Embolism interventional surgical robot

Abstract

The utility model relates to the technical field of robots, in particular to an embolism interventional surgical robot which comprises a first support, a driving mechanism, an ejector rod, an injector and a clamping unit, the driving mechanism is arranged on the side surface of the first support, the ejector rod is meshed with the inner wall of the driving mechanism, and the injector is arranged on the side surface of the ejector rod. An L-shaped support is arranged at the output end of the injector, a connecting block is fixedly connected to the lower surface of the L-shaped support, a medicine shunt tube is arranged at the output end of the L-shaped support, an auxiliary unit is arranged on the side surface of the first support and comprises a rotating shaft, and a clamping unit is arranged on the surface of the rotating shaft and comprises a force carrying block. According to the device, by arranging the auxiliary unit and the clamping unit, the limiting effect of the device on the injector is enhanced, then the problem that the injector is supported only through the two ends and is prone to being damaged in the operation process of the device is solved, and the supporting performance of the device on the injector is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an embolism intervention surgery robot. Background Art

[0002] Embolization interventional therapy is the process of implanting embolic materials into the intended blood vessels under DSA angiography. During the embolization operation, it is often necessary to use a surgical robot to reduce the exposure of medical staff during the operation.

[0003] Prior art includes a utility model with publication number CN217611297U, which discloses a liver tumor embolization interventional surgical robot. The patent adopts a catheter drive and drug injection linkage module, a guidewire drive and guidewire removal linkage module, and an integral detachable component composed of the above two linkage modules. The catheter drive and drug injection linkage module is arranged on the directional guide rail of the fuselage for driving the catheter and injecting drugs. The guidewire drive and guidewire removal linkage module is arranged on the directional guide rail of the fuselage for driving the guidewire and withdrawing the guidewire. Both ends of the directional guide are fixed by magnetic detachable blocks to realize the overall replaceability of the two linkage modules and the directional guide. It has both the guidewire and catheter feeding and screwing functions and the guidewire withdrawal function, as well as the guidewire force feedback function and the automatic drug injection function, providing a reference for the functional expansion of the interventional surgical robot to solve the problem that the existing surgical robot has a relatively single function and poor force feedback. At the same time, when the equipment is actually used, it lacks replaceable components, making it difficult to perform cyclic disinfection and use of the robot components during use.

[0004] The inventors have discovered in their daily work that in the process of using surgical robots for interventional surgery, there is a problem that when the drug injection mechanism of existing surgical robots, such as the above-mentioned ones, is in operation, the drug syringe is only supported by the connection between the syringe and the two side brackets. When the device is in operation, the device will push the syringe to contract. When the device pushes the syringe, the force exerted by the device is at both ends of the syringe, resulting in a high load on both ends of the syringe, which can easily cause damage to the syringe and lead to leakage of the drug solution. Utility Model Content

[0005] The purpose of the utility model is to solve the problem in the prior art that when the device is in operation, the device will push the syringe to shrink. When the device pushes the syringe, the force applied by the device is at both ends of the syringe, resulting in a high load on both ends of the syringe, which is easy to cause damage to the syringe and then cause leakage of the drug solution. An embolization interventional surgical robot is proposed to solve the problem.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: an embolization interventional surgical robot, comprising a first bracket, a driving mechanism, a push rod, a syringe and a clamping unit, the driving mechanism is arranged on the side surface of the first bracket, the push rod is meshed with the inner wall of the driving mechanism, the syringe is arranged on the side surface of the push rod, an L-shaped bracket is arranged at the output end of the syringe, a connecting block is fixedly connected to the lower surface of the L-shaped bracket, a drug shunt tube is arranged at the output end of the L-shaped bracket, an auxiliary unit is arranged on the side surface of the first bracket, the auxiliary unit includes a rotating shaft, the clamping unit is arranged on the surface of the rotating shaft, the clamping unit includes a load-bearing block, the load-bearing block is slidably connected to the surface of the rotating shaft, an assembly plate is bolted to the lower surface of the load-bearing block, and a clamping block is fixedly connected to the side surface of the assembly plate.

[0007] Preferably, the side surface of the clamp block is fixedly connected with a rubber gasket, the lower surface of the assembly plate is fixedly connected with a stabilizing frame, and a clamp block is provided. Through the cooperation between the clamp block and the rubber gasket, the syringe can be clamped in a state limited by the assembly plate.

[0008] Preferably, there are two load-bearing blocks, which are symmetrically arranged about the rotating shaft. The load-bearing blocks can cooperate with the rotating shaft to support the position of the assembly plate, thereby ensuring the stability of the assembly plate.

[0009] Preferably, there are two rubber gaskets, which are symmetrically arranged about the syringe, and the rubber gaskets abut against the curved surface of the syringe. The rubber gaskets can increase the resistance between the clamping block and the syringe, so as to improve the clamping effect of the clamping block on the syringe.

[0010] Preferably, the auxiliary unit also includes a T-shaped frame, the T-shaped frame is fixedly connected to the side surface of the first bracket, the side surface of the T-shaped frame is fixedly connected to a support plate, the surface of the support plate is provided with a rotating hole, the rotating shaft is rotatably connected to the inner wall of the rotating hole, the surface of the rotating shaft is provided with a positive thread groove, the surface of the rotating shaft is provided with a reverse thread groove, the rotating shaft is threadedly connected with a linkage frame at both ends of the positive thread groove and the reverse thread groove, the side surface of the linkage frame is fixedly connected with a cylinder, a support plate is provided, and the position of the rotating shaft can be supported by the support plate, thereby ensuring the stability of the rotating shaft during the driving process.

[0011] Preferably, the linkage frame is bolted to the upper surface of the stabilizing frame, the cylinder is fixedly connected to the side surface of the load-bearing block, and a linkage frame is provided. Through the cooperation between the linkage frame and the cylinder, the load-bearing plate can be pushed to move under the drive of the rotating shaft.

[0012] Preferably, the syringe passes through the inner wall of the T-shaped frame, there are two support plates, and the two support plates are symmetrically arranged with respect to the T-shaped frame. An operating ring is bolted to the side surface of the rotating shaft, and the cylinder passes through the side surface of the support plate. A cylinder is arranged, and the linkage frame and the force-carrying plate can be connected through the cylinder, thereby achieving a linkage effect between the two.

[0013] Compared with the prior art, the advantages and positive effects of the utility model are:

[0014] In the utility model, by setting an auxiliary unit and a clamping unit, when a surgical robot is used for surgery, the syringe is placed in the clamping unit, the syringe is pushed so that its output end is inserted into the L-shaped bracket, and then the switch of the driving mechanism is turned on, the driving mechanism is energized to drive the push rod, and the push rod pushes the piston rod of the syringe under the action of the driving mechanism, and the medicine in the syringe is pushed into the L-shaped bracket under the action of its piston rod, and then the medicine is injected into the medicine shunt tube under the guidance of the L-shaped bracket; when the syringe is placed on the inner wall of the T-shaped bracket, the operating ring is rotated, and the operating ring is driven by force to drive the rotating shaft, and the rotating shaft rotates under the action of the operating ring, and cooperates with the positive thread groove and the reverse thread groove to drive the linkage frames on both sides, and the linkage frames on both sides are driven by the rotating shaft, the positive thread groove and the reverse thread groove. , push the cylinder, the circumferential force pushes the load-bearing block, the load-bearing block pushes the assembly plate, and the assembly plate pushes the clamping block and the rubber gasket under the action of the load-bearing block. The clamping block and the rubber gasket are pushed and pressed against the surface of the syringe. When the rubber gasket presses against the surface of the syringe, stop turning the dial wheel, and at the same time, the rotating shaft stops rotating, and cooperates with the linkage frame and the cylinder to limit the position of the clamping unit. When the position of the clamping unit is limited, the syringe can be clamped, and the limiting operation of the syringe is completed immediately. By setting the auxiliary unit and the clamping unit, the limiting effect of the device on the syringe is enhanced, thereby reducing the problem that the syringe is supported only by the two ends and is easily damaged during the operation of the device, and further improves the support of the device for the syringe. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A three-dimensional structural schematic diagram of an embolization interventional surgical robot is proposed for the utility model;

[0016] Figure 2 The utility model provides a schematic diagram of the structure of an embolization interventional surgery robot from a bottom view;

[0017] Figure 3 A partial structural schematic diagram of an embolization interventional surgical robot is proposed for the utility model;

[0018] Figure 4 The utility model proposes an embolization interventional surgery robot Figure 3 Schematic diagram of the structure at point A in the middle.

[0019] Legend:

[0020] 1. First bracket; 2. Driving mechanism; 3. Push rod; 4. Syringe; 5. Connecting block; 6. L-shaped bracket; 7. Drug shunt tube; 8. Auxiliary unit; 81. T-shaped bracket; 82. Support plate; 83. Rotating shaft; 84. Positive thread groove; 85. Reverse thread groove; 86. Linkage bracket; 87. Cylinder; 9. Clamping unit; 91. Load-bearing block; 92. Assembly plate; 93. Clamping block; 94. Rubber gasket; 95. Stabilizing bracket. DETAILED DESCRIPTION

[0021] See also Figure 1-4 The utility model provides a technical solution: an embolization interventional surgical robot, comprising a first bracket 1, a driving mechanism 2, a push rod 3, a syringe 4 and a clamping unit 9, the driving mechanism 2 is arranged on the side surface of the first bracket 1, the push rod 3 is engaged with the inner wall of the driving mechanism 2, the syringe 4 is arranged on the side surface of the push rod 3, an L-shaped bracket 6 is arranged at the output end of the syringe 4, a connecting block 5 is fixedly connected to the lower surface of the L-shaped bracket 6, a drug shunt tube 7 is arranged at the output end of the L-shaped bracket 6, an auxiliary unit 8 is arranged on the side surface of the first bracket 1, the auxiliary unit 8 includes a rotating shaft 83, and the clamping unit 9 is arranged on the surface of the rotating shaft 83.

[0022] The specific configuration and function of the auxiliary unit 8 and the clamping unit 9 will be described in detail below.

[0023] In this embodiment: the clamping unit 9 includes a load-bearing block 91 , which is slidably connected to the surface of the rotating shaft 83 , a mounting plate 92 is bolted to the lower surface of the load-bearing block 91 , and a clamping block 93 is fixedly connected to the side surface of the mounting plate 92 .

[0024] Specifically, the side surface of the clamp block 93 is fixedly connected with a rubber gasket 94, and the lower surface of the assembly plate 92 is fixedly connected with a stabilizing frame 95. The clamp block 93 is provided, and through the cooperation between the clamp block 93 and the rubber gasket 94, the syringe 4 can be clamped in a state limited by the assembly plate 92.

[0025] Specifically, there are two load-bearing blocks 91 , and the two load-bearing blocks 91 are disposed symmetrically about the rotating shaft 83 .

[0026] In this embodiment, a load-bearing block 91 is provided, and the load-bearing block 91 can cooperate with the rotating shaft 83 to support the position of the assembly plate 92 , thereby ensuring the stability of the assembly plate 92 .

[0027] Specifically, there are two rubber gaskets 94 , which are symmetrically arranged with respect to the syringe 4 . The rubber gasket 94 abuts against the curved surface of the syringe 4 . The rubber gasket 94 is arranged to increase the resistance between the clamp block 93 and the syringe 4 , so as to improve the clamping effect of the clamp block 93 on the syringe 4 .

[0028] In this embodiment: the auxiliary unit 8 also includes a T-shaped frame 81, which is fixedly connected to the side surface of the first bracket 1, and a support plate 82 is fixedly connected to the side surface of the T-shaped frame 81. A rotating hole is provided on the surface of the support plate 82, and a rotating shaft 83 is rotatably connected to the inner wall of the rotating hole. A positive thread groove 84 is provided on the surface of the rotating shaft 83, and a negative thread groove 85 is provided on the surface of the rotating shaft 83. The rotating shaft 83 is located at both ends of the positive thread groove 84 and the negative thread groove 85. A linkage frame 86 is threadedly connected, and a cylinder 87 is fixedly connected to the side surface of the linkage frame 86.

[0029] In this embodiment, a support plate 82 is provided, through which the position of the rotating shaft 83 can be supported, thereby ensuring the stability of the rotating shaft 83 during the driving process.

[0030] Specifically, the linkage frame 86 is bolted to the upper surface of the stabilizing frame 95, and the cylinder 87 is fixedly connected to the side surface of the load-bearing block 91. The linkage frame 86 is set, and through the cooperation between the linkage frame 86 and the cylinder 87, the load-bearing plate can be pushed to move under the drive of the rotating shaft 83.

[0031] Specifically, the syringe 4 passes through the inner wall of the T-shaped frame 81 , there are two support plates 82 , and the two support plates 82 are symmetrically arranged about the T-shaped frame 81 , an operating ring is bolted to the side surface of the rotating shaft 83 , and the cylinder 87 passes through the side surface of the support plate 82 .

[0032] In this embodiment, a cylinder 87 is provided, through which the linkage frame 86 and the force-carrying plate can be connected, thereby achieving a linkage effect between the two.

[0033] Working principle: When using the surgical robot for surgery, the syringe 4 is placed in the clamping unit 9, and the syringe 4 is pushed so that its output end is inserted into the L-shaped bracket 6. Then, the switch of the driving mechanism 2 is turned on, and the driving mechanism 2 is energized to drive the push rod 3. The push rod 3 pushes the piston rod of the syringe 4 under the action of the driving mechanism 2. The liquid medicine in the syringe 4 is pushed into the L-shaped bracket 6 under the action of its piston rod, and then the liquid medicine is injected into the drug shunt tube 7 under the guidance of the L-shaped bracket 6; when the syringe 4 is placed on the inner wall of the T-shaped bracket 81, the operating ring is rotated, and the operating ring is driven by force to drive the rotating shaft 83. The rotating shaft 83 rotates under the action of the operating ring, and cooperates with the positive thread groove 84 and the reverse thread groove 85 to drive the linkage frames 86 on both sides. Under the action of the rotating shaft 83, the positive thread groove 84 and the reverse thread groove 85, the linkage frames 86 on both sides push the cylinder 87, and the circumference The force pushes the load-bearing block 91, and the load-bearing block 91 pushes the assembly plate 92. Under the action of the load-bearing block 91, the assembly plate 92 pushes the clamping block 93 and the rubber gasket 94. The clamping block 93 and the rubber gasket 94 are pushed and abut against the surface of the syringe 4. When the rubber gasket 94 abuts against the surface of the syringe 4, the rotation of the dial wheel is stopped, and the rotating shaft 83 stops rotating at the same time, and cooperates with the linkage frame 86 and the cylinder 87 to limit the position of the clamping unit 9. When the position of the clamping unit 9 is limited, the syringe 4 can be clamped, and the limiting operation of the syringe 4 is completed immediately. By setting the auxiliary unit 8 and the clamping unit 9, the limiting effect of the device on the syringe 4 is enhanced, thereby reducing the problem that the syringe 4 is only supported by the two ends and is easily damaged during the operation of the device, and further improves the support of the device for the syringe 4.

Claims

1. An embolization interventional surgical robot, comprising a first support (1), a driving mechanism (2), a push rod (3), a syringe (4) and a clamping unit (9), characterized in that: The driving mechanism (2) is arranged on the side surface of the first bracket (1), the push rod (3) is meshed with the inner wall of the driving mechanism (2), the syringe (4) is arranged on the side surface of the push rod (3), the output end of the syringe (4) is provided with an L-shaped bracket (6), the lower surface of the L-shaped bracket (6) is fixedly connected with a connecting block (5), the output end of the L-shaped bracket (6) is provided with a drug shunt tube (7), the side surface of the first bracket (1) is provided with an auxiliary unit (8), the auxiliary unit (8) includes a rotating shaft (83), the clamping unit (9) is arranged on the surface of the rotating shaft (83), the clamping unit (9) includes a load-bearing block (91), the load-bearing block (91) is slidably connected to the surface of the rotating shaft (83), the lower surface of the load-bearing block (91) is bolted with an assembly plate (92), and the side surface of the assembly plate (92) is fixedly connected with a clamping block (93).

2. The embolization interventional surgical robot according to claim 1, characterized in that: A rubber gasket (94) is fixedly connected to the side surface of the clamping block (93), and a stabilizing frame (95) is fixedly connected to the lower surface of the assembly plate (92).

3. The embolization interventional surgical robot according to claim 1, characterized in that: The number of the load-bearing blocks (91) is two, and the two load-bearing blocks (91) are arranged in a left-right symmetrical manner with respect to the rotating shaft (83).

4. The embolization interventional surgical robot according to claim 2, characterized in that: The number of the rubber gaskets (94) is two, and the two rubber gaskets (94) are arranged symmetrically with respect to the syringe (4), and the rubber gaskets (94) abut against the curved surface of the syringe (4).

5. The embolization interventional surgical robot according to claim 1, characterized in that: The auxiliary unit (8) further comprises a T-shaped frame (81), wherein the T-shaped frame (81) is fixedly connected to the side surface of the first bracket (1), a support plate (82) is fixedly connected to the side surface of the T-shaped frame (81), a rotating hole is provided on the surface of the support plate (82), the rotating shaft (83) is rotatably connected to the inner wall of the rotating hole, a positive thread groove (84) is provided on the surface of the rotating shaft (83), a negative thread groove (85) is provided on the surface of the rotating shaft (83), both ends of the positive thread groove (84) and the negative thread groove (85) of the rotating shaft (83) are threadedly connected to a linkage frame (86), and a cylinder (87) is fixedly connected to the side surface of the linkage frame (86).

6. The embolization interventional surgical robot according to claim 5, characterized in that: The linkage frame (86) is bolted to the upper surface of the stabilizing frame (95), and the cylinder (87) is fixedly connected to the side surface of the load-bearing block (91).

7. The embolization interventional surgical robot according to claim 5, characterized in that: The syringe (4) passes through the inner wall of the T-shaped frame (81), the number of the support plates (82) is two, and the two support plates (82) are arranged symmetrically with respect to the T-shaped frame (81), the side surface of the rotating shaft (83) is bolted with an operating ring, and the cylinder (87) passes through the side surface of the support plate (82).

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