Sterile consumable box of vascular intervention surgical robot

Abstract

The utility model provides a sterile consumable box of a vascular intervention surgical robot, and belongs to the technical field of medical instruments, and the sterile consumable box comprises a box body which comprises an upper box body and a lower box body which are connected; the intervention consumable executing mechanism is arranged in the box body and is used for controlling the intervention consumable to act; the blood vessel sheath fixing part is connected to the outer part, close to the intervention end, of the box body, and the blood vessel sheath fixing part comprises an upper fixing shell connected to the upper box body and a lower fixing shell connected to the lower box body; when the upper box body and the lower box body are closed, the upper fixing shell and the lower fixing shell are oppositely closed to form a containing cavity used for containing the vascular sheath. The problem that the intervention consumables are prone to being bent when entering the vascular sheath can be effectively solved.

Description

Technical Field

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

[0002] Vascular interventional surgery is a minimally invasive surgery performed using modern high-tech means. Under the guidance of medical imaging equipment, special catheters, guidewires, 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] During vascular intervention surgery, the doctor punctures the radial artery or femoral artery and leaves a vascular sheath as the entrance for the catheter to enter the blood vessel, and the catheter is then inserted into the blood vessel through the vascular sheath. In the prior art, when a vascular intervention surgery robot is used for intervention surgery, there is a certain distance between the vascular intervention surgery robot and the entrance of the vascular sheath, and the catheter may bend when entering the vascular sheath. Utility Model Content

[0004] In order to overcome the problems existing in the related art, this specification provides a sterile consumables box for a vascular interventional surgery robot to prevent the interventional consumables from bending when entering the vascular sheath.

[0005] According to a first aspect of the present disclosure, a sterile consumables box for a vascular interventional surgery robot is provided, comprising:

[0006] A box body, comprising an upper box body and a lower box body;

[0007] An interventional consumables actuator, disposed in the box body, for controlling the movement of the interventional consumables;

[0008] A vascular sheath fixing part is connected to the outside of the box body close to the intervention end, and the vascular sheath fixing part includes an upper fixing shell connected to the upper box body and a lower fixing shell connected to the lower box body;

[0009] Wherein, when the upper box body and the lower box body are closed, the upper fixed shell and the lower fixed shell are matched to form an accommodating cavity for accommodating a vascular sheath.

[0010] In some exemplary embodiments of the present disclosure, the vascular sheath fixing portion is provided with a first through hole and a second through hole communicating with the outside and the accommodating cavity;

[0011] The accommodating cavity is used to fix the sheath head of the vascular sheath, the first through hole is used to fix the main tube of the vascular sheath, and the second through hole is used to fix the branch tube of the vascular sheath.

[0012] In some exemplary embodiments of the present disclosure, the shell wall of the upper fixed shell is provided with a first groove and a second groove, and the shell wall of the lower fixed shell is provided with a third groove and a fourth groove;

[0013] When the upper box body and the lower box body are closed, the first groove and the third groove are aligned and combined to form the first through hole, and the second groove and the fourth groove are aligned and combined to form the second through hole.

[0014] In some exemplary embodiments of the present disclosure, the vascular sheath further comprises a vascular sheath fixing ring connected to the sheath head of the vascular sheath;

[0015] The vascular sheath fixing portion is further provided with a third through hole communicating with the outside and the accommodating cavity, and the third through hole is used to fix the fixing ring of the vascular sheath.

[0016] In some exemplary embodiments of the present disclosure, a fifth groove is formed in the shell wall of the upper fixed shell, and a sixth groove is formed in the shell wall of the lower fixed shell;

[0017] When the upper box body and the lower box body are closed, the fifth groove and the sixth groove are correspondingly combined to form the third through hole.

[0018] In some exemplary embodiments of the present disclosure, a center line of the first through hole coincides with a delivery direction of the interventional consumable by the interventional consumable actuator.

[0019] In some exemplary embodiments of the present disclosure, the interventional consumables actuator includes:

[0020] Rotating bracket;

[0021] A clamping mechanism, provided on the rotating bracket, for clamping the interventional consumables;

[0022] A delivery mechanism, disposed on the rotating bracket, for delivering the interventional consumables, the delivery mechanism comprising a first gear, and the first gear is disposed on one side of the rotating bracket in the intervention direction;

[0023] A rotating mechanism, provided on the rotating bracket, for realizing the rotation of the interventional consumable, the rotating mechanism comprising a second gear, the second gear being provided on the other side of the rotating bracket in the interventional direction, the axis of the second gear and the axis of the first gear both being used for the interventional consumable to penetrate;

[0024] Wherein, a center line of the first through hole coincides with an axis line of the first gear and an axis line of the second gear.

[0025] In some exemplary embodiments of the present disclosure, the interventional consumables actuator further includes:

[0026] The guide tube is used to guide the interventional consumable to be inserted into the clamping mechanism of the interventional consumable actuator. The guide tube is movably arranged at the axis of the first gear or the second gear. The lumen of the guide tube is used for the insertion of the interventional consumable.

[0027] In some exemplary embodiments of the present disclosure, the vascular sheath fixing part further includes:

[0028] The buffer member is arranged in the accommodating cavity.

[0029] In some exemplary embodiments of the present disclosure, the upper fixing shell and the upper box body are connected to form an integrally formed structure, and the lower fixing shell and the lower box body are connected to form an integrally formed structure; and / or

[0030] The accommodating cavity is in the shape of a frustum, and one end of the accommodating cavity close to the box body is a cone bottom.

[0031] The technical solution provided by the present disclosure may have the following beneficial effects:

[0032] The sterile consumables box provided by the present disclosure has a vascular sheath fixing part arranged on the outside of the box body near the intervention end, and an interventional consumables actuator is arranged in the box body. The vascular sheath fixing part can be used to fix the vascular sheath. When the interventional consumables actuator delivers the interventional consumables (such as a catheter), the interventional consumables can directly enter the vascular sheath in the vascular sheath fixing part after passing through the box body, and there will be no bending and deformation caused by hanging in the air.

[0033] In addition, the present invention directly sets the vascular sheath fixing part on the box body, so there is no need to use additional auxiliary equipment to fix the posture of the vascular sheath. When the sterile consumables box is close to the human body, the vascular sheath is mainly connected to the human body through the pipeline of the vascular sheath, and the pipeline of the vascular sheath is flexible, so the robot body can be flexibly connected to the human body without causing pulling damage to the puncture point.

[0034] 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

[0035] 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.

[0036] Figure 1 is a schematic diagram of the opening structure of the sterile consumables box in an exemplary embodiment of the present disclosure;

[0037] Figure 2 yes Figure 1 Enlarged view of part A;

[0038] Figure 3 is a cross-sectional view of a sterile consumables box in an open state in an exemplary embodiment of the present disclosure;

[0039] Figure 4 is a schematic structural diagram of an exemplary embodiment of the present disclosure when a sterile consumables box is installed on a robot body and is in an open state;

[0040] Figure 5 is a schematic structural diagram of an exemplary embodiment of the present disclosure when a sterile consumables box is installed on a robot body and is in a closed state;

[0041] Figure 6 is a schematic diagram of the structure of the buffer arrangement position in the exemplary embodiment of the present disclosure;

[0042] Figure 7 is a cross-sectional view of a guide tube in a sterile consumables box in an exemplary embodiment of the present disclosure.

[0043] Description of Reference Numerals

[0044] 100-box body; 110-upper box body; 120-lower box body; 200-interventional consumables actuator; 210-rotating bracket; 220-clamping mechanism; 221-first clamping wheel; 222-second clamping wheel; 231-first gear; 241-second gear; 250 driving mechanism; 300-vascular sheath fixing part; 310-upper fixed shell; 311-first groove; 312-second groove; 313-fifth groove; 320-lower fixed shell; 321-third groove; 322-fourth groove; 323-sixth groove; 324-lower buffer; 330-accommodating chamber; 400-guide tube; 10-vascular sheath; 11-sheath head; 12-main tube; 13-branch tube; 14-fixing ring; 20-interventional consumables; 1-robot body. DETAILED DESCRIPTION

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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°.

[0049] A vascular interventional surgical robot is a robot-assisted system used to assist or perform vascular interventional surgery. It can perform minimally invasive surgery within human blood vessels through interventional consumables such as guidewires, catheters, and stents, and is used to treat neurovascular diseases and other vascular-related diseases.

[0050] A vascular interventional surgical robot generally includes a master end located outside the operating room and a slave end located inside the operating room. The master end used for control includes a master end control device, and the slave end used for execution includes a connected robot body and a robotic arm. The robot body is connected to the operating table through the robotic arm and can adjust its own posture through the robotic arm.

[0051] During vascular interventional surgery, according to standard operating procedures, the patient needs to undergo arterial puncture (femoral artery puncture is common in neurosurgery) after disinfection, use a vascular sheath to establish a pathway with the human artery, and use the vascular sheath as the entrance for the catheter to enter the blood vessel.

[0052] In related technologies, the catheter is usually delivered by an interventional consumable actuator located on the robot body. Since there is a distance between the vascular sheath and the robot body, the catheter between the interventional consumable actuator and the vascular sheath is in a suspended state, which may cause the catheter to bend and deform, making it impossible for the catheter to enter the blood vessel smoothly. In addition, in some technologies, an auxiliary device, a vascular sheath clamp, is used to fix the posture of the vascular sheath so that the catheter can smoothly pass through the vascular sheath into the human blood vessel. However, the vascular sheath clamp usually has strong rigidity and may cause damage to the puncture port.

[0053] Based on this, Figures 1 to 5 As shown, the embodiment of the present disclosure provides a sterile consumables box for a vascular interventional surgical robot, including a box body 100, an interventional consumables actuator 200 and a vascular sheath fixing part 300, wherein the box body 100 includes an upper box body 110 and a lower box body 120 connected to each other; the interventional consumables actuator 200 is arranged in the box body 100, and is used to control the action of the interventional consumables 20; the vascular sheath fixing part 300 is connected to the outside of the box body 100 near the intervention end, and the vascular sheath fixing part 300 includes an upper fixed shell 310 connected to the upper box body 110 and a lower fixed shell 320 connected to the lower box body 120. When the upper box body 110 and the lower box body 120 are closed, the upper fixed shell 310 and the lower fixed shell 320 are matched to form a accommodating chamber 330 for accommodating the vascular sheath 10.

[0054] In the sterile consumables box provided by the present disclosure, the vascular sheath fixing part 300 is arranged on the outside of the box body 100 near the intervention section, and the interventional consumables actuator 200 is arranged in the box body 100. The vascular sheath fixing part 300 can be used to fix the vascular sheath 10. When the interventional consumables actuator 200 delivers the interventional consumables 20 (such as a catheter), the interventional consumables 20 can directly enter the vascular sheath 10 in the vascular sheath fixing part 300 after passing through the box body 100, and there will be no bending and deformation caused by hanging in the air.

[0055] In addition, the present disclosure directly sets the vascular sheath fixing part 300 on the box body 100, so there is no need to use additional auxiliary equipment to fix the posture of the vascular sheath 10. When the sterile consumables box is close to the human body, the vascular sheath 10 is mainly connected to the human body through the pipeline of the vascular sheath 10, and the pipeline of the vascular sheath 10 is flexible, so the flexible connection between the robot body 1 and the human body can be achieved without causing pulling damage to the puncture point.

[0056] The various parts of the sterile consumables box provided by the embodiment of the present disclosure will be described in detail below in conjunction with the accompanying drawings:

[0057] like Figures 1 to 5As shown, the sterile consumables box provided by the present disclosure can be used for a vascular interventional surgery robot. The vascular interventional surgery robot includes a robotic arm and a robot body 1 connected to the end of the robotic arm. The robot body 1 is connected to the operating table through the robotic arm, and can adjust its own posture through the robotic arm. The sterile consumables box can be connected to the end of the robot body 1. The sterile consumables box includes a box body 100, an interventional consumables actuator 200 and a vascular sheath fixing part 300.

[0058] The box body 100 includes an upper box body 110 and a lower box body 120 connected to each other. The upper box body 110 and the lower box body 120 are both hollow structures with one end open, and the shape and size of the open ends of the upper box body 110 and the lower box body 120 are substantially the same to achieve a stable closure between the two. The specific shapes of the upper box body 110 and the lower box body 120 are not particularly limited in the present disclosure, and they can be rectangular parallelepiped, cube, hemisphere or other irregular geometric structures.

[0059] In the upper box body 110 and the lower box body 120, the volume of the accommodation space in the lower box body 120 may be greater than or equal to the volume of the accommodation space in the upper box body 110. The upper box body 110 and the lower box body 120 may be connected by a hinge structure so that the upper box body 110 and the lower box body 120 can be freely switched between an open state and a closed state.

[0060] The interventional consumable actuator 200 is disposed in the box body 100 and is used to control the movement of the interventional consumable 20, such as delivery and rotation. The interventional consumable actuator 200 may include a rotating bracket 210, a clamping mechanism 220, a delivery mechanism, and a rotating mechanism. The clamping mechanism 220, the delivery mechanism, and the rotating mechanism are all disposed on the rotating bracket 210.

[0061] like Figure 1 and Figure 3 As shown, the clamping mechanism 220 is used to clamp the interventional consumable 20. The clamping mechanism 220 may include a first clamping wheel 221 and a second clamping wheel 222. The first clamping wheel 221 and the second clamping wheel 222 are rotatably connected to the rotating bracket 210, and the first clamping wheel 221 and the second clamping wheel 222 are respectively located on both sides of the interventional consumable 20, and the interventional consumable 20 can be clamped between the two clamping wheels. The clamping mechanism 220 may also include gears, which are transmission-connected with other power mechanisms through gears, so that the first clamping wheel 221 and the second clamping wheel 222 rotate under the drive of other mechanisms, thereby completing the delivery of the interventional consumable 20.

[0062] The delivery mechanism is used to deliver the interventional consumable 20. The delivery mechanism is connected to the clamping mechanism 220 by transmission. Specifically, the power output end of the delivery mechanism is connected to the power input end of the clamping mechanism 220, and is used to provide rotational power to the first clamping wheel 221 and the second clamping wheel 222, so that the interventional consumable 20 is delivered under the twisting of the first clamping wheel 221 and the second clamping wheel 222.

[0063] The delivery mechanism may include a plurality of gears in transmission connection. For example, the delivery mechanism includes a first gear 231, which is disposed on one side of the rotating bracket 210 in the intervention direction, and the intervention consumable 20 may be disposed at the axis of the first gear 231. The delivery mechanism may also include other gears, and the delivery mechanism may be transmission-connected to the gears included in the clamping mechanism 220 through these gears, and the specific transmission connection method is not limited in the present disclosure.

[0064] The rotating mechanism is used to realize the rotation of the interventional consumable 20. The power output end of the rotating mechanism is fixedly connected to the rotating bracket 210, and is used to drive the rotating bracket 210 to rotate. When the rotating bracket 210 rotates, the interventional consumable 20 clamped by the clamping mechanism 220 on the rotating bracket 210 can be driven to rotate.

[0065] The rotating mechanism may include a second gear 241, which is disposed on the other side of the rotating bracket 210 in the intervention direction, that is, the second gear 241 is disposed opposite to the first gear 231. The intervention consumable 20 may be inserted at the axis of the second gear 241. The second gear 241 is coaxially disposed with the first gear 231. The second gear 241 is fixedly connected to the rotating bracket 210. When the second gear 241 rotates, the rotating bracket 210 may be driven to rotate, thereby driving the intervention consumable 20 clamped by the clamping mechanism 220 on the rotating bracket 210 to rotate.

[0066] In the present disclosure, the interventional consumable actuator 200 may further include a driving mechanism 250 for providing source power for the delivery mechanism and the rotation mechanism. The driving mechanism 250 may include a motor, and the motor provides source power for the rotation mechanism and the delivery mechanism.

[0067] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the vascular sheath fixing part 300 is connected to the outside of the box body 100 near the intervention end, and the vascular sheath fixing part 300 is used to fix the vascular sheath 10. Specifically, the vascular sheath fixing part 300 is connected to the outer side wall of the box body 100 near the intervention end.

[0068] The vascular sheath fixing part 300 includes an upper fixing shell 310 connected to the upper box body 110 and a lower fixing shell 320 connected to the lower box body 120. When the upper box body 110 and the lower box body 120 are closed, the upper fixing shell 310 and the lower fixing shell 320 are matched to form a receiving chamber 330 for receiving the vascular sheath 10. In the present disclosure, the shape and size of the upper fixing shell 310, the lower fixing shell 320 and the receiving chamber 330 formed by the combination of the two can be set according to the shape structure of the vascular sheath 10.

[0069] The vascular sheath fixing part 300 of the present invention adopts a split design, and can be composed of an upper fixing shell 310 and a lower fixing shell 320, which are respectively fixed on the upper box body 110 and the lower box body 120. This design makes it more convenient to place the vascular sheath 10. Specifically, when the operator places the interventional consumable actuator 200 into the lower box body 120, the vascular sheath 10 can be placed into the lower fixing shell 320 by the way. When the upper box body 110 and the lower box body 120 are closed, the interventional consumable actuator 200 and the vascular sheath 10 can be fixed at the same time, without the need to additionally fix the vascular sheath 10, thereby simplifying the operation process.

[0070] Furthermore, the upper fixed shell 310 and the upper box body 110 are connected to form an integral structure, and the lower fixed shell 320 and the lower box body 120 are connected to form an integral structure. That is, the upper fixed shell 310 and the upper box body 110 are an integral body and can be formed together using a molding process; the lower fixed shell 320 and the lower box body 120 are an integral body and can be formed together using a molding process.

[0071] like Figure 4 As shown, the vascular sheath 10 includes a sheath head 11, a main tube 12 and a branch tube 13. In vascular interventional surgery, doctors often use the vascular sheath 10 to insert into a human artery, such as the femoral artery. When the main tube 12 is inserted into the femoral artery, the sheath head 11 is located outside the human body. At this time, the branch tube 13 can be used for bloodletting after the main tube 12 is inserted into the artery, so that the interventional consumables 20 can enter the position where the sheath head 11 is located.

[0072] The sheath head 11 is a small part, usually located near the skin surface. It provides a passage for the doctor to introduce the catheter or other interventional consumables 20 into the patient's artery. The main tube 12 connects the sheath head 11 and the patient's artery, and it has good sealing properties to ensure that blood does not overflow. The branch tube 13 is responsible for controlling blood flow and lowering blood pressure by bleeding to reduce the risk of bleeding when inserting the catheter.

[0073] The use of the vascular sheath 10 in vascular intervention surgery can greatly facilitate doctors to perform treatment operations. Through the vascular sheath 10, doctors can perform operations such as angiography and interventional treatment, thereby accurately diagnosing and effectively treating patients' diseases. At the same time, the use of the vascular sheath 10 also helps to reduce the risk of surgical trauma and postoperative complications, and improve the safety and success rate of surgery.

[0074] like Figure 1 , Figure 2 and Figure 4As shown, the accommodating cavity 330 in the vascular sheath fixing part 300 provided by the present disclosure can be used to fix the sheath head 11. The vascular sheath fixing part 300 is provided with a first through hole and a second through hole that communicate with the outside and the accommodating cavity 330; the first through hole is used to fix the main tube 12, and the second through hole is used to fix the branch tube 13. The shapes and sizes of the accommodating cavity 330, the first through hole and the second through hole can be set according to the shapes and sizes of the sheath head 11, the main tube 12 and the branch tube 13, respectively.

[0075] Specifically, the sheath head 11 is generally a conical structure, and therefore, the accommodating cavity 330 is in the shape of a frustum, and one end of the accommodating cavity 330 close to the box body 100 is a conical bottom.

[0076] Further, the shell wall of the upper fixed shell 310 is provided with a first groove 311 and a second groove 312, and the shell wall of the lower fixed shell 320 is provided with a third groove 321 and a fourth groove 322. When the upper box body 110 and the lower box body 120 are closed, the first groove 311 and the third groove 321 are aligned and combined to form a first through hole, and the second groove 312 and the fourth groove 322 are aligned and combined to form a second through hole. The first groove 311, the second groove 312, the third groove 321 and the fourth groove 322 can be semi-annular grooves. The first groove 311 and the third groove 321 have the same shape and size, and the second groove 312 and the fourth groove 322 have the same shape and size.

[0077] Preferably, the center line of the first through hole coincides with the delivery direction of the interventional consumables actuator 200 to the interventional consumables 20, so as to ensure that the interventional consumables 20 can quickly and smoothly enter the sheath head 11 of the vascular sheath and the main tube 12 of the vascular sheath. Further, the center line of the first through hole coincides with the axis of the first gear 231 and the axis of the second gear 241.

[0078] like Figure 4 As shown, in this embodiment, the vascular sheath 10 also includes a fixing ring 14 connected to the sheath head 11, which is a component of the vascular sheath 10 for suturing with the human body. During vascular intervention surgery, sometimes the patient will move because of discomfort. In order to avoid affecting the surgery, the doctor will sew the fixing ring 14 with the skin. The purpose of doing this is to ensure that the vascular sheath 10 remains stable during the operation and to prevent it from shifting or falling off. By suturing the fixing ring 14 with the skin, the patient's discomfort can be reduced, and the safety and success rate of the operation can be improved. This fixing method is simple and effective, and does not cause additional harm to the patient, so it is widely used in many operations.

[0079] like Figure 1 , Figure 2 and Figure 4As shown, for this purpose, the vascular sheath fixing part 300 provided by the present disclosure is further provided with a third through hole communicating with the outside and the accommodating cavity 330, and the third through hole is used to fix the fixing ring 14. The shape and size of the third through hole can be set according to the shape and size of the fixing ring 14.

[0080] Further, the shell wall of the upper fixed shell 310 is provided with a fifth groove 313, and the shell wall of the lower fixed shell 320 is provided with a sixth groove 323. When the upper box body 110 and the lower box body 120 are closed, the fifth groove 313 and the sixth groove 323 are correspondingly combined to form a third through hole. The fifth groove 313 and the sixth groove 323 can be rectangular grooves. The fifth groove 313 and the sixth groove 323 have the same shape and size.

[0081] Preferably, the upper fixing shell 310 and the lower fixing shell 320 have the same shape and size, so as to more stably fix the vascular sheath 10. The upper fixing shell 310 and the lower fixing shell 320 have the same shape and size, and the forming process is simpler and faster. When the two are closely fitted, they can symmetrically fit the shape of the vascular sheath 10, ensuring the stability of the fixation of the vascular sheath 10.

[0082] like Figure 6 As shown, in some embodiments of the present disclosure, the vascular sheath fixing part 300 further includes a buffer, which is disposed in the accommodating cavity 330. The buffer can be made of compressible silicone, so that the accommodating cavity 330 can adapt to vascular sheaths 10 of various sizes. The compressible silicone has good elasticity and softness, and can provide appropriate support and pressure while fixing the vascular sheath 10.

[0083] The buffer may include an upper buffer (not shown) and a lower buffer 324, wherein the upper buffer is disposed in the upper fixing shell 310 and the lower buffer 324 is disposed in the lower fixing shell 320. The upper and lower buffers are combined to provide all-round support and fixation for the vascular sheath 10, ensuring that the vascular sheath 10 remains stable during surgery, thereby improving the safety and success rate of the surgery.

[0084] like Figure 1 , Figure 3 and Figure 7 As shown, the sterile consumable box provided by the present disclosure also includes a guide tube 400, which is used to guide the interventional consumable 20 to be inserted into the clamping mechanism 220 of the interventional consumable actuator 200. The guide tube 400 is passed through the axis of the first gear 231 or the second gear 241, and the lumen of the guide tube 400 is used for the insertion of the interventional consumable 20.

[0085] When installing the interventional consumable 20, the interventional consumable 20 can pass through the guide tube, which provides certain protection for the interventional consumable 20 to avoid surface damage during installation. It can also facilitate the insertion of the interventional consumable 20 and improve operational efficiency.

[0086] The main function of the guide tube 400 is to guide the interventional consumable 20 to be inserted into the clamping mechanism 220. After the interventional consumable 20 is inserted into place, the guide tube 400 needs to be pulled out of the clamping mechanism 220, specifically, the guide tube 400 is separated from between the first clamping wheel 221 and the second clamping wheel 222, and the interventional consumable 20 is left between the first clamping wheel 221 and the second clamping wheel 222, and is clamped by the first clamping wheel 221 and the second clamping wheel 222. In this process, the guide tube 400 can be completely pulled out, that is, completely separated from the interventional consumable actuator 200, or it can be partially pulled out, that is, only pulled out from the clamping mechanism 220, but still remain in other parts of the structure of the interventional consumable actuator 200, such as the axis of the first gear 231 or the second gear 241.

[0087] like Figure 4 and Figure 5 As shown, the present disclosure also provides a vascular interventional surgery robot, comprising a robot body 1 and a sterile consumables box in any of the above embodiments. The robot body 1 comprises a shell, a sliding groove is provided on the shell, and the sterile consumables box is located at the end of the sliding groove.

[0088] The vascular interventional surgery robot also includes a robotic arm, through which the robot body 1 is fixed to the operating table. The robotic arm can drive the robot body 1 to achieve multi-axis displacement and rotation within a certain range to adjust the position and posture of the robot body 1 before surgery.

[0089] 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 sterile consumables box for a vascular interventional surgery robot, characterized in that: include: A box body, comprising an upper box body and a lower box body connected to each other; An interventional consumables actuator, disposed in the box body, for controlling the movement of the interventional consumables; A vascular sheath fixing part is connected to the outside of the box body close to the intervention end, and the vascular sheath fixing part includes an upper fixing shell connected to the upper box body and a lower fixing shell connected to the lower box body; Wherein, when the upper box body and the lower box body are closed, the upper fixed shell and the lower fixed shell are matched to form an accommodating cavity for accommodating a vascular sheath.

2. The sterile consumables box according to claim 1, characterized in that: The vascular sheath fixing portion is provided with a first through hole and a second through hole communicating with the outside and the accommodating cavity; The accommodating cavity is used to fix the sheath head of the vascular sheath, the first through hole is used to fix the main tube of the vascular sheath, and the second through hole is used to fix the branch tube of the vascular sheath.

3. The sterile consumables box according to claim 2, characterized in that: The shell wall of the upper fixed shell is provided with a first groove and a second groove, and the shell wall of the lower fixed shell is provided with a third groove and a fourth groove; When the upper box body and the lower box body are closed, the first groove and the third groove are aligned and combined to form the first through hole, and the second groove and the fourth groove are aligned and combined to form the second through hole.

4. The sterile consumables box according to claim 2, characterized in that: The vascular sheath fixing portion is further provided with a third through hole communicating with the outside and the accommodating cavity, and the third through hole is used to fix the fixing ring of the vascular sheath.

5. The sterile consumables box according to claim 4, characterized in that: The shell wall of the upper fixed shell is provided with a fifth groove, and the shell wall of the lower fixed shell is provided with a sixth groove; When the upper box body and the lower box body are closed, the fifth groove and the sixth groove are correspondingly combined to form the third through hole.

6. The sterile consumables box according to claim 2, characterized in that: The center line of the first through hole coincides with a delivery direction of the interventional consumable by the interventional consumable actuator.

7. The sterile consumables box according to any one of claims 2 to 6, characterized in that: The interventional consumables actuator comprises: Rotating bracket; A clamping mechanism, provided on the rotating bracket, for clamping the interventional consumables; A delivery mechanism, disposed on the rotating bracket, for delivering the interventional consumables, the delivery mechanism comprising a first gear, and the first gear is disposed on one side of the rotating bracket in the intervention direction; A rotating mechanism, provided on the rotating bracket, for realizing the rotation of the interventional consumable, the rotating mechanism comprising a second gear, the second gear being provided on the other side of the rotating bracket in the interventional direction, the axis of the second gear and the axis of the first gear both being used for the interventional consumable to penetrate; Wherein, a center line of the first through hole coincides with an axis line of the first gear and an axis line of the second gear.

8. The sterile consumables box according to claim 7, characterized in that: The intervention consumables actuator further includes: A guide tube is used to guide the interventional consumable to be inserted into the clamping mechanism. The guide tube is movably arranged at the axis of the first gear or the second gear. The lumen of the guide tube is used for the insertion of the interventional consumable.

9. The sterile consumables box according to any one of claims 1 to 6, characterized in that: The vascular sheath fixing part also includes: The buffer member is arranged in the accommodating cavity.

10. The sterile consumables box according to any one of claims 1 to 6, characterized in that: The upper fixed shell and the upper box body are connected to form an integral structure, and the lower fixed shell and the lower box body are connected to form an integral structure; and / or The accommodating cavity is in the shape of a frustum, and one end of the accommodating cavity close to the box body is a cone bottom.

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