Surgical consumable replacement system, surgical system and consumable storage device

Abstract

The utility model provides an operation consumable replacement system, an operation system and a consumable storage device.The consumable replacement system comprises a storage device and a transportation system, and the storage device is used for storing consumables; the conveying system comprises a first clamping mechanism and a first movement mechanism, the first clamping mechanism is installed on the first movement mechanism, the first clamping mechanism can clamp the consumables, and the first movement mechanism can drive the first clamping mechanism to move and drive the consumables to be released from the storage device. The technical problem that time and labor are wasted when consumables are installed and replaced in an operation is solved.

Description

Technical Field

[0001] This utility model relates to the technical field of medical devices, and in particular to a surgical consumable replacement system, a surgical system, and a consumable storage device. Background Technology

[0002] Minimally invasive vascular interventional surgery is an important method for treating cardiovascular and cerebrovascular diseases. Utilizing angiography and image-guided navigation, surgeons deliver guidewires, catheters, and other consumables to the lesion site for repair and treatment. Surgeons can use cardiovascular interventional surgical robots to perform the surgery. In practice, surgeons prepare consumables according to the preoperative plan, then load them one by one into the surgical robot. During the procedure, consumables need to be manually replaced. Currently, vascular interventional surgery suffers from time-consuming and labor-intensive technical issues related to the installation and replacement of consumables, and there is also a risk of consumables being mistakenly used. Utility Model Content

[0003] The purpose of this invention is to provide a surgical consumable replacement system, a surgical system, and a consumable storage device to solve the technical problem that the installation and replacement of consumables during surgery are time-consuming and labor-intensive.

[0004] The above-mentioned objectives of this utility model can be achieved by the following technical solutions:

[0005] This utility model provides a surgical consumable replacement system, including: a storage device and a transport system. The storage device is used to store consumables. The transport system includes a first clamping mechanism and a first moving mechanism. The first clamping mechanism is installed on the first moving mechanism. The first clamping mechanism can clamp the consumables. The first moving mechanism can drive the first clamping mechanism to move and release the consumables from the storage device.

[0006] In a preferred embodiment, the storage device includes a disk and a storage box mounted on the disk, the storage box being used to store consumables. Multiple storage boxes can store various types of consumables, facilitating storage and retrieval.

[0007] In a preferred embodiment, the placement box includes a box body with a surrounding tube. The surrounding tube is used to store consumables, which can be pushed inward through the opening of the surrounding tube for quick storage. The consumables extend within the surrounding tube for easy storage and retrieval.

[0008] In a preferred embodiment, the placement box is detachably installed on the tray body to facilitate replacement of the placement box and to store different consumables according to surgical needs.

[0009] In a preferred embodiment, the disc body is provided with a mounting hole, and the wall of the mounting hole is provided with a protrusion; the placement box is provided with a movable buckle, which is installed in the mounting hole, and a pin is provided in the mounting hole to limit the movable buckle to prevent it from detaching from the protrusion, which facilitates the assembly and disassembly of the placement box and the disc body, and the placement box is not easy to fall off, ensuring the firmness of the connection.

[0010] In a preferred embodiment, the plurality of movable fasteners are circumferentially distributed, and the pin is disposed in the middle of the plurality of movable fasteners. During installation, the pin prevents the movable fastener from moving inward; during disassembly, the pin is pulled out, the movable fastener loses the pin's restraint, and deforms inward to disengage from the protrusion.

[0011] In a preferred embodiment, the placement box is provided with a positioning groove, and the disc body is provided with a positioning post inserted into the positioning groove; and / or, the disc body is provided with a positioning groove, and the placement box is provided with a positioning post inserted into the positioning groove, thereby positioning the placement box and the disc body to facilitate the installation of the placement box onto the disc body.

[0012] In a preferred embodiment, the disc body includes a turntable, and the placement box is mounted on the turntable; the storage device includes a rotation mechanism connected to the turntable, the rotation mechanism being used to drive the turntable to rotate to adjust the position of the placement box. When the turntable rotates to a certain angle, a corresponding placement box rotates to the material retrieval position, facilitating the retrieval of consumables as needed.

[0013] In a preferred embodiment, the rotating mechanism includes a shifting motor, which is connected to the turntable via a shifting transmission mechanism. The shifting transmission mechanism includes a gear pair mechanism, a synchronous belt mechanism, or a pulley mechanism. The shifting motor drives the turntable to rotate via the shifting transmission mechanism. When the turntable rotates to a certain angle, a corresponding placement box rotates to the material picking position, and the first clamping mechanism can clamp the consumables in the placement box.

[0014] In a preferred embodiment, the disc body includes a fixed disc, the fixed disc includes a fence, the turntable is mounted on the fixed disc, and the fence surrounds the turntable; the fence is provided with a notch, through which consumables can extend outwards. The fence protects each storage box, preventing consumables from sliding out, and the notch serves as an outlet for the consumables, facilitating the first clamping mechanism to clamp the consumables.

[0015] In a preferred embodiment, the storage device includes a recycling device installed on the disk body for recycling waste materials. Consumables that need to be removed after use can be recycled into the recycling device to ensure the smooth implementation of the surgery.

[0016] In a preferred embodiment, the recycling device and the placement box are distributed along the axial direction of the disc body; the storage device includes a switching mechanism connected to the disc body for driving the disc body to move axially. When retrieving consumables, the placement box adapts to the position of the transport system for easy retrieval; when collecting waste, the switching mechanism drives the disc body to move, adapting the recycling device to the position of the transport system, facilitating the collection of replaced consumables as needed during surgery; and without needing to adjust the position of the transport system, ensuring stable and reliable docking with the surgical robot.

[0017] In a preferred embodiment, the recycling device includes a base and a collection tube. The base is provided with a circumferential guide groove, and the collection tube is installed in the circumferential guide groove. The collection tube extends along the circumferential guide groove and is circumferential, which saves space and facilitates pushing consumables into the collection tube.

[0018] In a preferred embodiment, the transport system includes a second clamping mechanism disposed on the side of the first clamping mechanism away from the storage device. The second clamping mechanism cooperates with the first clamping mechanism to facilitate the transport of consumables.

[0019] In a preferred embodiment, the first clamping mechanism and the second clamping mechanism are respectively connected to the second motion mechanism and are capable of moving vertically under the drive of the second motion mechanism. This vertical movement facilitates the insertion of consumables into the surgical clamping device of the surgical robot, allowing for the smooth delivery of consumables into the surgical robot.

[0020] In a preferred embodiment, the first motion mechanism includes a lead screw and nut mechanism, a rope drive mechanism, or a synchronous belt drive mechanism; the second motion mechanism includes a lead screw and nut mechanism, a rope drive mechanism, or a synchronous belt drive mechanism.

[0021] In a preferred embodiment, the surgical consumable replacement system includes an installation device disposed between the transport system and the surgical robot, the installation device being used for docking the guidewire and the catheter.

[0022] In a preferred embodiment, the mounting device includes a guide block with an assembly hole comprising a first tapered portion and a second tapered portion. The first tapered portion is located near the transport system, and the second tapered portion is located near the surgical robot. The first tapered portion gradually tapers in the direction pointing towards the second tapered portion, and the second tapered portion gradually tapers in the direction pointing towards the first tapered portion. The first tapered portion guides the guidewire, and the second tapered portion guides the catheter, facilitating alignment between the guidewire and the catheter.

[0023] In a preferred embodiment, a sheath mechanism is included, arranged along the conveying direction of the consumable. The consumable can pass through the sheath mechanism, and the sheath mechanism is extendable and retractable along the conveying direction of the consumable. During the pushing process, the radial direction of the consumable is constrained by the sheath mechanism, which can reduce bending of the consumable and facilitate smooth pushing of the consumable.

[0024] In a preferred embodiment, the sheath mechanism is arranged in the first motion mechanism and can be shortened under the push of the first clamping mechanism.

[0025] In a preferred embodiment, the sheathing mechanism is arranged outside the transport system and located on the side away from the storage device.

[0026] In a preferred embodiment, the sheath mechanism includes a slide rod, an elastomer, and a plurality of sheaths slidably connected to the slide rod. The plurality of sheaths are spaced apart along the slide rod, and the elastomer is disposed between adjacent sheaths.

[0027] In a preferred embodiment, the sheath mechanism includes a slide rod and a plurality of elastic sheaths, the elastic sheaths being slidably connected to the slide rod.

[0028] In a preferred embodiment, the elastic sheath is drum-shaped, so that the elastic sheath will bulge outward when compressed, avoiding inward deformation that would squeeze the consumable.

[0029] In a preferred embodiment, the sheath mechanism includes a slide rod and a spring sheath, the spring sheath being slidably connected to the slide rod.

[0030] This utility model provides a surgical system, including: a surgical robot and the above-mentioned surgical consumables, wherein the surgical consumables replacement system is used to transport the consumables to the surgical robot.

[0031] In a preferred embodiment, the surgical robot includes a pushing device and a surgical clamping device, and the storage device, the transportation system, the surgical clamping device and the pushing device are arranged in sequence; a sheath mechanism is arranged between the pushing device and the surgical clamping device.

[0032] This utility model provides a consumable storage device, including: a tray, a placement box, a recycling device, and a switching mechanism. The placement box and the recycling device are both installed on the tray. The placement box includes a box body with a circumferential pipe for storing consumables. The recycling device is used to recycle waste materials, and the recycling device and the placement box are distributed along the axial direction of the tray. The switching mechanism is connected to the tray and is used to drive the tray to move axially.

[0033] The features and advantages of this utility model are:

[0034] The consumable replacement system is installed beside the hospital bed and docks with the surgical robot. The first clamping mechanism holds the head of the consumable and, driven by the first motion mechanism, moves it toward the surgical robot, extracting the consumable from the storage device and delivering it to the surgical robot. This consumable replacement system supplies guidewires or catheters to the surgical robot, reducing the difficulty of installing and replacing consumables. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 A diagram illustrating the working state of an embodiment of the surgical system provided by this utility model;

[0037] Figure 2A A working state diagram of an embodiment of the surgical robot in the surgical system provided by this utility model;

[0038] Figure 2B A schematic diagram of one embodiment of the surgical consumable replacement system provided by this utility model;

[0039] Figures 3-4 A schematic diagram of the first state of the surgical consumable replacement system provided by this utility model;

[0040] Figure 5 A schematic diagram of the second state of the surgical consumable replacement system provided by this utility model;

[0041] Figure 6 A partial schematic diagram of another embodiment of the surgical consumable replacement system provided by this utility model;

[0042] Figures 7-8 A schematic diagram of the storage device in the surgical consumable replacement system provided by this utility model;

[0043] Figure 9 for Figure 7 An exploded view of the storage device shown;

[0044] Figures 10-12 A schematic diagram of the rotating mechanism in the surgical consumable replacement system provided by this utility model;

[0045] Figure 13 A schematic diagram of the placement box in the surgical consumables replacement system provided by this utility model;

[0046] Figure 14 A cross-sectional view of the storage device;

[0047] Figure 15 This is a schematic diagram of the disk's structure;

[0048] Figure 16 This is a structural diagram of the box.

[0049] Figure 17 for Figure 16 A magnified view of a portion of the placement box shown;

[0050] Figure 18 This is a schematic diagram showing the connection between the placement box and the plate body;

[0051] Figure 19 Exploded view of the recovery unit;

[0052] Figure 20 This is a schematic diagram of the base in the recycling device;

[0053] Figure 21 A schematic diagram of one embodiment of the transport system in the surgical consumables replacement system provided by this utility model;

[0054] Figure 22 A schematic diagram of another embodiment of the transport system in the surgical consumables replacement system provided by this utility model;

[0055] Figure 23 A schematic diagram of another embodiment of the transport system in the surgical consumables replacement system provided by this utility model;

[0056] Figures 24-25 A schematic diagram of the installation device in the surgical consumable replacement system provided by this utility model;

[0057] Figure 26 A schematic diagram of one embodiment of the sheath mechanism in the surgical consumable replacement system provided by this utility model;

[0058] Figure 27 A schematic diagram of another embodiment of the sheath mechanism in the surgical consumable replacement system provided by this utility model;

[0059] Figure 28 This is a schematic diagram of another embodiment of the sheath mechanism in the surgical consumable replacement system provided by this utility model. Detailed Implementation

[0060] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0061] Option 1

[0062] This utility model provides a surgical consumable replacement system, such as Figure 1 As shown, the consumable replacement system includes a storage device 2 and a transport system 5. The storage device 2 is used to store consumables. Figure 2B As shown, the transport system 5 includes a first clamping mechanism 511 and a first motion mechanism 521. The first clamping mechanism 511 is mounted on the first motion mechanism 521. The first clamping mechanism 511 can clamp consumables. The first motion mechanism 521 can drive the first clamping mechanism 511 to move between the surgical robot 8 and the storage device 2, and drive the consumables to be released from the storage device 2.

[0063] The consumable replacement system is installed beside the bed and docks with the surgical robot 8. The first clamping mechanism 511 holds the head of the consumable and, driven by the first motion mechanism 521, moves it towards the surgical robot 8, extracting the consumable from the storage device 2 and delivering it to the surgical robot 8. This consumable replacement system supplies consumables to the surgical robot, reducing the difficulty of installing and replacing consumables, minimizing human intervention in heart valve surgery, reducing the risk of consumable contamination, enabling remote consumable replacement, reducing radiation risks for surgeons, reducing surgeon fatigue, and shortening the learning curve, thus improving surgical precision.

[0064] In some embodiments, the storage device 2 includes a tray 20 and a plurality of placement boxes 24 mounted on the tray 20 for storing consumables. The plurality of placement boxes 24 can store various types of consumables, facilitating storage and retrieval. The consumables can be guidewires 12 or catheters 11, or other surgical consumables.

[0065] Please see Figure 13In one embodiment of this utility model, the placement box 24 includes a box body 241, and a surrounding tube 242 is provided on the placement box 24. The box body 241 provides support for the surrounding tube 242 and the consumables stored therein. The surrounding tube 242 is used to store consumables, and the consumables can be pushed inward through the opening of the surrounding tube 242 to achieve rapid storage of consumables. The consumables extend inside the surrounding tube 242 for easy storage and retrieval. The placement box 24 can store consumables such as straight guidewires 12, ultra-hard guidewires 12, pigtail catheters 11, balloon catheters 11, or valve delivery catheters 11. When the consumables are stored in the surrounding tube 242, the head of the consumables extends from the opening of the surrounding tube 242 to the outside of the surrounding tube 242, which is convenient for the first clamping mechanism 511 to clamp.

[0066] The box 241 can be generally circular, square, polygonal, or elliptical, and the opening of the surrounding pipe 242 extends to the side wall of the box 241. For example... Figure 13 As shown, when the box body 241 is circular, the box body 241 is provided with a box body notch 243. The opening of the circumferential pipe 242 extends to the box body notch 243. The box body notch 243 provides a space for the first clamping mechanism 511 to clamp the consumables in the box body notch 243.

[0067] The placement box 24 is detachably mounted to the tray body 20 for easy replacement and storage of different consumables as needed during surgery. The detachable connection structure between the placement box 24 and the tray body 20 can take many forms. For example, the placement box 24 can be fixed to the tray body 20 with bolts; or, the placement box 24 can be connected to the tray body 20 via a threaded structure; or, the placement box 24 can be connected to the tray body 20 via a snap-fit ​​mechanism.

[0068] The inventor improved the connection structure between the placement box 24 and the plate body 20: such as Figures 14-18As shown, the disc body 20 is provided with a mounting hole 261, and the wall of the mounting hole 261 is provided with a protrusion 262; the storage box 24 is provided with a movable fastener 25, which is installed in the mounting hole 261, and a pin 27 is provided in the mounting hole 261 to limit the movable fastener 25 to prevent it from disengaging from the protrusion 262. During installation, the movable fastener 25 is aligned with the mounting hole 261, and the movable fastener 25 moves under the action of external force, thereby crossing the protrusion 262 from the inside to the outside and entering the mounting hole 261 to engage with the inner side of the protrusion 262; the pin 27 engages with the movable fastener 25 to prevent the movable fastener 25 from moving, thereby keeping the movable fastener 25 engaged with the protrusion 262 to prevent loosening, thus realizing the installation of the storage box 24 onto the storage box body 241. During disassembly, remove the pin 27. The movable buckle 25 can disengage from the protrusion 262 and move away from the mounting hole 261 under external force, thereby separating the placement box 24 from the disc body 20. This connection structure facilitates the assembly and disassembly of the placement box 24 and the disc body 20, and the placement box 24 is not prone to falling off, ensuring the firmness of the connection.

[0069] Furthermore, multiple movable fasteners 25 are circumferentially distributed, and a pin 27 is located in the middle of the multiple movable fasteners 25. During installation, the pin 27 prevents the movable fasteners 25 from moving inward, thereby keeping the movable fasteners 25 engaged with the protrusion 262; during disassembly, the pin 27 is pulled out, the movable fasteners 25 lose the restraint of the pin 27, and can deform inward to disengage from the protrusion 262.

[0070] The structure of the movable fastener 25 is not limited to one type. For example, the movable fastener 25 includes a movable column and a movable column spring. The movable column spring is arranged radially along the mounting hole 261. Under the support of the movable column spring, the movable column moves to the outer side of the inner wall of the protrusion 262. When the movable column is subjected to external force, the movable column spring can be compressed, and the movable column moves inward, thereby moving the movable column to the inner side of the inner wall of the protrusion 262, so that the movable column can cross the protrusion 262 and enter the mounting hole 261. When in the mounting hole 261, the movable column moves outward under the action of the movable column spring, thereby engaging with the protrusion 262.

[0071] In one embodiment, the movable buckle 25 is connected to the cantilever 26, which is capable of inward or outward deformation when subjected to force, causing the movable buckle 25 to move accordingly. Preferably, as shown in the following embodiment... Figure 17As shown, the movable buckle 25 includes a first guide slope 251 located on the inner side and a second guide slope 252 located on the outer side. During installation, the first guide slope 251 abuts against the protrusion 262. By pressing the placement box 24, the movable buckle 25 can move under the guidance of the first guide slope 251 and cross the protrusion 262, making it easy to install the movable buckle 25 into the mounting hole 261. During disassembly, the second guide slope 252 cooperates with the protrusion 262. After removing the pin 27, by pulling the placement box 24 upward, the movable buckle 25 can move under the guidance of the second guide slope 252 and cross the protrusion 262, thereby removing the movable buckle 25 from the mounting hole 261 and completing the disassembly of the placement box 24.

[0072] Furthermore, the placement box 24 is provided with a positioning groove 281, and the disk body 20 is provided with a positioning post 282 inserted into the positioning groove 281; and / or, the disk body 20 is provided with a positioning groove 281, and the placement box 24 is provided with a positioning post 282 inserted into the positioning groove 281. The positioning post 282 cooperates with the positioning groove 281 to position the placement box 24 and the disk body 20, making it convenient to install the placement box 24 onto the disk body 20.

[0073] The disc body 20 can be fixed or movable. Mobility of the disc body 20 adjusts the position of the placement boxes 24, allowing for switching between different placement boxes 24. This facilitates the transport system 5 in retrieving consumables from each placement box 24, enabling the retrieval of different consumables as needed. The transport system 5 can be equipped with limit blocks to fix the disc body 20 in place, facilitating the clamping mechanism 511 to hold the head of the guide wire 12 or the guide tube 11. The disc body 20 can be circular, square, or fan-shaped, and its movement can be linear, curvilinear, or rotary. The shape and movement of the disc body 20 can be configured as required.

[0074] In one embodiment, the disk body 20 includes a turntable 21, such as Figures 7-12 As shown, multiple placement boxes 24 are circumferentially distributed on the turntable 21; the storage device 2 includes a rotating mechanism 30 connected to the turntable 21, which drives the turntable 21 to rotate to adjust the position of the placement boxes 24. When the turntable 21 rotates to a certain angle, a corresponding placement box 24 rotates to the material retrieval position, facilitating the retrieval of consumables as needed; this achieves automatic replacement of consumables, eliminating the need for manual replacement of guidewires 12 or catheters 11 during surgery, reducing human intervention during surgery, and lowering the radiation risk for doctors during the procedure.

[0075] Furthermore, the rotating mechanism 30 includes a shifting motor 31, which is connected to the turntable 21 via a shifting transmission mechanism 32. The shifting motor 31 drives the turntable 21 to rotate via the shifting transmission mechanism 32. The control terminal controls the shifting motor 31 to rotate. When it rotates to a certain angle, a corresponding placement box 24 rotates to the material picking position, and the first clamping mechanism 511 can clamp the consumables in the placement box 24. The shifting transmission mechanism 32 can have many structural forms, for example: Figure 10 As shown, the shifting transmission mechanism 32 includes a gear pair mechanism 321; or, as... Figure 11 As shown, the shift transmission mechanism 32 includes a synchronous belt mechanism 322; or, as... Figure 12 As shown, the shift transmission mechanism 32 includes a pulley mechanism 323.

[0076] like Figure 9 As shown, the disk body 20 includes a fixed disk 22, which includes a railing 23. A turntable 21 is mounted on the fixed disk 22, and the railing 23 surrounds the turntable 21. The railing 23 has a notch 231, through which consumables can extend outward. The railing 23 protects each placement box 24, preventing consumables from sliding out. The turntable 21 rotates each placement box 24, allowing the desired placement box 24 to be rotated to the notch 231. The notch 231 serves as the outlet position for consumables, facilitating the first clamping mechanism 511 to clamp the consumables. Furthermore, the fixed disk 22 also has a disk notch 221. When the placement box 24 rotates to the disk notch 221, the notch 243 of the middle box body 241 of the placement box 24 at least partially overlaps with the disk notch 221 of the fixed disk 22.

[0077] In some embodiments, the storage device 2 includes a recycling device 40, which is mounted on the tray 20. The recycling device 40 is used to collect waste consumables during the surgical procedure. Consumables that need to be removed after use can be recycled into the recycling device 40, ensuring the smooth execution of the surgery. The recycling device 40 has many structural forms; for example, the recycling device 40 includes a column, and consumables can be wound around the column.

[0078] In one embodiment, the recycling device 40 includes a base 41 and a collection tube 42. The base 41 is provided with a circumferential guide groove 411, and the collection tube 42 is installed in the circumferential guide groove 411. Consumables can be inserted into the collection tube 42 through an opening at one end, thus achieving the collection of consumables. The collection tube 42 extends along the circumferential guide groove 411, and the collection tube 42 is circumferential, which saves space and facilitates pushing consumables into the collection tube 42. Preferably, both the circumferential guide groove 411 and the collection tube 42 are generally disc-shaped. Preferably, the inner diameter of the collection tube 42 is large enough to accommodate multiple consumables. More preferably, the collection tube 42 can hold at least 10 consumables.

[0079] Furthermore, the circumferential guide groove 411 is a recess provided on the end face of the base 41, and the collecting tube 42 can be pressed into the circumferential guide groove 411 through the end face of the base 41. Figures 19-20 As shown, the cross-section of the circumferential guide groove 411 is fan-shaped, and its central angle is greater than 180°, in order to hold the collection tube 42 in place and ensure the tightness of the collection tube 42 within the circumferential guide groove 411. The collection tube 42 is a consumable; during use, it is simply pressed into the circumferential guide groove 411. After collecting the waste, the collection tube 42 can be directly removed, making the operation convenient and efficient.

[0080] When collecting waste, the consumables can be driven to the recycling device 40 by the transport system 5, or other transport devices can be set up to drive the consumables to the recycling device 40. When the transport system 5 recycles the guide wire 12 or the conduit 11, the first clamping mechanism 511 clamps the guide wire 12 or the conduit 11 and moves it to the recycling device 40 under the drive of the first motion mechanism 521, which can send the consumables into the collection tube 42.

[0081] In some embodiments, the recycling device 40 and the placement box 24 are distributed along the axial direction of the disk body 20. The storage device 2 includes a switching mechanism 43 connected to the disk body 20, used to drive the disk body 20 to move axially. When retrieving consumables, the placement box 24 is positioned to match the transport system 5 for easy retrieval of consumables; when collecting waste, the switching mechanism 43 drives the disk body 20 to move, adapting the recycling device 40 to the transport system 5, facilitating the transport system 5 to deliver consumables into the recycling device 40, making it convenient to collect replaced consumables as needed during surgery; and without needing to adjust the position of the transport system 5, ensuring stable and reliable docking with the surgical robot 8. Specifically, the switching mechanism 43 includes a switching cylinder 431 connected to the disk body 20, the switching cylinder 431 being arranged along the axial direction of the disk body 20, and the switching cylinder 431 being able to drive the disk body 20 to move axially, realizing the back-and-forth switching of the positions of the recycling device 40 and the placement box 24. Figures 3-6 As shown, the recycling device 40 is installed on the back of the disc body 20.

[0082] Transport system 5

[0083] The transport system 5 can dock with the surgical robot 8 to transport consumables from the storage device 2 to the surgical robot 8. The first clamping mechanism 511 can be a finger mechanism. Specifically, the first clamping mechanism 511 includes a cylinder and a clamping component. The cylinder drives the clamping component to move to clamp or release the consumables. The first clamping mechanism 511 realizes the pulling and conveying of consumables under the drive of the first motion mechanism 521.

[0084] In some embodiments, the transport system 5 includes a second clamping mechanism 512, which is disposed on the side of the first clamping mechanism 511 away from the storage device 2. The second clamping mechanism 512 can clamp or release consumables, and its structure can be similar to that of the first clamping mechanism 511, which will not be described in detail here.

[0085] The second clamping mechanism 512 can be arranged in various ways. In one embodiment, the second clamping mechanism 512 is arranged at one end of the transport system 5 near the surgical robot 8. The second clamping mechanism 512 does not move with the first motion mechanism 521, and its longitudinal position is approximately fixed. The first clamping mechanism 511 can move closer to or further away from the second clamping mechanism 512 under the drive of the first motion mechanism 521. When the first clamping mechanism 511 delivers consumables to the second clamping mechanism 512, the first clamping mechanism 511 and the second clamping mechanism 512 can alternately clamp the consumables to facilitate the first clamping mechanism 511 forward delivery of the consumables.

[0086] In another embodiment, the second clamping mechanism 512 is connected to the third motion mechanism, which drives the second clamping mechanism 512 to move between the surgical robot 8 and the storage device 2. The longitudinal movement of the first clamping mechanism 511 and the longitudinal movement of the second clamping mechanism 512 are relatively independent, but they can cooperate to transport consumables. The first clamping mechanism 511 first pulls out the consumable, and after pulling it out a certain distance, the second clamping mechanism 512 clamps the end of the consumable and moves together toward the surgical robot 8 to transport the consumable to the surgical robot 8.

[0087] In another embodiment, the second clamping mechanism 512 is connected to the first motion mechanism 521 via an unlockable mechanism. When the unlockable mechanism is locked, the first motion mechanism 521 drives the second clamping mechanism 512 to move; when the unlockable mechanism is unlocked, the second clamping mechanism 512 moves. Specifically, the unlockable mechanism may include an electromagnet. When the first clamping mechanism 511 approaches the second clamping mechanism 512, the electromagnet generates electromagnetic force to fix the two together to achieve locking. After the electromagnet is controlled to lose its magnetism, the second clamping mechanism 512 does not move with the first motion mechanism 521, but the first clamping mechanism 511 can move relative to the second clamping mechanism 512.

[0088] Furthermore, the first clamping mechanism 511 and the second clamping mechanism 512 are respectively connected to the second motion mechanism 522 and can move vertically under the drive of the second motion mechanism 522. Through vertical movement, it is easy to insert the consumables into the surgical clamping device 82 of the surgical robot 8, so as to smoothly deliver the consumables into the surgical robot 8.

[0089] The first motion mechanism 521 can have various structural forms. For example... Figure 21As shown, the first motion mechanism 521 includes a lead screw and nut mechanism 53, which includes a nut seat 532 and a lead screw 533 arranged longitudinally. Power is provided by a transport motor 531 to enable the nut seat 532 to move longitudinally on the lead screw 533. Figure 22 As shown, the first motion mechanism 521 includes a rope drive mechanism 54, which includes two rotating wheels 541 arranged longitudinally. A rope 542 is sleeved on the two rotating wheels 541. A first clamping mechanism 511 is connected to the rope 542. The rotating wheels 541 rotate under the drive of the transport motor 531, and the rope 542 drives the first clamping mechanism 511 to move longitudinally. Figure 23 As shown, the first motion mechanism 521 includes a synchronous belt drive mechanism 55, which includes two pulleys 551 arranged longitudinally. A synchronous belt 552 is fitted onto the two pulleys 551. A first clamping mechanism 511 is connected to the synchronous belt 552. The pulleys 551 rotate under the drive of the transport motor 531, driving the first clamping mechanism 511 to move longitudinally via the synchronous belt 552. The consumable conveying system also includes a longitudinal guide mechanism, which includes a slider 561 and a longitudinal guide rail 562. The first clamping mechanism 511 is connected to the slider 561, which helps to ensure that the first clamping mechanism 511 moves smoothly and steadily along the longitudinal direction. The third motion mechanism can also have various structural forms. The third motion mechanism can adopt any of the structural forms of the first motion mechanism 521 described above, which will not be elaborated here.

[0090] The second motion mechanism 522 can also have various structural forms. The second motion mechanism 522 can adopt any of the structural forms of the first motion mechanism 521 described above, which will not be elaborated further here. In one embodiment, such as... Figures 22-23 As shown, the first clamping mechanism 511 and the second clamping mechanism 512 are respectively connected to the second motion mechanism 522 so that the first clamping mechanism 511 and the second clamping mechanism 512 can move independently in the vertical direction.

[0091] Mounting device 6

[0092] The transport system 5 delivers the consumables to the installation location, enabling the consumables to be assembled onto the surgical robot 8. In one embodiment, the consumable replacement system further includes an installation device 6, which is disposed between the transport system 5 and the surgical robot 8. The installation device 6 is used for docking the guidewire 12 and the catheter 11. Figures 24-25As shown, the mounting device 6 includes a guide block 61 with an assembly hole 62. The assembly hole 62 includes a first conical portion 621 and a second conical portion 622. The first conical portion 621 is closer to the transport system 5, and the second conical portion 622 is closer to the surgical robot 8. The first conical portion 621 gradually tapers in the direction pointing towards the second conical portion 622, and the second conical portion 622 gradually tapers in the direction pointing towards the first conical portion 621. The first conical portion 621 guides the guidewire 12, and the second conical portion 622 guides the catheter 11, which helps to align the guidewire 12 with the catheter 11. The transport system 5 clamps the guidewire 12 and pushes it along the assembly hole 62 to insert the guidewire 12 into the inner hole of the catheter 11.

[0093] The guidewire 12 and the catheter 11 are precisely positioned using the installation device 6, ensuring their coaxial alignment and achieving automated coaxial assembly. The minimum inner diameter of the first tapered portion 621 is greater than the outer diameter of the guidewire 12. In one embodiment, a cylindrical portion 623 is provided between the first tapered portion 621 and the second tapered portion 622, allowing the catheter 11 to be inserted into the cylindrical portion 623 and abut against its inner end face for positioning. In another embodiment, the minimum inner diameter of the second tapered portion 622 can be set smaller than the inner diameter of the catheter 11, with the catheter 11 abutting against the inner wall of the second tapered portion 622 to position it, facilitating the smooth insertion of the guidewire 12 into the catheter 11.

[0094] Sheathing mechanism 7

[0095] In one embodiment, the surgical consumable replacement system includes a sheath mechanism 7 arranged along the consumable delivery direction. The consumable can pass through the sheath mechanism 7, which can shorten or lengthen longitudinally. Considering that the consumable is prone to bending during delivery, in this embodiment, when the consumable passes through the sheath mechanism 7, its radial direction is constrained by the sheath mechanism 7 during delivery, which can reduce bending and facilitate smooth delivery. Furthermore, when the first clamping mechanism 511 delivers the consumable, the sheath mechanism 7 can be compressed, thus both making room for the first clamping mechanism 511 and continuously providing radial constraint to the guidewire 12 or catheter 11.

[0096] The sheath mechanism 7 can be arranged in the transport system 5 and can be shortened under the push of the first clamping mechanism 511, thereby providing radial constraint to the consumable as it moves with the transport system 5. The sheath mechanism 7 can be arranged outside the transport system 5 and on the side away from the storage device 2 to provide radial constraint to the consumable as it moves after leaving the transport system 5, ensuring that the consumable moves smoothly forward.

[0097] The sheath mechanism 7 can have various structural forms. In one embodiment, the sheath mechanism 7 includes a slide rod 71, an elastic body 732, and a plurality of sheaths 73 slidably connected to the slide rod 71, such as... Figure 26 As shown, multiple sheaths 73 are spaced apart along the slide bar 71, and an elastic body 732 is disposed between adjacent sheaths 73. Consumables can be inserted into the sheaths 73 by insertion; alternatively, the sidewalls of the sheaths 73 are provided with slots 731 to allow consumables to be inserted into the sheaths 73 through the slots 731. Each sheath 73 can be connected to the slide bar 71 via connecting plates 72. The elastic body 732 is sleeved on the slide bar 71 and disposed between two adjacent connecting plates 72. The elastic body 732 can be a spring.

[0098] like Figure 27 As shown, in another embodiment, the sheath mechanism 7 includes a slide rod 71 and a plurality of elastic sheaths 74, the elastic sheaths 74 being slidably connected to the slide rod 71. The elastic sheaths 74 are connected to the slide rod 71 via a connecting plate 72, and the elastic sheaths 74 are compressed under pressure to reduce their longitudinal length. Further, the elastic sheaths 74 are drum-shaped, with a relatively large diameter in the middle, so that the elastic sheaths 74 will bulge outward under pressure, avoiding inward deformation that could squeeze the consumables.

[0099] Please see Figure 28 In another embodiment, the sheath mechanism 7 includes a slide rod 71 and a spring sheath 75, the spring sheath 75 being slidably connected to the slide rod 71.

[0100] In one embodiment, the sheath mechanism 7 further includes a plurality of connecting plates 72, which are sleeved on the slide rod 71. The spring sheath 75 is connected to the slide rod 71 through the connecting plates 72. Consumables can pass through the spring sheath 75. When the spring sheath 75 is pressed, it is compressed to reduce its longitudinal length.

[0101] In one embodiment, the spring sleeve 75 and the connecting plate 72 are fixedly connected, for example, by welding.

[0102] Option 2

[0103] This utility model provides a surgical system, such as Figure 1 As shown, the surgical system includes a surgical robot 8 and the aforementioned surgical consumable replacement system. The surgical consumable replacement system is used to transport consumables to the surgical robot 8. The consumable replacement system supplies consumables, and the surgical robot 8 delivers the consumables. This surgical system can perform surgical operations under remote control, realize automatic replacement of consumables, reduce close-range operations by personnel, and improve the degree of automation.

[0104] like Figure 2AAs shown, the surgical robot 8 includes a pushing device 81 and a surgical clamping device 82, with the storage device 2, transport system 5, surgical clamping device 82, and pushing device 81 arranged sequentially; as Figure 1 As shown, a sheath mechanism 7 is arranged between the pushing device 81 and the surgical clamping device 82, which ensures the smooth forward movement of the consumables. The sheath mechanism 7 can also be arranged on the side of the surgical clamping device 82 closest to the transport system 5.

[0105] Option 3

[0106] This utility model provides a consumable storage device, including: a tray 20, a placement box 24, a recycling device 40, and a switching mechanism. The placement box 24 and the recycling device 40 are both installed on the tray 20. The placement box 24 includes a box body 241 with a surrounding pipe 242 for storing consumables. The recycling device 40 is used to recycle waste materials, and the recycling device 40 and the placement box 24 are distributed along the axial direction of the tray 20. The switching mechanism 43 is connected to the tray 20 and is used to drive the tray 20 to move axially. This consumable storage device is used to store and supply consumables such as guidewires or catheters during surgery, and can collect used consumables during surgery. Consumables that need to be withdrawn after use can be recycled into the recycling device 40, ensuring the smooth implementation of the surgery. The structure and operation of the tray, placement box, and recycling device in this consumable storage device have been described above and will not be repeated here.

[0107] The above descriptions are merely a few embodiments of this utility model. Those skilled in the art can make various modifications or variations to the embodiments of this utility model based on the content disclosed in the application documents without departing from the scope of this utility model.

Claims

1. A surgical consumable replacement system, characterized in that, include: Storage device and transport system, wherein the storage device is used to store consumables; The transport system includes a first clamping mechanism and a first moving mechanism. The first clamping mechanism is mounted on the first moving mechanism. The first clamping mechanism is capable of clamping the consumables. The first moving mechanism is capable of driving the first clamping mechanism to move and releasing the consumables from the storage device. The storage device includes a disk body and a placement box installed on the disk body, the placement box being used to store consumables; The disk body includes a turntable, and the placement box is mounted on the turntable; The storage device includes a rotation mechanism connected to the turntable, the rotation mechanism being used to drive the turntable to rotate in order to adjust the position of the placement box.

2. The surgical consumable replacement system according to claim 1, characterized in that, The disc body includes a fixed disc, the fixed disc includes a fence, the turntable is mounted on the fixed disc, and the fence surrounds the turntable; the fence is provided with a notch, through which consumables can extend outward from the fence.

3. The surgical consumable replacement system according to claim 1, characterized in that, The storage device includes a recycling device installed on the disk body, and the recycling device is used to recycle waste materials; The recycling device and the placement box are distributed along the axial direction of the disk body; the storage device includes a switching mechanism connected to the disk body for driving the disk body to move axially.

4. The surgical consumable replacement system according to claim 1, characterized in that, The transport system includes a second clamping mechanism disposed on the side of the first clamping mechanism away from the storage device.

5. The surgical consumable replacement system according to claim 4, characterized in that, The first clamping mechanism and the second clamping mechanism are respectively connected to the second motion mechanism and can move vertically under the drive of the second motion mechanism.

6. The surgical consumable replacement system according to claim 1, characterized in that, The surgical consumable replacement system includes an installation device, which is located between the transport system and the surgical robot, and is used for docking guidewires and catheters.

7. The surgical consumable replacement system according to claim 1, characterized in that, It includes a sheath mechanism arranged along the conveying direction of the consumable, the consumable being able to pass through the sheath mechanism, and the sheath mechanism being able to extend and retract along the conveying direction of the consumable; The sheath mechanism is arranged in the first motion mechanism and is retractable under the push of the first clamping mechanism; and / or, the sheath mechanism is arranged outside the transport system and on the side away from the storage device.

8. A surgical system, characterized in that, include: A surgical robot and a surgical consumable replacement system according to any one of claims 1-7, wherein the surgical consumable replacement system is used to deliver consumables to the surgical robot.

9. A consumable storage device, characterized in that, include: The device includes a tray, a placement box, a recycling device, and a switching mechanism. The placement box and the recycling device are both installed on the tray. The placement box includes a box body, and the box body is provided with a circumferential pipe for storing consumables. The recycling device is used to recycle waste materials, and the recycling device and the placement box are distributed along the axial direction of the disc body; the switching mechanism is connected to the disc body and is used to drive the disc body to move axially.

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