Two-channel vascular interventional surgical robot instrument delivery box assembly

Abstract

The utility model relates to the technical field of medical instruments, and discloses a double-channel vascular interventional surgical robot instrument delivery box assembly which comprises a delivery box body, a positioning piece matched with the output end of an interventional surgical robot is arranged on one side of the delivery box body, and a Y valve operation unit and a guide wire operation unit are arranged on the other side of the delivery box body. A delivery unit is arranged between the Y valve operation unit and the guide wire operation unit; the Y valve operation unit is used for arranging a Y-shaped valve; the guide wire operation unit comprises two groups of clamping and fixing mechanisms and two groups of eccentric clamping mechanisms so as to respectively clamp a guide wire in four directions; the delivery unit comprises a delivery groove used for containing a driving roller and a driven roller, and a middle shaft hole and two driving shaft holes which are formed in the bottom of the delivery groove. According to the utility model, a delivery mode capable of realizing two-channel collaborative operation is realized, and the application effect of the interventional surgical robot in treating complex lesions is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, and in particular to an instrument delivery box assembly for a dual-channel vascular interventional surgery robot. Background Art

[0002] Vascular interventional surgery is a minimally invasive therapy guided by medical imaging. It involves the precise delivery of puncture needles, catheters, guidewires, balloons, stents and other instruments to the lesion site through percutaneous puncture technology. It is widely used in cardiovascular, cerebrovascular, peripheral vascular diseases and tumor treatment. In traditional surgery, interventional doctors need to wear heavy lead clothing to resist X-ray radiation, and long-term operation can easily lead to occupational diseases such as cataracts, spinal problems and brain tumors. To solve this problem, interventional surgical robot systems came into being, reducing the physical burden of doctors, reducing radiation exposure, and improving surgical focus and patient efficacy.

[0003] However, the demand for vascular interventional surgical instruments is diverse. Simple coronary lesions may only require a single guidewire, a single balloon, and a single stent; complex lesions such as bifurcations and occluded lesions require double guidewires, double balloons, or double stents for delicate operations. Current vascular interventional surgical robots are limited to a single active delivery channel, and other channels can only passively clamp guidewires, making it impossible to achieve collaborative operation of multiple instruments, limiting their application effect in treating complex lesions. Utility Model Content

[0004] The utility model provides a dual-channel vascular interventional surgical robot instrument delivery box assembly, which is used to overcome the defect that the interventional surgical robot in the prior art is limited to a single active delivery channel and cannot realize the coordinated operation of multiple instruments, and realizes a delivery method that can enable dual-channel coordinated operation, thereby improving the application effect of the interventional surgical robot in treating complex lesions.

[0005] The utility model provides a dual-channel vascular interventional surgical robot instrument delivery box assembly, comprising a delivery box body, one side of the delivery box body is provided with a positioning piece matching the output end of the interventional surgical robot, the other side is provided with a Y-valve operating unit and a guide wire operating unit, a delivery unit is provided between the Y-valve operating unit and the guide wire operating unit; the Y-valve operating unit is used to set a Y-type valve; the guide wire operating unit comprises two groups of clamping and fixing mechanisms and two groups of eccentric clamping mechanisms, so as to be able to clamp the guide wire in four directions respectively; the delivery unit comprises a delivery groove for accommodating a driving roller and a driven roller, and an intermediate shaft hole and two driving shaft holes arranged at the bottom of the delivery groove; the output end of the interventional surgical robot is provided with a driven wheel shaft and a driving wheel shaft located on both sides of the driven wheel shaft, the position of the intermediate shaft hole corresponds to the driven wheel shaft, and the positions of the two driving shaft holes correspond to the driving wheel shaft.

[0006] According to the utility model, a dual-channel vascular interventional surgical robot instrument delivery box assembly is provided, comprising a Y-valve hinge cover and a main upper shell hinge cover; the Y-valve hinge cover and the main upper shell hinge cover are installed on the same side of the delivery box body; when the Y-valve hinge cover and the main upper shell hinge cover are closed to the delivery box body, the Y-valve operating unit is located between the Y-valve hinge cover and the delivery box body, and the delivery unit and the guide wire operating unit are located between the main upper shell hinge cover and the delivery box body.

[0007] According to a dual-channel vascular interventional surgical robot instrument delivery box assembly provided by the utility model, a plurality of transverse reinforcing ribs are arranged on the inner side of the main upper shell hinge cover; when the main upper shell hinge cover is closed to the delivery box body, the transverse reinforcing ribs form a limit stop structure in the height direction above the guide wire.

[0008] According to a dual-channel vascular interventional surgical robot instrument delivery box assembly provided by the utility model, the positioning piece is columnar, and a card slot structure is provided on the surface of the positioning piece; a positioning seat is provided at the output end of the interventional surgical robot, and the positioning seat is provided with a positioning hole matching the shape of the positioning piece, and the positioning seat is provided with a limiting piece protruding toward the positioning hole; when the positioning piece is inserted into the positioning hole of the positioning seat, the limiting piece cooperates with the card slot structure.

[0009] According to a dual-channel vascular interventional surgical robot instrument delivery box assembly provided by the utility model, the Y-valve operating unit includes a Y-valve operating mechanism and a positioning mechanism; the positioning mechanism is installed on the delivery box body; the Y-valve operating mechanism includes: a mounting portion, mounted on the positioning mechanism; a rotating portion, rotatably mounted on the mounting portion, the tail of the Y-type valve is mounted on the rotating portion and can rotate with the rotating portion; a catheter, connected to the tail of the Y-type valve.

[0010] According to a dual-channel vascular interventional surgical robot instrument delivery box assembly provided by the utility model, the positioning mechanism includes a lower positioning block and an upper positioning block; the lower positioning block is fixedly installed on the delivery box body; the mounting portion of the Y-valve operating mechanism is detachably installed on the upper positioning block; one end of the upper positioning block is hinged to the lower positioning block so that the other end of the upper positioning block can approach or move away from the lower positioning block.

[0011] According to a dual-channel vascular interventional surgical robot instrument delivery box assembly provided by the utility model, the clamping and fixing mechanism includes: a fixed seat, installed on the delivery box body; a fixed splint, fixedly installed on the fixed seat; a movable splint, movably installed on the fixed seat and having a clamping position close to the fixed splint and a loosening position away from the fixed splint; a manual driving mechanism, arranged on the fixed seat, for driving the movable splint to move between the clamping position and the loosening position.

[0012] According to a dual-channel vascular interventional surgical robot instrument delivery box assembly provided by the utility model, silicone sheets are respectively arranged on the opposite sides of the fixed splint and the movable splint; and / or the clamping and fixing mechanism includes an elastic reset member, which is arranged between the movable splint and the fixed seat to provide an elastic force to make the movable splint close to the fixed splint.

[0013] According to a dual-channel vascular interventional surgical robot instrument delivery box assembly provided by the utility model, the eccentric clamping mechanism includes a first clamping member and a second clamping member; at least one of the first clamping member and the second clamping member cooperates with a driver at the output end of the interventional surgical robot to make the first clamping member and the second clamping member relatively close to or far away from each other under the drive of the driver.

[0014] According to a dual-channel vascular interventional surgical robot instrument delivery box assembly provided by the utility model, a guidewire limiting mechanism is arranged in the guidewire extension direction corresponding to the eccentric clamping mechanism; the guidewire limiting mechanism includes two side blocks, and a rotating wheel rotatably installed between the two side blocks; the two side blocks have a first limiting groove with a notch facing the same direction, and the rotating wheel is provided with a second limiting groove with a notch open in the radial direction; between the rotating wheel and the two side blocks, a torsion spring is arranged to make the notch direction of the second limiting groove deviate from the notch direction of the first limiting groove; the surface of the rotating wheel is provided with a raised toggle portion.

[0015] The dual-channel vascular interventional surgical robot instrument delivery box assembly provided by the utility model is equipped with a positioning piece that matches the output end of the robot through the delivery box body to ensure precise docking; one side integrates the Y-valve operation unit and the guidewire operation unit, wherein the Y-type valve can simultaneously guide and switch the two instruments into the lesion. The guidewire operation unit has a first and eccentric clamping mechanism with four-way independent control, which supports the simultaneous operation of dual guidewires and above. A driving roller and a driven roller are arranged in the delivery groove, and cooperate with the driven shaft at the output end of the robot and the driving shafts on both sides, and power is transmitted through the intermediate shaft hole and the driving shaft hole structure to achieve dual active channel operation. In this way, not only can dual guidewires be delivered, but also complex interventional treatment needs such as dual balloon catheters and dual stent catheters can be handled.

[0016] The dual-channel vascular interventional surgical robot instrument delivery box assembly of the utility model is designed with a sophisticated mechanical structure, which effectively solves the shortcomings of the traditional single-channel delivery method, improves the operational flexibility and efficiency of interventional surgery for complex vascular lesions, and broadens the scope of clinical application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is one of the structural schematic diagrams of the dual-channel vascular interventional surgery robot instrument delivery box assembly provided by the utility model;

[0019] Figure 2 This is the second structural schematic diagram of the dual-channel vascular interventional surgery robot instrument delivery box assembly provided by the utility model;

[0020] Figure 3 It is a structural schematic diagram of a positioning member and a positioning seat of a dual-channel vascular interventional surgery robot instrument delivery box assembly provided by the utility model;

[0021] Figure 4 It is a structural schematic diagram of a Y-valve operating unit of a dual-channel vascular interventional surgical robot instrument delivery box assembly provided by the utility model;

[0022] Figure 5 It is a structural schematic diagram of the Y-valve operating unit of the dual-channel vascular interventional surgery robot instrument delivery box assembly provided by the utility model in a lifted state;

[0023] Figure 6 It is a structural schematic diagram of the guide wire limiting mechanism of the dual-channel vascular interventional surgery robot instrument delivery box assembly provided by the utility model;

[0024] Figure 7 It is a schematic diagram of the exploded structure of the guide wire limiting mechanism of the dual-channel vascular interventional surgery robot instrument delivery box assembly provided by the utility model;

[0025] Figure 8 It is a structural schematic diagram of the clamping and fixing mechanism of the dual-channel vascular interventional surgery robot instrument delivery box assembly provided by the utility model;

[0026] Fig. 9 It is a schematic diagram of the exploded structure of the clamping and fixing mechanism of the dual-channel vascular interventional surgery robot instrument delivery box assembly provided by the utility model;

[0027] Fig.10 It is a schematic cross-sectional structure diagram of an eccentric clamping mechanism of an instrument delivery box assembly of a dual-channel vascular interventional surgery robot provided by the utility model;

[0028] Figures 11 to 18 This is a schematic diagram of the use of the dual-channel vascular interventional surgery robot instrument delivery box assembly provided by the utility model;

[0029] Reference numerals:

[0030] 110, delivery box body; 111, positioning member; 112, card slot structure; 113, positioning seat;

[0031] 114, positioning hole; 115, stopper; 120, Y valve hinge cover; 130, main upper shell hinge cover;

[0032] 210, Y-valve operating unit; 211, mounting portion; 212, rotating portion; 213, catheter; 214, upper positioning block; 215, lower positioning block; 216, elastic supporting structure; 217, locking structure; 220, guide wire limiting mechanism; 221, side block; 222, rotating wheel; 223, first limiting groove; 224, second limiting groove; 225, toggle portion; 226, torsion spring; 230, clamping and fixing mechanism; 231, fixing seat; 232, fixed splint; 233, movable splint; 234, silicone pad; 235, first guide column; 236, second guide column; 237, transmission plate; 238, elastic reset member; 239, button portion; 240, eccentric clamping mechanism; 241, first clamping member; 242, second clamping member; 310, delivery slot; 311, intermediate shaft hole; 312, drive shaft hole. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0034] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. It should also be noted that in the description of the present utility model, unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to the specific circumstances.

[0035] Vascular interventional surgery is a minimally invasive treatment method guided by medical imaging equipment. Interventional doctors use percutaneous puncture to operate puncture needles, catheters, guidewires, balloons, stents and other instruments, and accurately deliver them to the lesion site for treatment. It is widely used in cardiovascular disease, cerebrovascular disease, peripheral vascular disease and tumor interventional treatment. However, in the traditional surgical model, interventional doctors need to wear heavy lead suits and stand for a long time in an X-ray radiation environment, which causes their arms and heads to be directly exposed to radiation, which can easily cause occupational diseases such as cataracts, spinal diseases, and brain tumors. To improve this situation, interventional doctors began to use robotic systems to control interventional surgical robots, which effectively reduced physical exertion and occupational hazards, allowing doctors to focus more on the operation itself, thereby improving the surgical treatment effect of patients. In actual operation, the number of instruments required for vascular interventional surgery varies depending on the type of lesion: treatment of simple coronary artery lesions may only require one guide wire, one balloon catheter and one stent catheter; while for complex lesions such as bifurcation lesions, completely occluded lesions, etc., two guide wires, double balloons or double stent catheters may be required for complex operations to ensure side branch vessel protection, enhance support or achieve surgical goals such as double stent implantation.

[0036] However, the existing vascular interventional surgical robots are limited to a single active delivery channel design, and other channels can only passively clamp guidewires, and cannot perform dual guidewire, dual balloon or dual stent collaborative operations at the same time, which greatly limits their application in the interventional treatment of complex vascular lesions. To solve this clinical problem, the utility model innovatively develops a dual-channel vascular interventional surgical robot instrument delivery box assembly, which achieves a breakthrough in the simultaneous operation of dual guidewires, dual balloon catheters and dual stent catheters, and can accommodate more passive clamping of guidewires, thereby significantly broadening the scope of indications for vascular interventional surgical robots and meeting the needs of interventional treatment of complex lesions.

[0037] Combine the following Figure 1-Figure 10 The specific implementation of the dual-channel vascular interventional surgery robot instrument delivery box assembly of the utility model is described.

[0038] In view of the limitation of the single active delivery channel of the existing vascular interventional surgical robot, the utility model provides a dual-channel vascular interventional surgical robot instrument delivery box assembly, including a delivery box body 110, one side of the delivery box body 110 is provided with a positioning piece 111 matching the output end of the interventional surgical robot, the other side is provided with a Y-valve operating unit 210 and a guide wire operating unit, and a delivery unit is provided between the Y-valve operating unit 210 and the guide wire operating unit; the Y-valve operating unit 210 is used to set a Y-type valve; the guide wire operating unit includes two groups of clamping and fixing mechanisms 230 and two groups of eccentric clamping mechanisms 240, so as to be able to clamp the guide wire in four directions respectively; the delivery unit includes a delivery groove 310 for accommodating a driving roller and a driven roller, and an intermediate shaft hole 311 and two driving shaft holes 312 arranged at the bottom of the delivery groove 310; the output end of the interventional surgical robot is provided with a driven wheel shaft and a driving wheel shaft located on both sides of the driven wheel shaft, the position of the intermediate shaft hole 311 corresponds to the driven wheel shaft, and the position of the two driving shaft holes 312 corresponds to the driving wheel shaft.

[0039] Among them, one side of the delivery box body 110 is provided with a positioning piece 111 that matches the output end of the interventional surgery robot, ensuring precise docking with the interventional surgery robot. On the other side, a Y-valve operating unit 210 and a guidewire operating unit are provided. The Y-valve provided in the Y-valve operating unit 210 can simultaneously guide and switch two different instruments (such as guidewires or balloon catheters) into the target vascular path. The guidewire operating unit is equipped with two sets of clamping and fixing mechanisms 230 and two sets of eccentric clamping mechanisms 240, which can independently control and stably clamp different numbers of guidewires from four directions, which is equivalent to setting up four sets of guidewire grooves. Each set of clamping mechanisms can finely adjust the pressure and position of the guidewire, thereby ensuring that the guidewire can be accurately in place during complex interventional surgery, meeting the needs of various high-difficulty surgical strategies such as dual-track parallelism and alternating advancement, so as to achieve simultaneous control of dual guidewires or even more guidewires. The delivery unit includes a delivery slot 310 for accommodating the driving roller and the driven roller, as well as an intermediate shaft hole 311 and a drive shaft hole 312 corresponding to the driven wheel shaft and the driving wheel shafts on both sides of the output end of the interventional surgery robot. This design enables the robot to transmit power through the drive shaft, thereby realizing the operation of two active delivery channels, which can not only deliver dual guidewires, but also adapt to complex surgical requirements such as dual balloon catheters and dual stent catheters.

[0040] Therefore, the dual-channel vascular interventional surgery robot instrument delivery box assembly overcomes the shortcomings of traditional single-channel robots through ingenious mechanical structure design, significantly improves the operational flexibility and efficiency in dealing with complex vascular lesions, and expands the clinical application capabilities of interventional surgery robots.

[0041] According to a dual-channel vascular interventional surgery robot instrument delivery box assembly provided by the utility model, Figure 1 and Figure 2 As shown, it includes a Y-valve hinge cover 120 and a main upper shell hinge cover 130. The Y-valve hinge cover 120 and the main upper shell hinge cover 130 are both installed on the same side of the delivery box body 110. When the Y-valve hinge cover 120 and the main upper shell hinge cover 130 are closed on the delivery box body 110, the Y-valve operating unit 210 is located between the Y-valve hinge cover 120 and the delivery box body 110, and the delivery unit and the guide wire operating unit are located between the main upper shell hinge cover 130 and the delivery box body 110.

[0042] The dual-channel vascular interventional surgical robot instrument delivery box assembly can ensure the hygiene and safety of the consumable box before and after use. Due to the use of the delivery box body 110, the contamination problem that may be caused by multiple uses is avoided. At the same time, the Y-valve hinge cover 120 and the main upper shell hinge cover 130 are installed on the same side of the delivery box body 110, so that the output end of the interventional surgical robot is controlled on the other side, thereby reducing the risk of cross contamination.

[0043] In addition, the Y-valve operating unit 210 is located between the Y-valve hinge cover 120 and the delivery box body 110, and the delivery unit and the guide wire operating unit are located between the main upper shell hinge cover 130 and the delivery box body 110, so that when the interventional surgical robot manipulates the Y-valve through the output end, the Y-valve and the guide wire can be kept isolated from the outside world, further reducing the risk of contamination.

[0044] In order to better meet the actual use needs, this dual-channel vascular interventional surgery robot instrument delivery box assembly preferably adopts a disposable PCI surgical consumables shell as a whole, which is sterilized and used once, so as to more effectively solve the cross-contamination problem. Preferably, the Y-valve operating unit 210 and the guide wire operating unit are mechanisms for operating the Y-type valve and the guide wire, which can be operated not only manually, but also automatically through the transmission with the output end of the interventional surgery robot, so as to better cooperate with the relevant functions of the surgical process, better meet the doctor's usage habits, and reduce the difficulty of operation.

[0045] The dual-channel vascular interventional surgery robot instrument delivery box assembly provided by the utility model can effectively improve the sanitary environment of interventional surgery and reduce the risk of cross contamination. At the same time, it adopts a disposable PCI surgical consumables shell as a whole, which can be used once after sterilization, and can better meet the actual use needs, providing safer and more convenient support for medical work.

[0046] like Figure 1 As shown, according to a dual-channel vascular interventional surgical robot instrument delivery box assembly provided by the utility model, a plurality of transverse reinforcing ribs are arranged on the inner side of the main upper shell hinge cover 130; when the main upper shell hinge cover 130 is closed to the delivery box body 110, the transverse reinforcing ribs form a limit stop structure in the height direction above the guide wire. The plurality of transverse reinforcing ribs arranged on the inner side of the main upper shell hinge cover 130, when it is closed to the delivery box body 110, form a compression and limit function for the guide wire in the height direction. When the guide wire is blocked or the resistance increases during the vascular interventional surgery, it can effectively prevent the guide wire from being deformed above the guide groove or even detached from the original guide groove (two sets of clamping and fixing mechanisms 230 and two sets of eccentric clamping mechanisms 240) due to uneven force on the guide wire.

[0047] Specifically, the limiting structure formed by the transverse reinforcing ribs can limit the guidewire within the preset operating range in real time, ensuring that the guidewire is always located within the effective control area of ​​the delivery slot 310 and the clamping mechanism, and maintaining stability and accuracy during guidewire delivery even when encountering complex vascular pathways or when the operation becomes more difficult. Therefore, the main upper shell hinge cover 130 provided with transverse reinforcing ribs not only enhances the overall rigidity and durability of the delivery box assembly, but also plays a role in preventing potential risks and ensuring the safe pushing of the guidewire in actual surgical applications, thereby improving the adaptability of the dual-channel vascular interventional surgical robot instrument delivery box assembly to complex interventional surgical scenarios and the success rate of the operation.

[0048] like Figure 3 As shown, according to a dual-channel vascular interventional surgery robot instrument delivery box assembly provided by the utility model, the positioning member 111 is preferably columnar, and a slot structure 112 is provided on the surface of the positioning member 111. A positioning seat 113 is provided at the output end of the interventional surgery robot, and the positioning seat 113 is provided with a positioning hole 114 matching the shape of the positioning member 111. The positioning seat 113 is provided with a stopper 115 protruding toward the positioning hole 114; when the positioning member 111 is inserted into the positioning hole 114 of the positioning seat 113, the stopper 115 cooperates with the slot structure 112. Among them, under the action of the positioning member 111 and the positioning hole 114 of the positioning seat 113, the consumable box can be positioned and installed at the output end of the interventional surgery robot more conveniently. The stopper 115 protrudes into the positioning hole 114, so that when the positioning member 111 cooperates with the positioning hole 114, it can be stuck on the slot structure 112, further improving the reliability of the positioning cooperation and preventing the positioning structure from loosening.

[0049] Preferably, if Figure 3 As shown, the stopper 115 includes at least two glass bead screws. The slot structure 112 is preferably a glass bead slot opened on the positioning column. When the glass bead screw and the glass bead slot form a positioning match, the entire delivery box body 110 can be positioned and fixed to the output end of the interventional surgical robot. Therefore, according to the above structure, the entire delivery box body 110 can achieve the technical effect of rapid assembly and disassembly based on the designed glass bead positioning structure, which is convenient for use and quick replacement.

[0050] According to a dual-channel vascular interventional surgical robot instrument delivery box assembly provided by the utility model, the Y-valve operating unit 210 includes a Y-valve operating mechanism and a positioning mechanism. The positioning mechanism is installed on the delivery box body 110. The Y-valve operating mechanism includes: a mounting portion 211, mounted on the positioning mechanism; a rotating portion 212, rotatably mounted on the mounting portion 211, and the tail of the Y-type valve is mounted on the rotating portion 212, and can rotate with the rotating portion 212; a catheter 213, connected to the tail of the Y-type valve.

[0051] The main function of the Y-valve operating mechanism is to quickly install the Y-valve. In addition, during PCI surgery, it also provides the function of switching instrument channels and can temporarily block blood outflow. In order to achieve this function, the tail of the Y-valve is installed on the above-mentioned rotating part 212. When the rotating part 212 rotates relative to the mounting part 211, it can make the catheter 213 and the tail regulating device of the Y-valve rotate synchronously.

[0052] Preferably, the Y-valve operating mechanism can be compatible with various types of Y-type valves. The axial connection of the Y-type valve is achieved through the rotation part 212, and the rotation part 212 preferably has a soft rubber structure shaft hole inside, which can be compatible with Y-type valves with different diameter mouth characteristics.

[0053] like Figure 4 and Figure 5 As shown, the rotating part 212 may include a relatively fixed hand wheel 222 and a driven gear. The outer diameter of the hand wheel 222 is designed to be larger to facilitate manual operation by medical personnel; the driven gear may mesh with a driving gear passing through the delivery box body 110, thereby realizing automatic control of the rotation of the rotating part 212.

[0054] During specific use, the Y-type valve is inserted into the hole in the hand wheel 222, and the hand wheel 222 and the driven gear can drive the tail of the Y-type valve to rotate together. Since the tail of the Y-type valve is connected to the catheter 213, the rotation of the hand wheel 222 in the driven gear or manual mode can drive the catheter 213 to rotate together. The function of the catheter 213 is to pass through the shaped elbow of the front end catheter 213 and rotate the catheter 213 to select a path position closer to the lesion location in the blood vessel when passing through the human blood vessel. Through the cooperation of the tail of the Y-type valve with the above-mentioned hand wheel 222 and the driven gear, the rotation in the manual mode and the automatic rotation driven by the driving gear can be realized during operation.

[0055] According to a dual-channel vascular interventional surgery robot instrument delivery box assembly provided by the utility model, Figure 4 and Figure 5 As shown, the positioning mechanism includes a lower positioning block 215 and an upper positioning block 214. The lower positioning block 215 is fixedly mounted on the delivery box body 110; the mounting portion 211 of the Y-valve operating mechanism is detachably mounted on the upper positioning block 214. One end of the upper positioning block 214 is hinged to the lower positioning block 215 so that the other end of the upper positioning block 214 can approach or move away from the lower positioning block 215. Among them, through the swinging action of the upper positioning block 214 relative to the lower positioning block 215, the side of the upper positioning block 214 away from the hinged position can be lifted, thereby adjusting the Y-valve operating mechanism to a suitable angle for operation by medical staff.

[0056] Furthermore, if Figure 5As shown, a locking structure 217 and an elastic support structure 216 may be provided between the upper positioning block 214 and the lower positioning block 215. The locking structure 217 is used to lock the upper positioning block 214 and the lower positioning block 215 together, and keep the upper positioning block 214 in contact with the lower positioning block 215. The elastic support structure 216 supports and lifts the upper positioning block 214 after the locking structure 217 is unlocked.

[0057] Specifically, in order to switch instruments more quickly, the Y-type valve needs to be lifted appropriately to make it easier for doctors to operate. The above-mentioned positioning mechanism fixes the upper positioning block 214 through a locking structure 217 (such as a buckle or a glass bead). When the upper positioning block 214 is lifted by hand, the elastic support structure 216 (such as a spring) lifts the upper positioning block 214. This design can facilitate medical staff to operate the Y-type valve and improve surgical efficiency.

[0058] like Figure 6 As shown, according to a dual-channel vascular interventional surgical robot instrument delivery box assembly provided by the utility model, a guidewire limiting mechanism 220 is provided in the extension direction of the guidewire corresponding to the eccentric clamping mechanism; the guidewire limiting mechanism 220 includes two side blocks 221, and a rotating wheel 222 rotatably mounted between the two side blocks 221; the two side blocks 221 have first limiting grooves 223 with the same notch orientation, and the rotating wheel 222 is provided with a second limiting groove 224 with a notch open in the radial direction. The function of the guidewire limiting mechanism 220 is mainly to limit the freedom of the guidewire in the delivery box body 110, so that the guidewire can only move forward and backward in the direction defined by the guidewire limiting mechanism 220 of the delivery box body 110, so that the guidewire is easier to deliver.

[0059] When the first limiting groove 223 and the second limiting groove 224 are oriented in the same direction, the guide wire can be put into or taken out of the first limiting groove 223 and the second limiting groove 224. When the first limiting groove 223 and the second limiting groove 224 are oriented in different directions, the guide wire will be confined in the first limiting groove 223 and the second limiting groove 224 and can only move forward and backward relative to the guide wire limiting mechanism 220.

[0060] like Figure 7As shown, according to a dual-channel vascular interventional surgical robot instrument delivery box assembly provided by the utility model, a torsion spring 226 is preferably provided between the above-mentioned rotating wheel 222 and the two side blocks 221 to make the notch direction of the second limiting groove 224 deviate from the notch direction of the first limiting groove 223; and a raised toggle portion 225 is provided on the surface of the rotating wheel 222. Under the action of the torsion spring 226, the guide wire limiting mechanism 220 maintains the limiting state in which the notch directions of the first limiting groove 223 and the second limiting groove 224 are different in a natural state. When it is necessary to take out or put in the guide wire, after pressing the toggle portion 225 of the rotating wheel 222, the second limiting groove 224 of the rotating wheel 222 overlaps with the notch position of the first limiting groove 223 of the side block 221, and then the guide wire or balloon is put in or taken out. At this time, after releasing the hand, the rotating wheel 222 automatically moves to the limiting state by relying on the torsion spring 226, thereby limiting the position of the guide wire.

[0061] According to the dual-channel vascular interventional surgery robot instrument delivery box assembly provided by the utility model, the guide wire operation unit preferably includes a clamping and fixing mechanism 230. Figure 8 As shown, the clamping and fixing mechanism 230 includes: a fixing seat 231, which is installed on the delivery box body 110; a fixing clamp plate 232, which is fixedly installed on the fixing seat 231; a movable clamp plate 233, which is movably installed on the fixing seat 231 and has a clamping position close to the fixing clamp plate 232 and a loosening position away from the fixing clamp plate 232; a manual driving mechanism, which is arranged on the fixing seat 231 and is used to drive the movable clamp plate 233 to move between the clamping position and the loosening position. Medical staff can drive the movable clamp plate 233 to move between the clamping position and the loosening position through the manual driving mechanism, so as to clamp or loosen the guide wire.

[0062] Specifically, in PCI surgery, it is necessary to alternately replace balloons, stents, etc., and the guide wire needs to be fixed at this time. According to the above-mentioned clamping and fixing mechanism 230, a structure for quickly clamping the guide wire is realized, so that the guide wire can be clamped and fixed at the lesion position, which is convenient for subsequent insertion of the balloon or stent. The manual drive mechanism can have a variety of structural forms, for example, a toggle structure fixed relatively to the movable clamp 233 can be set to be able to directly toggle the movable clamp 233 to move the position.

[0063] According to a dual-channel vascular interventional surgical robot instrument delivery box assembly provided by the utility model, the clamping and fixing mechanism 230 includes an elastic reset member 238; the elastic reset member 238 is disposed between the movable clamping plate 233 and the fixing seat 231 to provide an elastic force to make the movable clamping plate 233 close to the fixing clamping plate 232. Specifically, the elastic reset member 238 can make the movable clamping plate 233 maintain the clamping position when it is not affected by external forces.

[0064] Preferably, if Fig. 9As shown, the manual drive mechanism includes a button portion 239, a first guide column 235, a second guide column 236 and a transmission plate 237. The first guide column 235 is mounted on the fixed seat 231 in the vertical direction, the second guide column 236 is mounted on the fixed seat 231 in the horizontal direction, the button portion 239 is slidably matched with the first guide column 235, the movable clamping plate 233 is slidably matched with the second guide column 236, and the transmission plate 237 is fixed to the movable clamping plate 233 and has an inclined surface facing the button portion 239. When the button portion 239 is pressed to move downward, the inclined surface of the transmission plate 237 converts the action into driving the movable clamping plate 233 along the second guide column 236 away from the fixed clamping plate 232.

[0065] The elastic reset member 238 is preferably a spring member sleeved on the first guide column 235 and the second guide column 236 to reset the button portion 239 and keep the movable clamping plate 233 in a clamping position close to the fixed clamping plate 232 when the button portion 239 is not affected by external forces.

[0066] like Fig. 9 As shown, according to the dual-channel vascular interventional surgical robot instrument delivery box assembly provided by the utility model, silicone sheets are preferably provided on the opposite sides of the fixed clamping plate 232 and the movable clamping plate 233. The silicone sheet clamps the guide wire, which has a large friction force and can reliably clamp the guide wire. On the other hand, the softness of the silicone sheet can prevent the guide wire from being deformed in the clamped state.

[0067] According to a dual-channel vascular interventional surgery robot instrument delivery box assembly provided by the utility model, Fig.10 As shown, the eccentric clamping mechanism 240 includes a first clamping member 241 and a second clamping member 242. At least one of the first clamping member 241 and the second clamping member 242 cooperates with a driver at the output end of the interventional surgery robot, so that the first clamping member 241 and the second clamping member 242 are relatively close to or away from each other under the drive of the driver.

[0068] The difference between the function of the eccentric clamping mechanism 240 and the clamping and fixing mechanism 230 is that the eccentric clamping mechanism 240 is arranged at an adjacent position to the guide wire limiting mechanism 220. When the guide wire is limited in the guide wire limiting mechanism 220, the guide wire passes between the first clamping member 241 and the second clamping member 242. When it is necessary to temporarily position the advance position of the guide wire, the guide wire can be quickly clamped by the first clamping member 241 and the second clamping member 242 of the eccentric clamping mechanism 240 without taking the guide wire out of the guide wire limiting mechanism 220.

[0069] Among them, one of the first clamping member 241 and the second clamping member 242 can be an eccentric wheel driven by the output end of the interventional surgical robot, and the other can be a fixed idler wheel. By controlling the rotation of the eccentric wheel, the eccentric wheel is moved close to or away from the idler wheel, thereby realizing the switching of the clamping and releasing states.

[0070] According to the preferred embodiment of the utility model, the dual-channel vascular interventional surgical robot instrument delivery box assembly can use multiple channels to cross-combine guide wires and balloon catheters. For example, through the driven roller and the driving rollers on both sides, and the "clamping or loosening" combination of the eccentric clamping mechanism 240, the coordinated alternating delivery of the two guide wires can be achieved, and the channels can be switched arbitrarily to adjust the positions of the two guide wires; similarly, it can also meet the needs of using more than two guide wires.

[0071] The upper side and the lower side hereinafter are used to indicate the orientation shown in the drawings.

[0072] like Fig.11 As shown, the lower driven roller is close to the middle driving roller, sandwiching the guide wire in the middle, and single guide wire delivery is achieved when the driving roller rotates.

[0073] like Fig.12 As shown, guide wires are arranged on both sides of the middle driving roller, the upper driven roller is close to the middle driving roller, and cooperates with the driving roller to deliver the upper guide wire, the lower driven roller is loosened from the middle driving roller, and the guide wire remains in position when clamped by the eccentric clamping mechanism 240 on the lower side.

[0074] like Fig.13 As shown, Fig.12 In contrast to the state in , the lower driven roller is close to the middle driving roller, cooperating with the driving roller to deliver the guide wire on the lower side, and the guide wire on the upper side remains in position when clamped by the eccentric clamping mechanism 240 on the upper side.

[0075] recover Fig.12 In the state in the middle, the upper guide wire is delivered again. By alternately switching the position of the driven roller and the clamping state of the upper and lower eccentric clamping mechanisms 240, the alternating delivery of the two guide wires can be achieved.

[0076] At the same time, this dual-channel vascular interventional surgery robot instrument delivery box assembly also meets the application of multiple guidewires. Under the coordination of the driven roller and the driving roller clamping modules on both sides, the guidewire fixed in place can be fixed by the clamping and fixing mechanism 230. Other guidewires passing through the delivery wheel continue to work and adjust different positions.

[0077] like Fig.14As shown, one guide wire is arranged on one side of the driven roller, and two guide wires can be arranged on the other side, so as to realize the coordinated work of three guide wires. On the side where two guide wires are arranged, the two guide wires can cooperate with the eccentric clamping mechanism 240 and the clamping and fixing mechanism 230 on the same side respectively.

[0078] like Fig.15 As shown, two or more guide wires can be respectively arranged on both sides of the driven roller, and the guide wires that do not need to be moved are clamped and fixed by the eccentric clamping mechanism 240 and the clamping and fixing mechanism 230.

[0079] Referring to the usage methods of the two illustrated instrument delivery box assemblies above, this structure can satisfy the coordinated operation of multiple guidewires.

[0080] When the double guidewires are in place, the clamping and fixing mechanisms 230 clamp the guidewires and prevent them from moving. In this way, the "clamping or loosening" combination of the driven rollers and the driving rollers on both sides and the two sets of eccentric clamping mechanisms 240 at the rear end realizes the coordinated alternating delivery of the two balloon / stent catheters, and the channels can be switched arbitrarily to adjust the positions of the two sets of balloon / stent catheters. It can not only achieve stable clamping of some instruments during vascular intervention surgery, but also adjust the position of a certain instrument in an extremely convenient way, and at the same time keep the instrument of the other channel from moving forward and backward during surgery, so as to avoid accidental damage to the inner wall of the blood vessel, thereby improving the safety of the surgery.

[0081] like Fig.16 As shown, the upper guide wire is clamped by the upper clamping and fixing mechanism 230, and the lower guide wire is clamped by the lower clamping and fixing mechanism 230. The balloon / stent catheter realizes forward and backward axial movement under the drive of the lower driven wheel and the intermediate driving roller.

[0082] like Fig.17 As shown, the balloon / stent catheter and guide wire on the lower side are clamped and positioned by the eccentric clamping mechanism 240 and the clamping and fixing mechanism 230 on the lower side respectively; the guide wire on the upper side is clamped by the clamping and fixing mechanism 230 on the upper side, and the balloon / stent catheter on the upper side realizes forward and backward axial movement under the drive of the upper driven wheel and the intermediate driving roller.

[0083] like Fig.18 As shown, the upper balloon / stent catheter and guidewire are clamped and positioned by the upper eccentric clamping mechanism 240 and the clamping and fixing mechanism 230 respectively; the lower guidewire is clamped by the lower clamping and fixing mechanism 230, and the lower balloon / stent catheter moves under the drive of the lower driving roller.

[0084] recover Fig.17 In the working state shown, adjust the upper balloon / stent catheter again.

[0085] According to the preferred embodiment of the present application, in view of the high requirements for the coordinated delivery of multiple instruments in the interventional surgery of complex vascular lesions, the dual-channel vascular interventional surgery robot instrument delivery box assembly successfully realizes accurate, convenient and efficient multi-instrument manipulation. This breakthrough design overcomes the limitation that the existing single-channel surgical robot is only applicable to the treatment of simple lesions, greatly broadens the clinical application field, and has significant clinical value. Through this component, the instrument clamping stability of the surgical robot is significantly improved, avoiding the risk of damage or perforation of the inner wall of the blood vessel caused by the sliding of the instrument during traditional manual operation, thereby enhancing the safety of the operation. In addition, with the unique structural design, the delivery accuracy of different interventional instruments such as guidewires and soft catheters can be significantly improved, ensuring accurate positioning and operation during complex surgical procedures. Moreover, the instrument delivery box adopts a disposable sterile design that can be quickly installed and disassembled, which not only speeds up the rhythm of the operation and improves the efficiency of the operation, but also further strengthens the safety barrier of the operation and reduces the risk of cross infection and other complications caused by the reuse of instruments. Overall, this new vascular interventional surgery robot technology greatly improves the accuracy and adaptability of interventional treatment while ensuring patient safety.

[0086] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "mode", "specific mode", or "some modes" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or mode are included in at least one embodiment or mode of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or mode. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or modes in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or modes described in this specification and the features of the different embodiments or modes, without contradiction.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A dual-channel vascular interventional surgery robot instrument delivery box assembly, characterized in that: The delivery box body (110) comprises a positioning member (111) matching the output end of the interventional surgery robot on one side of the delivery box body (110), a Y-valve operating unit (210) and a guide wire operating unit on the other side, and a delivery unit is arranged between the Y-valve operating unit (210) and the guide wire operating unit; The Y-valve operating unit (210) is used to set a Y-shaped valve; The guide wire operation unit comprises two groups of clamping and fixing mechanisms (230) and two groups of eccentric clamping mechanisms (240), so as to be able to clamp the guide wire in four directions respectively; The delivery unit comprises a delivery groove (310) for accommodating a driving roller and a driven roller, and an intermediate shaft hole (311) and two driving shaft holes (312) arranged at the bottom of the delivery groove (310); The output end of the interventional surgical robot is provided with a driven wheel shaft and driving wheel shafts located on both sides of the driven wheel shaft, the position of the intermediate shaft hole (311) corresponds to the driven wheel shaft, and the positions of the two driving shaft holes (312) correspond to the driving wheel shafts.

2. The dual-channel vascular interventional surgery robot instrument delivery box assembly according to claim 1, characterized in that: It comprises a Y-valve hinge cover (120) and a main upper shell hinge cover (130); The Y-valve hinge cover (120) and the main upper shell hinge cover (130) are installed on the same side of the delivery box body (110); When the Y-valve hinge cover (120) and the main upper shell hinge cover (130) are closed on the delivery box body (110), the Y-valve operating unit (210) is located between the Y-valve hinge cover (120) and the delivery box body (110), and the delivery unit and the guide wire operating unit are located between the main upper shell hinge cover (130) and the delivery box body (110).

3. The dual-channel vascular interventional surgery robot instrument delivery box assembly according to claim 2, characterized in that: A plurality of transverse reinforcing ribs are arranged on the inner side of the main upper shell hinge cover (130); When the main upper shell hinge cover (130) is closed on the delivery box body (110), the transverse reinforcing rib forms a limit stop structure in the height direction above the guide wire.

4. The dual-channel vascular interventional surgery robot instrument delivery box assembly according to claim 1, characterized in that: The positioning member (111) is columnar, and a slot structure (112) is provided on the surface of the positioning member (111); The output end of the interventional surgical robot is provided with a positioning seat (113), the positioning seat (113) is provided with a positioning hole (114) matching the shape of the positioning member (111), and the positioning seat (113) is provided with a limiting member (115) protruding toward the positioning hole (114); When the positioning member (111) is inserted into the positioning hole (114) of the positioning seat (113), the limiting member (115) cooperates with the slot structure (112).

5. The dual-channel vascular interventional surgery robot instrument delivery box assembly according to claim 1, characterized in that: The Y-valve operating unit (210) comprises a Y-valve operating mechanism and a positioning mechanism; The positioning mechanism is mounted on the delivery box body (110); The Y-valve operating mechanism comprises: A mounting portion (211), mounted on the positioning mechanism; A rotating portion (212) is rotatably mounted on the mounting portion (211), and a tail portion of the Y-shaped valve is mounted on the rotating portion (212) and is capable of rotating along with the rotating portion (212); A conduit (213) is connected to the tail of the Y-shaped valve.

6. The dual-channel vascular interventional surgery robot instrument delivery box assembly according to claim 5, characterized in that: The positioning mechanism comprises a lower positioning block (215) and an upper positioning block (214); The lower positioning block (215) is fixedly mounted on the delivery box body (110); The mounting portion (211) of the Y-valve operating mechanism is detachably mounted on the upper positioning block (214); One end of the upper positioning block (214) is hinged to the lower positioning block (215), so that the other end of the upper positioning block (214) can approach or move away from the lower positioning block (215).

7. The dual-channel vascular interventional surgery robot instrument delivery box assembly according to claim 1, characterized in that: The clamping and fixing mechanism (230) comprises: A fixing seat (231) mounted on the delivery box body (110); A fixed clamping plate (232) fixedly mounted on the fixing seat (231); A movable clamping plate (233) is movably mounted on the fixing seat (231) and has a clamping position close to the fixing clamping plate (232) and a loosening position away from the fixing clamping plate (232); A manual drive mechanism is arranged on the fixing seat (231) and is used for driving the movable clamping plate (233) to move between the clamping position and the releasing position.

8. The dual-channel vascular interventional surgery robot instrument delivery box assembly according to claim 7, characterized in that: Silicone sheets are respectively arranged on opposite sides of the fixed clamping plate (232) and the movable clamping plate (233); And / or, the clamping and fixing mechanism (230) includes an elastic reset member (238), and the elastic reset member (238) is arranged between the movable clamp plate (233) and the fixed seat (231) to provide an elastic force to make the movable clamp plate (233) close to the fixed clamp plate (232).

9. The dual-channel vascular interventional surgery robot instrument delivery box assembly according to claim 1, characterized in that: The eccentric clamping mechanism (240) comprises a first clamping member (241) and a second clamping member (242); At least one of the first clamping member (241) and the second clamping member (242) cooperates with a driver at an output end of the interventional surgical robot so that the first clamping member (241) and the second clamping member (242) are relatively close to or far away from each other under the drive of the driver.

10. The dual-channel vascular interventional surgery robot instrument delivery box assembly according to claim 9, characterized in that: A guide wire limiting mechanism (220) is provided in the guide wire extension direction corresponding to the eccentric clamping mechanism (240); The guide wire limiting mechanism (220) comprises two side blocks (221) and a rotating wheel (222) rotatably mounted between the two side blocks (221); The two side blocks (221) have first limiting grooves (223) with notches facing the same direction, and the rotating wheel (222) is provided with a second limiting groove (224) with a notch opening facing radially; A torsion spring (226) is provided between the rotating wheel (222) and the two side blocks (221) to make the notch direction of the second limiting groove (224) deviate from the notch direction of the first limiting groove (223); A raised shifting portion (225) is provided on the surface of the rotating wheel (222).

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