] Description of Reference Numerals

[0051] 100-guide tube; 110-first section; 120-second section; 130-third section; 140-fourth section; 200-clamping mechanism; 210-first clamping wheel; 220-second clamping wheel; 300-adjusting mechanism; 410-first gear; 420-second gear; 500-limiting tube; 600-bracket; 10-interventional consumables. DETAILED DESCRIPTION

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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°.

[0056] 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.

[0057] In actual applications, doctors control the interventional consumables actuator through the main end control device of the vascular interventional surgery robot, driving the interventional consumables to move forward, backward and rotate in the blood vessel. The interventional consumables actuator generally includes an interventional consumables rotation and advancement mechanism and a clamping mechanism. The clamping mechanism is used to clamp the interventional consumables, and the rotation and advancement mechanism completes the rotation and delivery of the interventional consumables.

[0058] In the related art, the clamping mechanism usually includes at least two clamping wheels, and the distance between the two clamping wheels is adjustable. When it is necessary to place an interventional consumable, such as a guide wire, into the clamping mechanism, the operator will manually pry the two clamping wheels apart. In this process, the operator needs to perform two operations at the same time: on the one hand, manually operate the clamping wheel, and on the other hand, manually operate the guide wire. The operation process is relatively cumbersome and the operation is extremely inconvenient. If the guide wire is bent by force during the insertion process, it may also cause it to be unable to be in the normal installation position.

[0059] Based on this, Figures 1 to 3 As shown, this embodiment provides a guide tube 100 for an interventional consumables execution device, which includes a stent 600, a first gear 410 arranged on the stent 600 in the intervention direction, and a clamping mechanism 200 arranged on the stent 600. The lumen of the guide tube 100 is used for inserting the interventional consumables 10, and includes a first segment 110, a second segment 120, a third segment 130 and a fourth segment 140 connected in sequence. The guide tube 100 is also used to pass through the axis of the first gear 410 and insert into the clamping mechanism 200 through the first segment 110. The outer diameters of the first segment 110, the second segment 120, and the third segment 130 are not greater than the outer diameter of the fourth segment 140. The outer diameter of the first segment 110 gradually decreases from the fourth segment 140 to the first segment 110.

[0060] The guide tube 100 provided by the present disclosure is used to guide the interventional consumable 10 to be inserted into the clamping mechanism 200 of the interventional consumable execution device. The guide tube 100 includes a first segment 110, a second segment 120, a third segment 130 and a fourth segment 140, wherein the outer diameter of the first segment 110 gradually decreases from the fourth segment 140 to the first segment 110. That is, the first segment 110 is generally a conical structure, which can be used as an insertion end, and the operator can manually insert the guide tube 100 into the clamping mechanism 200 through the insertion end, and the angle and shape of the conical head can make the insertion process smoother and less likely to get stuck or blocked.

[0061] In addition, the outer diameters of the first segment 110, the second segment 120, and the third segment 130 are smaller than the outer diameter of the fourth segment 140. Therefore, the fourth segment 140 can be used as an operating end, and the operator can hold the operating end to insert the guide tube 100 into the clamping mechanism 200, providing the operator with a better operating experience.

[0062] The various parts of the guide tube 100 provided in the embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings:

[0063] like Figures 1 to 3As shown, the present disclosure provides a guide tube 100 that can be used in an interventional consumables execution device. The interventional consumables execution device is used to control the rotation and delivery of interventional consumables in a blood vessel, and includes a stent 600, a first gear 410 and a clamping mechanism 200.

[0064] The lumen of the guide tube 100 is used for inserting the interventional consumable, and the guide tube 100 includes a first segment 110, a second segment 120, a third segment 130, and a fourth segment 140 connected in sequence. The interventional consumable 10 is guided into the clamping mechanism 200 through the guide tube 100, so that the clamping mechanism 200 can clamp the interventional consumable 10. Figure 3 and Figure 5 As shown, the clamping mechanism 200 may include a first clamping wheel 210 and a second clamping wheel 220, which are disposed on the bracket 600, and the first clamping wheel 210 and the second clamping wheel 220 are respectively located on both sides of the interventional consumable 10, and the interventional consumable 10 can be clamped between the two clamping wheels.

[0065] The first gear 410 is disposed on one side of the bracket 600 in the intervention direction. The guide tube 100 is used to be inserted through the axis of the first gear 410 and inserted into the clamping mechanism 200 through the first segment 110. Specifically, the first gear 410 may be provided with a through hole that penetrates both sides of the first gear 410 in the intervention direction, and the through hole is not connected to the outer side of the wheel of the first gear 410, and the guide tube 100 may be inserted in the through hole, or the first gear 410 is provided with a slot that connects the outer side of the wheel of the first gear 410 and the axis, and the guide tube 100 is placed at the axis of the first gear 410 through the slot. Preferably, the first gear 410 may be provided with a through hole that penetrates both sides of the first gear 410 in the intervention direction, and the guide tube 100 is inserted in the through hole.

[0066] like Figure 1 and Figure 2 As shown, the guide tube 100 can be inserted into the clamping mechanism 200 through the first segment 110. The outer diameter of the first segment 110 gradually decreases from the fourth segment 140 to the first segment 110. The first segment 110 can be a substantially conical structure, and the conical head can be used as an insertion end, and the operator can manually insert the guide tube 100 into the clamping mechanism 200 through the insertion end, specifically, between the first clamping wheel 210 and the second clamping wheel 220.

[0067] Furthermore, the guide tube 100 has a certain structural strength. When the first clamping wheel 210 and the second clamping wheel 220 are in a free state, the two are usually tightly fitted, so the guide tube 100 needs to have a certain structural strength, which can support the guide tube 100 to be inserted between the first clamping wheel 210 and the second clamping wheel 220 to separate the two clamping wheels.

[0068] In some embodiments of the present disclosure, the outer diameters of the first segment 110, the second segment 120, and the third segment 130 are not greater than the outer diameter of the fourth segment 140. The fourth segment 140 can be used as an operating end, and the operator can hold the operating end to insert the guide tube 100 into the clamping mechanism 200. Optionally, the outer diameters of the first segment 110, the second segment 120, and the third segment 130 are all smaller than the outer diameter of the fourth segment 140, that is, the fourth segment 140 has a larger outer diameter so that it has enough size for the operator to hold.

[0069] Furthermore, the fourth segment 140 may be provided with a pattern for increasing friction to increase the comfort and stability of the operator's grip. It should be noted that the specific dimensions of the outer diameters of the first segment 110, the second segment 120, the third segment 130, and the fourth segment 140 may be set according to actual conditions, and the present disclosure does not limit this.

[0070] In a specific embodiment, the outer diameter of the third segment 130 is smaller than the outer diameter of the fourth segment 140; the third segment 130 and the fourth segment 140 are connected to form a step-like structure, which can provide a better grip and ergonomic design, so that the operator can use the guide tube 100 more comfortably. In addition, the step-like structure design also has a certain limiting effect. When the operator holds the fourth segment 140 and inserts the guide tube 100 into the clamping mechanism 200 for a distance, the step-like structure formed by the third segment 130 and the fourth segment 140 can form a locking limit with certain structures in the interventional consumables execution device, preventing the guide tube 100 from being further inserted, so that the guide tube 100 is in a suitable position so that the interventional consumable 10 can be inserted into the guide tube 100.

[0071] Optionally, a through hole is provided at the axis of the first gear 410, and the guide tube 100 is passed through the through hole; the outer diameter of the third segment 130 is smaller than the aperture of the through hole, and the outer diameter of the fourth segment 140 is larger than the aperture of the through hole. Furthermore, the outer diameters of the third segment 130 at different positions are substantially equal, so that it is convenient for it to move back and forth in the through hole of the first gear 410.

[0072] The third segment 130 and the fourth segment 140 may be an integrally formed structure or a split structure. When the third segment 130 and the fourth segment 140 are split structures, the third segment 130 and the fourth segment 140 may be connected by threads to take into account both the convenience and stability of the connection. The operator may choose to replace the fourth segment 140 according to his or her own holding requirements. The fourth segment 140 may be set to different size specifications, such as setting the fourth segment 140 to have different outer diameters.

[0073] In practical applications, the main function of the guide tube 100 is to guide the interventional consumable 10 to be inserted into the clamping mechanism 200. After the interventional consumable 10 is inserted into place, the guide tube 100 needs to be pulled out of the clamping mechanism 200, specifically, the guide tube 100 is separated from between the first clamping wheel 210 and the second clamping wheel 220, and the interventional consumable 10 is left between the first clamping wheel 210 and the second clamping wheel 220, and is clamped by the first clamping wheel 210 and the second clamping wheel 220. In this process, the guide tube 100 can be completely pulled out, that is, completely separated from the interventional consumable execution device, or it can be partially pulled out, that is, only pulled out from the clamping mechanism 200, but still remain in other parts of the structure of the interventional consumable execution device.

[0074] In the related art, when the interventional consumable 10 encounters greater resistance while moving in a blood vessel, it often causes the interventional consumable 10 to break away from the clamping wheel and become stuck. Especially for neurointerventional surgery, the interventional consumable 10 needs to be transported from the puncture point at the root of the thigh through a long distance in the blood vessel to reach the narrowed part of the cerebral blood vessel. In this case, the interventional consumable 10 located in the blood vessel may encounter greater resistance during transportation, and the interventional consumable 10 in the interventional consumable execution device will break away from the clamping wheel and become stuck. In the present disclosure, when the guide tube 100 is not completely withdrawn, the guide tube 100 can be used as an outer protective tube and guide tube of the interventional consumable 10 to prevent the interventional consumable 10 from deforming and breaking away from the clamping wheel. Specifically, Figure 4 shown.

[0075] The second segment 120 is connected between the first segment 110 and the third segment 130. In some embodiments of the present disclosure, the outer diameter of the third segment 130 is smaller than the maximum outer diameter of the first segment 110, and the outer diameter of the second segment 120 gradually decreases from the first segment 110 to the fourth segment 140, that is, the second segment 120 is generally a conical structure. Figure 4 As shown, when the guide tube 100 begins to be pulled out from the clamping mechanism 200, the larger outer diameter of the second segment 120 can have a certain limiting effect, preventing the operator from completely pulling the guide tube 100 out of the interventional consumable execution device.

[0076] Taking the case where the axis of the first gear 410 is provided with a through hole as an example, the outer diameter of the end of the second segment 120 close to the fourth segment 140 is smaller than the aperture of the through hole; the outer diameter of the end of the second segment 120 away from the fourth segment 140 is larger than the aperture of the through hole. Figure 4 In the process, the guide tube 100 is pulled out of the clamping mechanism 200 , and the second segment 120 of the guide tube 100 is engaged with the through hole of the first gear 40 .

[0077] Furthermore, the first segment 110 and the second segment 120 are an integrally formed structure, and the second segment 120 is detachably connected to the third segment 130. In this embodiment, since the outer diameter of the end of the second segment 120 away from the fourth segment 140 is larger than the aperture of the through hole of the first gear 410, it is not easy to directly insert the guide tube 100 from the end of the first segment 110 into the through hole of the first gear 410. If it is to be inserted, brute force is required, which may cause damage to the guide tube 100. To solve this problem, the present disclosure sets the second segment 120 and the third segment 130 to be detachably connected. The operator can insert the third segment 130 and the fourth segment 140 into the through hole of the first gear 410 from one side, and then connect the first segment 110 and the second segment 120 to the third segment 130 from the other side of the first gear 410. This method can not only allow the guide tube 100 to pass through the through hole of the first gear 410 , but also ensure that the guide tube 100 is not damaged, thereby providing a guarantee for the normal insertion of subsequent interventional consumables into the clamping mechanism 200 .

[0078] The length of each section of the guide tube 100 can be set according to the structure of the interventional consumables execution device and the actual delivery requirements. In some embodiments of the present disclosure, the ratio of the lengths of the first segment 110, the second segment 120, the third segment 130 and the fourth segment 140 is 1: (0.1-1): (3-5.5): (0.1-1.5). Preferably, the sum of the lengths of the first segment 110 and the second segment 120 accounts for 1 / 6 to 1 / 4 of the total length of the guide tube 100. The lengths of the first segment 110, the second segment 120 and the fourth segment 140 are all less than the length of the third segment 130.

[0079] Furthermore, if Figure 1 and Figure 6As shown, the length of the first segment 110 and the second segment 120 can be set according to the distance between the first gear 410 and the clamping mechanism 200 in the direction of interventional consumable delivery. For example, the distance between the axis connecting the first clamping wheel 210 and the second clamping wheel 220 and the first gear 410 is a; the sum of the lengths of the first segment 110 and the second segment 120 is b, 0.2mm≤ab≤2mm. Specifically, ab can be 0.2mm, 0.3mm, 0.4mm, 0.5mm, 0.6mm, 0.7mm, 0.8mm, 0.9mm, 1mm, 1.1mm, 1.2mm, 1.3mm, 1.4mm, 1.5mm, 1.6mm, 1.7mm, 1.8mm, 1.9mm, 2mm, but not limited thereto. In this embodiment, after the interventional consumable 10 is inserted into place and the guide tube 100 is pulled out of the clamping mechanism 200, the distance L2 between the axial connection line of the first clamping wheel 210 and the second clamping wheel 220 and the port of the guide tube 100 is approximately 0.2mm-2mm. Within this range, even if the interventional consumable 10 encounters resistance in the blood vessel, there is not enough space for it to deform and escape from the clamping of the two clamping wheels, thereby realizing the limiting protection function of the guide tube 100 for the interventional consumable 10 inside it.

[0080] Based on the above guide tube 100, the present disclosure further provides an interventional consumables execution device. As described above, the interventional consumables execution device may include a bracket 600, a first gear 410, a clamping mechanism 200 and a guide tube 100, and the guide tube 100 is used to establish a channel for the interventional consumables to pass through the clamping mechanism 200. The structures of the first gear 410 and the clamping mechanism 200 can refer to the above description and are not described in detail here.

[0081] like Figures 3 to 6 As shown, in some embodiments of the present disclosure, the interventional consumables execution device further includes a second gear 420 and a limiting tube 500. The second gear 420 is disposed at one end of the bracket 600 away from the first gear 410, and the second gear 420 and the first gear 410 are coaxially arranged. The limiting tube 500 is used for inserting the interventional consumable 10, and the limiting tube 500 is passed through the axis of the second gear 420 and is located on the side of the clamping mechanism 200 away from the first gear 410. In this embodiment, the limiting tube 500 and the guide tube 100 can limit the interventional consumable 10 from both sides of the clamping mechanism 200, respectively, and play a double-sided limiting role on the interventional consumable 10 in the clamping mechanism 200, ensuring that the interventional consumable 10 will not detach from the clamping mechanism 200.

[0082] Further, the distance L1 between the axis connecting the first clamping wheel 210 and the second clamping wheel 220 and the limiting tube 500 is 0.2mm-2mm, and can be specifically 0.2mm, 0.3mm, 0.4mm, 0.5mm, 0.6mm, 0.7mm, 0.8mm, 0.9mm, 1mm, 1.1mm, 1.2mm, 1.3mm, 1.4mm, 1.5mm, 1.6mm, 1.7mm, 1.8mm, 1.9mm, 2mm, but not limited thereto. Within this range, even if the interventional consumable 10 encounters resistance in the blood vessel, there is not enough space on both sides of the clamping mechanism 200 for it to deform and escape from the clamping of the two clamping wheels, thereby realizing the limiting protection function of the two sides of the interventional consumable 10 through the limiting tube 500 and the guide tube 100.

[0083] like Figure 3 As shown, the interventional consumables execution device provided by the present disclosure also includes an adjustment mechanism 300 for adjusting the spacing between the first clamping wheel 210 and the second clamping wheel 220. The adjustment mechanism 300 may include an elastic member, such as a spring, to control the spacing between the first clamping wheel 210 and the second clamping wheel 220 by the expansion and contraction amount of the spring. When in use, when the interventional consumable 10 needs to be placed, the spacing between the second clamping wheel 220 and the first clamping wheel 210 can be increased by adjusting the adjustment mechanism 300 to increase the spacing between the second clamping wheel 220 and the first clamping wheel 210 so as to place the guide wire and the catheter therebetween. Specifically, the distance between the first clamping wheel 210 and the second clamping wheel 220 can be increased by inserting the first segment 110 of the guide tube 100 between the first clamping wheel 210 and the second clamping wheel 220. When the interventional consumable 10 is put in place, the elastic member in the adjustment mechanism 300 causes the second clamping wheel 220 and the first clamping wheel 210 to press the interventional consumable 10 tightly to ensure that both are in close contact with the interventional consumable 10.

[0084] In addition to the adjustment mechanism 300, the interventional consumables execution device further includes a rotation mechanism, a delivery mechanism, a rotation drive mechanism and a delivery drive mechanism. The rotation mechanism is used to realize the rotation of the interventional consumables, the advancement mechanism is used to realize the advancement or retreat of the interventional consumables, and the rotation drive mechanism is used to provide source power for the rotation mechanism. The delivery drive mechanism is used to provide source power for the delivery mechanism.

[0085] The progressive drive mechanism includes a first motor, and the progressive mechanism may include a first gear 410. When the first motor rotates, the first gear 410 is driven to rotate. The rotation of the first gear 410 drives the first clamping wheel 210 and / or the second clamping wheel 220 of the clamping mechanism 200 to rotate, thereby realizing the forward or backward movement of the interventional consumable 10. The rotation drive mechanism includes a second motor, and the rotation mechanism includes a second gear 420. When the second motor rotates, the second gear 420 is driven to rotate. The second gear 420 is fixedly connected to the bracket 600. The rotation of the second gear 420 drives the bracket 600 to rotate, thereby realizing the rotation of the interventional consumable 10.

[0086] The rotating mechanism, the progressive mechanism, the rotating drive mechanism and the progressive drive mechanism are not the main innovations of the interventional consumables execution device disclosed in the present invention, and therefore, they are not described in detail herein.

[0087] Next, a clamping process of the interventional consumable 10 in the interventional consumable execution device will be exemplarily described.

[0088] Before inserting the interventional consumable 10 into the clamping mechanism 200, the operator may first separate the guide tube 100 from the second segment 120 and the third segment 130 to form the following sections: Figure 2 Afterwards, the third segment 130 and the fourth segment 140 are inserted into the through hole of the axis of the first gear 410 from the side of the first gear 410 away from the clamping mechanism 200, and the third segment 130 is located on the side of the fourth segment 140 close to the second gear 420. Afterwards, the first segment 110, the second segment 120, the third segment 130, and the fourth segment 140 are connected from the side of the first gear 410 close to the clamping mechanism 200, so that the entire guide tube 100 is inserted at the axis of the first gear 410, as shown in FIG. Figure 6 Then, the operator can manually push the fourth segment 140 to move the guide tube 100 toward the clamping mechanism 200 until the first segment 110 thereof is inserted between the first clamping wheel 210 and the second clamping wheel 220 and contacts the stop tube 500 passing through the second gear 420. Figure 5 At this time, the first clamping wheel 210 and the second clamping wheel 220 are separated, and the operator can insert the interventional consumable 10 from the tube opening of the fourth segment 140 until it passes through the guide tube 100 and the limiting tube 500 .

[0089] After the interventional consumable 10 is inserted into place, the operator holds the fourth segment 140 of the guide tube 100 and pulls the guide tube 100 out of the first clamping wheel 210 and the second clamping wheel 220 until the second segment 120 of the guide tube 100 is engaged with the through hole of the first gear 410. At this time, the first clamping wheel 210 and the second clamping wheel 220 are pressed tightly under the action of the adjustment mechanism 300 and fit tightly with the interventional consumable 10. Figure 4 shown.

[0090] It should be noted here that when the second section 120 of the guide tube 100 is engaged at the through hole position of the first gear 410, the first section 110 of the guide tube 100 and the limiting tube 500 on the other side of the clamping mechanism 200 are adjacent to the clamping mechanism 200. Even if the interventional consumable 10 encounters greater resistance in the blood vessel, there is not enough space for it to deform and escape from the clamping of the two clamping wheels, thereby ensuring that the interventional consumable 10 can always be in the working position.

[0091] Based on the above-mentioned interventional consumables execution device, the present disclosure further provides a sterile consumables box, including a box body and the interventional consumables execution device described in any of the above-mentioned embodiments, and the interventional consumables execution device is arranged in the box body.

[0092] The present disclosure also provides a vascular interventional surgery robot, comprising a robotic arm, a robot body, and the sterile consumables box in any of the above embodiments.

[0093] The robot body is connected to the end of the robot arm. A long slot is provided on the robot body, and the sterile consumables box is slidably connected to the long slot. A driving mechanism can be arranged in the robot body to drive the sterile consumables box to slide along the long slot.

[0094] The number of sterile consumable boxes can be multiple. For a vascular interventional surgical robot that includes multiple sterile consumable boxes, the distance between two adjacent sterile consumable boxes is short, which makes it inconvenient to completely remove the guide tube 100 from the sterile consumable box after inserting the interventional consumable into place. The guide tube 100 designed in the present disclosure does not need to be completely removed from the sterile consumable box, and in an incompletely removed state, it not only does not affect the clamping of the interventional consumable 10, but also prevents the interventional consumable 10 from being separated from the clamping wheel, which is of great significance to a vascular interventional surgical robot that includes multiple sterile consumable boxes.

[0095] 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. A guide tube, used for an interventional consumables execution device of a vascular interventional surgery robot, the interventional consumables execution device comprising a bracket, a first gear arranged on the bracket in the intervention direction, and a clamping mechanism arranged on the bracket, characterized in that: The lumen of the guide tube is used for inserting the interventional consumables, and the guide tube comprises a first segment, a second segment, a third segment and a fourth segment which are connected in sequence; Wherein, the guide tube is also used to penetrate the axis of the first gear and be inserted into the clamping mechanism through the first segment; The outer diameters of the first segment, the second segment, and the third segment are not greater than the outer diameter of the fourth segment; The outer diameter of the first segment gradually decreases from the fourth segment to the first segment.

2. The guide tube according to claim 1, characterized in that: The outer diameter of the third segment is smaller than the maximum outer diameter of the first segment; and / or The outer diameter of the second segment gradually decreases from the first segment to the fourth segment.

3. The guide tube according to claim 1, characterized in that: The outer diameter of the third segment is smaller than the outer diameter of the fourth segment; The third segment is connected to the fourth segment to form a step shape.

4. The guide tube according to claim 2 or 3, characterized in that: The first segment and the second segment are an integrally formed structure, and the second segment is detachably connected to the third segment.

5. The guide tube according to any one of claims 1 to 3, characterized in that: The ratio of the lengths of the first segment, the second segment, the third segment and the fourth segment is 1:(0.1-1):(3-5.5):(0.1-1.5).

6. The guide tube according to claim 3, characterized in that: A through hole is provided at the axis of the first gear, and the guide tube is passed through the through hole; The outer diameter of the third segment is smaller than the aperture of the through hole, and the outer diameter of the fourth segment is larger than the aperture of the through hole.

7. The guide tube according to claim 6, characterized in that: The outer diameter of one end of the second segment close to the fourth segment is smaller than the aperture of the through hole; An outer diameter of an end of the second segment away from the fourth segment is larger than a diameter of the through hole.

8. The guide tube according to claim 1, characterized in that: The clamping mechanism comprises a first clamping wheel and a second clamping wheel, wherein the first clamping wheel and the second clamping wheel are arranged on the bracket; The distance between the axis connecting the first clamping wheel and the second clamping wheel and the first gear is a; The sum of the lengths of the first segment and the second segment is b, 0.2mm≤ab≤2mm.

9. An interventional consumables execution device, characterized in that: include: Bracket; A first gear, disposed on one side of the bracket in the intervention direction; A clamping mechanism, provided on the bracket, for clamping the interventional consumables; The guide tube according to any one of claims 1 to 8 is used to establish a channel for the interventional consumable to pass through the clamping mechanism.

10. The interventional consumables execution device according to claim 9, characterized in that: The intervention consumables execution device further includes: A second gear, disposed at an end of the bracket away from the first gear, the second gear and the first gear being coaxially disposed; A limiting tube is used for inserting the interventional consumable, and the limiting tube passes through the axis of the second gear and is located on a side of the clamping mechanism away from the first gear.

11. A sterile consumables box, characterized in that: include: Box body; The interventional consumable execution device according to claim 9 or 10 is arranged in the box body.

12. A vascular interventional surgery robot, characterized in that: include: Robotic arm; A robot body connected to the end of the robot arm; The sterile consumables box as described in claim 11, wherein a long groove is provided on the robot body, and the sterile consumables box is slidably connected to the long groove.

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