Slender medical instrument displacement detection device and interventional surgical robot

Abstract

The utility model belongs to the technical field of medical instruments, and relates to a slender medical instrument displacement detection device and an interventional surgical robot. The long and thin type medical instrument displacement detection device comprises a detection mechanism and a clamping mechanism, the clamping mechanism comprises a fixed clamping piece and a floating clamping piece which are used for clamping a long and thin type medical instrument, and the floating clamping piece is provided with a moving piece; the detection mechanism comprises a following part and a detection part, the following part is in non-contact connection with the moving part, when the slender medical instrument is withdrawn from or enters the clamping mechanism, the floating clamping part moves in the direction close to or away from the fixed clamping part, the following part moves along with the moving part, and the detection part is in non-contact connection with the floating clamping part. The detection member detects the displacement of the following member. The complex structure of the surface of the detection mechanism is reduced, so that the detection mechanism is convenient to disinfect, clean and waterproof, and is convenient to mount with the clamping mechanism.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and more specifically, to a slender medical device displacement detection device and an interventional surgical robot. Background Art

[0002] Most of the existing interventional surgical robots have a slender medical device withdrawal detection function at the slave end, but currently this function mostly realizes displacement transmission through mutual contact of mechanical structures to achieve the purpose of slender medical device withdrawal detection; since the detection mechanism equipped with the withdrawal detection function structure and the clamping mechanism need to contact each other, the surfaces of the detection mechanism and the clamping mechanism need to be provided with notches and protruding structures, which leads to a complex surface structure of the detection mechanism, which is not conducive to disinfection, cleaning, waterproofing, and installation with the clamping mechanism. Utility Model Content

[0003] The embodiments of the present application provide a slender medical device displacement detection device and an interventional surgical robot, which are used to solve the problem in the prior art that the detection mechanism and the clamping mechanism contact each other, resulting in a complex surface structure of the detection mechanism, which is not conducive to the disinfection, cleaning, waterproofing and installation of the detection mechanism.

[0004] In order to solve the above technical problems, the present application provides a slender medical device displacement detection device, which adopts the following technical solution:

[0005] A slender medical device displacement detection device includes: a detection mechanism and a clamping mechanism, the clamping mechanism includes a fixed clamping member and a floating clamping member for clamping the slender medical device, and the floating clamping member is provided with a moving member; the detection mechanism includes a following member and a detection member, the following member is non-contactly connected to the moving member, when the slender medical device is withdrawn from or enters the clamping mechanism, the floating clamping member moves in a direction close to or away from the fixed clamping member, the following member moves following the moving member, and the detection member detects the displacement of the following member.

[0006] Furthermore, the detection mechanism also includes a low-resistance sliding mechanism, the follower includes a sliding member and a driven member, the driven member is used to drive the sliding member to follow the movement of the moving member, the sliding member is slidingly connected to the low-resistance sliding mechanism, and the detection member is used to detect the displacement of the sliding member.

[0007] Furthermore, the low-resistance sliding mechanism has a moving cavity, a gap is provided between the sliding member and a cavity wall of the moving cavity, and the sliding member is slidably disposed in the moving cavity.

[0008] Furthermore, the driven member and the moving member are magnetically connected.

[0009] Furthermore, the gap includes a lifting gap and a moving gap;

[0010] When the sliding member is lifted toward the moving member under the action of the magnetic force, the lifting gap is formed between the lower surface of the sliding member and the bottom surface of the low-resistance sliding mechanism, and the upper surface of the sliding member is in low-resistance contact with the low-resistance sliding mechanism;

[0011] When the sliding member moves following the moving member under the action of the magnetic force, the moving gap is formed between the side surface of the sliding member and the side wall of the low-resistance sliding mechanism.

[0012] Furthermore, the low-resistance sliding mechanism includes a rotating shaft, a base plate and a mounting frame. The rotating shaft is rotatably arranged on the mounting frame. The axial direction of the rotating shaft is perpendicular to the moving direction of the moving part. The base plate is fixedly mounted on the mounting frame. The sliding part is movably mounted in the moving cavity formed by the rotating shaft, the base plate and the mounting frame. When the sliding part is lifted toward the direction approaching the moving part under the action of magnetic force, the lifting gap is formed between the lower surface of the sliding part and the base plate, and the upper surface of the sliding part contacts the rotating axis.

[0013] Furthermore, the rotating shaft includes a first rotating shaft and a second rotating shaft symmetrically arranged on both sides of the sliding member, and a pair of shoulders are provided on the first rotating shaft and / or the second rotating shaft, and the distance between the pair of shoulders is greater than the width of the sliding member.

[0014] Furthermore, the sliding member includes a slide plate and a mounting portion and a detection portion respectively arranged at both ends of the slide plate, the follower is arranged on the mounting portion, the mounting portion is located between the first rotating shaft and the second rotating shaft, the detection portion is located between the base plate and the detection member, one side of the slide plate is located between the first rotating shaft and the base plate, and the other side of the slide plate is located between the second rotating shaft and the wall of the mounting frame.

[0015] Furthermore, the low-resistance sliding mechanism includes a guide rail, and one side of the sliding member is slidably connected to the guide rail.

[0016] The present application also provides an interventional surgical robot that employs the following technical solution:

[0017] An interventional surgical robot comprises the above-mentioned slender medical instrument displacement detection device.

[0018] Compared with the prior art, the embodiments of the present application have the following main beneficial effects: the moving part is arranged on the floating clamping part, and the floating clamping part is displaced when the slender medical device is withdrawn from or enters the clamping mechanism, thereby driving the moving part to move, and the following part follows the movement of the moving part, and then the displacement of the following part is detected by the detection part to determine whether the slender medical device is withdrawn or entered; the present application does not require an additional connection structure to be set on the outer surface of the detection mechanism or the clamping mechanism, reducing the complex structure of the surface of the detection mechanism, so as to facilitate the disinfection, cleaning, waterproofing and installation of the detection mechanism with the clamping mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the solution of the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 This is a schematic structural diagram of a slender medical device displacement detection device provided by an embodiment of the present application;

[0021] Figure 2 yes Figure 1 A top view of

[0022] Figure 3 yes Figure 2 Cross-sectional view at AA in the middle;

[0023] Figure 4 yes Figure 1 Side view of

[0024] Figure 5 yes Figure 4 Cross-sectional view at the middle BB;

[0025] Figure 6 This is a schematic structural diagram of a detection mechanism in a displacement detection device for an elongated medical device provided in an embodiment of the present application;

[0026] Figure 7 yes Figure 6 Front view of

[0027] Figure 8 yes Figure 7 Cross-sectional view at CC;

[0028] Figure 9 yes Figure 6 Side view of

[0029] Figure 10 yes Figure 9 Cross-sectional view at DD in the middle.

[0030] Figure numerals: 1, detection mechanism; 11, follower; 111, sliding member; 1111, slide plate; 1112, mounting portion; 1113, detection portion; 112, follower; 12, detection member; 13, low-resistance sliding mechanism; 131, rotating shaft; 1311, first rotating shaft; 1312, second rotating shaft; 132, bottom plate; 133, mounting frame; 134, shoulder; 135, bearing; 136, limiting protrusion; 141, lifting gap; 142, moving gap; 15, second housing; 2, clamping mechanism; 21, fixed clamping Part; 211, third mounting shell; 212, third roller; 22, floating clamping member; 221, first clamping group; 2211, first mounting shell; 2212, first roller; 2213, mounting groove; 2214, second guide rod; 2215, first elastic member; 222, second clamping group; 2221, second mounting shell; 2222, second roller; 2223, sliding block; 2224, third guide rod; 2225, second elastic member; 223, first guide rod; 23, first shell; 231, long slot; 3, moving member. DETAILED DESCRIPTION

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0032] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0033] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0034] The present application provides a slender medical device displacement detection device, such as Figure 1 、 3As shown, the slender medical device displacement detection device includes: a detection mechanism 1 and a clamping mechanism 2, the clamping mechanism 2 includes a fixed clamping member 21 and a floating clamping member 22 for clamping the slender medical device, and the floating clamping member 22 is provided with a moving member 3; the detection mechanism 1 includes a following member 11 and a detection member 12, the following member 11 is non-contactly connected to the moving member 3, when the slender medical device is withdrawn from or enters the clamping mechanism 2, the floating clamping member 22 moves toward or away from the fixed clamping member 21, the following member 11 moves following the moving member 3, and the detection member 12 detects the displacement of the following member 11.

[0035] The working principle of a slender medical device displacement detection device provided in an embodiment of the present application is: when the fixed clamping member 21 and the floating clamping member 22 clamp the slender medical device, and the slender medical device has not been withdrawn from or entered the clamping mechanism 2, since the position of the floating clamping member 22 remains unchanged, the movable member 3 does not move, and at the same time, the detection member 12 of the detection mechanism 1 detects that the position of the follower member 11 remains unchanged; when the slender medical device is withdrawn from or enters the clamping mechanism 2, the floating clamping member 22 moves in a direction close to or away from the fixed clamping member 21, and at the same time, the follower member 11 moves following the movable member 3. The detection mechanism 1 detects that the position of the follower member 11 has changed, and then determines that the slender medical device has been withdrawn from or entered the clamping mechanism 2.

[0036] The beneficial effects of a slender medical device displacement detection device provided in an embodiment of the present application are as follows: the moving part 3 is arranged on the floating clamping part 22, and the floating clamping part 22 is displaced when the slender medical device is withdrawn from or enters the clamping mechanism 2, thereby driving the moving part 3 to move, and the following part 11 follows the movement of the moving part 3, and then the displacement of the following part 11 is detected by the detection part 12 to determine whether the slender medical device is withdrawn or entered; the present application does not require an additional connection structure to be set on the outer surface of the detection mechanism 1 or the clamping mechanism 2, thereby reducing the complex structure of the surface of the detection mechanism 1, so as to facilitate the disinfection, cleaning, waterproofing and installation of the detection mechanism 1 with the clamping mechanism 2.

[0037] Furthermore, the detection element 12 is a displacement sensor.

[0038] In this embodiment, the displacement sensor may be an optical displacement sensor, an ultrasonic displacement sensor, or the like. An optical displacement sensor emits light and illuminates the follower 11. The follower 11 reflects the light, and the optical displacement sensor receives the reflected light. The sensor calculates the distance based on the time it takes to receive the reflected light, thereby determining whether the follower 11 has moved. An ultrasonic displacement sensor transmits ultrasonic waves to the follower 11, receives the reflected waves from the follower 11 via a wave receiver, and calculates the distance based on the relationship between the time it takes for the ultrasonic wave to be transmitted and received and the speed of sound, thereby determining whether the follower 11 has moved.

[0039] like Figure 3 、 6 As shown in Figures 10 to 10 , the detection mechanism 1 further includes a low-resistance sliding mechanism 13, the follower 11 includes a sliding member 111 and a driven member 112, the driven member 112 is used to drive the sliding member 111 to follow the movement of the moving member 3, the sliding member 111 is slidably connected to the low-resistance sliding mechanism 13, and the detection member 12 is used to detect the displacement of the sliding member 111.

[0040] In this embodiment, when the slender medical device is withdrawn from the clamping mechanism 2, the floating clamping member 22 moves toward the fixed clamping member 21. Simultaneously, the moving member 3 drives the follower 112 to move, and the follower 112 drives the sliding member 111 to slide on the low-resistance sliding mechanism 13. The detection member 12 detects a change in the position of the sliding member 111, and thus determines that the slender medical device has been withdrawn. When the slender medical device enters the clamping mechanism 2, the floating clamping member 22 moves away from the fixed clamping member 21. Simultaneously, the moving member 3 drives the follower 112 to move, and the follower 112 drives the sliding member 111 to slide on the low-resistance sliding mechanism 13. The detection member 12 detects a change in the position of the sliding member 111, and thus determines that the slender medical device has entered.

[0041] Furthermore, the low-resistance sliding mechanism 13 has a moving cavity (not shown), a gap is provided between the sliding member 111 and a cavity wall of the moving cavity, and the sliding member 111 is slidably disposed in the moving cavity.

[0042] In this embodiment, there is a gap between the sliding member 111 and the cavity wall of the movable cavity to prevent the low-resistance sliding mechanism 13 and the sliding member 111 from being too tight and causing excessive resistance, thereby avoiding the low-resistance sliding mechanism 13 from affecting the movement of the sliding member 111 and the follower 112, achieving low-resistance sliding fit, and thus improving the detection accuracy of this application.

[0043] Furthermore, the driven member 112 and the moving member 3 are magnetically connected.

[0044] In this embodiment, the follower 112 is magnetically connected to the movable part 3, and the two are respectively arranged in the detection mechanism 1 and the clamping mechanism 2, thereby realizing a non-contact connection between the follower 11 and the movable part 3, reducing the complex structure of the surface of the detection mechanism 1, and facilitating the disinfection, cleaning, waterproofing and installation of the detection mechanism 1 with the clamping mechanism 2.

[0045] Optionally, one of the driven member 112 and the moving member 3 is a magnetic member, and the other is a metal member.

[0046] In this embodiment, when one of the follower 112 and the moving member 3 is a magnetic member and the other is a metal member; after the floating clamping member 22 drives the moving member 3 to move, the follower 112 drives the sliding member 111 to follow the moving member 3 under the action of the magnetic force.

[0047] Preferably, the driven member 112 and the moving member 3 are both magnetic members, and the magnetic poles of the adjacent ends of the driven member 112 and the moving member 3 are opposite.

[0048] In this embodiment, the follower 112 and the moving part 3 are both magnetic parts, and the magnetic poles of the adjacent ends of the follower 112 and the moving part 3 are opposite; after the floating clamping part 22 drives the moving part 3 to move, the moving part drives the sliding part 111 to follow the moving part 3 under the action of the magnetic force.

[0049] Optionally, one of the driven member 112 and the moving member 3 is an electromagnet, and the other is a conductive coil.

[0050] In this embodiment, when one of the follower 112 and the moving part 3 is an electromagnet and the other is a conductive coil; the electromagnet is energized to generate a magnetic field, and after the floating clamping part 22 drives the moving part 3 to move, when the electromagnet approaches the conductive coil, the changing magnetic field will generate an induced current in the conductive coil, and the induced current will generate a magnetic field. The two magnetic fields interact with each other to cause the conductive coil to move, so that the follower 112 drives the sliding part 111 to follow the moving part 3 to move.

[0051] Furthermore, the gap includes a lifting gap 141 and a moving gap 142;

[0052] When the sliding member 111 is lifted toward the moving member 3 under the action of the magnetic force, the lifting gap 141 is formed between the lower surface of the sliding member 111 and the bottom surface of the low-resistance sliding mechanism 13, and the upper surface of the sliding member 111 is in low-resistance contact with the low-resistance sliding mechanism 13;

[0053] When the sliding member 111 moves following the moving member 3 under the action of the magnetic force, the movement gap 142 is formed between the side surface of the sliding member 111 and the side wall of the low-resistance sliding mechanism 13 .

[0054] In this embodiment, the lifting gap 141 and the moving gap 142 between the sliding member 111 and the cavity wall of the moving cavity allow the sliding member 111 to slide under the drive of the follower 112, thereby reducing the resistance between the sliding member 111 and the low-resistance sliding mechanism 13.

[0055] In this embodiment, in the initial state, the clamping mechanism 2 is not installed on the detection mechanism 1, or when the clamping mechanism 2 needs to be removed during use, the attraction between the moving part 3 and the follower 112 is disconnected, and the sliding part 111 moves away from the clamping mechanism 2, so that a lifting gap 141 is formed between the upper surface of the sliding part 111 and the top surface of the low-resistance sliding mechanism 13.

[0056] like Figures 6-10 As shown, further, the low-resistance sliding mechanism 13 includes a rotating shaft 131, a base plate 132 and a mounting frame 133, the rotating shaft 131 is rotatably arranged on the mounting frame 133, the axial direction of the rotating shaft 131 is perpendicular to the moving direction of the movable member 3, the base plate 132 is fixedly mounted on the mounting frame 133, and the sliding member 111 is movably mounted in the moving cavity formed by the rotating shaft 131, the base plate 132 and the mounting frame 133, when the sliding member 111 is lifted toward the direction close to the movable member 3 under the action of magnetic force, a lifting gap 141 is formed between the lower surface of the sliding member 111 and the base plate 132, and the upper surface of the sliding member 111 is in line contact with the rotating shaft 131.

[0057] In this embodiment, the rotating shaft 131 is rotatably mounted on the mounting bracket 133 , and the upper surface of the sliding member 111 is in line contact with the rotating shaft 131 , which can reduce the friction between the sliding member 111 and the low-resistance sliding mechanism 13 when the sliding member 111 slides driven by the follower 112 .

[0058] In this embodiment, when the sliding member 111 is lifted toward the moving member 3 under the action of magnetic force, a lifting gap 141 is formed between the lower surface of the sliding member 111 and the base plate 132, and the upper surface of the sliding member 111 is in line contact with the rotating shaft 131; in the initial state, the clamping mechanism 2 is not installed on the detection mechanism 1, or when the clamping mechanism 2 needs to be removed during use, the attraction between the moving member 3 and the driven member 112 is disconnected, and the sliding member 111 moves away from the clamping mechanism 2, so that a lifting gap 141 is formed between the upper surface of the sliding member 111 and the rotating shaft 131.

[0059] Furthermore, the rotating shaft 131 includes a first rotating shaft 1311 and a second rotating shaft 1312 symmetrically arranged on both sides of the sliding member 111, and a pair of shoulders 134 are provided on the first rotating shaft 1311 and / or the second rotating shaft 1312, and the spacing between the pair of shoulders 134 is greater than the width of the sliding member 111.

[0060] In this embodiment, the shoulders 134 on the first rotating shaft 1311 and the second rotating shaft 1312 can further limit the movement range of the sliding member 111, and the gap between a pair of shoulders 134 is greater than the width of the sliding member 111, which can avoid the sliding member 111 colliding with the shoulders 134 when the sliding member 111 moves, thereby reducing the resistance between the sliding member 111 and the first rotating shaft 1311 and the second rotating shaft 1312.

[0061] Furthermore, the sliding member 111 includes a slide plate 1111 and a mounting portion 1112 and a detection portion 1113 respectively arranged at both ends of the slide plate 1111, the follower 112 is arranged on the mounting portion 1112, the mounting portion 1112 is located between the first rotating shaft 1311 and the second rotating shaft 1312, the detection portion 1113 is located between the base plate 132 and the detection member 12, one side of the slide plate 1111 is located between the first rotating shaft 1311 and the base plate 132, and the other side of the slide plate 1111 is located between the second rotating shaft 1312 and the wall of the mounting frame 133.

[0062] In this embodiment, the positional relationship between the slide plate 1111, the mounting portion 1112, the detection portion 1113 and the first rotating shaft 1311, the second rotating shaft 1312, and the base plate 132 is further restricted to prevent the low-resistance sliding mechanism 13 and the sliding member 111 from being too tight and causing excessive resistance, thereby avoiding the low-resistance sliding mechanism 13 from affecting the movement of the sliding member 111 and the follower 112, achieving low-resistance sliding fit, and thus improving the detection accuracy of this application.

[0063] Furthermore, bearings 135 are provided at the connections between the first rotating shaft 1311 , the second rotating shaft 1312 and the mounting bracket 133 .

[0064] In this embodiment, the bearing 135 improves the rotation sensitivity of the first rotating shaft 1311 and the second rotating shaft 1312 .

[0065] Furthermore, the low-resistance sliding mechanism 13 also includes a limiting protrusion 136 provided on the mounting frame 133, the limiting protrusion 136 is arranged adjacent to the detection member 12, and the limiting protrusion 136 is spaced apart from the second rotating shaft 1312, and one side of the sliding member 111 is located between the limiting protrusion 136 and the second rotating shaft 1312.

[0066] In this embodiment, the limiting protrusion 136 can prevent the sliding member 111 from falling off during the movement.

[0067] Optionally, the low-resistance sliding mechanism 13 includes a guide rail (not shown), and one side of the sliding member 111 is slidably connected to the guide rail.

[0068] In this embodiment, when the follower 112 follows the moving member 3, the sliding member 111 is slid on the guide rail; the sliding connection between the sliding member 111 and the guide rail provides a structure with less resistance, avoiding the low-resistance sliding mechanism 13 from affecting the movement of the sliding member 111 and the follower 112, thereby improving the detection accuracy of this application.

[0069] like Figures 1 to 5 As shown, further, the clamping mechanism 2 includes a first shell 23 , the floating clamping member 22 and the fixed clamping member 21 which are relatively arranged on the first shell 23 .

[0070] like Figure 2 As shown, further, the floating clamping member 22 includes a first clamping group 221 and a second clamping group 222 that are relatively movable. The first clamping group 221 is arranged near the far end of the clamping mechanism 2 , and the moving member 3 is arranged on the first clamping group 221 .

[0071] In this embodiment, the distal end mentioned is the place where the treatment actually occurs, that is, the side close to the human body; the proximal end is the place far from the place where the treatment occurs, that is, the side far from the human body.

[0072] In this embodiment, the first clamping group 221 and the second clamping group 222 are arranged side by side with the fixed clamping member 21 to clamp the slender medical device. When the slender medical device is withdrawn, the tail end of the slender medical device first withdraws from the first clamping group 221 arranged near the far end of the shell, and the first clamping group 221 drives the movable member 3 to move toward the fixed clamping member 21. At the same time, the movable member 3 drives the following member 11 to move following the changes of the first clamping group 221. The detection mechanism 1 detects that the position of the following member 11 has changed, and then determines that the slender medical device has been withdrawn.

[0073] In this embodiment, the moving member 3 is disposed on the first clamping group 221 disposed near the distal end of the housing, thereby increasing the speed of the withdrawal detection of the slender medical device.

[0074] like Figure 5 As shown, further, the floating clamping member 22 includes a first guide rod 223 , one of the first clamping group 221 and the second clamping group 222 is equipped with the first guide rod 223 , and the other is slidably connected to the first guide rod 223 .

[0075] In this embodiment, the first guide rod 223 provides guidance for the movement of the first clamping group 221 .

[0076] Furthermore, the first clamping group 221 includes a first mounting shell 2211 and a first roller 2212, the second clamping group 222 includes a second mounting shell 2221 and a second roller 2222, the first roller 2212 is rotatably arranged at one end of the first mounting shell 2211 adjacent to the fixed clamping member 21, and the second roller 2222 is rotatably arranged at one end of the second mounting shell 2221 adjacent to the fixed clamping member 21; the first mounting shell 2211 is provided with a mounting groove 2213, the first guide rod 223 is provided with the mounting groove 2213, the second mounting shell 2221 is provided with a sliding block 2223, and the sliding block 2223 is slidably connected to the first guide rod 223; in the axial direction of the first guide rod 223, there is a floating gap between the sliding block 2223 and the groove wall of the mounting groove 2213.

[0077] In this embodiment, the first mounting shell 2211 and the second mounting shell 2221 are matched by the mounting groove 2213 and the sliding block 2223; in the axial direction of the first guide rod 223, there is a floating gap between the sliding block 2223 and the groove wall of the mounting groove 2213 to ensure that the first clamping group 221 can move toward the fixed clamping member 21.

[0078] Furthermore, the moving member 3 is disposed on the first mounting shell 2211 .

[0079] Furthermore, the distance of the floating gap between the sliding block 2223 and the groove wall of the mounting groove 2213 is greater than the distance that the first clamping group 221 moves toward the fixed clamping member 21; to ensure that the slender medical device is a catheter and after the first clamping group 221 and the fixed clamping member 21 are withdrawn, the first clamping group 221 can cooperate with the fixed clamping member 21 to clamp the guide wire.

[0080] like Figure 5 As shown, further, the first clamping group 221 also includes a second guide rod 2214 and a first elastic member 2215, the second guide rod 2214 is arranged on the shell, the first mounting shell 2211 is slidingly connected to the second guide rod 2214, and the two ends of the first elastic member 2215 respectively abut the first shell 23 and the end of the first mounting shell 2211 away from the first roller 2212.

[0081] In this embodiment, when the tail end of the slender medical device is withdrawn from the first clamping group 221, under the pressure of the first elastic member 2215, the first mounting shell 2211 drives the first roller 2212 and the movable member 3 to move toward the fixed clamping member 21, and at the same time, the movable member 3 drives the following member 11 to move. The detection mechanism 1 detects that the position of the following member 11 has changed, and then determines that the slender medical device has been withdrawn.

[0082] Furthermore, the first elastic member 2215 is a spring.

[0083] Furthermore, the second clamping group 222 also includes a third guide rod 2224 and a second elastic member 2225, the third guide rod 2224 is arranged on the first shell 23, the second mounting shell 2221 is slidingly connected to the third guide rod 2224, and the two ends of the second elastic member 2225 respectively abut the first shell 23 and the end of the second mounting shell 2221 away from the second roller 2222.

[0084] In this embodiment, when the tail end of the slender medical device is withdrawn from the second clamping assembly 222 , under the pressure of the second elastic member 2225 , the second mounting shell 2221 drives the second roller 2222 to move toward the fixed clamping member 21 .

[0085] Furthermore, the second elastic member 2225 is a spring.

[0086] Furthermore, the fixed clamping member 21 includes a third mounting shell 211 and two third rollers 212 that rotate side by side on the third mounting shell 211. The third mounting shell 211 is fixed on the first shell 23, and the two third rollers 212 are respectively arranged opposite to the first roller 2212 and the second roller 2222.

[0087] In this embodiment, when the first roller 2212 , the second roller 2222 , and the third roller 212 rotate clockwise or counterclockwise simultaneously, the slender medical device can be delivered or withdrawn.

[0088] like Figure 3 As shown, further, a long slot 231 is provided on the first shell 23 , the moving member 3 is located in the long slot 231 , and the following member 11 and the moving member 3 move along the length direction of the long slot 231 .

[0089] In this embodiment, a long groove 231 is opened on the first shell 23, and the movable part 3 is located in the long groove 231, which reduces the distance between the movable part 3 and the following part 11, and avoids the influence of the interval of the first shell 23 on the movement of the following part 11 following the moving part 3, so that the following part 11 can follow the movement of the movable part 3 and improve the detection accuracy of the detection part 12.

[0090] Furthermore, the detection mechanism 1 includes a second shell 15 , and the follower 11 and the detection member 12 are disposed in the second shell 15 .

[0091] An embodiment of the present application further provides an interventional surgical robot, comprising a frame (not shown) and the above-described slender medical instrument displacement detection device mounted on the frame.

[0092] In this embodiment, the slender medical device displacement detection device has the detection mechanism 1 or the clamping mechanism 2 mounted on a frame.

[0093] In this embodiment, the movable part 3 is arranged on the floating clamping part 22. The floating clamping part 22 is displaced when the slender medical device is withdrawn from or enters the clamping mechanism 2, thereby driving the movable part 3 to move. The following part 11 follows the movement of the movable part 3, and then the displacement of the following part 11 is detected by the detection part 12 to determine whether the slender medical device is withdrawn or entered; this application does not require an additional connection structure to be set on the outer surface of the detection mechanism 1 or the clamping mechanism 2, thereby reducing the complex structure of the surface of the detection mechanism 1, so as to facilitate the disinfection, cleaning, waterproofing and installation of the detection mechanism 1 with the clamping mechanism 2.

[0094] Obviously, the embodiments described above are only some of the embodiments of the present application, rather than all of the embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned specific embodiments, or to make equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the present application specification and the accompanying drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present application.

Claims

1. A slender medical device displacement detection device, characterized in that: include: A detection mechanism and a clamping mechanism, the clamping mechanism includes a fixed clamping member and a floating clamping member for clamping a slender medical device, and the floating clamping member is provided with a movable member; the detection mechanism includes a following member and a detecting member, and the following member is non-contactly connected to the movable member. When the slender medical device is withdrawn from or enters the clamping mechanism, the floating clamping member moves toward or away from the fixed clamping member, the following member moves following the movable member, and the detecting member detects the displacement of the following member.

2. The slender medical device displacement detection device according to claim 1, characterized in that: The detection mechanism also includes a low-resistance sliding mechanism, the follower includes a sliding member and a driven member, the driven member is used to drive the sliding member to follow the movement of the moving member, the sliding member is slidably connected to the low-resistance sliding mechanism, and the detection member is used to detect the displacement of the sliding member.

3. The slender medical device displacement detection device according to claim 2, characterized in that: The low-resistance sliding mechanism has a moving cavity, a gap is formed between the sliding member and a cavity wall of the moving cavity, and the sliding member is slidably arranged in the moving cavity.

4. The slender medical device displacement detection device according to claim 3, characterized in that: The driven member and the moving member are magnetically connected.

5. The slender medical device displacement detection device according to claim 4, characterized in that: The gap includes a lifting gap and a moving gap; When the sliding member is lifted toward the moving member under the action of the magnetic force, the lifting gap is formed between the lower surface of the sliding member and the bottom surface of the low-resistance sliding mechanism, and the upper surface of the sliding member is in low-resistance contact with the low-resistance sliding mechanism; When the sliding member moves following the moving member under the action of the magnetic force, the moving gap is formed between the side surface of the sliding member and the side wall of the low-resistance sliding mechanism.

6. The slender medical device displacement detection device according to claim 5, characterized in that: The low-resistance sliding mechanism includes a rotating shaft, a base plate and a mounting frame. The rotating shaft is rotatably arranged on the mounting frame. The axial direction of the rotating shaft is perpendicular to the moving direction of the moving part. The base plate is fixedly mounted on the mounting frame. The sliding part is movably mounted in the moving cavity formed by the rotating shaft, the base plate and the mounting frame. When the sliding part is lifted toward the direction approaching the moving part under the action of magnetic force, the lifting gap is formed between the lower surface of the sliding part and the base plate, and the upper surface of the sliding part contacts the rotating axis.

7. The slender medical device displacement detection device according to claim 6, characterized in that: The rotating shaft includes a first rotating shaft and a second rotating shaft symmetrically arranged on both sides of the sliding member. A pair of shoulders is provided on the first rotating shaft and / or the second rotating shaft, and the distance between the pair of shoulders is greater than the width of the sliding member.

8. The slender medical device displacement detection device according to claim 7, characterized in that: The sliding member includes a slide plate and a mounting portion and a detection portion respectively arranged at both ends of the slide plate, the follower is arranged on the mounting portion, the mounting portion is located between the first rotating shaft and the second rotating shaft, the detection portion is located between the base plate and the detection member, one side of the slide plate is located between the first rotating shaft and the base plate, and the other side of the slide plate is located between the second rotating shaft and the wall of the mounting frame.

9. The slender medical device displacement detection device according to claim 5, characterized in that: The low-resistance sliding mechanism comprises a guide rail, and one side of the sliding member is slidably connected to the guide rail.

10. An interventional surgical robot, characterized in that: The device comprises the slender medical device displacement detection device according to any one of claims 1 to 9.

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