Sterile transfer structure and slave end of vascular interventional surgical robot

Abstract

The utility model belongs to the field of medical robots, and relates to a sterile transfer structure and a vascular interventional surgical robot slave end, and the sterile transfer structure comprises a first transfer assembly and a second transfer assembly which are communicated to form a mounting through hole, or the second transfer assembly is communicated to form a mounting through hole; the cut-off assembly is mounted on the first switching assembly and the second switching assembly and surrounds the mounting through hole; the sterile membrane is mounted between the first switching assembly and the second switching assembly and is cut off by the cutting-off assembly to form a hollow area matched with the mounting through hole; the clamping assembly is installed on the first switching assembly and the second switching assembly, located on the side, away from the installation through hole, of the cut-off assembly and used for clamping the sterile film so that the sterile film can be fixed between the first switching assembly and the second switching assembly. The cutting-off assembly cuts off the sterile film to form a hollow area matched with the mounting through hole, meanwhile, the clamping assembly clamps the sterile film on the cutting-off assembly, and the sterile film is stably mounted on the sterile transfer structure through the clamping assembly.

Description

Technical Field

[0001] The utility model belongs to the field of medical robots and is applied to a vascular intervention surgery robot, in particular to an aseptic transfer structure and a vascular intervention surgery robot slave end. Background Art

[0002] With the advancement of technology, vascular interventional surgery robots have begun to enter clinical surgery. Vascular interventional surgery requires a sterile environment, but the slave end of vascular interventional surgery robots is complex. Conventional disinfection methods are not only cumbersome, but may also damage the expensive slave end of the robot. In order to solve the disinfection problem and protect the slave end of the robot, some users use an adapter structure to install a sterile cover on the slave end of the vascular interventional surgery robot to isolate the slave end of the vascular interventional surgery robot from the consumable drive module, simplify the disinfection steps, and reduce damage to the robot. However, in actual application, the fixation of the adapter installation structure and the sterile cover failed, resulting in leakage and other situations. Utility Model Content

[0003] The utility model aims to provide a sterile transfer structure, aiming to solve the technical problem in the prior art that the transfer installation structure at the slave end of a vascular interventional surgery robot and the sterile cover fail to fix, resulting in leakage.

[0004] The utility model is implemented as follows: an aseptic transfer structure comprises: a first transfer component, a second transfer component installed on the first transfer component, the first transfer component and the second transfer component are penetrated to form a mounting through hole, or the second transfer component is penetrated to form a mounting through hole;

[0005] The cut-off assembly is mounted on the first adapter assembly and the second adapter assembly and is arranged around the mounting through hole;

[0006] The sterile membrane is installed between the first adapter component and the second adapter component, and is cut off by the cut-off component to form a hollow area adapted to the installation through hole;

[0007] The clamping assembly is installed on the first adapter assembly and the second adapter assembly, located on a side of the cut-off assembly away from the mounting through hole, and is used to clamp the sterile membrane so that the sterile membrane is fixed between the first adapter assembly and the second adapter assembly.

[0008] Preferably, the truncation assembly comprises a truncation boss and a truncation groove arranged around the mounting through hole;

[0009] The truncation boss is arranged on the first adapter component and is a boss connected end to end; the truncation groove is arranged on the second adapter component, and the truncation boss and the truncation groove are arranged relatively to each other so that the sterile membrane located between the truncation boss and the truncation groove is truncated to form a hollow area adapted to the mounting through hole.

[0010] Preferably, the free end of the truncated boss is arranged in a pointed shape.

[0011] Preferably, the clamping assembly comprises a plurality of clamping bosses and clamping grooves arranged around the truncation assembly;

[0012] A plurality of the clamping bosses are arranged on the first adapter component, and the clamping grooves are arranged on the second adapter component. The clamping bosses and the clamping grooves are arranged opposite to each other, and a clamping gap is formed between two adjacent clamping bosses to clamp the sterile membrane.

[0013] Preferably, the free end of the clamping boss is arranged in a pointed shape.

[0014] Preferably, the height of the clamping boss is greater than the height of the truncation boss.

[0015] Preferably, the groove depth of the clamping groove is greater than the groove depth of the truncation groove.

[0016] Preferably, the first transition assembly is divided by the truncation boss and the clamping boss to form an outer ring transition portion, an intermediate transition portion and an inner ring transition portion, and the second transition assembly is divided by the truncation groove and the clamping groove to form a first transition portion, a second transition portion and a third transition portion;

[0017] The intermediate transition portion is in contact with the second transition portion, the length of the clamping boss is greater than the depth of the clamping groove, and the outer ring transition portion, the clamping boss and the first transition portion form a movable gap; the length of the truncated boss is greater than the depth of the truncated groove, and the inner ring transition portion, the truncated boss and the third transition portion form a dropout gap;

[0018] The movable gap is used for the movement of the sterile membrane, and the shedding gap is used for the shedding of the cut part of the sterile membrane.

[0019] Preferably, the sterile membrane is welded between the first adapter component and the second adapter component.

[0020] A slave end of a vascular interventional surgery robot comprises a slave end drive device and the above-mentioned sterile transfer structure, wherein the sterile transfer structure is installed on the slave end drive device through the installation through hole, and the sterile membrane is used to isolate the slave end drive device from the outside world.

[0021] The beneficial effects of the utility model are as follows: the sterile membrane is placed between the first adapter component and the second adapter component, the cut-off component cuts the sterile membrane to form a hollow area adapted to the mounting through hole, and at the same time the clamping component clamps the sterile membrane thereon, and the sterile membrane is stably mounted on the sterile adapter structure through the clamping component, thereby solving the problem in the prior art that the fixing of the adapter mounting structure at the slave end of the vascular interventional surgical robot and the sterile cover is easily failed, resulting in leakage. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the aseptic transfer structure provided by an embodiment of the utility model;

[0023] Figure 2 yes Figure 1 sectional view of;

[0024] Figure 3 yes Figure 2 A magnified view of middle;

[0025] Figure 4 is a schematic structural diagram of a second adapter assembly;

[0026] Figure 5 yes Figure 4 Enlarged view of middle B;

[0027] Figure 6 is a schematic structural diagram of a first switching component;

[0028] Among them, 10. Aseptic transfer structure;

[0029] 20. First transfer assembly; 21. Outer ring transfer part; 22. Middle transfer part; 23. Inner ring transfer part;

[0030] 30. Second adapter assembly; 31. First adapter portion; 32. Second adapter portion; 33. Third adapter portion;

[0031] 40. Install through holes;

[0032] 50, truncation assembly; 51, truncation boss; 52, truncation groove; 53, shedding gap;

[0033] 60. Clamping assembly; 61. Clamping boss; 62. Clamping gap; 63. Clamping groove; 64. Movable gap. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated connection, or even a connection that can move relatively; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In the description of the present invention, the terms "length", "diameter", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0037] The direction "far" used in the present invention is the direction toward the patient, and the direction "near" is the direction away from the patient. The terms "upper" and "upper" refer to the general direction away from the direction of gravity, and the terms "bottom", "lower" and "lower" refer to the general direction of gravity.

[0038] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present utility model, "multiple" or "plurality" means two or more.

[0039] Finally, it should be noted that, if there is no conflict, the embodiments of the utility model and the various features in the embodiments can be combined with each other, all within the protection scope of the utility model.

[0040] As attached Figure 1-6As shown, a vascular interventional surgery robot slave end provided by the utility model, the robot slave end includes a slave end drive device (not shown) and the following sterile transfer structure 10, the sterile transfer structure 10 is installed on the slave end drive device through the installation through hole 40, and the sterile film (not shown) is used to isolate the slave end drive device from the outside world. Specifically, the slave end drive device is installed on the robot slave end body, and is used to drive the consumable drive module (not shown) to deliver consumables. The sterile film covers the slave end drive device and the robot slave end body, that is, the surface of the sterile film is larger than the surface of the first transfer component 20 and the second transfer component 30, so that the slave end drive device and the robot slave end body are isolated from the outside world. Consumables include but are not limited to catheters and guide wires.

[0041] As attached Figure 1-6 As shown, a sterile adapter structure 10 provided by the utility model includes: a first adapter component 20, a second adapter component 30 installed on the first adapter component 20, the first adapter component 20 and the second adapter component 30 are penetrated to form a mounting through hole 40, or the second adapter component 30 is penetrated to form a mounting through hole 40; a cut-off component 50 is installed on the first adapter component 20 and the second adapter component 30, and is arranged around the mounting through hole 40; a sterile membrane is installed between the first adapter component 20 and the second adapter component 30, and is cut off by the cut-off component 50 to form a hollow area adapted to the mounting through hole 40; a clamping component 60 is installed on the first adapter component 20 and the second adapter component 30, and is located on the side of the cut-off component 50 away from the mounting through hole 40, and is used to clamp the sterile membrane so that the sterile membrane is fixed between the first adapter component 20 and the second adapter component 30. Specifically, the sterile membrane is placed between the first adapter component 20 and the second adapter component 30, and the cut-off component 50 cuts off the sterile membrane to form a hollow area adapted to the installation through hole 40, and at the same time, the clamping component 60 clamps the sterile membrane thereon, and the sterile membrane is stably installed on the sterile adapter structure 10 through the clamping component 60, thereby solving the problem in the prior art that the fixing of the adapter installation structure at the slave end of the vascular interventional surgery robot and the sterile cover is prone to failure, resulting in leakage. In this embodiment, welding is performed using welding tools, so that the sterile membrane is welded between the first adapter component 20 and the second adapter component 30, so that the cut-off part of the sterile membrane falls off naturally without manual tearing, avoiding the phenomenon of wire drawing.

[0042] As attached Figure 1-6As shown, the truncation component 50 includes a truncation boss 51 and a truncation groove 52 arranged around the installation through hole 40; the truncation boss 51 is arranged on the first adapter component 20, and is a boss connected end to end; the truncation groove 52 is arranged on the second adapter component 30, and the truncation boss 51 and the truncation groove 52 are arranged relative to each other, so that the sterile membrane located between the truncation boss 51 and the truncation groove 52 is truncated to form a hollow area adapted to the installation through hole 40. In this embodiment, the free end of the truncation boss 51 is arranged in a pointed shape, which is convenient for truncation of the sterile membrane. It can be understood that the truncation boss 51 is a boss connected end to end, and the sterile membrane is placed on it, so that part of the sterile membrane can be fully truncated to form a hollow area adapted to the installation through hole 40, avoiding the occurrence of wire drawing.

[0043] As attached Figure 1-6 As shown, the clamping assembly 60 includes a plurality of clamping bosses 61 and a clamping groove 63 arranged around the truncation assembly 50; the plurality of clamping bosses 61 are arranged on the first adapter assembly 20, and the clamping groove 63 is arranged on the second adapter assembly 30. The clamping bosses 61 and the clamping groove 63 are arranged relative to each other, and a clamping gap 62 is formed between two adjacent clamping bosses 61 to clamp the sterile membrane. The free end of the clamping boss 61 is arranged with a pointed tip. In this embodiment, the free end of the clamping boss 61 is arranged with a pointed tip, which can cut off the sterile membrane in contact with the free end of the clamping boss 61, and a plurality of clamping bosses 61 are arranged, and a clamping gap 62 is formed between two adjacent clamping bosses 61, so that the sterile membrane falls into the clamping gap 62, thereby ensuring that the sterile membrane can be stably clamped, and improving the fixing stability performance of the sterile membrane and the sterile adapter structure 10.

[0044] As attached Figure 1-6 As shown, the height of the clamping boss 61 is greater than the height of the truncated boss 51. The depth of the clamping groove 63 is greater than the depth of the truncated groove 52. The height of the clamping boss 61 is greater than the height of the truncated boss 51, and accordingly, the depth of the clamping groove 63 is greater than the depth of the truncated groove 52. This design can increase the welding area of ​​the truncated boss 51 and the truncated groove 52 to ensure that the contact position of the truncated boss 51 and the sterile film is fully truncated to avoid wire drawing, and the clamping boss 61 and the clamping groove 63 form a clamping gap 62 to achieve stable clamping of the sterile film.

[0045] As attached Figure 1-6As shown, the first adapter assembly 20 is separated by the truncated boss 51 and the clamping boss 61 to form an outer ring adapter portion 21, an intermediate adapter portion 22 and an inner ring adapter portion 23, and the second adapter assembly 30 is separated by the truncated groove 52 and the clamping groove 63 to form a first adapter portion 31, a second adapter portion 32 and a third adapter portion 33; the intermediate adapter portion 22 abuts against the second adapter portion 32, the length of the clamping boss 61 is greater than the depth of the clamping groove 63, and the outer ring adapter portion 21, the clamping boss 61 and the first adapter portion 31 form a movable gap 64; the length of the truncated boss 51 is greater than the depth of the truncated groove 52, and the inner ring adapter portion 23, the truncated boss 51 and the third adapter portion 33 form a falling-off gap 53; the movable gap 64 is used for the movement of the sterile membrane, and the falling-off gap 53 is used for the falling-off of the truncated part of the sterile membrane. In this embodiment, the first adapter component 20 includes a first adapter body, which protrudes toward the direction of the second adapter component 30 to form a truncation boss 51 and a clamping boss 61, the side of the clamping boss 61 away from the truncation boss 51 forms an outer ring adapter portion 21, an intermediate adapter portion 22 is formed between the truncation boss 51 and the clamping boss 61, and the side of the truncation boss 51 away from the clamping boss 61 forms an inner ring adapter portion 23, the second adapter component 30 includes a second adapter body, the first adapter portion 31, the second adapter portion 32 and the third adapter portion 33 are all bosses of the second adapter body protruding toward the direction close to the first adapter component 20, a clamping groove 63 is formed between the first adapter portion 31 and the second adapter portion 32, and a truncation groove 52 is formed between the second adapter portion 32 and the third adapter portion 33. The middle transfer part 22 is in contact with the second transfer part 32, and the sterile transfer structure 10 is installed on the slave end drive device. Then the sterile transfer structure 10 isolates the slave end body of the robot from the outside world, and the liquid cannot drip into the sterile membrane of the sterile transfer structure 10 through the consumable drive module, and the isolation effect is good. The length of the clamping boss 61 is greater than the depth of the clamping groove 63, and the outer ring transfer part 21, the clamping boss 61 and the first transfer part 31 form a movable gap 64, so the sterile membrane can be stably clamped and will not be clamped to death; the length of the truncated boss 51 is greater than the depth of the truncated groove 52, and the inner ring transfer part 23, the truncated boss 51 and the third transfer part 33 form a shedding gap 53, so the truncated part of the sterile membrane can fall off naturally without wire drawing.

[0046] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field can make various corresponding changes and deformations based on the present invention, but these corresponding changes and deformations should all fall within the scope of protection of the claims of the present invention.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A sterile transfer structure, characterized in that: include: A first adapter component and a second adapter component mounted on the first adapter component, wherein the first adapter component and the second adapter component are penetrated to form a mounting through hole, or the second adapter component is penetrated to form a mounting through hole; The cut-off assembly is mounted on the first adapter assembly and the second adapter assembly and is arranged around the mounting through hole; The sterile membrane is installed between the first adapter component and the second adapter component, and is cut off by the cut-off component to form a hollow area adapted to the installation through hole; The clamping assembly is installed on the first adapter assembly and the second adapter assembly, located on a side of the cut-off assembly away from the mounting through hole, and is used to clamp the sterile membrane so that the sterile membrane is fixed between the first adapter assembly and the second adapter assembly.

2. The aseptic transfer structure according to claim 1, characterized in that: The truncation assembly includes a truncation boss and a truncation groove arranged around the mounting through hole; The truncation boss is arranged on the first adapter component and is a boss connected end to end; the truncation groove is arranged on the second adapter component, and the truncation boss and the truncation groove are arranged relatively to each other so that the sterile membrane located between the truncation boss and the truncation groove is truncated to form a hollow area adapted to the mounting through hole.

3. The aseptic transfer structure according to claim 2, characterized in that: The free end of the truncated boss is arranged in a pointed shape.

4. The aseptic transfer structure according to claim 2, characterized in that: The clamping assembly includes a plurality of clamping bosses and clamping grooves arranged around the cutting assembly; A plurality of the clamping bosses are arranged on the first adapter component, and the clamping grooves are arranged on the second adapter component. The clamping bosses and the clamping grooves are arranged opposite to each other, and a clamping gap is formed between two adjacent clamping bosses to clamp the sterile membrane.

5. The aseptic transfer structure according to claim 4, characterized in that: The free end of the clamping boss is arranged in a pointed shape.

6. The aseptic transfer structure according to claim 4, characterized in that: The height of the clamping boss is greater than the height of the truncated boss.

7. The aseptic transfer structure according to claim 4, characterized in that: The groove depth of the clamping groove is greater than the groove depth of the truncation groove.

8. The aseptic transfer structure according to claim 4, characterized in that: The first transition assembly is separated by the truncation boss and the clamping boss to form an outer ring transition portion, an intermediate transition portion and an inner ring transition portion, and the second transition assembly is separated by the truncation groove and the clamping groove to form a first transition portion, a second transition portion and a third transition portion; The intermediate transition portion is in contact with the second transition portion, the length of the clamping boss is greater than the depth of the clamping groove, and the outer ring transition portion, the clamping boss and the first transition portion form a movable gap; the length of the truncated boss is greater than the depth of the truncated groove, and the inner ring transition portion, the truncated boss and the third transition portion form a dropout gap; The movable gap is used for the movement of the sterile membrane, and the shedding gap is used for the shedding of the cut part of the sterile membrane.

9. The aseptic transfer structure according to any one of claims 1 to 8, characterized in that: The sterile membrane is welded between the first adapter component and the second adapter component.

10. A vascular interventional surgery robot slave terminal, characterized in that: It comprises a slave-end driving device and the aseptic transfer structure according to any one of claims 1 to 9, wherein the aseptic transfer structure is installed on the slave-end driving device through the installation through hole, and the aseptic membrane is used to isolate the slave-end driving device from the outside world.

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