Driving mechanism for vascular intervention surgical robot and vascular intervention surgical robot

Abstract

The utility model relates to a driving mechanism for a vascular interventional surgical robot and the vascular interventional surgical robot. The driving mechanism for the vascular intervention surgical robot comprises a rotation driving component and a driving component, wherein the rotation driving component comprises two rotation driving wheels which are oppositely arranged; the conveying part comprises two propelling driving wheels which are oppositely arranged; the power part is selectively connected with the rotation driving part and the conveying part; the switching component is used for driving the power component to move back and forth between the rotary driving component and the conveying component; when the power part is connected with the rotary driving part, the switching part can drive the two propelling driving wheels to be separated from each other so as to loosen the intervention consumables; when the power component is connected with the conveying component, the switching component can drive the two rotating driving wheels to be separated from each other so as to loosen the intervention consumables. According to the scheme, the size of the interventional operation robot can be reduced.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a drive mechanism for a vascular interventional surgery robot and the vascular interventional surgery robot. Background Technology

[0002] Interventional vascular surgery typically requires highly precise catheter manipulation techniques. Traditional surgery relies on manual operation by the surgeon, and the accuracy of the surgery may be reduced due to human factors such as hand tremors. Therefore, in order to improve the accuracy of the surgery, new surgical equipment using interventional surgical robots to drive catheters or guidewires has emerged.

[0003] In related technologies, most vascular interventional therapy and diagnostic equipment needs to be moved between different operating rooms for use. However, the interventional surgical robots used in conjunction with them are mostly large in size and inconvenient to move when used in multiple operating rooms. Utility Model Content

[0004] To address or partially address the problems existing in the related technologies, this application provides a drive mechanism for a vascular interventional surgery robot and a vascular interventional surgery robot. The drive mechanism for the vascular interventional surgery robot has the characteristics of compact structure and small size, thereby reducing the size of the interventional surgery robot.

[0005] The first aspect of this application provides a drive mechanism for a vascular interventional surgery robot, comprising:

[0006] Base;

[0007] A rotation drive component is provided on the base. The rotation drive component includes two opposing rotation drive wheels. The two rotation drive wheels are used to clamp the interventional consumables. When the two rotation drive wheels rotate, they can drive the interventional consumables to rotate.

[0008] A conveying component is provided on the base. The conveying component includes two opposing propulsion drive wheels. The two propulsion drive wheels are used to clamp the interventional consumables. When the two propulsion drive wheels rotate, they can drive the interventional consumables to move along the axis of the interventional consumables.

[0009] A power unit, optionally connected to the rotation drive unit and the conveying unit, to drive the rotation drive wheel or the propulsion drive wheel to rotate; and

[0010] A switching component is used to drive the power component to move back and forth between the rotation drive component and the conveying component; when the power component is connected to the rotation drive component, the switching component can drive the two propulsion drive wheels to separate from each other to release the interventional consumables; when the power component is connected to the conveying component, the switching component can drive the two rotation drive wheels to separate from each other to release the interventional consumables.

[0011] Furthermore, the rotation axis of the rotating drive wheel is parallel to the axis of the interventional consumable, and the rotation axis of the propulsion drive wheel is perpendicular to the axis of the interventional consumable.

[0012] Furthermore, the rotation drive component includes a first clamping assembly and a second clamping assembly disposed opposite to each other. The first clamping assembly includes a first clamping block, and the second clamping assembly includes a second clamping block. The rotation drive wheel is rotatably provided on the first clamping block and the second clamping block respectively. At least one of the first clamping block and the second clamping block is movably connected to the base. The switching component can drive the first clamping block and the second clamping block to move closer to each other or separate from each other.

[0013] The conveying component includes a third clamping assembly and a fourth clamping assembly arranged opposite to each other. The third clamping assembly includes a third clamping block, and the fourth clamping assembly includes a fourth clamping block. The third clamping block and the fourth clamping block are respectively rotatably provided with the propulsion drive wheel. At least one of the third clamping block and the fourth clamping block is movably connected to the base. The switching component can drive the third clamping block and the fourth clamping block to move closer to each other or separate from each other.

[0014] Furthermore, the rotating drive wheel on the first clamping block is an active rotating drive wheel, and the rotating drive wheel on the second clamping block is a driven rotating drive wheel. The power component is used to drive the active rotating drive wheel to rotate.

[0015] The propulsion drive wheel on the third clamping block is an active propulsion drive wheel, and the propulsion drive wheel on the fourth clamping block is a passive propulsion drive wheel. The power component is used to drive the active propulsion drive wheel to rotate.

[0016] Furthermore, the first clamping assembly also includes a first bevel gear, a second bevel gear, and a first spur gear. The first bevel gear is connected to the active rotation drive wheel, the first spur gear is rotatably connected to the first clamping block, the second bevel gear is connected to the first spur gear, and the first bevel gear meshes with the second bevel gear.

[0017] The third clamping assembly also includes a second spur gear connected to the active propulsion drive wheel;

[0018] The power component includes a drive gear and a first drive member for driving the drive gear to rotate, the drive gear selectively meshing with the first spur gear and the second spur gear.

[0019] Furthermore, the power component includes a bracket, which is slidably connected to the base, and the bracket is provided with a rack;

[0020] The switching component includes a switching gear and a second driving member for driving the switching gear to rotate. The switching gear meshes with the rack, and the switching gear drives the bracket to slide relative to the base through the rack.

[0021] Furthermore, the switching component includes a first cam, a second cam, and a second driving member connected to the first cam and the second cam respectively. The second driving member can drive the first cam and the second cam to rotate. The rotation driving component also includes a first elastic member, and the conveying component also includes a second elastic member.

[0022] The first clamping block and the second clamping block clamp the first cam, the first elastic element provides a force for the first clamping block and the second clamping block to clamp the first cam, the third clamping block and the fourth clamping block clamp the second cam, and the second elastic element provides a force for the third clamping block and the fourth clamping block to clamp the second cam;

[0023] The first cam and the second cam are configured such that when the first cam rotates to cause the two rotary drive wheels to clamp the interventional consumable, the second cam rotates to cause the two propulsion drive wheels to release the interventional consumable; and when the second cam rotates to cause the two propulsion drive wheels to clamp the interventional consumable, the first cam rotates to cause the two rotary drive wheels to release the interventional consumable.

[0024] Furthermore, the switching component also includes a switching gear, a third spur gear, and a fourth spur gear. The third spur gear and the fourth spur gear mesh with the switching gear, respectively. The switching gear is connected to the second driving member. The first cam is connected to the third spur gear, and the second cam is connected to the fourth spur gear.

[0025] Furthermore, both the first clamping block and the second clamping block are slidably connected to the base, the first elastic element is a compression spring, and the first elastic element is provided between the first clamping block and the base, and between the second clamping block and the base;

[0026] Both the third clamping block and the fourth clamping block are slidably connected to the base. The second elastic element is a compression spring. The first elastic element is provided between the third clamping block and the base, and between the fourth clamping block and the base.

[0027] Furthermore, the first clamping block or the second clamping block is provided with a limiting hole for the interventional consumable to pass through.

[0028] Furthermore, the aforementioned drive mechanism for the vascular interventional surgery robot also includes a guide tube fitted onto the interventional consumable.

[0029] A second aspect of this application provides a vascular interventional surgery robot, including a drive mechanism for a vascular interventional surgery robot as described in any of the above embodiments.

[0030] The technical solution provided in this application can include the following beneficial effects: the drive mechanism for a vascular interventional surgery robot has a rotation drive component, a delivery component, a power component, and a switching component. Two opposing rotation drive wheels of the rotation drive component drive the interventional consumables to rotate. Two opposing propulsion drive wheels of the delivery component drive the interventional consumables to move along their axis. The switching component drives the power component to move back and forth between the rotation drive component and the delivery component, thereby allowing the power component to be selectively connected to both the rotation drive component and the delivery component to drive either the rotation drive wheels or the propulsion drive wheels to rotate. When the power component is connected to the rotation drive component, the switching component can drive the two propulsion drive wheels to separate to release the interventional consumables. When the power unit is connected to the delivery unit, the switching unit can drive the two rotating drive wheels to separate from each other to release the interventional consumables. The rotation of the interventional consumables is driven by the two rotating drive wheels, and the forward and backward movement of the interventional consumables is driven by the two propulsion drive wheels. The power unit can selectively drive the rotation of the rotating drive wheels and the propulsion drive wheels. The switching unit controls the power connection between the power unit and the rotating drive wheels and the propulsion drive wheels. The switching unit controls the clamping and releasing of the interventional consumables by the rotating drive wheels and the propulsion drive wheels. Therefore, the drive mechanism of the above-mentioned solution for the vascular interventional surgery robot has a compact structure and small size, thereby reducing the size of the interventional surgery robot, realizing the miniaturization of the interventional surgery robot, and making it convenient to carry and transfer.

[0031] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0032] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0033] Figure 1 This is a schematic diagram of the drive mechanism for a vascular interventional surgery robot shown in an embodiment of this application;

[0034] Figure 2 This is an exploded view of the drive mechanism for a vascular interventional surgical robot shown in an embodiment of this application;

[0035] Figure 3 This is a schematic diagram of the structure of the first clamping assembly shown in an embodiment of this application;

[0036] Figure 4 This is an exploded view of the first clamping assembly shown in an embodiment of this application;

[0037] Figure 5 This is a schematic diagram of the structure of the second clamping assembly shown in the embodiments of this application;

[0038] Figure 6 This is an exploded view of the second clamping assembly shown in an embodiment of this application;

[0039] Figure 7 This is a schematic diagram of the structure of the third clamping assembly shown in the embodiments of this application;

[0040] Figure 8 This is an exploded view of the third clamping assembly shown in an embodiment of this application;

[0041] Figure 9 This is a schematic diagram of the structure of the fourth clamping assembly shown in the embodiments of this application;

[0042] Figure 10 This is an exploded view of the fourth clamping assembly shown in the embodiments of this application;

[0043] Figure 11 This is a schematic diagram of the structure of the power component shown in the embodiments of this application;

[0044] Figure 12 This is an exploded view of the power component shown in an embodiment of this application;

[0045] Figure 13 This is a schematic diagram of the first cam and the third spur gear in an disassembled state, as shown in the embodiments of this application;

[0046] Figure 14 This is a front view of a drive mechanism for a vascular interventional surgical robot shown in an embodiment of this application, wherein a power component is connected to a rotation drive component;

[0047] Figure 15 yes Figure 14 A schematic diagram with the drive gear, rotation drive component, and conveying component hidden.

[0048] Figure 16 This is a front view of a drive mechanism for a vascular interventional surgical robot shown in an embodiment of this application, wherein the power component is connected to the delivery component;

[0049] Figure 17 yes Figure 16 A schematic diagram with the drive gear, rotation drive components, and conveying components hidden.

[0050] Figure label:

[0051] 1-Base;

[0052] 2- Rotation drive component, 21- First clamping assembly, 211- First clamping block, 2111- Limiting hole, 212- Active rotation drive wheel, 213- First bevel gear, 214- Second bevel gear, 215- First spur gear, 216- Connecting shaft, 217- Connecting shaft, 218- Bearing, 219- Bearing, 22- Second clamping assembly, 221- Second clamping block, 222- Driven rotation drive wheel, 223- Connecting shaft, 224- Bearing, 23- First elastic element;

[0053] 3-Conveying component, 31-Third clamping assembly, 311-Third clamping block, 312-Active drive wheel, 313-Second spur gear, 314-Connecting shaft, 315-Bearing, 32-Fourth clamping assembly, 321-Fourth clamping block, 322-Driven drive wheel, 323-Connecting shaft, 324-Bearing, 33-Second elastic element;

[0054] 4-Power component, 41-Drive gear, 42-First drive component, 43-Bracket, 44-Rack, 45-Fifth spur gear, 46-Counterhead screw, 47-Connecting block, 48-Bearing, 49-Connecting shaft, 410-Bolt;

[0055] 5-Switching component, 51-Switching gear, 52-Second drive component, 53-First cam, 54-Second cam, 55-Third spur gear, 56-Fourth spur gear, 57-Shaft, 58-Bearing;

[0056] 6-Guide rail;

[0057] 7-Guide rod;

[0058] 8-Guide tube;

[0059] 9. Interventional consumables. Detailed Implementation

[0060] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0061] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0062] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0063] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0064] In related technologies, most vascular interventional therapy and diagnostic equipment needs to be moved between different operating rooms. However, the interventional surgical robots used in conjunction with these devices are mostly bulky and inconvenient to move when used in multiple operating rooms. For example, interventional surgical robots in related technologies have multiple drive wheels that hold guidewires or catheters, and these drive wheels are mounted on a mounting frame. The aforementioned interventional surgical robot also has a propulsion drive device that rotates the drive wheels around their own axes, and a rotation drive device that rotates the mounting frame. When the drive wheels rotate, they advance or retract the guidewire or catheter into the body. When the mounting frame rotates, it drives the guidewire or catheter to rotate. Such interventional surgical robots require two different power sources, a propulsion drive device and a rotation drive device, and need to drive the entire mounting frame that holds the drive wheels to rotate, which requires a large space, making the interventional surgical robot large in size.

[0065] To address the aforementioned issues, this application provides a drive mechanism for a vascular interventional surgery robot. This drive mechanism is characterized by its compact structure and small size, thereby reducing the size of the interventional surgery robot and facilitating its movement.

[0066] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0067] like Figure 1 and Figure 2 As shown, this application provides a drive mechanism for a vascular interventional surgery robot, including a base 1, a rotation drive component 2, a transport component 3, a power component 4, and a switching component 5.

[0068] The base 1 is used to support the rotation drive component 2, the conveying component 3, the power component 4, and the switching component 5.

[0069] A rotation drive component 2 is mounted on the base 1. The rotation drive component 2 includes two opposing rotation drive wheels, namely the active rotation drive wheel 212 and the driven rotation drive wheel 222 shown in the figure. The two rotation drive wheels are used to clamp the interventional consumable 9. When the two rotation drive wheels rotate, they drive the interventional consumable 9 to rotate. The interventional consumable 9 can be a guidewire or a catheter; in the illustrated embodiment, the interventional consumable 9 is a guidewire. The rotation directions of the two rotation drive wheels can be the same. When the interventional consumable 9 rotates between the two rotation drive wheels, its rotation direction is opposite to that of the two rotation drive wheels. The circular circumferential surface of the rotation drive wheel contacts the interventional consumable 9, and during rotation, it drives the interventional consumable 9 to rotate through friction.

[0070] The conveying component 3 is mounted on the base 1. The conveying component 3 includes two opposing drive wheels, namely the active drive wheel 312 and the driven drive wheel 322 shown in the figure. These two drive wheels are used to hold the interventional consumable 9. When the two drive wheels rotate, they drive the interventional consumable 9 to move along its axis. The circular circumferential surface of the drive wheel contacts the interventional consumable 9, and during rotation, friction causes the interventional consumable 9 to move along its axis. By controlling the rotation direction of the drive wheels, the advancement or retraction of the interventional consumable 9 can be controlled. For example, in the figure, the direction of leftward movement of the interventional consumable 9 can be the advancement direction, and the direction of rightward movement can be the retraction direction. When the interventional consumable 9 is advanced, it extends into the human body; when it is retracted, it exits the human body.

[0071] The power unit 4 can be selectively connected to the rotation drive unit 2 and the conveying unit 3 to drive the rotation drive wheel or propulsion drive wheel to rotate. When the power unit 4 is connected to the rotation drive unit 2, it can be driven to rotate both rotation drive wheels simultaneously, or it can be powered to rotate one of the rotation drive wheels, driving one wheel to rotate and, in turn, driving the other wheel to rotate under friction. In this embodiment, the power unit 4 is driven to rotate the active rotation drive wheel 212. When the active rotation drive wheel 212 rotates, it drives the passive rotation drive wheel 222 to rotate by the friction between the intervention consumable 9 and the driven rotation drive wheel 222. When the power component 4 is connected to the conveying component 3, it can be driven to drive the two propulsion drive wheels respectively, that is, drive the two propulsion drive wheels to rotate synchronously at the same time. Alternatively, the power component 4 can be powered to drive one of the propulsion drive wheels, that is, drive one propulsion drive wheel to rotate, and drive the other propulsion drive wheel to rotate under the influence of friction. In this embodiment, the power component 4 is driven to drive the active propulsion drive wheel 312. When the active propulsion drive wheel 312 rotates, it drives the passive propulsion drive wheel 322 to rotate by means of the friction between the intervention consumable 9 and the driven propulsion drive wheel 322.

[0072] Switching component 5 is used to drive power component 4 to move back and forth between rotation drive component 2 and conveying component 3; for example Figure 14 As shown, when the power unit 4 is connected to the rotation drive unit 2, the switching unit 5 can drive the two propulsion drive wheels to separate from each other to release the intervention consumable 9, thus preventing the propulsion drive wheels from restricting the rotation of the intervention consumable 9; as Figure 16 As shown, when the power unit 4 is connected to the delivery unit 3, the switching unit 5 can drive the two rotating drive wheels to separate from each other to release the intervention consumable 9, thus preventing the rotating drive wheels from restricting the movement of the intervention consumable 9.

[0073] Based on the above-described drive mechanism for a vascular interventional surgical robot, two opposing rotating drive wheels of the rotating drive component 2 drive the interventional consumable 9 to rotate, and two opposing propulsion drive wheels of the delivery component 3 drive the interventional consumable 9 to move along its axis. A switching component 5 drives the power component 4 to move back and forth between the rotating drive component 2 and the delivery component 3, allowing the power component 4 to be selectively connected to both the rotating drive component 2 and the delivery component 3 to drive either the rotating drive wheels or the propulsion drive wheels to rotate. When the power component 4 is connected to the rotating drive component 2, the switching component 5 can drive the two propulsion drive wheels to separate to release the interventional consumable 9; when the power component 4 is connected to the delivery component 3, the switching component 5 can drive the two propulsion drive wheels to separate to release the interventional consumable 9. The switching component 5 can drive the two rotating drive wheels to separate from each other to release the interventional consumable 9; the rotation of the interventional consumable 9 is driven by the two rotating drive wheels, and the forward and backward movement of the interventional consumable 9 is driven by the two propulsion drive wheels. The rotation of the rotating drive wheels and the propulsion drive wheels can be selectively driven by the power component 4. The power connection between the power component 4 and the rotating drive wheels and the propulsion drive wheels is controlled by the switching component 5. The clamping and releasing of the interventional consumable 9 by the rotating drive wheels and the propulsion drive wheels is controlled by the switching component 5. Therefore, the drive mechanism of the above-mentioned solution for the vascular interventional surgery robot has a compact structure and small size, thereby reducing the size of the interventional surgery robot, realizing the miniaturization of the interventional surgery robot, and making it convenient to carry and transfer.

[0074] In some embodiments, such as Figure 1 , Figure 14 and Figure 16 As shown, the rotation axis of the rotating drive wheel is parallel to the axis of the interventional consumable 9. When the rotating drive wheel rotates, it can drive the interventional consumable 9 to rotate. The rotation axis of the push drive wheel is perpendicular to the axis of the interventional consumable 9. When the push drive wheel rotates, it can drive the interventional consumable 9 to move along the axis of the interventional consumable 9.

[0075] In some embodiments, such as Figures 1 to 10 As shown, the rotation drive component 2 includes a first clamping assembly 21 and a second clamping assembly 22 arranged opposite to each other. The first clamping assembly 21 includes a first clamping block 211, and the second clamping assembly 22 includes a second clamping block 221. Rotation drive wheels are rotatably provided on the first clamping block 211 and the second clamping block 221 respectively. At least one of the first clamping block 211 and the second clamping block 221 is movably connected to the base 1. The switching component 5 can drive the first clamping block 211 and the second clamping block 221 to move closer to each other or separate from each other, thereby controlling the two rotation drive wheels to clamp or release the intervention consumable 9.

[0076] Specifically, in the illustrated embodiment, the rotating drive wheel on the first clamping block 211 is an active rotating drive wheel 212, and the rotating drive wheel on the second clamping block 221 is a driven rotating drive wheel 222. In some embodiments, one of the first clamping block 211 and the second clamping block 221 is slidably connected to the base 1, while the other is fixedly connected to the base 1. That is, only one of the first clamping block 211 and the second clamping block 221 needs to be driven to move relative to the base 1 to control the two rotating drive wheels to clamp or release the insertion consumable 9. In the illustrated embodiment, both the first clamping block 211 and the second clamping block 221 are slidably connected to the base 1. That is, the switching component 5 can drive the first clamping block 211 and the second clamping block 221 to slide simultaneously relative to the base 1, causing the first clamping block 211 and the second clamping block 221 to move towards or away from each other. Figure 2 As shown, the base 1 is provided with two guide rods 7 arranged opposite each other on the left and right sides. The guide rods 7 are arranged vertically. The first clamping block 211 and the second clamping block 221 are slidably connected to the guide rod 7 located on the left side and can move up and down along the guide rod 7. The first clamping block 211 and the second clamping block 221 can be sleeved on the guide rod 7.

[0077] The conveying component 3 includes a third clamping assembly 31 and a fourth clamping assembly 32 arranged opposite to each other. The third clamping assembly 31 includes a third clamping block 311, and the fourth clamping assembly 32 includes a fourth clamping block 321. The third clamping block 311 and the fourth clamping block 321 are respectively rotatably provided with a propulsion drive wheel. At least one of the third clamping block 311 and the fourth clamping block 321 is movably connected to the base 1. The switching component 5 can drive the third clamping block 311 and the fourth clamping block 321 to move closer to each other or separate from each other, thereby controlling the two propulsion drive wheels to clamp or release the intervention consumable 9.

[0078] Specifically, in the illustrated embodiment, the propulsion drive wheel on the third clamping block 311 is an active propulsion drive wheel 312, and the propulsion drive wheel on the fourth clamping block 321 is a driven propulsion drive wheel 322. In some embodiments, one of the third clamping block 311 and the fourth clamping block 321 is slidably connected to the base 1, while the other is fixedly connected to the base 1. That is, only one of the third clamping block 311 and the fourth clamping block 321 needs to be driven to move relative to the base 1 to control the two propulsion drive wheels to clamp or release the insertion consumable 9. In the illustrated embodiment, both the third clamping block 311 and the fourth clamping block 321 are slidably connected to the base 1. That is, the switching component 5 can drive the third clamping block 311 and the fourth clamping block 321 to slide simultaneously relative to the base 1, causing the third clamping block 311 and the fourth clamping block 321 to move towards or away from each other. Figure 2 As shown, the third clamping block 311 and the fourth clamping block 321 are slidably connected to the guide rod 7 located on the right side and can move up and down along the guide rod 7. The third clamping block 311 and the fourth clamping block 321 can be sleeved on the guide rod 7.

[0079] like Figures 1 to 17As shown, the rotating drive wheel on the first clamping block 211 is the active rotating drive wheel 212, and the rotating drive wheel on the second clamping block 221 is the driven rotating drive wheel 222. The power unit 4 is used to drive the active rotating drive wheel 212 to rotate. The propulsion drive wheel on the third clamping block 311 is the active propulsion drive wheel 312, and the propulsion drive wheel on the fourth clamping block 321 is the driven propulsion drive wheel 322. The power unit 4 is used to drive the active propulsion drive wheel 312 to rotate.

[0080] In some embodiments, such as Figures 1 to 17 As shown, the first clamping assembly 21 further includes a first bevel gear 213, a second bevel gear 214, and a first spur gear 215. The first bevel gear 213 is connected to the active rotation drive wheel 212, the first spur gear 215 is rotatably connected to the first clamping block 211, the second bevel gear 214 is connected to the first spur gear 215, and the first bevel gear 213 meshes with the second bevel gear 214. The third clamping assembly 31 further includes a second spur gear 313 connected to the active propulsion drive wheel 312.

[0081] The power unit 4 includes a drive gear 41 and a first drive member 42 for driving the drive gear 41 to rotate. The drive gear 41 can selectively mesh with a first spur gear 215 and a second spur gear 313. When it is necessary to drive the intervention consumable 9 to rotate, the switching member 5 drives the power unit 4 to move to the rotation drive member 2, so that the drive gear 41 meshes with the first spur gear 215. The rotation of the drive gear 41 drives the first spur gear 215 to rotate relative to the first clamping block 211. The first spur gear 215 is fixed relative to the second bevel gear 214. The first spur gear 215 drives the second bevel gear 214 to rotate. The second bevel gear 214 drives the first bevel gear 213 to rotate. The first bevel gear 213 is fixed relative to the active rotation drive wheel 212, thereby driving the active rotation drive wheel 212 to rotate. When it is necessary to drive the intervention consumable 9 to advance or retreat, the switching component 5 drives the power component 4 to move to the conveying component 3, so that the drive gear 41 meshes with the second spur gear 313. The second spur gear 313 is fixed relative to the active propulsion drive wheel 312. The second spur gear 313 drives the active propulsion drive wheel 312 to rotate relative to the third clamping block 311.

[0082] Specifically, such as Figure 3 and Figure 4 As shown, the first clamping assembly 21 also includes a connecting shaft 216, a connecting shaft 217, a bearing 218, and a bearing 219. A first bevel gear 213 is fixedly mounted on one end of the connecting shaft 216, and a drive wheel 212 is fixedly mounted on the other end of the connecting shaft 216. The connecting shaft 216 passes through the first clamping block 211 and is rotatably connected to the first clamping block 211 via the bearing 218. A second bevel gear 214 and a first spur gear 215 are both fixedly mounted on the connecting shaft 217, and the end of the connecting shaft 217 is rotatably connected to the first clamping block 211 via the bearing 219.Figure 5 and Figure 6 As shown, the second clamping assembly 22 also includes a connecting shaft 223 and a bearing 224. The driven rotation drive wheel 222 is fixedly mounted on the connecting shaft 223, and the end of the connecting shaft 223 is rotatably connected to the second clamping block 221 through the bearing 224.

[0083] like Figure 7 and Figure 8 As shown, the third clamping assembly 31 also includes a connecting shaft 314 and a bearing 315. The active propulsion drive wheel 312 is fixedly mounted on the connecting shaft 314, and the end of the connecting shaft 314 is rotatably connected to the third clamping block 311 via the bearing 315. Figure 9 and Figure 10 As shown, the fourth clamping assembly 32 also includes a connecting shaft 323 and a bearing 324. The driven propulsion drive wheel 322 is fixedly mounted on the connecting shaft 323, and the end of the connecting shaft 323 is rotatably connected to the fourth clamping block 321 through the bearing 324.

[0084] In some embodiments, such as Figure 11 and Figure 12 As shown, the power component 4 includes a bracket 43, which is slidably connected to the base 1, and a rack 44 is provided on the bracket 43. Wherein, as Figure 2 As shown, a guide rail 6 is fixedly mounted on the base 1, and the bracket 43 is slidably connected to the base 1 via the guide rail 6. The rack 44 and the bracket 43 can be an integrally formed structure, or they can be separate structures and fixedly connected. The rack 44 is arranged horizontally on the bracket 43.

[0085] like Figure 2 As shown, the switching component 5 includes a switching gear 51 and a second driving member 52 for driving the switching gear 51 to rotate, as... Figures 14 to 17 As shown, the switching gear 51 meshes with the rack 44, and the switching gear 51 drives the bracket 43 to slide relative to the base 1 through the rack 44. Specifically, the second driving member 52 drives the switching gear 51 to rotate, and when the switching gear 51 rotates, it drives the bracket 43 to slide left and right relative to the base 1 through the rack 44.

[0086] like Figure 11 and Figure 12As shown, the power component 4 also includes a fifth spur gear 45, countersunk screws 46, a connecting block 47, a bearing 48, a connecting shaft 49, and bolts 410. The fifth spur gear 45 is connected to the first driving member 42 and meshes with the driving gear 41. The first driving member 42 drives the fifth spur gear 45 to rotate, thereby driving the driving gear 41 to rotate. In other embodiments, the driving gear 41 can also be directly connected to the first driving member 42. The bottom of the bracket 43 is fixed to the slider of the guide rail 6 by multiple countersunk screws 46. The driving gear 41 is fixedly mounted on the connecting shaft 49, and the connecting shaft 49 is rotatably mounted on the connecting block 47 via the bearing 48. The connecting block 47 is fixedly mounted on the bracket 43 by bolts 410.

[0087] In some embodiments, such as Figure 2 , Figures 14 to 17 As shown, the switching component 5 includes a first cam 53, a second cam 54, and a second drive member 52 connected to the first cam 53 and the second cam 54 respectively. The second drive member 52 can drive the first cam 53 and the second cam 54 to rotate. Please refer to the following: Figures 3 to 10 As shown, the rotation drive component 2 also includes a first elastic element 23, and the conveying component 3 also includes a second elastic element 33.

[0088] The first clamping block 211 and the second clamping block 221 clamp the first cam 53. The first elastic member 23 provides a force for the first clamping block 211 and the second clamping block 221 to clamp the first cam 53. The third clamping block 311 and the fourth clamping block 321 clamp the second cam 54. The second elastic member 33 provides a force for the third clamping block 311 and the fourth clamping block 321 to clamp the second cam 54.

[0089] The first cam 53 and the second cam 54 are configured such that when the first cam 53 rotates to clamp the intervention consumable 9 between the two rotary drive wheels, the second cam 54 rotates to release the intervention consumable 9 between the two propulsion drive wheels; and when the second cam 54 rotates to clamp the intervention consumable 9 between the two propulsion drive wheels, the first cam 53 rotates to release the intervention consumable 9 between the two rotary drive wheels. Specifically, the second drive member 52 simultaneously drives the first cam 53 and the second cam 54 to rotate. When the first clamping block 211 and the second clamping block 221 separate from each other, work is done against the elastic force of the first elastic member 23. When the third clamping block 311 and the fourth clamping block 321 separate from each other, work is done against the elastic force of the second elastic member 33. While the first cam 53 rotates to separate the first clamping block 211 and the second clamping block 221 from each other, the second cam 54 rotates to bring the third clamping block 311 and the fourth clamping block 321 closer together.

[0090] In some embodiments, such as Figure 2As shown, the switching component 5 also includes a third spur gear 55 and a fourth spur gear 56. The third spur gear 55 and the fourth spur gear 56 mesh with the switching gear 51 respectively and are located on the left and right sides of the switching gear 51. The switching gear 51 is connected to the second driving component 52. The first cam 53 is connected to the third spur gear 55, and the second cam 54 is connected to the fourth spur gear 56. The first cam 53 is coaxially arranged with the third spur gear 55, and the second cam 54 is coaxially arranged with the fourth spur gear 56. Both the third spur gear 55 and the fourth spur gear 56 are rotatably connected to the base 1. When the third spur gear 55 rotates, it drives the first cam 53 to rotate; when the fourth spur gear 56 rotates, it drives the second cam 54 to rotate. The third spur gear 55 and the fourth spur gear 56 have the same structure, and the first cam 53 and the second cam 54 have the same structure. The cross-sections of the first cam 53 and the second cam 54 are elliptical. Specifically, as shown... Figure 13 As described above, a rotating shaft 57 is fixedly provided on one side of the first cam 53, and the third spur gear 55 is fixedly sleeved on the rotating shaft 57. One end of the rotating shaft 57 is rotatably connected to the base 1 through a bearing 58. The connection method between the second cam 54, the fourth spur gear 56, and the base 1 can be referred to the connection method between the first cam 53, the third spur gear 55, and the base 1, and will not be repeated here.

[0091] Optionally, both the first driving component 42 and the second driving component 52 are motors. The first driving component 42 is fixedly mounted on the bracket 43, and the second driving component 52 is fixedly mounted on the base 1. Both the driving gear 41 and the switching gear 51 are spur gears.

[0092] In some embodiments, such as Figures 1 to 10 As shown, both the first clamping block 211 and the second clamping block 221 are slidably connected to the base 1. The first elastic element 23 is a compression spring. The first elastic element 23 is provided between the first clamping block 211 and the base 1, and also between the second clamping block 221 and the base 1. Specifically, the first clamping block 211 is located below the second clamping block 221, and both the first clamping block 211 and the second clamping block 221 are slidably mounted on the guide rod 7 on the left side. A first elastic element 23 is provided on the lower surface of the first clamping block 211, with its upper end abutting against the first clamping block 211 and its lower end abutting against the base 1. Similarly, a first elastic element 23 is provided on the upper surface of the second clamping block 221, with its lower end abutting against the second clamping block 221 and its upper end abutting against the base 1.

[0093] Both the third clamping block 311 and the fourth clamping block 321 are slidably connected to the base 1. The second elastic element 33 is a compression spring. A first elastic element 23 is provided between the third clamping block 311 and the base 1, and between the fourth clamping block 321 and the base 1. Specifically, the third clamping block 311 is located below the fourth clamping block 321. Both the third clamping block 311 and the fourth clamping block 321 are slidably mounted on the guide rod 7 on the right side. A first elastic element 23 is provided on the lower surface of the third clamping block 311. The upper end of the first elastic element 23 abuts against the third clamping block 311, and the lower end abuts against the base 1. A first elastic element 23 is provided on the upper surface of the fourth clamping block 321. The lower end of the first elastic element 23 abuts against the fourth clamping block 321, and the upper end abuts against the base 1.

[0094] In some embodiments, the first clamping block 211 or the second clamping block 221 is provided with a limiting hole 2111 for the interventional consumable 9 to pass through. The position of the limiting hole 2111 corresponds to the position where the interventional consumable 9 is clamped between the two rotating drive wheels. The limiting hole 2111 is used to limit the interventional consumable 9 and prevent the interventional consumable 9 from shifting its position when the rotating drive wheels drive the interventional consumable 9 to rotate. Figure 4 As shown, the limiting hole 2111 is provided on the first clamping block 211 and passes through the first clamping block 211.

[0095] In some embodiments, such as Figures 1 to 4 As shown, the drive mechanism for the vascular interventional surgery robot also includes a guide tube 8 sleeved on the interventional consumable 9. The guide tube 8 allows the interventional consumable 9 to pass through and is used to limit the interventional consumable 9 to prevent it from shifting. One end of the guide tube 8 is fixedly connected to the first clamping block 211 and is coaxially arranged with the limiting hole 2111, or extends into the limiting hole 2111. Multiple guide tubes 8 can be provided, and the guide tubes 8 can also be fixedly connected to the base 1, for example, on the left side of the rotating drive wheel and / or the right side of the propulsion drive wheel.

[0096] The working process of the drive mechanism used in vascular interventional surgery robots is as follows:

[0097] See Figure 14 and Figure 15When the intervention consumable 9 needs to be rotated, the second drive member 52 drives the rack 44 on the bracket 43 to move to the left via the switching gear 51, causing the drive gear 41 and the first spur gear 215 to mesh. At the same time, the switching gear 51 also drives the third spur gear 55 and the fourth spur gear 56 to rotate, making the long axis of the first cam 53 horizontal and the long axis of the second cam 54 vertical. Under the action of the first elastic member 23, the first clamping block 211 and the second clamping block 221 clamp the first cam 53, causing the active rotation drive wheel 212 and the driven rotation drive wheel 222 to clamp the intervention consumable 9. When the first cam 53 remains horizontal, the second cam 54 will remain vertical and support the third clamping block 311 and the fourth clamping block 321, causing the active drive wheel 312 and the driven drive wheel 322 to release the intervention consumable 9. The rotation of the drive gear 41 drives the first spur gear 215 to rotate. The first spur gear 215 and the second bevel gear 214 are relatively stationary when they are in operation. The rotation of the second bevel gear 214 drives the first bevel gear 213 to rotate. The rotation of the first bevel gear 213 drives the active rotation drive wheel 212 to rotate. Since the two rotation drive wheels clamp the intervention consumable 9, the rotation of the active rotation drive wheel 212 will also drive the driven rotation drive wheel 222 to rotate, ultimately realizing the rotation of the intervention consumable 9.

[0098] See Figure 16 and Figure 17 When it is necessary to advance or withdraw the interventional consumable 9, the second drive member 52 drives the rack 44 on the bracket 43 to move to the right through the switching gear 51, so that the drive gear 41 and the second spur gear 313 mesh. At the same time, the switching gear 51 also drives the third spur gear 55 and the fourth spur gear 56 to rotate, so that the long axis of the second cam 54 is horizontal and the long axis of the first cam 53 is vertical. Under the action of the second elastic member 33, the third clamping block 311 and the fourth clamping block 321 clamp the second cam 54, and the active drive wheel 312 and the driven drive wheel 322 clamp the interventional consumable 9. When the second cam 54 remains horizontal, the first cam 53 will remain vertical and open the first clamping block 211 and the second clamping block 221, so that the active drive wheel 212 and the driven drive wheel 222 release the interventional consumable 9. The drive gear 41 drives the second spur gear 313 to rotate, and the rotation of the second spur gear 313 drives the active drive wheel 312 to rotate. Since the two drive wheels clamp the intervention consumable 9, the rotation of the active drive wheel 312 will drive the driven drive wheel 322 to rotate, ultimately realizing the forward and backward movement of the intervention consumable 9.

[0099] This application also provides a vascular interventional surgery robot, including the drive mechanism for the vascular interventional surgery robot described in the above embodiments.

[0100] The solution of this application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of each embodiment have different focuses; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. Those skilled in the art should also understand that the actions and modules involved in the specification are not necessarily essential to this application. Furthermore, it is understood that the steps in the method of this application embodiment can be adjusted, combined, and deleted according to actual needs, and the modules in the device of this application embodiment can be combined, divided, and deleted according to actual needs.

[0101] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A drive mechanism for a vascular interventional surgical robot, characterized in that, include: Base; A rotation drive component is provided on the base. The rotation drive component includes two opposing rotation drive wheels. The two rotation drive wheels are used to clamp the interventional consumables. When the two rotation drive wheels rotate, they can drive the interventional consumables to rotate. A conveying component is provided on the base. The conveying component includes two opposing propulsion drive wheels. The two propulsion drive wheels are used to clamp the interventional consumables. When the two propulsion drive wheels rotate, they can drive the interventional consumables to move along the axis of the interventional consumables. A power unit, optionally connected to the rotation drive unit and the conveying unit, to drive the rotation drive wheel or the propulsion drive wheel to rotate; and A switching component is used to drive the power component to move back and forth between the rotation drive component and the conveying component; when the power component is connected to the rotation drive component, the switching component can drive the two propulsion drive wheels to separate from each other to release the interventional consumables; when the power component is connected to the conveying component, the switching component can drive the two rotation drive wheels to separate from each other to release the interventional consumables.

2. The drive mechanism for a vascular interventional surgical robot according to claim 1, characterized in that: The rotation axis of the drive wheel is parallel to the axis of the interventional consumable, and the rotation axis of the propulsion drive wheel is perpendicular to the axis of the interventional consumable.

3. The drive mechanism for a vascular interventional surgical robot according to claim 1, characterized in that: The rotation drive component includes a first clamping component and a second clamping component disposed opposite to each other. The first clamping component includes a first clamping block, and the second clamping component includes a second clamping block. The rotation drive wheel is rotatably provided on the first clamping block and the second clamping block respectively. At least one of the first clamping block and the second clamping block is movably connected to the base. The switching component can drive the first clamping block and the second clamping block to move closer to each other or separate from each other. The conveying component includes a third clamping assembly and a fourth clamping assembly arranged opposite to each other. The third clamping assembly includes a third clamping block, and the fourth clamping assembly includes a fourth clamping block. The third clamping block and the fourth clamping block are respectively rotatably provided with the propulsion drive wheel. At least one of the third clamping block and the fourth clamping block is movably connected to the base. The switching component can drive the third clamping block and the fourth clamping block to move closer to each other or separate from each other.

4. The drive mechanism for a vascular interventional surgical robot according to claim 3, characterized in that: The rotating drive wheel on the first clamping block is an active rotating drive wheel, and the rotating drive wheel on the second clamping block is a driven rotating drive wheel. The power component is used to drive the active rotating drive wheel to rotate. The propulsion drive wheel on the third clamping block is an active propulsion drive wheel, and the propulsion drive wheel on the fourth clamping block is a passive propulsion drive wheel. The power component is used to drive the active propulsion drive wheel to rotate.

5. The drive mechanism for a vascular interventional surgical robot according to claim 4, characterized in that: The first clamping assembly further includes a first bevel gear, a second bevel gear, and a first spur gear. The first bevel gear is connected to the active rotation drive wheel, the first spur gear is rotatably connected to the first clamping block, the second bevel gear is connected to the first spur gear, and the first bevel gear and the second bevel gear mesh with each other. The third clamping assembly also includes a second spur gear connected to the active propulsion drive wheel; The power component includes a drive gear and a first drive member for driving the drive gear to rotate, the drive gear selectively meshing with the first spur gear and the second spur gear.

6. The drive mechanism for a vascular interventional surgical robot according to claim 1, characterized in that: The power component includes a bracket, which is slidably connected to the base, and a rack is provided on the bracket; The switching component includes a switching gear and a second driving member for driving the switching gear to rotate. The switching gear meshes with the rack, and the switching gear drives the bracket to slide relative to the base through the rack.

7. The drive mechanism for a vascular interventional surgical robot according to claim 3, characterized in that: The switching component includes a first cam, a second cam, and a second driving member connected to the first cam and the second cam respectively. The second driving member can drive the first cam and the second cam to rotate. The rotation driving component also includes a first elastic member, and the conveying component also includes a second elastic member. The first clamping block and the second clamping block clamp the first cam, the first elastic element provides a force for the first clamping block and the second clamping block to clamp the first cam, the third clamping block and the fourth clamping block clamp the second cam, and the second elastic element provides a force for the third clamping block and the fourth clamping block to clamp the second cam; The first cam and the second cam are configured such that when the first cam rotates to cause the two rotary drive wheels to clamp the interventional consumable, the second cam rotates to cause the two propulsion drive wheels to release the interventional consumable; and when the second cam rotates to cause the two propulsion drive wheels to clamp the interventional consumable, the first cam rotates to cause the two rotary drive wheels to release the interventional consumable.

8. The drive mechanism for a vascular interventional surgical robot according to claim 7, characterized in that: The switching component further includes a switching gear, a third spur gear, and a fourth spur gear. The third spur gear and the fourth spur gear mesh with the switching gear, respectively. The switching gear is connected to the second driving member. The first cam is connected to the third spur gear, and the second cam is connected to the fourth spur gear.

9. The drive mechanism for a vascular interventional surgical robot according to claim 7, characterized in that: Both the first clamping block and the second clamping block are slidably connected to the base. The first elastic element is a compression spring. The first elastic element is provided between the first clamping block and the base, and between the second clamping block and the base. Both the third clamping block and the fourth clamping block are slidably connected to the base. The second elastic element is a compression spring. The first elastic element is provided between the third clamping block and the base, and between the fourth clamping block and the base.

10. The drive mechanism for a vascular interventional surgical robot according to claim 3, characterized in that: The first clamping block or the second clamping block is provided with a limiting hole for the interventional consumable to pass through.

11. The drive mechanism for a vascular interventional surgical robot according to claim 1, characterized in that: It also includes a guide tube fitted onto the interventional consumable.

12. A vascular interventional surgical robot, characterized in that, Includes the drive mechanism for a vascular interventional surgical robot as described in any one of claims 1-11.

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