Optical fiber winding mechanism and surgical robot

Abstract

The embodiment of the utility model discloses an optical fiber winding mechanism and a surgical robot. The optical fiber winding mechanism comprises a main frame; the rotating assembly comprises a rotating shaft, the rotating shaft is rotatably mounted on the main frame, and a mounting channel penetrating in the axial direction is formed in the rotating shaft; the installation plug-in unit is detachably assembled in the installation channel, and an installation groove which is through in the axial direction and used for containing an optical fiber patch cord is formed in the installation plug-in unit; the winding assembly comprises a winding driving wheel and a winding driven wheel, and the winding driven wheel is fixedly installed on the rotating shaft; and the driving assembly is fixed on the main frame, and the driving assembly is in transmission connection with the winding driving wheel and the winding driven wheel at the same time. According to the optical fiber winding mechanism, the winding driving wheel and the winding driven wheel are used for synchronously winding the optical fiber jumper wire, the problems that optical fiber stress and winding are not synchronous, so that optical fiber damage is caused, and signal transmission is affected are solved, and the optical fiber winding mechanism achieves quick disassembly and assembly of the optical fiber by arranging the installation plug-in.

Description

Technical Field

[0001] This application relates to the field of medical devices, and more particularly to an optical fiber winding mechanism and a surgical robot. Background Technology

[0002] Optical fiber is a type of fiber made of glass or plastic. Typically, a transmitting device at one end of the fiber uses a light-emitting diode (LED) or a laser beam to transmit light pulses, while a receiving device at the other end uses a photosensitive element to detect the pulses, thus transmitting information. The transmission loss of light in optical fiber is much lower than that of electricity in electrical wires; therefore, optical fibers are widely used for information transmission in interventional medical devices. Some lesions in the human body are located at the extremities of natural cavities (such as the extremities of the lungs or nerve endings in the brain), with complex pathways and numerous intersections. To accurately reach the lesion location, a fiber optic patch cord is integrated inside the interventional catheter for navigation. The interventional catheter handle connects to the fiber optic demodulator inside the catheter via this patch cord to transmit information.

[0003] Because the optical fiber shifts when the interventional catheter handle is rotated for orientation adjustment, a fiber optic winding mechanism is needed to wind and automatically reel in the fiber to ensure stable fiber optic signal transmission. Furthermore, most interventional devices or medical robots using interventional devices currently employ multi-core optical fibers, whose patch cords have small diameters and cannot withstand significant tensile forces.

[0004] However, existing fiber optic winding mechanisms in the medical field mostly use industrial winding mechanisms. Applying industrial winding mechanisms to the medical field has several drawbacks: First, it lacks the function of fiber removal and replacement, or the fiber removal and installation steps are too many, making removal and installation difficult; Second, the different forces at both ends of the fiber cause the fiber to be too long, resulting in problems such as wire jamming, pulling, unstable signal transmission, or even damage; Third, industrial winding mechanisms are too large and complex to assemble. Utility Model Content

[0005] This application provides an optical fiber winding mechanism and a surgical robot, which solves the problems in the prior art where industrial optical fiber winding mechanisms cannot be adapted to more precise interventional devices and surgical robots, and where optical fibers cannot be quickly installed and removed.

[0006] This application provides an embodiment of an optical fiber winding mechanism, including:

[0007] Main frame;

[0008] A rotating assembly includes a rotating shaft, which is rotatably mounted on the main frame and used to place products, and the rotating shaft has an axially extending mounting channel.

[0009] An installation plug-in is detachably assembled in the installation channel, and an installation slot penetrating in the axial direction is formed on the installation plug-in for accommodating the optical fiber jumper of the product;

[0010] A winding assembly includes a winding driving wheel and a winding driven wheel, the winding driven wheel is fixedly installed on the rotating shaft, the optical fiber jumper extends from the installation slot and is wound on the winding driving wheel and the winding driven wheel respectively;

[0011] A driving assembly is fixed on the main frame, and is in transmission connection with the winding driving wheel and the winding driven wheel, so as to drive the winding driving wheel, the winding driven wheel and the rotating shaft to rotate simultaneously.

[0012] It can be understood that the winding driving wheel and the winding driven wheel are used to synchronously wind the optical fiber jumper, the winding and the take-up of the optical fiber jumper at both ends are synchronized, so that the optical fiber is not subjected to tension at all, the problems of the optical fiber being damaged and the signal transmission being unstable due to the optical fiber being too long and being wound and knotted are solved, the structure of the optical fiber winding mechanism is simplified by using the two-wheel synchronous winding mode, the assembly is simple, the optical fiber jumper is pre-assembled on the installation plug-in, and then the installation plug-in is directly inserted into the installation channel in the rotating shaft to complete the installation of the optical fiber at the product end, when the optical fiber needs to be removed and replaced, the installation plug-in is removed from the rotating shaft, the installation plug-in, the rotating shaft and the winding assembly are assembled, and the optical fiber jumper in the installation plug-in is pulled out of the installation slot to complete the disassembly of the optical fiber jumper, so that the disassembly and assembly are fast and simple.

[0013] In a feasible scheme, the optical fiber winding mechanism further includes a limiting assembly arranged between the rotating shaft and the installation plug-in, and used for limiting the movement of the installation plug-in relative to the rotating shaft. In this way, the installation plug-in is quickly positioned after being inserted into the rotating shaft, and the installation plug-in and the optical fiber jumper therein can be prevented from being displaced during use.

[0014] In a feasible scheme, the limiting assembly includes a limiting protrusion and a limiting slot, the limiting protrusion is arranged at one end of the installation plug-in away from the winding driven wheel, and the limiting slot is formed on the inner wall of the installation channel, or the limiting protrusion is arranged on the rotating shaft, and the limiting slot is correspondingly formed on the installation plug-in, and the limiting protrusion is inserted into the limiting slot to limit. It can be understood that the limiting protrusion is integrally formed on the installation plug-in, the limiting slot is integrally formed on the installation channel of the rotating shaft, or the limiting protrusion is integrally formed on the rotating shaft, and the limiting slot is integrally formed on the installation plug-in, so that no other limiting members need to be additionally arranged, which is beneficial to simplify the structure and reduce the difficulty of processing and assembly.

[0015] In an implementation, the winding driving wheel and the winding driven wheel are each provided with a plurality of winding grooves, and the winding grooves on the winding driving wheel and the winding driven wheel corresponding in position have equal diameters. It can be understood that the winding path of the fiber jumper is limited by the winding grooves, so as to avoid the problem of fiber knotting and unstable signal transmission caused by the change of fiber winding circumference.

[0016] In an implementation, the winding assembly further comprises a sealing disc, and the winding driven wheel and the winding driving wheel are each provided with the sealing disc at the end thereof. The end of the winding driven wheel and the winding driving wheel is sealed by the sealing disc, so as to prevent the fiber jumper from being separated from the winding driven wheel and the winding driving wheel.

[0017] In an implementation, the winding assembly further comprises a winding wheel sleeve, and the winding driving wheel and the winding driven wheel are each provided with the winding wheel sleeve. It can be understood that the inner wall of the winding wheel sleeve is matched with the circumferential side wall of the winding driving wheel and the winding driven wheel respectively to limit the fiber, so as to prevent the fiber jumper from falling off in the radial direction of the winding driving wheel and the winding driven wheel.

[0018] In an implementation, the rotating assembly further comprises a product mounting seat for placing a product, and the product mounting seat is arranged on the rotating shaft.

[0019] In an implementation, the fiber winding mechanism further comprises a rotating transmission assembly, and the rotating transmission assembly is in transmission connection with the rotating shaft and the winding driven wheel respectively. The driving assembly drives the rotating transmission assembly to drive the rotating shaft and the winding driven wheel to rotate.

[0020] In an implementation, the rotating transmission assembly comprises a rotating driving wheel connected with the driving assembly, a rotating driven wheel fixedly connected with the winding driving wheel and arranged on the rotating shaft, and a rotating transmission belt having two ends respectively sleeved on the rotating driving wheel and the rotating driven wheel. Through the synchronous wheel belt transmission, the driving assembly and the rotating shaft are independently distributed, so as to avoid the cable of the driving assembly from being wound on the rotating shaft, and to ensure that the rotating shaft can rotate by an unlimited angle, so as to drive the product to rotate arbitrarily.

[0021] The embodiment of the present application also provides a surgical robot comprising a fiber jumper, an interventional catheter handle, a bending module and the fiber winding mechanism in any of the above embodiments. The interventional catheter handle is placed on the rotating shaft, the bending module is arranged on the main frame and connected with an interventional catheter in the interventional catheter handle, and is used for controlling the bending of the end of the interventional catheter. One end of the fiber jumper is embedded in the interventional catheter handle, and the other end passes through the rotating shaft and is wound on the winding driven wheel and the winding driving wheel in sequence.

[0022] Based on the above scheme, the application synchronously winds the optical fiber jumper wire through the winding driving wheel and the winding driven wheel, synchronously winds and unwinds the optical fiber jumper wire at both ends, so that the optical fiber is not affected by tension, solves the problems of optical fiber jumper wire jamming and knotting and signal transmission instability caused by redundant optical fiber, and simplifies the structure of the optical fiber winding mechanism by using the two-wheel synchronous winding mode, so that the assembly is simple. Meanwhile, the optical fiber jumper wire is pre-assembled to the mounting plug, and then the product end optical fiber can be installed by directly inserting the mounting plug into the mounting channel in the rotating shaft. When it is necessary to remove and replace the optical fiber jumper wire, the mounting plug is removed from the rotating shaft, the mounting plug in the mounting slot is pulled out together with the rotating shaft and the winding assembly, and the optical fiber jumper wire in the mounting plug is pulled out from the mounting slot, so that the optical fiber jumper wire can be disassembled quickly and simply. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 It is a structural schematic diagram of the optical fiber winding mechanism in an embodiment of the application.

[0025] Figure 2 It is a top view of the optical fiber winding mechanism in Figure 1

[0026] Figure 3 It is an A-A sectional view in Figure 2

[0027] Figure 4 It is a B-B sectional view in Figure 2

[0028] Figure 5 It is an exploded schematic diagram of the optical fiber assembled in the mounting plug, the rotating shaft and the winding assembly in an embodiment of the application.

[0029] Figure 6 It is a partial structural schematic diagram of a surgical robot in an embodiment of the application.

[0030] Reference numerals in the drawings:

[0031] ​​​100, fiber winding mechanism; 10, main frame; 20, rotating assembly; 21, rotating shaft; 211, mounting channel; 212, limiting groove; 22, product mounting seat; 30, winding assembly; 31, winding driving wheel; 32, winding driven wheel; 33, winding groove; 34, plugging disc; 35, winding wheel sleeve; 40, mounting plug-in; 41, mounting groove; 42, limiting protrusion; 50, rotating transmission assembly; 51, rotating driving wheel; 52, rotating driven wheel; 53, rotating transmission belt; 60, driving assembly; 61, driving motor; 62, driving shaft; 200, interventional catheter handle; 300, bending adjustment module; 301, bending adjustment transmission assembly; 3011, bending adjustment driving wheel; 3012, bending adjustment driven wheel; 302, reversing assembly; 3021, reversing driving wheel; 3022, reversing driven wheel; 3023, reversing transmission belt; 303, bending adjustment assembly; 304, bending adjustment driving assembly; 400, fiber jumper. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0033] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms “center”, “longitudinal”, “transverse”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer”, “axial”, “radial”, “circumferential” 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, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0034] In this application, unless specifically defined otherwise, the terms "mount", "connect", "connection", "fixed", and like terms should be construed in a broad sense, for example, can be fixed connection, can also be detachable connection, can also be integrated; can be mechanical connection, can also be electrical connection, can also be communication connection; can be direct connection, can also be indirect connection through an intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances. The technical solutions of the present application are described in detail below with specific examples. The following specific examples can be combined with each other, and the same or similar concepts or processes can not be described in detail in some examples.

[0035] The flexible winding device currently applied in industrial scenes is an automatic take-up device (similar to a tape measure, an ink cartridge, and an automatic retractable winding device), which all need to use a scroll spring (also called a winding spring or a clockwork spring). Therefore, if the automatic take-up device in the industry is applied to a device in the medical field, the following disadvantages exist: 1. The force of the wire when pulled out = the torque of the scroll spring. The torque of the ordinary scroll spring is uncontrollable. Even if a high-cost constant torque scroll spring is selected, the reset function of the scroll spring also needs to be considered. Under the premise of meeting the safety of the optical fiber tension (≤15N), the recovery force is small, which is easy to cause the optical fiber to be stuck during recovery, causing damage to the optical fiber; 2. The scroll spring has high applicability to single-winding (such as a tape measure) products, but when applied to multi-winding products (such as an ink cartridge), winding and knotting of the wire are easy to occur, which is easy to cause damage to the optical fiber jumper; 3. The connection between the scroll spring and the wire is mostly direct connection (such as a tape measure and a toy clockwork), even if a penetrating connection is used, it is mostly small-radius curved connection (such as an automatic retractable winding device). If it is used for winding multi-core optical fibers in the medical field, in order to avoid damage to the optical fiber due to excessive bending, the bending radius needs to be increased, which requires that the inner hole of the scroll spring be increased, resulting in an increase in the overall size of the product; 4. The scroll spring is complex to install on site, and special tools and fixtures are mostly needed to install it, which is not convenient for on-site maintenance and after-sales debugging of medical equipment, and the optical fiber cannot be quickly disassembled, replaced, and debugged.

[0036] In interventional devices and surgical robots, multi-core optical fibers need to be applied due to the diversification of information transmission. The multi-core optical fiber has a small diameter and cannot bear a large tension, and the bending angle radius of the optical fiber needs to be greater than or equal to 16 mm. Due to the small diameter of the multi-core optical fiber, damage occurs after a long time of use, and the multi-core optical fiber needs to be replaced. It should be noted that an optical fiber jumper is used during application, and the center of the optical fiber jumper is an optical fiber for optical transmission.

[0037] In view of the above problems, an embodiment of the present application provides an optical fiber winding mechanism applied in the medical field, such as Figures 1 to 5As shown, the optical fiber winding mechanism 100 of the embodiment includes a main frame 10, a rotating assembly 20, a mounting plug-in 40, a winding assembly 30 and a driving assembly 60.

[0038] The rotating assembly 20 includes a rotating shaft 21 which is rotatably arranged on the main frame 10 and used for placing a product, for example, an interventional catheter handle 200 which can rotate with the rotating shaft 21, and the rotating shaft 21 is provided with an installation channel 211 which penetrates through the rotating shaft 21 in the axial direction; the mounting plug-in 40 is detachably assembled in the installation channel 211, in other words, the mounting plug-in 40 can be quickly assembled on the rotating shaft 21 through the installation channel 211, and the mounting plug-in 40 is provided with an installation slot 41 which penetrates through the mounting plug-in 40 in the axial direction, and the optical fiber jumper 400 is embedded in the installation slot 41 in advance during assembly, so that when the mounting plug-in 40 is assembled in the rotating shaft 21, the optical fiber jumper 400 penetrates through the rotating shaft 21, and the assembly of the optical fiber jumper 400 in the rotating shaft 21 is quickly completed; the winding assembly 30 includes a winding driving wheel 31 and a winding driven wheel 32, the winding driven wheel 32 is fixedly arranged on the rotating shaft 21, and one end of the optical fiber jumper 400 which extends out of the installation slot 41 is wound on the winding driven wheel 32 and the winding driving wheel 31 in sequence and connected with an external optical fiber demodulation device, thereby completing the assembly of the optical fiber jumper 400; the driving assembly 60 is fixed on the main frame 10, and the driving assembly 60 is in transmission connection with the winding driving wheel 31 and the rotating shaft 21, and the winding driven wheel 32 is fixedly arranged on the rotating shaft 21, which can be understood as that the driving assembly 60 is indirectly connected with the winding driven wheel 32, and the driving assembly 60 can drive the winding driving wheel 31, the winding driven wheel 32 and the rotating shaft 21 to rotate simultaneously for winding the optical fiber jumper 400, and the power provided by the driving assembly 60 is more stable and controllable compared with the spring structure. It can be found from the above that the winding driving wheel 31 and the winding driven wheel 32 are arranged to synchronously wind the optical fiber jumper 400, the winding and take-up of the optical fiber jumper 400 at both ends are synchronously performed, the optical fiber jumper 400 is not subjected to tension at all, the optical fiber in the optical fiber jumper 400 is prevented from being pulled, the synchronous winding of the optical fiber jumper 400 avoids problems such as that the optical fiber jumper 400 is jammed and knotted and damaged and signal transmission is unstable due to the length of the optical fiber jumper 400, the structure of the optical fiber winding mechanism 100 is simplified by adopting the two-wheel synchronous winding mode, the assembly is simple, the mounting plug-in 40 is arranged, the optical fiber jumper 400 is pre-assembled in the mounting plug-in 40, and then the mounting plug-in 40 is directly inserted into the installation channel 211 in the rotating shaft 21, thereby completing the installation of the product end optical fiber jumper 400, when the optical fiber jumper 400 needs to be removed and replaced, the mounting plug-in 40 is only needed to be removed from the rotating shaft 21, the mounting plug-in 40 is assembled in the mounting plug-in 40 and then separated from the rotating shaft 21 and the winding assembly 30, and the optical fiber jumper 400 in the mounting plug-in 40 is pulled out of the installation slot 41, thereby completing the removal of the optical fiber jumper 400, and the removal and assembly are quick and simple.

[0039] Optionally, as shown in Figure 5 The mounting channel 211 on the rotating shaft 21 is a groove structure opening through the surface of the rotating shaft 21, so that the mounting plug 40 can be assembled on the rotating shaft 21 from the side of the rotating shaft 21, reducing the assembly difficulty. In other embodiments, the mounting channel 211 can also be provided as a through hole structure penetrating the rotating shaft 21 axially.

[0040] Optionally, in an embodiment, the optical fiber winding mechanism 100 further comprises a limiting assembly arranged between the rotating shaft 21 and the mounting plug 40, for limiting the movement of the mounting plug 40 relative to the rotating shaft 21, and after assembly is completed, the limiting assembly can limit the movement of the mounting plug 40 towards the direction close to the winding driven wheel 32 and limit the movement of the mounting plug 40 in the circumferential direction of the rotating shaft 21.

[0041] In this embodiment, as shown in Figure 1 and Figure 5 The limiting assembly comprises a limiting protrusion 42 and a limiting groove 212, wherein the limiting protrusion 42 is arranged at the end of the mounting plug 40 away from the winding driven wheel 32, and the limiting groove 212 is opened on the inner wall of the mounting channel 211, in other words, the limiting protrusion 42 is integrally formed on the mounting plug 40, and the limiting groove 212 is integrally opened on the mounting channel 211, the mounting plug 40 is inserted into the mounting channel 211 until the limiting protrusion 42 is inserted into the limiting groove 212 to limit, the assembly of the mounting plug 40 is completed, of course, the limiting protrusion can also be arranged on the rotating shaft, and the limiting groove matched with the limiting protrusion is formed on the mounting plug. In other embodiments, the specific structure of the limiting assembly is not limited to the above or shown in the figure, for example, it can be provided as a buckle structure.

[0042] As shown in Figure 5 The outer surfaces of the winding driving wheel 31 and the winding driven wheel 32 are provided with multiple winding grooves 33, and the optical fiber jumper 400 is wound in the winding grooves 33 turn by turn, avoiding the displacement of the optical fiber jumper 400 when the fiber is wound, so that the optical fiber jumper 400 in the corresponding winding groove 33 on the winding driving wheel 31 and the winding driven wheel 32 can be ensured to be at the same height, that is, the optical fiber segment between the winding driving wheel 31 and the winding driven wheel 32 always remains horizontal, reducing the influence on the optical wave transmission.

[0043] Optionally, as shown in Figure 5As shown, the diameters of each coil of the wire grooves 33 on the wire driving wheel 31 and the wire driven wheel 32 are equal, so that the wire driving wheel 31 and the wire driven wheel 32 have the same speed of recovering the fiber jumper 400, that is, the bending angle of the fiber remains unchanged, reducing the damage to the fiber, and the equal diameters mean that the wire driving wheel 31 and the wire driven wheel 32 have the same number of wire grooves 33, that is, the wire driving wheel 31 and the wire driven wheel 32 have the same height, so as to reduce the volume of the mechanism in the vertical direction (the axial direction of the rotating shaft 21), avoid blocking the field of view, and there is no proportion difference during assembly, reducing the assembly difficulty. In other embodiments, the diameters of the wire driving wheel 31 and the wire driven wheel 32 can also be different, for example, the diameter of the wire driven wheel 32 is greater than that of the wire driving wheel 31.

[0044] As shown in Figure 1 and Figure 5 shown, the wire assembly 30 further comprises a blocking disc 34, and the ends of the wire driven wheel 32 and the wire driving wheel 31 are provided with the blocking disc 34. Specifically, the blocking disc 34 blocks the end of the wire driven wheel 32 and the wire driving wheel 31 away from the product, which is used to limit the fiber jumper 400 wound on the wire driven wheel 32 and the wire driving wheel 31, avoiding the fiber jumper 400 from being separated from the wire driven wheel 32 and the wire driving wheel 31.

[0045] As shown in Figure 1 shown, in this embodiment, the wire assembly 30 further comprises a wire wheel sleeve 35, and the wire driving wheel 31 and the wire driven wheel 32 are both sleeved with the wire wheel sleeve 35. The wire wheel sleeve 35 is used to protect the fiber jumper 400, and the inner side wall in the circumferential direction of the wire wheel sleeve 35 cooperates with the wire groove 33 to form a closed wire channel. The fiber jumper 400 is always limited in the wire channel and cannot be separated from the wire driving wheel 31 and the wire driven wheel 32 in the radial direction.

[0046] As shown in Figure 1 and Figure 6 shown, the rotating assembly 20 further comprises a product mounting seat 22 for placing the product. The product mounting seat 22 is arranged on the rotating shaft 21 and can rotate with the rotating shaft 21, thereby driving the product on the product mounting seat 22 to rotate and adjust the direction. When the product is the handle 200 of the interventional catheter, the handle 200 of the interventional catheter rotates to cooperate with the bidirectional bending adjustment of the interventional catheter, so as to realize the rotating universal bending adjustment of the interventional catheter.

[0047] As shown in Figure 1 and Figure 3 shown, the fiber winding mechanism 100 further comprises a rotating transmission assembly 50, and the rotating transmission assembly 50 is in transmission connection with the rotating shaft 21 and the wire driven wheel 32, respectively. The driving assembly 60 drives the rotating transmission assembly 50 to drive the rotating shaft 21 and the wire driven wheel 32 to rotate.

[0048] Specifically, in the embodiment, as shown in Figure 1 and Figure 3 The rotating transmission assembly 50 includes a rotating driving wheel 51, a rotating driven wheel 52, and a rotating transmission belt 53. The rotating driving wheel 51 is connected with the driving assembly 60, and the winding driving wheel 31 is fixedly connected with the rotating driving wheel 51. The rotating driven wheel 52 is fixed on the rotating shaft 21 and is in transmission connection with the rotating driving wheel 51. The rotating transmission belt 53 is sleeved on the rotating driving wheel 51 and the rotating driven wheel 52 at two ends, respectively, to transmit the power of the rotating driving wheel 51 to the rotating driven wheel 52. When the driving assembly 60 drives the rotating driving wheel 51 to rotate, the winding driving wheel 31 and the rotating driven wheel 52 are driven to rotate. The rotating driven wheel 52 drives the rotating shaft 21 to rotate, and the rotating shaft 21 drives the winding driven wheel 32 connected therewith to rotate, so as to realize the simultaneous rotation of the winding driving wheel 31 and the winding driven wheel 32. Through the synchronous wheel belt transmission mode, the driving assembly 60 and the rotating shaft 21 are independently distributed, so as to avoid the cable of the driving assembly 60 from being wound on the rotating shaft 21, to ensure that the rotating shaft 21 can rotate by an unlimited angle, thereby driving the product to rotate arbitrarily. In other embodiments, the specific structure of the rotating transmission assembly 50 can also be not limited to the above, for example, it can be a chain transmission or gear transmission mode.

[0049] As shown in Figure 1 The driving assembly 60 includes a driving motor 61 and a driving shaft 62 connected with the driving motor 61. The rotating driving wheel 51 and the winding driving wheel 31 are fixedly sleeved on the driving shaft 62. The driving motor 61 drives the winding driving wheel 31 and the winding driven wheel 32 to rotate simultaneously, and the driving force is more stable and controllable compared with the spring.

[0050] In an embodiment of the present application, a surgical robot is also provided. As shown in Figure 6 , Figure 6 is a partial structure schematic view of the surgical robot. The surgical robot includes an optical fiber jumper 400, an interventional catheter handle 200, a bending adjustment module 300, and an optical fiber winding mechanism 100. The optical fiber winding mechanism 100 is the optical fiber winding mechanism 100 in any of the above embodiments. When the surgical robot with the optical fiber winding mechanism 100 in the present application rotates and bends the interventional catheter, the optical fiber jumper 400 can be reeled in synchronously, so that the optical fiber jumper 400 is not stressed and does not knot, so that the information transmission is not affected, which is beneficial to improve the operation precision of the surgical robot.

[0051] As shown in Figure 6As shown, the interventional catheter handle 200 is placed on the rotating shaft 21, in other words, installed on the product mounting seat 22 installed on the rotating shaft 21, the bending module 300 is arranged on the main frame 10 and connected with the interventional catheter in the interventional catheter handle 200, used for controlling the bending of the end of the interventional catheter, one end of the optical fiber jumper 400 is embedded in the interventional catheter of the interventional catheter handle 200, and the other end is connected with the optical fiber demodulation instrument after passing through and being wound on the winding driven wheel 32 and the winding driving wheel 31 in turn.

[0052] As shown in the drawings, Figure 6 As shown, in an embodiment, two sets of bending modules 300 are arranged, the bending module 300 includes a bending assembly 303, a reversing assembly 302, a bending transmission assembly 301 and a bending driving assembly 304, the bending assembly 303 is arranged on the product mounting seat 22 and opposite to the interventional catheter handle 200, and the bending assembly 303 is used for controlling the bending direction change of the end of the interventional catheter in the interventional catheter handle 200.

[0053] In the embodiment, the bending transmission assembly 301 includes the bending driving wheel 3011 and the bending driven wheel 3012 in transmission connection, the bending driving wheel 3011 and the bending driven wheel 3012 are in transmission connection through the transmission belt, the reversing assembly 302 includes the reversing driving wheel 3021, the reversing driven wheel 3022 and the reversing transmission belt 3023, the reversing driving wheel 3021 and the reversing driven wheel 3022 are in transmission connection through the reversing transmission belt 3023, the bending driving wheel 3011 is connected with the bending driving assembly 304, and the bending driven wheel 3012 is rotatably arranged on the rotating shaft 21 and fixedly connected with the reversing driving wheel 3021, so that when the bending driving assembly 304 drives the bending driving wheel 3011 to rotate, the bending driven wheel 3012 is driven to rotate in turn, the reversing driving wheel 3021 is driven to rotate, the reversing driven wheel 3022 is driven to rotate, and the bending assembly 303 is driven to rotate to control the bending direction and angle of the end of the interventional catheter.

[0054] In the present application, unless otherwise clearly specified and limited, the first feature is "on" or "under" the second feature, which can be that the first feature and the second feature are in direct contact, or the first feature and the second feature are indirectly in contact through an intermediate medium.

[0055] Moreover, the first feature is "on", "above" and "on the top of" the second feature, which can be that the first feature is directly above or obliquely above the second feature, or only means that the first feature is higher in horizontal height than the second feature. The first feature is "under", "below" and "underneath" the second feature, which can be that the first feature is directly below or obliquely below the second feature, or only means that the first feature is lower in horizontal height than the second feature.

[0056] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. In the 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 appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction, and the essence of the corresponding technical solution does not deviate from the scope of the embodiments of the present application.

[0057] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the embodiments of the present application.

Claims

1. An optical fiber winding mechanism characterized by, include: Main frame; A rotating assembly includes a rotating shaft, which is rotatably mounted on the main frame and used to place products, and the rotating shaft has an axially extending mounting channel. The mounting plug is detachably assembled in the mounting channel. The mounting plug has an axially extending mounting slot for accommodating the product's fiber optic patch cord. The winding assembly includes a winding drive wheel and a winding driven wheel. The winding driven wheel is fixedly mounted on the rotating shaft. The fiber optic patch cord extends out from the mounting groove and is wound around the winding drive wheel and the winding driven wheel respectively. A drive assembly is fixed on the main frame. The drive assembly is simultaneously connected to the winding drive wheel and the winding driven wheel, and is used to drive the winding drive wheel, the winding driven wheel and the rotating shaft to rotate simultaneously.

2. The optical fiber spooling mechanism of claim 1, wherein, The fiber optic winding mechanism further includes a limiting component disposed between the rotating shaft and the mounting plug, which is used to limit the movement of the mounting plug relative to the rotating shaft.

3. The optical fiber spooling mechanism of claim 2, wherein, The limiting component includes a limiting protrusion and a limiting groove. The limiting protrusion is located at the end of the mounting plug away from the winding driven wheel, and the limiting groove is formed on the inner wall of the mounting channel; alternatively, the limiting protrusion is located on the rotating shaft, and the corresponding limiting groove is formed on the mounting plug. The limiting protrusion is inserted into the limiting groove to engage and limit the movement.

4. The optical fiber spooling mechanism of claim 1, wherein, Multiple winding grooves are formed on the outer surfaces of both the winding drive wheel and the winding driven wheel, and the diameters of the winding grooves corresponding to the positions on the winding drive wheel and the winding driven wheel are equal.

5. The optical fiber spooling mechanism of claim 1, wherein, The winding assembly also includes a sealing disc, which is provided at the ends of both the driven winding wheel and the driving winding wheel.

6. The optical fiber spooling mechanism of claim 1, wherein, The winding assembly also includes a winding wheel sleeve, which is fitted onto both the winding drive wheel and the winding driven wheel.

7. The optical fiber spooling mechanism of any of claims 1-6, wherein, The rotating assembly also includes a product mounting base for placing the product, the product mounting base being disposed on the rotating shaft.

8. The optical fiber spooling mechanism of any of claims 1-6, wherein, The fiber optic winding mechanism further includes a rotary transmission assembly, which is connected to the rotating shaft and the winding driven wheel respectively. The drive assembly drives the rotary transmission assembly to rotate the rotating shaft and the winding driven wheel.

9. The optical fiber spooling mechanism of claim 8, wherein, The rotary transmission assembly includes: A rotating drive wheel is connected to the drive assembly, and a winding drive wheel is fixedly connected to the rotating drive wheel; A rotating auxiliary wheel is fixed on the rotating shaft and is connected to the rotating driving wheel via a transmission. A rotating transmission belt is fitted at both ends onto the rotating driving pulley and the rotating auxiliary driving pulley, respectively.

10. A surgical robot, characterised in that, Includes fiber optic patch cords, interventional catheter handles, bending adjustment modules, and fiber optic winding mechanisms as described in any one of claims 1-9; The interventional catheter handle is placed on the rotating shaft, and the bending module is set on the main frame and connected to the interventional catheter in the interventional catheter handle to control the bending of the end of the interventional catheter. One end of the fiber optic jumper is embedded in the interventional catheter handle, and the other end passes through the rotating shaft and is wound sequentially on the winding driven wheel and the winding driving wheel.

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