Slave end driving device, sterile consumable box and vascular intervention surgical robot
By adopting a belt-like translation clamping method in the vascular interventional surgical robot, the problems of poor adaptability and insufficient clamping force of long straight interventional consumables are solved, and efficient and stable consumable delivery and cost-reducing effects are achieved.
Patent Information
- Application Number
- CN202422058238.1
- 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
Due to the wide variety of long direct interventional consumables in existing vascular interventional surgery robots, the clamping method cannot be adapted to different needs, the equipment cost and time cost are high, and the clamping force is insufficient, which is prone to slippage, affecting the driving effect.
Using the first strip structure and the second strip structure, the clamping of the long straight intervention consumables is achieved through translation, increasing the contact area, and using wrapping surface contact instead of point contact, adapting to the long straight intervention consumables of different sizes, and controlling the driving speed to adapt to the driving force and mode of different consumables.
It improves the reliability and adaptability of clamping force, reduces the cost of equipment procurement and replacement, ensures the stability and accuracy of long-direct intervention consumables during delivery, and avoids wear and slippage.
Smart Images
Figure CN223196152U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of medical device technology, and in particular 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, there are many types of long straight interventional consumables, including but not limited to: catheters, guidewires, balloons, stents, etc., and the movement of long straight interventional consumables is usually controlled by clamping them for advancement. For example, rollers made of hard materials (such as PC, POM) are used to clamp guidewires or microcatheters for advancement. Due to the different sizes and materials of long straight interventional consumables, the driving forces applied by the corresponding clamping rollers are different. Therefore, they cannot adapt to different needs and require different driving devices for corresponding adaptation. The adaptability is poor, and the equipment cost and time cost are greatly increased. In addition, the rollers and the long straight interventional consumables are almost in point contact, and the contact area is small, which seriously affects the size of the clamping force. In particular, when liquid adheres to the surface of the long straight interventional consumables, resulting in a reduced friction coefficient, slippage is likely to occur, thereby affecting its driving effect.
[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 provide driving force and driving mode adapted to different long straight interventional consumables, so as to enable a single slave-end drive device to adapt to different long straight interventional consumables, thereby reducing the equipment procurement cost and the time cost of equipment replacement.
[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 is provided on the base, comprising a first driving structure and a first belt-shaped structure, wherein the first driving structure drives the first belt-shaped structure to move in translation;
[0009] The second driving assembly is provided on the base and includes a second driving structure and a second belt structure. The second driving structure drives the second belt structure to move horizontally. The first belt structure is arranged facing the second belt structure to clamp the long straight interventional consumable therebetween and thereby drive the long straight interventional consumable to move.
[0010] In an exemplary embodiment of the present application, when the slave-end driving device is in use, the first belt-like structure and the second belt-like structure move in the progressive direction at the same moving speed.
[0011] In an exemplary embodiment of the present application, the first belt-like structure is an endless belt, and the first driving structure includes a first main driving wheel and 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;
[0012] The second belt-like structure is an endless belt, and the second driving structure includes a second main driving wheel and 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.
[0013] In an exemplary embodiment of the present application, a pressing structure is provided between the first main driving wheel and the first driven wheel to apply a force to the first working surface to approach the second working surface; and / or,
[0014] A pressing structure is provided between the second main driving wheel and the second driven wheel to apply a force to the second working surface to approach the first working surface.
[0015] In an exemplary embodiment of the present application, a clamping structure is provided between the second main drive wheel and the second driven wheel, and at least one of the first main drive wheel, the first driven wheel, the second main drive wheel, the clamping structure and the second driven wheel is protruded to cause bending deformation of the first working surface and the second working surface, and the force application direction of the first main drive wheel is located between the second main drive wheel and the clamping structure, and the force application direction of the first driven wheel is located between the clamping structure and the second main drive wheel.
[0016] In an exemplary embodiment of the present application, the first working surface and the second working surface are equal in length, and along a direction perpendicular to the first working surface, the projection of the second working surface coincides with the first working surface.
[0017] 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,
[0018] The first belt-like structure and / or the second belt-like structure are provided with a surrounding layer of elastic material.
[0019] 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.
[0020] 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.
[0021] According to one aspect of the present application, a vascular interventional surgical robot is provided, comprising the above-mentioned sterile consumables box.
[0022] The slave-end driving device of the present application forms a clamp for the long straight interventional consumable through the cooperation of the first belt structure and the second belt structure, and then realizes the delivery of the long straight interventional consumable through the translation of the two, and uses the wrapped surface contact to replace the existing point contact. This arrangement increases the contact area between the long straight interventional consumable and the belt structure, ensuring effective driving force, and thus effectively ensuring a reliable driving effect; at the same time, the arrangement of the first belt structure facing the second belt structure can clamp long straight interventional consumables of different sizes, so it can be applicable to a variety of long straight interventional consumables, with strong controllability. The driving force and driving mode of different long straight interventional consumables can be adapted by controlling the driving speed of the first belt structure and the second belt structure. There is no need to purchase multiple driving devices to adapt to a variety of long straight interventional consumables, thereby saving equipment costs and meeting the efficiency requirements of replacing long straight interventional consumables during use.
[0023] 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
[0024] 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.
[0025] Figure 1 A schematic cross-sectional view of a slave-end driving device of a vascular interventional surgery robot in the first embodiment of the present application from a rear perspective is shown;
[0026] Figure 2 Shown Figure 1 A schematic cross-sectional view of the end drive device from a side perspective;
[0027] Figure 3 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;
[0028] Figure 4 Shown Figure 1 Schematic diagram of the three-dimensional structure of the slave end driving device;
[0029] Figure 5 Shown Figure 1 A schematic diagram of the main view of the slave end drive device;
[0030] Figure 6 Shown Figure 1 A schematic diagram of the three-dimensional structure of the end drive device from another angle;
[0031] Figure 7 A schematic diagram showing 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 in the second embodiment of the present application is shown;
[0032] Figure 8 Shown Figure 7 A schematic structural diagram of the slave end driving device when the pressing structure pushes the second belt-shaped structure to deform;
[0033] Figure 9 A schematic diagram showing the principle of cooperation between the first drive assembly and the second drive assembly of the slave end drive device in Example 3 of the present application and the long straight interventional consumable is shown.
[0034] The above drawings contain the following reference numerals:
[0035] 10. Base; 11. Housing; 12. Long straight access channel for interventional consumables;
[0036] 20. First drive assembly; 21. First drive structure; 211. First main drive wheel; 212. First driven wheel; 22. First belt structure;
[0037] 30. Second drive assembly; 31. Second drive structure; 311. Second main drive wheel; 312. Second driven wheel; 32. Second belt structure;
[0038] 40. First limit plate assembly; 41. First limit plate; 42. Second limit plate; 43. Bottom limit plate;
[0039] 50. Tightening structure;
[0040] 60. Power assembly; 61. First output gear; 62. Second output gear; 63. Input gear; 64. First transmission shaft; 65. Second transmission shaft; 100. Long straight interventional consumables. DETAILED DESCRIPTION
[0041] 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.
[0042] 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.
[0043] 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.
[0044] Example 1:
[0045] like Figures 1 to 6As shown, in the first aspect, embodiment 1 of the present application provides a slave-end drive device of a vascular interventional surgical robot, including: a base 10, a first drive component 20 and a second drive component 30. The first drive component 20 is arranged on the base 10, including a first drive structure 21 and a first belt structure 22, and the first drive structure 21 drives the first belt structure 22 to move horizontally; the second drive component 30 is arranged on the base 10, including a second drive structure 31 and a second belt structure 32, and the second drive structure 31 drives the second belt structure 32 to move horizontally, and the first belt structure 22 is arranged facing the second belt structure 32, and the first belt structure 22 and the second belt structure 32 are transitionally matched.
[0046] The slave end driving device forms a clamp for the long straight interventional consumable 100 through the cooperation of the first belt structure 22 and the second belt structure 32, and then realizes the delivery of the long straight interventional consumable 100 through the translation of the two, and uses the wrapped surface contact to replace the existing point contact. This arrangement increases the contact area between the long straight interventional consumable 100 and the belt structure, ensuring effective driving force, and thus effectively ensuring a reliable driving effect; at the same time, the arrangement of the first belt structure 22 facing the second belt structure 32 can clamp long straight interventional consumables 100 of different sizes, so it can be applicable to a variety of different types of long straight interventional consumables 100, with strong controllability. By controlling the driving speed of the first belt structure 22 and the second belt structure 32, the driving force and driving mode of different long straight interventional consumables 100 can be adapted. There is no need to purchase multiple driving devices to adapt to a variety of long straight interventional consumables, thereby saving equipment costs and meeting the efficiency requirements of replacing long straight interventional consumables during use.
[0047] The long straight interventional consumables 100 may specifically include but are not limited to: micro guidewires, loach guidewires, microcatheters, intermediate catheters, guidewires, balloons, stents, and the like.
[0048] It should be noted that, compared with the traditional roller method, the arrangement of the first belt structure 22 and the second belt structure 32 increases the contact area between the long straight interventional consumable and the driving device when delivering the long straight interventional consumable, thereby effectively increasing the friction between the long straight interventional consumable 100 and the first belt structure 22 and the second belt structure 32, and the long straight interventional consumable 100 can be better driven to advance. At the same time, the increase in contact area increases the force between the long straight interventional consumable and the first belt structure 22 and the second belt structure 32, but the force per unit area becomes smaller, thereby reducing the possibility of the clamping force causing damage to the long straight interventional consumable 100, and thus the state of the long straight interventional consumable before entering the patient's body will be more stable and reliable.
[0049] In some optional embodiments, the fit between the first band structure 22 and the second band structure 32 is a transition fit, which means that the distance between the two can be set with a gap, the gap is smaller than the diameter of the long straight interventional consumable 100, or the two are in contact with each other or even press against each other, that is, the first band structure 22 and the second band structure 32 will both apply pressure to the long straight interventional consumable 100, so that during the delivery process, the long straight interventional consumable 100 will not slide relative to the first band structure 22 or the second band structure 32, thereby maintaining the accuracy of the delivery process and having stronger controllable performance.
[0050] In some optional embodiments, the first drive structure 21 can be a structure that can achieve translational motion, such as a worm gear, a gear rack, etc., and the delivery can be satisfied by setting the first belt structure 22 in the direction of its displacement. The setting of the second drive structure 31 is the same as that of the first drive structure 21, and no special restrictions are made here.
[0051] In the technical solution of Example 1, when the slave end drive device is in use, the first belt structure 22 and the second belt structure 32 move at the same moving speed in the progressive direction. This arrangement ensures that the first belt structure 22 and the second belt structure 32 remain relatively stationary with the long straight interventional consumable 100 during the delivery process, that is, the first belt structure 22 and the second belt structure 32 do not generate sliding friction with the long straight interventional consumable 100, and both are static friction. This can effectively ensure the surface integrity of the long straight interventional consumable 100 without causing damage. At the same time, the first belt structure 22 and the second belt structure 32 both drive the long straight interventional consumable 100 in the form of friction. The comprehensive force direction of the long straight interventional consumable 100 is consistent, with a superimposed effect, thereby meeting the driving force requirements and better meeting the requirements of interventional surgery.
[0052] It should be noted that the first belt-like structure 22 and the second belt-like structure 32 move in the progressive direction at the same moving rate, so that the relative position between the two is maintained stable. Even if the two are in a state of mutual pressure, no friction will be generated, that is, neither sliding friction nor static friction will be generated. Therefore, no wear will occur between the two, which can effectively improve the service life of the first belt-like structure 22 and the second belt-like structure 32.
[0053] like Figure 1 and Figure 3As shown, in the technical solution of embodiment one, the first belt structure 22 is a circulating belt, the first driving structure 21 includes a first main driving wheel 211 and a first driven wheel 212, the first main driving wheel 211 and the first driven wheel 212 tension the first belt structure 22 to form a first working surface facing the second belt structure 32; the second belt structure 32 is a circulating belt, the second driving structure 31 includes a second main driving wheel 311 and a second driven wheel 312, the second main driving wheel 311 and the second driven wheel 312 tension the second belt structure 32 to form a second working surface facing the first belt structure 22.
[0054] The setting of the circulating belt enables the first belt structure 22 and the second belt structure 32 to rotate continuously in a cycle, and the delivery process is not limited by the length of the belt structure. The first working surface and the second working surface are used to contact the surface of the long straight interventional consumable 100. The first belt structure 22 is stretched by the first main drive wheel 211 and the first driven wheel 212, and the second belt structure 32 is stretched by the second main drive wheel 311 and the second driven wheel 312. This setting allows the first working surface and the second working surface to have a longer span, thereby increasing the area of contact with the surface of the long straight interventional consumable 100, thereby increasing the driving force and progressive effect. It should be noted that the first working surface is the side of the first belt structure 22 facing the second belt structure 32 in the working state. The first main drive wheel 211 drives the entire surface of the first belt structure 22 to circulate. The principle of the second working surface is the same as that of the first working surface.
[0055] In some optional embodiments, both the first working surface and the second working surface are provided with a pattern structure, which is used to increase the friction between the first working surface and the second working surface and the long straight interventional consumable 100, thereby improving the driving force and driving effect.
[0056] The pattern structure can specifically be a stripe pattern or a combination of stripe patterns, which can be protruding or recessed along the working surface. The protruding or recessed cross-sectional size is smaller than half of the minimum diameter of the long straight interventional consumable 100. This can increase the driving effect without affecting the direction of the long straight interventional consumable 100 during the advancement process.
[0057] Furthermore, the technical solution of embodiment 1 does not limit the sizes of the first main driving wheel 211 and the first driven wheel 212 to be equal, and the sizes of the second main driving wheel 311 and the second driven wheel 312 to be equal, as long as both can satisfy that the first working surface and the second working surface remain relatively parallel in the working state.
[0058] In an optional embodiment, the first main drive wheel 211 and the first driven wheel 212 are of equal size, and the second main drive wheel 311 and the second driven wheel 312 are of equal size, and the axes of the first main drive wheel 211 and the first driven wheel 212 are located in the same plane, and the axes of the second main drive wheel 311 and the second driven wheel 312 are located in the same plane, and both planes are parallel to the horizontal plane. Such a setting makes the spatial position accuracy easier to control.
[0059] In some optional embodiments, the first belt structure 22 and the second belt structure 32 are both toothed belts, and the first main drive wheel 211, the first driven wheel 212, the second main drive wheel 311 and the second driven wheel 312 are all adapted toothed wheels. The moving speed of the first belt structure 22 and the second belt structure 32 arranged in this way can be better controlled, the control accuracy is higher, and the progressive process of the long straight interventional consumable 100 is more precise and reliable.
[0060] like Figure 1 and Figure 3 As shown, in the technical solution of embodiment 1, the first main driving wheel 211 and the second main driving wheel 311 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 212 and the second driven wheel 312 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 22 and the second belt-like structure 32 located between the first main driving wheel 211 and the second main driving wheel 311, or between the first driven wheel 212 and the second driven wheel 312 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.
[0061] Further, if Figure 1 and Figure 3 As shown, in the technical solution of Example 1, the first and second working surfaces are of equal length, and the projection of the second working surface coincides with the first working surface in a direction perpendicular to the first working surface. This arrangement allows the first and second working surfaces to coincide, allowing both working surfaces to simultaneously drive the long straight interventional consumable 100 for advancement. This arrangement achieves a better advancement effect, with even and superimposed force applied to the opposing sides of the long straight interventional consumable 100, ensuring advancement accuracy without damaging the surface.
[0062] In the technical solution of embodiment 1 (not shown in the figures), the first belt-like structure 22 and / or the second belt-like structure 32 are made of elastic material, and / or the first belt-like structure 22 and / or the second belt-like structure 32 are provided with a surrounding elastic material layer.
[0063] Such a setting enables the first strip structure 22 and / or the second strip structure 32 to have a certain elastic deformation ability along the direction of their extrusion. On the one hand, through elastic deformation, the deformation generated by the strip structure contacts the surface of the long straight interventional consumable 100, changing the contact area of the strip structure. At the same time, the contact area will produce a tendency of retraction deformation, and then generate a retraction static friction force, so that the bonding degree between the strip structure and the long straight interventional consumable 100 is higher, further avoiding the occurrence of relative sliding, and being able to ensure the progressive precision requirements.
[0064] It should be noted that the retraction static friction forces generated by the first and second band structures 22, 32 are both perpendicular to the surface of the long straight interventional consumable 100 and in opposite directions, thus maintaining overall force equilibrium within the long straight interventional consumable 100. The use of elastic materials can meet the requirements of medical devices, exhibiting good flexibility, a high elastic modulus, wear resistance, and aging resistance. They are not susceptible to wear and aging during use, thus meeting the lifespan requirements of medical devices.
[0065] Furthermore, in the technical solution of embodiment 1, the elastic material is one or more of rubber, silicone, and plastic. The above materials have good biocompatibility, can meet the needs of interventional surgery, and can meet the driving force requirements of different long straight interventional consumables 100 in both dry and wet environments.
[0066] In an optional embodiment, the elastic material is selected as silicone material, which has the advantages of high temperature resistance, high softness, good environmental protection, and strong anti-aging properties. It is also corrosion-resistant, non-toxic and odorless and will not cause any harm to the human body. It is suitable for complex medical surgical environments.
[0067] The elastic material may also be rubber, specifically natural rubber. Natural rubber has good elasticity and strength, strong self-reinforcement, and excellent flex fatigue resistance. Generally, cracks will appear after 200,000 flexions, thus meeting the strength requirements.
[0068] like Figures 1 to 6As shown, in the technical solution of Example 1, the slave-end drive device includes a power assembly 60, which includes a meshed first output gear 61 and a second output gear 62. The first output gear 61 is connected to the shaft of the first main drive wheel 211, and the second output gear 62 is connected to the shaft of the second main drive wheel 311. The mutually meshed first output gear 61 and second output gear 62 can drive the first main drive wheel 211 and the second main drive wheel 311 to achieve synchronous counter-rotation, thereby achieving the same movement direction of the first belt structure 22 and the second belt structure 32. The meshing of the gears can also meet the control requirements for precision, so that the rotation speed can be controlled. When the rotation rate is determined, the movement speed of the first belt structure 22 and the second belt structure 32 is determined, thereby ensuring the accuracy of the progressive advancement of the long straight interventional consumable 100.
[0069] Further, if Figures 1 to 6 As shown, in the technical solution of Example 1, the first output gear 61 and the second output gear 62 have the same shape and size, the first main drive wheel 211 and the first driven wheel 212 have the same shape and size, and the second main drive wheel 311 and the second driven wheel 312 have the same shape and size. This arrangement ensures that the rotation frequencies of the first main drive wheel 211 and the second main drive wheel 311 are equal, and thus the movement speeds of the first belt structure 22 and the second belt structure 32 are equal. Therefore, when the slave end drive device is in use, the first belt structure 22 and the second belt structure 32 move in the progressive direction at the same moving speed, reducing the friction factor between the first belt structure 22 and the second belt structure 32 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 and can meet the driving force requirements.
[0070] like Figures 1 to 6 As shown, in the technical solution of embodiment 1, the base 10 includes a shell 11, the power assembly 60 includes a first transmission shaft 64, a second transmission shaft 65 and an input gear 63, the first transmission shaft 64 passes through the shell 11, the first output gear 61 and the input gear 63 are respectively arranged on two sides opposite to the shell 11, and are fixedly connected to the first transmission shaft 64, the second transmission shaft 65 passes through the shell 11, and the second output gear 62 is fixedly connected to the second transmission shaft 65.
[0071] The first output gear 61 and input gear 63 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 63 generates driving torque on the first transmission shaft 64, while the first output gear 61 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 64. This reduces the risk of damage and increases the overall service life.
[0072] The end of the second transmission shaft 65 close to the second output gear 62 extends outward compared to the first transmission shaft 64. 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.
[0073] Example 2:
[0074] like Figure 7 As shown, compared with the first embodiment, the technical solution of the second embodiment is different in that: a tightening structure 50 is provided between the first main driving wheel 211 and the first driven wheel 212 to apply a force to the first working surface close to the second working surface; and / or, a tightening structure 50 is provided between the second main driving wheel 311 and the second driven wheel 312 to apply a force to the second working surface close to the first working surface.
[0075] In a specific embodiment, the abutting structure 50 applies a force to the first working surface that approaches the second working surface. This force is only used to straighten the first working surface and does not cause the first working surface to directly press against the long straight interventional consumable 100, thereby causing the first working surface to move toward the other working surface. This allows the long straight interventional consumable 100 located between the first and second working surfaces to be better squeezed, thereby increasing friction, increasing the clamping force on the long straight interventional consumable, and improving the clamping effect. The principle of the abutting structure 50 applying a force to the second working surface that approaches the first working surface is the same as in the above embodiment and will not be repeated here.
[0076] like Figure 8 As shown, in another specific embodiment, the clamping structure 50 is arranged between the second main driving wheel 311 and the second driven wheel 312, and the second driving assembly 30 is located below. The clamping structure 50 forms a vertical upward pressing force, causing the second belt structure 32 to bulge upward and deform, and the first belt structure 22 to shrink upward and deform. The clamped long straight interventional consumable 100 is partially pressed and presents a slight "S" shape, so that a certain misalignment is formed between the front and rear ends of the deformation and the two belt structures. The misaligned position can be subjected to the tangential thrust generated when the clamping structure 50 rotates, thereby increasing the driving force on the long straight interventional consumable 100 and making it better progressive.
[0077] It should be noted that the setting of the tightening structure 50 can effectively increase the span between the first main drive wheel 211 and the first driven wheel 212, or increase the span between the second main drive wheel 311 and the second driven wheel 312, thereby increasing the effective length of the first working surface and the second working surface, thereby increasing the comprehensive friction force generated by the first belt structure 22 and the second belt structure 32.
[0078] like Figure 7As shown, in the technical solution of Example 2, the first belt structure 22 and / or the second belt structure 32 are toothed belts, and the abutment structure 50 is a rotatable toothed wheel. The adaptation of the abutment structure 50 to the first belt structure 22 and / or the second belt structure 32 increases the stability and precision of the belt structure's operation, making the advancement of the long straight interventional consumable 100 more precise and reliable.
[0079] Example 3:
[0080] like Figure 9 As shown, in the technical solution of embodiment three, a tightening structure 50 is arranged between the second main drive wheel 311 and the second driven wheel 312, and at least one of the first main drive wheel 211, the first driven wheel 212, the second main drive wheel 311, the tightening structure 50 and the second driven wheel 312 is protruded to cause the first working surface and the second working surface to produce bending deformation, the force direction of the first main drive wheel 211 is located between the second main drive wheel 311 and the tightening structure 50, and the force direction of the first driven wheel 212 is located between the tightening structure 50 and the second main drive wheel 311.
[0081] The protruding setting refers to one or more of the first main driving wheel 211, the first driven wheel 212, the second main driving wheel 311, the tightening structure 50 and the second driven wheel 312, which push in the direction close to the first working surface or the second working surface, so that the pushed object protrudes from the originally straight working surface, so that the working surface is forced to bend. Such a setting enables multiple positions of the long straight interventional consumable 100 to be continuously squeezed and deformed, and the force directions are staggered to form a more obvious "S"-shaped deformation. The degree of deformation is greater, and without affecting the surgical effect, it is subjected to greater driving force and can be better advanced.
[0082] Compared with the technical solutions of Examples 1 and 2, the above-mentioned setting makes the length of the first working surface smaller than the length of the second working surface. However, since the driving force can be increased after the deformation position is increased, there is no need to consider the situation where the friction force and contact area between the two working surfaces and the long straight interventional consumable 100 are not equal.
[0083] In an optional embodiment, the first main drive wheel 211 can be respectively abutted against the second main drive wheel 311 and the clamping structure 50, and the first driven wheel 212 can be respectively abutted against the clamping structure 50 and the second main drive wheel 311. Such a structure is more compact, and the direction of force is better controlled. The contact force generated during rotation can simultaneously act on the belt structure and be transmitted to the long straight interventional consumable 100. That is, the long straight interventional consumable 100 is subjected to the vertical pressure action while being clamped at 5 positions, and the driving force is better and the progressive effect is better.
[0084] Example 4:
[0085] The technical solution of the fourth embodiment is based on the first embodiment or the second embodiment. For example, based on the first embodiment, please refer to Figure 2 、 Figures 4 to 6 The slave end driving device is provided with a first limiting plate group 40 , and the first limiting plate group 40 includes a first limiting plate 41 and a second limiting plate 42 arranged along the width direction of the first belt structure 22 .
[0086] The first limiting plate 41 and the second limiting plate 42 are used to form a widthwise limit for the first strip structure 22 to prevent the first strip structure 22 from being displaced along its widthwise direction, which would cause a change in the horizontal position of the long straight interventional consumable 100 during advancement and affect the advancement direction accuracy.
[0087] Furthermore, the first limiting plate 41 and the second limiting plate 42 are fixedly connected together by a transverse plate to form an installation space, so that the first strip structure 22 is located in the installation space. Such a setting can meet the installation requirements of the first limiting plate 41 and the second limiting plate 42.
[0088] In the technical solution of embodiment three, a plurality of bottom limit plates 43 are provided at the lower position of the outer shell 11 of the base 10. The bottom limit plates 43 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 32, so as to constrain the second belt structure 32 from large axial deviation during rotation.
[0089] 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 22 and the second belt structure 32 through the long straight interventional consumable channel 12, and then the first belt structure 22 and the second belt structure 32 are driven to rotate to complete the replacement of the long straight interventional consumable. The operation is convenient and the replacement efficiency is high.
[0090] Embodiment 5:
[0091] The technical solution of embodiment 5 provides a sterile consumables box, comprising the slave drive device of any one of embodiments 1 to 4. The structure and beneficial effects of the slave drive device are not described in detail here.
[0092] Example 6:
[0093] The technical solution of Example 6 provides a vascular interventional surgical robot, including the sterile consumables box in Example 5. The structure and beneficial effects of the slave end drive device included in the sterile consumables box can be found in the above embodiments and will not be repeated here.
[0094] 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 is provided on the base, comprising a first driving structure and a first belt-shaped structure, wherein the first driving structure drives the first belt-shaped structure to move in translation; The second driving assembly is provided on the base, and includes a second driving structure and a second belt structure. The second driving structure drives the second belt structure to move in translation. The first belt-shaped structure is arranged facing the second belt-shaped structure to clamp the long straight interventional consumable therebetween and thereby drive the long straight interventional consumable to move.
2. The slave end driving device according to claim 1, characterized in that: When the slave-end driving device is in use, the first belt-shaped structure and the second belt-shaped structure move along the progressive direction at the same moving speed.
3. The slave-end driving device according to claim 1, characterized in that: The first belt-like structure is an endless belt, and the first driving structure includes a first main driving wheel and 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 an endless belt, and the second driving structure includes a second main driving wheel and 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.
4. The slave end driving device according to claim 3, characterized in that: A pressing structure is provided between the first main driving wheel and the first driven wheel to apply a force to the first working surface to approach the second working surface and / or, A pressing structure is provided between the second main driving wheel and the second driven wheel to apply a force to the second working surface to approach the first working surface.
5. The slave end driving device according to claim 4, characterized in that: A tightening structure is provided between the second main drive wheel and the second driven wheel, and at least one of the first main drive wheel, the first driven wheel, the second main drive wheel, the tightening structure and the second driven wheel is protruded to cause bending deformation of the first working surface and the second working surface, and the force direction of the first main drive wheel is located between the second main drive wheel and the tightening structure, and the force direction of the first driven wheel is located between the tightening structure and the second main drive wheel.
6. The slave end driving device according to claim 3, characterized in that: The first working surface and the second working surface have the same length, and along a direction perpendicular to the first working surface, a projection of the second working surface coincides with the first working surface.
7. 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.
8. The slave end driving device according to any one of claims 1 to 7, 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.