Interventional consumable execution device for vascular interventional surgical robot

Abstract

The utility model provides an interventional consumable execution device for a vascular interventional surgical robot, the interventional consumable execution device comprises a first execution module and a second execution module, the first execution module comprises a first box body and a first consumable rotary delivery module arranged in the first box body; the first consumable rotating and delivering module is used for clamping, delivering and rotating a first intervention consumable; the second execution module is arranged on one side of the first execution module in the intervention direction, the second execution module comprises a second box body and a second consumable rotating module arranged in the second box body, and the second box body is further used for containing a Y valve; the Y valve is used for being connected with a second intervention consumable and providing an insertion channel for inserting the first intervention consumable into a pipe cavity of the second intervention consumable, and the second consumable rotating module is used for achieving rotation of the second intervention consumable; wherein the second box body and the first box body are mutually independent and are detachably connected. The intervention consumable execution device provided by the utility model is wide in application range and high in flexibility.

Description

Technical Field

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

[0002] Interventional surgery is a minimally invasive surgery performed using modern high-tech means. Under the guidance of medical imaging equipment, special catheters, guide wires, stents and other interventional consumables are introduced into the human body to diagnose and locally treat pathological conditions in the body. The incision (puncture point) of interventional surgery is only the size of a grain of rice, and there is no need to cut human tissue. It has the characteristics of small trauma, fast recovery and good effect, and is widely used in medical treatment.

[0003] At present, an interventional consumable actuator is usually used to drive the movement of the interventional consumable. The interventional consumable actuator generally includes a Y-valve located at the front end for connecting the catheter and a rotation module for realizing the rotation of the catheter, and a rotation delivery module located at the rear end for clamping the interventional consumable to realize the rotation and delivery of the interventional consumable. In the prior art, the Y-valve, the rotation module and the rotation delivery module are generally arranged in the same box body, and the box body cannot be separated. However, in actual applications, sometimes only the rotation delivery module at the rear end is needed, and the Y-valve and the rotation module at the front end are not needed. The prior art cannot meet this demand. Utility Model Content

[0004] In order to overcome the problems existing in the related art, this specification provides an intervention consumables execution device for a vascular interventional surgery robot. The intervention consumables execution device provided by the present disclosure has a wide range of uses and high flexibility.

[0005] According to a first aspect of the present disclosure, there is provided an intervention consumables execution device for a vascular intervention surgery robot, comprising:

[0006] A first execution module comprises a first box body and a first consumables rotation delivery module disposed in the first box body, wherein the first consumables rotation delivery module is used to achieve clamping, delivery and rotation of a first interventional consumable;

[0007] A second execution module is arranged on one side of the first execution module in the intervention direction, the second execution module comprises a second box body and a second consumable rotation module arranged in the second box body, the second box body is also used to accommodate a Y valve, the Y valve is used to connect the second interventional consumable and provide an insertion channel for the first interventional consumable to be inserted into the lumen of the second interventional consumable, and the second consumable rotation module is used to realize the rotation of the second interventional consumable;

[0008] The second box body and the first box body are independent of each other and are connected in a detachable manner.

[0009] In some exemplary embodiments of the present disclosure, the interventional consumables execution device further includes:

[0010] A connecting platform is provided on one side of the first execution module and the second execution module in a first direction, wherein the first direction is perpendicular to the intervention direction;

[0011] Wherein, the first box body and the second box body are both slidably connected to the connecting platform, and the slidable directions of the first box body and the second box body are both parallel to the intervention direction.

[0012] In some exemplary embodiments of the present disclosure, a slide groove is provided on the connecting platform, and the slide groove extends along the intervention direction;

[0013] The first box body is provided with a first slider, and the second box body is provided with a second slider;

[0014] The first slider and the second slider are both slidably connected to the slide slot; and / or

[0015] The volume of the first box body is not less than the volume of the second box body;

[0016] The volume of the second box body gradually decreases from an end close to the first box body to an end far away from the first box body.

[0017] In some exemplary embodiments of the present disclosure, the first execution module further includes a first force detection mechanism, which is disposed between the first box body and the connection platform and is used to detect the resistance experienced by the first interventional consumable during the intervention process;

[0018] The second execution module also includes a second force detection mechanism, which is disposed between the second box body and the connecting platform and is used to detect the resistance encountered by the second interventional consumable during the intervention process.

[0019] In some exemplary embodiments of the present disclosure, the first force detection mechanism includes a first force sensor and a first stopper;

[0020] One of the first force sensor and the first stopper is connected to the connection platform, and the other is connected to the first box body, and the first stopper is located at one side of the first force sensor in the intervention direction;

[0021] When the first interventional consumable encounters resistance during the intervention process, the first stopper presses against the first force sensor;

[0022] The second force detection mechanism includes a second force sensor and a second stopper;

[0023] One of the second force sensor and the second stopper is connected to the connection platform, and the other is connected to the second box body, and the second stopper is located at one side of the second force sensor in the intervention direction;

[0024] When the second interventional consumable encounters resistance during the intervention process, the second stopper presses the second force sensor.

[0025] In some exemplary embodiments of the present disclosure, there is a gap between the first box body and the second box body.

[0026] In some exemplary embodiments of the present disclosure, a first limit assembly and a second limit assembly are provided on the connecting platform, the first limit assembly is used to limit the movable range of the first execution module on the connecting platform, and the second limit assembly is used to limit the movable range of the second execution module on the connecting platform.

[0027] In some exemplary embodiments of the present disclosure, the interventional consumables execution device further includes:

[0028] The delivery module is connected to the connection platform and is used to realize the movement of the first execution module and the second execution module along the intervention direction.

[0029] In some exemplary embodiments of the present disclosure, the delivery module comprises:

[0030] a delivery platform including a long toothed rack extending in an interventional direction;

[0031] A power assembly, comprising a first motor and a first transmission gear, wherein the first transmission gear is fixedly connected to an output shaft of the first motor and meshes with the long rack;

[0032] A fixing frame is connected to the first motor and the connecting platform.

[0033] In some exemplary embodiments of the present disclosure, the first box body includes a first driving box and a first execution box disposed on the first driving box in a first direction, and the first direction is perpendicular to the intervention direction;

[0034] The first consumable material rotation delivery module includes a rotation bracket, a clamping mechanism, a first rotation delivery mechanism and a first driving mechanism;

[0035] The rotating bracket, the clamping mechanism and the first rotating delivery mechanism are located in the first execution box, the clamping mechanism is provided on the rotating bracket and is used to clamp the first interventional consumable, and the first rotating delivery mechanism is used to rotate and deliver the first interventional consumable;

[0036] At least part of the first driving mechanism is disposed in the first driving box, and the first driving mechanism is used to provide source power for the first rotating delivery mechanism;

[0037] The first driving box and the first execution box are both provided with a first transmission hole, and the first driving mechanism is transmission-connected with the first rotating delivery mechanism through the first transmission hole; and / or

[0038] The second box body includes a second driving box and a second execution box arranged on the second driving box in a first direction, and the first direction is perpendicular to the intervention direction;

[0039] The second consumable material rotation module includes a second rotation mechanism and a second driving mechanism;

[0040] The Y-valve and the second rotating mechanism are located in the second execution box, and the second rotating mechanism is fixedly connected to the Y-valve and is used to drive the second interventional consumable connected to the Y-valve to rotate;

[0041] At least a portion of the second driving mechanism is located in the second driving box, and the second driving mechanism is used to provide source power for the second rotating mechanism;

[0042] The second driving box and the second executing box are both provided with a second transmission hole, and the second driving mechanism is transmission-connected with the second rotating mechanism through the second transmission hole.

[0043] According to a second aspect of the present disclosure, a vascular interventional surgery robot is provided, comprising:

[0044] Robotic arm;

[0045] A robot body connected to the end of the robot arm;

[0046] The interventional consumables execution device as described in the first aspect;

[0047] Wherein, a slide groove is provided on the robot body;

[0048] The first execution module is fixedly connected to the robot body and located at one end of the slide slot, or is slidably connected to the slide slot;

[0049] The second execution module is slidably connected to the sliding groove.

[0050] The technical solution provided by the present disclosure may have the following beneficial effects:

[0051] The interventional consumables execution device provided by the present disclosure has a first consumables rotation delivery module and a second consumables rotation module respectively located in a first box body and a second box body, and the first box body and the second box body are independent of each other and connected in a detachable manner. Therefore, the first execution module and the second execution module are relatively independent, and the two can be separated and used separately. The operator can choose to use the first execution module or the second execution module alone according to actual needs, or use the two in combination, which greatly improves the flexibility and scope of use of the interventional consumables execution device disclosed in the present disclosure.

[0052] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and, together with the description, serve to explain the principles of the specification.

[0054] Figure 1 is an exploded view of an interventional consumable execution device in an exemplary embodiment of the present disclosure;

[0055] Figure 2 is a schematic diagram of the combined structure of an interventional consumables execution device in an exemplary embodiment of the present disclosure;

[0056] Figure 3 is a cross-sectional view of an interventional consumable execution device in an exemplary embodiment of the present disclosure;

[0057] Figure 4 is a schematic diagram of the structure of the connection platform and the delivery module in an exemplary embodiment of the present disclosure;

[0058] Figure 5 is a schematic diagram of the structure of a delivery platform in an exemplary embodiment of the present disclosure;

[0059] Figure 6 It is a schematic diagram of the structure of a vascular interventional surgery robot in an exemplary embodiment of the present disclosure.

[0060] Description of Reference Numerals

[0061] 100-first execution module; 110-first box body; 111-first drive box; 112-first execution box; 113-first slider; 120-first consumables rotation delivery module; 121-rotation bracket; 122-clamping mechanism; 123-first rotation mechanism; 124-first delivery mechanism; 125-first drive mechanism; 130-first force detection mechanism; 131-first force sensor; 132-first stopper; 200-second execution module; 210-second box body; 211-second drive box; 212-second execution box; 213-second slider; 220-Y valve; 230-second consumables rotation module block; 231-second rotating mechanism; 232-second driving mechanism; 240-second force detection mechanism; 241-second force sensor; 242-second stop block; 300-delivery module; 310-delivery platform; 311-long rack; 312-slide rail; 320-power assembly; 321-first motor; 322-first transmission gear; 330-fixed frame; 340-third slider; 400-connecting platform; 410-first limiting assembly; 411-first limiting block; 420-second limiting assembly; 421-second limiting block; 10-first interventional consumables; 20-second interventional consumables; 30-robot body. DETAILED DESCRIPTION

[0062] 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.

[0063] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the illustration to another component, these terms are used in this specification only for convenience, such as according to the orientation of the examples described in the drawings. It is understood that if the device of the illustration is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0064] The terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusive meaning and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first", "second" and "third" etc. are used merely as labels and are not intended to limit the quantity of their objects.

[0065] In the present disclosure, the words "perpendicular" and "equal" refer to perpendicularity and equality within the process error range, not perpendicularity and equality in an absolute sense. The process error may be within ±10% or ±5%. For example, if the first direction is perpendicular to the second direction, it can be understood that the angle between the first direction and the second direction may be 90°±5°.

[0066] A vascular interventional surgical robot is a robot-assisted system used to assist or perform vascular interventional surgery. It can perform minimally invasive surgery in human blood vessels through interventional consumables such as guidewires, catheters, and stents, and is used to treat neurovascular diseases and other vascular-related diseases.

[0067] In actual applications, doctors control the interventional consumables actuator through the main control device of the surgical robot, driving the interventional consumables to move forward, backward and rotate in the blood vessels.

[0068] In the related art, the interventional consumables execution device includes a box body and a Y-valve for connecting a catheter and a rotation module for realizing the rotation of the catheter, which are arranged in the box body, and a rotation delivery module for clamping the interventional consumables (guidewire, stent or catheter) to realize the rotation and delivery of the interventional consumables. Among them, the Y-valve and the catheter rotation module are located in the front half of the space in the box, and the guidewire rotation delivery module is located in the back half of the space in the box. The box body cannot be disassembled, resulting in the Y-valve and rotation module at the front end and the rotation delivery module at the back end, which cannot be separated and used separately.

[0069] Based on this, Figures 1 to 5As shown, the embodiment of the present disclosure provides an interventional consumables execution device for a vascular interventional surgical robot, including a first execution module 100 and a second execution module 200. Among them, the first execution module 100 includes a first box body 110 and a first consumables rotation delivery module 120 disposed in the first box body 110, and the first consumables rotation delivery module 120 is used to achieve the clamping, delivery and rotation of the first interventional consumables 10. The second execution module 200 is disposed on one side of the first execution module 100 in the intervention direction, and the second execution module 200 includes a second box body 210 and a second consumables rotation module 230 disposed in the second box body 210. The second box body 210 is also used to accommodate a Y valve 220, and the Y valve 220 is used to connect the second interventional consumables 20 and provide an insertion channel for the first interventional consumables 10 to be inserted into the lumen of the second interventional consumables 20, and the second consumables rotation module 230 is used to achieve the rotation of the second interventional consumables 20. The second box body 210 is independent of the first box body 110 and is connected in a detachable manner.

[0070] The interventional consumables execution device provided by the present disclosure has a first consumables rotation delivery module 120 and a second consumables rotation module 230 respectively located in the first box body 110 and the second box body 210, and the first box body 110 and the second box body 210 are independent of each other and connected in a detachable manner, and the specific connection method is not limited. Therefore, the first execution module 100 and the second execution module 200 are relatively independent, and the two can be separated and used separately. The operator can selectively use the first execution module 100 or the second execution module 200 alone according to actual needs, or use the two in combination, which greatly improves the flexibility and scope of use of the interventional consumables execution device disclosed in the present disclosure.

[0071] The following will describe in detail the various parts of the interventional consumables execution device provided by the embodiment of the present disclosure in conjunction with the accompanying drawings:

[0072] like Figures 1 to 3 As shown, the interventional consumables execution device provided by the present disclosure can be used in a vascular interventional surgical robot to drive the movement of interventional consumables and deliver the interventional consumables into the patient's body for minimally invasive surgery, which is used to treat neurovascular diseases and other vascular-related diseases. The interventional consumables execution device includes a first execution module 100 and a second execution module 200. The second execution module 200 is located on one side of the first execution module 100 in the intervention direction. The intervention direction refers to the direction in which the interventional consumables are delivered into the human blood vessels.

[0073] The first execution module 100 includes a first box body 110 and a first consumable rotation delivery module 120 disposed in the first box body 110. The first consumable rotation delivery module 120 is used to clamp, deliver and rotate the first interventional consumable 10. The first interventional consumable 10 may be a guide wire, a catheter or a stent.

[0074] The first box body 110 may include a first driving box 111 and a first execution box 112 arranged on the first driving box 111 in a first direction, and the first direction is perpendicular to the intervention direction. The first driving box 111 and the first execution box 112 may be box bodies independent of each other. The first driving box 111 and the first execution box 112 may have various shapes. For example, the first driving box 111 may be a rectangular box, a cylindrical box, and a multi-prism box. The first execution box 112 may include a bottom shell and a top cover, and the top cover and the bottom shell are hingedly connected. The top cover can rotate relative to the bottom shell to facilitate the opening or closing of the top cover and the bottom shell.

[0075] like Figure 3 and Figure 6 As shown, the first consumables rotation delivery module 120 includes a rotation bracket 121, a clamping mechanism 122, a first rotation delivery mechanism and a first driving mechanism 125. The clamping mechanism 122 is provided on the rotation bracket 121, and is used to clamp the first interventional consumable 10, and the first rotation delivery mechanism is used to rotate and deliver the first interventional consumable 10. The first driving mechanism 125 is used to provide source power for the first rotation delivery mechanism.

[0076] The clamping mechanism 122 may include a first clamping wheel and a second clamping wheel, which are respectively located on both sides of the first interventional consumable 10. The distance between the first clamping wheel and the second clamping wheel is adjustable. When the first interventional consumable 10 needs to be installed between the first clamping wheel and the second clamping wheel, the distance between the first clamping wheel and the second clamping wheel can be increased. When the first interventional consumable 10 is installed in place, the first clamping wheel and the second clamping wheel are pressed together to clamp the first interventional consumable 10. It should be noted that the method for adjusting the distance between the first clamping wheel and the second clamping wheel is not limited in the present disclosure.

[0077] The first rotation delivery mechanism may include a first rotation mechanism 123 and a first delivery mechanism 124. The first rotation mechanism 123 is used to realize the rotation of the first interventional consumable 10 so that the first interventional consumable 10 can rotate in the blood vessel. The first delivery mechanism 124 is used to realize the delivery of the first interventional consumable 10 so that the first interventional consumable 10 can move forward or backward in the blood vessel.

[0078] The first rotating mechanism 123 can be fixedly connected to the rotating bracket 121, and is used to drive the rotating bracket 121 to rotate, thereby rotating the first interventional consumable 10 located on the rotating bracket 121 and clamped by the clamping mechanism 122. The first rotating mechanism 123 can be fixedly connected to the rotating bracket 121 through a gear. When the gear rotates, the rotating bracket 121 can be driven to rotate together. The structure of the first rotating mechanism 123 is only an exemplary description, and the present disclosure does not limit this.

[0079] The first delivery mechanism 124 can be rotatably connected to the rotating bracket 121 and is transmission-connected to the clamping mechanism 122, and is used to drive the first clamping wheel and / or the second clamping wheel to rotate, so that the first interventional consumable 10 can be delivered under the twisting of the first clamping wheel and the second clamping wheel. The first delivery mechanism 124 may include a plurality of gears, one of which can be rotatably connected to the rotating bracket 121, and some gears can be transmission-connected to the clamping mechanism 122. The structure of the first delivery mechanism 124 is only an exemplary description, and the present disclosure does not limit this.

[0080] The first driving mechanism 125 can provide source power for the first rotating mechanism 123 and the first delivery mechanism 124. The first driving mechanism 125 can include a motor and a gear connected to the output shaft of the motor. The number of motors and gears can be one or more. The gears in the first driving mechanism 125 can be meshed with the gears in the first rotating mechanism 123 or the first delivery mechanism 124. When the motor in the first driving mechanism 125 rotates, the gears in the first rotating mechanism 123 or the first delivery mechanism 124 can be driven to rotate, thereby realizing the rotation and delivery of the first interventional consumable 10.

[0081] In some embodiments of the present disclosure, at least part of the first driving mechanism 125 is located in the first driving box 111, such as the motor of the first driving mechanism 125 can be located in the first driving box 111. The rotating bracket 121, the clamping mechanism 122 and the first rotating delivery mechanism are located in the first execution box 112. The first driving box 111 and the first execution box 112 are both provided with a first transmission hole, and the first driving mechanism 125 is connected to the first rotating delivery mechanism through the first transmission hole.

[0082] like Figure 1 and Figure 2 As shown, the second execution module 200 includes a second box body 210 and a second consumable rotation module 230 disposed in the second box body 210. The second box body 210 is also used to accommodate a Y valve 220. The Y valve 220 is used to connect the second interventional consumable 20 and provide an insertion channel for the first interventional consumable 10 to be inserted into the lumen of the second interventional consumable 20. The second consumable rotation module 230 is used to realize the rotation of the second interventional consumable 20. The second interventional consumable 20 can be a catheter. It should be noted that the accommodation of the Y valve 220 mentioned here refers to fixing by accommodation. The fixed Y valve 220 can be exposed to the outside or covered.

[0083] The second box body 210 is independent of the first box body 110, that is, both are independent individuals and can be used separately. The second box body 210 is connected to the first box body 110 in a detachable manner. The two can be directly connected or indirectly connected through other structures, that is, both are fixed on other structures, as long as the two are convenient to disassemble and separate after being connected. The second box body 210 includes a second drive box 211 and a second execution box 212 arranged on the second drive box 211 in the first direction. The second drive box 211 and the second execution box 212 can be independent of each other. The shapes of the second drive box 211 and the second execution box 212 can be various. For example, the second drive box 211 can be a rectangular box, a cylindrical box and a multi-prism box. The second execution box 212 may include a bottom shell and a top cover, and the top cover and the bottom shell are hingedly connected. The top cover can rotate relative to the bottom shell to facilitate the opening or closing of the top cover and the bottom shell. The second execution box 212 can also be a hollow structure with an opening at the top.

[0084] like Figure 3 and Figure 6 As shown, the Y-valve 220 includes a Y-valve main pipe and a Y-valve branch pipe connected to the Y-valve main pipe. The Y-valve 220 is used to connect guidewires, catheters, and liquid inlet devices. Among them, the Y-valve main pipe has an inlet end close to the first execution module 100 and an outlet end away from the first execution module 100. The outlet end of the Y-valve main pipe can be used to connect the second interventional consumable 20. The first interventional consumable 10 clamped by the first execution module 100 can enter the Y-valve main pipe through the inlet end of the Y-valve main pipe and further enter the second interventional consumable 20 connected to its outlet end. The Y-valve branch pipe can be used to connect the liquid inlet device, which is responsible for conveying physiological saline, contrast agent, etc.

[0085] The second consumable rotating module 230 includes a second rotating mechanism 231 and a second driving mechanism 232. The second rotating mechanism 231 is fixedly connected to the Y valve 220 and is used to drive the second interventional consumable 20 connected to the Y valve 220 to rotate. The second driving mechanism 232 is used to provide source power for the second rotating mechanism 231.

[0086] The second rotating mechanism 231 may include a gear connected to the outlet end of the Y-valve main pipe. The axis of the gear is parallel to the extension direction of the Y-valve main pipe. The outlet end of the Y-valve main pipe may be arranged at the axis of the gear. The outlet end of the Y-valve main pipe is rotatably connected to the main body of the Y-valve main pipe, and the second interventional consumable 20 is fixedly connected to the outlet end. When the gear of the second rotating mechanism 231 rotates, the outlet end of the Y-valve main pipe can be driven to rotate, thereby driving the second interventional consumable 20 fixed thereto to rotate.

[0087] The second driving mechanism 232 may include a motor and a gear connected to the output shaft of the motor, and the gear may mesh with the gear of the second rotating mechanism 231. When the motor in the second driving mechanism 232 rotates, the gear in the second rotating mechanism 231 may be driven to rotate, thereby driving the second interventional consumable 20 connected to the Y-valve 220 to rotate.

[0088] In some embodiments of the present disclosure, at least part of the second driving mechanism 232 is located in the second driving box 211, for example, the motor of the second driving mechanism 232 is located in the second driving box 211. The Y valve 220 and the second rotating mechanism 231 are located in the second execution box 212. The second driving box 211 and the second execution box 212 are both provided with a second transmission hole, and the second driving mechanism 232 is transmission-connected to the second rotating mechanism 231 through the second transmission hole.

[0089] like Figure 1 , Figure 2 , Figure 4 and Figure 6 As shown, in some embodiments of the present disclosure, the interventional consumables execution device further includes a connection platform 400, which is disposed on one side of the first execution module 100 and the second execution module 200 in the first direction, and is used for connecting the first execution module 100 and the second execution module 200. The connection platform 400 can be located on a side of the first driving box 111 away from the first execution box 112, and similarly, it can also be located on a side of the second driving box 211 away from the second execution box 212.

[0090] The first box body 110 and the second box body 210 are both slidably connected to the connection platform 400, and the slidable directions of the first box body 110 and the second box body 210 are parallel to the intervention direction. The connection platform 400 can be slidably connected with the first box body 110 and the second box body 210 by means of a slider and a slide groove. In this embodiment, the first box body 110 and the second box body 210 are indirectly connected through the connection platform 400. Of course, as described above, the first box body 110 and the second box body 210 can also be directly connected.

[0091] The connecting platform 400 is provided with a slide groove, which extends along the intervention direction; the first box body 110 is provided with a first slider 113, and the second box body 210 is provided with a second slider 213; the first slider 113 and the second slider 213 are both slidably connected in the slide groove. Of course, the connecting platform 400 can also be provided with a slider, which extends along the intervention direction, the first box body 110 is provided with a first slide groove, and the second box body 210 is provided with a second slide groove; the slider is slidably connected in the first slide groove and the second slide groove.

[0092] The connecting platform 400 can be slidably connected to the first driving box 111 in the first box body 110, and the second driving box 211 in the second box body 210. The first slider 113 and the second slider 213 can be respectively arranged on the bottom wall of the first driving box 111 and the second driving box 211, or the first slide groove and the second slide groove are respectively arranged on the bottom wall of the first driving box 111 and the second driving box 211.

[0093] In some embodiments of the present disclosure, the first box body 110 may be a roughly rectangular parallelepiped structure so as to have enough space to accommodate the first consumable rotating delivery module 120, and the volume of the second box body 210 gradually decreases from one end close to the first box body 110 to one end away from the first box body 110, and the end of the second box body 210 away from the first box body 110 may be roughly in the shape of a bullet head. That is, the size of the second box body 210 gradually decreases from one end close to the first box body 110 to one end away from the first box body 110. This shape design is conducive to the advancement of the interventional consumable execution device, preventing its front end from being easily hindered by external interference during travel, and better ensuring the smoothness of movement.

[0094] Furthermore, the connection platform 400 is provided with a first limiting assembly 410 and a second limiting assembly 420, wherein the first limiting assembly 410 is used to limit the range of motion of the first execution module 100 on the connection platform 400, and the second limiting assembly 420 is used to limit the range of motion of the second execution module 200 on the connection platform 400. The first limiting assembly 410 may include at least two first limiting blocks 411 arranged at intervals, and the two first limiting blocks 411 are respectively used to block the first execution module 100 from continuing to move forward and backward in the intervention direction. The second limiting assembly 420 may include at least two second limiting blocks 421 arranged at intervals, and the two second limiting blocks 421 are respectively used to block the second execution module 200 from continuing to move forward and backward in the intervention direction.

[0095] like Figures 1 to 6 As shown, in some embodiments of the present disclosure, the interventional consumables execution device further includes a delivery module 300, which is connected to the connection platform 400 and is used to realize the movement of the first execution module 100 and the second execution module 200 along the intervention direction. Under the action of the delivery module 300, the first execution module 100 and the second execution module 200 can move along the intervention direction as a whole.

[0096] The delivery module 300 includes a delivery platform 310, a power assembly 320 and a fixed frame 330. The delivery platform 310 may include a long rack 311 extending along the intervention direction. The power assembly 320 includes a first motor 321 and a first transmission gear 322, the first transmission gear 322 is fixedly connected to the output shaft of the first motor 321, and the first transmission gear 322 is meshed with the long rack 311. The fixed frame 330 connects the first motor 321 and the connection platform 400. When the first motor 321 rotates, the first transmission gear 322 can be driven to rotate. Since the first transmission gear 322 is meshed with the long rack 311, the rotational displacement of the first motor 321 can be converted into a linear displacement of the first transmission gear 322 on the long rack 311. When the first transmission gear 322 moves on the long rack 311, it will synchronously drive the first motor 321 to move linearly. The fixing frame 330 is connected to the first motor 321 and the connecting platform 400. Therefore, when the first motor 321 moves linearly, it will drive the connecting platform 400 to move linearly, thereby driving the first execution module 100 and the second execution module 200 to move linearly. Preferably, the long rack 311 can be a helical rack, and the first transmission gear 322 can be a helical gear.

[0097] Furthermore, the delivery module 300 further includes a third slider 340, which is disposed on a side of the fixed frame 330 close to the delivery platform 310. The delivery platform 310 further includes a slide rail 312, and the extension direction of the slide rail 312 is parallel to the extension direction of the long rack 311. There may be two slide rails 312, which are respectively located on both sides of the long rack 311, and the third slider 340 is slidably connected to the slide rail 312. The design of the slide rail 312 and the third slider 340 helps to improve the stability of the first transmission gear 322 moving on the long rack 311.

[0098] In interventional surgery, the interventional consumables actuator needs to drive the interventional consumables to move in human blood vessels. Therefore, the movement accuracy and stability of the interventional consumables actuator are required to be high. The meshing of the helical rack and the helical gear in the present disclosure can provide better accuracy and stability for the movement of the interventional consumables actuator. In addition, the meshing of the helical rack and the helical gear can also improve transmission efficiency and reduce noise and vibration.

[0099] like Figure 1 As shown, in some embodiments of the present disclosure, the first execution module 100 further includes a first force detection mechanism 130 for detecting the resistance of the first interventional consumable 10 during the intervention process. The second execution module 200 further includes a second force detection mechanism 240 for detecting the resistance of the second interventional consumable 20 during the intervention process.

[0100] The first force detection mechanism 130 is arranged between the first box body 110 and the connection platform 400, and can be specifically arranged between the first drive box 111 and the connection platform 400. The first force detection mechanism 130 includes a first force sensor 131 and a first stopper 132. One of the first force sensor 131 and the first stopper 132 is connected to the connection platform 400, and the other is connected to the first box body 110. For example, the first force sensor 131 is connected to the connection platform 400, and the first stopper 132 is connected to the bottom wall of the first drive box 111. The first stopper 132 is located on one side of the first force sensor 131 in the intervention direction. When the first interventional consumable 10 encounters resistance during the intervention process, the first stopper 132 presses against the first force sensor 131.

[0101] The second force detection mechanism 240 is disposed between the second box body 210 and the connection platform 400, and specifically can be disposed between the second drive box 211 and the connection platform 400. The second force detection mechanism 240 includes a second force sensor 241 and a second stopper 242; one of the second force sensor 241 and the second stopper 242 is connected to the connection platform 400, and the other is connected to the second box body 210. For example, the second force sensor 241 is connected to the connection platform 400, and the second stopper 242 is connected to the bottom wall of the second drive box 211. The second stopper 242 is located on one side of the second force sensor 241 in the intervention direction; when the second interventional consumable 20 encounters resistance during the intervention process, the second stopper 242 presses against the second force sensor 241.

[0102] There is a gap between the first box body 110 and the second box body 210 to avoid mutual squeezing between the two, which affects the accuracy of the resistance detection of the interventional consumables. For example, when the second interventional consumable 20 is subjected to resistance during the forward process, the direction of the resistance is opposite to the forward direction of the second interventional consumable 20, and it will act on the second box body 210, and the second box body 210 will have a tendency to move backward under this force. If the first box body 110 and the second box body 210 are close to each other at this time, and there is no gap between them, the second box body 210 may generate a backward force on the first box body 110, and the force may be transmitted to the first force sensor 131, so that the system mistakenly regards this force as the resistance of the first interventional consumable 10, thereby causing an error in the force detection result. In the present disclosure, there is a gap between the first box body 110 and the second box body 210. Therefore, when the second interventional consumable 20 is subjected to resistance during the forward process, the second box body 210 will not generate a force on the first box body 110, and thus will not cause an error in the force detection result.

[0103] Further, the first force sensor 131 can be reused as the first limit block 411, and the first stop block 132 can be located between two first limit blocks 411. The second force sensor 241 can be reused as the second limit block 421, and the second stop block 242 can be located between two second limit blocks 421.

[0104] The present disclosure also provides a vascular interventional surgery robot, including a slave end portion located in an operating room, such as a robotic arm and a robot body 30 connected to the end of the robotic arm, and an interventional consumables execution device in any of the above embodiments. The robot body 30 is fixed to the operating table through the robotic arm, and the robotic arm can drive the robot body 30 to achieve multi-axis displacement and rotation within a certain range, which is used to adjust the posture of the robot body 30 before surgery.

[0105] A slide groove is provided on the robot body 30, the delivery module 300 can be located inside the robot body 30, and the first execution module 100 and the second execution module 200 can be located outside the robot body 30. The first execution module 100 can be fixedly connected to the robot body 30 and located at one end of the slide groove, or slidably connected to the slide groove. The second execution module 200 is slidably connected to the slide groove.

[0106] Furthermore, the vascular interventional surgical robot also includes a master end control device located outside the operating room, and the master end control device may include a master end body and control structures such as a manipulation member and a display screen disposed on the master end body. The doctor can control the movement of the slave end part through the manipulation member, thereby manipulating the movement of the interventional consumable. The display screen can be used to display images of the interventional consumable in human blood vessels. The doctor can adjust the hand movements according to the images and other information displayed on the display screen to change the movement of the interventional consumable in the blood vessels.

[0107] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. An interventional consumables execution device for a vascular interventional surgery robot, characterized in that: include: A first execution module comprises a first box body and a first consumables rotation delivery module disposed in the first box body, wherein the first consumables rotation delivery module is used to achieve clamping, delivery and rotation of a first interventional consumable; A second execution module is arranged on one side of the first execution module in the intervention direction, the second execution module comprises a second box body and a second consumable rotation module arranged in the second box body, the second box body is also used to accommodate a Y valve, the Y valve is used to connect the second interventional consumable and provide an insertion channel for the first interventional consumable to be inserted into the lumen of the second interventional consumable, and the second consumable rotation module is used to realize the rotation of the second interventional consumable; The second box body and the first box body are independent of each other and are connected in a detachable manner.

2. The interventional consumables execution device according to claim 1, characterized in that: The intervention consumables execution device further includes: A connecting platform is provided on one side of the first execution module and the second execution module in a first direction, wherein the first direction is perpendicular to the intervention direction; Wherein, the first box body and the second box body are both slidably connected to the connecting platform, and the slidable directions of the first box body and the second box body are both parallel to the intervention direction.

3. The interventional consumables execution device according to claim 2, characterized in that: The connecting platform is provided with a slide groove, and the slide groove extends along the intervention direction; The first box body is provided with a first slider, and the second box body is provided with a second slider; The first slider and the second slider are both slidably connected to the slide slot; and / or The volume of the first box body is not less than the volume of the second box body; The volume of the second box body gradually decreases from an end close to the first box body to an end far away from the first box body.

4. The interventional consumables execution device according to claim 2, characterized in that: The first execution module further includes a first force detection mechanism, which is disposed between the first box body and the connection platform and is used to detect the resistance experienced by the first interventional consumable during the intervention process; The second execution module also includes a second force detection mechanism, which is disposed between the second box body and the connecting platform and is used to detect the resistance encountered by the second interventional consumable during the intervention process.

5. The interventional consumables execution device according to claim 4, characterized in that: The first force detection mechanism includes a first force sensor and a first stopper; One of the first force sensor and the first stopper is connected to the connection platform, and the other is connected to the first box body, and the first stopper is located at one side of the first force sensor in the intervention direction; When the first interventional consumable encounters resistance during the intervention process, the first stopper presses against the first force sensor; The second force detection mechanism includes a second force sensor and a second stopper; One of the second force sensor and the second stopper is connected to the connection platform, and the other is connected to the second box body, and the second stopper is located at one side of the second force sensor in the intervention direction; When the second interventional consumable encounters resistance during the intervention process, the second stopper presses the second force sensor.

6. The interventional consumables execution device according to claim 5, characterized in that: There is a gap between the first box body and the second box body.

7. The interventional consumables execution device according to claim 2, characterized in that: The connecting platform is provided with a first limiting component and a second limiting component, wherein the first limiting component is used to limit the movable range of the first executing module on the connecting platform, and the second limiting component is used to limit the movable range of the second executing module on the connecting platform.

8. The interventional consumables execution device according to claim 2, characterized in that: The intervention consumables execution device further includes: The delivery module is connected to the connection platform and is used to realize the movement of the first execution module and the second execution module along the intervention direction.

9. The interventional consumables execution device according to claim 8, characterized in that: The delivery module comprises: a delivery platform including a long toothed rack extending in an interventional direction; A power assembly, comprising a first motor and a first transmission gear, wherein the first transmission gear is fixedly connected to an output shaft of the first motor and meshes with the long rack; A fixing frame is connected to the first motor and the connecting platform.

10. The interventional consumables execution device according to any one of claims 1 to 9, characterized in that: The first box body includes a first driving box and a first execution box arranged on the first driving box in a first direction, and the first direction is perpendicular to the intervention direction; The first consumable material rotation delivery module includes a rotation bracket, a clamping mechanism, a first rotation delivery mechanism and a first driving mechanism; The rotating bracket, the clamping mechanism and the first rotating delivery mechanism are located in the first execution box, the clamping mechanism is provided on the rotating bracket and is used to clamp the first interventional consumable, and the first rotating delivery mechanism is used to rotate and deliver the first interventional consumable; At least part of the first driving mechanism is disposed in the first driving box, and the first driving mechanism is used to provide source power for the first rotating delivery mechanism; The first driving box and the first execution box are both provided with a first transmission hole, and the first driving mechanism is transmission-connected with the first rotating delivery mechanism through the first transmission hole; and / or The second box body includes a second driving box and a second execution box arranged on the second driving box in a first direction, and the first direction is perpendicular to the intervention direction; The second consumable material rotation module includes a second rotation mechanism and a second driving mechanism; The Y-valve and the second rotating mechanism are located in the second execution box, and the second rotating mechanism is fixedly connected to the Y-valve and is used to drive the second interventional consumable connected to the Y-valve to rotate; At least a portion of the second driving mechanism is located in the second driving box, and the second driving mechanism is used to provide source power for the second rotating mechanism; The second driving box and the second executing box are both provided with a second transmission hole, and the second driving mechanism is transmission-connected with the second rotating mechanism through the second transmission hole.

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