Disposable consumable quick disassembly and assembly structure of interventional robot

Abstract

The utility model provides a disposable consumable quick disassembly and assembly structure of an interventional robot, which is characterized in that a power mechanism is arranged in a catheter module, and a conical shaft sleeve is arranged at the top of the catheter module; telescopic jackscrews are arranged on the two sides of the conical shaft sleeve respectively; a driving mechanism is arranged in the consumable module, and a butt joint shaft is arranged at the bottom; the driving mechanism comprises a driving roller rotatably mounted on the consumable module and a driven roller slidably mounted on the consumable module; arc-shaped grooves are formed in the driving roller and the driven roller in the circumferential direction respectively; one end of the butt-joint shaft is conical and is provided with a butt-joint groove corresponding to the telescopic jackscrew, and the other end is in transmission connection with the driving roller. A double-arm robot mechanism is adopted, so that a driving mechanism forms an independent consumable module; a butt joint shaft is arranged on the consumable module and can be in insertion and extraction butt joint with the conical shaft sleeve on the catheter module; meanwhile, the telescopic jackscrew is further arranged on the conical shaft sleeve, transmission connection can be formed between the telescopic jackscrew and the butt joint groove in the butt joint shaft through plugging connection, and therefore fast replacement of consumables is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of minimally invasive interventional surgery, in particular to a disposable consumable quick disassembly structure of an interventional robot. BACKGROUND

[0002] With the progress of science and technology, the medical field has also ushered in a major innovation. Today, spinal cord electrode implantation therapy is commonly used to treat chronic pain, such as pain caused by spinal cord injury, nerve root pain, complex regional pain syndrome, etc. In addition, spinal cord electrode implantation therapy can also be used to improve motor function, such as treating Parkinson's disease and other movement disorders. Spinal cord electrode implantation is a minimally invasive interventional treatment for various nervous system diseases, and is also a method for treating intractable pain. Spinal cord electrode implantation is to implant electrodes into the spinal cord area of the patient to release electrical stimulation to inhibit the conduction of pain signals, thereby reducing the sensation of pain. At the same time, electrical stimulation can also stimulate motor nerve fibers to improve motor function. Spinal cord electrode implantation surgery is a minimally invasive surgery, which is a new surgical method that delivers electrodes to the spinal cord area through vascular intervention, avoiding the risks of traditional surgery, and reducing the patient's recovery and pain time. With the aid of medical imaging equipment, accurate positioning can be achieved, reducing the damage to the patient's body. Spinal cord electrode implantation surgery also provides a new treatment method for diseases that are difficult to treat by traditional surgery, providing patients with more choices. At the same time, as a new surgical method, it has a lower probability of causing complications, providing greater safety for patients.

[0003] However, spinal cord electrode implantation surgery still requires the full participation of doctors, which not only requires doctors to have excellent skills, but also causes a certain degree of harm to the health of doctors. Therefore, combining spinal cord electrode implantation surgery with robot technology has become a good solution. Interventional robots not only can complete high-precision surgical operations, but also provide protection for the health of remote control doctors.

[0004] Currently, most interventional robots are single-arm operations, that is, through one mechanical arm to simulate the doctor's pushing and twisting method and to complete the delivery action; not only is it quite different from manual two-handed operation, but it is also not easy to replace the delivery mechanism as a consumable, so the above problems need to be solved. SUMMARY

[0005] In view of the above defects or deficiencies in the prior art, it is desirable to provide a disposable consumable quick disassembly structure of an interventional robot.

[0006] The present application provides a disposable consumable quick disassembly structure of an interventional robot, comprising

[0007] A catheter module is provided, the inside of the catheter module is provided with a power mechanism, and the top is provided with a conical shaft sleeve;

[0008] The tapered bushing is connected to the power mechanism for transmission, and telescopic set screws are provided on both sides;

[0009] The consumable module has a drive mechanism inside and a matching docking shaft at the bottom corresponding to the tapered bushing.

[0010] The drive mechanism includes an active roller rotatably mounted on the consumable module and a driven roller slidably mounted on the consumable module;

[0011] The driving roller and the driven roller are respectively provided with arc-shaped grooves along the circumference for conveying the guide tube;

[0012] One end of the docking shaft is tapered and has a docking groove corresponding to the telescopic set screw, while the other end is connected to the drive roller.

[0013] Furthermore,

[0014] The active roller is sleeved and mounted on the first bushing, and is fixedly connected to the first bushing;

[0015] The consumable module is provided with a first mounting shaft corresponding to the active roller;

[0016] The first mounting shaft is fixedly mounted on the consumable module and is rotatably connected to the first bushing.

[0017] Furthermore,

[0018] The first bushing is also fitted with a first helical gear;

[0019] The first helical gear is fixedly connected to the first bushing for connection with the mating shaft;

[0020] The docking shaft is provided with a matching drive helical gear corresponding to the first helical gear.

[0021] Furthermore,

[0022] A second helical gear is also fitted onto the first bushing;

[0023] The second helical gear is fixedly connected to the first bushing and is used to drive the driven roller;

[0024] The driven roller is connected to the second helical gear via a mating helical gear.

[0025] Furthermore,

[0026] The driven roller and the mating helical gear are coaxially mounted on the second bushing;

[0027] The conduit module is fitted with a matching second mounting shaft corresponding to the second shaft.

[0028] The second mounting shaft is fixedly installed on the sliding block and is in sliding connection with the catheter module.

[0029] Further,

[0030] The sliding rail and the distance adjusting mechanism are respectively arranged on the catheter module corresponding to the sliding block.

[0031] The sliding rail is fixedly installed on the catheter module and extends in parallel with the line connecting the driving roller and the driven roller.

[0032] The distance adjusting mechanism is located below the sliding block and is used for adjusting the distance between the driving roller and the driven roller.

[0033] Further,

[0034] The distance adjusting mechanism comprises coaxial first distance adjusting top screw and second distance adjusting top screw.

[0035] The first distance adjusting top screw is threadedly installed on the sliding block.

[0036] The second distance adjusting top screw is threadedly installed on the consumable module.

[0037] The first distance adjusting top screw and the second distance adjusting top screw are further provided with a spring therebetween, which is used for driving the sliding block to reset.

[0038] Further,

[0039] The consumable module is further provided with a manual adjusting knob corresponding to the sliding block on the side close to the driving roller.

[0040] The manual adjusting knob is in threaded connection with the consumable module and extends in parallel with the driving direction of the distance adjusting mechanism.

[0041] Further,

[0042] The catheter module is further respectively provided with a mechanical arm connecting plate and a key panel.

[0043] The mechanical arm connecting plate is fixedly installed on the top of the catheter module and is located on the side of the consumable module away from the manual adjusting knob.

[0044] The key panel is installed on one side of the catheter module and is located below the manual adjusting knob.

[0045] Further,

[0046] The consumable module is further respectively provided with buckles on two sides.

[0047] The number of the buckles comprises four, two of which are a group and are used for locking and fixing the catheter module.

[0048] The application has the advantages and positive effects that:

[0049] The technical scheme has the advantages and positive effects that: the double-arm robot mechanism is adopted, the driving mechanism forms an independent consumable module, and the consumable module is integrally disassembled and replaced with the catheter module; the butt joint shaft is arranged on the consumable module, and the consumable module is inserted and connected with the conical shaft sleeve on the catheter module, so that the consumable module is convenient to replace; meanwhile, the telescopic jacks are arranged on the conical shaft sleeve, and the telescopic jacks are connected with the butt joint groove on the butt joint shaft through the insertion and connection, so that the consumable is quickly replaced. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 The structure diagram of the disposable consumable quick disassembly structure of the interventional robot provided by the embodiment of the application is shown in the figure;

[0051] Figure 2 The structure diagram of the sectional view of the disposable consumable quick disassembly structure of the interventional robot provided by the embodiment of the application is shown in the figure;

[0052] Figure 3 The structure diagram of the side view of the disposable consumable quick disassembly structure of the interventional robot provided by the embodiment of the application is shown in the figure;

[0053] Figure 4 The structure diagram of the bottom view of the disposable consumable quick disassembly structure of the interventional robot provided by the embodiment of the application is shown in the figure.

[0054] The text annotations in the figure are as follows: 100-catheter module; 110-power mechanism; 120-conical shaft sleeve; 121-telescopic jacks; 130-mechanical arm connecting plate; 140-key panel; 200-consumable module; 210-butt joint shaft; 211-driving bevel gear; 220-driving roller; 221-first shaft sleeve; 222-first mounting shaft; 223-first bevel gear; 224-second bevel gear; 230-following roller; 231-butt joint bevel gear; 232-second shaft sleeve; 233-second mounting shaft; 240-sliding block; 241-sliding rail; 242-first distance adjusting jack; 243-second distance adjusting jack; 244-spring; 250-manual adjusting knob; 260-buckle. DETAILED DESCRIPTION

[0055] In order for those skilled in the art to better understand the technical scheme of the application, the application will be described in detail below with reference to the drawings, and the description in this part is only exemplary and explanatory, and should not have any limiting effect on the protection scope of the application.

[0056] Please refer to Figures 1-4The embodiment provides a disposable consumable quick dismounting structure of an interventional robot, which comprises a catheter module 100, the inside of the catheter module 100 is provided with a power mechanism 110, and the top of the catheter module 100 is provided with a conical shaft sleeve 120; the conical shaft sleeve 120 is in transmission connection with the power mechanism 110, and both sides of the conical shaft sleeve 120 are respectively provided with telescopic jackscrews 121; a consumable module 200, the inside of the consumable module 200 is provided with a driving mechanism, and the bottom of the consumable module 200 is provided with a matched butt joint shaft 210 corresponding to the conical shaft sleeve 120; the driving mechanism comprises a driving roller 220 rotatably installed on the consumable module 200 and a driven roller 230 slidably installed on the consumable module 200; the driving roller 220 and the driven roller 230 are respectively provided with arc-shaped grooves in the circumferential direction, and are used for conveying catheters; one end of the butt joint shaft 210 is conical and is provided with a butt joint groove corresponding to the telescopic jackscrew 121, and one end of the butt joint shaft 210 is in transmission connection with the driving roller 220.

[0057] In the embodiment, the shape of the catheter module 100 is rectangular, the top of the catheter module 100 is provided with a matched mounting groove corresponding to the consumable module 200; the conical shaft sleeve 120 is located in the mounting groove and is used for inserting the butt joint shaft 210 on the consumable module 200; the two sides of the conical shaft sleeve 120 are respectively provided with telescopic jackscrews 121 extending in the radial direction; the two sides of the butt joint shaft 210 are provided with matched butt joint grooves corresponding to the telescopic jackscrews 121, when the butt joint shaft 210 is inserted into the conical shaft sleeve 120, the telescopic jackscrews 121 are also clamped into the butt joint grooves, so that the butt joint shaft 210 and the conical shaft sleeve 120 can rotate synchronously.

[0058] In the embodiment, the power mechanism 110 is a motor, which is fixedly installed in the inside of the catheter module 100, the output end of the motor is connected with the conical shaft sleeve 120, and the motor is used for driving the butt joint shaft 210 to rotate.

[0059] In the embodiment, the inside of the consumable module 200 is respectively provided with two driving rollers 220 and two driven rollers 230; the arrangement direction between the two driving rollers 220 is parallel to the arrangement direction between the two driven rollers 230, and both are parallel to the width direction of the catheter module 100, and the two driving rollers 220 and the two driven rollers 230 are respectively provided with arc-shaped grooves in the circumferential direction, and are used for clamping and delivering the catheter.

[0060] In the embodiment, the driving roller 220 is in transmission connection with the butt joint shaft 210, and is used for providing power for the delivery of the catheter; the driven roller 230 is in sliding connection with the consumable module 200, and can effectively adjust the distance between the driving rollers 220, so as to be suitable for catheters of different models.

[0061] In the embodiment, the consumable module 200 is respectively provided with through holes along the two sides parallel to the width direction of the catheter module; the extension line of the through hole is located between the driving roller 220 and the driven roller 230, and is used for ensuring that the catheter can pass normally.

[0062] In a preferred embodiment, the driving roller 220 is sleeved on the first shaft sleeve 221 and fixedly connected with the first shaft sleeve 221; the consumable module 200 is provided with a first mounting shaft 222 corresponding to the driving roller 220; the first mounting shaft 222 is fixedly mounted on the consumable module 200 and rotationally connected with the first shaft sleeve 221.

[0063] In this embodiment, the consumable module 200 is provided with two first mounting shafts 222 fixedly mounted corresponding to the two driving rollers 220; meanwhile, the first mounting shaft 222 is further sleeved with a first shaft sleeve 221 that can rotate relatively; the driving roller 220 is sleeved on the first shaft sleeve 221 and fixedly connected with the first shaft sleeve 221, so as to rotate synchronously with the first shaft sleeve 221.

[0064] In a preferred embodiment, the first shaft sleeve 221 is further sleeved with a first bevel gear 223; the first bevel gear 223 is fixedly connected with the first shaft sleeve 221 and used to connect with the docking shaft 210; the docking shaft 210 is provided with a matching driving bevel gear 211 corresponding to the first bevel gear 223.

[0065] In this embodiment, the docking shaft 210 is rotationally mounted on the consumable module 200, one end of which extends to the outside of the consumable module 200 to dock with the conical shaft sleeve 120, and the other end of which is located in the inside of the consumable module 200; meanwhile, the docking shaft 210 is further provided with a driving bevel gear 211 for driving the driving roller 220.

[0066] In this embodiment, the docking shaft 210 is located between the two first mounting shafts 222; the first bevel gear 223 is sleeved and fixedly mounted on the first shaft sleeve 221 and used to dock with the driving bevel gear 211.

[0067] In a preferred embodiment, the first shaft sleeve 221 is further sleeved with a second bevel gear 224; the second bevel gear 224 is fixedly connected with the first shaft sleeve 221 and used to drive the driven roller 230; the driven roller 230 is connected with the second bevel gear 224 through a docking bevel gear 231.

[0068] In this embodiment, the second bevel gear 224 is sleeved and fixedly mounted on the first shaft sleeve 221 and used to drive the driven roller 230.

[0069] In a preferred embodiment, the driven roller 230 and the docking bevel gear 231 are coaxially mounted on a second shaft sleeve 232; the catheter module 100 is provided with a matching second mounting shaft 233 corresponding to the second shaft sleeve 232; the second mounting shaft 233 is fixedly mounted on the sliding block 240 and slidingly connected with the catheter module 100.

[0070] In the embodiment, the butt joint helical gear 231 is sleeved and fixedly installed on the second shaft sleeve 232, and is used for meshing connection with the second helical gear 224; meanwhile, the driven roller 230 is also installed on the second shaft sleeve 232, so that the driven roller 230 and the butt joint helical gear 231 can synchronously rotate.

[0071] In summary, the first installation shaft 222 is externally sleeved with the first shaft sleeve 221 which is rotationally connected with the first installation shaft 222, and the first shaft sleeve 221 is externally sleeved, from top to bottom, with the driving roller 220, the second helical gear 224 and the first helical gear 223; the second installation shaft 233 is externally sleeved with the second shaft sleeve 232 which is rotationally connected with the second installation shaft 233, and the second shaft sleeve 232 is externally sleeved, from top to bottom, with the driven roller 230 and the butt joint helical gear 231 which meshes with the second helical gear 224; the butt joint shaft 210 is externally sleeved with the driving helical gear 211 which meshes with the first helical gear 223. The butt joint shaft 210 is located between the two first installation shafts 222, the driving helical gear 211 and the two first helical gears 223 are all in meshing, and the power mechanism 110 drives the conical shaft sleeve 120 and the butt joint shaft 210 to rotate.

[0072] In a preferred embodiment, the guide tube module 100 is respectively provided with a slide rail 241 and a distance adjusting mechanism corresponding to the slide block 240; the slide rail 241 is fixedly installed on the guide tube module 100, and the extending direction is parallel to the line connecting the driving roller 220 and the driven roller 230; the distance adjusting mechanism is located below the slide block 240, and is used for adjusting the distance between the driving roller 220 and the driven roller 230.

[0073] In the embodiment, the extending direction of the slide rail 241 is parallel to the length direction of the guide tube module, so as to adapt to different specifications of the guide tube delivery.

[0074] In a preferred embodiment, the distance adjusting mechanism comprises coaxial first distance adjusting jacks 242 and second distance adjusting jacks 243; the first distance adjusting jacks 242 are threadedly installed on the slide block 240; the second distance adjusting jacks 243 are threadedly installed on the consumable module 200; the first distance adjusting jacks 242 and the second distance adjusting jacks 243 are further provided with springs 244, which are used for driving the slide block 240 to reset.

[0075] In the embodiment, the number of the first distance adjusting jacks 242 is two, the arrangement direction is parallel to the delivery direction of the guide tube, and the first distance adjusting jacks 242 are threadedly installed on the slide block 240; the number of the second distance adjusting jacks 243 is also two, and the second distance adjusting jacks 243 are correspondingly installed with the first distance adjusting jacks 242; the distance between the driven roller 230 and the driving roller 220 can be effectively adjusted by adjusting the first distance adjusting jacks 242 or the second distance adjusting jacks 243.

[0076] In the embodiment, the first and second distance adjusting jackscrews 242 and 243 are respectively connected with the spring 244 at their ends close to each other, so that the slider 240 is always pushed towards the side close to the driving roller 220.

[0077] In a preferred embodiment, the consumable module 200 is further provided with a manual adjusting knob 250 on the side close to the driving roller 220 corresponding to the slider 240; the manual adjusting knob 250 is threadedly connected with the consumable module 200, and the extension direction is parallel to the driving direction of the distance adjusting mechanism.

[0078] In the embodiment, the manual adjusting knob 250 is rotationally connected with the consumable module 200, and is used to drive the slider 240 to move away from the driving roller 220, so as to facilitate the driving of the catheter through the consumable module 200. Before driving the catheter to move, the manual adjusting knob 250 is manually rotated, and one end of the manual adjusting knob 250 abuts against the slider 240. The manual adjusting knob 250 is continuously rotated, so that the slider 240 moves along the slide rail 241 away from the driving roller 220, the distance between the driving roller 220 and the driven roller 230 is increased, the catheter is facilitated to pass through the consumable module 200, and the spring 244 is in a compressed state. After the catheter is threaded, the manual adjusting knob 250 is reversely rotated, so that the end of the manual adjusting knob 250 located in the consumable module 200 is separated from the slider 240, the spring 244 is in a released state, the slider 240 is driven to move towards the driving roller 220, and the catheter is clamped.

[0079] In a preferred embodiment, the catheter module 100 is further provided with a mechanical arm connecting plate 130 and a key panel 140 respectively; the mechanical arm connecting plate 130 is fixedly installed on the top of the catheter module 100, and is located on the side of the consumable module 200 away from the manual adjusting knob 250; the key panel 140 is installed on one side of the catheter module 100, and is located below the manual adjusting knob 250.

[0080] In a preferred embodiment, the consumable module 200 is further provided with buckles 260 on its two sides respectively; the number of the buckles 260 includes four, and two buckles form a group, which are used to lock and fix the catheter module 100.

[0081] The principles and implementation manners of the present application are described by using specific examples in the present article, and the above example descriptions are only used to help understand the method of the present application and its core idea. The above descriptions are only the preferred implementation manners of the present application. It should be noted that, due to the limited nature of the language expression, there are objectively infinite specific structures, and for ordinary skilled persons in the technical field, some improvements, refinements or changes can be made, or the above technical features can be combined in an appropriate manner without departing from the principles of the present application; these improvements, refinements, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the protection scope of the present application.

Claims

1. A quick-assembly and disassembly structure for disposable consumables in an interventional robot, characterized in that, include: The catheter module (100) has a power mechanism (110) inside and a tapered bushing (120) on the top. The tapered bushing (120) is connected to the power mechanism (110) for transmission, and telescopic set screws (121) are provided on both sides respectively. Consumable module (200), the consumable module (200) is provided with a drive mechanism inside, and a matching docking shaft (210) is provided at the bottom corresponding to the tapered bushing (120). The drive mechanism includes an active roller (220) rotatably mounted on the consumable module (200) and a driven roller (230) slidably mounted on the consumable module (200). The driving roller (220) and the driven roller (230) are respectively provided with arc-shaped grooves along the circumference for conveying the guide tube; One end of the docking shaft (210) is tapered and has a docking groove corresponding to the telescopic set screw (121), and the other end is connected to the drive roller (220) for transmission.

2. The quick-assembly and disassembly structure for disposable consumables of the interventional robot according to claim 1, characterized in that, The active roller (220) is sleeved and installed on the first bushing (221) and is fixedly connected to the first bushing (221); The consumable module (200) is provided with a first mounting shaft (222) corresponding to the active roller (220); The first mounting shaft (222) is fixedly mounted on the consumable module (200) and rotatably connected to the first bushing (221).

3. The quick-assembly and disassembly structure for disposable consumables of the interventional robot according to claim 2, characterized in that, The first bushing (221) is also fitted with a first helical gear (223); The first helical gear (223) is fixedly connected to the first bushing (221) for connecting with the docking shaft (210); The docking shaft (210) is provided with a matching drive helical gear (211) corresponding to the first helical gear (223).

4. The quick-assembly and disassembly structure for disposable consumables of the interventional robot according to claim 2, characterized in that, A second helical gear (224) is also fitted on the first bushing (221); The second helical gear (224) is fixedly connected to the first bushing (221) and is used to drive the driven roller (230). The driven roller (230) is connected to the second helical gear (224) via a mating helical gear (231).

5. The quick-assembly and disassembly structure for disposable consumables of the interventional robot according to claim 4, characterized in that, The driven roller (230) and the mating helical gear (231) are coaxially mounted on the second bushing (232); The conduit module (100) is provided with a matching second mounting shaft (233) corresponding to the second bushing (232); The second mounting shaft (233) is fixedly mounted on the slider (240) and slidably connected to the conduit module (100).

6. The quick-assembly and disassembly structure for disposable consumables of the interventional robot according to claim 5, characterized in that, The conduit module (100) is provided with a slide rail (241) and an adjustment mechanism corresponding to the slider (240); The slide rail (241) is fixedly installed on the guide tube module (100), and its extension direction is parallel to the line connecting the driving roller (220) and the driven roller (230); The adjusting mechanism is located below the slider (240) and is used to adjust the distance between the driving roller (220) and the driven roller (230).

7. The quick-assembly and disassembly structure for disposable consumables of the interventional robot according to claim 6, characterized in that, The pitch adjustment mechanism includes a first pitch adjustment set screw (242) and a second pitch adjustment set screw (243) that are coaxial. The first adjusting set screw (242) is threaded onto the slider (240); The second adjusting set screw (243) is threaded onto the consumable module (200); A spring (244) is also provided between the first adjusting set screw (242) and the second adjusting set screw (243) to drive the slider (240) to self-reset.

8. The quick-assembly and disassembly structure for disposable consumables of the interventional robot according to claim 6, characterized in that, The consumable module (200) is also provided with a manual adjustment knob (250) on the side of the slider (240) near the active roller (220). The manual adjustment knob (250) is threadedly connected to the consumable module (200), and its extension direction is parallel to the driving direction of the adjustment mechanism.

9. The quick-assembly and disassembly structure for disposable consumables of the interventional robot according to claim 8, characterized in that, The conduit module (100) is also provided with a robotic arm connection plate (130) and a button panel (140). The robotic arm connecting plate (130) is fixedly installed on the top of the conduit module (100) and located on the side of the consumable module (200) away from the manual adjustment knob (250); The button panel (140) is installed on one side of the conduit module (100), below the manual adjustment knob (250).

10. The quick-assembly and disassembly structure for disposable consumables of the interventional robot according to claim 1, characterized in that, The consumable module (200) is also provided with buckles (260) on both sides. The number of the buckles (260) includes four, two in a group, for locking and fixing with the catheter module (100).

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