Power-built-in multi-module vascular interventional surgery robot and its main body

Abstract

The present disclosure proposes a multi-module vascular interventional surgical robot with built-in power and its body. The body of the multi-module vascular interventional surgical robot with built-in power includes a body shell, an interventional consumables driving mechanism, a long rail delivery mechanism and a driving module. A notch is provided on the body shell, and the notch is provided along the length direction of the body shell; the interventional consumables driving mechanism is used to realize the movement of the interventional consumables; the long rail delivery mechanism is located inside the body shell, and is used to drive the interventional consumables driving mechanism to slide along the extension direction of the notch; the driving module connects the long rail delivery mechanism and the interventional consumables driving mechanism, and is used to provide source power for the movement of the interventional consumables; the driving module includes a power assembly and a transmission assembly, and the power assembly is located inside the body shell. The present disclosure can reduce the risk of contamination of the driving module, provide a structural basis for the reuse of the power assembly, and help reduce costs.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical devices, and in particular to a multi-module vascular interventional surgery robot with built-in power and a main body thereof. Background Art

[0002] Vascular interventional surgery robots are important medical devices that replace human interventional surgery. Through the control of the master end, the catheters, guidewires, stents and other interventional consumables located at the slave end are introduced into the blood vessels in the body to perform minimally invasive diagnosis and treatment of diseases. In order to provide a safer and sterile surgical environment and prevent doctors from being exposed to radiation from medical devices, interventional surgery is usually performed in a doctor-patient isolation manner. Interventional consumables and the rotation delivery mechanism that drives the delivery and rotation of interventional consumables are usually disposable devices.

[0003] In the related technology, the slave end of the vascular interventional surgical robot usually includes a robot body and an interventional consumables driving mechanism arranged on one side of the robot body. The interventional consumables driving mechanism is used to realize the delivery and rotation of interventional consumables. A slot is opened on the robot body. The interventional consumables driving mechanism is slidingly connected to the inside of the robot body through the slot, and a power component that provides power to the interventional consumables driving mechanism is arranged in the slot, which is used to connect the robot body and the interventional consumables driving mechanism.

[0004] The above-mentioned related technologies have the following defects: since splashing liquid will be generated during the operation, the liquid will splash onto the power components, causing the power components to be contaminated, so that the power components also need to be replaced as disposable instruments, increasing the cost of the operation. Utility Model Content

[0005] The purpose of the present disclosure is to overcome at least one of the deficiencies of the above-mentioned related technologies and to provide a multi-module vascular interventional surgical robot with built-in power and a main body thereof.

[0006] Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

[0007] According to one aspect of the present disclosure, there is provided a multi-module vascular interventional surgery robot body with built-in power, comprising:

[0008] A main body shell, wherein the main body shell is provided with a notch, and the notch is arranged along the length direction of the main body shell;

[0009] An interventional consumables driving mechanism, used to realize the movement of the interventional consumables;

[0010] A long rail delivery mechanism, located in the main body shell, used to drive the interventional consumables driving mechanism to slide along the extension direction of the slot;

[0011] a driving module, connected to the long rail delivery mechanism and the interventional consumable driving mechanism, and used to drive the interventional consumable driving mechanism to slide along the slot under the drive of the long rail delivery mechanism, and also used to provide source power for the movement of the interventional consumable;

[0012] Wherein, the driving module includes a power component and a transmission component, the interventional consumable driving mechanism is transmission-connected to the power component via the transmission component, and the power component is located inside the main body shell.

[0013] In an exemplary embodiment of the present disclosure, the powered multi-module vascular interventional surgery robot body further includes:

[0014] A mounting frame, disposed inside the main body shell, and having at least one end fixedly connected to the main body shell;

[0015] A long rail, fixed on the mounting frame, wherein the extension direction of the long rail is parallel to the extension direction of the slot;

[0016] The long rail delivery mechanism is slidably connected to the long rail, and one end of the driving module away from the interventional consumables driving mechanism is connected to the long rail delivery mechanism.

[0017] In an exemplary embodiment of the present disclosure, the driving module further includes:

[0018] A mounting shell, one end of which is fixedly connected to the long rail delivery mechanism, and the other end of which is fixedly connected to the interventional consumable drive mechanism;

[0019] The mounting shell includes a first subshell and a second subshell connected to each other, the first subshell is located inside the main body shell, the second subshell is at least partially located outside the main body shell, the power assembly is arranged in the first subshell, and the transmission assembly is arranged in the second subshell.

[0020] The volume of the first partial shell is greater than that of the second partial shell, and a connection between the first partial shell and the second partial shell is communicated and located at the notch.

[0021] In an exemplary embodiment of the present disclosure, the power assembly comprises:

[0022] A motor, fixedly mounted on the first sub-shell;

[0023] A first bevel gear, fixedly connected to the motor output shaft;

[0024] The transmission assembly comprises:

[0025] A second bevel gear meshing with the first bevel gear, and the meshing position is located at the connection between the first sub-shell and the second sub-shell;

[0026] The connecting shaft is fixedly connected to the second bevel gear and is used to be connected to the interventional consumable driving mechanism to provide power.

[0027] In an exemplary embodiment of the present disclosure, the notch is opened toward the bottom of the body shell;

[0028] A baffle is provided at the notch, the baffle is located at a side of the notch away from the interventional consumable drive mechanism and is fixedly connected to the main body shell, and the shape of the baffle matches the shape of the connection between the first sub-shell and the second sub-shell.

[0029] In an exemplary embodiment of the present disclosure, the main body shell includes a bottom wall and a side wall, the notch is located at the connection between the bottom wall and the side wall, and the edge of the side wall of the main body shell close to the interventional consumables driving mechanism is lower than the edge of the baffle.

[0030] In an exemplary embodiment of the present disclosure, one end of the side wall close to the bottom wall is bent toward the inside of the main body shell to form a guide plate, and the included angle between the guide plate and the side wall is an obtuse angle.

[0031] In an exemplary embodiment of the present disclosure, the baffle comprises:

[0032] A first baffle, fixed to the edge of the notch;

[0033] a second baffle, fixed to a side of the first baffle away from the notch;

[0034] The axis of the first bevel gear is perpendicular to the first baffle plate, and the axis of the second bevel gear is perpendicular to the second baffle plate.

[0035] In an exemplary embodiment of the present disclosure, the interventional consumable driving mechanism is provided in a plurality of groups, and the plurality of groups of the interventional consumable driving mechanisms are arranged at intervals along the extending direction of the slot.

[0036] According to another aspect of the present disclosure, a vascular interventional surgery robot is also proposed, comprising a robotic arm and the above-mentioned powered multi-module vascular interventional surgery robot body, wherein the powered multi-module vascular interventional surgery robot body is disposed on the robotic arm.

[0037] The disclosed multi-module vascular interventional surgery robot with built-in power and its main body have the following beneficial effects:

[0038] The multi-module vascular interventional surgical robot body with built-in power disclosed in the present invention includes a body shell, an interventional consumables driving mechanism, a long rail delivery mechanism and a driving module. A notch is provided on the body shell, and the interventional consumables driving mechanism is slidably provided on one side of the body shell to realize the movement of the interventional consumables. The long rail delivery mechanism is provided in the body shell to drive the interventional consumables driving mechanism to slide along the extension direction of the notch; the driving module connects the long rail delivery mechanism and the interventional consumables driving mechanism to provide source power for the movement of the interventional consumables. The driving module includes a power component and a transmission component. The power component is located inside the body shell, and the transmission component is used to transmit the power of the power component to the interventional consumables driving mechanism. In this way, in actual use, the power component and the robot body and other consumable parts can be at least isolated by a sterile membrane, providing a structural basis for the reuse of the power component, which helps to reduce costs.

[0039] In addition, at least part of the driving module is arranged inside the main body shell, and the liquid generated during the operation is not easy to splash onto the driving module, which can reduce the risk of damage and contamination of the driving module. Moreover, at least part of the driving module is arranged inside the main body shell, which can relatively reduce the structural components exposed outside the main body shell and improve the overall aesthetics of the robot body.

[0040] 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 disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0042] Figure 1 This is an application scenario diagram of the multi-module vascular interventional surgical robot with built-in power according to an embodiment of the present disclosure.

[0043] Figure 2 It is a structural stereoscopic diagram of the multi-module vascular interventional surgery robot body with built-in power in the embodiment of the present disclosure.

[0044] Figure 3 It is a schematic diagram of the internal structure of the multi-module vascular interventional surgery robot body with built-in power in the embodiment of the present disclosure.

[0045] Figure 4 It is a side sectional view of the multi-module vascular interventional surgery robot body with built-in power in the embodiment of the present disclosure.

[0046] Figure 5yes Figure 4 Enlarged view of part A in the middle.

[0047] The main structural marks in the figure are explained as follows:

[0048] 1. A multi-module vascular interventional surgical robot body with built-in power; 11. Body shell; 111. Notch; 112. Baffle; 1121. First baffle; 1122. Second baffle; 12. Interventional consumables driving mechanism; 13. Driving module; 131. Mounting shell; 1311. First sub-shell; 1312. Second sub-shell; 132. Power assembly; 1321. Motor; 1322. First bevel gear; 133. Transmission assembly; 1331. Second bevel gear; 14. Mounting frame; 15. Long rail; 16. Long rail delivery mechanism; 2. Robotic arm; 3. Operating table. DETAILED DESCRIPTION

[0049] 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.

[0050] 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 direction of the examples 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.

[0051] The terms "a", "an", "the", 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" and "second" are used merely as labels and are not intended to limit the quantity of their objects.

[0052] During vascular interventional surgery, the operator needs to control the master-end control device to introduce the guidewires, catheters, stents and other interventional consumables set on the slave end into the vascular lesions in the body for treatment. The vascular interventional surgery robot generally includes a master end located outside the operating room and a slave end located in 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 a robotic arm, and can adjust its own posture through the robotic arm. In order to provide a safer and sterile surgical environment and prevent doctors from being exposed to radiation from medical devices, interventional surgery is usually performed in a doctor-patient isolation manner. Among them, the robotic arm supports the robot body and can drive the robot body to move and pitch to achieve preoperative posture adjustment of the robot body.

[0053] The robot body includes an interventional consumables driving mechanism, which includes an execution module and a driving module. The execution module is used to deliver and rotate the interventional consumables, and the driving module is used to provide power for the execution module. Usually, a slot is provided on the robot body, and the driving module is arranged in the slot, and the execution module is connected to the robot body through the driving module.

[0054] To ensure the safety and sterility of the operation, the interventional consumables and the driving mechanism that drives the interventional consumables are usually disposable devices, and new interventional consumables and driving mechanisms need to be replaced before each operation. The power components are set in the slots, which are easily contaminated during the operation. Therefore, the power components are also replaced before each operation as disposable devices, which leads to higher costs of the operation.

[0055] Based on this, Figure 1-Figure 5 As shown, the embodiment of the present disclosure provides a multi-module vascular interventional surgery robot with built-in power and its body. The multi-module vascular interventional surgery robot body 1 with built-in power includes a body shell 11, an interventional consumables driving mechanism 12, a long rail delivery mechanism 16 and a driving module 13. A notch 111 is provided on the body shell 11, and the notch 111 is provided along the length direction of the body shell 11; the interventional consumables driving mechanism 12 is used to realize the movement of the interventional consumables; the long rail delivery mechanism 16 is located in the body shell 11, and is used to drive the interventional consumables driving mechanism 12 to slide along the extension direction of the notch 111; the driving module 13 connects the long rail delivery mechanism 16 and the interventional consumables driving mechanism 12, and is used to drive the interventional consumables driving mechanism 12 to slide along the notch 111 under the drive of the long rail delivery mechanism 16, and is also used to provide source power for the movement of the interventional consumables; wherein the driving module 13 includes a power assembly 132 and a transmission assembly 133, and the interventional consumables driving mechanism 12 is connected to the power assembly 132 through the transmission assembly 133, and the power assembly 132 is located inside the body shell 11.

[0056] In the power-built-in multi-module vascular interventional surgical robot disclosed herein, the interventional consumables driving mechanism 12 slides along the slot 111 driven by the long rail delivery mechanism 16 through the driving module 13, so as to realize the delivery and rotation of the interventional consumables. The power of the power component 132 can be transmitted to the interventional consumables driving mechanism 12 by the transmission component 133. In this way, in actual use, the power component 132 and the main body shell 11 can be at least isolated from other consumable parts by the sterile film, providing a structural basis for the reuse of the power component 132, which helps to reduce costs.

[0057] In addition, at least part of the driving module 13 is disposed inside the main body shell 11, so that the liquid generated during the operation is not easy to splash onto the driving module 13, which can reduce the risk of damage and contamination of the driving module 13. Moreover, at least part of the driving module 13 is disposed inside the main body shell 11, which can relatively reduce the number of structural components exposed outside the main body shell 11, and improve the overall aesthetics of the multi-module vascular interventional surgery robot body 1 with built-in power.

[0058] The following will describe in detail the various parts of the multi-module vascular interventional surgery robot with built-in power provided by the embodiment of the present disclosure in conjunction with the accompanying drawings:

[0059] In one embodiment of the present disclosure, Figure 1 As shown, the powered multi-module vascular interventional surgery robot includes a robotic arm 2 and a powered multi-module vascular interventional surgery robot body 1. The robotic arm 2 is mounted on an operating table 3, and the powered multi-module vascular interventional surgery robot body 1 is mounted on a free end of the robotic arm 2 away from the operating table 3. Before surgery, the posture of the powered multi-module vascular interventional surgery robot body 1 can be adjusted by the robotic arm 2.

[0060] Specifically, the robot arm 2 includes a support arm and a plurality of connecting arms connected in sequence. The support arm and the connecting arm, as well as two adjacent connecting arms, are connected through joint components, and each joint is equipped with an electric drive and a sensor, which can be precisely moved through the control system. The robot arm 2 can achieve various degrees of freedom such as rotation, lifting, and flexion. By controlling the rotation angle and direction of different joint components of the robot arm 2, the posture of the multi-module vascular interventional surgery robot body 1 with built-in power can be adjusted.

[0061] In the embodiments of the present disclosure, Figure 1 , Figure 2 , Figure 3As shown, the main body 1 of the multi-module vascular interventional surgery robot with built-in power includes a main body shell 11, a mounting frame 14, a long rail 15, a long rail delivery mechanism 16, an interventional consumables driving mechanism 12 and a driving module 13. The main body shell 11 is provided with a notch 111, and the notch 111 is arranged along the length direction of the main body shell 11. The main body shell 11 is used to install and wrap the installation frame 14, the long rail 15 and other equipment to ensure that the internal equipment is not contaminated; the installation frame 14 is fixedly arranged inside the main body shell 11, used to support the main body shell 11 and fix the long rail 15; the long rail 15 is fixedly connected to the installation frame 14, and the extension direction of the long rail 15 is parallel to the extension direction of the slot 111; the long rail delivery mechanism 16 is slidably connected to the long rail 15 and can slide along the extension direction of the long rail 15; the interventional consumables driving mechanism 12 is slidably arranged on one side of the main body shell 11, used to realize the movement of the interventional consumables; the driving module 13 is at least partially arranged inside the main body shell 11, and the driving module 13 connects the long rail delivery mechanism 16 and the interventional consumables driving mechanism 12, and is used to provide source power for the movement of the interventional consumables. Among them, the movement of the interventional consumables can be at least one of forward delivery, backward delivery and rotation.

[0062] Among them, the driving module 13 includes a power component 132 and a transmission component 133. The interventional consumables driving mechanism 12 is connected to the power component 132 through the transmission component 133, and the power component 132 is located inside the main body shell 11. The driving module 13 connects the long rail delivery mechanism 16 and the interventional consumables driving mechanism 12, and is used to drive the interventional consumables driving mechanism 12 to slide along the slot 111 under the drive of the long rail delivery mechanism 16, and is also used to provide source power for the delivery and rotation of the interventional consumables. The power of the power component 132 is transmitted to the interventional consumables driving mechanism 12 through the transmission component 133 to provide power for the delivery and rotation of the interventional consumables. The power component 132 is located inside the main body shell 11, and the liquid generated during the operation is not easy to cause contamination to the power component 132, thereby improving the safety of the operation.

[0063] In addition, the slot 111 is provided on the main body shell 11 to facilitate the sliding of the interventional consumable drive mechanism 12 along the length direction of the main body shell 11, and the interventional consumable drive mechanism 12 can be connected to the inside of the main body shell 11 through the slot 111. The drive module 13 is at least partially disposed inside the main body shell 11, and the power direction of the power component 132 can be changed through the transmission component 133, so that the slot 111 can be opened toward the bottom of the main body shell 11, which can reduce the risk of liquid splashing into the inside of the main body shell 11 from the slot 111.

[0064] In one embodiment of the present disclosure, the driving module 13 further includes a mounting shell 131. One end of the mounting shell 131 is fixedly connected to the long rail delivery mechanism 16, and the other end is fixedly connected to the interventional consumables driving mechanism 12; the mounting shell 131 includes a first sub-shell 1311 and a second sub-shell 1312 connected to each other, the first sub-shell 1311 is located in the main body shell 11, and the second sub-shell 1312 is at least partially located outside the main body shell 11, the power component 132 is arranged in the first sub-shell 1311, and the transmission component 133 is arranged in the second sub-shell 1312, the volume of the first sub-shell 1311 is greater than the volume of the second sub-shell 1312, and the connection between the first sub-shell 1311 and the second sub-shell 1312 is connected and located at the notch 111. One end of the mounting shell 131 is fixedly connected to the driving module 13, and the other end is fixedly connected to the interventional consumables driving mechanism 12, and the mounting shell 131 is at least partially arranged in the notch 111. By installing the shell 131, the risk of contamination of the power component 132 and the transmission component 133 can be reduced, and the first sub-shell 1311 located inside the main shell 11 and the power component 132 arranged inside the first sub-shell 1311 are less susceptible to liquid contamination, so that the power component 132 inside the first sub-shell 1311 can be reused, which is beneficial to reducing costs.

[0065] In addition, the volume of the first sub-shell 1311 is larger than that of the second sub-shell 1312, so that the heavier part of the driving module 13 is located in the first sub-shell 1311, and the lighter part is located in the second sub-shell 1312. The heavier first sub-shell 1311 is connected to the long rail delivery mechanism 16, so that the long rail delivery mechanism 16 can be more stable during the sliding process along the long rail 15.

[0066] In an exemplary embodiment of the present disclosure, the power assembly 132 may include a motor 1321 and a first bevel gear 1322, the motor 1321 is fixedly disposed in the first sub-shell 1311, and the first bevel gear 1322 is fixedly connected to the output shaft of the motor 1321; the transmission assembly 133 includes a second bevel gear 1331 and a connecting shaft, the second bevel gear 1331 is disposed in the second sub-shell 1312, and the first bevel gear 1322 is meshed with the second bevel gear 1331, and the meshing position is located at the connection between the first sub-shell 1311 and the second sub-shell 1312; the connecting shaft is fixedly connected to the second bevel gear 1331, and is used to be connected to the interventional consumables driving mechanism 12 to provide power. For example, when the motor 1321 is started, it drives the first bevel gear 1322 to rotate, and then drives the second bevel gear 1331 to rotate, so that the power can be transmitted to the interventional consumables driving mechanism 12. The axes of the two bevel gears are arranged vertically, so that the first bevel gear 1322 is located inside the main body shell 11, and the second bevel gear 1331 is located outside the main body shell 11. According to the meshing position of the two bevel gears, the shape of the notch 111 can be matched with the two bevel gears, so that the space occupied by the drive module 13 in the notch 111 can be reduced, and the risk of liquid entering the main body shell 11 from the notch 111 is reduced. Of course, the drive module 13 can also be other transmission structures, and those skilled in the art can select them according to actual needs, and the present disclosure does not make specific limitations on this.

[0067] In an exemplary embodiment of the present disclosure, the notch 111 is opened toward the bottom of the main body shell 11, and a baffle 112 is provided at the notch 111. The baffle 112 is located on the side of the notch 111 away from the interventional consumables drive mechanism 12, and is fixedly connected to the main body shell 11. The shape of the baffle 112 matches the shape of the connection between the first sub-shell 1311 and the second sub-shell 1312. Since the notch 111 is opened toward the bottom of the main body shell 11, and liquid is usually generated on one side of the multi-module vascular interventional surgical robot body 1 with built-in power during surgery, the baffle 112 can prevent liquid from splashing into the inside of the main body shell 11. The shape of the baffle 112 matches the shape of the connection between the first sub-shell 1311 and the second sub-shell 1312, which is conducive to making the installation shell 131 more stable, thereby improving the stability of the interventional consumables drive mechanism 12 when sliding.

[0068] The main body shell 11 includes a bottom wall and a side wall, and the notch 111 is located at the connection between the bottom wall and the side wall. The edge of the side wall of the main body shell 11 close to the interventional consumables driving mechanism 12 is lower than the edge of the baffle 112. Under the blocking of the side wall of the main body shell 11, the external liquid will not directly enter the inside of the main body shell 11 from the notch 111. When liquid splashes into the notch 111, the baffle 112 located on the inner side of the notch 111 can block the splashed liquid and prevent the liquid from entering the inside of the main body shell 11. At the same time, the external line of sight cannot directly enter the shell body, which improves the appearance of the interventional surgical robot body.

[0069] At the same time, since the notch 111 is arranged toward the bottom wall of the main body shell 11, the mounting shell 131 can be L-shaped, the corner of the mounting shell 131 is located in the notch 111, the first bevel gear 1322 and the second bevel gear 1331 are meshed at the corner of the mounting shell 131, and the shape of the corner of the mounting shell 131 is matched with the shape of the notch 111, which can save space and improve the stability of the mounting shell 131. In addition, when the mounting shell 131 is L-shaped, after the liquid splashed on the main body shell 11 flows down along the outer surface of the main body shell 11 and drips onto the mounting shell 131, the liquid will not flow from the mounting shell 131 into the inside of the main body shell 11.

[0070] In an exemplary embodiment of the present disclosure, one end of the side wall of the main body shell 11 close to the bottom wall is bent toward the inside of the main body shell 11 to form a drain plate, and the angle between the drain plate and the side wall is an obtuse angle. When the liquid splashed onto the main body shell 11 slides along the outer surface of the main body shell 11 to the edge of the main body shell 11, the inclined edge is conducive to the dripping of the liquid, and prevents the liquid from hanging on the edge of the main body shell 11 for a long time.

[0071] In an exemplary embodiment of the present disclosure, the baffle 112 includes a first baffle 1121 and a second baffle 1122. The first baffle 1121 is fixed to the edge of the slot 111; the second baffle 1122 is fixed to the side of the first baffle 1121 away from the slot 111. The axis of the first bevel gear 1322 is perpendicular to the first baffle 1121, and the axis of the second bevel gear 1331 is perpendicular to the second baffle 1122.

[0072] For example, the baffle 112 is L-shaped, and the first baffle 1121 and the second baffle 1122 are connected to form a step shape. Among them, one side of the first baffle 1121 is fixedly connected to the main shell 11, and the other side is connected to the second baffle 1122. The plate surface of the first baffle 1121 is parallel to the plane where the bottom wall is located; one side of the second baffle 1122 is fixedly connected to the first baffle 1121, and the other side extends away from the bottom wall. The mounting shell 131 is provided with a groove that fits the baffle 112 at a position close to the baffle 112. In addition, the plane where the first baffle 1121 is located can be at an angle with the plane where the bottom wall is located, so that the side of the first baffle 1121 connected to the second baffle 1122 is higher than the other side, which is conducive to the liquid splashed on the baffle 112 to flow down.

[0073] It is understandable that, since the notch 111 is arranged toward the bottom of the main body shell 11, the two edges of the main body shell 11 at the notch 111 are not on the same vertical plane. When liquid splashes onto the main body shell 11, the liquid slides down along the outer surface of the main body shell 11 under the factor of gravity, and the liquid slides to the edge of the main body shell 11 and falls to the ground, and will not fall into the inside of the main body shell 11.

[0074] In one embodiment of the present disclosure, a plurality of interventional consumable driving mechanisms 12 are provided, and the plurality of interventional consumable driving mechanisms 12 are spaced apart along the extending direction of the slot 111 .

[0075] Through the cooperation of multiple groups of interventional consumable drive mechanisms 12, multiple different interventional consumables can be delivered at the same time. When multiple groups of interventional consumable drive mechanisms 12 are provided, the drive modules 13 of each group of interventional consumable drive mechanisms 12 are at least partially arranged inside the main body shell 11, which can improve the efficiency and safety of interventional consumable delivery and reduce the risk of liquid splashing into the main body shell 11.

[0076] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The utility model is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be regarded as exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A multi-module vascular interventional surgery robot body with built-in power, characterized in that: include: A main body shell, wherein the main body shell is provided with a notch, and the notch is arranged along the length direction of the main body shell; An interventional consumables driving mechanism, used to realize the movement of the interventional consumables; A long rail delivery mechanism, located in the main body shell, used to drive the interventional consumables driving mechanism to slide along the extension direction of the slot; a driving module, connected to the long rail delivery mechanism and the interventional consumable driving mechanism, and used to drive the interventional consumable driving mechanism to slide along the slot under the drive of the long rail delivery mechanism, and also used to provide source power for the movement of the interventional consumable; Wherein, the driving module includes a power component and a transmission component, the interventional consumable driving mechanism is transmission-connected to the power component via the transmission component, and the power component is located inside the main body shell.

2. The powered multi-module vascular interventional surgery robot body according to claim 1, characterized in that: The multi-module vascular interventional surgery robot body with built-in power also includes: A mounting frame, disposed inside the main body shell, and having at least one end fixedly connected to the main body shell; A long rail, fixed on the mounting frame, wherein the extension direction of the long rail is parallel to the extension direction of the slot; The long rail delivery mechanism is slidably connected to the long rail, and one end of the driving module away from the interventional consumables driving mechanism is connected to the long rail delivery mechanism.

3. The powered multi-module vascular interventional surgery robot body according to claim 1, characterized in that: The driving module also includes: A mounting shell, one end of which is fixedly connected to the long rail delivery mechanism, and the other end of which is fixedly connected to the interventional consumable drive mechanism; The mounting shell comprises a first sub-shell and a second sub-shell connected to each other, the first sub-shell is located inside the main body shell, the second sub-shell is at least partially located outside the main body shell, the power assembly is arranged inside the first sub-shell, and the transmission assembly is arranged inside the second sub-shell; The volume of the first partial shell is greater than that of the second partial shell, and a connection between the first partial shell and the second partial shell is communicated and located at the notch.

4. The powered multi-module vascular interventional surgery robot body according to claim 3, characterized in that: The power assembly comprises: A motor, fixedly mounted on the first sub-shell; A first bevel gear, fixedly connected to the motor output shaft; The transmission assembly comprises: A second bevel gear meshing with the first bevel gear, and the meshing position is located at the connection between the first sub-shell and the second sub-shell; The connecting shaft is fixedly connected to the second bevel gear and is used to be connected to the interventional consumable driving mechanism to provide power.

5. The powered multi-module vascular interventional surgery robot body according to claim 4, characterized in that: The notch is opened toward the bottom of the main body shell; A baffle is provided at the notch, the baffle is located at a side of the notch away from the interventional consumable drive mechanism and is fixedly connected to the main body shell, and the shape of the baffle matches the shape of the connection between the first sub-shell and the second sub-shell.

6. The powered multi-module vascular interventional surgery robot body according to claim 5, characterized in that: The main body shell comprises a bottom wall and a side wall, the notch is located at the connection between the bottom wall and the side wall of the main body shell, and the edge of the side wall of the main body shell provided with the notch is lower than the edge of the baffle.

7. The powered multi-module vascular interventional surgery robot body according to claim 6, characterized in that: One end of the side wall of the main body shell provided with the notch close to the bottom wall is bent toward the inside of the main body shell to form a guide plate, and the included angle between the guide plate and the side wall is an obtuse angle.

8. The powered multi-module vascular interventional surgery robot body according to claim 5, characterized in that: The baffle comprises: A first baffle, fixed to the edge of the notch, wherein a surface of the first baffle is parallel to the bottom wall of the main body shell; a second baffle, fixed to a side of the first baffle away from the notch; Wherein, the axis of the first bevel gear is perpendicular to the first baffle plate, and the axis of the second bevel gear is perpendicular to the second baffle plate.

9. The powered multi-module vascular interventional surgery robot body according to claim 1, characterized in that: The interventional consumable material driving mechanisms are provided in a plurality of groups, and the plurality of groups of interventional consumable material driving mechanisms are arranged at intervals along the extending direction of the slot.

10. A vascular interventional surgery robot, characterized in that: It comprises a robotic arm and a powered multi-module vascular interventional surgery robot body as described in any one of claims 1 to 9, wherein the powered multi-module vascular interventional surgery robot body is arranged on the robotic arm.

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