Vascular intervention surgical robot

Abstract

The utility model relates to a vascular intervention surgical robot in the technical field of medical instruments. The vascular intervention surgical robot comprises a delivery track, a first power seat, a second power seat, a first consumable box and a second consumable box, wherein the first power base and the second power base are arranged on the delivery track in a sliding mode, the first power base is arranged on the side, close to the intervention end, of the second power base, the first consumable box is detachably connected to the first power base, and the first consumable box is connected with the operation end of the first intervention consumable; the second consumable box is detachably connected to the second power seat, the second consumable box is connected with the operation end of at least one second intervention consumable, and the second intervention consumable can penetrate into the first intervention consumable. According to the utility model, different types of intervention consumables can be quickly and effectively switched and adapted.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, and in particular to a vascular interventional surgery robot. Background Art

[0002] Due to the complexity of vascular interventional procedures, flexible selection of interventional consumables may be required. While existing interventional surgical robots can perform treatments using multiple consumables simultaneously, they are unable to implement a single robot that can perform procedures using both standard and fast-acting consumables. For example, when faced with the diverse needs of different conditions and surgical scenarios, existing surgical robots are often unable to quickly and effectively switch and adapt to different types of interventional consumables, significantly limiting surgical efficiency and precision, and potentially even adversely affecting patient outcomes. Utility Model Content

[0003] The purpose of the present utility model is to overcome at least one of the deficiencies of the above-mentioned prior art and to provide a vascular interventional surgical robot that can quickly and effectively switch and adapt to different types of interventional consumables.

[0004] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present invention.

[0005] According to one aspect of the present invention, a vascular interventional surgery robot is provided, comprising:

[0006] A delivery track, a first power base, a second power base, a first consumables box, and a plurality of second consumables boxes; wherein the first power base and the second power base are respectively slidably arranged on the delivery track, the first power base is arranged on a side of the second power base close to the intervention end, and the first consumables box is detachably connected to the first power base.

[0007] The first consumable box is connected to the operating end of the first interventional consumable, the second consumable box is detachably connected to the second power base, the second consumable box is connected to the operating end of at least one second interventional consumable, and the second interventional consumable can be inserted into the first interventional consumable.

[0008] In an exemplary embodiment of the present invention, a first multi-channel connecting valve is provided on the first consumable box, one end of the main channel of the first multi-channel connecting valve is connected to the operating end of the first interventional consumable, and the other end thereof is for the second interventional consumable to pass through.

[0009] In an exemplary embodiment of the present invention, the first consumables box includes:

[0010] A first execution assembly is arranged on one side of the first multi-channel connection valve away from the intervention end and is arranged to be capable of clamping and driving the second intervention consumable to act;

[0011] A first clamping assembly is arranged between the first execution assembly and the first multi-channel connection valve and is arranged to be capable of clamping and fixing the second intervention consumable.

[0012] In an exemplary embodiment of the utility model, the second consumable box is arranged to be capable of being connected with the operation ends of two second intervention consumables, the two second intervention consumables include a first sub-intervention consumable and a second sub-intervention consumable, the second consumable box includes a limiting member and a second execution assembly and a third execution assembly arranged side by side, the limiting member includes a first branch and a second branch and a third branch communicated with the first branch, the first branch is arranged to be capable of being inserted into the first execution assembly to release the clamping action, the second execution assembly is arranged to be capable of driving the first sub-intervention consumable to act and making the first sub-intervention consumable pass through the second branch and enter the first branch, and the third execution assembly is arranged to be capable of driving the second sub-intervention consumable to act and making the second sub-intervention consumable pass through the third branch and enter the first branch.

[0013] In an exemplary embodiment of the utility model, a part of the second sub-intervention consumable can be sleeved on the first sub-intervention consumable to form a quick-interchange combination consumable, the quick-interchange combination consumable can pass through the first branch and enter the first intervention consumable, and the first clamping assembly is used for clamping and fixing the first sub-intervention consumable.

[0014] In an exemplary embodiment of the utility model, the second consumable box further includes:

[0015] A second clamping assembly;

[0016] The second clamping assembly is arranged between the second execution assembly and the second branch and is used for clamping and fixing the first sub-intervention consumable.

[0017] In an exemplary embodiment of the utility model, a third consumable box is further arranged on the delivery track and slides on the delivery track.

[0018] The third consumable box is arranged on one side of the second consumable box away from the intervention end;

[0019] The third consumable box includes a third clamping assembly, and the third clamping assembly is used for clamping and fixing the first sub-intervention consumable in cooperation with the first clamping assembly and the second clamping assembly.

[0020] In an exemplary embodiment of the utility model, the second consumable box is arranged to be connected with an operation end of a second interventional consumable, and a second multi-channel connection valve and a second execution assembly are arranged on the second consumable box.

[0021] One end of the main channel of the second multi-channel connection valve is connected with the operation end of the second interventional consumable, the second execution assembly is arranged on the side of the second multi-channel connection valve away from the interventional end and is used for driving the third interventional consumable to act, and the third interventional consumable can pass through the other end of the main channel of the second multi-channel connection valve and enter the second interventional consumable.

[0022] In an exemplary embodiment of the utility model, a third consumable box is further arranged to slide on the delivery track, the third consumable box is arranged on the side of the second consumable box away from the interventional end, a third multi-channel connection valve and a third execution assembly are arranged on the third consumable box, one end of the main channel of the third multi-channel connection valve is connected with the operation end of the third interventional consumable, the third execution assembly is arranged on the side of the third multi-channel connection valve away from the interventional end and is used for driving the fourth interventional consumable to act, and the fourth interventional consumable can pass through the other end of the main channel of the third multi-channel connection valve and enter the third interventional consumable.

[0023] In an exemplary embodiment of the utility model, the first delivery track is further provided with: a front-end consumable box, which is arranged close to the interventional end and is used for cooperating with the first consumable box to drive the first interventional consumable to act.

[0024] According to the above technical solution, the utility model has at least one of the following advantages and positive effects:

[0025] 1. Since the first consumable box and the second consumable box are detachably arranged on the first power seat and the second power seat and the first power seat and the second power seat are slidably arranged on the delivery track, during the interventional operation, various types of first consumable boxes and second consumable boxes can be flexibly selected to effectively adapt to different types of interventional consumables, and the positions of the first consumable box and the second consumable box can be flexibly adjusted, so that more different operation requirements and operation scenes can be adapted, and the versatility is improved.

[0026] 2. Since the first consumable box is connected with the operation end of the first interventional consumable, the second consumable box is connected with the operation end of at least one second interventional consumable, and the second interventional consumable can pass into the first interventional consumable, the action combination of the two consumable boxes and the interventional consumables can be flexibly adjusted according to actual requirements, and more possibilities and flexibility are provided for complex operation.

[0027] 3、Since the second interventional consumable can penetrate the first interventional consumable, through the penetration relationship between different consumables, multiple treatment methods can be combined in one operation process, for example, stent implantation, drug release and other operations can be performed at one time, the number of consumable replacement in the operation is effectively reduced, thereby helping to simplify the operation process and reduce the operation time and cost. BRIEF DESCRIPTION OF DRAWINGS

[0028] The above and other features and advantages of the present application will become more apparent by describing in detail example embodiments thereof with reference to the attached drawings in which:

[0029] Figure 1 is a structural schematic diagram of one embodiment of the vascular interventional surgery robot of the present application;

[0030] Figure 2 is a structural schematic diagram of another embodiment of the vascular interventional surgery robot of the present application.

[0031] The main element reference signs in the drawings are explained as follows:

[0032] 10, delivery rail; 11, first power seat; 12, second power seat; 13, third power seat; 20, first consumable box; 201, first execution assembly; 202, first clamping assembly; 30, limiting member; 301, second branch; 302, third branch; 303, first branch; 40, first multi-channel connection valve; 401, main channel; 50, second consumable box; 501, second execution assembly; 502, third execution assembly; 503, second clamping assembly; 51, second multi-channel connection valve; 60, third consumable box; 601, third clamping assembly; 602, third execution assembly; 61, third multi-channel connection valve; 70, first interventional consumable; 71, second interventional consumable; 711, first sub-interventional consumable; 712, second sub-interventional consumable; 72, third interventional consumable; 73, fourth interventional consumable; 80, preposed consumable box. DETAILED DESCRIPTION

[0033] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments, however, can be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the figures, and thus a detailed description of them will not be repeated.

[0034] The features, structures or characteristics described in the present invention can be combined in one or more embodiments in any suitable manner, and if possible, the features discussed in each embodiment are interchangeable. In the description of the present invention, many specific details are provided so as to provide a full understanding of the embodiments of the present invention. However, those skilled in the art will appreciate that the technical solution of the present invention can be practiced without one or more of the specific details, or other methods, components, materials, etc. can be adopted. In other cases, known structures, materials or operations are not shown or described in detail to avoid blurring the various aspects of the present invention.

[0035] Although relative terms such as "upper" and "lower" are used in this disclosure to describe the relationship of one illustrated component to another, these terms are used in this disclosure for convenience only, such as in accordance with the orientation of the examples depicted in the accompanying drawings. It is understood that if the illustrated device is flipped upside down, the component described as "upper" would become the component "lower." Other relative terms such as "high," "lower," "top," "bottom," "front," "back," "left," and "right" have similar meanings. When a structure is "on" another structure, it may mean that the structure is integrally formed on the other structure, that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0036] In the present invention, the terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "comprising", "including" and "having" are used to express open-ended inclusion and mean that in addition to the listed elements / components / etc., there may be additional elements / components / etc.; the terms "first", "second" and "third" etc. are used only as labels and are not intended to limit the quantity of their objects.

[0037] Vascular interventional surgical robots generally include a master end (control end) located outside the operating room and a slave end (execution end) located inside the operating room. The master end is equipped with a master end control device for remotely controlling the surgical process, and the slave end includes a connected robot body and a robotic arm. The robot body is fixed to the operating table by a robotic arm, and can adjust its own posture through the robotic arm. The robot body is equipped with a delivery device for interventional consumables, which is used to clamp or drive the movement of interventional consumables. The operator can perform surgical operations outside the operating room through the master end control device, combined with the delivery device of the interventional consumables guided by medical images.

[0038] Based on this, the utility model provides a vascular interventional surgery robot, referring to Figure 1 As shown, including:

[0039] The delivery track 10, the first power seat 11, the second power seat 12, the first consumable box 20 and the second consumable box 50; wherein the first power seat 11 and the second power seat 12 are respectively arranged in a slidable manner on the delivery track 10, the first power seat 11 is arranged on one side of the second power seat 12 close to the intervention end, the first consumable box 20 is detachably connected to the first power seat 11, the first consumable box 20 is connected to the operation end of the first intervention consumable 70, the second consumable box 50 is detachably connected to the second power seat 12, the second consumable box 50 is connected to the operation end of at least one second intervention consumable 71, and the second intervention consumable 71 can be inserted into the first intervention consumable 70.

[0040] The second consumable box 50 is provided in multiple types to realize different driving schemes of intervention consumables, and an operator can select the specific type of the second consumable box 50 according to actual use requirements to clamp and drive intervention consumables of different types. The first consumable box 20 and the second consumable box 50 are detachably arranged on the first power seat 11 and the second power seat 12, and the first power seat 11 and the second power seat 12 are slidably arranged on the delivery track 10, so that not only can the types of the first consumable box 20 and the second consumable box 50 be flexibly selected to realize the driving of intervention consumables of different types during an intervention operation, but also the positions of the first consumable box 20 and the second consumable box 50 can be flexibly adjusted, so that more different operation requirements and operation scenes can be adapted to improve the versatility. The arrangement of the delivery track 10 provides a clear movement path for the first power seat 11 and the second power seat 12, so that the first power seat 11 and the second power seat 12 can accurately slide thereon. Therefore, the working positions of the first consumable box 20 on the first power seat 11 and the second consumable box 50 on the second power seat 12 can be flexibly adjusted by controlling the sliding of the first power seat 11 and the second power seat 12 on the delivery track 10, so that subsequent cooperation operations with other components are facilitated, and the convenience and controllability of the entire delivery device operation are improved.

[0041] Since the first consumable box 20 is connected to the operation end of the first intervention consumable 70, the second consumable box 50 is connected to the operation end of the second intervention consumable 71, and the second intervention consumable 71 can be inserted into the first intervention consumable 70, not only can the action combination of the two consumable boxes and the intervention consumables be flexibly adjusted according to actual requirements to provide more possibilities and flexibility for complex operation, but also the intervention consumables can be protected to some extent to reduce pollution and damage of the consumables by the external environment.

[0042] Since the second interventional consumable 71 can be penetrated into the first interventional consumable 70, through the penetration relationship between the different consumables, a plurality of treatment methods can be combined in one operation process, for example, stent implantation, drug release and other operations can be performed at one time, effectively reducing the number of consumable replacement in the operation, thereby helping to simplify the operation process and reduce the operation time and cost. In order to realize the connection of the first interventional consumable 70 and the second interventional consumable 71, in some embodiments, a connection transition structure can be arranged between the first interventional consumable 70 and the second interventional consumable 71, which can be a connection catheter or a connection device, and the utility model does not make specific limitation. Considering that the participation of surgical liquid or drug is also required in the operation process, the utility model is provided with a first multi-channel connection valve 40 on the first consumable box 20, and the first multi-channel connection valve 40 at least includes a main channel 401, one end of which is connected with the operation end of the first interventional consumable 70, and the other end is penetrated by the second interventional consumable 71.

[0043] The main channel 401 connects the first interventional consumable 70 and the second interventional consumable 71, so that the first interventional consumable 70 can continue to perform subsequent operations or interact with other components through the main channel 401 after being sleeved with the second interventional consumable 71, thereby playing the role of integration and transition.

[0044] Of course, referring to Fig. 1, Figure 1 It can also be designed that the first multi-channel connection valve 40 includes an auxiliary channel, one end of which communicates with the main channel 401, and the other end can be used for inputting surgical liquid or drug.

[0045] In addition, the first consumable box 20 can also be designed to cooperate with the first multi-channel connection valve 40 to ensure the stability of the driving of the first interventional consumable 70 and the second interventional consumable 71. In some embodiments, the first consumable box 20 can be designed to include a first execution assembly 201 and a first clamping assembly 202, and the first execution assembly 201 is used to drive the second interventional consumable 71 to act, which means that it can control the position state of the second interventional consumable 71 to better match the penetration path of the first interventional consumable 70. Ensuring that the second interventional consumable 71 is in the appropriate position can improve the accuracy and efficiency of the interventional consumable sleeving.

[0046] And the first clamping assembly 202 is arranged between the first execution assembly 201 and the main channel 401, and is used to clamp and fix the second interventional consumable 71. It can be seen that the first clamping assembly 202 can prevent the second interventional consumable 71 from moving or deforming to affect the subsequent operation.

[0047] It should be noted that the present invention does not limit the specific types of the first interventional consumable 70 and the second interventional consumable 71. For example, in some embodiments, since the second interventional consumable 71 can be inserted into the first interventional consumable 70, the diameter of the first interventional consumable 70 needs to be larger than the second interventional consumable 71. In this case, the first interventional consumable 70 can be a guide catheter, an angiography catheter, an intermediate catheter or a main stent (when the interventional surgery is a cardiovascular surgery, the first interventional consumable 70 may be a main stent; when the interventional surgery is a neurointerventional surgery, the first interventional consumable 70 may be a guide catheter); and the second interventional consumable 71 can be a microguidewire, a stent, a spring coil, etc. Of course, in other embodiments, the second interventional consumable 71 can also be a combination structure of multiple interventional consumables, for example, it can be a combination structure of a quick-release consumable and a microguidewire, which can be inserted into the first interventional consumable 70. Here, quick-release consumables in the medical field refer to interventional consumables or components that can be quickly replaced or exchanged during the medical process and are easy to install and disassemble, such as disposable microguidewires, protective umbrella wires, etc.

[0048] In some embodiments, reference Figure 1 As shown, the second consumable box 50 can be configured to be connected to the operating ends of the two second interventional consumables 71. It can be understood that the operating end mentioned here may not refer to the end, as long as it is the operating end side away from the interventional end. At this time, the two second interventional consumables 71 include a first sub-interventional consumable 711 and a second sub-interventional consumable 712, the second consumable box 50 includes a limiting member 30 and a second execution component 501 and a third execution component 502 arranged in parallel, the limiting member 30 includes a first branch 303 and a second branch 301 and a third branch 302 connected to the first branch 303, the first branch 303 is configured to be inserted into the first execution component 201 to release the clamping effect, the second execution component 501 is configured to drive the first sub-interventional consumable 711 to move and enable the first sub-interventional consumable 711 to pass through the second branch 301 into the first branch 303, and the third execution component 502 is configured to drive the second sub-interventional consumable 712 to move and enable the second sub-interventional consumable 712 to pass through the third branch 302 into the first branch 303.

[0049] It can be seen that the presence of the limiting member 30 can provide a special guide path for the plurality of sub-interventional consumables, so that each sub-interventional consumable can pass in and combine in a predetermined manner, avoiding interference and confusion of the first sub-interventional consumable 711 and the second sub-interventional consumable 712 in the passing-in process, thereby further reducing the possibility of surgical failure and improving the success rate of the operation. The presence of the first branch 303 enables the second sub-interventional consumable 712 to be accurately sleeved on the first sub-interventional consumable 711, so that the first sub-interventional consumable 711 and the second sub-interventional consumable 712 form a complete second intervention consumable 71 (quick exchange consumable) after being sleeved. At this time, the second branch 301 and the third branch 302 serve as a connecting structure for connecting with the operation end of the second intervention consumable 71. At this time, the second intervention consumable 71 is a combined structure of a plurality of sub-interventional consumables, so that the first execution assembly 201 may cause entanglement phenomenon during the movement of the plurality of sub-interventional consumables or fail to simultaneously drive the plurality of sub-interventional consumables effectively when being driven. Therefore, the first execution assembly 201 needs to be expanded, that is, the first execution assembly 201 does not have an actual driving function. In this case, the first branch 303 is used to support the first execution assembly 201. For example, when the first execution assembly 201 is driven by a pair of drive wheel structures, the first branch 303 can be supported between the two drive wheels to separate the two drive wheels, so that the second intervention consumable 71 can move through the first branch 303.

[0050] Of course, in order to ensure that the first sub-interventional consumable 711 and the second sub-interventional consumable 712 can stably move according to their respective paths, the second consumable box 50 of the utility model further comprises a second execution assembly 501 and a third execution assembly 502. The second execution assembly 501 is arranged to drive the first sub-interventional consumable 711 to move and pass through the second branch 301 into the first branch 303. In order to more conveniently realize the path, as a preferred embodiment, the axis directions of the first branch 303 and the second branch 301 coincide, the end of the third branch 302 connected with the first branch 303 and the second branch 301 are connected at an acute angle, and the third branch 302 is provided with a bending portion, so that the insertion end of the third branch 302 is parallel to the insertion end of the second branch 301, so as to facilitate the second sub-interventional consumable 712 to smoothly enter according to the preset path, thereby improving the smoothness of the operation. Therefore, the second execution assembly 501 not only provides an accurate power source for the first sub-interventional consumable 711 to control various movements such as forward movement, backward movement, rotation, etc. according to the operation requirements, but also provides a clear movement path for the first sub-interventional consumable 711, which helps to ensure that the first sub-interventional consumable 711 does not deviate from the predetermined track in a complex operation environment and accurately reaches the target position while avoiding unnecessary damage to the surrounding normal tissues.

[0051] Correspondingly, the third execution assembly 502 is configured to drive the second sub-interventional consumable 712 to move and enter the first sub-interventional consumable 711 into the first branch 303 through the third branch 302. In this way, the second sub-interventional consumable 712 also has an independent operation path. In actual operation, for example, when the two sub-interventional consumables are sleeved, the third execution assembly 502 can be used to accurately control the insertion depth and speed of the second sub-interventional consumable 712, so as to ensure that the second sub-interventional consumable 712 can be accurately sleeved on the first sub-interventional consumable 711.

[0052] In this way, through independent control of the two sub-interventional consumables, on the one hand, their relative positions and motion states can be adjusted according to actual conditions, so that the sleeving process is more smooth and accurate. On the other hand, in different application scenarios, different operation combinations of the first sub-interventional consumable 711 and the second sub-interventional consumable 712 can be required. The independent arrangement of the second execution assembly 501 and the third execution assembly 502 makes it possible to operate the two sub-interventional consumables respectively according to specific needs, thereby improving the operation flexibility and adaptability of the device.

[0053] Alternatively, when the second intervention consumable 71 is a fast exchange consumable, a part of the second sub-interventional consumable 712 can be sleeved on the first sub-interventional consumable 711 to form a fast exchange combination consumable, and the fast exchange combination consumable can enter the first intervention consumable 70 through the first branch 303. The first clamping assembly 202 is used to clamp and fix the first sub-interventional consumable 711.

[0054] In addition, in order to improve the accuracy and reliability of the operation, in some embodiments, the second consumable box 50 can also be provided with a second clamping assembly 503 arranged between the second execution assembly 501 and the second branch 301, for clamping and fixing the first sub-intervention consumable 711. When the second execution assembly 501 drives the first sub-intervention consumable 711 to move to the appropriate position, the second clamping assembly 503 can clamp and fix the first sub-intervention consumable 711 to prevent unnecessary movement during the sleeving process, thereby ensuring the accuracy and stability of the sleeving. In order to enhance the clamping and fixing of the first sub-intervention consumable 711, thereby further improving the accuracy and stability of the operation, a clamping and fixing mechanism can also be arranged after the second execution assembly 501. For example, in some embodiments, a third consumable box 60 is also slidably arranged on the delivery rail 10, and the third consumable box 60 comprises a third clamping assembly 601 for clamping and fixing the first sub-intervention consumable 711. In this way, the presence of the third clamping assembly 601 can fix the first sub-intervention consumable 711 at different positions and time points, meeting the needs of various operation processes. For example, in some complex medical intervention surgeries, it can be necessary to fix and adjust the first sub-intervention consumable 711 at different stages, and the use of the third clamping assembly 601 can better cope with these changes, thereby improving the success rate of the surgery and the convenience of the operation.

[0055] Here, in some embodiments, the third consumable box 60 can also be provided with a third power seat 13 to achieve the slidable movement of the third consumable box 60 relative to the delivery rail 10.

[0056] When the delivery device is provided with both the second clamping assembly 503 and the third clamping assembly 601, the third clamping assembly 601 can work cooperatively with the second clamping assembly 503 and the first clamping assembly 202.

[0057] In cooperative work, the third clamping assembly 601, the second clamping assembly 503 and the first clamping assembly 202 will cooperate in an orderly manner according to the preset program and instructions. For example, when the first sub-intervention consumable 711 needs to be advanced, the first clamping assembly 202 will first clamp and fix one end of the first sub-intervention consumable 711 with a certain force and angle, while the third execution assembly 502 drives the second sub-intervention consumable 712 to advance in the direction of the first clamping assembly 202. When the first sub-intervention consumable 711 advances to the vicinity of the first clamping assembly 202, the first clamping assembly 202 is opened. In order to stabilize the first sub-intervention consumable 711 during the entire operation process, the second clamping assembly 503 and the third clamping assembly 601 alternately clamp and fix the first sub-intervention consumable 711 during the subsequent advancing process.

[0058] That is, when the second consumable box 50 needs to be slid, the third clamping assembly 601 is kept in the clamping state, when the third consumable box 60 needs to be slid, the second clamping assembly 503 is kept in the clamping state, and the position of the first sub-interventional consumable 711 is always kept unchanged. When the first sub-interventional consumable 711 needs to be retracted, the working principle is similar to that when it is advanced, and the utility model does not make specific description.

[0059] In particular, as an implementation manner, the second execution assembly 501 and the third execution assembly 502 can also be arranged side by side. In this way, on the one hand, the space can be effectively utilized, the mutual interference between the assemblies is avoided, the structure of the entire second consumable box 50 is more reasonable and compact, and the miniaturization of the device is facilitated. On the other hand, it is convenient for the operator to synchronously or independently operate the second execution assembly 501 and the third execution assembly 502. For example, when the sleeving operation of the first sub-interventional consumable 711 and the second sub-interventional consumable 712 is performed, the operator can simultaneously adjust the parameters such as speed and force of the second execution assembly 501 and the third execution assembly 502, so as to realize the accurate cooperation of the two and improve the efficiency and quality of the sleeving. In addition, in some cases, the first sub-interventional consumable 711 or the second sub-interventional consumable 712 needs to be operated independently, and the side-by-side arrangement also makes the operation of the single execution assembly more convenient and not interfered by the other assembly.

[0060] When the second consumable box 50 is arranged to be connected with the operation end of a second interventional consumable 71, it can be understood that the second interventional consumable 71 is of a separate structure, as shown in Figure 2 It can be understood that the second consumable box 50 can be connected with the operation end of the second interventional consumable 71, for example, in some embodiments, a clamping device can be arranged in the second consumable box 50. Based on the replacement of the second consumable box 50, the switching of different surgical procedures can be effectively realized. In other embodiments, considering the use of different consumables in the same surgical procedure, the utility model is designed with a second multi-channel connection valve 51 and includes a second execution assembly 501. The main channel 401 of the second multi-channel connection valve 51 is connected with the operation end of the second interventional consumable 71, and the second execution assembly 501 is used to drive the third interventional consumable 72 to act, and the third interventional consumable 72 can pass through the other end of the main channel 401 of the second multi-channel connection valve 51 and enter the second interventional consumable 71.

[0061] Here, since the third interventional consumable 72 needs to extend into the second interventional consumable 71, the diameter of the third interventional consumable 72 should be smaller than that of the second interventional consumable 71, for example, when the second interventional consumable 71 is a microcatheter, the third interventional consumable 72 can be designed as a micro-wire or other interventional consumable. In this way, during the operation, the operator can also select to set drugs, surgical liquids, etc. on the branch channel of the second multi-channel connection valve 51 to provide more possibilities for complex surgical operations.

[0062] In addition, in order to be able to drive the third interventional consumable 72 to act, as an embodiment, the second consumable box 50 provided by the utility model further comprises a second execution assembly 501 capable of driving the third interventional consumable 72 to act, and the content of the action can be clamping, delivery and rotation, etc.

[0063] In this embodiment, a third consumable box 60 is also slidably arranged on the delivery track 10, the third consumable box 60 is arranged on the side away from the interventional end of the second consumable box 50, the third consumable box 60 is provided with a third multi-channel connection valve 61 and comprises a third execution assembly 602, one end of the main channel of the third multi-channel connection valve 61 is connected with the operation end of the third interventional consumable 72, the third execution assembly 602 is arranged on the side away from the interventional end of the third multi-channel connection valve 61 and is used for driving the fourth interventional consumable 73 to act, and the fourth interventional consumable 73 can enter the third interventional consumable 72 through the other end of the main channel of the third multi-channel connection valve 61.

[0064] Since the third consumable box 60 is slidably arranged on the delivery track 10 and located on the side away from the interventional end of the second consumable box 50, during the operation, different consumable boxes can be operated in sequence according to needs, avoiding mutual interference. At the same time, it is also convenient for doctors or operators to quickly switch and adjust the positions of the consumable boxes during the operation to adapt to different surgical steps and needs.

[0065] Through the arrangement of the third multi-channel connection valve 61, more possibilities and flexibility are provided for the operation, that is, the main channel can realize the effective connection between the third consumable box 60 and the third interventional consumable 72, so that the fourth interventional consumable 73 can smoothly enter the third interventional consumable 72 under the driving of the third execution assembly 602; and other possible channels can be used for connecting other auxiliary equipment or performing other operations, such as connecting monitoring equipment, injecting drugs, etc.

[0066] In addition, the delivery track 10 provided by the utility model is also provided with a front consumable box 80 arranged close to the interventional end and used for cooperating with the first consumable box 20 to drive the first interventional consumable 70 to act. Due to the arrangement of the front consumable box 80, the operation of the first interventional consumable 70 can be better controlled, and it is ensured that the third interventional consumable 72 can accurately reach the target position.

[0067] In another possible implementation, in order to precisely control the rotation angle of the first interventional consumable 70, ensure that the first interventional consumable 70 can be advanced or retracted along the correct path, the first consumable cartridge 20 can also be designed to further include a rotation driving member arranged to drive the operation end of the first interventional consumable 70 to rotate, so as to drive the first interventional consumable 70 to rotate in cooperation with the execution assembly of the front consumable cartridge 80, thereby achieving precise control and positioning of the first interventional consumable 70.

[0068] The rotation driving member can be arranged as a gear transmission member, for example, a driven gear is arranged at one end of the main channel 401 of the first multi-channel connection valve 40 connected with the operation end of the first interventional consumable 70, a driving gear and a motor are arranged on the first consumable cartridge 20, the motor drives the driving gear to rotate, thereby driving the driven gear arranged on the main channel 401 to rotate, and further driving the first interventional consumable 70 to rotate. At this time, the first interventional consumable 70 is simultaneously driven to rotate by the rotation driving member and the execution assembly of the front consumable cartridge 80. Of course, the execution assembly of the front consumable cartridge 80, the first execution assembly 201 and the second execution assembly 501 can be constructed to have the same structure, so as to enhance the universality of the delivery device. For example, in some implementations, the execution assembly of the front consumable cartridge 80 and / or the first execution assembly 201 and / or the second execution assembly 501 can be a driving wheel mechanism, which drives the corresponding interventional consumable to advance or retract by rotating the driving wheel.

[0069] It can be understood that the present application does not limit its application to the detailed structure and arrangement of the components proposed in the present application. The present application can have other implementations, and can be implemented and executed in various ways. The aforementioned variations and modifications fall within the scope of the present application. It should be understood that the present application disclosed and defined in the present application extends to all alternative combinations of two or more individual features mentioned or obvious from the text and / or drawings. All these different combinations constitute various alternative aspects of the present application. The embodiments described in the present application illustrate the best mode known for implementing the present application, and will enable a person skilled in the art to utilize the present application.

Claims

1. A vascular interventional surgery robot, characterized in that: It includes a delivery track, a first power seat, a second power seat, a first consumable box and multiple second consumable boxes, wherein the first power seat and the second power seat are respectively arranged on the delivery track in a slidable manner, the first power seat is arranged on the side of the second power seat close to the intervention end, the first consumable box is connected to the first power seat in a detachable manner, the first consumable box is connected to the operating end of the first interventional consumable, the second consumable box is connected to the second power seat in a detachable manner, the second consumable box is connected to the operating end of at least one second interventional consumable, and the second interventional consumable can be inserted into the first interventional consumable.

2. The vascular interventional surgery robot according to claim 1, characterized in that: The first consumable box is provided with a first multi-channel connecting valve, one end of a main channel of the first multi-channel connecting valve is connected to the operating end of the first interventional consumable, and the other end thereof is for the second interventional consumable to penetrate.

3. The vascular interventional surgery robot according to claim 2, characterized in that: The first consumables box includes: a first actuator, disposed on a side of the first multi-channel connecting valve away from the intervention end, and configured to clamp and drive the second interventional consumable; The first clamping assembly is disposed between the first actuator and the first multi-channel connecting valve, and is configured to clamp and fix the second interventional consumable.

4. The vascular interventional surgery robot according to claim 3, characterized in that: The second consumables box is configured to be connected to the operating ends of two second interventional consumables, wherein the two second interventional consumables include a first sub-interventional consumable and a second sub-interventional consumable. The second consumable box includes a limiting component and a second execution component and a third execution component arranged in parallel. The limiting component includes a first branch and a second branch and a third branch connected to the first branch. The first branch is configured to be inserted into the first execution component to release the clamping effect. The second execution component is configured to drive the first sub-interventional consumable to move and allow the first sub-interventional consumable to enter the first branch through the second branch. The third execution component is configured to drive the second sub-interventional consumable to move and allow the second sub-interventional consumable to enter the first branch through the third branch.

5. The vascular interventional surgery robot according to claim 4, characterized in that: A portion of the second sub-interventional consumable can be sleeved onto the first sub-interventional consumable to form a quick-release combined consumable. The quick-release combined consumable can enter the first interventional consumable through the first branch. The first clamping assembly is used to clamp and fix the first sub-interventional consumable.

6. The vascular interventional surgery robot according to claim 5, characterized in that: The second consumable box further includes a second clamping assembly, which is disposed between the second actuator assembly and the second branch and is used to clamp and fix the first sub-interventional consumable.

7. The vascular interventional surgery robot according to claim 6, characterized in that: A third consumable box is also slidably arranged on the delivery track. The third consumable box is arranged on the side of the second consumable box away from the intervention end. The third consumable box includes a third clamping assembly, and the third clamping assembly is used to cooperate with the first clamping assembly and the second clamping assembly to clamp and fix the first sub-interventional consumable.

8. The vascular interventional surgery robot according to claim 3, characterized in that: The second consumables box is configured to be connected to an operating end of a second interventional consumable. The second consumable box is provided with a second multi-channel connecting valve and includes a second actuator. One end of the main channel of the second multi-channel connecting valve is connected to the operating end of the second interventional consumable. The second actuator is arranged on the side of the second multi-channel connecting valve away from the interventional end and is used to drive the third interventional consumable to move, and the third interventional consumable can penetrate and enter the second interventional consumable through the other end of the main channel of the second multi-channel connecting valve.

9. The vascular interventional surgery robot according to claim 8, characterized in that: A third consumable box is also slidably arranged on the delivery track, and the third consumable box is arranged on the side of the second consumable box away from the intervention end. The third consumable box is provided with a third multi-channel connecting valve and includes a third actuator. One end of the main channel of the third multi-channel connecting valve is connected to the operating end of the third interventional consumable. The third actuator is arranged on the side of the third multi-channel connecting valve away from the intervention end and is used to drive the fourth interventional consumable to move, and the fourth interventional consumable can penetrate into and enter the third interventional consumable through the other end of the main channel of the third multi-channel connecting valve.

10. The vascular interventional surgery robot according to any one of claims 1 to 9, characterized in that: A front consumables box is also provided on the delivery track, which is arranged close to the intervention end and is used to cooperate with the first consumables box to drive the first interventional consumable to move.

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