Driving device and sterile consumable module of interventional surgical robot

Abstract

The utility model relates to a driving device of an interventional surgical robot and a sterile consumable module, and relates to the technical field of medical instruments. The driving device comprises a support, a delivery assembly, an elastic part and an adjusting part, the support comprises a main body, a moving body and a movable plate, the moving body can be slidably connected to the main body in the second direction, and the movable plate can be slidably arranged between the moving body and the main body in the second direction; each delivery assembly comprises two delivery components distributed in the second direction, one delivery component of the same delivery assembly is connected to the main body, and the other delivery component of the same delivery assembly is connected to the moving body; the delivery component of the same delivery assembly can clamp the long and straight intervention consumables and can drive the long and straight intervention consumables to move in the first direction; the elastic piece is limited between the moving body and the movable plate and can apply acting force towards the delivery component of the main body to the delivery component of the moving body; the adjusting piece is arranged on the main body and abuts against the movable plate; the adjusting part is used for moving in the second direction to push the movable plate to extrude the elastic part and can be positioned at multiple positions.

Description

Technical Field

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

[0002] At present, interventional surgical robots have been used in interventional surgical operations such as vascular interventional surgery, and the interventional surgical robots control the long straight interventional consumables to perform actions such as importing and exporting. However, it is difficult for existing interventional surgical robots to import and export a variety of long straight interventional consumables with different diameters.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] The purpose of the present application is to provide a driving device and a sterile consumables module for an interventional surgical robot, which can adjust the clamping force on long straight interventional consumables to adapt to long straight interventional consumables of different diameters.

[0005] According to one aspect of the present application, a driving device of an interventional surgical robot is provided, which is at least used to drive a long straight interventional consumable to move along a first direction; the driving device comprises:

[0006] A support, comprising a main body, a moving body and a movable plate, wherein the moving body can be slidably connected to the main body along a second direction, and the movable plate can be slidably arranged between the moving body and the main body along the second direction; the second direction intersects with the first direction;

[0007] At least one delivery component, one of the delivery components includes two delivery members distributed along the second direction, one of the delivery members of the same delivery component is connected to the main body, and the other of the delivery members is connected to the moving body; the delivery members of the same delivery component are used to clamp the long straight interventional consumable extending along the first direction, and can drive the long straight interventional consumable to move along the first direction;

[0008] an elastic member, defined between the moving body and the movable plate, for applying a force to the delivery member disposed on the moving body toward the delivery member disposed on the main body;

[0009] An adjusting member is arranged on the main body and abuts against the movable plate; the adjusting member is used to move along the second direction to push the movable plate to squeeze the elastic member, and can be positioned at multiple positions.

[0010] In an exemplary embodiment of the present application, the support comprises a bottom plate, a top plate, a movable plate and a side plate connecting the bottom plate and the top plate; the side plate comprises a connecting side plate and a limiting side plate, and the connecting side plate connects the bottom plate and the top plate; the moving body comprises a bottom moving part, a top moving part and a sliding plate connecting the top moving part and the bottom moving part; the limiting side plate is located on a side of the bottom moving part and the top moving part away from the top plate, and is connected to the connecting side plate; the movable plate is arranged between at least one of the bottom moving part and the top moving part and the limiting side plate, and can slide along the second direction;

[0011] The top moving part and the top plate are distributed along the second direction, the bottom moving part is slidably arranged on a side of the bottom plate close to the top plate, and the sliding plate is slidably matched with the connecting side plate;

[0012] The elastic member is defined between the movable plate and at least one of the bottom moving portion and the top moving portion.

[0013] In an exemplary embodiment of the present application, the connecting side plate is provided with a guide edge extending along the second direction, the sliding plate is provided with a slide groove extending along the second direction, and the guide edge is slidably disposed in the slide groove.

[0014] In an exemplary embodiment of the present application, one end of the adjusting member abuts against the movable plate, and the other end is located on a side of the limiting side plate away from the movable plate; the adjusting member is threadedly connected to the limiting side plate.

[0015] In an exemplary embodiment of the present application, the elastic member is a spring; the top movable portion and the bottom movable portion are provided with a guide rod extending toward the movable plate, and the elastic member is sleeved outside the guide rod.

[0016] In an exemplary embodiment of the present application, the guide rod passes through the movable plate and penetrates into the limiting side plate, and the guide rod is slidably matched with the movable plate and the limiting side plate.

[0017] In an exemplary embodiment of the present application, there are multiple guide rods, and each of the guide rods is sleeved with the elastic member; the guide rods are distributed around the adjusting member, and the distance between each guide rod and the adjusting member is equal.

[0018] In an exemplary embodiment of the present application, the side wall of the movable plate distributed along the first direction is provided with a limiting groove penetrating along the second direction, and the guide edge is slidably provided in the guide groove.

[0019] In an exemplary embodiment of the present application, a surface of the connecting side plate away from the bottom plate is provided with a marking pattern distributed along the second direction, and the marking pattern is used to indicate the position of the movable plate.

[0020] According to one aspect of the present application, a sterile consumables module for an interventional surgical robot is provided, comprising a driving device as described above.

[0021] The driving device and sterile consumables module of the interventional surgical robot of the present application can drive the long straight interventional consumables to move along the first direction by rotating the delivery component, which is convenient for importing and exporting the long straight interventional consumables, can realize various surgical operations, and improve work efficiency; at the same time, by adjusting the adjusting member and cooperating with the force of the elastic member, the position of the movable plate in the second direction can be adjusted, and the sliding of the moving body drives the delivery component wheel connected to it to move, and the distance between the two delivery components of the delivery component is adjusted, thereby adjusting the clamping force of the delivery component on the long straight interventional consumables, adapting to long straight interventional consumables of various diameters, and ensuring the clamping effect.

[0022] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is a schematic diagram of an implementation of the driving device of the present application in a first state.

[0025] Figure 2 It is a schematic diagram of an implementation of the driving device of the present application in the second state.

[0026] Figure 3 This is a schematic diagram of an exploded view of the driving device of the present application.

[0027] Figure 4 This is a rear view of the drive device of the sterile consumables module of the present application.

[0028] Description of reference numerals:

[0029] 01. Long straight interventional consumables;

[0030] 1. Support; 11. Main body; 111. Bottom plate; 112. Top plate; 12. Moving body; 121. Bottom moving part; 122. Top moving part; 13. Side plate; 131. Connecting side plate; 1311. Guide edge; 132. Limiting side plate; 14. Bracket; 141. Bottom frame; 142. Side frame; 15. Sliding plate; 151. Sliding groove; 16. Movable plate; 161. Limiting groove; 17. Guide rod; 18. Extension column; 19. Baffle;

[0031] 21. first delivery wheel; 22. third delivery wheel; 23. second delivery wheel; 24. fourth delivery wheel;

[0032] 33. Second input bevel gear; 34. First transmission bevel gear; 35. Second transmission bevel gear; 36. Transmission shaft;

[0033] 41. First main transmission gear; 42. Second main transmission gear;

[0034] 51, first auxiliary transmission gear; 52, second auxiliary transmission gear; 53, third auxiliary transmission gear; 54, fourth auxiliary transmission gear; 55, fifth auxiliary transmission gear;

[0035] 63. Fourth input bevel gear;

[0036] 7. Elastic parts;

[0037] 8. Adjustment parts;

[0038] 9. Mark the pattern. DETAILED DESCRIPTION

[0039] 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 application 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 descriptions will be omitted. In addition, the drawings are only schematic illustrations of the present application and are not necessarily drawn to scale.

[0040] 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", etc. are used merely as labels and are not intended to limit the quantity of their objects.

[0041] The embodiment of the present application provides a sterile consumables module of an interventional surgery robot and a driving device thereof, which can be connected to the robot body of the interventional surgery robot, and the robot body can be connected to an operating table or other structure through a mechanical arm. The sterile consumables module includes a housing and a driving device, wherein:

[0042] The driving device can drive the long straight interventional consumable to move back and forth in a straight line along the first direction, thereby realizing the introduction and export of the long straight interventional consumable. The driving device can also drive the long straight interventional consumable to rotate around an axis extending along the first direction. The long straight interventional consumable can be a guide wire used in an interventional surgery. Of course, the long straight interventional consumable can also be other interventional consumables, which are not specifically limited here.

[0043] The following is a detailed description of each part of the above-mentioned sterile consumables module:

[0044] The housing is used to accommodate the driving device, and the long straight interventional consumable can pass through the housing, and the contact between the outside and the long straight interventional consumable can be reduced through the housing. The housing has an input port and an output port distributed along a first direction, and the long straight interventional consumable can enter the housing from the input port and exit the housing from the output port.

[0045] In some embodiments of the present application, the outer shell is a structure that can be opened and closed, which may include a shell and a shell cover, the driving device is at least partially disposed in the shell, and the shell cover can be connected to the shell in an openable and closable manner so as to open or close the open end; for example, the shell cover can be hinged to the shell, and the shell can be closed or opened by rotating the shell cover; or, the shell cover and the shell can be connected in a detachable manner such as snap-fitting.

[0046] The number of the shell covers can be multiple and can be distributed along the first direction, and each shell cover can be opened or closed independently. Of course, there can also be only one shell cover and the open end can be closed.

[0047] In some embodiments of the present application, the housing has an open end that can be opened and closed by a housing cover, and at least a portion of the edge of the open end may be provided with a first flange, and the housing cover is provided with a second flange at a position corresponding to the first flange, and when the housing cover is closed, the first flange and the second flange fit together. At the same time, the first flange and the second flange are provided with magnets that attract each other so as to tighten the housing cover.

[0048] like Figure 1-Figure 4 As shown, the driving device may include a support 1, a delivery assembly, an elastic member 7 and an adjustment member 8, wherein:

[0049] The support 1 is the base of the sterile consumables module and can bear the load. It can be connected by multiple flat plates or connecting rods, and its structure is not particularly limited here. The long straight interventional consumable 01 can pass through the support 1; or, it does not pass through the support 1, but crosses the support 1 in space.

[0050] In some embodiments of the present application, the support 1 may include a main body 11 and a moving body 12, wherein:

[0051] In some embodiments of the present disclosure, the main body 11 may include a bottom plate 111, a top plate 112, and a plurality of side plates 13. The bottom plate 111 and the top plate 112 are arranged opposite to each other, that is, facing each other in a direction perpendicular to the bottom plate 111 and the top plate 112; the side plates 13 connect the bottom plate 111 and the side plates 13 to form a polyhedron structure. For example, the bottom plate 111 and the top plate 112 are both rectangular flat plate structures, and each side plate 13 can be distributed along the edges of the bottom plate 111 and the top plate 112. When the support 1 is in the shape of a rectangular parallelepiped as a whole, the number of the side plates 13 is less than four, so that the support 1 can be in an open structure to facilitate the installation and disassembly of other structures.

[0052] The plurality of side plates 13 may include a connecting side plate 131 and a limiting side plate 132 . There may be two connecting side plates 131 , which are distributed along the first direction X and may connect the bottom plate 111 and the top plate 112 .

[0053] Further, the moving body 12 may be disposed on the main body 11 and slidably connected to the main body 11, and may slide along the second direction Y. The second direction intersects with the first direction, for example, the second direction is perpendicular to the first direction. The moving body 12 may include a bottom moving portion 121, a top moving portion 122 and a sliding plate 15, wherein:

[0054] The bottom moving part 121 is slidably disposed on the surface of the bottom plate 111 close to the top plate 112; the sliding plate 15 connects the top moving part 122 and the bottom moving part 121, and the bottom moving part 121 and the top moving part 122 are arranged relative to each other and can move synchronously along the second direction Y. At the same time, the sliding plate 15 is slidably matched with the connecting side plate 131, and can move back and forth linearly along the second direction Y. For example, the connecting side plate 131 can be provided with a guide rib 1311 extending along the second direction Y, and the sliding plate 15 is provided with a slide groove 151 extending along the second direction Y, and the guide rib 1311 is slidably disposed in the slide groove 151, so that the sliding plate 15 can move back and forth linearly along the second direction Y along the guide rib 1311.

[0055] Further, such as Figure 1-Figure 4 As shown, the number of sliding plates 15 can be two, and the two sliding plates 15 are distributed along the first direction X, and are both connected to the top moving part 122 and the bottom moving part 121, so that the sliding plates 15, the top moving part 122 and the bottom moving part 121 can form a frame structure with open ends in the second direction Y.

[0056] The limiting side plate 132 can be arranged on the side of the bottom moving part 121 and the top moving part 122 away from the bottom plate 111 and the top plate 112, and can be detachably connected to the connecting side plate 131 by means of screws, etc. The surface of the support 1 opposite to the limiting side plate 132 can be an open structure so that a delivery component, etc. can be installed in the support 1.

[0057] In addition, if Figure 1-Figure 4 As shown, the support may also include a movable plate 16, which may be disposed between the movable body 12 and the main body 11, and may slide in the second direction Y. For example, it may be disposed between at least one of the top movable portion 122 and the bottom movable portion 121 and the limiting side plate 132, and may slide back and forth linearly along the second direction Y. In some embodiments of the present application, the length of the above-mentioned guide rib 1311 in the second direction Y is greater than the length of the sliding plate 15 in the second direction Y, and the slide groove 151 is through-connected along the second direction; the two side surfaces of the movable plate 16 distributed along the first direction X are provided with limiting grooves 161, and the guide rib 1311 may be slidably matched in the limiting groove 161, so that the movable plate 16 may slide linearly along the guide rib 1311, that is, the sliding plate 15 and the movable plate 16 may simultaneously rely on the guide rib 1311 to guide the sliding direction.

[0058] In some other embodiments of the present application, the above-mentioned guide ribs 1311 can be interchangeably matched with the slide groove 151 and the limit groove 161, that is, the guide ribs can be set on the sliding plate 15 and the movable plate 16, and the slide groove and the limit groove can be set on the connecting side plate 131, and the guide ribs can be slidably matched with the slide groove and the limit groove.

[0059] In other embodiments of the present application, it is also possible to not use the method of cooperating the guide edges with the sliding grooves and the limit grooves respectively, and directly make the sliding plate 15 and the movable plate 16 slidably fit with the connecting side plates 131 respectively, and use the smooth surface to achieve sliding, and use the space enclosed by the connecting side plates 131, the bottom plate 111 and the top plate 112 to limit the sliding direction of the sliding plate 15 and the movable plate 16.

[0060] like Figure 1-Figure 4 As shown, the elastic member 7 may be disposed between at least one of the bottom moving portion 121 and the top moving portion 122 and the movable plate 16, and is used to apply a force to at least one of the bottom moving portion 121 and the top moving portion 122 away from the limiting side plate 132, and correspondingly, to apply a force to the movable plate 16 close to the limiting side plate 132, that is, to apply a force to the delivery member disposed on the moving body 12 toward the delivery member disposed on the main body 11. In order to improve the uniformity of the force, the number of elastic members 7 may be multiple, and elastic members 7 may be disposed between the bottom moving portion 121 and the movable plate 16 and between the top moving portion 122 and the movable plate 16.

[0061] In some embodiments of the present application, the elastic member 7 may be a spring, or an elastic element of an elastic material such as rubber, as long as the above-mentioned force can be applied. Taking the spring as an example, in order to limit the position of the spring, the top moving part 122 and the bottom moving part 121 may be provided with a guide rod 17 extending toward the movable plate 16, and the spring (elastic member 7) may be sleeved outside each guide rod 17. The guide rod 17 and the top moving part 122 and the bottom moving part 121 may be an integral structure, or may be detachably connected by means of threaded connection or the like.

[0062] In addition, the guide rod 17 can slide through the movable plate 16, and the end away from the top moving part 122 and the bottom moving part 121 can be set through the limiting side plate 132. The top moving part 122 and the bottom moving part 121 can drive the guide rod 17 to move synchronously, so that the guide rod 17 can pass through the limiting side plate 132, thereby avoiding the limiting side plate 132 from blocking the guide rod 17, and the guide rod 17 can play a guiding and positioning role.

[0063] like Figure 1-Figure 4 As shown, the adjusting member 8 can be passed through the limiting side plate 132, that is, it is arranged to pass through the limiting side plate 132 along the second direction Y, and the adjusting member 8 abuts against the movable plate 16, can be moved along the second direction Y and can be positioned at multiple positions, so that the position of the adjusting member 8 can be changed along the second direction Y, thereby changing the position of the movable plate 16, and the movable plate 16 moves the bottom movable part 121 and the top movable part 122 relative to the bottom plate 111 and the top plate 112 through the elastic member 7.

[0064] In some embodiments of the present application, one end of the adjusting member 8 is abutted against the movable plate 16, and the other end is located on the side 132 away from the movable plate 16; the adjusting member 8 is threadedly connected to the limiting side plate 132, so that the position of the bottom movable part 121 and the top movable part 122 can be adjusted by rotating the adjusting member 8.

[0065] In some embodiments of the present application, the adjusting member 8 may include a top abutment portion and a knob portion connected along the second direction Y, the top abutment portion is disposed through the limiting side plate 132 and is threadedly connected to the limiting side plate 132, and the knob portion is located on the side of the limiting side plate 132 away from the movable plate 16. The top abutment portion is smaller in radial direction than the knob portion, and the knob portion may be a cylindrical structure, and its outer circumferential surface may be provided with anti-slip grooves for manual rotation. Of course, the adjusting member 8 may also adopt other structures, for example, the adjusting member 8 may also adopt a butterfly bolt, etc., which is not specifically limited here.

[0066] In some embodiments of the present application, there are multiple guide rods 17, and each guide rod 17 is sleeved with an elastic member 7; the guide rods 17 are distributed around the adjusting member 8, and the distance between each guide rod 17 and the adjusting member 8 is equal, so that the movable plate 16 is evenly stressed to avoid deflection or jamming.

[0067] The number of delivery components is at least one, and they are rotatably arranged on the support 1. One delivery component may include two delivery members distributed along the second direction Y, and the axes of the two delivery members are parallel. The second direction Y may be a direction perpendicular to the forward and backward movement of the long straight interventional consumable 01. The delivery members of the same delivery component are used to clamp the long straight interventional consumable 01 extending along the first direction X, and the long straight interventional consumable 01 can be driven to move along the first direction X through at least one delivery member. The first direction X is the forward and backward movement direction of the long straight interventional consumable 01.

[0068] The delivery components of the delivery assembly can move relatively to clamp the long straight interventional consumables, and the long straight interventional consumables can be introduced and exported through various movement modes such as translation and rotation of the delivery components.

[0069] In some embodiments of the present disclosure, the delivery members may be delivery wheels, and each delivery member may have two ends, namely a first end and a second end.

[0070] like Figure 1-Figure 4 As shown, the delivery assembly can be arranged between the top plate 112 and the bottom plate 111, and each delivery wheel can be rotatably connected to the top plate 112 and the bottom plate 111 through a wheel axle, so that it can rotate in the support 1, and the axis of the delivery wheel can be perpendicular to the bottom plate 111 and the top plate 112. The wheel axle can pass through the top plate 112 and the bottom plate 111, and rotate with the top plate 112 and the bottom plate 111. The wheel axle and the delivery wheel can be an integral structure, or they can be independent structures assembled together. For the convenience of description, the first end of the delivery wheel can be defined as an end close to the bottom plate 111, and the second end can be defined as an end close to the top plate 112. Of course, the first end and the second end can also be interchangeable. One delivery wheel of the same delivery assembly is rotatably connected between the top plate 112 and the bottom plate 111, and the other delivery wheel is connected between the top moving part 122 and the bottom moving part 121; the delivery wheel of the same delivery assembly is used to clamp the long straight interventional consumable extending along the first direction X, and can drive the long straight interventional consumable to move along the first direction X.

[0071] It should be noted that the definition of the bottom plate 111 and the top plate 112 is only for reference Figure 1 However, if the support 1 is rotated, the positions of the bottom plate 111 and the top plate 112 will change. This is only a limitation for the convenience of description and is not a restrictive description.

[0072] like Figure 1-Figure 4As shown, in some embodiments of the present application, the number of delivery components is multiple, taking two as an example, including a first delivery component and a second delivery component distributed along the first direction X; the first delivery component includes a first delivery wheel 21 and a second delivery wheel 23, and the second delivery component includes a third delivery wheel 22 and a fourth delivery wheel 24; the first delivery wheel 21 and the third delivery wheel 22 are located on one side of the long straight interventional consumable 01, and the second delivery wheel 23 and the fourth delivery wheel 24 are located on the other side of the long straight interventional consumable 01. The first delivery wheel 21 and the third delivery wheel 22 are rotatably connected between the top plate 112 and the bottom plate 111, and the second delivery wheel 23 and the fourth delivery wheel 24 are rotatably connected between the bottom moving part 121 and the top moving part 122; for example, the axles of the first delivery wheel 21 and the third delivery wheel 22 are rotatably passed through the top plate 112 and the bottom plate 111, and the axles of the second delivery wheel 23 and the fourth delivery wheel 24 are rotatably passed through the bottom moving part 121 and the top moving part 122, but do not abut against the bottom plate 111 to prevent interference with the sliding of the bottom moving part 121.

[0073] like Figure 1-Figure 4 As shown, when in use, the bottom moving part 121 and the top moving part 122 can be moved along the second direction Y by rotating the adjusting member 8, driving the second delivery wheel 23 and the fourth delivery wheel 24 to move synchronously, thereby adjusting the distance between the first delivery wheel 21 and the second delivery wheel 23, and the distance between the third delivery wheel 22 and the fourth delivery wheel 24, so as to clamp long straight interventional consumables of different diameters. At the same time, under the action of the elastic member 7, combined with the adjustment of the adjusting member 8, the clamping force of the delivery wheel on the long straight interventional consumable can also be adjusted to ensure smooth import and export, which can prevent the long straight interventional consumables from being stuck by the delivery wheel and slipping between the delivery wheels, thereby ensuring the clamping force. Figure 1 As shown, the adjusting member 8 is rotated away from the movable plate 16. At this time, the driving device is in the first state, and there is a gap between the movable plate 16 and the limiting side plate 132. Figure 2 As shown, the adjusting member 8 is screwed in toward the movable plate 16 . At this time, the driving device is in the second state, and the movable plate 16 and the limiting side plate 132 can fit together.

[0074] In some embodiments of the present application, the outer circumference of the delivery wheel may be provided with a plurality of anti-skid grooves extending along the axial direction of the delivery wheel, and the anti-skid grooves are spaced apart along the circumference of the delivery wheel, and the moving direction of the long straight interventional consumable 01 may be perpendicular to the axial direction of the delivery wheel. The anti-skid grooves may be formed by depressions on the outer circumference of the delivery wheel, or by forming ridges on the outer circumference of the delivery wheel, and the space between the ridges is the anti-skid groove. In addition, the outer circumference of the delivery wheel may also be covered with an anti-skid cover made of a flexible material such as silicone. Of course, the outer circumference of the delivery wheel may also be a smooth surface.

[0075] like Figure 1-Figure 4As shown, in some embodiments of the present application, a surface of the connecting side plate 131 away from the bottom plate 111 may be provided with a marking pattern 9, and the marking pattern 9 may be distributed along the second direction Y, for indicating the position of the movable plate 16 in the second direction Y. The marking pattern 9 may be a scale line extending along the first direction X, or may be a dot, a mark of a different color, or other patterns that may serve as a marking, which are not particularly limited herein.

[0076] like Figure 1-Figure 4 As shown, in some embodiments of the present application, the moving body 12 further includes a baffle 19, which is connected between the top moving part 122 and the bottom moving part 121, and can be connected with the top moving part 122 and the bottom moving part 121 in an integral structure or by a snap connection or the like. The second delivery wheel 23 and the fourth delivery wheel 24 are separated on both sides of the baffle 19. The baffle 19 can provide support between the top moving part 122 and the bottom moving part 121 to prevent deformation.

[0077] like Figure 4 As shown, in order to facilitate the installation of the support 1, the sterile consumables module may further include a bracket 14, and the support 1 can be rotatably disposed on the bracket 14, and the rotation axis can extend along the first direction X.

[0078] In some embodiments of the present application, the bracket 14 may include a base frame 141 and two side frames 142, wherein the base frame 141 and the side frames 142 may be a flat plate structure or a frame structure, and no special limitation is made to the structures of the two. The two side frames 142 may be connected to the same side of the base frame 141 along the first direction X, thereby forming a U-shaped structure with the base frame 141. The support 1 may be disposed between the two side frames 142 and rotatably cooperate with the side frames 142, so that the support 1 can rotate between the two side frames 142. Furthermore, at least one side frame 142 and the base frame 141 may be connected in a detachable manner such as a snap connection or a screw connection for easy disassembly and assembly.

[0079] like Figure 1-Figure 4 As shown, in some embodiments of the present application, the support 1 also includes an extension column 18 extending along the first direction X and arranged on the outer side of the connecting side plate 131. The long straight interventional consumable 01 can pass through the extension column 18 along the first direction X, and the side frame 142 can also be rotatably connected to the extension column 18. The extension column 18 can not only support the long straight interventional consumable 01, but also serve as a rotating shaft.

[0080] Further, in some embodiments of the present application, the driving device may further include a first driving mechanism, a first transmission gear set, a second transmission gear set and a second driving mechanism, wherein:

[0081] The first transmission gear set may be arranged on the support 1, for example, it may be arranged on the side of the top plate 112 away from the bottom plate 111. The first transmission gear set may include a plurality of meshing and linked auxiliary transmission gears, where the linkage means that when any auxiliary transmission gear rotates, the other gears will be driven to rotate. The second end of each delivery wheel is fixedly connected to an auxiliary transmission gear, for example, the wheel axle may pass through the top plate 112, the auxiliary transmission gear is sleeved on the wheel axle, and is connected by a key connection or the like.

[0082] like Figure 1-Figure 4 As shown, in some embodiments of the present application, the number of delivery assemblies is two, including four delivery wheels, such as the first delivery wheel 21 to the fourth delivery wheel 24 mentioned above, and the number of auxiliary transmission gears of the first transmission gear set is five, including a first auxiliary transmission gear 51, a second auxiliary transmission gear 52, a third auxiliary transmission gear 53, a fourth auxiliary transmission gear 54 and a fifth auxiliary transmission gear 55, wherein:

[0083] The first auxiliary transmission gear 51 can be connected to the second end of the first delivery wheel 21, the second auxiliary transmission gear 52 is connected to the second end of the second delivery wheel 23, the third auxiliary transmission gear 53 is connected to the second end of the third delivery wheel 22, and the fourth auxiliary transmission gear 54 is connected to the second end of the fourth delivery wheel 24; the first auxiliary transmission gear 51 is meshed with the second auxiliary transmission gear 52, and the third auxiliary transmission gear 53 is meshed with the fourth auxiliary transmission gear 54. At the same time, the first auxiliary transmission gear 51 and the third auxiliary transmission gear 53 are located on one side of the long straight interventional consumable 01 and are not meshed, and the second auxiliary transmission gear 52 is on the other side of the fourth auxiliary transmission gear 54 and is not meshed. The fifth auxiliary transmission gear 55 is meshed with the first auxiliary transmission gear 51 and the third auxiliary transmission gear 53 at the same time.

[0084] like Figure 4 As shown, the second transmission gear set can be arranged on the support 1, and includes a first main transmission gear 41 and a second main transmission gear 42 that mesh with each other. For example, the second transmission gear set can be arranged on the side of the bottom plate 111 away from the top plate 112. At the same time, the first driving mechanism is connected to the first main transmission gear 41 and can drive the first main transmission gear 41 to rotate. The second main transmission gear 42 is coaxially connected to the first end of a delivery wheel. For example, the second main transmission gear 42 can be sleeved on one end connected to a wheel shaft and can be connected by a key connection, etc., so as to drive the delivery wheel to rotate. The axes of the first main transmission gear 41 and the second main transmission gear 42 are parallel, and both can be spur gears, helical gears, etc., and the type of gear is not particularly limited here, as long as it can transmit rotation between parallel axes. The second driving mechanism is used to drive the support 1 to rotate around an axis extending along the first direction X.

[0085] When the delivery wheel connected to the second main transmission gear 42 rotates, it will drive the auxiliary transmission gear connected to it to rotate, and the rotation of the auxiliary transmission gear will drive other auxiliary transmission gears to rotate, thereby driving the delivery wheel not connected to the second main transmission gear 42 to rotate, and transmitting the torque output by the first driving mechanism to each delivery wheel, so that the forces on both sides of the long straight interventional consumable 01 are balanced, and it is not easy to bend or jam, wear, or slip; and compared with the method in which only some delivery wheels rotate while other delivery wheels are driven by the long straight interventional consumable 01, the relative sliding between the long straight interventional consumable 01 and the delivery wheel can be reduced, which is conducive to reducing wear.

[0086] In addition, the second driving mechanism can drive the support 1 to rotate, so that the long straight interventional consumable 01 can not only move along the axis, but also rotate around its own axis, realizing multiple movement modes, realizing multiple surgical operations, and improving work efficiency.

[0087] The driving device can enable the long straight interventional consumable 01 to achieve at least two movements, including movement along its own axis and rotation around its own axis, wherein the axial movement can be achieved through the delivery component, the first transmission gear set, the second transmission gear set and the first driving mechanism, which are described in detail below:

[0088] like Figure 1-Figure 4 As shown, in some embodiments of the present application, the first driving mechanism may include a first input assembly, a first input bevel gear, a second input bevel gear 33, a first transmission bevel gear 34, and a second transmission bevel gear 35, wherein:

[0089] The first input bevel gear is meshed with the second input bevel gear 33, and the second input bevel gear 33 is rotatably disposed on the bracket 14, and the axis of the second input bevel gear 33 extends along the first direction X. At the same time, the first transmission bevel gear 34 and the second transmission bevel gear 35 are meshed and located between the bottom plate 111 and the top plate 112 of the support 1; the first transmission bevel gear 34 is coaxially fixedly connected with the second input bevel gear 33 (i.e., they can rotate synchronously), and the second transmission bevel gear 35 is coaxially fixedly connected with the first main transmission gear 41.

[0090] For example, the first transmission bevel gear 34 and the second transmission bevel gear 35 are located inside the support 1 , the second input bevel gear 33 is located outside the support 1 , and in the first direction X, the first transmission bevel gear 34 is located between the second input bevel gear 33 and the delivery assembly.

[0091] The second input bevel gear 33 can be connected to the first transmission bevel gear 34 through the same transmission shaft 36, and the transmission shaft 36 can extend along the first direction X, and pass through the side frame 142 and a side plate 13 of the support 1, thereby passing through the support 1, and rotatingly cooperating with the side frame 142 and the side plate 13, so that the second input bevel gear 33 and the first transmission bevel gear 34 can rotate synchronously relative to the bracket 14 and the support 1. At the same time, the transmission shaft 36 can be provided with a consumable channel passing through along the first direction X, and the long straight intervention consumable 01 can pass through the consumable channel for movement.

[0092] In order to provide maximum support for the long straight interventional consumable 01 and prevent it from collapsing between the delivery component and the side plate 13, the transmission shaft 36 can be extended in the direction close to the delivery component, that is, one end of the transmission shaft 36 located in the support 1 extends to the side of the first transmission bevel gear 34 close to the delivery component, but does not contact the delivery component. Before the long straight interventional consumable 01 enters the delivery component, the long straight interventional consumable 01 is supported to the maximum extent.

[0093] like Figure 1-Figure 4 As shown, in some embodiments of the present application, the first input assembly may include a first power device, a first bevel gear and a second bevel gear, wherein:

[0094] The first power device can drive the first bevel gear to rotate, and the second bevel gear is coaxially connected to the first input bevel gear and meshes with the first bevel gear. The first power device can drive the first input bevel gear to rotate. For example, the first power device can be a motor, and the first bevel gear can be connected to the output shaft of the motor and can rotate under the control of the motor. The second bevel gear can mesh with the first bevel gear. The first input assembly can also include a first transmission shaft and a second transmission shaft, the second bevel gear is connected to one end of the first transmission shaft, and the first transmission shaft is provided with an axially extending mounting hole, the first input bevel gear is connected to one end of the second transmission shaft, and the other end of the second transmission shaft can be inserted into the above-mentioned mounting hole, and can be connected to the first transmission shaft by a key connection method such as a spline, so as to connect the first input bevel gear and the second bevel gear to achieve synchronous rotation.

[0095] When controlling the axial movement of the long straight interventional consumable 01, the first power device can drive the first bevel gear to rotate, and the first bevel gear drives the second bevel gear to rotate, so that the second bevel gear drives the first input bevel gear to rotate, and then the second input bevel gear 33 is rotated, and then the first main transmission gear 41 is driven to rotate through the first transmission bevel gear 34 and the second transmission bevel gear 35, and then the first delivery wheel 21 is driven to rotate through the second main transmission gear 42, so that the first input component outputs torque to the delivery wheel, drives the delivery wheel to rotate, and controls the long straight interventional consumable 01 to move along the first direction X, that is, along the axial movement of the long straight interventional consumable 01. In this process, the rotation speed of the delivery wheel can be controlled by controlling the first power device to achieve stop, fast forward, fast reverse, slow forward, and slow reverse.

[0096] The following is a detailed description of the scheme for rotating the long straight interventional consumable 01 around its own axis:

[0097] like Figure 1-Figure 4 As shown, the support 1 can be driven to rotate around the axis extending along the first direction X by the second driving mechanism, driving the delivery wheel to rotate. When the delivery wheel clamps the long straight interventional consumable 01, the long straight interventional consumable 01 can be rotated around its own axis.

[0098] In some embodiments of the present application, Figure 4 As shown, the second drive mechanism may include a second input assembly, a third input bevel gear and a fourth input bevel gear 63, wherein:

[0099] The fourth input bevel gear 63 is connected to the support 1, for example, the fourth input bevel gear 63 is rotatably provided on the support 14, for example, the fourth input bevel gear 63 is rotatably connected to the side frame 142 of the support 14 (the side frame 142 connected to a different side frame 142 from the second input bevel gear 33) through a transmission shaft. The fourth input bevel gear 6 can be fixedly connected to a side plate 13 of the support 1, and the axis of the fourth input bevel gear 63 is colinear with the axis of the second input bevel gear 33 described above, and both extend along the first direction X. At the same time, a through hole extending along the first direction X for the long straight intervention consumable 01 to pass through is provided at the center of the fourth input bevel gear 63, and the through hole passes through the above-mentioned transmission shaft, and the long straight intervention consumable 01 can pass through the fourth input bevel gear 63, the side frame 142, the support 1 and the second input bevel gear 33.

[0100] The third input bevel gear is meshed with the fourth input bevel gear 63, and the second input component can drive the third input bevel gear to rotate, thereby driving the fourth input bevel gear 63 to rotate, thereby driving the support 1 and the delivery component, the first transmission gear set and the first transmission gear set located on the support 1 to rotate.

[0101] like Figure 1-Figure 4As shown, in some embodiments of the present application, the second input assembly may include a second power device and a third bevel gear and a fourth bevel gear meshing with each other, the second power device is used to drive the third bevel gear to rotate, and the fourth bevel gear is coaxially connected to the third input bevel gear.

[0102] For example, the second power device can be a motor, and the third bevel gear can be connected to the output shaft of the motor and can rotate under the control of the motor. The fourth bevel gear can mesh with the third bevel gear. The second input component can also include a third transmission shaft and a fourth transmission shaft, the fourth bevel gear is connected to one end of the third transmission shaft, and the third transmission shaft is provided with a mounting hole extending in the axial direction, the third input bevel gear is connected to one end of the fourth transmission shaft, and the other end of the fourth transmission shaft can be inserted into the above-mentioned mounting hole, and can be connected to the third transmission shaft by a key connection method such as a spline, so that the third input bevel gear is connected to the fourth bevel gear to achieve synchronous rotation.

[0103] The following briefly describes the various modes in which the above-mentioned driving device drives the long straight interventional consumable 01. Of course, this application does not specifically limit the operating mode of the driving device:

[0104] Single linear movement mode: The long straight interventional consumable 01 is driven to move linearly along the first direction X by the first driving mechanism, the first transmission gear set and the delivery assembly. The specific transmission process has been described in detail above and will not be repeated here. The specific control in this mode is as follows: the second driving mechanism is turned off and the support 1 does not rotate. For example, the speed output by the first power device is not zero, while the speed output by the second power device is zero.

[0105] Single rotation mode: The second drive mechanism, the support 1 and the delivery assembly drive the long straight interventional consumable 01 to rotate around its own axis, that is, around the rotation axis of the support 1. The specific transmission process has been described in detail above and will not be repeated here. The specific control in this mode is as follows: the first drive mechanism can be started at the same time, and the rotation speed of the second input bevel gear 33 is the same as the rotation speed of the first transmission bevel gear 34, the second transmission bevel gear 35 and the first transmission gear set to achieve offset and avoid axial movement of the long straight interventional consumable 01. For example, the rotation speeds output by the first power device and the second power device are equal and not zero.

[0106] Linear movement + rotation mode: By independently controlling the first drive mechanism and the second drive mechanism so that the output rotation speeds of the two are different, a mode in which linear movement and rotation coexist can be achieved. In special cases, the output rotation speed of the first power device can be zero, as long as the output rotation speed of the second power device is not zero.

[0107] The present application also provides an interventional surgical robot, which may include a robot body and a sterile consumables module of any of the above embodiments; wherein:

[0108] The sterile consumables module is detachably mounted on the robot body, and the interventional surgery robot may further include a robotic arm, which may be connected to the robot body, and the position of the robot body may be controlled by the robotic arm. The robotic arm may be mounted on the frame of the operating table or at other locations, as long as it can be used to perform interventional surgery, without any special limitation.

[0109] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the appended claims.

Claims

1. A driving device for an interventional surgical robot, characterized in that: At least used to drive the long straight intervention consumable to move along the first direction; the driving device includes: A support, comprising a main body, a moving body and a movable plate, wherein the moving body can be slidably connected to the main body along a second direction, and the movable plate can be slidably arranged between the moving body and the main body along the second direction; the second direction intersects with the first direction; At least one delivery component, one of the delivery components includes two delivery members distributed along the second direction, one of the delivery members of the same delivery component is connected to the main body, and the other of the delivery members is connected to the moving body; the delivery members of the same delivery component are used to clamp the long straight interventional consumable extending along the first direction, and can drive the long straight interventional consumable to move along the first direction; an elastic member, defined between the moving body and the movable plate, for applying a force to the delivery member disposed on the moving body toward the delivery member disposed on the main body; An adjusting member is arranged on the main body and abuts against the movable plate; the adjusting member is used to move along the second direction to push the movable plate to squeeze the elastic member, and can be positioned at multiple positions.

2. The driving device according to claim 1, characterized in that: The support comprises a bottom plate, a top plate, a movable plate and a side plate connecting the bottom plate and the top plate; the side plate comprises a connecting side plate and a limiting side plate, and the connecting side plate connects the bottom plate and the top plate; the moving body comprises a bottom moving part, a top moving part and a sliding plate connecting the top moving part and the bottom moving part; the limiting side plate is located on a side of the bottom moving part and the top moving part away from the top plate, and is connected to the connecting side plate; the movable plate is arranged between at least one of the bottom moving part and the top moving part and the limiting side plate, and can slide along the second direction; The top moving part and the top plate are distributed along the second direction, the bottom moving part is slidably arranged on a side of the bottom plate close to the top plate, and the sliding plate is slidably matched with the connecting side plate; The elastic member is defined between the movable plate and at least one of the bottom moving portion and the top moving portion.

3. The driving device according to claim 2, characterized in that: The connecting side plate is provided with a guide edge extending along the second direction, and the sliding plate is provided with a slide groove extending along the second direction. The guide edge is slidably arranged in the slide groove.

4. The driving device according to claim 2, characterized in that: One end of the adjusting member is in contact with the movable plate, and the other end is located at a side of the limiting side plate away from the movable plate; the adjusting member is threadedly connected to the limiting side plate.

5. The driving device according to claim 2, characterized in that: The elastic member is a spring; the top movable part and the bottom movable part are provided with guide rods extending toward the movable plate, and the elastic member is sleeved outside the guide rods.

6. The driving device according to claim 5, characterized in that: The guide rod passes through the movable plate and penetrates into the limiting side plate, and the guide rod is slidably matched with the movable plate and the limiting side plate.

7. The driving device according to claim 6, characterized in that: There are multiple guide rods, and each guide rod is sleeved with the elastic member; the guide rods are distributed around the adjusting member, and the distance between each guide rod and the adjusting member is equal.

8. The driving device according to claim 3, characterized in that: The side wall of the movable plate distributed along the first direction is provided with a limiting groove penetrating along the second direction, and the guide edge is slidably arranged in the limiting groove.

9. The driving device according to claim 2, characterized in that: A surface of the connecting side plate away from the bottom plate is provided with a marking pattern distributed along the second direction, and the marking pattern is used to indicate the position of the movable plate.

10. A sterile consumables module for an interventional surgery robot, characterized in that: A driving device comprising any one of claims 1 to 9.

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