Monorail multi-instrument cooperative intervention consumable delivery device and intervention surgical robot
By designing a single-track multi-instrument collaborative interventional consumable delivery device in interventional treatment equipment, the collaborative work of multiple consumables is realized, solving the problem of consumable replacement affecting the continuity of surgery, reducing medical costs and improving surgical efficiency and safety.
Patent Information
- Application Number
- CN202422545171.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-21
- Publication Date
- 2026-01-06
- Estimated Expiration
- 2034-10-21
AI Technical Summary
Existing interventional therapy equipment is usually a single-pathway device, which requires manual replacement of consumables when needed, affecting the continuity of operation and the smooth progress of surgery, and increasing medical costs.
A single-track multi-instrument collaborative interventional consumable delivery device is designed. By setting first and second consumable boxes on the delivery track, the operating ends of multiple interventional consumables are connected to each other. The device drives multiple consumables to work collaboratively through an actuator, enabling the simultaneous execution of multiple treatment methods.
Simplify surgical procedures, reduce the number of times consumables need to be replaced, lower medical costs, improve surgical efficiency and safety, and adapt to the needs of complex surgical operations.
Smart Images
Figure CN223760212U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of medical device technology, and in particular to a single-track multi-instrument collaborative interventional consumable delivery device and an interventional surgical robot. Background Technology
[0002] Because interventional vascular procedures are complex, multiple or various interventional consumables may need to be used simultaneously. However, existing interventional devices are typically single-pathway devices, delivering a single, slender coaxial instrument into a single catheter. This necessitates that when consumables need to be changed during the procedure, the operator must enter the operating room to manually replace or install them. This is disadvantageous for both the operator and the patient, preventing continuous operation and potentially hindering the smooth progress of the procedure. Utility Model Content
[0003] The purpose of this invention is to overcome at least one of the shortcomings of the prior art and to provide a single-track multi-instrument collaborative interventional consumable delivery device and interventional surgery robot that can effectively reduce medical costs while meeting the needs for consumable replacement and multi-instrument collaborative treatment during interventional surgery.
[0004] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
[0005] According to one aspect of the present invention, a single-track multi-instrument collaborative interventional consumable delivery device is provided, the single-track multi-instrument collaborative interventional consumable delivery device comprising at least:
[0006] A delivery track on which a first consumable box and a second consumable box are slidably mounted;
[0007] The first consumable box is connected to the operating end of the first interventional consumable, and the second consumable box is connected to the operating ends of the second and third interventional consumables to drive the second and third interventional consumables to move simultaneously. The second and third interventional consumables can be inserted into the first interventional consumable in parallel, and the first consumable box can drive the second and third interventional consumables to move.
[0008] In one exemplary embodiment of this utility model, the first consumable box is provided with a first multi-channel connection valve. The first multi-channel connection valve includes at least: a first channel, one end of which is connected to the operating end of the first interventional consumable, and the other end of which is for the second interventional consumable to pass through; a second channel, one end of which is connected to the first channel, and the other end of which is for the third interventional consumable to pass through. The third interventional consumable passes through the second channel into the first channel and enters the first interventional consumable together with the second interventional consumable to perform interactive or synchronous operation.
[0009] In one exemplary embodiment of the present invention, the first consumable box includes: a first execution component for driving the second interventional consumable to move; and a second execution component for driving the third interventional consumable to move; wherein the first execution component is disposed near the end of the first channel through which the second interventional consumable passes, and the second execution component is disposed near the end of the second channel through which the third interventional consumable passes.
[0010] In one exemplary embodiment of this utility model, the first execution component and the second execution component are arranged side by side.
[0011] In one exemplary embodiment of this utility model, the second consumable box is provided with: a second multi-channel connecting valve, one end of the main channel of the second multi-channel connecting valve being connected to the operating end of the second interventional consumable, and the other end of the main channel of the second multi-channel connecting valve being accessible to a fourth interventional consumable; and a third multi-channel connecting valve, one end of the main channel of the third multi-channel connecting valve being connected to the operating end of the third interventional consumable, and the other end of the main channel of the third multi-channel connecting valve being accessible to a fifth interventional consumable.
[0012] In one exemplary embodiment of this utility model, the second consumable box includes: a third execution component for driving the fourth interventional consumable to move; and a fourth execution component for driving the fifth interventional consumable to move; wherein the third execution component is disposed near the other end of the main channel of the second multi-channel connecting valve, and the fourth execution component is disposed near the other end of the main channel of the third multi-channel connecting valve.
[0013] In one exemplary embodiment of this utility model, the second multi-channel connection valve and the third multi-channel connection valve are arranged side by side; the third actuation component and the fourth actuation component are arranged side by side.
[0014] In one exemplary embodiment of the present invention, the second consumable box further includes: a first rotation drive member, which is configured to drive the operating end of the second interventional consumable to rotate, so as to cooperate with the first execution component to drive the second interventional consumable to rotate; and a second rotation drive member, which is configured to drive the operating end of the third interventional consumable to rotate, so as to cooperate with the second execution component to drive the third interventional consumable to rotate.
[0015] In one exemplary embodiment of this utility model, the first delivery track is further provided with a front consumable box, which is located near the intervention end and is used to drive the first intervention consumable in coordination with the first consumable box.
[0016] According to another embodiment of the present invention, an interventional surgical robot is provided, the interventional surgical robot including a robot body; the above-mentioned single-track multi-instrument collaborative interventional consumable delivery device is disposed on the robot body.
[0017] As can be seen from the above technical solution, this utility model possesses at least one of the following advantages and positive effects:
[0018] 1. By setting a first consumable box and a second consumable box on a single delivery track, this utility model can achieve simultaneous management and operation of multiple interventional consumables, thus effectively reducing the cost of medical equipment while simplifying the surgical procedure and reducing the operational burden on medical staff.
[0019] 2. The first consumable box not only connects to the operating end of the first interventional consumable, but also drives the movements of the second and third interventional consumables at the same time, enabling the second and third interventional consumables to work together and making it easier to perform more complex surgical operations.
[0020] 3. Since the second and third interventional consumables can be inserted into the first interventional consumable, multiple treatment methods can be combined in one operation through this non-coaxial insertion relationship between different consumables. For example, stent implantation, drug release, guidewire guidance and other operations can be performed simultaneously in one operation, which can effectively reduce the number of times consumables need to be changed during the operation, thereby helping to simplify the operation process and reduce operation time and cost. Attached Figure Description
[0021] The above and other features and advantages of this invention will become more apparent from a detailed description of exemplary embodiments with reference to the accompanying drawings.
[0022] Figure 1 This is a schematic diagram of one embodiment of the single-track multi-instrument collaborative interventional consumable delivery device of this utility model.
[0023] The annotations for the main components in the diagram are explained below:
[0024] 10. Delivery track; 20. First consumable box; 201. First actuation component; 202. Second actuation component; 21. First multi-channel connection valve; 211. First channel; 212. Second channel; 30. First interventional consumable; 40. Second interventional consumable; 50. Third interventional consumable; 60. Second consumable box; 601. Third actuation component; 602. Fourth actuation component; 61. Second multi-channel connection valve; 62. Third multi-channel connection valve; 70. Fourth interventional consumable; 80. Fifth interventional consumable; 90. Pre-positioned consumable box; 100. Slide table. Detailed Implementation
[0025] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present invention will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.
[0026] The features, structures, or characteristics described in this invention may be combined in any suitable manner in one or more embodiments, and the features discussed in the various embodiments are interchangeable where possible. In the description of this invention, numerous specific details are provided to give a full understanding of the embodiments of this invention. However, those skilled in the art will recognize that the technical solutions of this invention can be practiced without one or more of the specific details described, or other methods, components, materials, etc. may be employed. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring various aspects of this invention.
[0027] Although relative terms such as "up" and "down" are used in this invention to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the icon's arrangement is flipped so that it is upside down, the component described as "up" will become the component described as "down". Other relative terms such as "high", "low", "top", "bottom", "front", "back", "left", and "right" also have similar meanings. When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.
[0028] In this utility model, the terms "a", "one", "the", "the", and "at least one" are used to indicate the existence of one or more elements / components / etc.; the terms "comprising", "including", and "having" are used to indicate an open-ended inclusion meaning and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms "first", "second", and "third", etc., are used only as markings and are not a limitation on the number of objects.
[0029] During vascular interventional surgery, the operator needs to control the master end control device to introduce interventional consumables such as guidewires, catheters, and stents placed at the slave end into the vascular lesion for treatment.
[0030] Interventional surgical robots typically consist of a master unit (control unit) located outside the operating room and a slave unit (execution unit) located inside the operating room. The master unit is equipped with a master control device for remotely controlling the surgical process, while the slave unit includes the connected robot body and robotic arm. The robot body is fixed to the operating table via the robotic arm and can adjust its posture using the robotic arm. The robot body has a built-in monorail multi-instrument collaborative interventional consumable delivery device for gripping or driving the movement of interventional consumables. To provide a safer, sterile surgical environment and avoid the impact of radiation from medical devices on the surgeon, interventional surgeries are usually performed with the patient and doctor isolated. The operator can perform the surgical procedure outside the operating room using the master control device, combined with medical image guidance from the monorail multi-instrument collaborative interventional consumable delivery device.
[0031] Based on this, the present invention provides a single-track multi-instrument collaborative interventional consumable delivery device, referenced. Figure 1 As shown, the single-track multi-instrument collaborative interventional consumable delivery device includes at least:
[0032] Delivery track 10, on which a first consumable box 20 and a second consumable box 60 are slidably disposed;
[0033] The first consumable box 20 is connected to the operating end of the first interventional consumable 30. The second consumable box 60 is connected to the operating ends of the second interventional consumable 40 and the third interventional consumable 50 to drive the second and third interventional consumables to move simultaneously. The second and third interventional consumables can be inserted into the first interventional consumable in parallel, and the first consumable box 20 can drive the second and third interventional consumables 40 and 50 to move.
[0034] The second consumable box 60 is connected to the operating end of both the second interventional consumable 40 and the third interventional consumable 50, enabling the second consumable box 60 to simultaneously move both the second and third interventional consumables 40 and 50. This connection method achieves centralized control and coordinated operation of multiple interventional consumables, allowing for simultaneous movement and adjustment of these two consumables as needed during surgery, thus improving the efficiency and flexibility of the surgical procedure.
[0035] The second interventional consumable 40 and the third interventional consumable 50 can be inserted into the first interventional consumable 30 in parallel, enabling multiple interventional consumables to work synergistically in the same surgical procedure. For example, during multi-step intravascular treatment, interventional consumables with different functions can be inserted into the target location simultaneously for combined treatment or procedures. This parallel insertion method also reduces surgical time and risks, and improves the success rate of the procedure.
[0036] It should be noted that this utility model does not impose specific limitations on the specific types of the first interventional consumable 30, the second interventional consumable 40, and the third interventional consumable 50. For example, in some embodiments, the first interventional consumable 30 may be a support catheter (such as a guiding catheter, angiography catheter, intermediate catheter, or main stent; when the interventional procedure is cardiovascular surgery, the first interventional consumable 30 may be a main stent; when the interventional procedure is neurointerventional surgery, the first interventional consumable 30 may be a guiding catheter). Similarly, the second interventional consumable 40 and the third interventional consumable 50 may also be selected according to the surgical requirements, as long as it is ensured that the second interventional consumable 40 and the third interventional consumable 50 can be inserted into the first interventional consumable 30 simultaneously. For example, in some embodiments, the second interventional consumable 40 and the third interventional consumable 50 may be the same type of interventional consumable, such as both being microcatheters.
[0037] When the second interventional consumable 40 and the third interventional consumable 50 are of the same type, the presence of the second interventional consumable 40 and the third interventional consumable 50 enables the single-track multi-instrument collaborative interventional consumable delivery device provided by this utility model to have a dual microcatheter structure. The dual microcatheters can be used to precisely guide different interventional consumables to the target position, and to perform multiple treatment steps in one operation, such as stent implantation and drug release, to ensure high precision and flexibility of the operation.
[0038] Alternatively, in some embodiments, the first consumable box 20 can be designed so that both the second interventional consumable 40 and the third interventional consumable 50 can be smoothly inserted into the first interventional consumable 30. (See reference) Figure 1As shown, for example, a first multi-channel connection valve 21 can be provided on the first consumable box 20. The first multi-channel connection valve 21 includes at least: a first channel 211, one end of which is connected to the operating end of the first interventional consumable 30, and the other end of which is for the second interventional consumable 40 to pass through; a second channel 212, one end of which is connected to the first channel 211, and the other end of which is for the third interventional consumable 50 to pass through. The third interventional consumable 50 passes through the second channel 212 into the first channel 211 and enters the first interventional consumable 30 together with the second interventional consumable 40 for interactive or synchronous operation.
[0039] Therefore, the existence of the first multi-channel connection valve 21 can, on the one hand, meet the needs of collaborative work between multiple or more interventional consumables; on the other hand, it provides a direct path for the second interventional consumable 40 and the third interventional consumable 50 to enter the first interventional consumable 30, so as to ensure the precise coordination between multiple or more interventional consumables and improve the accuracy and safety of the operation.
[0040] The actions driven by the first consumable box 20 to operate the second interventional consumable 40 and the third interventional consumable 50 can be combinations of one or more of clamping, delivery, and rotation. Based on this, in order to drive the second interventional consumable 40 and the third interventional consumable 50, as one implementation, two execution components can be designed in the first consumable box 20: a first execution component 201 and a second execution component 202. The first execution component 201 and the second execution component 202 are respectively used to drive the second interventional consumable 40 and the third interventional consumable 50. Specifically, the first execution component 201 is positioned near the end of the first channel 211 through which the second interventional consumable 40 passes, and the second execution component 202 is positioned near the end of the second channel 212 through which the third interventional consumable 50 passes.
[0041] Therefore, the first execution component 201 and the second execution component 202 can independently control the movements of the second interventional consumable 40 and the third interventional consumable 50, effectively avoiding interference between the second interventional consumable 40 and the third interventional consumable 50 when they are inserted into the first interventional consumable 30, thereby ensuring that the second interventional consumable 40 and the third interventional consumable 50 can be precisely inserted into the first interventional consumable 30 along a predetermined path, thereby improving the accuracy and safety of the surgery.
[0042] Specifically, as one implementation, the first execution component 201 and the second execution component 202 can be arranged side by side. That is, the first execution component 201 and the second execution component 202 are located on the same horizontal line within the first consumable box 20 and are arranged adjacent to each other. In this way, the second interventional consumable 40 and the third interventional consumable 50 are always parallel to each other when they are driven, that is, their intervention directions are parallel. Therefore, interference or entanglement between the two before they penetrate the first interventional consumable 30 can be avoided, thereby enhancing the independence between the second interventional consumable 40 and the third interventional consumable 50.
[0043] To further drive the second and third interventional consumables 40 and 50 while meeting the consumable replacement needs of the entire single-track multi-instrument collaborative interventional consumable delivery device during surgery, as an alternative implementation, a second multi-channel connecting valve 61 and a third multi-channel connecting valve 62 can be provided on the second consumable box 60. One end of the main channel of the second multi-channel connecting valve 61 is connected to the operating end of the second interventional consumable 40, and the other end of the main channel of the second multi-channel connecting valve 61 allows the fourth interventional consumable 70 to pass through and enter the second interventional consumable 40; one end of the main channel of the third multi-channel connecting valve 62 is connected to the operating end of the third interventional consumable 50, and the other end of the main channel of the third multi-channel connecting valve 62 allows the fifth interventional consumable 80 to pass through and enter the third interventional consumable 50.
[0044] As can be seen, the presence of the second multi-channel connecting valve 61 and the third multi-channel connecting valve 62 not only fixes the second interventional consumable 40 and the third interventional consumable 50, but also provides channels for the fourth interventional consumable 70 and the fifth interventional consumable 80 to pass through, meeting the different consumable needs that may arise during the operation and increasing the flexibility and adaptability of the operation.
[0045] In addition, in order to ensure that the fourth interventional consumable 70 and the fifth interventional consumable 80 can smoothly enter the second interventional consumable 40 and the third interventional consumable 50 while minimizing the need for manual operation, as an implementation method, an execution component can also be designed in the second consumable box 60. However, considering that a single execution component may interfere with the two interventional consumables when driving them simultaneously, alternatively, the present invention also provides a third execution component 601 and a fourth execution component 602 in the second consumable box 60. The third execution component 601 is located near the other end of the main channel of the second multi-channel connecting valve 61, and the fourth execution component 602 is located near the other end of the main channel of the third multi-channel connecting valve 62.
[0046] Therefore, interventional consumables can be easily replaced during the operation, and the fourth and fifth interventional consumables 70 and 80 can be independently controlled to enter the second and third interventional consumables 40 and 50, respectively, improving the flexibility and efficiency of the operation, and thus improving the accuracy and safety of the operation.
[0047] Specifically, as one implementation, the third execution component 601 and the fourth execution component 602 can be arranged side by side. That is, the third execution component 601 and the fourth execution component 602 are located on the same horizontal line within the first consumable box 20 and are arranged adjacent to each other. Correspondingly, the second multi-channel connection valve 61 and the third multi-channel connection valve 62 are also arranged side by side. In this way, on the one hand, it can be ensured that the fourth interventional consumable 70 and the fifth interventional consumable 80 can be horizontally and stably inserted into the second interventional consumable 40 and the third interventional consumable 50, improving the stability and accuracy of the surgery, thereby further ensuring the safety of the surgery. On the other hand, the fourth interventional consumable 70 and the fifth interventional consumable 80 are independently controlled, which can reduce the surgical risk and thus ensure the safety of the surgery.
[0048] Here, since the fourth interventional consumable 70 and the fifth interventional consumable 80 need to extend into the second interventional consumable 40 and the third interventional consumable 50, the radial dimensions of the fourth interventional consumable 70 and the fifth interventional consumable 80 should be smaller than the radial dimensions of the second interventional consumable 40 and the third interventional consumable 50, respectively. When the second interventional consumable 40 and the third interventional consumable 50 are both microcatheters, the fourth interventional consumable 70 and the fifth interventional consumable 80 can be interventional consumables such as microguidewires, stents, and coils. In this way, during the operation, the operator can also choose to place drugs, surgical fluids, etc. on the branch channels of the second multi-channel connecting valve 61 or the third multi-channel connecting valve 62, providing more possibilities for complex surgical operations.
[0049] In addition, to clamp the second interventional consumable 40, the first execution component 201 can be a clamping mechanism; to deliver the second interventional consumable 40, the first execution component 201 can be a delivery drive mechanism; and to rotate the second interventional consumable 40, the first execution component 201 can be a rotation drive mechanism. These three mechanisms can be freely combined or set individually, and this invention does not impose specific limitations. Through the individual or collaborative work of these mechanisms, the first consumable box 20 can precisely control the operation of the second interventional consumable 40, thereby improving the flexibility and accuracy of the surgery and ensuring that the interventional consumable can operate in the expected manner.
[0050] In some embodiments, the first execution component 201, the second execution component 202, the third execution component 601, and the fourth execution component 602 may have the same structure or different structures. Considering the synchronization during the operation and the universality of consumables, the first execution component 201, the second execution component 202, the third execution component 601, and the fourth execution component 602 may be designed to have the same structure, so that the second interventional consumable 40 and the third interventional consumable 50 can be inserted into the first interventional consumable 30 at a synchronized frequency, thereby improving the safety of the operation.
[0051] In another possible implementation, in order to precisely control the rotation angles of the second interventional consumable 40 and the third interventional consumable 50 and ensure that the second interventional consumable 40 and the third interventional consumable 50 can enter the first interventional consumable 30 along the correct path, the second consumable box 60 can also be designed to include a first rotation drive component and a second rotation drive component. The first rotation drive component is configured to drive the operating end of the second interventional consumable 40 to rotate in coordination with the first execution component 201 to drive the second interventional consumable 40 to rotate; and the second rotation drive component is configured to drive the operating end of the third interventional consumable 50 to rotate in coordination with the second execution component 202 to drive the third interventional consumable 50 to rotate, thereby achieving precise control and positioning of the second interventional consumable 40 and the third interventional consumable 50.
[0052] The first rotary drive component can be configured as a gear transmission component. For example, a driven wheel can be provided at the end of the second multi-channel connecting valve 61 connected to the operating end of the second interventional consumable 40, and a driving wheel and a motor can be provided on the second consumable box 60. The motor drives the driving wheel to rotate, thereby driving the driven wheel on the second multi-channel connecting valve 61 to rotate, and thus driving the rotation of the second interventional consumable 40. At this time, the second interventional consumable 40 is driven to rotate by both the first rotary drive component and the first execution component. When the first execution component 201 has a delivery function, since the second consumable box 60 is slidably disposed on the first delivery track 10, the second consumable box 60 and the first execution component cooperate to deliver the second interventional consumable 40. Of course, the first rotary drive component and the second rotary drive component can be constructed to have the same structure, so that the driving method of the second rotary drive component for the third interventional consumable 50 is the same as the driving method of the second rotary drive component for the second interventional consumable 40. This utility model will not elaborate further.
[0053] In addition, the consumable delivery track 10 provided by this invention is also equipped with a front consumable box 90, which is located near the interventional end and is used to work in conjunction with the first consumable box 20 to drive the first interventional consumable 30. Due to the presence of the front consumable box 90, the operation of the first interventional consumable 30 can be better controlled, ensuring that the first interventional consumable 30 can accurately reach the target position, thereby leading the subsequent second interventional consumable 40 and third interventional consumable 50 to the target position, improving the precision of the surgery.
[0054] This utility model does not impose specific limitations on the way the first consumable box 20 and the second consumable box 60 can slide. For example, in some embodiments, the first consumable box 20 or the second consumable box 60 can be set on the slide table 100 and move linearly together with the slide table 100. This utility model does not impose limitations on the specific implementation of the slide table 100. It can be a gear and rack combination, a chain drive, or a crankshaft and connecting rod combination, so as to enable the first consumable box 20 or the second consumable box 60 to move linearly while driving the inserted consumables forward or backward.
[0055] As one possible implementation, a motor and a rack and pinion can be installed on the slide table 100. The motor drives the gear to rotate, and the gear rolls along the rack under the constraint of the guide rail, thereby moving the slide table 100.
[0056] It is understood that this utility model is not limited to the detailed structure and arrangement of the components proposed in this utility model. This utility model can have other embodiments and can be implemented and performed in various ways. The foregoing variations and modifications fall within the scope of this utility model. It should be understood that the utility model disclosed and defined hereby extends to all alternative combinations of two or more individual features mentioned or apparent in the text and / or drawings. All these different combinations constitute multiple alternative aspects of this utility model. The embodiments described in this utility model illustrate the best known mode for implementing this utility model and will enable those skilled in the art to utilize this utility model.
Claims
1. A single rail multi-instrument collaborative interventional consumable delivery device, characterized in that, The single-track multi-instrument collaborative interventional consumable delivery device at least comprises: a delivery track, on which a first consumable box and a second consumable box are arranged to slide, the first consumable box being connected with an operation end of a first interventional consumable, the second consumable box being connected with operation ends of a second interventional consumable and a third interventional consumable to drive the second interventional consumable and the third interventional consumable to move simultaneously, the second interventional consumable and the third interventional consumable being able to enter the first interventional consumable in parallel, and the first consumable box being able to drive the second interventional consumable and the third interventional consumable to act.
2. The single-rail multi-instrument synergistic interventional consumable delivery device of claim 1, wherein, The first consumable box is provided with a first multi-channel connection valve, the first multi-channel connection valve at least comprising: a first channel, one end of which is connected with the operation end of the first interventional consumable, and the other end of which is provided for the second interventional consumable to enter; a second channel, one end of which is communicated with the first channel, and the other end of which is provided for the third interventional consumable to enter, the third interventional consumable entering the first channel through the second channel and entering the first interventional consumable together with the second interventional consumable to interact or operate synchronously.
3. The single-rail multi-instrument synergistic interventional consumable delivery device of claim 2, wherein, The first consumable box comprises: a first execution component for driving the second interventional consumable to act; a second execution component for driving the third interventional consumable to act; wherein the first execution component is arranged close to one end of the first channel provided for the second interventional consumable to enter, and the second execution component is arranged close to one end of the second channel provided for the third interventional consumable to enter.
4. The single-rail multi-instrument synergistic interventional consumable delivery device of claim 3, wherein, The first execution component and the second execution component are arranged side by side.
5. The single-rail multi-instrument synergistic interventional consumable delivery device of claim 3, wherein, The second consumable box is provided with: a second multi-channel connection valve, one end of a main channel of the second multi-channel connection valve being connected with the operation end of the second interventional consumable, and the other end of the main channel of the second multi-channel connection valve being able to provide for a fourth interventional consumable to enter the second interventional consumable; a third multi-channel connection valve, one end of a main channel of the third multi-channel connection valve being connected with the operation end of the third interventional consumable, and the other end of the main channel of the third multi-channel connection valve being able to provide for a fifth interventional consumable to enter the third interventional consumable.
6. The single-rail multi-instrument synergistic interventional consumable delivery device of claim 5, wherein, The second consumable box comprises: a third execution component for driving the fourth interventional consumable to act; a fourth execution component for driving the fifth interventional consumable to act; wherein the third execution component is arranged close to the other end of the main channel of the second multi-channel connection valve, and the fourth execution component is arranged close to the other end of the main channel of the third multi-channel connection valve.
7. The single-track multi-instrument collaborative interventional consumable delivery device according to claim 6, wherein: the second multi-channel connection valve and the third multi-channel connection valve are arranged side by side; the third execution component and the fourth execution component are arranged side by side.
8. The single-rail multi-instrument synergistic interventional consumable delivery device of claim 5, wherein, The second consumable box further comprises: a first rotary driving member, the first rotary driving member being arranged to be able to drive the operation end of the second interventional consumable to rotate, so as to drive the second interventional consumable to rotate in cooperation with the first execution component; a second rotary driving member, the second rotary driving member being arranged to be able to drive the operation end of the third interventional consumable to rotate, so as to drive the third interventional consumable to rotate in cooperation with the second execution component. A second rotary drive member, which can drive the operation end of the third interventional consumable to rotate, to drive the third interventional consumable to rotate in cooperation with the second execution assembly.
9. The single-rail multi-instrument synergistic interventional consumable delivery device of any of claims 1-8, wherein, The delivery rail is also provided with: A front consumable box is arranged close to the interventional end, which is used to drive the first interventional consumable to act in cooperation with the first consumable box.
10. An interventional procedure robot, characterized by The interventional surgery robot comprises: A robot body; The single-rail multi-instrument cooperative interventional consumable delivery device according to any one of claims 1-9 is arranged on the robot body.