Slave end driving device, sterile consumable box and vascular intervention surgical robot
By adopting a combined design of belt structure and output gear in the vascular interventional surgical robot, the driving force adaptation problem of different long direct interventional consumables is solved, and high-precision and reliable driving effect is achieved, reducing equipment wear and cost.
Patent Information
- Application Number
- CN202422058237.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-23
- Publication Date
- 2025-08-08
- Estimated Expiration
- 2034-08-23
AI Technical Summary
The existing vascular interventional surgery robots cannot adapt to the driving force requirements of different long direct interventional consumables, resulting in insufficient progression accuracy and increasing equipment and time costs.
The first and second belt structures are arranged in parallel, and the power transmission is achieved through the first and second output gears in the power assembly, ensuring the consistent driving force direction, adapting to the accuracy requirements of different length straight intervention consumables, and improving clamping reliability using elastic materials and limiting plate groups.
It improves the driving force accuracy and reliability of long-direct intervention consumables, reduces wear and friction, increases service life, and adapts to the needs of a variety of consumables.
Smart Images
Figure CN223196151U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of medical device technology, and more specifically, to a slave drive device, a sterile consumables box, and a vascular interventional surgery robot. Background Art
[0002] At present, there are many vascular interventional surgical robots on the market that are used in surgical operations such as vascular intervention. They control long straight interventional consumables to perform actions such as importing and exporting to meet different treatment needs.
[0003] In existing vascular interventional surgical robots, due to the wide variety of long straight interventional consumables, including but not limited to: catheters, guidewires, balloons, stents, etc., the movement of long straight interventional consumables is usually controlled by clamping for advancement. For example, a hard material (such as PC, POM) roller is used to clamp the guidewire or microcatheter for advancement. Due to the different sizes and materials of long straight interventional consumables, the driving force applied by the corresponding clamping rollers is different, so it is impossible to adapt to the needs of different long straight interventional consumables. Even if some long straight interventional consumables are interchangeable, due to the difference in the force and direction of the advancement, the force between the long straight interventional consumables and the driving structure will also be different, resulting in insufficient accuracy in the advancement of the long straight interventional consumables, which in turn makes them unusable, and the equipment cost and time cost increase significantly.
[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to ordinary technicians in this field. Utility Model Content
[0005] The purpose of this application is to overcome the shortcomings of the above-mentioned prior art and provide a slave-end drive device, a sterile consumables box and a vascular interventional surgical robot, which can maintain the driving force applied by the drive device in the same direction, increase the force applied to the straight interventional consumables, and adapt to the driving force accuracy requirements of different lengths of straight interventional consumables to ensure the reliability of pushing.
[0006] According to one aspect of the present application, a slave-end driving device of a vascular interventional surgery robot is provided, comprising:
[0007] base;
[0008] A first driving assembly, provided on the base, comprising a first belt-shaped structure;
[0009] a second driving assembly disposed on the base, comprising a second belt-shaped structure, wherein the first belt-shaped structure and the second belt-shaped structure are arranged in parallel to clamp the long straight interventional consumable therebetween and thereby drive the long straight interventional consumable to move;
[0010] A power assembly includes a first output gear and a second output gear capable of realizing power transmission, wherein the first output gear drives the first belt structure to move in translation, and the second output gear drives the second belt structure to move in translation.
[0011] In an exemplary embodiment of the present application, the first drive assembly includes a first main drive wheel, and the first output gear is connected to the first main drive wheel shaft;
[0012] The second drive assembly includes a second main drive wheel, and the second output gear is connected to the second main drive wheel shaft.
[0013] In an exemplary embodiment of the present application, the first belt structure is a toothed belt, and the first main driving wheel is a driving gear; and / or,
[0014] The second belt structure is a toothed belt, and the second main driving wheel is a driving gear.
[0015] In an exemplary embodiment of the present application, the first belt-like structure is an endless belt, and the first driving assembly further includes a first driven wheel, wherein the first main driving wheel and the first driven wheel tension the first belt-like structure to form a first working surface facing the second belt-like structure;
[0016] The second belt-like structure is an endless belt, and the second driving assembly further includes a second driven wheel. The second main driving wheel and the second driven wheel tension the second belt-like structure to form a second working surface facing the first belt-like structure.
[0017] In an exemplary embodiment of the present application, the first output gear and the second output gear have the same shape and size; and / or,
[0018] The first main driving wheel and the first driven wheel have the same shape and size; and / or,
[0019] The second main driving wheel and the second driven wheel have the same shape and size.
[0020] In an exemplary embodiment of the present application, the first belt-shaped structure and / or the second belt-shaped structure are made of elastic material, and / or,
[0021] The first belt-like structure and / or the second belt-like structure are provided with a surrounding layer of elastic material.
[0022] In an exemplary embodiment of the present application, the elastic material is one or more of rubber, silicone, and plastic.
[0023] In an exemplary embodiment of the present application, the base includes a housing, and the power assembly includes a first transmission shaft, a second transmission shaft and an input gear, the first transmission shaft passes through the housing, the first output gear and the input gear are respectively arranged on two sides opposite to the housing and are fixedly connected to the first transmission shaft, the second transmission shaft passes through the housing, the second output gear is fixedly connected to the second transmission shaft, and the first output gear and the second output gear are engaged.
[0024] In an exemplary embodiment of the present application, the slave-end driving device is provided with a first limiting plate group, and the first limiting plate group includes a first limiting plate and a second limiting plate arranged along the width direction of the first belt-like structure.
[0025] According to one aspect of the present application, a sterile consumables box is provided, comprising any one of the slave-end drive devices described above.
[0026] According to one aspect of the present application, a vascular interventional surgery robot is provided, comprising the sterile consumables box as described above.
[0027] The present application provides a slave-end drive device, a sterile consumables box and a vascular interventional surgical robot, wherein the slave-end drive device uses a first output gear and a second output gear that can realize power transmission, so that the relatively arranged first belt structure and the second belt structure can move horizontally in the same direction, thereby realizing the application of driving force in the same direction, superimposing the driving force of the progressive long straight interventional consumables, that is, increasing the driving force of the long straight interventional consumables, and the relatively arranged first belt structure and the second belt structure can adapt to the accuracy requirements of the driving force of different long straight interventional consumables to ensure the reliability of pushing.
[0028] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.
[0030] Figure 1 A schematic diagram of the three-dimensional structure of a slave-end driving device of a vascular interventional surgery robot provided in an embodiment of the present application is shown;
[0031] Figure 2 Shown Figure 1 A schematic diagram of the three-dimensional structure of the end drive device from another angle;
[0032] Figure 3 Shown Figure 1 A schematic diagram of the main view of the slave end drive device;
[0033] Figure 4 Shown Figure 1 A schematic cross-sectional view of the end drive device from the rear perspective;
[0034] Figure 5 Shown Figure 1 A schematic cross-sectional view of the end drive device from a side perspective;
[0035] Figure 6 Shown Figure 1 Schematic diagram of the principle of cooperation between the first drive assembly and the second drive assembly of the slave end drive device and the long straight interventional consumable.
[0036] The above drawings contain the following reference numerals:
[0037] 10. Base; 11. Housing; 12. Long straight access channel for interventional consumables;
[0038] 20. First drive assembly; 21. First belt structure; 22. First main drive wheel; 23. First driven wheel;
[0039] 30. Second drive assembly; 31. Second belt structure; 32. Second main drive wheel; 33. Second driven wheel;
[0040] 40. Power assembly; 41. First output gear; 42. Second output gear; 43. First transmission shaft; 44. Second transmission shaft; 45. Input gear;
[0041] 50. First limit plate assembly; 51. First limit plate; 52. Second limit plate; 53. Bottom limit plate;
[0042] 100. Long straight interventional consumables. DETAILED DESCRIPTION
[0043] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.
[0044] The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, the components and configurations of specific examples are described below. Of course, these are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or configurations discussed.
[0045] For ease of description, spatially relative terms may be used herein to describe the relative position or movement of one element or feature relative to another element or feature as shown in the figures, such as "inside," "outside," "inside," "outside," "below," "beneath," "above," "above," "front," "back," and the like. Such spatially relative terms are intended to include different orientations of the device in use or operation other than the orientation depicted in the figures. For example, if the device in the figures undergoes a positional flip or a change in posture or a change in motion, then these directional indications will also change accordingly. For example, an element described as "below" or "below" another element or feature will subsequently be oriented as "above" or "above" another element or feature. Thus, the example term "below" can include both above and below orientations. The device may be oriented otherwise (rotated 90 degrees or in other orientations) and the spatially relative descriptors used herein will be interpreted accordingly.
[0046] like Figures 1 to 6 As shown, in the first aspect, some embodiments of the present application provide a slave-end drive device of a vascular interventional surgical robot, including: a base 10, a first drive component 20, a second drive component 30 and a power component 40; the first drive component 20 is arranged on the base 10, including a first belt-like structure 21; the second drive component 30 is arranged on the base 10, including a second belt-like structure 31, the first belt-like structure 21 and the second belt-like structure 31 are arranged in parallel to clamp the long straight interventional consumable 100 therebetween, and drive the long straight interventional consumable 100 to move; the power component 40 includes a first output gear 41 and a second output gear 42 that can realize power transmission, the first output gear 41 drives the first belt-like structure 21 to move horizontally, and the second output gear 42 drives the second belt-like structure 31 to move horizontally.
[0047] The slave-end driving device in this embodiment enables the relatively arranged first belt structure 21 and the second belt structure 31 to move horizontally in the same direction through the first output gear 41 and the second output gear 42 that can realize power transmission, thereby realizing the application of driving force in the same direction, superimposing the driving force of the progressive long straight interventional consumable 100, that is, increasing the driving force of the long straight interventional consumable 100, and the relatively arranged first belt structure and the second belt structure can adapt to the accuracy requirements of the driving force of different long straight interventional consumables to ensure the reliability of pushing.
[0048] It should be noted that the first output gear 41 and the first belt structure 21 can be connected in a variety of ways, such as through meshing racks, the first belt structure 21 is installed on the side of the rack away from the tooth portion, or further gear transmission, motion conversion is achieved through a toothed belt, etc. The second output gear 42 is set in the same way as the first belt structure 21, and no special restrictions are made here.
[0049] Further, if Figures 4 to 6 As shown, in the technical solutions of some embodiments of the present application, the first drive assembly 20 includes a first main drive wheel 22, and the first output gear 41 is connected to the shaft of the first main drive wheel 22; the second drive assembly 30 includes a second main drive wheel 32, and the second output gear 42 is connected to the shaft of the second main drive wheel 32.
[0050] The first main drive wheel 22 rotates, causing the first belt structure 21 to translate along its tangential direction. The first main drive wheel 22 presses against the first belt structure 21, applying pressure to the long straight interventional consumable 100. The rotation of the first main drive wheel 22 applies thrust to the first belt structure 21 along its tangential direction, thereby enabling the first belt structure 21 to translate the long straight interventional consumable 100, achieving progressive advancement. The movement principles of the second main drive wheel 32 and the second belt structure 31 are similar to those of the first main drive wheel 22 and the first belt structure 21, and will not be further described here.
[0051] like Figures 4 to 6 As shown, in the technical solutions of some embodiments of the present application, the first belt structure 21 is a toothed belt, and the first main drive wheel 22 is a drive gear; and / or, the second belt structure 31 is a toothed belt, and the second main drive wheel 32 is a drive gear.
[0052] The first main drive wheel 22 and the second main drive wheel 32 are drive gears, which can adapt to the setting of the toothed belt so as to transmit the rotational power to the first belt structure 21 and the second belt structure 31 through the engagement of the teeth. At the same time, the speed of the progressive process of the first belt structure 21 and the second belt structure 31 can be regulated by controlling the rotation speed of the first output gear 41 and the second output gear 42, so that the control accuracy is higher and the progressive process of the long straight interventional consumables 100 is more accurate and reliable.
[0053] Furthermore, if Figures 4 to 6 As shown, in the technical solutions of some embodiments of the present application, the first belt structure 21 is a circulating belt, and the first drive assembly 20 also includes a first driven wheel 23, and the first main drive wheel 22 and the first driven wheel 23 jointly tension the first belt structure 21 to form a first working surface facing the second belt structure 31; the second belt structure 31 is a circulating belt, and the second drive assembly 30 also includes a second driven wheel 33, and the second main drive wheel 32 and the second driven wheel 33 jointly tension the second belt structure 31 to form a second working surface facing the first belt structure 21, and the long straight interventional consumables 100 are clamped between the first working surface and the second working surface.
[0054] The looping belt arrangement enables the first and second belt structures 21 and 31 to rotate continuously in a loop, ensuring that the delivery process is not limited by the length of the belt structures. The first and second working surfaces are used to contact the surface of the long straight interventional consumable 100. The first belt structure 21 is extended by the first main drive wheel 22 and the first driven wheel 23, while the second belt structure 31 is extended by the second main drive wheel 32 and the second driven wheel 33. This arrangement allows the first and second working surfaces to have a longer span, thereby increasing the contact area with the surface of the long straight interventional consumable 100, thereby increasing the driving force and ensuring a progressive delivery effect.
[0055] It should be noted that the first working surface is the side of the first belt structure 21 facing the second belt structure 31 when the first belt structure 21 is in the working state. The first main driving wheel 22 drives the entire surface of the first belt structure 21 to circulate. Therefore, the part of the first belt structure 21 used to form the first working surface is constantly changing. The principle of the second working surface is the same as that of the first working surface.
[0056] In some optional embodiments, both the first working surface and the second working surface are provided with a pattern structure.
[0057] Furthermore, the first driven wheel 23 and the second driven wheel 33 can also be set as toothed wheels adapted to the toothed belt, so that the first belt structure 21 and the second belt structure 31 can both be engaged and kept tensioned at two locations, thereby avoiding the deformation of the toothed belt due to dynamic friction between the first belt structure 21 and the second belt structure 31, thereby affecting the driving force of the long straight interventional consumable 100.
[0058] like Figures 4 to 6As shown, in the technical solutions of some embodiments of the present application, the first output gear 41 and the second output gear 42 have the same shape and size, the first main drive wheel 22 and the first driven wheel 23 have the same shape and size, and the second main drive wheel 32 and the second driven wheel 33 have the same shape and size. This arrangement ensures that when the rotation frequencies of the first main drive wheel 22 and the second main drive wheel 32 are equal, the movement speeds of the first belt structure 21 and the second belt structure 31 are also equal. This achieves the effect of the first belt structure 21 and the second belt structure 31 moving at the same moving speed in the progressive direction when the slave end drive device is in use, reducing the friction factor between the first belt structure 21 and the second belt structure 31 and reducing losses. At the same time, the comprehensive force direction of the long straight interventional consumable 100 is consistent, which has a superposition effect, thereby being able to meet the driving force requirements.
[0059] Furthermore, if Figures 4 to 6 As shown, in the technical solutions of some embodiments of the present application, the first main drive wheel 22 and the second main drive wheel 32 are correspondingly arranged, and the plane formed between the axes of the two is perpendicular to the progressive direction of the long straight interventional consumable 100, and / or the first driven wheel 23 and the second driven wheel 33 are correspondingly arranged, and the plane formed between the axes of the two is perpendicular to the progressive direction of the long straight interventional consumable 100. Such an arrangement causes the first belt-like structure 21 and the second belt-like structure 31 located between the first main drive wheel 22 and the second main drive wheel 32, or between the first driven wheel 23 and the second driven wheel 33 to be squeezed, thereby increasing the clamping force of the long straight interventional consumable 100 at this position, avoiding relative sliding of the long straight interventional consumable 100 when entering and exiting the first drive assembly 20 and the second drive assembly 30, and improving the reliability of the clamping.
[0060] In the technical solutions of some embodiments of the present application (not shown in the figures), the first belt-like structure 21 and / or the second belt-like structure 31 are made of elastic material, and / or the first belt-like structure 21 and / or the second belt-like structure 31 are provided with a surrounding elastic material layer. Such a configuration enables the first belt-like structure 21 and / or the second belt-like structure 31 to have a certain elastic deformation ability along the direction of its extrusion. On the one hand, through elastic deformation, the deformation generated by the belt-like structure contacts the surface of the long straight interventional consumable 100, changing the contact area of the belt-like structure. At the same time, the contact area will produce a tendency to retract and deform, thereby generating a retracting static friction force, so that the bonding between the belt-like structure and the long straight interventional consumable 100 is higher, further avoiding the generation of relative sliding, and ensuring the precision requirements of the progressive process.
[0061] It should be noted that the retraction static friction forces generated by the first and second band structures 21, 31 are both perpendicular to the surface of the long straight interventional consumable 100 and in opposite directions. Therefore, the overall forces acting on the long straight interventional consumable 100 offset each other, maintaining a state of equilibrium. The elastic material is one or more of rubber, silicone, and plastic. These materials exhibit excellent biocompatibility, meeting the requirements of interventional surgery, and can satisfy the driving force requirements of different long straight interventional consumables 100 in both dry and wet environments.
[0062] like Figures 1 to 6 As shown, in the technical solutions of some embodiments of the present application, the base 10 includes a shell 11, the power assembly 40 includes a first transmission shaft 43, a second transmission shaft 44 and an input gear 45, the first transmission shaft 43 passes through the shell 11, the first output gear 41 and the input gear 45 are respectively arranged on two sides opposite to the shell 11, and are fixedly connected to the first transmission shaft 43, the second transmission shaft 44 passes through the shell 11, the second output gear 42 is fixedly connected to the second transmission shaft 44, and the first output gear 41 and the second output gear 42 are engaged.
[0063] The first output gear 41 and input gear 45 are positioned on opposite sides of the housing 11, creating a more compact structure and utilizing the protruding position of the shaft segment to better achieve power transmission. Furthermore, the input gear 45 generates driving torque on the first transmission shaft 43, while the first output gear 41 engages at the other end to generate transmission torque. This disperses the torque at both ends of the shaft, avoiding torque concentration and distributing the force applied to the first transmission shaft 43. This reduces the risk of damage and increases the overall service life.
[0064] The end of the second transmission shaft 44 close to the second output gear 42 extends outward compared to the first transmission shaft 43. The extended part is used to reserve loading positions for other gears. This arrangement can increase the assembly positions of the transmission structure and make subsequent installation more convenient.
[0065] It is understood that the meshing first and second output gears 41, 42 can drive the first and second main drive wheels 22, 32 to rotate synchronously in opposite directions, thereby ensuring that the first and second belt structures 21, 31 move in the same direction. The meshing of the gears also meets the requirements for precision control, thereby controlling the rotation speed. When the rotation rate is determined, the movement speed of the first and second belt structures 21, 31 is also determined, thereby ensuring the accuracy of the advancement of the long straight interventional consumable 100.
[0066] It should be noted that a corresponding long straight interventional consumable channel 12 is provided on the shell 11. The long straight interventional consumable 100 enters between the first belt structure 21 and the second belt structure 31 through the long straight interventional consumable channel 12, and then the first belt structure 21 and the second belt structure 31 are driven to rotate to complete the replacement of the long straight interventional consumable. The operation is convenient and the replacement efficiency is high.
[0067] like Figure 1 and Figure 2 As shown, in the technical solutions of some embodiments of the present application, the slave-end drive device is provided with a first limit plate assembly 50, which includes two first limit plates 51 arranged along the width direction of the first belt-like structure 21 and two second limit plates 52 arranged along the width direction of the second belt-like structure 31. The first limit plates 51 and the second limit plates 52 are used to form a width-wise limit on the first belt-like structure 21 to prevent the first belt-like structure 21 from shifting along its width, which would cause a change in the horizontal position of the long straight interventional consumable 100 during the advancement process, affecting the directional accuracy of the advancement.
[0068] Furthermore, the first limiting plate 51 and the second limiting plate 52 are fixedly connected together by a transverse plate to form an installation space, so that the first strip structure 21 is located in the installation space. Such a setting can meet the installation requirements of the first limiting plate 51 and the second limiting plate 52.
[0069] In the technical solutions of some embodiments of the present application, a plurality of bottom limit plates 53 are provided at the lower position of the outer shell 11 of the base 10. The bottom limit plates 53 are detachably connected to the inner wall of the outer shell 11 and form limits in the width direction and the vertical width direction of the second belt structure 31, so as to constrain the second belt structure 31 from large axial deviation during rotation.
[0070] A corresponding long straight interventional consumable channel 12 is provided on the shell 11. The long straight interventional consumable 100 enters between the first belt structure 21 and the second belt structure 31 through the long straight interventional consumable channel 12, and then the first belt structure 21 and the second belt structure 31 are driven to rotate to complete the replacement of the long straight interventional consumable. The operation is convenient and the replacement efficiency is high.
[0071] In a second aspect, an embodiment of the present application provides a sterile consumables box, comprising the slave drive device of the above embodiment. The structure and beneficial effects of the slave drive device are not described in detail here.
[0072] On the third aspect, an embodiment of the present application provides a vascular interventional surgical robot, including the sterile consumables box in the above embodiment. The structure and beneficial effects of the slave end drive device included in the sterile consumables box can be found in the above embodiment and will not be repeated here.
[0073] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the utility model disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered merely as exemplary, and the true scope and spirit of the present application are indicated by the appended claims.
Claims
1. A slave end driving device of a vascular interventional surgery robot, characterized in that: include: base; A first driving assembly, provided on the base, comprising a first belt-shaped structure; a second driving assembly disposed on the base, comprising a second belt-shaped structure, wherein the first belt-shaped structure and the second belt-shaped structure are arranged in parallel to clamp the long straight interventional consumable therebetween and thereby drive the long straight interventional consumable to move; A power assembly includes a first output gear and a second output gear capable of realizing power transmission, wherein the first output gear drives the first belt structure to move in translation, and the second output gear drives the second belt structure to move in translation.
2. The slave end driving device according to claim 1, characterized in that: The first drive assembly includes a first main drive wheel, and the first output gear is connected to the first main drive wheel shaft; The second drive assembly includes a second main drive wheel, and the second output gear is connected to the second main drive wheel shaft.
3. The slave end driving device according to claim 2, characterized in that: The first belt structure is a toothed belt, and the first main driving wheel is a driving gear; and / or, The second belt structure is a toothed belt, and the second main driving wheel is a driving gear.
4. The slave end driving device according to claim 3, characterized in that: The first belt-like structure is an endless belt, and the first driving assembly further includes a first driven wheel, wherein the first main driving wheel and the first driven wheel tension the first belt-like structure to form a first working surface facing the second belt-like structure; The second belt-like structure is a circulating belt, and the second drive assembly also includes a second driven wheel. The second main drive wheel and the second driven wheel tension the second belt-like structure to form a second working surface facing the first belt-like structure, and the long straight interventional consumable is clamped between the first working surface and the second working surface.
5. The slave end driving device according to claim 4, characterized in that: The first output gear and the second output gear have the same shape and size; and / or, The first main driving wheel and the first driven wheel have the same shape and size; and / or, The second main driving wheel and the second driven wheel have the same shape and size.
6. The slave end driving device according to claim 3, characterized in that: The first belt-shaped structure and / or the second belt-shaped structure are made of elastic material, and / or, The first belt-like structure and / or the second belt-like structure are provided with a surrounding layer of elastic material.
7. The slave end driving device according to any one of claims 1 to 6, characterized in that: The base includes a shell, and the power assembly includes a first transmission shaft, a second transmission shaft and an input gear. The first transmission shaft passes through the shell, and the first output gear and the input gear are respectively arranged on two sides opposite to the shell and fixedly connected to the first transmission shaft. The second transmission shaft passes through the shell, and the second output gear is fixedly connected to the second transmission shaft, and the first output gear and the second output gear are meshed.
8. The slave end driving device according to any one of claims 1 to 6, characterized in that: The slave-end driving device is provided with a first limiting plate group, and the first limiting plate group includes a first limiting plate and a second limiting plate arranged along the width direction of the first belt-shaped structure.
9. A sterile consumables box, characterized in that: It comprises the slave-end driving device according to any one of claims 1 to 8.
10. A vascular interventional surgery robot, characterized in that: Including the sterile consumables box as described in claim 9.