Slave end driving device, sterile consumable box and vascular intervention surgical robot

Abstract

The utility model relates to a slave end driving device, a sterile consumable box and a vascular intervention surgical robot, and relates to the technical field of medical equipment. The slave end driving device comprises a base and a plurality of driving assemblies which are sequentially arranged on the base in the delivery direction of the long and straight intervention consumables. Due to the arrangement of the multiple driving assemblies, on one hand, the contact area between the long and straight intervention consumables and the driving assemblies is increased, slipping during delivery is avoided, on the other hand, the multiple driving assemblies can superpose driving force, the delivery precision of the long and straight intervention consumables is guaranteed, and the operation effect is improved.

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, 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. Since the surface precision of the long straight interventional consumables is high and relatively smooth, the friction coefficient between the long straight interventional consumables and the drive structure is low. During the delivery process, the traditional drive structure will cause serious slippage during the advancement of the guidewire due to multiple factors such as the low surface friction coefficient and the small contact area between the drive structure and the medium surface, resulting in poor controllability of the medium advancement accuracy. During the operation, the user needs to concentrate for a long time, affecting the surgical 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 increases the contact area of ​​the drive device with the long straight interventional consumables, avoids slipping during delivery, ensures the accuracy of the delivery of long straight interventional consumables, and improves the surgical effect.

[0006] According to one aspect of the present application, a slave-end drive device of a vascular interventional surgical robot is provided, comprising: a base and a plurality of drive components sequentially arranged on the base along the delivery direction of a long straight interventional consumable.

[0007] In an exemplary embodiment of the present application, the distances between adjacent driving components are equal, and at least one group of driving components includes a first belt-like structure and a second belt-like structure that are relatively arranged, and the first belt-like structure and the second belt-like structure are respectively in contact with the long straight interventional consumable, thereby driving the long straight interventional consumable to move.

[0008] In an exemplary embodiment of the present application, the first belt-shaped structure and the second belt-shaped structure are arranged in parallel, and the projection of the second belt-shaped structure along a direction perpendicular to the first belt-shaped structure at least partially overlaps with the first belt-shaped structure.

[0009] In an exemplary embodiment of the present application, the second band-shaped structure is located within the first band-shaped structure along a projection perpendicular to the first band-shaped structure.

[0010] In an exemplary embodiment of the present application, the first strip-shaped structure abuts against the long straight interventional consumable along a direction close to the second strip-shaped structure; and / or,

[0011] The second strip-shaped structure abuts against the long straight interventional consumable along a direction approaching the first strip-shaped structure.

[0012] In an exemplary embodiment of the present application, a contact position between a side of the first strip-shaped structure facing the second strip-shaped structure and the long straight interventional consumable along its length direction is different from a contact position between a side of the second strip-shaped structure facing the first strip-shaped structure and the long straight interventional consumable along its length direction.

[0013] In an exemplary embodiment of the present application, the slave-end drive device includes a power assembly, which includes multiple sets of meshing first output gears and second output gears, each of the first output gears drives each of the first belt structures to move linearly, and each of the second output gears drives each of the second belt structures to move linearly.

[0014] 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,

[0015] An elastic material layer is disposed around the surface of the first belt-shaped structure, and an elastic material layer is disposed around the surface of the second belt-shaped structure.

[0016] 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.

[0017] According to one aspect of the present application, a vascular interventional surgical robot is provided, comprising the above-mentioned sterile consumables box.

[0018] The present application discloses a slave-end drive device, a sterile consumables box, and a vascular interventional surgical robot. The slave-end drive device comprises a base and multiple drive assemblies arranged sequentially on the base along the delivery direction of the long straight interventional consumable. The provision of multiple drive assemblies not only increases the contact area between the long straight interventional consumable and the drive assembly, preventing slippage during delivery, but also allows for the combined driving force to ensure the accuracy of the delivery of the long straight interventional consumable and improve the surgical outcome.

[0019] 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

[0020] 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.

[0021] Figure 1 A schematic diagram of the three-dimensional structure of a slave-end driving device of a vascular interventional surgery robot provided in Example 1 of the present application;

[0022] Figure 2 Shown Figure 1 A schematic cross-sectional view of the slave end drive device in the main viewing direction;

[0023] Figure 3 Shown Figure 1 A schematic diagram of the three-dimensional structure of the slave end drive device after the base, the first limit plate and the drive assembly are matched;

[0024] Figure 4 Shown Figure 1 Schematic diagram of the three-dimensional structure of the base, bottom limit plate and drive assembly of the slave end drive device;

[0025] Figure 5 Shown Figure 1 A schematic diagram showing the principle of cooperation between the first drive assembly and the second drive assembly of the slave end drive device;

[0026] Figure 6 A schematic diagram showing the principle of cooperation between a first drive component and a second drive component of a slave-end drive device of a vascular interventional surgery robot provided in Example 2 of the present application is shown.

[0027] The above drawings contain the following reference numerals:

[0028] 10. Base; 11. Consumables inlet; 12. Housing; 100. Long straight interventional consumables;

[0029] 20. Drive assembly; 21. First belt-shaped structure; 22. Second belt-shaped structure;

[0030] 30. Transmission assembly; 31. First main driving wheel; 32. First driven wheel;

[0031] 33. Second main driving wheel; 34. Second driven wheel;

[0032] 40. Power assembly; 41. First output gear; 42. Second output gear; 43. First transmission shaft; 44. Second transmission shaft; 45. Input gear;

[0033] 50. First limit plate group; 51. First limit plate; 52. Second limit plate; 53. Bottom limit plate. DETAILED DESCRIPTION

[0034] 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.

[0035] 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.

[0036] 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.

[0037] Example 1:

[0038] like Figure 1 and Figure 2 As shown, in the first aspect, the technical solution of the first embodiment of the present application provides a slave-end drive device of a vascular interventional surgical robot, comprising: a base 10 and a plurality of drive components 20 arranged in sequence on the base 10 along the delivery direction of a long straight interventional consumable 100.

[0039] On the one hand, the provision of multiple drive assemblies 20 increases the contact area between the long straight interventional consumable 100 and the drive assembly 20, avoiding slipping during delivery. On the other hand, multiple drive assemblies 20 can superimpose the driving force to ensure the accuracy of the delivery of the long straight interventional consumable and improve the surgical effect.

[0040] It should be noted that the specific structures of multiple drive assemblies 20 can be the same or different. Depending on the shape and delivery requirements of the long straight interventional consumable 100 during advancement, the drive assemblies 20 can be combined to precisely control the driving force and driving angle during advancement. The drive assembly 20 can optionally include multiple sets of rollers arranged in opposite directions, or multiple sets of synchronous belts arranged in opposite directions, or a combination of multiple sets of rollers and synchronous belts arranged in opposite directions. The base 10 is provided with a consumable inlet 11 for the long straight interventional consumable 100 to extend into, and the consumable inlet is opposite to the consumable channel formed by the drive assembly 20.

[0041] like Figure 1 and Figure 2As shown, in the technical solution of embodiment one, the distances between adjacent driving components 20 are equal, and at least one group of driving components 20 includes a first belt-like structure 21 and a second belt-like structure 22 that are relatively arranged. The first belt-like structure 21 and the second belt-like structure 22 are in contact with the long straight interventional consumable 100 respectively, and thereby drive the long straight interventional consumable 100 to move.

[0042] The first strip structure 21 and the second strip structure 22 are strip-shaped and have a contact surface of a certain width, so that the contact position of the slender long straight interventional consumable 100 (usually with a circular cross-section) is a combination of line and surface. In the case of inevitable deformation, the contact surface of the strip structure can fit part of the surface of the long straight interventional consumable 100, thereby increasing the contact area in both the circumferential direction and the length direction of the end drive device.

[0043] On this basis, by increasing the number of the first belt structure 21 and the second belt structure 22, a longer distance of contact with the long straight interventional consumable 100 is achieved, and the contact area between the slave end drive device and the long straight interventional consumable 100 is further increased, which can ensure the application of driving force, while increasing friction, reducing the possibility of slipping, and ensuring the accuracy of the long straight interventional consumable when advancing.

[0044] In the technical solution of the first embodiment (not shown in the figures), when the slave end driving device is used, each first belt-shaped structure 21 and each second belt-shaped structure 22 moves in the progressive direction at the same moving speed.

[0045] The first strip structure 21 and the second strip structure 22 move at the same moving rate along the progressive direction, realizing the synchronization of the structures applying the force, and thus the forces acting on the long straight interventional consumable 100 in contact therewith are synchronized and equal, which does not lead to relative forces due to different speeds, thereby protecting the long straight interventional consumable 100. It not only realizes the synchronization of the drive and improves the accuracy, but also helps the long straight interventional consumable 100 not to undergo large deformation during the progressive process, thereby affecting the smoothness of the operation.

[0046] In addition, the synchronous driving also maintains the friction between the first belt structure 21 and the second belt structure 22 and the long straight interventional consumable 100 as static friction, that is, the progressive distance of the first belt structure 21 and the second belt structure 22 is the delivery distance of the long straight interventional consumable 100, which can accurately control the delivery accuracy of the long straight interventional consumable 100 and meet the accuracy requirements for guidewire delivery during surgery.

[0047] The friction between the first belt structure 21 and the second belt structure 22 and the long straight interventional consumable 100 is maintained as static friction, which can avoid sliding friction between the long straight interventional consumable 100 and the belt structure, effectively protecting the surface of the long straight interventional consumable 100 and the surface of the belt structure from damage, and effectively extending the service life of the slave end drive device.

[0048] It should be noted that, in some optional embodiments, the principle of the slave end drive device is equivalent to forming a clamp for the long straight interventional consumable 100 through the cooperation of the first belt structure 21 and the second belt structure 22, and then realizing the advancement of the long straight interventional consumable 100 through the translation of the two. Specifically, different long straight interventional consumables can be adapted by simultaneously transitioning the first belt structure 21 and the second belt structure 22. Therefore, the technical solution of this embodiment can be applicable to many different types of long straight interventional consumables 100 and has strong controllability.

[0049] The driving force and driving mode of different long straight interventional consumables 100 can be adapted by controlling the driving speed of the first belt structure 21 and the second belt structure 22. In this way, 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.

[0050] The long straight interventional consumables 100 may specifically include but are not limited to: micro guidewires, loach guidewires, microcatheters, conventional catheters, guidewires, balloons, stents, and the like.

[0051] In some optional embodiments, the number of the plurality of first belt structures 21 and the plurality of second belt structures 22 is not limited to being equal, as long as the effective working length of the slave drive device during actual operation remains consistent. No special restrictions are imposed here.

[0052] like Figure 2 and Figure 5As shown, in the technical solution of embodiment 1, multiple groups of drive components 20 each include a first belt-like structure 21 and a second belt-like structure 22 that are arranged relatively to each other. Multiple first belt-like structures 21 and multiple second belt-like structures 22 are arranged in a one-to-one correspondence, and the distance between adjacent first belt-like structures 21 is equal to the distance between adjacent second belt-like structures 22. Such an arrangement can correspond the positions where the first belt-like structure 21 and the second belt-like structure 22 actually apply force, ensuring that the friction forces generated in different directions are equal, and will not cause deformation of the long straight interventional consumable 100, which is beneficial to the accuracy of delivery. At the same time, such an arrangement can more accurately inform the effective working length of the multiple first belt-like structures 21 and the multiple second belt-like structures 22 on the same surface, avoiding the generation of relative friction, resulting in sliding friction or uneven force between the long straight interventional consumable 100 and the belt-like structure, causing damage to the long straight interventional consumable 100 and affecting the surgical effect.

[0053] The distance between adjacent first strip structures 21 is equal to the distance between adjacent second strip structures 22, so that the spacing between the force-bearing surfaces on the opposite sides of the long straight interventional consumable 100 is evenly distributed, thereby avoiding the uneven force position of the long straight interventional consumable 100 and reducing the large pulling caused by driving the long straight interventional consumable 100 progressively, that is, avoiding the long straight interventional consumable 100 within a unit length from being subjected to excessive force, resulting in damage to the long straight interventional consumable 100.

[0054] like Figure 2 and Figure 5 As shown, in the technical solution of Example 1, the corresponding first and second belt-like structures 21 and 22 are arranged in parallel, and the projection of the second belt-like structure 22 in a direction perpendicular to the first belt-like structure 21 at least partially overlaps with the first belt-like structure 21. The friction forces generated by the parallel first and second belt-like structures 21 and 22 are in the same direction, and the driving forces can be directly superimposed, resulting in a good driving effect. At the same time, the pressures exerted on the long straight interventional consumable 100 by the first and second belt-like structures 21 and 22 are in opposite directions. Under the same parameters, they can be regarded as equal and opposite forces, thereby offsetting some of the forces and preventing the generation of a large force along the axis perpendicular to the long straight interventional consumable 100, which would cause deformation of the long straight interventional consumable 100.

[0055] The projection of the second strip structure 22 in a direction perpendicular to the first strip structure 21 at least partially overlaps with the first strip structure 21 , that is, part of the long straight interventional consumable 100 is clamped by the first strip structure 21 and the second strip structure 22 on both sides, thereby achieving better progression.

[0056] like Figure 2 and Figure 5As shown, in the technical solution of Example 1, the second band structure 22 is projected perpendicularly to the first band structure 21 and is located within the first band structure 21. This arrangement concentrates the force acting on the long straight interventional consumable 100 in the area where the first and second band structures 21, 22 overlap, providing a more stable force application and preventing forces acting perpendicularly to the axis of the long straight interventional consumable 100.

[0057] It should be noted that, in some optional embodiments, the lengths of the contact surfaces on which the forces are applied are equal on the first and second strip structures 21, and the projection of the second strip structure 22 in a direction perpendicular to the first strip structure 21 coincides with the first strip structure 21. This satisfies the control of the length of the contact surface and can balance the forces on the long straight interventional consumable 100 in multiple directions.

[0058] like Figure 2 and Figure 5 As shown, in the technical solution of embodiment 1, the first strip-shaped structure 21 abuts against the long straight interventional consumable 100 along the direction close to the second strip-shaped structure 22; and / or, the second strip-shaped structure 22 abuts against the long straight interventional consumable 100 along the direction close to the first strip-shaped structure 21.

[0059] The purpose of the above-mentioned setting is to ensure stable contact between the long straight interventional consumable 100 and the first belt structure 21 and the second belt structure 22, so that the two belt structures exert pressure, and while keeping the circumferential structure of the long straight interventional consumable 100 unchanged, they can offset each other's excess pressure, thereby providing the position accuracy of the long straight interventional consumable 100 in the axial direction and achieving more accurate progression.

[0060] It should be noted that the first belt structure 21 and the second belt structure 22 move synchronously. Even if the pressure of the two belt structures toward the long straight interventional consumable 100 is increased, no friction will be generated between the two belt structures, thereby reducing the possibility of wear and increasing the service life.

[0061] It can be understood that the retraction static friction forces generated by the first belt structure 21 and the second belt structure 22 are perpendicular to the surface of the long straight interventional consumable 100 and in opposite directions, so the overall forces on the long straight interventional consumable 100 offset each other and are in a balanced state.

[0062] In some optional embodiments, the contact surfaces of the first belt-shaped structure 21 and the second belt-shaped structure 22 are both provided with a patterned structure, which is used to increase the friction between the contact surface and the long straight interventional consumable 100, thereby improving the driving force and driving effect.

[0063] Example 2:

[0064] like Figure 6As shown, the technical solution of Example 2 of the present application provides a slave-end drive device for a vascular interventional surgical robot. The difference from the technical solution of Example 1 is that the contact position of the side of the first belt-like structure 21 facing the second belt-like structure 22 in Example 2 with the long straight interventional consumable 100 along its length direction is different from the contact position of the side of the second belt-like structure 22 facing the first belt-like structure 21 with the long straight interventional consumable 100 along its length direction.

[0065] Such a setting makes it possible for the long straight interventional consumable 100 to present more slight "S" shapes between the areas where the first and second belt structures 21 and 22 fail to overlap and the areas where they overlap after being clamped by the first and second belt structures 21 and 22. This can increase the friction coefficient between the long straight interventional consumable 100 and the first and second belt structures 21 and 22, thereby increasing the friction force, which in turn can increase the driving force during its advancement process, and the reliability of the delivery of the long straight interventional consumable 100 is effectively improved.

[0066] Example 3:

[0067] The technical solution of embodiment 3 is based on embodiment 1 or embodiment 2. For example, based on embodiment 1, please refer to Figure 3 and Figure 4 The slave-end driving device includes a power assembly 40, which includes multiple sets of meshing first output gears 41 and second output gears 42. Each first output gear 41 drives each first belt structure 21 to move horizontally, and each second output gear 42 drives each second belt structure 22 to move horizontally.

[0068] By meshing the first output gear 41 and the second output gear 42, the relatively arranged first belt structure 21 and the second belt structure 22 can move horizontally in the same direction, thereby achieving the same driving force in the same direction, superimposing the driving force of the progressive long straight interventional consumable 100, making the force on the long straight interventional consumable 100 more balanced, and adapting to the accuracy requirements of the driving force of different long straight interventional consumables to ensure the reliability of pushing.

[0069] Further, if Figure 3 and Figure 4 As shown, in the technical solution of embodiment three, the slave-end drive device also includes a transmission assembly 30, the transmission assembly 30 includes a first main drive wheel 31 and a second main drive wheel 32, the first output gear 41 is connected to the shaft of the first main drive wheel 31, and the second output gear 42 is connected to the shaft of the second main drive wheel 32.

[0070] The first main drive wheel 31 rotates, causing the first belt structure 21 to translate along its tangential direction. The first main drive wheel 31 presses against the first belt structure 21, applying pressure to the long straight interventional consumable 100. The rotation of the first main drive wheel 31 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 second main drive wheel 32 operates on the same principle as the second belt structure 22 and will not be further described here.

[0071] It should be noted that the meshing first and second output gears 41, 42 drive the first and second main drive wheels 31, 32 to rotate synchronously in opposite directions, thereby ensuring that the first and second belt structures 21, 22 move in the same direction. The meshing of the gears also ensures precise control, allowing the rotational speed to be controlled. With a fixed rotational speed, the movement speeds of the first and second belt structures 21, 22 are also fixed, ensuring the precise advancement of the long straight interventional consumable 100.

[0072] like Figure 3 and Figure 4 As shown, in the technical solution of embodiment 3, the first belt structure 21 is a toothed belt, the first main driving wheel 31 is a driving gear, the second belt structure 22 is a toothed belt, and the second main driving wheel 32 is a driving gear.

[0073] The first main drive wheel 31 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 22 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 22 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 consumable 100 is more accurate and reliable.

[0074] Further, if Figure 3 and Figure 4 As shown, in the technical solution of Example 3, the first belt structure 21 and the second belt structure 22 are both circulating belts, and the transmission assembly 30 also includes a first driven wheel 33 and a second driven wheel 34. The first main driving wheel 31 and the first driven wheel 33 jointly tension the first belt structure 21 to form a first working surface facing the second belt structure 22; the second belt structure 22 is a circulating belt, and the second main driving wheel 32 and the second driven wheel 34 jointly tension the second belt structure 22 to form a second working surface facing the first belt structure 21.

[0075] The looping belt arrangement enables the first and second belt structures 21 and 22 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 31 and the first driven wheel 33, while the second belt structure 22 is extended by the second main drive wheel 32 and the second driven wheel 34. 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 enhancing the driving force and the progressive effect.

[0076] It should be noted that the first working surface is the side of the first belt structure 21 facing the second belt structure 22 when the first belt structure 21 is in the working state. The first main driving wheel 31 drives the entire surface of the first belt structure 21 to circulate. 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.

[0077] Furthermore, in some optional embodiments, the first driven wheel 33 and the second driven wheel 34 can also be configured as toothed wheels compatible with the toothed belt, so that the first belt structure 21 and the second belt structure 22 can both be engaged and kept tensioned at two locations, thereby avoiding the dynamic friction between the first belt structure 21 and the second belt structure 22, which causes the toothed belt to deform and affect the driving force of the long straight interventional consumable 100.

[0078] like Figures 4 to 6 As shown, in the technical solution of embodiment three, the first output gear 41 and the second output gear 42 have the same shape and size, the first main drive wheel 31 and the first driven wheel 33 have the same shape and size, and the second main drive wheel 32 and the second driven wheel 34 have the same shape and size.

[0079] Such a setting ensures that when the rotation frequencies of the first main driving wheel 31 and the second main driving wheel 32 are equal, the movement speeds of the first belt structure 21 and the second belt structure 22 are equal, thereby achieving the effect that when the slave end driving device is used, the first belt structure 21 and the second belt structure 22 move in the progressive direction at the same moving rate, reducing the friction factor between the first belt structure 21 and the second belt structure 22, and reducing losses. At the same time, the comprehensive force direction of the long straight interventional consumables 100 is consistent, which has a superimposed effect, and can thus meet the requirements for driving force.

[0080] like Figure 3 and Figure 4As shown, in the technical solution of embodiment three, the base 10 includes a shell 12, 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 12, the first output gear 41 and the input gear 45 are respectively arranged on two sides opposite to the shell 12, and are fixedly connected to the first transmission shaft 43, the second transmission shaft 44 passes through the shell 12, and the second output gear 42 is fixedly connected to the second transmission shaft 44.

[0081] The first output gear 41 and input gear 45 are positioned on opposite sides of the housing 12, 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.

[0082] It should be noted that if Figure 3 and Figure 4 As shown, in a specific embodiment, the outer shell 12 is set to two, and the first belt-like structure 21 and the second belt-like structure 22 are respectively arranged in two different outer shells 12, which is convenient for assembly and disassembly, that is, a single outer shell 12 corresponds to the installation of a group of first belt-like structures 21 and second belt-like structures 22, and the structure is compact and has good interchangeability.

[0083] In some optional embodiments, a plurality of first belt-like structures 21 and second belt-like structures 22 may be arranged in one housing 12 at the same time, which is not limited to the above specific embodiments.

[0084] like Figure 3 and Figure 4 As shown, in the technical solution of embodiment three, a first limit plate group 50 is provided in the slave end driving device, and the first limit plate group 50 includes two first limit plates 51 arranged along the width direction of the first belt structure 21 and two second limit plates 52 arranged along the width direction of the second belt structure 22.

[0085] The first limiting plate 51 and the second limiting plate 52 are used to form a widthwise limit for the first strip structure 21 to prevent the first strip structure 21 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.

[0086] 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.

[0087] In the technical solution of embodiment three, a plurality of bottom limit plates 53 are provided at the lower position of the outer shell 12 of the base 10. The bottom limit plates 53 are detachably connected to the inner wall of the outer shell 12 and form limits in the width direction and the vertical width direction of the second belt structure 22, so as to constrain the second belt structure 22 from large axial deviation during rotation.

[0088] In the technical solution of embodiment 3 (not shown in the figure), the first belt-shaped structure 21 and / or the second belt-shaped structure 22 are made of elastic material, and / or,

[0089] The first band-like structure 21 is surrounded by a layer of elastic material, while the second band-like structure 22 is surrounded by a layer of elastic material. Furthermore, in some optional embodiments of the present application, the elastic material is one or more of rubber, silicone, and plastic. These materials exhibit excellent biocompatibility, meeting the requirements of interventional surgery, and satisfying the driving force requirements of different long straight interventional consumables 100 in both dry and wet environments.

[0090] Example 4:

[0091] The technical solution of the fourth embodiment provides a sterile consumables box, comprising the slave drive device of any one of the first to third embodiments. The structure and beneficial effects of the slave drive device are not described in detail here.

[0092] Embodiment 5:

[0093] The technical solution of Example 5 provides a vascular interventional surgical robot, including the sterile consumables box in Example 4. 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: A base, and a plurality of drive assemblies sequentially arranged on the base along a delivery direction of the long straight interventional consumable; At least one group of the driving components includes a first belt-shaped structure and a second belt-shaped structure arranged opposite to each other, and the first belt-shaped structure and the second belt-shaped structure are in contact with the long straight interventional consumable respectively, thereby driving the long straight interventional consumable to move.

2. The slave end driving device according to claim 1, characterized in that: The distances between adjacent driving components are equal.

3. The slave end driving device according to claim 2, characterized in that: The first belt-shaped structure and the second belt-shaped structure are arranged in parallel, and the projection of the second belt-shaped structure in a direction perpendicular to the first belt-shaped structure at least partially overlaps with the first belt-shaped structure.

4. The slave end driving device according to claim 3, characterized in that: The second band-shaped structure is located inside the first band-shaped structure along a projection perpendicular to the first band-shaped structure.

5. The slave end driving device according to claim 3, characterized in that: The first strip-shaped structure abuts against the long straight interventional consumable along a direction approaching the second strip-shaped structure; and / or, The second strip-shaped structure abuts against the long straight interventional consumable along a direction approaching the first strip-shaped structure.

6. The slave end driving device according to claim 5, characterized in that: The contact position between the first strip structure facing the second strip structure and the long straight interventional consumable along its length is different from the contact position between the second strip structure facing the first strip structure and the long straight interventional consumable along its length.

7. The slave end driving device according to any one of claims 2 to 6, characterized in that: The slave-end driving device includes a power assembly, which includes multiple sets of meshing first output gears and second output gears. Each of the first output gears drives each of the first belt structures to move in translation, and each of the second output gears drives each of the second belt structures to move in translation.

8. The slave end driving device according to any one of claims 2 to 6, characterized in that: The first belt-shaped structure and / or the second belt-shaped structure are made of elastic material, and / or, An elastic material layer is disposed around the surface of the first belt-shaped structure, and an elastic material layer is disposed around the surface of the second 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.

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