Motor driving mechanism and execution device for interventional operation control system

Abstract

The utility model discloses a motor driving mechanism and an execution device for an interventional operation control system, and relates to the technical field of medical instruments. The motor driving mechanism comprises a mounting box, a transmission assembly, a driving motor, an output shaft and an elastic piece; the mounting box is provided with an assembling cavity; the transmission assembly is arranged in the assembly cavity and comprises an input gear and an output gear which are in power connection, a first matching hole is formed in the center of the output gear, and the first matching hole is a non-circular hole; the driving motor is mounted on the mounting box and located on the outer side of the mounting box, and a motor shaft of the driving motor is connected with the input gear to transmit power; one end of the output shaft is assembled in the first matching hole, the other end of the output shaft is located outside the mounting box, and the output shaft can move in the axial direction of the output shaft; the elastic piece is connected with the output shaft and the output gear and used for pushing one part of the output shaft out of the mounting box. The motor driving mechanism realizes self-adaptive connection with the access end of external equipment, and ensures that the power transmission of the surgical instrument is stable and reliable.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical instrument technical field especially a motor drive mechanism and execution device for interventional operation control system. BACKGROUND

[0002] In the interventional operation control system, a motor drive mechanism capable of quick replacement, installation and self-adaptive connection is needed to ensure that the corresponding surgical instruments, such as the drive box of the delivery guide wire, catheter, etc., can efficiently and accurately receive power, and after the roller assembly conveying the guide wire and catheter in the drive box is driven, the advance, retreat or rotation of the guide wire and catheter can be controlled.

[0003] In the actual operation of the existing part of the motor drive mechanism, when the output shaft of the motor drive mechanism is not aligned with the access end of the external device, the traditional rigid connection method cannot be automatically adjusted, resulting in difficulty in installing the motor drive mechanism and the external device, and inconvenient operation, thereby affecting the smoothness and efficiency of the operation.

[0004] Therefore, the motor drive mechanism has certain improvement space. SUMMARY

[0005] The utility model aims at at least solves one of the technical problems existing in the prior art. For this purpose, the utility model discloses a motor drive mechanism for interventional operation control system, which can realize self-adaptive connection with the access end of the external device, and ensure stable and reliable power transmission of the surgical instrument.

[0006] The utility model discloses a motor drive mechanism for interventional operation control system, which can realize self-adaptive connection with the access end of the external device, and ensure stable and reliable power transmission of the surgical instrument.

[0007] The utility model discloses a motor drive mechanism for interventional operation control system, which can realize self-adaptive connection with the access end of the external device, and ensure stable and reliable power transmission of the surgical instrument.

[0008] The motor driving mechanism according to the embodiment of the utility model, through setting up input gear and output gear direct cooperation transmission assembly realizes the efficient, non-destructive transmission of power, improves the cooperation tightness of transmission assembly, reduces the space occupancy rate. Through setting up non-circular hole in the center of output gear, the cooperation between output shaft and output gear is more compact, effectively prevents the slip and looseness in the transmission process, improves the transmission efficiency, enhances the overall stability and reliability, reduces the additional connecting parts at the same time. Through setting up elastic member, a part of output shaft is pushed out of the installation box, so that the output shaft can be fine-tuned, ensures that even in the case that the access end of the output shaft and the external equipment is not matched, the position and angle of the output shaft can be automatically fine-tuned through the action of the elastic member, so as to realize the automatic adaptation to the angle of the access end of the external equipment, ensure that the output shaft and the access end of the external equipment can be quickly aligned and realize reliable combination, thereby simplifying the process of equipment replacement in the interventional surgery, improving the efficiency of surgical operation.

[0009] Specifically, when the motor driving mechanism is installed on the external equipment, but the angle of the output shaft and the access end of the external equipment is not matched, the output shaft cannot be connected to the access end of the external equipment, and the output shaft is pressed into the installation box, thereby pressing the elastic member. When the driving motor is started, the output gear is driven to rotate by the input gear, thereby driving the output shaft to rotate. When the output shaft rotates to an angle matched with the angle of the access end of the external equipment, the output shaft is pushed into the access end by the elastic force of the elastic member, so that the output shaft is combined with the access end of the external equipment, and power transmission from the output shaft to the external equipment is realized. Moreover, the output shaft and the access end of the external equipment are firmly combined under the elastic pressing action of the elastic member during the transmission process. This design can enable the motor driving mechanism to be installed on the external equipment without the need for manual adjustment of the angle of the output shaft or the access end, thereby making the equipment replacement process more efficient.

[0010] In the present application, the driving motor is installed on the side of the installation box, and the remaining components are mainly installed in the assembly cavity of the installation box. The motor driving mechanism is set as a whole by relying on the installation box. When the interventional surgery control system needs two, three or more motor driving mechanisms, the motor driving mechanism can be easily installed in the installation table of the interventional surgery control system, and meanwhile, the installation box can ensure the consistency of the cooperation between the multiple roller assemblies and the output shaft, thereby realizing fast and stable installation.

[0011] According to some embodiments of the utility model, the elastic member is a spring, the spring is sleeved on the output shaft, and the outer periphery of the output shaft is provided with an external connection table, one end of the spring abuts against the external connection table, and the other end abuts against the output gear.

[0012] According to some embodiments of the utility model, the motor driving mechanism for the interventional operation control system, the outer connection table is annular, and the output shaft is provided with an interference sleeve, or the outer connection table and the output shaft are integrally formed.

[0013] According to some embodiments of the utility model, the motor driving mechanism for the interventional operation control system, the output shaft is a column with a cross section of a regular polygon, and the first matching hole is a regular polygon with a consistent shape.

[0014] According to some embodiments of the utility model, the motor driving mechanism for the interventional operation control system, the end face of the output shaft outside the mounting box is a curved surface or a spherical surface.

[0015] According to some embodiments of the utility model, the motor driving mechanism for the interventional operation control system, the center of the input gear is provided with a second matching hole, the motor shaft is inserted into the second matching hole, and the driving motor is movable along the axial direction of the second matching hole.

[0016] In some optional embodiments, the mounting box comprises a box body, the assembly cavity is formed in the box body, and one end of the box body is provided with an opening; a box cover is matched at the opening, the box cover is provided with a through hole, the driving motor is mounted on the box cover, the motor shaft extends into the assembly cavity through the through hole, a buffer member is arranged between the box body and the box cover, so that the box cover is floatingly connected to the box body, the transmission assembly is mounted in the box body, and the second matching hole of the input gear is arranged opposite to the through hole.

[0017] In some optional embodiments, the buffer member is a sealing ring, and the box cover is clamped in the mounting groove of the box body.

[0018] According to some embodiments of the utility model, the motor driving mechanism for the interventional operation control system, the input gear is a worm, and the output gear is a worm wheel; the mounting box further comprises a first box body and a second box body, the first box body and the second box body enclose the assembly cavity, the first box body and the second box body are connected along the axial direction of the worm wheel, the first box body is provided with an output port, and the output shaft is arranged at the output port.

[0019] In some optional embodiments, the first box body and the second box body are only different in the corresponding through hole of the output shaft.

[0020] According to the execution device for the interventional operation according to the second aspect of the utility model, the motor driving mechanism according to the first aspect of the utility model is arranged in the inner cavity of the mounting table, and the output end of the output shaft extends out of the workbench surface of the mounting table.

[0021] The execution device of the utility model through setting up motor drive mechanism that can be connected with the self -adaptation of external device, ensure that the access end of output shaft and external device still can be fast alignment and stable transmission power when angle difference, thereby improve the use convenience and reliability of execution device.

[0022] The additional aspects and advantages of the utility model will be partly given in the following description, some will become obvious from the following description, or be understood by the practice of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above and / or additional aspects and advantages of the utility model will become apparent and more readily understood from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0024] Figure 1 It is the structural schematic drawing of motor drive mechanism of some embodiments of the utility model;

[0025] Figure 2 It is the cooperation schematic drawing of output shaft and elastic piece of some embodiments of the utility model;

[0026] Figure 3 It is the perspective view of motor drive mechanism of some embodiments of the utility model;

[0027] Figure 4 It is the perspective view of motor drive mechanism of some embodiments of the utility model when some parts are hidden;

[0028] Figure 5 It is the assembly schematic drawing of transmission assembly and output shaft of some embodiments of the utility model;

[0029] Figure 6 It is the position schematic drawing of motor drive mechanism in execution device of some embodiments of the utility model;

[0030] Figure 7 It is the alignment schematic drawing before the assembly of mounting box and quick change box of some embodiments of the utility model;

[0031] Figure 8 It is the cooperation schematic drawing of locking piece and pin of some embodiments of the utility model.

[0032] Reference signs:

[0033] Execution device 1000,

[0034] Motor drive mechanism 100, mounting box 10, assembly cavity 11, box body 12, first box body 121, output 121a, second box body 122, opening 1221, box cover 13, perforation 131, buffer piece 14, installation slot 15, first half slot 151, second half slot 152,

[0035] transmission assembly 20, input gear 21, second matching hole 211, output gear 22, first matching hole 221,

[0036] drive motor 30, motor shaft 31,

[0037] output shaft 40, outer connecting table 41, annular step 417, end surface S1,

[0038] elastic member 50,

[0039] mounting table 60, quick-change box 70, quick-change mechanism 80, locking member 81, movable groove 811, locking section a, release section b, pin 82. DETAILED DESCRIPTION

[0040] The embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary only, and are used only for explaining the present application, and cannot be understood as a limitation of the present application.

[0041] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "axial" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation to be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the features limited as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0042] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0043] The following refers to Figures 1-5 The motor drive mechanism 100 for an interventional surgery control system according to the first aspect of the present application is described.

[0044] As Figures 1-2As shown, according to the motor driving mechanism 100 of the embodiment of the utility model, the motor driving mechanism 100 comprises a mounting box 10, a transmission assembly 20, a driving motor 30, an output shaft 40 and an elastic member 50.

[0045] The mounting box 10 is internally provided with an assembly cavity 11. The transmission assembly 20 is arranged in the assembly cavity 11, and the transmission assembly 20 comprises a power-connected input gear 21 and an output gear 22. The center of the output gear 22 is provided with a first matching hole 221, and the first matching hole 221 is a non-circular hole. The driving motor 30 is mounted on the mounting box 10 and located outside the mounting box 10. The motor shaft 31 of the driving motor 30 is connected with the input gear 21 to transmit power. One end of the output shaft 40 is assembled in the first matching hole 221, and the other end of the output shaft 40 is located outside the mounting box 10. The output shaft 40 is movable along the axial direction of the output shaft 40. The elastic member 50 is connected with the output shaft 40 and the output gear 22, and the elastic member 50 is used to push a part of the output shaft 40 out of the mounting box 10.

[0046] In the above technical solution, the mounting box 10 is the main body of the whole mechanism. Optionally, the mounting box 10 is made of a material with high strength and high durability. The assembly cavity 11 is arranged inside the mounting box 10, which provides a stable working environment for the transmission assembly 20 and the driving motor 30 and protects the internal parts from external interference.

[0047] The mounting box 10 not only serves as a support structure, but also can be provided with mounting grooves 15, positioning holes and the like to ensure the accurate installation and positioning of the multiple components inside the mounting box 10.

[0048] The transmission assembly 20 comprises the power-connected input gear 21 and the output gear 22. The input gear 21 is directly connected with the motor shaft 31 of the driving motor 30, thereby being capable of seamlessly receiving the driving force from the driving motor 30. The output gear 22 is connected with the output shaft 40 through the first matching hole 221 in the center of the output gear 22, thereby transmitting power to the output shaft 40 and realizing the direct and efficient transmission of power to the output shaft 40. In this way, the need for additional connecting elements such as a shaft coupling can be effectively reduced, not only simplifying the structure of the transmission system, but also reducing the overall weight. The motor driving mechanism 100 occupies a smaller volume during the surgical process, thereby providing more visual range for the surgeon and helping to improve the accuracy and safety of the surgery.

[0049] The first matching hole 221 is designed as a non-circular hole. In this way, the design of the non-circular hole can ensure the alignment between the output shaft 40 and the output gear 22 and prevent relative rotation between the two.

[0050] Optionally, the first matching hole 221 can be designed as a triangle, or the first matching hole 221 can be designed as a quadrilateral or other polygon.

[0051] In some optional embodiments, when the first matching hole 221 is a non-circular hole, a chamfer is arranged at the corner. By arranging the chamfer, a bevel or a fillet is formed, which can eliminate the sharp part at the corner on the one hand, thereby dispersing stress and reducing the damage of the workpiece caused by stress concentration. On the other hand, the chamfered corner is smoother, which is beneficial to the smooth insertion and positioning of the output shaft 40, reduces the assembly difficulty and time, and improves the assembly efficiency.

[0052] The driving motor 30 is mounted on the mounting box 10 and located outside the mounting box 10. Optionally, the driving motor 30 can be fixed by a motor mounting plate or by being directly mounted on the mounting box 10. The motor shaft 31 of the driving motor 30 is connected with the input gear 21 through power connection. Optionally, the motor shaft 31 is connected with the input gear 21 through a key groove, a pin, or other connection modes.

[0053] In combination Figures 3-4 , the driving motor 30 is mounted on the side of the mounting box 10, and the remaining components are mainly mounted in the assembly cavity 11 of the mounting box 10. The motor driving mechanism 100 is assembled into a whole body by relying on the mounting box 10. When the interventional surgery control system needs two, three or more motor driving mechanisms 100, it is convenient to install the motor driving mechanism 100 in the mounting table 60 (as shown in Figure 7 ) of the interventional surgery control system, and at the same time, it is beneficial to ensure the consistency of the mounting box 10 corresponding to the plurality of roller assemblies and the output shaft 40, and to realize fast and stable installation.

[0054] One end of the output shaft 40 is assembled in the first matching hole 221 of the output gear 22, and the other end extends out of the mounting box 10 for flexible connection with external equipment. Optionally, the access end of the external equipment can be a connecting hole or the like.

[0055] The cross section of the output shaft 40 is designed to be a structure suitable for the size and shape of the first matching hole 221.

[0056] The elastic member 50 connects the output shaft 40 and the output gear 22, and the elastic member 50 is used to push a part of the output shaft 40 out of the mounting box 10.

[0057] The elastic member 50 is connected between the output shaft 40 and the output gear 22, or directly acts on the output shaft 40. The elastic member 50 applies a continuous outward pushing force to the output shaft 40. In this way, when the output shaft 40 is in an unconnected state, it will be subjected to this outward force and tend to extend out of the mounting box 10. Once it encounters a matching condition with the access end of the external equipment, the output shaft 40 can smoothly and automatically extend outward along its axial direction to enter the access end of the external equipment, thereby completing the connection and forming effective power transmission.

[0058] Specifically, the output shaft 40 is movable along its axis. When the output end of the output shaft 40 matches the angle and size of the access end of the external device, the output end of the output shaft 40 can be smoothly inserted into the external device, thereby achieving power transmission. Conversely, if the angle of the output shaft 40 does not match the access end, the output shaft 40 cannot be inserted into the external device, thereby avoiding unnecessary mechanical interference.

[0059] More specifically, when the motor driving mechanism 100 is installed on the external device, but the angle of the output shaft 40 does not match the access end of the external device, the output shaft 40 cannot be docked to the access end of the external device, and the output shaft 40 is pressed into the installation box 10, thereby pressing the elastic member 50. When the driving motor is started, the input gear drives the output gear to rotate, thereby driving the output shaft 40 to rotate. When the output shaft 40 rotates to an angle that matches the angle of the access end of the external device, the output shaft 40 is pushed into the access end by the elastic force of the elastic member 50, thereby combining the output shaft 40 with the access end of the external device, and achieving power transmission from the output shaft 40 to the external device. Moreover, the output shaft 40 is pressed by the elastic force of the elastic member 50 during transmission, and the combination of the output shaft 40 and the access end of the external device is firm. This design can make the operator not need to manually adjust the angle of the output shaft 40 or the access end when the motor driving mechanism is installed on the external device, thereby making the device replacement process faster.

[0060] According to the motor driving mechanism 100 of the embodiments of the present application, the output shaft 40 can automatically extend and dock when encountering a matching external device access end, without the need for manual adjustment or additional auxiliary devices, thereby improving the accuracy and efficiency of docking, and correspondingly reducing the operation steps and complexity of the user when replacing or docking the device, and reducing the requirement for the operator's skills. At the same time, this automatic docking process can improve work efficiency, especially in scenarios where the external device needs to be frequently replaced.

[0061] In combination with Figure 2 , Figure 5 According to the motor driving mechanism 100 for an interventional surgery control system of some embodiments of the present application, the elastic member 50 is a spring, and the spring sheaths the output shaft 40; the outer periphery of the output shaft 40 is provided with an external platform 41, one end of the spring abuts against the external platform 41, and the other end abuts against the output gear 22.

[0062] The external platform 41 is a necessary interface for the interaction between the spring and the output shaft 40.

[0063] Specifically, the motor driving mechanism 100 is in a pairing state, at this time, the output shaft 40 is accommodated in the installation box 10, and the spring is in a compressed state, one end of the spring abuts against the external platform 41 of the output shaft 40, and the other end abuts against the output gear 22. This compressed state ensures that the spring always exerts an outward, ready-to-fire pushing force on the output shaft 40.

[0064] Optionally, the outer platform 41 is formed with an annular step 417 on the side facing the spring, which is located within the elastic ring of the spring. In this way, a stable support platform can be provided for the spring, preventing the spring from deviating or falling off during operation, ensuring the radial stability of the spring, and thus improving the reliability of the device.

[0065] In yet some embodiments, the outer platform 41 and the output shaft 40 are integrally formed. In this way, the joint or connecting member between the outer platform 41 and the output shaft 40 can be avoided, thus making the entire structure more mechanically solid, capable of bearing greater stress and load, and reducing the risk of failure due to loosening or wear between components.

[0066] The integrally formed structure also ensures the precise alignment between the outer platform 41 and the output shaft 40, without the need for additional assembly steps or adjustments, thus improving the working accuracy and operational stability of the entire device.

[0067] In addition, the integrally formed structure also simplifies the production process to some extent, reducing assembly time and cost.

[0068] When the external device is placed in a position corresponding to the output shaft 40, and the access end of the external device is adapted to the output shaft 40, the elastic potential energy stored in the spring begins to be converted into kinetic energy.

[0069] Under the push of the spring, the outer platform 41 begins to move along the axial direction of the output shaft 40. Since the outer platform 41 and the output shaft 40 are fixedly connected or tightly fitted, the movement of the outer platform 41 directly drives the extension of the output shaft 40. This process is smooth and continuous, without jumping or stuttering, ensuring the stable connection of the output shaft.

[0070] As the output shaft 40 extends, its output end enters the access end of the external device. This docking process is not only fast but also accurate under the pushing force of the spring.

[0071] Optionally, when the output shaft 40 is fully inserted into the access end of the external device, the spring can be fully stretched or can have a certain compression force.

[0072] When the spring is fully stretched, the elastic force of the spring is fully released, providing a stable support force for the output shaft 40.

[0073] When the spring has a certain compression force, it can compensate for the small gap that may exist between the output shaft 40 and the access end of the external device to some extent. These small gaps may be caused by manufacturing tolerances, wear, or other factors.

[0074] The motor driving mechanism 100 for an interventional surgery control system according to some embodiments of the present application, in combination with Figure 2The outer base 41 is annular, and is in interference fit on the output shaft 40.

[0075] Since the outer base 41 is in interference fit with the output shaft 40, the output shaft 40 will move synchronously with the outer base 41, thereby improving the control accuracy of the feed amount. In addition, the close interference fit can also reduce the risk of loosening or failure of the outer base 41 due to vibration or impact, thereby improving the reliability of the entire motor driving mechanism 100.

[0076] According to some embodiments of the motor driving mechanism 100 for an interventional surgery control system of the utility model, as shown in Figure 2 The output shaft 40 is a column with a cross section of a regular polygon, and the first matching hole 221 is a regular polygon with the same shape.

[0077] Such a column with a regular polygon has multiple uniformly distributed contact surfaces, so that the output shaft 40 can distribute the force more stably and uniformly when transmitting torque.

[0078] Furthermore, the design of the regular polygon with the same shape makes the assembly process of the output shaft 40 and the first matching hole 221 simpler and faster, without the need for complex alignment.

[0079] Optionally, the output shaft 40 is a column with a cross section of a regular triangle, a regular quadrilateral, a regular pentagon or a regular hexagon, and the shape of the first matching hole 221 is adapted to the cross-sectional shape of the output shaft 40.

[0080] According to some embodiments of the utility model, as shown in Figure 2 The end surface S1 of the output shaft 40 outside the mounting box 10 is a curved surface or a spherical surface.

[0081] Since the curved surface or the spherical surface is a continuous and smooth curved surface without sharp corners or flat surfaces, the outer end of the output shaft 40 can naturally adapt to various small positional deviations and angular changes.

[0082] By setting one end of the output shaft 40 as a curved surface or a spherical surface, the characteristics of the curved surface or the spherical surface can be utilized to make the end surface S1 of the output shaft 40 more easily inserted into the access end of the external device with a slightly different shape or a slightly offset position. This can reduce the risk of assembly difficulty or damage due to inaccurate docking, and improve the overall adaptability and flexibility.

[0083] Meanwhile, the design of the curved surface end or the spherical surface end also simplifies the docking process to some extent, so that the operator can more quickly and accurately complete the connection of the output shaft 40 and the external device, which helps to improve the efficiency of the surgery preparation stage.

[0084] According to some embodiments of the present invention, a motor drive mechanism 100 for an interventional surgical control system, combined with... Figure 1 The input gear 21 has a second mating hole 211 at its center. The motor shaft 31 is inserted into the second mating hole 211, and the drive motor 30 can move along the axial direction of the second mating hole 211.

[0085] A second mating hole 211 is provided at the center of the input gear 21 to form a connection position for the output shaft 40 of the drive motor 30 to connect. The output shaft 40 of the drive motor 30 is adapted to be inserted into the second mating hole 211 to form a tight mechanical connection. This insertion method not only simplifies the installation process but also ensures the transmission efficiency between the drive motor 30 and the input gear 21.

[0086] In some alternative embodiments, such as Figure 1 As shown, the mounting box 10 includes a box body 12, a box cover 13, and a buffer member 14. An assembly cavity 11 is formed within the box body 12, and an opening 1221 is provided at one end of the box body 12. The box cover 13 fits into the opening 1221, and a through hole 131 is provided on the box cover 13. A drive motor 30 is mounted on the box cover 13, and the motor shaft 31 extends into the assembly cavity 11 through the through hole 131. The buffer member 14 is located between the box body 12 and the box cover 13, allowing the box cover 13 to float on the box body 12. A transmission assembly 20 is installed inside the box body 12, and the second mating hole 211 of the input gear 21 is positioned opposite the through hole 131.

[0087] The housing 12 serves as the main body of the mounting box 10, and its interior is configured with an assembly cavity 11. This assembly cavity 11 is suitable for installing components such as the drive motor 30 and the transmission assembly 20, ensuring that they can be arranged in an orderly and compact manner. At one end of the housing 12, an opening 1221 is provided. This opening 1221 not only facilitates the subsequent installation and debugging of components, but also creates a channel for the motor shaft 31 to pass through.

[0088] A through hole 131 is provided at the center of the cover 13. The diameter of this through hole 131 matches the output shaft 40 of the drive motor 30, ensuring that the motor shaft 31 can pass through smoothly and extend into the assembly cavity 11 to connect with the transmission assembly 20. In addition, the cover 13 also serves to fix the drive motor 30, forming a whole, which facilitates installation and disassembly.

[0089] Optionally, the cover 13 and the motor mounting plate are made of the same plate. This reduces additional components, lightens the weight of the motor drive mechanism 100, and reduces the size of the motor drive mechanism 100.

[0090] The buffer 14 is arranged between the box body 12 and the box cover 13, and can absorb impact and vibration to a certain extent, ensuring normal operation of the transmission assembly 20. At the same time, the buffer 14 can also play a certain sealing role, preventing dust and impurities from entering the assembly cavity 11 through the gap between the box body 12 and the box cover 13, maintaining a clean environment inside the box body 12, and avoiding impurities from entering the output gear 22 and / or the tooth surface of the output gear 22 to affect the fitting precision and service life.

[0091] In some optional embodiments, the box cover 13 is provided with a containing groove for mounting the buffer 14. The containing groove is adapted in shape and size to the buffer 14, so as to ensure that the buffer 14 can be stably embedded therein, and its position can be kept stable without unnecessary movement due to external factors, whether in static or dynamic conditions. In addition, the containing groove can also improve the installation efficiency of the buffer 14, saving installation time and reducing the error rate during installation, thereby providing strong support for the overall performance and stability of the motor drive mechanism 100.

[0092] In some optional embodiments, the buffer 14 is a sealing ring. Optionally, the sealing ring can be a rubber ring, a silicone ring, or a ring of other elastic material. The sealing ring has a certain elasticity and flexibility, and can effectively absorb vibration and impact force from the outside world, reducing the influence of these forces on the internal components of the assembly cavity 11, thereby protecting the transmission system from damage.

[0093] In addition, as the buffer 14, the sealing ring forms a "floating" connection between the box cover 13 and the box body 12, which means that the box cover 13 can move relative to the box body 12 within a certain range, thereby compensating for the tolerances that may occur during manufacturing and assembly, ensuring the close fit between multiple components.

[0094] The buffer 14 can also be a spring, a spacer, an open washer, or other components with certain elasticity, to reduce vibration and noise generated during operation of the motor 30.

[0095] The box cover 13 is clamped in the mounting groove 15 of the box body 12. The edge portion of the box cover 13 is adapted to the mounting groove 15 reserved on the box body 12. Optionally, the mounting groove 15 can be a groove, which is adapted in shape, size, and position to the edge portion of the box cover 13. Then, during installation, the edge portion of the box cover 13 will interact with the mounting groove 15, achieving connection through clamping or other connection methods.

[0096] This connection method not only provides good connection strength, but also allows the box cover 13 to be easily removed when needed. For example, when it is necessary to maintain the components inside the assembly cavity 11, the user only needs to operate in the reverse order to easily pull out the box cover 13 from the mounting groove 15.

[0097] The motor driving mechanism 100 for an interventional operation control system according to some embodiments of the present application, in combination Figure 1 , the input gear 21 is a worm, and the output gear 22 is a worm wheel; the mounting box 10 further comprises: a first box body 121 and a second box body 122, the first box body 121 and the second box body 122 jointly enclose the assembly cavity 11, the first box body 121 and the second box body 122 are connected along the axial direction of the worm wheel, and the first box body 121 is provided with an output port 121a, and the output shaft 40 is arranged at the output port 121a.

[0098] In the above technical solution, the transmission cooperation of the worm and the worm wheel can achieve a large speed reduction ratio, that is, the worm wheel only rotates a small part for each rotation of the worm. Therefore, even if the input motor has a high speed, the output shaft 40 can also obtain a lower speed and a higher torque. This transmission mode can ensure the accuracy and stability of the output feed amount. At the same time, the overall thickness of the motor driving mechanism can be reduced, which can facilitate the flat design of the interventional operation control system driving table and better utilize the space of the equipment.

[0099] In addition, the meshing characteristics between the worm and the worm wheel make them generate less noise during work, and because the contact area between the worm and the worm wheel is large, the load can be evenly distributed to reduce vibration, which helps to reduce the noise of the entire system.

[0100] In addition, the cooperation of the worm and worm wheel structure also has the characteristics of being difficult to realize reverse driving, that is, only the worm can be driven to rotate by the worm wheel. This is very important for the motor driving mechanism 100 of the interventional operation, because it can prevent the external equipment from being returned due to accidental external force, and ensure the stability and safety of the operation.

[0101] The mounting box 10 is divided into a first box body 121 and a second box body 122, and the two parts are connected along the axial direction of the worm wheel. This design makes the volume of the entire driving mechanism relatively compact, which is suitable for interventional surgical instruments that need to work in a small space. At the same time, the integrated installation can also reduce the volume and weight of the instrument used for the operation, and improve the flexibility of the operation.

[0102] The first box body 121 is provided with an output port 121a, and the output shaft 40 is arranged at this position. In this way, the positioning and fixing of the output shaft 40 are facilitated, and when the output shaft 40 needs to be maintained or replaced, the first box body 121 can be opened for operation, which is convenient and fast.

[0103] The modular design of the first box body 121 and the second box body 122 not only facilitates manufacturing and assembly, but also facilitates subsequent maintenance and component replacement. When internal parts need to be repaired or replaced, a box body 12 can be individually removed for operation without the need for overall disassembly, which can improve maintenance efficiency and convenience.

[0104] The mounting groove 15 includes a first half groove 151 and a second half groove 152 respectively and symmetrically arranged on the first box body 121 and the second box body 122.

[0105] In some optional embodiments, the first box body 121 and the second box body 122 are only different in the corresponding through hole of the output shaft 40.

[0106] According to the second aspect of the utility model, the execution device 1000 for interventional surgery includes a mounting table 60 and a motor driving mechanism 100 according to the first aspect of the utility model, and the mounting box 10 is arranged on the mounting table 60. Figures 6-8 According to the second aspect of the utility model, the execution device 1000 for interventional surgery includes a mounting table 60 and a motor driving mechanism 100 according to the first aspect of the utility model, and the mounting box 10 is arranged on the mounting table 60.

[0107] According to the second aspect of the utility model, the execution device 1000 for interventional surgery includes a mounting table 60 and a motor driving mechanism 100 according to the first aspect of the utility model, and the mounting box 10 is arranged on the mounting table 60.

[0108] According to the second aspect of the utility model, the execution device 1000 for interventional surgery includes a mounting table 60 and a motor driving mechanism 100 according to the first aspect of the utility model, and the mounting box 10 is arranged on the mounting table 60. Figures 6-8 According to the second aspect of the utility model, the execution device 1000 for interventional surgery includes a mounting table 60 and a motor driving mechanism 100 according to the first aspect of the utility model, and the mounting box 10 is arranged on the mounting table 60.

[0109] It should be noted that the mounting table 60 is responsible for providing stable driving force. In the interventional surgery, the mounting table 60 can analyze the motion parameters required by the doctor according to the operation instruction of the doctor through an algorithm, and the motion parameters include but are not limited to, for example, speed, acceleration, etc., and convert the parameters into actual driving force and transmit the driving force to the subsequent mechanical components for operation.

[0110] The quick change box 70 is an intermediate link connecting the mounting table 60 and the surgical instrument. Through the detachable connection of the quick change box 70 and the mounting table 60, the quick change box 70 can realize the quick replacement of the surgical instrument, and thus improve the flexibility and operation convenience of the instrument in the interventional surgery.

[0111] The quick change mechanism 80 is directly responsible for the quick connection and disconnection of the quick change box 70 and the mounting table 60. Specifically, the quick change box 70 is detachably connected to the mounting table 60 through the quick change mechanism 80.

[0112] Among them, in combination Figures 6-8 The quick change mechanism 80 includes a locking piece 81 and a pin 82. The locking piece 81 is provided with a movable slot 811, and one side of the movable slot 811 forms a socket. The pin 82 can be inserted into the movable slot 811 from the socket and is slidable in the movable slot 811 along a first direction.

[0113] In the above technical solution, the locking piece 81 is installed on one of the mounting table 60 or the quick change box 70, and the locking piece 81 is provided with a movable slot 811, and one side of the movable slot 811 forms a socket. The inside of the movable slot 811 is divided into a locking section a and a release section b along a first direction. Here, the first direction is the installation direction of the quick change box 70. Generally, the mounting table 60 is long-shaped, and here, the first direction is also the width direction of the mounting table 60. In some solutions, the first direction can also be the length direction of the mounting table 60, or the first direction has a certain angle with the length direction. The specific direction of the first direction is not limited in the present application. For the convenience of description, the first direction is taken as the width direction of the mounting table 60 in the present application, and the following will not be described again.

[0114] The pin 82 is installed on the other one of the mounting table 60 or the quick change box 70, and the pin 82 can be inserted into the movable slot 811 through the socket and moved in the movable slot 811 along the first direction.

[0115] Referring to Figure 8The movable slot 811 includes a locking section a and a releasing section b arranged along a first direction: when the pin 82 slides along the first direction to the locking section a, the pin 82 is engaged at the locking section a, thereby locking the quick-change box 70 onto the mounting platform 60. When the pin 82 slides along the first direction to the releasing section b, the pin 82 can be pulled out from the socket, thereby releasing the quick-change box 70 from the mounting platform 60. The pin 82 is disposed on one of the mounting platform 60 and the quick-change box 70, and the locking element 81 is disposed on the other.

[0116] like Figures 2-3 As shown, the flange at the output port 121a can be inserted into the inner wall of the mounting platform 60 for positioning, as... Figure 4 As shown, the box is then fixed to the inner wall by long screws on opposite corners, and the first box 121 and the second box 122 are connected together by short screws on opposite corners.

[0117] To ensure that the pin 82 is firmly fixed in the locking section a and to prevent it from sliding in the first direction, the locking section a can be fixed in a variety of ways, such as structural fixing, magnetic fixing or friction fixing.

[0118] In some alternative embodiments, the locking segment a secures the pin 82 through a structure. For example, a protrusion or groove is constructed inside the locking segment a, and a structure adapted to the protrusion or groove is constructed on the pin 82 to form a snap-fit ​​fixation. When the pin 82 slides to the locking segment a, the protrusion or groove engages the pin 82, preventing it from sliding in the first direction. Alternatively, an elastic locking arm is provided inside the locking segment a, which engages the pin 82 when it slides to the locking segment a, providing additional fixing force. Or, a wedge-shaped structure is constructed inside the locking segment a, which gradually increases friction as the pin 82 slides to the locking segment a, making it difficult for the pin 82 to slide out.

[0119] In some alternative embodiments, a magnet is provided inside the locking segment a or on the pin 82, and the pin 82 is fixed in the locking segment a by magnetic force. When the pin 82 slides into the locking segment a, the attraction generated by the magnet firmly fixes the pin 82. Alternatively, an electromagnet is provided inside the locking segment a, and the magnetic force of the electromagnet is controlled by current to achieve the fixing and releasing of the pin 82. When it is necessary to fix the pin 82, energizing causes the electromagnet to generate magnetic force; when it is necessary to release the pin 82, de-energizing causes the electromagnet to lose its magnetic force.

[0120] In some alternative embodiments, a high-friction material, such as a rubber or Teflon component, is disposed inside the locking segment a. When the pin 82 slides to the locking segment a, the high-friction material not only increases the friction but also creates an interference fit between the locking segment a and the pin 82, thereby achieving a secure fixation of the pin 82.

[0121] The release section b is part of the movable slot 811 and is located opposite the locking section a. The purpose of the release section b is to allow the pin 82 to slide easily in the first direction and eventually be pulled out of the socket.

[0122] Optionally, the inner surface of the release section b is configured with a smoother shape. This reduces friction when the pin 82 slides, ensuring smooth movement of the pin 82.

[0123] In the quick-change mechanism 80, the pin 82 is set on one of the mounting platform 60 and the quick-change box 70, and the locking element 81 is set on the other.

[0124] In some specific technical solutions, combined with Figure 7 The pin 82 is disposed on the mounting platform 60, while the locking element 81 is disposed on the quick-change box 70. Thus, the pin 82 is fixed at a certain position on the mounting platform 60, or is fixedly connected to the mounting platform 60 through intermediate components such as support members, or the pin 82 and the mounting platform 60 are integrally formed. The locking element 81 can be integrally formed directly on the quick-change box 70, or the locking element 81 can be connected to the quick-change box 70 through an intermediate structure.

[0125] Based on the above technical solution, the installation process of a specific quick-change box 70 is described below:

[0126] First, align the quick-change box 70 with the mounting platform 60, and align the pin 82 with the socket on the locking member 81.

[0127] Then, insert the pin 82 into the movable slot 811 from the socket.

[0128] Next, the pin 82 is pushed to slide along the first direction to the locking section a. When the pin 82 reaches the locking section a, the structure of the locking section a jams the pin 82, preventing it from sliding along the first direction, thereby locking the quick-change box 70.

[0129] The disassembly process is the exact opposite of the installation process: the pin 82 is pushed to slide along the first direction to the release section b. When the pin 82 reaches the release section b, the smooth structure of the release section b allows the pin 82 to slide freely.

[0130] Next, pull out the quick-change box 70 so that the pin 82 is completely pulled out from the socket of the locking member 81, thereby releasing the quick-change box 70 from the mounting platform 60.

[0131] In some specific technical solutions, the pin 82 is located on the quick-change box 70, while the locking element 81 is located on the mounting platform 60. In this technical solution, the installation and removal process of the quick-change box 70 is similar to that of the previous technical solution, and therefore will not be described in detail.

[0132] To enhance the stability of the connection between the quick-change box 70 and the mounting platform 60, at least two pins 82 are provided, and the number of locking elements 81 is matched with the number of pins 82. The use of multiple pins 82 and locking elements 81 ensures a secure connection between the quick-change box 70 and the mounting platform 60.

[0133] Combination Figure 7 When there are three pins 82, the three pins 82 are configured not to be on the same straight line. This layout can further enhance the multi-directional stability and torsional resistance of the connection between the quick-change box 70 and the mounting platform 60.

[0134] The following is for reference. Figure 1 - Figure 5 The motor drive mechanism 100 according to an embodiment of the present invention is described in detail with reference to a specific example. It is to be understood that the following description is merely illustrative and not intended to limit the scope of the invention.

[0135] Reference Figure 1 , Figure 3 The motor drive mechanism 100 includes: a mounting box 10, a transmission assembly 20, a drive motor 30, an output shaft 40, and an elastic element 50.

[0136] The mounting box 10 includes: an assembly cavity 11, a box body 12, a box cover 13, and a buffer 14.

[0137] Reference Figure 2 The housing 12 includes a first housing 121 and a second housing 122. The first housing 121 and the second housing 122 together enclose an assembly cavity 11. The first housing 121 and the second housing 122 are connected axially along the output gear 22. The first housing 121 has an output port 121a, through which the output shaft 40 passes. The first housing 121 and the second housing 122 have enclosing openings 1221, and the cover 13 fits into the opening 1221. The cover 13 has a through hole 131. A buffer 14 is disposed between the housing 12 and the cover 13 to allow the cover 13 to float on the housing 12, and the buffer 14 is a sealing ring.

[0138] The transmission assembly 20 is installed inside the housing 12 and located in the assembly cavity 11.

[0139] Reference Figures 4-5 The transmission assembly 20 includes an input gear 21 and an output gear 22 that are connected by power. The output gear 22 has a first mating hole 221 at its center, which is a regular hexagonal hole.

[0140] The input gear 21 includes a second mating hole 211, which is positioned opposite the through hole 131.

[0141] The driving motor 30 is installed on the box cover 13 and outside the mounting box 10, the motor shaft 31 of the driving motor 30 extends into the assembling cavity 11 through the through hole 131 on the box cover 13 and is connected with the input gear 21 to transmit power.

[0142] The output shaft 40 is a column with a cross section of regular hexagon, the shape of the output shaft 40 is consistent with the shape of the first matching hole 221, and the output shaft 40 is assembled in the first matching hole 221, one end of the output shaft 40 is outside the mounting box 10, and the end face of the end is a spherical surface. The output shaft 40 is movable along the axial direction of the output shaft 40.

[0143] The elastic member 50 is a spring, which sheaths the output shaft 40. The elastic member 50 is used to push a part of the output shaft 40 out of the mounting box 10.

[0144] The output shaft 40 is provided with an external platform 41, one end of the spring abuts against the external platform 41, and the other end abuts against the output gear 22.

[0145] The external platform 41 is annular and is in interference fit on the output shaft 40.

[0146] The second matching hole 211 is arranged at the center of the input gear 21, the driving motor 30 is inserted into the second matching hole 211, and the driving motor 30 is movable along the axial direction of the second matching hole 211.

[0147] The input gear 21 is a worm, and the output gear 22 is a worm wheel.

[0148] Other configurations of the motor driving mechanism 100 according to the embodiments of the present application, such as the execution device 1000 and the like, and operations are known to those skilled in the art, and will not be described in detail herein.

[0149] In the description of the present specification, the description referring to the terms "embodiment", "example", and the like means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0150] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements, and deformations can be made to these embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A motor drive mechanism for an interventional surgical control system, characterized in that, include: Mounting box, wherein the mounting box is provided with an assembly cavity; A transmission assembly is disposed within the assembly cavity. The transmission assembly includes an input gear and an output gear that are connected by power. The output gear has a first mating hole at its center, and the first mating hole is a non-circular hole. A drive motor is mounted on the mounting box and located outside the mounting box, and the motor shaft of the drive motor is connected to the input gear to transmit power; An output shaft, one end of which is fitted into the first mating hole, and the other end of which is located outside the mounting box; the output shaft is movable along its axial direction. An elastic element connects the output shaft and the output gear, and the elastic element is used to push a portion of the output shaft out of the mounting box.

2. The motor drive mechanism for an interventional surgical control system according to claim 1, characterized in that, The elastic element is a spring, and the spring is fitted over the output shaft; An external mounting platform is provided on the outer periphery of the output shaft. One end of the spring abuts against the external mounting platform, and the other end abuts against the output gear.

3. The motor drive mechanism for an interventional surgical control system according to claim 2, characterized in that, The external platform is ring-shaped and is interference-fitted onto the output shaft, or the external platform and the output shaft are integrally formed.

4. The motor drive mechanism for an interventional surgical control system according to claim 1, characterized in that, The output shaft is a cylinder with a regular polygonal cross-section, and the first mating hole is a regular polygon with the same shape.

5. The motor drive mechanism for an interventional surgical control system according to claim 1, characterized in that, The end face of the output shaft located outside the mounting box is a curved surface or a spherical surface.

6. The motor drive mechanism for an interventional surgical control system according to claim 1, characterized in that, The input gear has a second mating hole at its center, the motor shaft is inserted into the second mating hole, and the drive motor is movable along the axial direction of the second mating hole.

7. The motor drive mechanism for an interventional surgical control system according to claim 6, characterized in that, The mounting box includes: A box body, wherein one end of the box body is provided with an opening; A box cover fits into the opening, and the box cover has a through hole. The drive motor is mounted on the box cover, and the motor shaft extends into the assembly cavity through the through hole. A buffer element is provided between the box body and the box lid, so that the box lid is floatingly connected to the box body; The transmission assembly is installed inside the housing, and the second mating hole of the input gear is positioned opposite the through hole.

8. The motor drive mechanism for an interventional surgical control system according to claim 7, characterized in that, The buffer component is a sealing ring, and the box cover is snapped into the mounting groove of the box body.

9. The motor drive mechanism for an interventional surgical control system according to claim 8, characterized in that, The input gear is a worm gear, and the output gear is a worm wheel; The mounting box further includes: a first box body and a second box body, the first box body and the second box body together enclose the assembly cavity and the mounting groove, the first box body and the second box body are connected along the axial direction of the worm gear, the first box body is provided with an output port, the output shaft passes through the output port, and the mounting groove includes a first half groove and a second half groove respectively and symmetrically arranged in the first box body and the second box body.

10. The motor drive mechanism for an interventional surgical control system according to claim 9, characterized in that, The only difference between the first housing and the second housing is the through hole corresponding to the output shaft.

11. An execution device for interventional surgery, characterized in that, include: Installation platform; According to any one of claims 1-9, the motor drive mechanism has the mounting box disposed in the inner cavity of the mounting platform, and the output end of the output shaft extends out of the worktable surface of the mounting platform.

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